version: 66.04
glider: 512
mission: 4
dive: 99
start: 10 4 113 3 36 14
data:
$ID,512
$MISSION,4
$DIVE,99
$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,-108500
$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,59
$R_STBD_OVSHOOT,31
$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
$GPS1,031735,2307.577,-15753.178,33,1.6,33,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-81.0
$GPS2,033455,2307.683,-15753.211,15,1.9,15,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.242,-0.151
$KALMAN_X,23407.2,-283.5,36.3,-11491.3,2007.5
$KALMAN_Y,-6054.2,247.9,-450.8,49978.8,1986.1
$MHEAD_RNG_PITCHd_Wd,227.9,20184,-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,17,-0.48,-146.0,0.0,0.0,0,88,0.00,0.00,-68.68,0.000,2,0.000,0.000,10,2558,2774
$GC,94,-0.48,-146.0,2.0,-1.9,8,123,9.48,1.65,-14.48,0.000,4,0.206,0.038,2535,1424,3346
$GC,308,-0.48,-146.0,47.3,-21.6,34,312,0.00,1.62,0.00,0.000,6,0.000,0.038,2529,2504,3347
$GC,580,-0.48,-146.0,101.5,-17.8,59,584,0.00,1.60,0.00,0.000,4,0.000,0.044,2521,3559,3348
$GC,676,-0.48,-146.0,118.2,-16.4,67,680,0.00,1.52,0.00,0.000,6,0.000,0.019,2521,2484,3348
$GC,947,-0.48,-146.0,163.3,-15.8,92,951,0.00,1.67,0.00,0.000,4,0.000,0.041,2513,3572,3348
$GC,965,-0.48,-146.0,166.7,-16.3,93,974,0.00,1.48,0.00,0.000,6,0.000,0.019,2516,2514,3348
$GC,1230,-0.48,-146.0,206.3,-14.0,115,1233,0.00,1.60,0.00,0.000,4,0.000,0.041,2509,3581,3348
$GC,1287,-0.48,-146.0,215.1,-13.9,116,1291,0.08,1.48,0.00,0.000,6,0.135,0.019,2536,2524,3348
$GC,1569,-0.48,-146.0,247.9,-11.7,123,1572,0.00,1.45,0.00,0.000,4,0.000,0.020,2536,1463,3347
$GC,1610,-0.48,-146.0,253.1,-11.1,123,1619,0.00,1.60,0.00,0.000,6,0.000,0.039,2534,2518,3347
$GC,1867,-0.48,-146.0,282.7,-11.7,130,1870,0.00,1.58,0.00,0.000,4,0.000,0.046,2526,3559,3347
$GC,1909,-0.48,-146.0,288.0,-11.7,130,1917,0.00,1.45,0.00,0.000,6,0.000,0.021,2526,2523,3346
$GC,2164,-0.48,-146.0,316.7,-11.6,137,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2523,3344
$GC,2407,-0.48,-146.0,344.0,-10.9,143,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2523,3342
$GC,2651,-0.48,-146.0,367.7,-9.6,149,2655,0.00,1.48,0.00,0.000,4,0.000,0.021,2526,1458,3340
$GC,2709,-0.48,-146.0,373.5,-9.2,150,2713,0.00,1.60,0.00,0.000,6,0.000,0.041,2523,2529,3340
$GC,2993,-0.48,-146.0,401.0,-10.1,157,2996,0.00,1.58,0.00,0.000,4,0.000,0.049,2520,3564,3338
$GC,3050,-0.48,-146.0,407.7,-10.5,158,3054,0.00,1.48,0.00,0.000,6,0.000,0.023,2520,2528,3337
$GC,3332,-0.48,-146.0,439.8,-11.8,165,3336,0.00,1.48,-0.08,0.000,4,0.000,0.042,2521,1444,3358
$GC,3373,-0.48,-146.0,445.0,-10.9,165,3382,0.00,1.67,0.00,0.000,6,0.000,0.041,2515,2541,3358
$GC,3630,-0.48,-146.0,473.8,-11.3,172,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2541,3357
$GC,3874,-0.48,-146.0,499.2,-10.3,178,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2541,3355
$GC,4117,-0.48,-146.0,523.6,-10.0,184,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2541,3353
$GC,4361,-0.48,-146.0,548.3,-10.2,190,4364,0.00,1.58,0.00,0.000,4,0.000,0.051,2507,3568,3351
$GC,4403,-0.48,-146.0,553.1,-10.1,190,4412,0.08,1.50,0.00,0.000,6,0.122,0.025,2534,2513,3350
