version: 66.04
glider: 512
mission: 4
dive: 357
start: 11 27 113 10 1 19
data:
$ID,512
$MISSION,4
$DIVE,357
$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,-114361.1
$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,66
$R_STBD_OVSHOOT,33
$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
$GPS1,095200,2258.773,-15803.431,66,0.9,66,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-81.7
$GPS2,100025,2258.760,-15803.392,13,1.5,13,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.119,0.203
$KALMAN_X,91405.8,-286.7,-17.3,-96815.1,1977.3
$KALMAN_Y,-47269.1,-540.4,-28.9,75017.4,-1892.6
$MHEAD_RNG_PITCHd_Wd,319.6,10713,-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,-126.5,0.0,0.0,0,85,0.00,0.00,-60.42,0.000,2,0.000,0.000,7,2519,2678
$GC,91,-0.54,-126.5,2.0,-1.1,7,129,9.70,1.55,-20.55,0.000,4,0.201,0.038,2521,1434,3374
$GC,141,-0.54,-126.5,7.5,-10.1,12,150,0.00,1.62,0.00,0.000,6,0.000,0.035,2515,2497,3374
$GC,427,-0.54,-126.5,76.0,-24.0,44,430,0.00,1.50,0.00,0.000,4,0.000,0.018,2520,1419,3375
$GC,605,-0.54,-126.5,106.4,-13.8,59,613,0.00,1.67,0.00,0.000,6,0.000,0.038,2514,2520,3375
$GC,871,-0.54,-126.5,150.7,-17.9,84,875,0.00,1.58,0.00,0.000,4,0.000,0.045,2506,3557,3376
$GC,922,-0.54,-126.5,159.2,-17.3,88,926,0.00,1.48,0.00,0.000,6,0.000,0.019,2512,2515,3376
$GC,1195,-0.54,-126.5,200.7,-14.2,113,1198,0.00,1.60,0.00,0.000,4,0.000,0.042,2506,3551,3377
$GC,1253,-0.54,-126.5,210.3,-16.0,114,1256,0.00,1.42,0.00,0.000,6,0.000,0.019,2510,2536,3376
$GC,1536,-0.54,-126.5,247.8,-13.3,121,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2527,3377
$GC,1780,-0.54,-126.5,276.5,-11.5,127,1783,0.00,1.58,0.00,0.000,4,0.000,0.044,2505,3552,3377
$GC,1832,-0.54,-126.5,283.1,-11.6,128,1835,0.00,1.42,0.00,0.000,6,0.000,0.019,2510,2541,3377
$GC,2120,-0.54,-126.5,314.5,-11.4,135,2124,0.00,1.50,0.00,0.000,4,0.000,0.021,2518,1445,3375
$GC,2173,-0.54,-126.5,320.5,-10.1,136,2176,0.00,1.65,0.00,0.000,6,0.000,0.038,2512,2555,3375
$GC,2462,-0.54,-126.5,350.6,-10.6,143,2465,0.00,1.52,0.00,0.000,4,0.000,0.048,2504,3554,3374
$GC,2512,-0.54,-126.5,356.0,-10.8,144,2516,0.00,1.42,0.00,0.000,6,0.000,0.021,2510,2553,3373
$GC,2807,-0.54,-126.5,388.2,-11.1,151,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2545,3372
$GC,3050,-0.54,-126.5,415.1,-11.0,157,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2545,3370
$GC,3294,-0.54,-126.5,440.1,-10.1,163,3297,0.00,1.52,0.00,0.000,4,0.000,0.022,2518,1451,3369
$GC,3337,-0.54,-126.5,444.4,-9.0,163,3345,0.00,1.70,0.00,0.000,6,0.000,0.040,2513,2562,3368
