version: 66.04
glider: 512
mission: 4
dive: 98
start: 10 3 113 22 57 37
data:
$ID,512
$MISSION,4
$DIVE,98
$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,-108483.81
$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,58
$R_STBD_OVSHOOT,59
$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
$GPS1,224754,2309.403,-15752.146,48,1.3,48,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-81.6
$GPS2,225624,2309.417,-15752.175,14,1.3,31,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.190,-0.212
$KALMAN_X,21212.2,-410.6,692.1,-8052.3,73.2
$KALMAN_Y,-6232.9,-607.9,-7.5,53775.7,2354.3
$MHEAD_RNG_PITCHd_Wd,211.8,22964,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.48,-146.0,0.0,0.0,0,102,0.00,0.00,-82.35,0.000,2,0.000,0.000,11,2548,3133
$GC,108,-0.48,-146.0,2.4,-2.5,10,127,9.38,1.62,-4.32,0.000,4,0.203,0.041,2537,1436,3347
$GC,196,-0.48,-146.0,32.8,-24.4,22,206,0.00,1.60,0.00,0.000,6,0.000,0.037,2531,2476,3349
$GC,463,-0.48,-146.0,91.9,-17.6,47,467,0.00,1.67,0.00,0.000,4,0.000,0.045,2523,3569,3350
$GC,525,-0.48,-146.0,102.2,-15.6,52,529,0.00,1.55,0.00,0.000,6,0.000,0.019,2523,2493,3350
$GC,797,-0.48,-146.0,150.0,-16.4,77,801,0.00,1.62,0.00,0.000,4,0.000,0.041,2515,3572,3351
$GC,815,-0.48,-146.0,153.7,-16.6,78,824,0.00,1.50,0.00,0.000,6,0.000,0.020,2516,2499,3350
$GC,1081,-0.48,-146.0,195.2,-15.3,103,1085,0.00,1.42,0.00,0.000,4,0.000,0.020,2521,1467,3351
$GC,1131,-0.48,-146.0,202.4,-12.8,107,1135,0.00,1.62,0.00,0.000,6,0.000,0.036,2515,2561,3351
$GC,1425,-0.48,-146.0,243.3,-13.5,114,1429,0.00,1.52,0.00,0.000,4,0.000,0.045,2507,3573,3351
$GC,1478,-0.48,-146.0,251.0,-14.0,115,1482,0.08,1.40,0.00,0.000,6,0.127,0.021,2536,2564,3351
$GC,1766,-0.48,-146.0,280.7,-10.2,122,1770,0.00,1.50,0.00,0.000,4,0.000,0.021,2544,1472,3350
$GC,1882,-0.48,-146.0,291.8,-9.3,124,1885,0.00,1.62,0.00,0.000,6,0.000,0.039,2537,2564,3350
$GC,2153,-0.48,-146.0,318.9,-10.1,131,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2564,3348
$GC,2397,-0.48,-146.0,343.7,-10.3,137,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2564,3346
$GC,2641,-0.48,-146.0,366.8,-9.3,143,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2564,3344
$GC,2885,-0.48,-146.0,388.6,-8.9,149,2888,0.00,1.55,0.00,0.000,4,0.000,0.023,2538,1474,3342
$GC,2936,-0.48,-146.0,393.1,-8.8,150,2940,0.00,1.62,0.00,0.000,6,0.000,0.043,2536,2553,3342
$GC,3232,-0.48,-146.0,421.5,-9.8,157,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2553,3340
$GC,3476,-0.48,-146.0,444.2,-9.2,163,3480,0.00,1.55,0.00,0.000,4,0.000,0.023,2537,1466,3338
$GC,3512,-0.48,-146.0,448.0,-8.7,163,3516,0.00,1.67,0.00,0.000,6,0.000,0.044,2537,2555,3338
$GC,3773,-0.48,-146.0,470.7,-9.0,170,3777,0.00,1.55,-0.08,0.000,4,0.000,0.041,2537,1473,3360
$GC,3822,-0.48,-146.0,475.5,-10.0,171,3826,0.00,1.62,0.00,0.000,6,0.000,0.044,2536,2545,3360
$GC,4118,-0.48,-146.0,503.8,-9.7,178,4121,0.00,1.55,0.00,0.000,4,0.000,0.051,2529,3557,3359
$GC,4213,-0.48,-146.0,513.1,-9.6,180,4216,0.00,1.42,0.00,0.000,6,0.000,0.025,2529,2569,3358
$GC,4508,-0.48,-146.0,538.9,-8.5,187,4511,0.00,1.52,0.00,0.000,4,0.000,0.025,2529,1480,3355
$GC,4594,-0.48,-146.0,545.7,-6.8,188,4602,0.00,1.65,0.00,0.000,6,0.000,0.045,2524,2550,3354
$GC,4849,-0.48,-146.0,566.6,-8.4,195,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2550,3352
