version: 66.04
glider: 512
mission: 4
dive: 283
start: 11 10 113 13 57 1
data:
$ID,512
$MISSION,4
$DIVE,283
$D_SURF,3
$D_FLARE,2
$D_TGT,900
$D_ABORT,990
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,670
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,23
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,610.54175
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-112025.41
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2696
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,41
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,30
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2888
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.916836
$PRESSURE_SLOPE,0.00011360509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,6
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$DEVICE4,20
$DEVICE5,38
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004340203
$SEABIRD_T_H,0.00063076179
$SEABIRD_T_I,2.430566e-05
$SEABIRD_T_J,2.6124515e-06
$SEABIRD_C_G,-9.8985863
$SEABIRD_C_H,1.1020875
$SEABIRD_C_I,-0.0015707363
$SEABIRD_C_J,0.00019845086
$GPS1,132036,2305.882,-15805.210,88,1.4,88,10.1
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,4
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.5
$GPS2,135607,2306.185,-15805.304,15,1.6,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.027,-0.211
$KALMAN_X,54495.8,-31.2,104.0,-63540.5,947.6
$KALMAN_Y,67939.5,72.5,298.1,-27385.3,-225.9
$MHEAD_RNG_PITCHd_Wd,162.6,3476,-19.5,-9.009
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.52,-101.0,0.0,0.0,0,80,0.00,0.00,-60.05,0.000,2,0.000,0.000,6,2534,2694
$GC,86,-0.53,-126.5,2.1,-1.2,7,124,9.77,1.55,-18.52,0.000,4,0.206,0.039,2519,1448,3404
$GC,310,-0.53,-126.5,56.7,-23.3,32,313,0.00,1.58,0.00,0.000,6,0.000,0.037,2514,2484,3404
$GC,582,-0.53,-126.5,114.3,-19.2,57,586,0.00,1.62,0.00,0.000,4,0.000,0.044,2505,3570,3404
$GC,692,-0.53,-126.5,135.2,-15.2,66,702,0.00,1.48,0.00,0.000,6,0.000,0.018,2510,2513,3404
$GC,960,-0.53,-126.5,181.6,-17.0,91,964,0.00,1.62,0.00,0.000,4,0.000,0.041,2505,3565,3404
$GC,1013,-0.53,-126.5,191.0,-16.7,95,1021,0.00,1.42,0.00,0.000,6,0.000,0.017,2510,2542,3404
$GC,1281,-0.53,-126.5,233.2,-15.7,106,1285,0.00,1.58,0.00,0.000,4,0.000,0.041,2504,3562,3404
$GC,1378,-0.53,-126.5,247.8,-12.4,108,1381,0.00,1.40,0.00,0.000,6,0.000,0.018,2509,2563,3404
$GC,1668,-0.53,-126.5,283.4,-12.3,115,1671,0.00,1.50,0.00,0.000,4,0.000,0.020,2518,1459,3404
$GC,1718,-0.53,-126.5,289.6,-11.5,116,1721,0.00,1.65,0.00,0.000,6,0.000,0.037,2512,2568,3404
$GC,2012,-0.53,-126.5,324.3,-12.0,123,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2568,3403
$GC,2256,-0.53,-126.5,352.0,-11.3,129,2259,0.00,1.55,0.00,0.000,4,0.000,0.021,2517,1464,3401
