version: 66.04
glider: 512
mission: 4
dive: 355
start: 11 27 113 0 47 25
data:
$ID,512
$MISSION,4
$DIVE,355
$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,-114331.76
$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,35
$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,83
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2858
$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
$GPS1,001835,2256.177,-15804.481,39,1.0,51,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-80.8
$GPS2,004631,2256.111,-15804.283,17,1.1,17,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.010,0.235
$KALMAN_X,88058.7,531.8,177.8,-96001.2,141.9
$KALMAN_Y,-44040.4,626.3,24.5,65663.1,-2816.5
$MHEAD_RNG_PITCHd_Wd,347.6,15450,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.54,-126.5,0.0,0.0,0,93,0.00,0.00,-68.57,0.000,2,0.000,0.000,7,2536,2878
$GC,99,-0.54,-126.5,2.0,-1.1,8,128,9.65,1.55,-11.70,0.000,4,0.199,0.056,2512,3542,3372
$GC,251,-0.54,-126.5,40.6,-22.1,27,261,0.00,1.48,0.00,0.000,6,0.000,0.019,2514,2515,3372
$GC,517,-0.54,-126.5,102.4,-18.5,52,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2506,3373
$GC,784,-0.54,-126.5,147.8,-17.4,77,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2506,3374
$GC,1050,-0.54,-126.5,190.4,-15.7,102,1053,0.00,1.58,0.00,0.000,4,0.000,0.041,2508,3541,3374
$GC,1078,-0.54,-126.5,195.1,-16.3,104,1082,0.00,1.48,0.00,0.000,6,0.000,0.019,2509,2491,3374
$GC,1359,-0.54,-126.5,237.1,-14.7,113,1363,0.00,1.60,0.00,0.000,4,0.000,0.041,2503,3554,3373
$GC,1417,-0.54,-126.5,245.6,-13.9,114,1421,0.00,1.42,0.00,0.000,6,0.000,0.020,2504,2542,3373
$GC,1700,-0.54,-126.5,281.4,-12.8,121,1704,0.00,1.50,0.00,0.000,4,0.000,0.021,2508,1446,3372
$GC,1847,-0.54,-126.5,299.2,-11.0,124,1851,0.00,1.58,0.00,0.000,6,0.000,0.038,2502,2487,3372
$GC,2131,-0.54,-126.5,331.0,-11.2,131,2134,0.00,1.62,0.00,0.000,4,0.000,0.047,2494,3574,3371
$GC,2234,-0.54,-126.5,343.4,-11.3,133,2237,0.00,1.48,0.00,0.000,6,0.000,0.020,2499,2534,3369
$GC,2517,-0.54,-126.5,373.7,-11.0,140,2520,0.00,1.48,0.00,0.000,4,0.000,0.021,2507,1452,3368
$GC,2547,-0.54,-126.5,377.2,-10.2,140,2551,0.00,1.67,0.00,0.000,6,0.000,0.038,2501,2557,3367
$GC,2813,-0.54,-126.5,404.4,-10.5,147,2817,0.00,1.52,-0.08,0.000,4,0.000,0.065,2493,3561,3388
$GC,2854,-0.54,-126.5,409.5,-11.7,147,2864,0.00,1.42,0.00,0.000,6,0.000,0.021,2500,2554,3388
$GC,3111,-0.54,-126.5,436.4,-10.5,154,3115,0.00,1.52,0.00,0.000,4,0.000,0.021,2507,1458,3386
$GC,3161,-0.54,-126.5,441.7,-9.3,155,3164,0.00,1.65,0.00,0.000,6,0.000,0.039,2501,2558,3385
$GC,3455,-0.54,-126.5,471.9,-10.5,162,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2558,3383
$GC,3699,-0.54,-126.5,498.1,-10.7,168,3702,0.00,1.55,0.00,0.000,4,0.000,0.049,2493,3561,3380
$GC,3750,-0.54,-126.5,503.4,-10.1,169,3754,0.00,1.45,0.00,0.000,6,0.000,0.023,2498,2553,3379
$GC,4044,-0.54,-126.5,532.6,-9.8,176,4048,0.00,1.52,0.00,0.000,4,0.000,0.023,2506,1456,3378
$GC,4086,-0.54,-126.5,536.8,-9.0,176,4094,0.00,1.65,0.00,0.000,6,0.000,0.041,2500,2527,3377
$GC,4340,-0.54,-126.5,560.7,-9.6,183,4344,0.00,1.60,0.00,0.000,4,0.000,0.051,2492,3579,3375
$GC,4392,-0.54,-126.5,565.6,-9.5,184,4395,0.00,1.50,0.00,0.000,6,0.000,0.025,2498,2552,3374
$GC,4686,-0.54,-126.5,594.2,-9.8,191,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2544,3372
$GC,4929,-0.54,-126.5,617.9,-9.6,197,4933,0.00,1.60,0.00,0.000,4,0.000,0.051,2492,3576,3370
