version: 66.04
glider: 512
mission: 4
dive: 345
start: 11 24 113 15 59 45
data:
$ID,512
$MISSION,4
$DIVE,345
$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,390
$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,-114135.98
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$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,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2868
$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
$GPS1,154559,2242.635,-15806.528,43,1.3,43,10.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-82.0
$GPS2,155848,2242.501,-15806.585,12,1.2,17,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.061,0.227
$KALMAN_X,80315.6,-470.5,-76.1,-90923.8,1415.5
$KALMAN_Y,-22539.7,385.9,-81.3,19310.8,-2236.8
$MHEAD_RNG_PITCHd_Wd,335.0,40800,-17.2,-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,-0.47,-126.5,0.0,0.0,0,97,0.00,0.00,-77.07,0.000,2,0.000,0.000,6,2518,2914
$GC,103,-0.47,-126.5,2.2,-0.9,9,130,9.77,1.55,-10.43,0.000,4,0.200,0.038,2542,1423,3384
$GC,311,-0.47,-126.5,49.4,-18.1,33,314,0.00,1.62,0.00,0.000,6,0.000,0.037,2536,2507,3384
$GC,582,-0.47,-126.5,104.0,-15.0,58,586,0.00,1.60,0.00,0.000,4,0.000,0.045,2528,3557,3384
$GC,667,-0.47,-126.5,117.4,-15.8,65,671,0.00,1.52,0.00,0.000,6,0.000,0.019,2532,2488,3384
$GC,939,-0.47,-126.5,158.3,-13.3,90,942,0.00,1.65,0.00,0.000,4,0.000,0.041,2526,3556,3385
$GC,1023,-0.47,-126.5,169.1,-13.0,97,1027,0.00,1.50,0.00,0.000,6,0.000,0.019,2528,2505,3385
$GC,1302,-0.47,-126.5,206.5,-13.8,120,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2498,3385
$GC,1546,-0.47,-126.5,241.1,-14.0,126,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2498,3385
$GC,1790,-0.47,-126.5,269.7,-11.2,132,1794,0.00,1.60,0.00,0.000,4,0.000,0.042,2524,3561,3385
$GC,1893,-0.47,-126.5,280.4,-10.5,134,1897,0.00,1.52,0.00,0.000,6,0.000,0.020,2524,2485,3385
$GC,2176,-0.47,-126.5,309.4,-10.6,141,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2478,3384
$GC,2420,-0.47,-126.5,334.9,-10.6,147,2423,0.00,1.65,0.00,0.000,4,0.000,0.043,2516,3569,3383
$GC,2496,-0.47,-126.5,343.7,-11.7,148,2500,0.05,1.52,0.00,0.000,6,0.119,0.021,2549,2487,3383
$GC,2762,-0.47,-126.5,366.9,-8.8,155,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2480,3381
$GC,3005,-0.47,-126.5,387.0,-8.0,161,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2479,3379
$GC,3250,-0.47,-126.5,403.4,-6.7,167,3253,0.00,1.65,0.00,0.000,4,0.000,0.048,2542,3558,3377
$GC,3307,-0.47,-126.5,407.3,-6.3,168,3311,0.00,1.52,0.00,0.000,6,0.000,0.023,2542,2493,3376
$GC,3591,-0.47,-126.5,426.1,-6.6,175,3595,0.00,1.45,-0.08,0.000,4,0.000,0.040,2542,1436,3398
$GC,3642,-0.47,-126.5,429.6,-6.6,176,3646,0.00,1.60,0.00,0.000,6,0.000,0.039,2537,2480,3398
$GC,3936,-0.47,-126.5,451.7,-7.8,183,3939,0.00,1.65,0.00,0.000,4,0.000,0.050,2529,3562,3395
$GC,3987,-0.47,-126.5,455.9,-8.3,184,3991,0.00,1.55,0.00,0.000,6,0.000,0.024,2529,2496,3395
$GC,4282,-0.47,-126.5,481.3,-8.3,191,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2488,3393
$GC,4525,-0.47,-126.5,499.6,-7.2,197,4529,0.00,1.65,0.00,0.000,4,0.000,0.048,2524,3556,3391
$GC,4590,-0.47,-126.5,504.4,-7.7,198,4594,0.00,1.58,0.00,0.000,6,0.000,0.025,2524,2477,3390
$GC,4869,-0.47,-126.5,523.5,-6.9,205,4872,0.00,1.70,0.00,0.000,4,0.000,0.052,2523,3560,3388
$GC,4921,-0.47,-126.5,527.4,-6.9,206,4925,0.00,1.55,0.00,0.000,6,0.000,0.025,2523,2499,3388
$GC,5210,-0.47,-126.5,547.3,-7.0,213,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2493,3386
$GC,5453,-0.47,-126.5,565.9,-7.7,219,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2493,3385
$GC,5698,-0.47,-126.5,586.2,-8.4,225,5702,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3562,3383