$GC,3592,-0.54,-126.5,466.8,-8.7,170,3596,0.00,1.52,0.00,0.000,4,0.000,0.049,2504,3554,3366
$GC,3689,-0.54,-126.5,475.4,-8.6,172,3693,0.00,1.40,-0.05,0.000,6,0.000,0.024,2509,2583,3386
$GC,3982,-0.54,-126.5,503.0,-9.6,179,3986,0.00,1.58,0.00,0.000,4,0.000,0.024,2509,1456,3384
$GC,4062,-0.54,-126.5,511.1,-9.3,180,4066,0.00,1.67,0.00,0.000,6,0.000,0.041,2503,2569,3383
$GC,4324,-0.54,-126.5,537.7,-10.4,187,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2569,3381
$GC,4568,-0.54,-126.5,561.8,-9.8,193,4572,0.00,1.52,0.00,0.000,4,0.000,0.051,2495,3552,3380
$GC,4687,-0.54,-126.5,574.1,-9.7,195,4691,0.00,1.40,0.00,0.000,6,0.000,0.025,2501,2582,3379
$GC,4954,-0.54,-126.5,598.8,-9.4,202,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2573,3378
$GC,5198,-0.54,-126.5,621.0,-8.9,208,5202,0.00,1.58,0.00,0.000,4,0.000,0.025,2509,1462,3376
$GC,5249,-0.54,-126.5,625.5,-7.8,209,5253,0.00,1.70,0.00,0.000,6,0.000,0.042,2503,2575,3375
$GC,5544,-0.54,-126.5,649.9,-8.1,216,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2576,3373
$GC,5787,-0.54,-126.5,670.2,-8.3,222,5791,0.00,1.52,0.00,0.000,4,0.000,0.053,2495,3552,3371
$GC,5839,-0.54,-126.5,674.6,-8.7,223,5842,0.00,1.40,0.00,0.000,6,0.000,0.027,2500,2597,3371
$GC,6134,-0.54,-126.5,699.6,-8.4,230,6137,0.00,1.60,0.00,0.000,4,0.000,0.027,2509,1449,3370
$GC,6203,-0.54,-126.5,705.2,-7.8,231,6206,0.00,1.70,0.00,0.000,6,0.000,0.045,2503,2560,3370
$GC,6476,-0.54,-126.5,725.9,-7.6,238,6479,0.00,1.55,0.00,0.000,4,0.000,0.054,2496,3548,3368
$GC,6534,-0.54,-126.5,730.8,-8.2,239,6538,0.00,1.40,0.00,0.000,6,0.000,0.027,2500,2588,3368
$GC,6817,-0.54,-126.5,751.8,-7.5,246,6820,0.00,1.60,0.00,0.000,4,0.000,0.026,2509,1439,3366
$GC,6876,-0.54,-126.5,756.3,-7.1,247,6879,0.00,1.73,0.00,0.000,6,0.000,0.045,2503,2562,3366
$GC,7159,-0.54,-126.5,778.7,-8.1,254,7163,0.00,1.55,0.00,0.000,4,0.000,0.056,2495,3548,3365
$GC,7256,-0.54,-126.5,787.0,-8.4,256,7259,0.00,1.40,0.00,0.000,6,0.000,0.027,2500,2594,3364
$GC,7550,-0.54,-126.5,811.7,-8.3,263,7554,0.00,1.60,0.00,0.000,4,0.000,0.028,2508,1448,3363
$GC,7615,-0.54,-126.5,817.1,-7.7,264,7619,0.00,1.75,0.00,0.000,6,0.000,0.047,2502,2586,3363
$GC,7894,-0.54,-126.5,839.5,-8.2,271,7897,0.00,1.52,0.00,0.000,4,0.000,0.057,2495,3549,3362
$GC,7959,-0.54,-126.5,845.3,-8.4,272,7962,0.00,1.40,0.00,0.000,6,0.000,0.027,2500,2594,3362
$GC,8236,-0.54,-126.5,867.5,-8.0,279,8240,0.00,1.60,0.00,0.000,4,0.000,0.028,2508,1469,3360
$GC,8297,-0.54,-126.5,872.1,-6.8,280,8301,0.00,1.70,0.00,0.000,6,0.000,0.047,2502,2573,3360
$GC,8580,-0.54,-126.5,893.5,-7.7,287,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2573,3359
