version: 66.04
glider: 512
mission: 4
dive: 97
start: 10 3 113 18 30 21
data:
$ID,512
$MISSION,4
$DIVE,97
$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,300
$T_MISSION,650
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-108451.69
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2698
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,65
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2750
$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
$GPS1,181554,2310.764,-15751.316,38,2.0,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-78.2
$GPS2,182907,2310.818,-15751.353,16,1.7,16,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.181,-0.220
$KALMAN_X,19776.3,294.2,-417.5,-4800.4,532.5
$KALMAN_Y,-7057.3,-1013.5,-137.6,57737.7,2530.6
$MHEAD_RNG_PITCHd_Wd,209.3,25352,-15.6,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.48,-146.0,0.0,0.0,0,94,0.00,0.00,-74.03,0.000,2,0.000,0.000,11,2506,2919
$GC,100,-0.48,-146.0,2.1,-2.2,9,127,9.35,1.52,-9.68,0.000,4,0.202,0.040,2539,1434,3344
$GC,199,-0.48,-146.0,26.5,-21.6,23,208,0.00,1.65,0.00,0.000,6,0.000,0.040,2533,2502,3346
$GC,475,-0.48,-146.0,91.7,-18.4,49,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2502,3346
$GC,741,-0.48,-146.0,137.4,-16.2,74,744,0.00,1.62,0.00,0.000,4,0.000,0.045,2525,3591,3347
$GC,849,-0.48,-146.0,154.7,-14.6,83,853,0.00,1.60,0.00,0.000,6,0.000,0.018,2525,2470,3348
$GC,1120,-0.48,-146.0,194.3,-14.1,108,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2463,3348
$GC,1407,-0.48,-146.0,234.2,-13.6,118,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2462,3348
$GC,1652,-0.48,-146.0,265.5,-12.6,124,1655,0.00,1.67,0.00,0.000,4,0.000,0.044,2518,3573,3347
$GC,1732,-0.48,-146.0,276.4,-12.7,125,1735,0.00,1.55,0.00,0.000,6,0.000,0.020,2518,2478,3347
$GC,1992,-0.48,-146.0,307.6,-12.1,132,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2471,3346
$GC,2235,-0.48,-146.0,337.0,-12.1,138,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2471,3344
$GC,2479,-0.48,-146.0,366.7,-12.1,144,2483,0.00,1.65,0.00,0.000,4,0.000,0.044,2511,3568,3342
$GC,2549,-0.48,-146.0,375.7,-12.4,145,2553,0.00,1.55,0.00,0.000,6,0.000,0.021,2512,2475,3342
$GC,2820,-0.48,-146.0,406.0,-11.2,152,2825,0.10,1.40,0.00,0.000,4,0.135,0.022,2545,1450,3340
$GC,2901,-0.48,-146.0,413.2,-7.8,153,2904,0.00,1.52,0.00,0.000,6,0.000,0.040,2540,2456,3340
$GC,3162,-0.48,-146.0,432.9,-7.6,160,3166,0.00,1.65,0.00,0.000,4,0.000,0.049,2532,3557,3337
$GC,3213,-0.48,-146.0,437.1,-8.3,161,3216,0.00,1.58,0.00,0.000,6,0.000,0.022,2532,2461,3337
$GC,3507,-0.48,-146.0,464.5,-9.5,168,3511,0.00,1.40,-0.08,0.000,4,0.000,0.044,2532,1448,3359
$GC,3548,-0.48,-146.0,468.8,-9.1,168,3557,0.00,1.52,0.00,0.000,6,0.000,0.041,2526,2450,3359
$GC,3805,-0.48,-146.0,494.6,-10.5,175,3808,0.00,1.70,0.00,0.000,4,0.000,0.053,2523,3567,3357
$GC,3867,-0.48,-146.0,501.9,-10.3,176,3871,0.00,1.60,0.00,0.000,6,0.000,0.023,2523,2450,3356
$GC,4145,-0.48,-146.0,530.9,-10.5,183,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2443,3355
$GC,4389,-0.48,-146.0,554.5,-9.3,189,4392,0.00,1.73,0.00,0.000,4,0.000,0.050,2517,3568,3353
$GC,4498,-0.48,-146.0,565.0,-9.5,191,4501,0.00,1.58,0.00,0.000,6,0.000,0.023,2517,2473,3353
$GC,4775,-0.48,-146.0,589.2,-8.7,198,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2466,3351
$GC,5019,-0.48,-146.0,609.2,-8.1,204,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2466,3349