$GC,5749,-0.47,-126.5,590.6,-8.4,226,5753,0.00,1.55,0.00,0.000,6,0.000,0.025,2523,2502,3383
$GC,6044,-0.47,-126.5,615.9,-8.5,233,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2495,3381
$GC,6287,-0.47,-126.5,634.9,-7.7,239,6291,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3562,3380
$GC,6346,-0.47,-126.5,639.4,-6.9,240,6350,0.00,1.55,0.00,0.000,6,0.000,0.027,2524,2504,3379
$GC,6630,-0.47,-126.5,658.4,-6.7,247,6633,0.00,1.67,0.00,0.000,4,0.000,0.055,2523,3560,3378
$GC,6687,-0.47,-126.5,662.3,-6.5,248,6691,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2522,3378
$GC,6971,-0.47,-126.5,678.5,-5.7,255,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2514,3376
$GC,7214,-0.47,-126.5,693.0,-6.1,261,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2514,3375
$GC,7458,-0.47,-126.5,708.4,-6.3,267,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2514,3374
$GC,7701,-0.47,-126.5,724.2,-6.5,273,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2513,3372
$GC,7946,-0.47,-126.5,739.7,-6.3,279,7949,0.00,1.65,0.00,0.000,4,0.000,0.057,2524,3556,3371
$GC,7987,-0.47,-126.5,742.5,-6.3,279,7996,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2518,3372
$GC,8243,-0.47,-126.5,757.8,-6.1,286,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2517,3371
$GC,8487,-0.47,-126.5,773.0,-6.3,292,8490,0.00,1.65,0.00,0.000,4,0.000,0.057,2523,3558,3370
$GC,8523,-0.47,-126.5,775.6,-6.4,292,8527,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2542,3370
$GC,8783,-0.47,-126.5,793.1,-6.9,299,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2534,3369
$GC,9027,-0.47,-126.5,809.0,-6.5,305,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2534,3369
$GC,9271,-0.47,-126.5,823.8,-5.9,311,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2534,3368
$GC,9514,-0.47,-126.5,836.5,-5.1,317,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2534,3366
$GC,9758,-0.47,-126.5,847.9,-4.6,323,9762,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1445,3366
$GC,9800,-0.47,-126.5,850.3,-5.6,323,9808,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2534,3366
$GC,10055,-0.47,-126.5,863.4,-5.3,330,10058,0.00,1.62,0.00,0.000,4,0.000,0.059,2523,3566,3365
$GC,10090,-0.47,-126.5,865.8,-5.2,330,10094,0.00,1.52,0.00,0.000,6,0.000,0.029,2523,2539,3365
$GC,10352,-0.47,-126.5,880.8,-5.9,337,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2530,3364
$GC,10596,-0.47,-126.5,894.8,-5.8,343,10599,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1451,3364
$GC,10626,-0.47,-126.5,897.0,-6.7,343,10630,0.00,1.75,0.00,0.000,6,0.000,0.049,2523,2553,3364
$STATE,10683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10683,begin apogee
$GC,10695,-0.17,0.0,900.2,5.5,345,10811,0.38,0.00,113.22,1.254,6,0.094,0.000,2649,2219,2868
$STATE,10811,end apogee,CONTROL_FINISHED_OK
$STATE,10811,begin climb
$GC,10817,0.47,126.5,903.1,0.0,348,11042,0.52,1.67,147.10,1.045,4,0.031,0.028,2884,1165,2351
$GC,11078,0.47,126.5,875.4,17.6,353,11086,0.00,1.75,0.00,0.000,6,0.000,0.041,2878,2229,2348
$GC,11332,0.47,126.5,830.0,18.2,360,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2229,2344
$GC,11576,0.47,126.5,784.7,18.6,366,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2229,2342
$GC,11820,0.47,126.5,742.4,17.2,372,11824,0.00,1.62,0.00,0.000,4,0.000,0.050,2875,3280,2341
$GC,11852,0.47,126.5,736.7,17.1,372,11855,0.00,1.58,0.00,0.000,6,0.000,0.028,2881,2228,2340
$GC,12119,0.47,126.5,696.2,14.7,379,12120,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2221,2340
$GC,12362,0.47,126.5,663.8,13.2,385,12366,0.00,1.55,0.00,0.000,4,0.000,0.030,2889,1164,2339
$GC,12392,0.47,126.5,659.6,11.9,385,12397,0.10,1.65,0.00,0.000,6,0.177,0.043,2860,2217,2339
$GC,12657,0.47,126.5,633.0,9.8,392,12661,0.00,1.67,0.00,0.000,4,0.000,0.051,2859,3279,2338