$STATE,8696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8697,begin apogee
$GC,8709,-0.20,0.0,902.6,7.6,290,8824,0.40,0.00,113.12,1.257,6,0.112,0.000,2634,2230,2858
$STATE,8825,end apogee,CONTROL_FINISHED_OK
$STATE,8825,begin climb
$GC,8830,0.54,126.5,906.0,0.0,293,8980,0.65,1.67,127.28,1.174,4,0.040,0.028,2888,1183,2341
$GC,9058,0.54,126.5,883.7,16.0,298,9062,0.00,1.67,0.00,0.000,6,0.000,0.042,2888,2224,2335
$GC,9352,0.54,126.5,833.9,16.9,305,9356,0.00,1.65,0.00,0.000,4,0.000,0.051,2888,3285,2330
$GC,9421,0.54,126.5,820.4,19.4,306,9425,0.00,1.55,0.00,0.000,6,0.000,0.028,2894,2249,2329
$GC,9694,0.54,126.5,771.3,18.4,313,9698,0.00,1.65,0.00,0.000,4,0.000,0.050,2891,3295,2329
$GC,9735,0.54,126.5,762.5,19.5,313,9743,0.00,1.55,0.00,0.000,6,0.000,0.027,2897,2250,2328
$GC,9990,0.54,126.5,716.6,18.1,320,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2244,2327
$GC,10233,0.54,126.5,674.3,17.1,326,10237,0.00,1.58,0.00,0.000,4,0.000,0.029,2905,1164,2327
$GC,10245,0.54,126.5,671.4,17.4,326,10249,0.00,1.67,0.00,0.000,6,0.000,0.041,2905,2260,2327
$GC,10529,0.54,126.5,623.7,17.0,333,10532,0.00,1.60,0.00,0.000,4,0.000,0.050,2905,3286,2326
$GC,10593,0.54,126.5,612.3,17.0,334,10597,0.08,1.52,0.00,0.000,6,0.176,0.028,2880,2262,2326
$GC,10869,0.54,126.5,574.6,13.1,341,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2256,2325
$GC,11113,0.54,126.5,542.9,13.0,347,11117,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3300,2325
$GC,11145,0.54,126.5,538.3,14.2,347,11148,0.00,1.52,0.00,0.000,6,0.000,0.028,2881,2265,2324
$GC,11410,0.54,126.5,504.2,13.0,354,11414,0.00,1.62,0.00,0.000,4,0.000,0.050,2876,3278,2324
$GC,11492,0.54,126.5,492.6,13.8,355,11495,0.00,1.48,0.00,0.000,6,0.000,0.028,2881,2282,2324
$GC,11752,0.54,126.5,460.0,12.6,362,11756,0.00,1.62,0.00,0.000,4,0.000,0.029,2889,1163,2324
$GC,11782,0.54,126.5,455.6,13.2,362,11785,0.00,1.73,0.00,0.000,6,0.000,0.042,2889,2286,2323
$GC,12048,0.54,126.5,423.7,12.0,369,12049,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2287,2323
$GC,12292,0.54,126.5,395.6,11.2,375,12295,0.00,1.55,0.00,0.000,4,0.000,0.051,2889,3280,2322
$GC,12361,0.54,126.5,386.2,12.2,376,12365,0.00,1.48,0.00,0.000,6,0.000,0.027,2896,2271,2323
$GC,12633,0.54,126.5,355.2,11.8,383,12634,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2265,2323
$GC,12876,0.54,126.5,324.2,12.9,389,12880,0.00,1.60,0.00,0.000,4,0.000,0.049,2891,3275,2323
$GC,12908,0.54,126.5,320.4,11.9,389,12912,0.00,1.45,0.00,0.000,6,0.000,0.026,2896,2289,2323
$GC,13174,0.54,126.5,290.7,11.3,396,13178,0.00,1.62,0.00,0.000,4,0.000,0.028,2905,1163,2322
