version: 66.04
glider: 512
mission: 4
dive: 361
start: 11 28 113 6 1 58
data:
$ID,512
$MISSION,4
$DIVE,361
$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,-114431.53
$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,60
$R_STBD_OVSHOOT,67
$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
$GPS1,052306,2303.773,-15805.111,33,0.9,33,10.1
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.3
$GPS2,060101,2303.730,-15804.973,15,1.2,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.052,0.227
$KALMAN_X,98142.5,3.3,24.5,-106578.4,1805.6
$KALMAN_Y,-54989.0,355.3,246.3,90759.7,-3186.5
$MHEAD_RNG_PITCHd_Wd,337.0,1536,-17.4,-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,-0.55,-123.9,0.0,0.0,0,114,0.00,0.00,-94.10,0.000,2,0.000,0.000,6,2548,2736
$GC,120,-0.55,-126.5,2.1,-1.1,11,158,9.68,1.50,-17.55,0.000,4,0.201,0.059,2509,3523,3374
$GC,345,-0.55,-126.5,48.5,-21.4,38,349,0.00,1.48,0.00,0.000,6,0.000,0.019,2508,2484,3374
$GC,618,-0.55,-126.5,107.7,-21.5,63,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2476,3374
$GC,885,-0.55,-126.5,155.1,-16.4,88,889,0.00,1.42,0.00,0.000,4,0.000,0.020,2509,1435,3375
$GC,925,-0.55,-126.5,161.5,-15.8,91,928,0.00,1.58,0.00,0.000,6,0.000,0.036,2503,2478,3375
$GC,1217,-0.55,-126.5,206.5,-15.5,115,1220,0.00,1.60,0.00,0.000,4,0.000,0.045,2494,3559,3375
$GC,1335,-0.55,-126.5,223.9,-13.7,117,1339,0.00,1.48,0.00,0.000,6,0.000,0.019,2500,2509,3374
$GC,1602,-0.55,-126.5,259.0,-13.3,124,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2500,3373
$GC,1845,-0.55,-126.5,289.9,-12.6,130,1849,0.00,1.60,0.00,0.000,4,0.000,0.043,2493,3565,3372
$GC,1903,-0.55,-126.5,297.9,-12.8,131,1907,0.00,1.48,0.00,0.000,6,0.000,0.020,2499,2513,3372
$GC,2185,-0.55,-126.5,332.0,-12.2,138,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2506,3370
$GC,2430,-0.55,-126.5,361.7,-12.4,144,2433,0.00,1.60,0.00,0.000,4,0.000,0.045,2493,3565,3368
$GC,2505,-0.55,-126.5,371.7,-12.3,145,2508,0.00,1.48,0.00,0.000,6,0.000,0.021,2498,2524,3367
$GC,2771,-0.55,-126.5,403.1,-11.8,152,2773,0.00,0.00,-0.08,0.000,6,0.000,0.000,2498,2517,3389
$GC,3015,-0.55,-126.5,430.1,-11.0,158,3018,0.00,1.62,0.00,0.000,4,0.000,0.047,2492,3579,3386
$GC,3065,-0.55,-126.5,435.7,-10.9,159,3068,0.00,1.52,0.00,0.000,6,0.000,0.023,2497,2512,3386
$GC,3360,-0.55,-126.5,467.0,-10.4,166,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2505,3384
$GC,3603,-0.55,-126.5,491.6,-10.0,172,3607,0.00,1.62,0.00,0.000,4,0.000,0.048,2492,3566,3381
$GC,3661,-0.55,-126.5,498.1,-10.3,173,3665,0.00,1.50,0.00,0.000,6,0.000,0.023,2497,2521,3380
$GC,3943,-0.55,-126.5,526.9,-10.3,180,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2513,3378
$GC,4187,-0.55,-126.5,550.5,-9.6,186,4190,0.00,1.62,0.00,0.000,4,0.000,0.052,2492,3563,3376
$GC,4222,-0.55,-126.5,554.3,-10.2,186,4226,0.00,1.50,0.00,0.000,6,0.000,0.025,2497,2525,3375
$GC,4484,-0.55,-126.5,578.1,-9.3,193,4488,0.00,1.52,0.00,0.000,4,0.000,0.025,2506,1447,3372
$GC,4514,-0.55,-126.5,581.4,-9.1,193,4518,0.00,1.65,0.00,0.000,6,0.000,0.044,2500,2514,3372
$GC,4780,-0.55,-126.5,605.0,-9.1,200,4783,0.00,1.62,0.00,0.000,4,0.000,0.054,2492,3555,3370
$GC,4830,-0.55,-126.5,609.7,-9.7,201,4833,0.00,1.50,0.00,0.000,6,0.000,0.025,2497,2528,3370
$GC,5125,-0.55,-126.5,637.5,-9.6,208,5129,0.00,1.62,0.00,0.000,4,0.000,0.054,2492,3562,3367
