version: 66.04
glider: 512
mission: 4
dive: 356
start: 11 27 113 5 29 31
data:
$ID,512
$MISSION,4
$DIVE,356
$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,-114346.4
$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,59
$R_STBD_OVSHOOT,32
$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
$GPS1,051936,2257.518,-15803.722,30,1.1,30,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-79.4
$GPS2,052837,2257.500,-15803.688,13,1.2,13,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.032,0.233
$KALMAN_X,89581.6,232.3,147.3,-96183.2,452.1
$KALMAN_Y,-45604.6,-120.2,207.1,70364.0,-3049.0
$MHEAD_RNG_PITCHd_Wd,342.2,12950,-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,23,-0.54,-126.5,0.0,0.0,0,93,0.00,0.00,-68.60,0.000,2,0.000,0.000,10,2518,2885
$GC,99,-0.54,-126.5,2.4,-1.6,8,128,9.55,1.60,-11.18,0.000,4,0.194,0.054,2509,3561,3374
$GC,249,-0.54,-126.5,40.6,-21.2,26,252,0.00,1.55,0.00,0.000,6,0.000,0.021,2510,2495,3374
$GC,521,-0.54,-126.5,105.5,-19.7,51,525,0.00,1.45,0.00,0.000,4,0.000,0.021,2516,1441,3375
$GC,583,-0.54,-126.5,116.9,-15.5,56,587,0.00,1.60,0.00,0.000,6,0.000,0.036,2510,2494,3376
$GC,854,-0.54,-126.5,165.2,-18.4,81,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2494,3376
$GC,1119,-0.54,-126.5,207.3,-14.7,103,1123,0.00,1.60,0.00,0.000,4,0.000,0.045,2501,3569,3376
$GC,1182,-0.54,-126.5,216.8,-14.4,104,1186,0.00,1.52,0.00,0.000,6,0.000,0.019,2507,2484,3376
$GC,1459,-0.54,-126.5,251.8,-12.6,111,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2477,3376
$GC,1703,-0.54,-126.5,281.2,-11.8,117,1707,0.00,1.65,0.00,0.000,4,0.000,0.042,2501,3569,3376
$GC,1744,-0.54,-126.5,286.1,-10.7,117,1754,0.00,1.48,0.00,0.000,6,0.000,0.020,2506,2519,3376
$GC,2000,-0.54,-126.5,312.2,-10.3,124,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2518,3375
$GC,2244,-0.54,-126.5,337.5,-10.4,130,2248,0.00,1.60,0.00,0.000,4,0.000,0.044,2500,3556,3373
$GC,2319,-0.54,-126.5,345.9,-10.8,131,2322,0.00,1.45,0.00,0.000,6,0.000,0.022,2505,2538,3373
$GC,2585,-0.54,-126.5,374.2,-10.8,138,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2530,3371
$GC,2828,-0.54,-126.5,401.0,-11.0,144,2832,0.00,1.60,0.00,0.000,4,0.000,0.046,2499,3581,3369
$GC,2893,-0.54,-126.5,408.4,-10.4,145,2896,0.00,1.50,0.00,0.000,6,0.000,0.022,2504,2534,3369
$GC,3170,-0.54,-126.5,436.1,-9.9,152,3173,0.00,1.50,0.00,0.000,4,0.000,0.022,2508,1452,3367
$GC,3250,-0.54,-126.5,443.7,-8.4,153,3253,0.00,1.62,0.00,0.000,6,0.000,0.040,2502,2532,3366
$GC,3511,-0.54,-126.5,469.7,-10.6,160,3515,0.00,1.58,-0.08,0.000,4,0.000,0.065,2494,3558,3389
$GC,3569,-0.54,-126.5,476.6,-10.8,161,3573,0.00,1.45,0.00,0.000,6,0.000,0.023,2499,2553,3389
$GC,3852,-0.54,-126.5,506.2,-10.6,168,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2544,3387
$GC,4095,-0.54,-126.5,530.8,-9.9,174,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2544,3386
$GC,4339,-0.54,-126.5,553.5,-9.2,180,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2544,3384
$GC,4583,-0.54,-126.5,576.5,-9.4,186,4587,0.00,1.60,0.00,0.000,4,0.000,0.050,2494,3578,3381
$GC,4653,-0.54,-126.5,583.8,-10.6,187,4656,0.00,1.50,0.00,0.000,6,0.000,0.025,2499,2552,3380
$GC,4924,-0.54,-126.5,609.4,-9.6,194,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2544,3379