$GC,2308,-0.53,-126.5,358.6,-10.9,130,2312,0.00,1.65,0.00,0.000,6,0.000,0.038,2511,2571,3400
$GC,2597,-0.53,-126.5,392.6,-12.0,137,2600,0.00,1.52,0.00,0.000,4,0.000,0.048,2504,3564,3399
$GC,2700,-0.53,-126.5,404.8,-11.3,139,2704,0.00,1.38,0.00,0.000,6,0.000,0.021,2509,2594,3398
$GC,2983,-0.53,-126.5,434.3,-10.4,146,2987,0.00,1.58,-0.08,0.000,4,0.000,0.039,2516,1455,3418
$GC,3078,-0.53,-126.5,443.3,-9.1,148,3082,0.00,1.70,0.00,0.000,6,0.000,0.041,2510,2581,3418
$GC,3373,-0.53,-126.5,472.3,-9.9,155,3376,0.00,1.52,0.00,0.000,4,0.000,0.051,2503,3562,3415
$GC,3436,-0.53,-126.5,479.1,-10.2,156,3439,0.00,1.40,0.00,0.000,6,0.000,0.022,2508,2582,3415
$GC,3714,-0.53,-126.5,504.6,-9.3,163,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2573,3413
$GC,3958,-0.53,-126.5,526.4,-8.8,169,3961,0.00,1.55,0.00,0.000,4,0.000,0.048,2502,3560,3410
$GC,3994,-0.53,-126.5,530.1,-10.1,169,3997,0.00,1.40,0.00,0.000,6,0.000,0.024,2507,2588,3410
$GC,4254,-0.53,-126.5,553.3,-9.1,176,4257,0.00,1.58,0.00,0.000,4,0.000,0.024,2515,1467,3408
$GC,4306,-0.53,-126.5,558.4,-8.3,177,4310,0.00,1.70,0.00,0.000,6,0.000,0.043,2510,2564,3408
$GC,4596,-0.53,-126.5,585.7,-9.6,184,4599,0.00,1.55,0.00,0.000,4,0.000,0.053,2503,3556,3405
$GC,4631,-0.53,-126.5,589.7,-10.1,184,4635,0.00,1.40,0.00,0.000,6,0.000,0.025,2508,2592,3404
$GC,4891,-0.53,-126.5,614.8,-9.9,191,4895,0.00,1.58,0.00,0.000,4,0.000,0.025,2508,1474,3402
$GC,4942,-0.53,-126.5,619.8,-9.8,192,4945,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2569,3401
$GC,5237,-0.53,-126.5,650.7,-10.7,199,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2569,3400
$GC,5480,-0.53,-126.5,675.3,-9.9,205,5484,0.00,1.55,0.00,0.000,4,0.000,0.054,2494,3556,3398
$GC,5499,-0.53,-126.5,677.6,-9.7,205,5502,0.00,1.38,0.00,0.000,6,0.000,0.026,2499,2614,3398
$GC,5776,-0.53,-126.5,702.8,-9.0,212,5779,0.00,1.60,0.00,0.000,4,0.000,0.027,2507,1466,3397
$GC,5986,-0.53,-126.5,719.4,-6.6,216,5990,0.00,1.65,0.00,0.000,6,0.000,0.045,2502,2524,3395
$GC,6253,-0.53,-126.5,740.3,-8.0,223,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2524,3393
$GC,6497,-0.53,-126.5,759.8,-7.9,229,6501,0.00,1.62,0.00,0.000,4,0.000,0.057,2494,3569,3392
$GC,6522,-0.53,-126.5,762.2,-8.2,229,6525,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2552,3392
$GC,6793,-0.53,-126.5,782.0,-7.2,236,6797,0.00,1.52,0.00,0.000,4,0.000,0.027,2507,1476,3390
$GC,6829,-0.53,-126.5,784.6,-6.6,236,6833,0.00,1.60,0.00,0.000,6,0.000,0.046,2502,2519,3390
$GC,7090,-0.53,-126.5,801.8,-6.7,243,7094,0.00,1.62,0.00,0.000,4,0.000,0.057,2494,3563,3389
$GC,7154,-0.53,-126.5,807.1,-9.4,244,7158,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2547,3388
$GC,7431,-0.53,-126.5,825.3,-6.6,251,7435,0.00,1.62,0.00,0.000,4,0.000,0.055,2494,3568,3387