$GC,5092,-0.48,-146.0,587.5,-8.5,201,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2551,3352
$GC,5336,-0.48,-146.0,608.2,-8.6,207,5340,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1477,3350
$GC,5395,-0.48,-146.0,613.6,-8.8,208,5399,0.00,1.62,0.00,0.000,6,0.000,0.048,2524,2544,3350
$GC,5678,-0.48,-146.0,637.5,-8.7,215,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2544,3348
$GC,5921,-0.48,-146.0,659.5,-9.1,221,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2544,3346
$GC,6165,-0.48,-146.0,681.5,-9.0,227,6169,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1478,3344
$GC,6201,-0.48,-146.0,684.8,-8.7,227,6205,0.00,1.62,0.00,0.000,6,0.000,0.048,2523,2539,3344
$GC,6462,-0.48,-146.0,706.7,-8.4,234,6465,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3583,3343
$GC,6521,-0.48,-146.0,711.7,-8.1,235,6524,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2573,3342
$GC,6804,-0.48,-146.0,733.3,-7.7,242,6808,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1481,3341
$GC,6854,-0.48,-146.0,737.4,-7.9,243,6858,0.00,1.62,0.00,0.000,6,0.000,0.049,2522,2539,3341
$GC,7150,-0.48,-146.0,761.5,-8.3,250,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2539,3340
$GC,7395,-0.48,-146.0,782.1,-8.5,256,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3338
$GC,7638,-0.48,-146.0,802.5,-8.4,262,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2539,3338
$GC,7882,-0.48,-146.0,821.6,-7.7,268,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3337
$GC,8126,-0.48,-146.0,839.2,-7.1,274,8129,0.00,1.55,0.00,0.000,4,0.000,0.028,2524,1475,3335
$GC,8176,-0.48,-146.0,842.8,-6.1,275,8179,0.00,1.65,0.00,0.000,6,0.000,0.051,2523,2543,3336
$GC,8470,-0.48,-146.0,861.8,-6.3,282,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2543,3335
$GC,8714,-0.48,-146.0,876.9,-6.1,288,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2543,3334
$GC,8958,-0.48,-146.0,892.3,-6.4,294,8961,0.00,1.55,0.00,0.000,4,0.000,0.029,2523,1485,3333
$GC,9009,-0.48,-146.0,895.5,-5.9,295,9013,0.00,1.62,0.00,0.000,6,0.000,0.051,2523,2535,3333
$STATE,9095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9095,begin apogee
$GC,9106,-0.19,0.0,901.2,6.1,297,9237,0.35,0.00,128.07,1.261,6,0.104,0.000,2640,2251,2750
$STATE,9238,end apogee,CONTROL_FINISHED_OK
$STATE,9238,begin climb
$GC,9243,0.48,146.0,903.0,0.0,300,9423,0.57,1.73,141.70,1.156,4,0.046,0.030,2869,1178,2152
$GC,9474,0.48,146.0,870.5,18.5,305,9477,0.00,1.70,0.00,0.000,6,0.000,0.042,2868,2234,2148
$GC,9767,0.48,146.0,808.8,21.2,312,9771,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3291,2144
$GC,9803,0.48,146.0,800.5,20.8,312,9807,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2221,2143
$GC,10064,0.48,146.0,748.9,20.0,319,10068,0.00,1.58,0.00,0.000,4,0.000,0.031,2877,1155,2142
$GC,10114,0.48,146.0,739.0,19.0,320,10118,0.00,1.65,0.00,0.000,6,0.000,0.044,2877,2214,2141
$GC,10408,0.48,146.0,679.7,20.3,327,10412,0.00,1.65,0.00,0.000,4,0.000,0.052,2877,3281,2140
$GC,10472,0.48,146.0,665.5,19.8,328,10476,0.12,1.60,0.00,0.000,6,0.183,0.028,2854,2197,2139
$GC,10748,0.48,146.0,618.2,17.1,335,10752,0.00,1.52,0.00,0.000,4,0.000,0.031,2860,1160,2139
$GC,10784,0.48,146.0,612.0,15.9,335,10787,0.00,1.62,0.00,0.000,6,0.000,0.044,2860,2215,2138
$GC,11044,0.48,146.0,567.9,17.5,342,11048,0.00,1.65,0.00,0.000,4,0.000,0.051,2860,3290,2138
$GC,11095,0.48,146.0,558.6,18.7,343,11099,0.00,1.60,0.00,0.000,6,0.000,0.027,2867,2221,2138