$GC,5263,-0.48,-146.0,628.8,-8.1,210,5266,0.00,1.70,0.00,0.000,4,0.000,0.051,2510,3569,3348
$GC,5333,-0.48,-146.0,635.3,-9.4,211,5337,0.12,1.60,0.00,0.000,6,0.124,0.025,2545,2443,3347
$GC,5604,-0.48,-146.0,653.2,-6.6,218,5608,0.00,1.77,0.00,0.000,4,0.000,0.053,2538,3562,3345
$GC,5634,-0.48,-146.0,655.6,-7.6,218,5638,0.00,1.58,0.00,0.000,6,0.000,0.025,2538,2471,3345
$GC,5901,-0.48,-146.0,674.1,-7.0,225,5904,0.00,1.70,0.00,0.000,4,0.000,0.054,2531,3562,3343
$GC,5925,-0.48,-146.0,676.1,-7.1,225,5929,0.00,1.58,0.00,0.000,6,0.000,0.025,2531,2475,3342
$GC,6198,-0.48,-146.0,694.6,-6.9,232,6202,0.00,1.42,0.00,0.000,4,0.000,0.025,2531,1455,3341
$GC,6248,-0.48,-146.0,698.2,-6.6,233,6252,0.00,1.58,0.00,0.000,6,0.000,0.045,2524,2470,3341
$GC,6543,-0.48,-146.0,720.5,-7.8,240,6546,0.00,1.67,0.00,0.000,4,0.000,0.058,2523,3563,3339
$GC,6639,-0.48,-146.0,728.6,-7.9,242,6642,0.00,1.58,0.00,0.000,6,0.000,0.027,2523,2482,3339
$GC,6933,-0.48,-146.0,754.2,-8.7,249,6936,0.00,1.45,0.00,0.000,4,0.000,0.026,2523,1453,3338
$GC,6984,-0.48,-146.0,758.5,-8.1,250,6988,0.00,1.60,0.00,0.000,6,0.000,0.049,2523,2474,3337
$GC,7278,-0.48,-146.0,782.4,-8.0,257,7282,0.00,1.70,0.00,0.000,4,0.000,0.058,2523,3558,3336
$GC,7329,-0.48,-146.0,786.3,-7.9,258,7332,0.00,1.60,0.00,0.000,6,0.000,0.028,2523,2474,3336
$GC,7624,-0.48,-146.0,809.1,-7.8,265,7628,0.00,1.73,0.00,0.000,4,0.000,0.057,2523,3572,3335
$GC,7666,-0.48,-146.0,812.9,-8.5,265,7674,0.00,1.62,0.00,0.000,6,0.000,0.027,2523,2463,3335
$GC,7921,-0.48,-146.0,832.3,-7.8,272,7924,0.00,1.45,0.00,0.000,4,0.000,0.027,2523,1441,3334
$GC,7951,-0.48,-146.0,835.1,-8.3,272,7954,0.00,1.60,0.00,0.000,6,0.000,0.048,2523,2486,3334
$GC,8217,-0.48,-146.0,854.5,-7.3,279,8220,0.00,1.65,0.00,0.000,4,0.000,0.058,2523,3559,3333
$GC,8253,-0.48,-146.0,857.3,-7.1,279,8257,0.00,1.60,0.00,0.000,6,0.000,0.028,2523,2448,3333
$GC,8515,-0.48,-146.0,873.9,-6.2,286,8518,0.00,1.42,0.00,0.000,4,0.000,0.028,2523,1436,3332
$GC,8550,-0.48,-146.0,876.4,-6.5,286,8554,0.00,1.62,0.00,0.000,6,0.000,0.049,2523,2478,3332
$GC,8811,-0.48,-146.0,891.7,-5.8,293,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2478,3332
$STATE,8968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8968,begin apogee
$GC,8979,-0.19,0.0,901.6,6.1,297,9108,0.35,0.00,126.00,1.267,6,0.139,0.000,2639,2206,2750
$STATE,9109,end apogee,CONTROL_FINISHED_OK
$STATE,9109,begin climb
$GC,9114,0.48,146.0,903.2,0.0,300,9293,0.57,1.62,141.93,1.157,4,0.050,0.028,2865,1180,2152
$GC,9344,0.48,146.0,872.3,18.7,305,9347,0.00,1.67,0.00,0.000,6,0.000,0.041,2866,2228,2147
$GC,9638,0.48,146.0,815.3,19.7,312,9641,0.00,1.65,0.00,0.000,4,0.000,0.049,2864,3290,2143
$GC,9669,0.48,146.0,808.8,19.7,312,9673,0.00,1.60,0.00,0.000,6,0.000,0.025,2870,2212,2142
$GC,9936,0.48,146.0,756.0,20.2,319,9939,0.00,1.55,0.00,0.000,4,0.000,0.029,2878,1155,2141
$GC,9971,0.48,146.0,748.1,20.5,319,9975,0.00,1.67,0.00,0.000,6,0.000,0.041,2878,2219,2141
$GC,10231,0.48,146.0,694.0,21.3,326,10235,0.00,1.67,0.00,0.000,4,0.000,0.051,2877,3286,2139
$GC,10288,0.48,146.0,680.8,22.3,327,10292,0.00,1.58,0.00,0.000,6,0.000,0.025,2884,2233,2139
$GC,10572,0.48,146.0,623.5,20.2,334,10576,0.12,1.52,0.00,0.000,4,0.180,0.027,2860,1164,2139
$GC,10607,0.48,146.0,616.3,17.7,334,10611,0.00,1.67,0.00,0.000,6,0.000,0.042,2860,2239,2138
$GC,10867,0.48,146.0,572.0,17.5,341,10871,0.00,1.62,0.00,0.000,4,0.000,0.049,2860,3282,2138