$GC,5027,-0.54,-126.5,627.7,-8.9,199,5031,0.00,1.48,0.00,0.000,6,0.000,0.026,2497,2561,3369
$GC,5316,-0.54,-126.5,652.5,-8.7,206,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2551,3368
$GC,5560,-0.54,-126.5,672.8,-8.3,212,5563,0.00,1.55,0.00,0.000,4,0.000,0.025,2505,1457,3365
$GC,5601,-0.54,-126.5,676.3,-6.9,212,5609,0.00,1.70,0.00,0.000,6,0.000,0.044,2499,2550,3365
$GC,5857,-0.54,-126.5,697.1,-8.4,219,5860,0.00,1.58,0.00,0.000,4,0.000,0.054,2491,3556,3364
$GC,5932,-0.54,-126.5,704.2,-9.3,220,5935,0.00,1.45,0.00,0.000,6,0.000,0.027,2496,2569,3363
$GC,6198,-0.54,-126.5,726.6,-8.5,227,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2559,3362
$GC,6442,-0.54,-126.5,747.0,-8.4,233,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2560,3360
$GC,6686,-0.54,-126.5,766.2,-7.7,239,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2560,3359
$GC,6929,-0.54,-126.5,783.6,-7.0,245,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2559,3358
$GC,7173,-0.54,-126.5,800.3,-6.8,251,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2559,3357
$GC,7417,-0.54,-126.5,816.4,-6.6,257,7421,0.00,1.60,0.00,0.000,4,0.000,0.054,2491,3559,3355
$GC,7459,-0.54,-126.5,819.7,-7.5,257,7466,0.00,1.48,0.00,0.000,6,0.000,0.028,2497,2555,3355
$GC,7713,-0.54,-126.5,837.8,-7.3,264,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2555,3354
$GC,7957,-0.54,-126.5,856.2,-7.6,270,7961,0.00,1.60,0.00,0.000,4,0.000,0.055,2491,3572,3353
$GC,8009,-0.54,-126.5,860.2,-8.0,271,8013,0.00,1.48,0.00,0.000,6,0.000,0.028,2496,2573,3353
$GC,8303,-0.54,-126.5,883.2,-7.8,278,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2564,3352
$STATE,8542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8542,begin apogee
$GC,8554,-0.20,0.0,902.4,7.8,284,8668,0.40,0.00,111.75,1.253,6,0.101,0.000,2635,2219,2858
$STATE,8669,end apogee,CONTROL_FINISHED_OK
$STATE,8669,begin climb
$GC,8675,0.54,126.5,905.4,0.0,287,8824,0.62,1.62,128.10,1.167,4,0.041,0.027,2882,1188,2342
$GC,8898,0.54,126.5,882.3,16.8,292,8902,0.00,1.67,0.00,0.000,6,0.000,0.040,2878,2234,2335
$GC,9187,0.54,126.5,832.1,17.5,299,9191,0.00,1.62,0.00,0.000,4,0.000,0.050,2875,3281,2330
$GC,9272,0.54,126.5,815.8,18.7,300,9282,0.00,1.52,0.00,0.000,6,0.000,0.028,2881,2264,2329
$GC,9528,0.54,126.5,772.2,17.3,307,9532,0.00,1.62,0.00,0.000,4,0.000,0.048,2878,3296,2328
$GC,9563,0.54,126.5,765.1,18.3,307,9567,0.00,1.55,0.00,0.000,6,0.000,0.028,2884,2262,2327
$GC,9824,0.54,126.5,722.4,16.1,314,9828,0.00,1.62,0.00,0.000,4,0.000,0.048,2884,3296,2326
$GC,9843,0.54,126.5,718.6,16.4,314,9847,0.00,1.52,0.00,0.000,6,0.000,0.028,2890,2273,2326
$GC,10120,0.54,126.5,674.0,16.1,321,10123,0.00,1.62,0.00,0.000,4,0.000,0.050,2891,3303,2326
$GC,10150,0.54,126.5,668.4,17.5,321,10153,0.00,1.50,0.00,0.000,6,0.000,0.028,2897,2293,2325
$GC,10417,0.54,126.5,625.4,16.2,328,10420,0.00,1.62,0.00,0.000,4,0.000,0.029,2905,1154,2325
$GC,10467,0.54,126.5,616.9,15.9,329,10471,0.08,1.77,0.00,0.000,6,0.145,0.043,2879,2287,2324
$GC,10760,0.54,126.5,574.2,14.4,336,10764,0.00,1.58,0.00,0.000,4,0.000,0.051,2876,3290,2323
$GC,10847,0.54,126.5,560.5,16.3,337,10855,0.00,1.50,0.00,0.000,6,0.000,0.028,2882,2279,2324
$GC,11101,0.54,126.5,524.4,14.0,344,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2273,2324
$GC,11345,0.54,126.5,491.1,13.5,350,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2273,2323