$GC,5169,-0.54,-126.5,633.3,-9.8,200,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2544,3378
$GC,5412,-0.54,-126.5,656.6,-9.6,206,5415,0.00,1.55,0.00,0.000,4,0.000,0.026,2506,1458,3375
$GC,5469,-0.54,-126.5,662.2,-9.2,207,5473,0.00,1.67,0.00,0.000,6,0.000,0.044,2501,2533,3376
$GC,5752,-0.54,-126.5,688.3,-9.4,214,5756,0.00,1.60,0.00,0.000,4,0.000,0.054,2493,3570,3373
$GC,5871,-0.54,-126.5,700.3,-9.9,216,5875,0.00,1.48,0.00,0.000,6,0.000,0.026,2498,2564,3372
$GC,6138,-0.54,-126.5,723.6,-8.7,223,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2556,3371
$GC,6382,-0.54,-126.5,744.8,-8.6,229,6385,0.00,1.58,0.00,0.000,4,0.000,0.026,2506,1456,3370
$GC,6433,-0.54,-126.5,749.0,-7.9,230,6436,0.00,1.70,0.00,0.000,6,0.000,0.044,2500,2560,3370
$GC,6727,-0.54,-126.5,774.4,-8.9,237,6730,0.00,1.58,0.00,0.000,4,0.000,0.056,2493,3556,3369
$GC,6756,-0.54,-126.5,777.5,-10.0,237,6760,0.00,1.48,0.00,0.000,6,0.000,0.028,2498,2556,3369
$GC,7023,-0.54,-126.5,801.1,-9.0,244,7027,0.00,1.55,0.00,0.000,4,0.000,0.026,2506,1461,3367
$GC,7060,-0.54,-126.5,804.8,-9.3,244,7063,0.00,1.67,0.00,0.000,6,0.000,0.046,2500,2548,3366
$GC,7320,-0.54,-126.5,828.1,-9.2,251,7324,0.00,1.60,0.00,0.000,4,0.000,0.057,2492,3557,3365
$GC,7377,-0.54,-126.5,834.0,-10.3,252,7381,0.00,1.45,0.00,0.000,6,0.000,0.028,2497,2572,3366
$GC,7661,-0.54,-126.5,860.1,-9.4,259,7664,0.00,1.60,0.00,0.000,4,0.000,0.056,2492,3576,3364
$GC,7724,-0.54,-126.5,866.8,-10.5,260,7728,0.00,1.48,0.00,0.000,6,0.000,0.028,2497,2581,3364
$GC,8001,-0.54,-126.5,891.7,-8.9,267,8005,0.00,1.60,0.00,0.000,4,0.000,0.027,2506,1439,3363
$GC,8043,-0.54,-126.5,895.5,-9.0,267,8052,0.00,1.77,0.00,0.000,6,0.000,0.048,2499,2566,3363
$STATE,8130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8130,begin apogee
$GC,8142,-0.20,0.0,902.9,8.4,270,8259,0.40,0.00,114.18,1.253,6,0.097,0.000,2636,2226,2858
$STATE,8260,end apogee,CONTROL_FINISHED_OK
$STATE,8260,begin climb
$GC,8265,0.54,126.5,907.4,0.0,273,8487,0.65,1.65,144.73,1.052,4,0.040,0.028,2890,1190,2341
$GC,8507,0.54,126.5,883.9,16.3,278,8510,0.00,1.67,0.00,0.000,6,0.000,0.041,2890,2229,2339
$GC,8783,0.54,126.5,834.0,18.3,285,8787,0.00,1.67,0.00,0.000,4,0.000,0.051,2890,3283,2334
$GC,8854,0.54,126.5,820.0,19.1,286,8857,0.00,1.58,0.00,0.000,6,0.000,0.028,2897,2238,2333
$GC,9125,0.54,126.5,768.2,19.3,293,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2232,2331
$GC,9368,0.54,126.5,723.0,18.2,299,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2233,2330
$GC,9612,0.54,126.5,680.3,17.2,305,9616,0.00,1.67,0.00,0.000,4,0.000,0.049,2892,3282,2329
$GC,9636,0.54,126.5,675.7,17.2,305,9639,0.00,1.55,0.00,0.000,6,0.000,0.028,2897,2242,2329
$GC,9908,0.54,126.5,631.4,16.1,312,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2237,2328
$GC,10151,0.54,126.5,594.6,15.0,318,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2237,2328
$GC,10394,0.54,126.5,558.3,14.9,324,10398,0.00,1.65,0.00,0.000,4,0.000,0.049,2891,3292,2327
$GC,10470,0.54,126.5,546.7,14.4,325,10473,0.00,1.55,0.00,0.000,6,0.000,0.028,2897,2248,2327
$GC,10736,0.54,126.5,511.1,13.3,332,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2242,2327
$GC,10979,0.54,126.5,478.2,13.4,338,10983,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3280,2326
$GC,11020,0.54,126.5,471.8,14.8,338,11028,0.00,1.50,0.00,0.000,6,0.000,0.028,2897,2263,2326