$GC,10917,0.48,146.0,562.8,18.8,342,10920,0.00,1.55,0.00,0.000,6,0.000,0.028,2867,2243,2137
$GC,11212,0.48,146.0,511.3,17.1,349,11215,0.00,1.62,0.00,0.000,4,0.000,0.048,2863,3287,2137
$GC,11248,0.48,146.0,504.4,18.1,349,11252,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2242,2137
$GC,11509,0.48,146.0,461.0,16.8,356,11512,0.00,1.58,0.00,0.000,4,0.000,0.029,2873,1159,2137
$GC,11577,0.48,146.0,449.9,14.3,357,11581,0.00,1.65,0.00,0.000,6,0.000,0.041,2873,2243,2137
$GC,11849,0.48,146.0,405.4,16.9,364,11853,0.00,1.60,0.00,0.000,4,0.000,0.050,2873,3276,2136
$GC,11868,0.48,146.0,401.3,17.4,364,11871,0.00,1.52,0.00,0.000,6,0.000,0.026,2881,2240,2137
$GC,12145,0.48,146.0,352.4,17.5,371,12149,0.00,1.55,0.00,0.000,4,0.000,0.030,2886,1165,2137
$GC,12180,0.48,146.0,346.3,15.6,371,12184,0.12,1.65,0.00,0.000,6,0.143,0.043,2853,2250,2136
$GC,12440,0.48,146.0,312.6,12.5,378,12443,0.00,1.58,0.00,0.000,4,0.000,0.048,2853,3275,2136
$GC,12515,0.48,146.0,301.7,14.5,379,12518,0.00,1.48,0.00,0.000,6,0.000,0.025,2856,2275,2136
$GC,12781,0.48,146.0,266.8,13.5,386,12785,0.00,1.58,0.00,0.000,4,0.000,0.048,2856,3275,2136
$GC,12831,0.48,146.0,259.9,14.8,387,12834,0.00,1.42,0.00,0.000,6,0.000,0.025,2860,2312,2136
$GC,13126,0.48,146.0,220.3,13.7,394,13129,0.00,1.62,0.00,0.000,4,0.000,0.027,2868,1162,2136
$GC,13177,0.48,146.0,213.4,12.4,395,13181,0.00,1.80,0.00,0.000,6,0.000,0.041,2866,2328,2136
$GC,13441,0.48,146.0,180.5,13.3,411,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2329,2135
$GC,13708,0.48,146.0,151.2,10.7,436,13711,0.00,1.70,0.00,0.000,4,0.000,0.026,2869,1147,2136
$GC,13828,0.49,162.6,138.6,9.4,446,13850,0.00,1.75,12.62,0.679,6,0.000,0.039,2870,2288,2085
$GC,14112,0.49,162.6,107.9,10.8,472,14120,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2288,2084
$GC,14378,0.49,162.6,79.2,10.7,497,14382,0.00,1.50,0.00,0.000,4,0.000,0.045,2870,3278,2085
$GC,14467,0.50,207.3,70.5,8.3,504,14509,0.00,1.45,37.40,0.631,6,0.000,0.024,2873,2277,1904
$GC,14767,0.53,267.7,47.9,7.7,531,14823,0.00,1.65,48.58,0.603,4,0.000,0.025,2873,1165,1657
$GC,14877,0.55,309.4,38.4,8.4,539,14919,0.00,1.75,33.30,0.581,6,0.000,0.035,2873,2307,1488
$GC,15201,0.55,328.3,8.3,9.3,584,15229,0.00,1.73,16.12,0.538,4,0.000,0.025,2872,1161,1410
$GC,15254,0.57,362.5,3.8,8.7,590,15265,0.00,1.73,6.80,0.470,2,0.000,0.036,2873,2273,1371
$STATE,15265,end climb,SURFACE_DEPTH_REACHED
$STATE,15266,begin surface coast
$FINISH,0.2,1.009307
$STATE,15310,end surface coast,CONTROL_FINISHED_OK
$STATE,15310,begin surface
$SM_CCo,15335,21.40,0.529,0,0,1159,390.02
$SM_GC,1.04,0.00,0.00,21.40,0.000,0.000,0.529,42,2549,1159,-8.30,1.44,390.02
$IRIDIUM_FIX,2300.41,-15753.64,281202,181844
$TT8_MAMPS,0.023777
$HUMID,2193
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,26.10
$XPDR_PINGS,4
$24V_AH,24.1,15.978
$10V_AH,10.6,16.442
$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,17.950,119.300,422.750,21.400,0.000,58.799,81.799,399.091,1.000,0.000,0.000,16.428,1301.933,10169.252,470.624,3080.793,1144.104,33.372,1493.125,0.000,3083.711,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,58.292,1267.084,529.230,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,406.940,1969.796,2030.104,253.121,1338.447,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50891,598
$CAP_FILE_SIZE,129762,0
$CFSIZE,260165632,252370944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,031013,224754,2309.403,-15752.146,48,1.3,48,10.1