$GC,7456,-0.53,-126.5,827.3,-7.2,251,7460,0.00,1.55,0.00,0.000,6,0.000,0.025,2499,2519,3387
$GC,7728,-0.53,-126.5,848.0,-7.9,258,7731,0.00,1.67,0.00,0.000,4,0.000,0.056,2494,3568,3386
$GC,7798,-0.53,-126.5,854.5,-9.9,259,7801,0.00,1.52,0.00,0.000,6,0.000,0.026,2499,2536,3386
$GC,8069,-0.53,-126.5,878.0,-8.8,266,8073,0.00,1.65,0.00,0.000,4,0.000,0.056,2494,3570,3385
$GC,8134,-0.53,-126.5,884.3,-9.9,267,8138,0.00,1.50,0.00,0.000,6,0.000,0.026,2499,2556,3384
$STATE,8325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8325,begin apogee
$GC,8336,-0.17,0.0,901.5,8.9,272,8449,0.43,0.00,110.10,1.258,6,0.102,0.000,2646,2195,2888
$STATE,8450,end apogee,CONTROL_FINISHED_OK
$STATE,8450,begin climb
$GC,8455,0.53,126.5,905.5,0.0,275,8635,0.57,0.00,135.02,1.106,6,0.031,0.000,2885,2194,2372
$GC,8874,0.53,126.5,851.6,18.0,285,8877,0.00,1.75,0.00,0.000,4,0.000,0.050,2879,3288,2362
$GC,8960,0.53,126.5,834.9,18.5,286,8968,0.00,1.52,0.00,0.000,6,0.000,0.026,2884,2280,2361
$GC,9215,0.53,126.5,788.6,18.1,293,9219,0.00,1.62,0.00,0.000,4,0.000,0.048,2878,3306,2359
$GC,9251,0.53,126.5,781.1,18.9,293,9254,0.00,1.50,0.00,0.000,6,0.000,0.028,2884,2308,2359
$GC,9511,0.53,126.5,735.7,17.5,300,9514,0.00,1.62,0.00,0.000,4,0.000,0.028,2892,1173,2358
$GC,9642,0.53,126.5,714.7,15.1,302,9650,0.00,1.70,0.00,0.000,6,0.000,0.042,2891,2256,2357
$GC,9897,0.53,126.5,674.6,15.9,309,9901,0.00,1.60,0.00,0.000,4,0.000,0.028,2897,1196,2357
$GC,9948,0.53,126.5,667.0,14.1,310,9952,0.00,1.58,0.00,0.000,6,0.000,0.040,2892,2202,2356
$GC,10242,0.53,126.5,620.0,16.2,317,10245,0.00,1.67,0.00,0.000,4,0.000,0.051,2891,3290,2356
$GC,10292,0.53,126.5,611.6,17.0,318,10296,0.08,1.60,0.00,0.000,6,0.179,0.026,2875,2221,2355
$GC,10586,0.53,126.5,566.3,15.4,325,10590,0.00,1.55,0.00,0.000,4,0.000,0.028,2881,1154,2354
$GC,10616,0.53,126.5,561.4,14.4,325,10620,0.00,1.65,0.00,0.000,6,0.000,0.041,2876,2209,2354
$GC,10882,0.53,126.5,523.3,14.4,332,10886,0.00,1.67,0.00,0.000,4,0.000,0.049,2876,3279,2354
$GC,10991,0.53,126.5,506.5,16.3,334,10995,0.00,1.55,0.00,0.000,6,0.000,0.027,2881,2235,2353
$GC,11268,0.53,126.5,469.0,13.4,341,11272,0.00,1.67,0.00,0.000,4,0.000,0.049,2876,3279,2353
$GC,11394,0.53,126.5,452.3,12.0,343,11397,0.00,1.48,0.00,0.000,6,0.000,0.027,2881,2282,2353
$GC,11654,0.53,126.5,424.4,10.5,350,11658,0.00,1.62,0.00,0.000,4,0.000,0.028,2890,1162,2352
$GC,11711,0.53,126.5,418.3,10.7,351,11715,0.00,1.77,0.00,0.000,6,0.000,0.042,2889,2316,2352
$GC,11995,0.53,126.5,381.3,13.3,358,11999,0.00,1.50,0.00,0.000,4,0.000,0.049,2889,3277,2351
$GC,12025,0.53,126.5,376.6,14.7,358,12029,0.00,1.45,0.00,0.000,6,0.000,0.025,2895,2290,2352
$GC,12290,0.53,126.5,343.4,12.6,365,12294,0.00,1.62,0.00,0.000,4,0.000,0.028,2904,1144,2351
$GC,12388,0.53,126.5,332.2,9.7,367,12392,0.15,1.70,0.00,0.000,6,0.137,0.041,2863,2256,2352