$GC,5182,-0.55,-126.5,643.7,-10.0,209,5186,0.00,1.50,0.00,0.000,6,0.000,0.026,2497,2538,3367
$GC,5465,-0.55,-126.5,669.4,-9.1,216,5468,0.00,1.62,0.00,0.000,4,0.000,0.054,2491,3569,3364
$GC,5517,-0.55,-126.5,674.0,-8.9,217,5520,0.00,1.52,0.00,0.000,6,0.000,0.026,2496,2531,3364
$GC,5811,-0.55,-126.5,698.4,-8.1,224,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2522,3363
$GC,6055,-0.55,-126.5,717.8,-7.9,230,6058,0.00,1.52,0.00,0.000,4,0.000,0.026,2505,1448,3360
$GC,6105,-0.55,-126.5,721.4,-6.8,231,6109,0.00,1.73,0.00,0.000,6,0.000,0.047,2499,2546,3360
$GC,6401,-0.55,-126.5,745.2,-8.3,238,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2546,3359
$GC,6644,-0.55,-126.5,766.8,-8.9,244,6648,0.00,1.60,0.00,0.000,4,0.000,0.058,2491,3576,3357
$GC,6748,-0.55,-126.5,776.8,-9.5,246,6752,0.00,1.50,0.00,0.000,6,0.000,0.028,2497,2560,3357
$GC,7032,-0.55,-126.5,800.4,-8.1,253,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2551,3355
$GC,7276,-0.55,-126.5,819.1,-7.5,259,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2551,3354
$GC,7520,-0.55,-126.5,837.6,-7.6,265,7523,0.00,1.60,0.00,0.000,4,0.000,0.057,2491,3565,3353
$GC,7570,-0.55,-126.5,841.8,-8.4,266,7574,0.00,1.48,0.00,0.000,6,0.000,0.028,2496,2573,3352
$GC,7864,-0.55,-126.5,866.3,-8.3,273,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2565,3352
$GC,8108,-0.55,-126.5,886.3,-8.3,279,8112,0.00,1.60,0.00,0.000,4,0.000,0.029,2505,1436,3351
$GC,8150,-0.55,-126.5,889.8,-8.0,279,8159,0.00,1.77,0.00,0.000,6,0.000,0.048,2499,2562,3351
$STATE,8318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8318,begin apogee
$GC,8330,-0.20,0.0,903.0,7.9,284,8444,0.40,0.00,111.03,1.254,6,0.101,0.000,2634,2208,2857
$STATE,8445,end apogee,CONTROL_FINISHED_OK
$STATE,8445,begin climb
$GC,8450,0.55,126.5,906.6,0.0,287,8599,0.65,1.65,126.88,1.173,4,0.043,0.028,2888,1169,2342
$GC,8679,0.55,126.5,883.3,15.5,292,8683,0.00,1.70,0.00,0.000,6,0.000,0.042,2888,2231,2335
$GC,8967,0.55,126.5,833.2,17.7,299,8971,0.00,1.65,0.00,0.000,4,0.000,0.051,2888,3292,2331
$GC,9032,0.55,126.5,821.0,19.0,300,9036,0.00,1.58,0.00,0.000,6,0.000,0.028,2895,2243,2329
$GC,9310,0.55,126.5,771.6,18.0,307,9314,0.00,1.65,0.00,0.000,4,0.000,0.050,2891,3286,2328
$GC,9346,0.55,126.5,764.0,19.0,307,9350,0.00,1.55,0.00,0.000,6,0.000,0.028,2897,2248,2328
$GC,9606,0.55,126.5,718.7,17.5,314,9610,0.00,1.67,0.00,0.000,4,0.000,0.051,2891,3286,2327
$GC,9630,0.55,126.5,713.8,18.5,314,9633,0.00,1.55,0.00,0.000,6,0.000,0.029,2897,2252,2326
$GC,9902,0.55,126.5,668.7,16.6,321,9905,0.00,1.60,0.00,0.000,4,0.000,0.031,2905,1156,2325
$GC,9920,0.55,126.5,664.9,16.7,321,9924,0.00,1.75,0.00,0.000,6,0.000,0.045,2905,2266,2326
$GC,10198,0.55,126.5,618.4,17.0,328,10202,0.00,1.60,0.00,0.000,4,0.000,0.054,2905,3279,2325
$GC,10256,0.55,126.5,607.2,18.3,329,10261,0.10,1.48,0.00,0.000,6,0.167,0.028,2882,2287,2325
$GC,10539,0.55,126.5,566.8,13.9,336,10540,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2280,2324
$GC,10782,0.55,126.5,534.1,13.0,342,10786,0.00,1.60,0.00,0.000,4,0.000,0.051,2876,3280,2324
$GC,10818,0.55,126.5,529.3,12.4,342,10821,0.00,1.50,0.00,0.000,6,0.000,0.027,2881,2263,2324
$GC,11079,0.55,126.5,497.8,12.1,349,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2257,2324
$GC,11322,0.55,126.5,467.3,12.6,355,11326,0.00,1.62,0.00,0.000,4,0.000,0.051,2876,3295,2323