$GC,11589,0.54,126.5,459.6,12.9,356,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2273,2323
$GC,11833,0.54,126.5,428.6,12.7,362,11837,0.00,1.60,0.00,0.000,4,0.000,0.050,2878,3278,2323
$GC,11896,0.54,126.5,420.2,13.0,363,11900,0.00,1.50,0.00,0.000,6,0.000,0.028,2883,2268,2322
$GC,12174,0.54,126.5,387.6,11.8,370,12178,0.00,1.60,0.00,0.000,4,0.000,0.028,2891,1161,2322
$GC,12249,0.54,126.5,378.1,11.9,371,12253,0.00,1.70,0.00,0.000,6,0.000,0.044,2890,2266,2322
$GC,12515,0.54,126.5,346.4,11.6,378,12518,0.00,1.60,0.00,0.000,4,0.000,0.051,2890,3285,2322
$GC,12596,0.54,126.5,335.3,13.6,379,12600,0.00,1.52,0.00,0.000,6,0.000,0.028,2897,2255,2321
$GC,12856,0.54,126.5,304.9,11.8,386,12860,0.00,1.65,0.00,0.000,4,0.000,0.049,2898,3285,2321
$GC,12886,0.54,126.5,301.0,13.2,386,12890,0.00,1.50,0.00,0.000,6,0.000,0.027,2902,2280,2321
$GC,13152,0.54,126.5,271.7,10.7,393,13156,0.00,1.62,0.00,0.000,4,0.000,0.028,2910,1136,2321
$GC,13222,0.54,126.5,264.2,9.7,394,13226,0.12,1.75,0.00,0.000,6,0.137,0.041,2878,2280,2321
$GC,13494,0.55,138.8,241.2,8.4,401,13508,0.00,1.67,9.02,0.734,4,0.000,0.026,2884,1171,2291
$GC,13677,0.55,147.5,225.3,8.6,405,13692,0.00,1.62,9.75,0.722,6,0.000,0.038,2884,2237,2256
$GC,13972,0.55,147.5,196.8,10.0,412,13975,0.00,1.58,0.00,0.000,4,0.000,0.026,2890,1163,2253
$GC,14066,0.55,147.5,187.5,9.4,420,14070,0.00,1.60,0.00,0.000,6,0.000,0.038,2890,2194,2253
$GC,14340,0.56,161.9,163.2,8.3,445,14358,0.00,1.73,13.90,0.684,4,0.000,0.046,2890,3292,2197
$GC,14432,0.56,161.9,153.4,10.8,452,14439,0.00,1.60,0.00,0.000,6,0.000,0.024,2897,2205,2196
$GC,14699,0.56,161.9,126.6,9.9,477,14707,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2199,2195
$GC,14966,0.56,174.8,100.5,8.4,502,14984,0.00,0.00,12.40,0.614,6,0.000,0.000,2898,2199,2146
$GC,15242,0.58,220.5,80.3,6.8,528,15288,0.00,1.73,39.83,0.622,4,0.000,0.043,2898,3280,1959
$GC,15325,0.60,265.3,74.7,6.9,534,15368,0.00,1.60,38.05,0.607,6,0.000,0.022,2899,2185,1775
$GC,15625,0.60,265.3,50.6,9.5,561,15633,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2185,1770
$GC,15898,0.60,265.3,25.0,10.3,589,15907,0.00,1.70,0.00,0.000,4,0.000,0.040,2899,3282,1770
$GC,15931,0.60,265.3,21.2,11.1,593,15941,0.00,1.62,0.00,0.000,6,0.000,0.021,2899,2172,1770
$STATE,16137,end climb,SURFACE_DEPTH_REACHED
$STATE,16137,begin surface coast
$FINISH,0.5,1.011114
$STATE,16176,end surface coast,CONTROL_FINISHED_OK
$STATE,16176,begin surface
$SM_CCo,16201,50.47,0.535,0,0,1267,390.02
$SM_GC,1.44,0.00,0.00,50.47,0.000,0.000,0.535,35,2521,1267,-8.32,0.59,390.02
$IRIDIUM_FIX,2244.02,-15803.66,210203,000055
$TT8_MAMPS,0.023777
$HUMID,2224
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.90
$XPDR_PINGS,4
$24V_AH,23.1,59.467
$10V_AH,10.6,73.215
$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,18.050,105.200,362.800,50.475,0.000,112.982,148.149,1014.580,1.000,0.000,0.000,17.784,1308.890,10968.216,459.939,3242.204,1939.401,33.383,1474.458,0.000,3246.832,0.000,0.545,0.000
$DEVICE_MAMPS,198.653,65.195,1252.511,535.366,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,429.748,2077.062,2147.758,1449.719,1407.644,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54026,631
$CAP_FILE_SIZE,137762,0
$CFSIZE,260165632,234524672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,271113,051936,2257.518,-15803.722,30,1.1,30,10.1