$GC,11275,0.54,126.5,436.1,14.4,345,11276,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2257,2326
$GC,11519,0.54,126.5,402.1,14.0,351,11522,0.00,1.60,0.00,0.000,4,0.000,0.030,2904,1162,2325
$GC,11634,0.54,126.5,386.1,13.4,353,11637,0.00,1.73,0.00,0.000,6,0.000,0.042,2905,2285,2325
$GC,11905,0.54,126.5,350.7,13.1,360,11909,0.00,1.55,0.00,0.000,4,0.000,0.049,2905,3278,2325
$GC,11975,0.54,126.5,341.0,12.8,361,11979,0.10,1.48,0.00,0.000,6,0.166,0.027,2882,2284,2325
$GC,12246,0.54,126.5,312.5,10.1,368,12247,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2278,2325
$GC,12489,0.54,126.5,289.1,9.4,374,12493,0.00,1.60,0.00,0.000,4,0.000,0.048,2876,3285,2325
$GC,12514,0.54,126.5,286.2,10.3,374,12517,0.00,1.50,0.00,0.000,6,0.000,0.027,2881,2266,2325
$GC,12785,0.54,126.5,259.7,9.6,381,12786,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2261,2325
$GC,13028,0.54,126.5,234.8,10.3,387,13032,0.00,1.58,0.00,0.000,4,0.000,0.027,2889,1170,2325
$GC,13087,0.54,126.5,229.1,9.5,388,13090,0.00,1.73,0.00,0.000,6,0.000,0.041,2889,2302,2325
$GC,13370,0.55,139.8,204.7,8.4,395,13385,0.00,1.67,10.45,0.711,4,0.000,0.025,2897,1143,2288
$GC,13459,0.55,156.0,197.4,8.2,397,13486,0.00,1.73,16.02,0.724,6,0.000,0.038,2891,2277,2220
$GC,13747,0.55,156.0,170.1,10.2,423,13751,0.00,1.55,0.00,0.000,4,0.000,0.045,2891,3282,2218
$GC,13791,0.55,156.0,164.7,10.7,426,13800,0.00,1.50,0.00,0.000,6,0.000,0.025,2897,2259,2218
$GC,14058,0.55,156.0,135.3,10.4,451,14065,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2253,2217
$GC,14324,0.55,156.0,108.9,9.6,476,14327,0.00,1.58,0.00,0.000,4,0.000,0.025,2900,1165,2218
$GC,14455,0.57,195.7,98.5,7.1,487,14495,0.00,1.70,34.83,0.646,6,0.000,0.036,2899,2273,2060
$GC,14753,0.57,204.6,73.3,8.6,514,14768,0.00,1.60,8.55,0.561,4,0.000,0.024,2900,1162,2024
$GC,14786,0.59,235.2,70.8,7.5,516,14817,0.00,1.62,26.95,0.607,6,0.000,0.035,2899,2235,1899
$GC,15086,0.59,235.2,46.2,9.6,543,15089,0.00,1.60,0.00,0.000,4,0.000,0.043,2900,3301,1896
$GC,15152,0.59,235.2,39.3,10.8,548,15156,0.00,1.58,0.00,0.000,6,0.000,0.022,2905,2220,1895
$GC,15460,0.59,235.2,7.5,11.3,588,15468,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2213,1895
$STATE,15506,end climb,SURFACE_DEPTH_REACHED
$STATE,15506,begin surface coast
$FINISH,0.5,1.003386
$STATE,15545,end surface coast,CONTROL_FINISHED_OK
$STATE,15545,begin surface
$SM_CCo,15570,63.60,0.542,0,0,1267,390.02
$SM_GC,1.53,0.00,0.00,63.60,0.000,0.000,0.542,43,2522,1267,-8.30,0.62,390.02
$IRIDIUM_FIX,2246.36,-15805.83,210203,000051
$TT8_MAMPS,0.024544
$HUMID,2223
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,3
$24V_AH,23.4,59.597
$10V_AH,10.6,73.417
$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,17.950,99.150,355.700,63.600,0.000,24.398,43.310,270.201,0.750,0.000,0.000,14.011,1244.842,10387.146,488.853,3069.661,978.640,33.378,1445.242,0.000,3073.047,0.000,0.544,0.000
$DEVICE_MAMPS,194.051,65.195,1253.278,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,410.000,1979.971,2058.698,1356.872,1356.056,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51029,601
$CAP_FILE_SIZE,117574,0
$CFSIZE,260165632,234479616
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,271113,095200,2258.773,-15803.431,66,0.9,66,10.1