$GC,11347,0.55,126.5,463.5,13.0,355,11350,0.00,1.50,0.00,0.000,6,0.000,0.028,2881,2282,2323
$GC,11618,0.55,126.5,429.5,12.5,362,11619,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2276,2323
$GC,11862,0.55,126.5,402.2,11.0,368,11866,0.00,1.60,0.00,0.000,4,0.000,0.050,2876,3278,2323
$GC,11948,0.55,126.5,392.3,10.3,369,11957,0.00,1.48,0.00,0.000,6,0.000,0.027,2881,2273,2322
$GC,12203,0.55,126.5,367.1,10.1,376,12207,0.00,1.62,0.00,0.000,4,0.000,0.029,2889,1143,2322
$GC,12233,0.55,126.5,363.8,9.8,376,12237,0.00,1.80,0.00,0.000,6,0.000,0.043,2889,2290,2322
$GC,12499,0.55,126.5,335.4,11.0,383,12503,0.00,1.55,0.00,0.000,4,0.000,0.052,2890,3278,2321
$GC,12579,0.55,126.5,325.0,12.3,384,12582,0.00,1.45,0.00,0.000,6,0.000,0.026,2896,2287,2321
$GC,12840,0.55,126.5,294.5,11.8,391,12844,0.00,1.62,0.00,0.000,4,0.000,0.028,2905,1163,2320
$GC,12943,0.55,126.5,282.4,11.0,393,12947,0.00,1.70,0.00,0.000,6,0.000,0.042,2904,2274,2321
$GC,13227,0.55,126.5,251.2,10.9,400,13230,0.00,1.58,0.00,0.000,4,0.000,0.050,2905,3282,2321
$GC,13321,0.55,126.5,240.3,12.7,402,13325,0.10,1.50,0.00,0.000,6,0.151,0.026,2880,2267,2321
$GC,13616,0.56,151.0,216.0,7.8,409,13651,0.00,0.00,21.75,0.713,6,0.000,0.000,2880,2261,2241
$GC,13902,0.56,151.0,190.4,9.2,422,13909,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2261,2239
$GC,14168,0.56,156.6,167.0,8.7,447,14178,0.00,0.00,6.22,0.610,6,0.000,0.000,2880,2261,2219
$GC,14434,0.57,174.0,142.4,8.2,472,14461,0.00,1.65,16.88,0.680,4,0.000,0.045,2876,3287,2147
$GC,14558,0.57,174.0,131.5,9.0,482,14562,0.00,1.48,0.00,0.000,6,0.000,0.025,2882,2284,2145
$GC,14831,0.57,178.7,109.8,8.8,507,14839,0.00,0.00,5.32,0.535,6,0.000,0.000,2882,2277,2129
$GC,15097,0.58,198.7,87.9,8.0,532,15125,0.00,1.62,19.12,0.627,4,0.000,0.025,2886,1162,2045
$GC,15199,0.59,222.9,79.5,7.8,540,15227,0.00,1.75,21.50,0.616,6,0.000,0.038,2886,2290,1948
$GC,15488,0.60,256.4,59.6,7.4,566,15521,0.00,1.65,28.58,0.601,4,0.000,0.025,2886,1168,1811
$GC,15599,0.63,319.8,52.1,5.9,574,15656,0.00,1.65,52.03,0.593,6,0.000,0.036,2885,2249,1553
$GC,15915,0.64,352.3,29.2,7.4,603,15951,0.00,1.60,26.80,0.563,4,0.000,0.043,2886,3277,1422
$GC,15969,0.64,352.3,24.3,9.5,609,15978,0.00,1.55,0.00,0.000,6,0.000,0.022,2886,2230,1420
$STATE,16237,end climb,SURFACE_DEPTH_REACHED
$STATE,16237,begin surface coast
$FINISH,0.3,1.023546
$STATE,16275,end surface coast,CONTROL_FINISHED_OK
$STATE,16276,begin surface
$SM_CCo,16301,15.70,0.518,0,0,1268,390.02
$SM_GC,1.54,0.00,0.00,15.70,0.000,0.000,0.518,30,2518,1268,-8.34,0.51,390.02
$IRIDIUM_FIX,2253.38,-15802.79,220203,050548
$TT8_MAMPS,0.023777
$HUMID,2313
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.20
$XPDR_PINGS,6
$24V_AH,23.2,60.439
$10V_AH,10.6,74.532
$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,18.200,105.425,436.100,15.700,0.000,141.026,242.863,1437.779,1.500,0.000,0.000,20.142,1338.680,10929.828,477.009,3350.556,2493.590,33.367,1535.995,0.000,3351.305,0.000,0.545,0.000
$DEVICE_MAMPS,200.954,59.059,1254.045,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,447.140,2164.502,2241.522,1542.189,1516.472,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54073,657
$CAP_FILE_SIZE,145560,0
$CFSIZE,260165632,234115072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,281113,103524,2304.958,-15804.867,39,1.7,39,10.1