$GC,11389,0.48,146.0,504.2,18.5,350,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2214,2138
$GC,11633,0.48,146.0,461.3,17.3,356,11636,0.00,1.55,0.00,0.000,4,0.000,0.031,2872,1161,2138
$GC,11651,0.48,146.0,457.8,17.0,356,11655,0.00,1.65,0.00,0.000,6,0.000,0.043,2873,2240,2137
$GC,11928,0.48,146.0,412.8,16.2,363,11932,0.00,1.62,0.00,0.000,4,0.000,0.051,2873,3304,2137
$GC,11960,0.48,146.0,407.0,19.0,363,11963,0.00,1.58,0.00,0.000,6,0.000,0.028,2880,2246,2137
$GC,12227,0.48,146.0,361.7,16.8,370,12230,0.00,1.58,0.00,0.000,4,0.000,0.030,2889,1158,2136
$GC,12268,0.48,146.0,354.1,16.0,370,12275,0.10,1.70,0.00,0.000,6,0.137,0.043,2856,2252,2137
$GC,12522,0.48,146.0,318.6,13.9,377,12523,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2251,2137
$GC,12766,0.48,146.0,284.8,13.7,383,12769,0.00,1.60,0.00,0.000,4,0.000,0.050,2850,3287,2137
$GC,12846,0.48,146.0,273.7,13.6,384,12849,0.00,1.55,0.00,0.000,6,0.000,0.026,2856,2239,2137
$GC,13107,0.48,146.0,240.7,12.9,391,13110,0.00,1.55,0.00,0.000,4,0.000,0.028,2860,1165,2137
$GC,13181,0.48,146.0,231.9,10.2,392,13185,0.00,1.60,0.00,0.000,6,0.000,0.041,2860,2220,2137
$GC,13448,0.48,146.0,201.8,11.8,399,13451,0.00,1.60,0.00,0.000,4,0.000,0.048,2860,3284,2137
$GC,13534,0.48,146.0,189.6,12.9,403,13542,0.00,1.60,0.00,0.000,6,0.000,0.025,2868,2197,2136
$GC,13800,0.48,146.0,156.7,12.3,428,13803,0.00,1.67,0.00,0.000,4,0.000,0.045,2863,3286,2137
$GC,13895,0.48,146.0,144.8,11.1,436,13899,0.00,1.58,0.00,0.000,6,0.000,0.024,2869,2212,2137
$GC,14168,0.48,146.0,115.1,11.2,461,14172,0.00,1.67,0.00,0.000,4,0.000,0.044,2863,3283,2136
$GC,14196,0.48,146.0,111.9,11.1,463,14200,0.00,1.55,0.00,0.000,6,0.000,0.024,2869,2224,2137
$GC,14471,0.48,146.9,83.5,10.0,488,14475,0.00,1.50,0.00,0.000,4,0.000,0.025,2873,1164,2137
$GC,14500,0.49,160.1,80.0,9.5,490,14523,0.00,1.62,10.75,0.610,6,0.000,0.037,2873,2229,2097
$GC,14785,0.52,237.4,57.6,7.1,516,14855,0.00,1.62,62.97,0.613,4,0.000,0.041,2873,3290,1782
$GC,14948,0.52,245.5,44.5,9.7,528,14960,0.00,1.55,8.00,0.529,6,0.000,0.021,2873,2249,1748
$GC,15241,0.52,250.2,18.1,9.8,564,15251,0.00,1.60,5.12,0.452,4,0.000,0.023,2880,1154,1729
$GC,15341,0.54,293.1,9.4,8.4,579,15386,0.00,1.62,34.15,0.554,6,0.000,0.034,2880,2217,1556
$STATE,15411,end climb,SURFACE_DEPTH_REACHED
$STATE,15412,begin surface coast
$FINISH,0.3,1.023168
$STATE,15450,end surface coast,CONTROL_FINISHED_OK
$STATE,15450,begin surface
$SM_CCo,15476,40.17,0.541,0,0,1160,390.02
$SM_GC,1.12,0.00,0.00,40.17,0.000,0.000,0.541,42,2560,1160,-8.29,1.70,390.02
$IRIDIUM_FIX,2302.75,-15753.64,281202,181821
$TT8_MAMPS,0.023777
$HUMID,2171
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.80
$XPDR_PINGS,4
$24V_AH,24.1,16.113
$10V_AH,10.6,16.637
$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,17.925,108.900,390.775,40.175,0.000,30.244,45.569,231.332,1.000,0.000,0.000,31.495,1286.270,10352.042,460.494,3014.002,928.404,33.379,1426.604,0.000,3018.380,0.000,0.543,0.000
$DEVICE_MAMPS,203.255,57.525,1260.948,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,404.872,1955.283,2025.074,401.998,1328.716,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51098,594
$CAP_FILE_SIZE,122285,0
$CFSIZE,260165632,252313600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,041013,031735,2307.577,-15753.178,33,1.6,33,10.1