$GC,4658,-0.48,-146.0,575.1,-8.6,197,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2513,3349
$GC,4902,-0.48,-146.0,595.1,-8.2,203,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2513,3347
$GC,5145,-0.48,-146.0,613.0,-7.1,209,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2513,3346
$GC,5389,-0.48,-146.0,630.7,-7.3,215,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2513,3344
$GC,5633,-0.48,-146.0,649.7,-7.8,221,5636,0.00,1.48,0.00,0.000,4,0.000,0.026,2534,1470,3342
$GC,5674,-0.48,-146.0,653.2,-7.5,221,5683,0.00,1.62,0.00,0.000,6,0.000,0.046,2528,2525,3341
$GC,5929,-0.48,-146.0,673.2,-8.0,228,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2525,3340
$GC,6173,-0.48,-146.0,692.4,-8.0,234,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2525,3339
$GC,6416,-0.48,-146.0,711.9,-7.9,240,6420,0.00,1.60,0.00,0.000,4,0.000,0.054,2524,3576,3337
$GC,6481,-0.48,-146.0,717.6,-8.8,241,6484,0.00,1.50,0.00,0.000,6,0.000,0.029,2523,2547,3338
$GC,6758,-0.48,-146.0,740.7,-8.4,248,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2539,3336
$GC,7002,-0.48,-146.0,760.3,-8.1,254,7005,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1453,3335
$GC,7077,-0.48,-146.0,766.6,-8.0,255,7080,0.00,1.65,0.00,0.000,6,0.000,0.048,2524,2532,3334
$GC,7344,-0.48,-146.0,786.4,-7.5,262,7347,0.00,1.60,0.00,0.000,4,0.000,0.057,2523,3578,3333
$GC,7394,-0.48,-146.0,790.3,-7.6,263,7398,0.00,1.55,0.00,0.000,6,0.000,0.029,2523,2527,3333
$GC,7689,-0.48,-146.0,811.8,-7.2,270,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2519,3332
$GC,7932,-0.48,-146.0,829.6,-7.3,276,7936,0.00,1.52,0.00,0.000,4,0.000,0.028,2523,1453,3331
$GC,7962,-0.48,-146.0,832.0,-7.5,276,7966,0.00,1.67,0.00,0.000,6,0.000,0.051,2523,2523,3331
$GC,8230,-0.48,-146.0,850.9,-7.1,283,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3330
$GC,8474,-0.48,-146.0,868.1,-7.1,289,8478,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1442,3329
$GC,8510,-0.48,-146.0,871.1,-7.7,289,8514,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2516,3329
$GC,8770,-0.48,-146.0,888.9,-6.9,296,8774,0.00,1.62,0.00,0.000,4,0.000,0.057,2515,3558,3327
$GC,8822,-0.48,-146.0,893.1,-7.2,297,8826,0.00,1.52,0.00,0.000,6,0.000,0.029,2515,2524,3327
$STATE,8943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8943,begin apogee
$GC,8955,-0.19,0.0,902.3,7.4,300,9084,0.38,0.00,126.88,1.257,6,0.108,0.000,2641,2210,2750
$STATE,9085,end apogee,CONTROL_FINISHED_OK
$STATE,9085,begin climb
$GC,9090,0.48,146.0,904.5,0.0,303,9270,0.57,1.65,141.20,1.156,4,0.047,0.029,2869,1180,2152
$GC,9300,0.48,146.0,875.6,19.2,307,9304,0.00,1.70,0.00,0.000,6,0.000,0.042,2870,2235,2149
$GC,9566,0.48,146.0,818.9,22.0,314,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2236,2144
$GC,9809,0.48,146.0,767.3,21.1,320,9813,0.00,1.62,0.00,0.000,4,0.000,0.048,2863,3289,2143
$GC,9833,0.48,146.0,761.5,21.5,320,9837,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2210,2142
$GC,10105,0.48,146.0,706.9,20.2,327,10109,0.00,1.55,0.00,0.000,4,0.000,0.031,2877,1153,2141
$GC,10129,0.48,146.0,701.4,19.4,327,10133,0.00,1.67,0.00,0.000,6,0.000,0.043,2877,2219,2140