$GC,12676,0.53,126.5,306.3,9.2,374,12679,0.00,1.60,0.00,0.000,4,0.000,0.048,2863,3282,2351
$GC,12936,0.53,126.5,280.5,9.0,379,12940,0.00,1.45,0.00,0.000,6,0.000,0.025,2868,2290,2352
$GC,13197,0.53,137.1,258.4,8.4,386,13208,0.00,1.65,7.07,0.709,4,0.000,0.026,2876,1163,2330
$GC,13338,0.53,139.8,246.7,8.8,389,13347,0.00,1.70,4.47,0.588,6,0.000,0.041,2875,2275,2318
$GC,13626,0.53,139.8,221.0,9.2,396,13629,0.00,1.55,0.00,0.000,4,0.000,0.047,2876,3279,2317
$GC,13644,0.53,147.7,219.2,8.5,396,13659,0.00,1.58,8.80,0.704,6,0.000,0.024,2882,2195,2286
$GC,13912,0.54,152.7,194.4,8.7,405,13926,0.00,1.70,5.95,0.621,4,0.000,0.046,2876,3276,2266
$GC,14012,0.54,152.7,184.4,9.8,413,14018,0.00,1.50,0.00,0.000,6,0.000,0.024,2881,2246,2265
$GC,14278,0.54,152.7,160.4,9.3,438,14281,0.00,1.52,0.00,0.000,4,0.000,0.025,2889,1171,2265
$GC,14364,0.54,166.2,152.4,8.2,445,14386,0.00,1.62,13.62,0.670,6,0.000,0.038,2888,2225,2209
$GC,14650,0.54,166.2,125.8,10.6,471,14654,0.00,1.60,0.00,0.000,4,0.000,0.044,2889,3285,2207
$GC,14712,0.54,166.2,117.7,12.2,476,14716,0.00,1.52,0.00,0.000,6,0.000,0.022,2894,2233,2207
$GC,14990,0.55,193.4,91.1,7.4,501,15018,0.00,1.67,24.23,0.628,4,0.000,0.041,2891,3279,2098
$GC,15084,0.55,193.4,82.4,11.0,508,15093,0.00,1.52,0.00,0.000,6,0.000,0.022,2897,2240,2096
$GC,15351,0.58,251.7,65.0,5.5,533,15407,0.00,1.58,48.45,0.604,4,0.000,0.022,2899,1160,1860
$GC,15462,0.59,285.1,55.3,7.0,541,15500,0.00,1.67,28.00,0.582,6,0.000,0.035,2899,2234,1723
$GC,15771,0.59,285.1,22.0,9.5,574,15780,0.00,1.60,0.00,0.000,4,0.000,0.042,2899,3271,1719
$GC,15823,0.59,285.1,14.7,14.8,581,15832,0.00,1.52,0.00,0.000,6,0.000,0.020,2899,2196,1718
$STATE,15969,end climb,SURFACE_DEPTH_REACHED
$STATE,15969,begin surface coast
$FINISH,0.3,1.021959
$STATE,16012,end surface coast,CONTROL_FINISHED_OK
$STATE,16012,begin surface
$SM_CCo,16038,148.02,0.535,0,0,398,610.54
$SM_GC,1.50,0.00,0.00,148.02,0.000,0.000,0.535,31,2534,398,-8.27,1.13,610.54
$IRIDIUM_FIX,2321.52,-15759.69,040203,131332
$TT8_MAMPS,0.024544
$HUMID,2171
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,26.00
$XPDR_PINGS,7
$24V_AH,23.7,47.055
$10V_AH,10.6,55.980
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.325,130.125,385.725,148.025,0.000,146.650,210.333,1276.598,1.750,0.000,0.000,15.990,1352.549,10625.850,584.377,3399.279,2350.103,33.367,1701.545,0.000,3379.434,0.000,0.546,0.000
$DEVICE_MAMPS,206.323,56.758,1257.880,535.366,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,415.523,2004.953,2071.983,1437.041,1363.958,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50939,610
$CAP_FILE_SIZE,151195,0
$CFSIZE,260165632,239775744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,101113,182805,2304.647,-15804.144,28,2.0,28,10.1