$GC,13272,0.54,126.5,281.2,9.9,398,13275,0.00,1.73,0.00,0.000,6,0.000,0.041,2905,2292,2323
$GC,13566,0.54,126.5,249.8,10.7,405,13567,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2291,2322
$GC,13809,0.54,126.5,225.5,9.7,411,13813,0.00,1.65,0.00,0.000,4,0.000,0.028,2911,1151,2323
$GC,13968,0.55,146.8,211.2,8.0,414,13997,0.12,1.73,17.98,0.684,6,0.140,0.041,2878,2288,2259
$GC,14260,0.55,146.8,186.8,9.1,431,14264,0.00,1.62,0.00,0.000,4,0.000,0.027,2885,1164,2257
$GC,14336,0.56,162.0,180.2,8.3,437,14359,0.00,1.70,15.02,0.706,6,0.000,0.040,2885,2260,2196
$GC,14620,0.56,162.0,153.5,9.9,463,14623,0.00,1.58,0.00,0.000,4,0.000,0.047,2885,3281,2193
$GC,14693,0.56,162.0,145.6,9.5,469,14696,0.00,1.45,0.00,0.000,6,0.000,0.024,2891,2282,2193
$GC,14965,0.56,162.0,119.1,10.1,494,14968,0.00,1.58,0.00,0.000,4,0.000,0.044,2891,3287,2193
$GC,15040,0.56,162.0,110.4,11.4,500,15049,0.00,1.45,0.00,0.000,6,0.000,0.023,2897,2284,2193
$GC,15307,0.56,165.8,84.3,8.8,525,15318,0.00,1.60,4.65,0.480,4,0.000,0.025,2899,1169,2182
$GC,15382,0.57,193.2,78.7,7.7,531,15412,0.00,1.70,25.23,0.619,6,0.000,0.037,2899,2303,2070
$GC,15673,0.58,213.1,56.9,8.1,557,15701,0.00,1.52,17.90,0.585,4,0.000,0.043,2899,3292,1988
$GC,15844,0.58,213.1,40.4,10.9,570,15853,0.00,1.40,0.00,0.000,6,0.000,0.021,2906,2315,1986
$GC,16139,0.58,213.1,11.3,10.9,609,16148,0.00,1.65,0.00,0.000,4,0.000,0.023,2912,1160,1985
$GC,16179,0.58,213.1,7.0,10.4,614,16188,0.00,1.80,0.00,0.000,6,0.000,0.035,2912,2341,1985
$STATE,16219,end climb,SURFACE_DEPTH_REACHED
$STATE,16219,begin surface coast
$FINISH,0.5,1.023510
$STATE,16259,end surface coast,CONTROL_FINISHED_OK
$STATE,16259,begin surface
$SM_CCo,16285,73.72,0.542,0,0,1267,390.02
$SM_GC,1.37,0.00,0.00,73.72,0.000,0.000,0.542,36,2532,1267,-8.31,0.90,390.02
$IRIDIUM_FIX,2248.70,-15803.66,210203,050532
$TT8_MAMPS,0.023777
$HUMID,2197
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,6
$24V_AH,23.0,59.724
$10V_AH,10.6,73.629
$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,18.275,120.425,321.175,73.725,0.000,27.948,33.958,260.024,1.500,0.000,0.000,14.072,1363.044,10725.078,456.591,3339.053,976.950,33.371,1505.713,0.000,3335.606,0.000,0.544,0.000
$DEVICE_MAMPS,200.954,56.758,1257.113,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,427.222,2060.354,2131.124,1438.126,1390.231,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54038,626
$CAP_FILE_SIZE,131325,0
$CFSIZE,260165632,234397696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,271113,143553,2259.789,-15803.977,65,1.2,65,10.1