$GC,12732,0.47,126.5,624.3,11.3,393,12735,0.00,1.58,0.00,0.000,6,0.000,0.028,2865,2221,2338
$GC,12999,0.47,126.5,593.9,11.8,400,13003,0.00,1.70,0.00,0.000,4,0.000,0.050,2863,3275,2337
$GC,13051,0.47,126.5,586.2,13.9,401,13055,0.00,1.55,0.00,0.000,6,0.000,0.028,2868,2232,2337
$GC,13340,0.47,126.5,548.2,13.3,408,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2226,2337
$GC,13583,0.47,126.5,517.0,12.8,414,13587,0.00,1.65,0.00,0.000,4,0.000,0.050,2863,3280,2336
$GC,13659,0.47,126.5,506.2,12.8,415,13662,0.00,1.52,0.00,0.000,6,0.000,0.028,2868,2249,2336
$GC,13925,0.47,126.5,471.2,13.2,422,13928,0.00,1.62,0.00,0.000,4,0.000,0.050,2864,3279,2336
$GC,14022,0.47,126.5,458.4,12.4,424,14025,0.00,1.48,0.00,0.000,6,0.000,0.027,2868,2280,2336
$GC,14311,0.47,126.5,425.2,10.9,431,14312,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2274,2336
$GC,14554,0.47,126.5,399.4,10.3,437,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2273,2336
$GC,14798,0.47,126.5,372.8,11.3,443,14802,0.00,1.60,0.00,0.000,4,0.000,0.048,2863,3279,2336
$GC,14856,0.47,126.5,365.3,12.3,444,14860,0.00,1.50,0.00,0.000,6,0.000,0.027,2868,2258,2336
$GC,15140,0.47,126.5,331.9,11.8,451,15141,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2252,2336
$GC,15383,0.47,126.5,306.6,9.9,457,15386,0.00,1.62,0.00,0.000,4,0.000,0.048,2863,3297,2336
$GC,15587,0.48,163.1,289.7,7.3,461,15629,0.00,1.55,32.50,0.800,6,0.000,0.026,2869,2239,2205
$GC,15903,0.48,163.1,262.8,9.4,469,15904,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2239,2199
$GC,16147,0.48,163.1,234.7,11.7,475,16148,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2238,2199
$GC,16391,0.48,163.1,209.3,10.5,481,16394,0.00,1.62,0.00,0.000,4,0.000,0.045,2864,3291,2199
$GC,16448,0.48,163.1,203.4,10.0,482,16452,0.00,1.48,0.00,0.000,6,0.000,0.025,2868,2285,2198
$GC,16726,0.49,178.4,179.2,8.3,505,16745,0.00,0.00,14.52,0.700,6,0.000,0.000,2870,2279,2140
$GC,17003,0.49,178.4,152.2,9.9,531,17011,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2279,2137
$GC,17268,0.50,196.5,127.1,8.1,556,17287,0.00,0.00,17.10,0.653,6,0.000,0.000,2869,2279,2066
$GC,17545,0.52,250.1,106.0,6.4,582,17599,0.00,1.60,45.85,0.645,4,0.000,0.041,2863,3285,1847
$GC,17665,0.52,259.5,96.4,8.6,591,17678,0.00,1.50,9.32,0.572,6,0.000,0.023,2868,2272,1808
$GC,17946,0.54,306.1,76.1,6.8,616,17989,0.00,1.65,38.85,0.609,4,0.000,0.024,2869,1166,1620
$GC,18030,0.56,350.1,70.1,6.9,622,18074,0.00,1.70,36.92,0.597,6,0.000,0.033,2869,2280,1439
$GC,18330,0.56,350.1,45.6,9.2,649,18334,0.00,1.55,0.00,0.000,4,0.000,0.042,2869,3291,1434
$GC,18624,0.56,350.1,15.1,10.8,682,18634,0.00,1.48,0.00,0.000,6,0.000,0.021,2869,2255,1434
$STATE,18739,end climb,SURFACE_DEPTH_REACHED
$STATE,18739,begin surface coast
$FINISH,0.5,1.001334
$STATE,18776,end surface coast,CONTROL_FINISHED_OK
$STATE,18776,begin surface
$SM_CCo,18801,16.85,0.517,0,0,1277,390.02
$SM_GC,1.82,0.00,0.00,16.85,0.000,0.000,0.517,24,2519,1277,-8.36,0.54,390.02
$IRIDIUM_FIX,2234.68,-15808.45,180203,101020
$TT8_MAMPS,0.023777
$HUMID,2246
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,23.3,57.689
$10V_AH,10.5,70.797
$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,18.025,99.725,455.400,16.850,0.000,31.377,37.015,486.422,0.750,0.000,0.000,17.684,1443.733,12815.972,502.426,3552.884,1265.910,33.373,1596.848,0.000,3546.539,0.000,0.545,0.000
$DEVICE_MAMPS,200.187,59.059,1254.045,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,480.934,2321.128,2407.992,1544.167,1532.379,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57312,705
$CAP_FILE_SIZE,138345,0
$CFSIZE,260165632,235266048
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,241113,211459,2244.011,-15807.062,42,1.3,47,10.0