$GC,10402,0.48,146.0,648.2,19.9,334,10405,0.00,1.65,0.00,0.000,4,0.000,0.051,2877,3296,2140
$GC,10432,0.48,146.0,640.9,21.4,334,10436,0.08,1.62,0.00,0.000,6,0.182,0.028,2862,2214,2139
$GC,10697,0.48,146.0,595.5,16.9,341,10700,0.00,1.55,0.00,0.000,4,0.000,0.031,2868,1154,2139
$GC,10771,0.48,146.0,583.2,14.8,342,10775,0.00,1.60,0.00,0.000,6,0.000,0.042,2867,2202,2138
$GC,11038,0.48,146.0,538.7,17.2,349,11041,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3283,2138
$GC,11101,0.48,146.0,526.6,18.4,350,11104,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2215,2138
$GC,11378,0.48,146.0,479.6,16.8,357,11382,0.00,1.52,0.00,0.000,4,0.000,0.031,2873,1168,2138
$GC,11429,0.48,146.0,471.3,14.9,358,11433,0.00,1.60,0.00,0.000,6,0.000,0.042,2873,2194,2137
$GC,11723,0.48,146.0,424.5,16.0,365,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2194,2137
$GC,11966,0.48,146.0,383.5,16.9,371,11970,0.00,1.67,0.00,0.000,4,0.000,0.051,2873,3294,2137
$GC,12052,0.48,146.0,368.1,17.4,372,12061,0.00,1.62,0.00,0.000,6,0.000,0.027,2881,2199,2137
$GC,12307,0.48,146.0,325.9,16.7,379,12309,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2192,2137
$GC,12552,0.48,146.0,287.6,14.9,385,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2192,2137
$GC,12796,0.48,146.0,250.9,14.6,391,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2192,2137
$GC,13040,0.48,146.0,218.2,13.3,397,13043,0.00,1.67,0.00,0.000,4,0.000,0.046,2878,3283,2137
$GC,13064,0.48,146.0,214.0,14.1,397,13068,0.08,1.58,0.00,0.000,6,0.152,0.025,2859,2217,2137
$GC,13331,0.48,146.0,186.2,11.2,412,13338,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2210,2137
$GC,13596,0.48,146.0,157.0,10.8,437,13600,0.00,1.67,0.00,0.000,4,0.000,0.042,2859,3292,2137
$GC,13702,0.48,146.0,145.7,11.0,446,13706,0.00,1.55,0.00,0.000,6,0.000,0.024,2865,2227,2137
$GC,13974,0.48,146.0,116.2,11.5,471,13978,0.00,1.52,0.00,0.000,4,0.000,0.027,2873,1159,2137
$GC,14015,0.48,146.0,111.2,10.5,474,14024,0.00,1.62,0.00,0.000,6,0.000,0.038,2872,2227,2137
$GC,14282,0.48,146.0,83.7,10.2,499,14285,0.00,1.55,0.00,0.000,4,0.000,0.026,2873,1162,2137
$GC,14345,0.49,175.9,77.9,8.9,504,14374,0.00,1.60,23.73,0.629,6,0.000,0.037,2873,2215,2032
$GC,14636,0.52,250.4,54.1,7.2,530,14707,0.00,1.67,60.10,0.604,4,0.000,0.043,2873,3281,1728
$GC,14773,0.53,270.4,43.2,9.3,540,14797,0.00,1.55,17.33,0.574,6,0.000,0.022,2873,2238,1646
$GC,15070,0.56,334.5,18.5,7.6,576,15132,0.00,1.60,50.15,0.563,4,0.000,0.021,2872,1160,1384
$GC,15187,0.63,526.5,10.7,2.8,591,15310,0.00,1.65,118.22,0.545,2,0.000,0.035,2872,2218,765
$STATE,15311,end climb,SURFACE_DEPTH_REACHED
$STATE,15311,begin surface coast
$FINISH,0.3,1.010334
$STATE,15389,end surface coast,CONTROL_FINISHED_OK
$STATE,15389,begin surface
$SM_CCo,15474,0.00,0.000,0,0,759,488.38
$SM_GC,1.19,7.38,0.00,0.00,0.026,0.000,0.000,34,2544,759,-8.24,1.19,488.38
$IRIDIUM_FIX,2258.07,-15751.47,291202,030358
$TT8_MAMPS,0.023777
$HUMID,2156
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,26.30
$XPDR_PINGS,3
$24V_AH,24.1,16.285
$10V_AH,10.6,16.843
$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,18.100,99.150,537.600,0.000,0.000,79.938,129.709,494.064,0.750,0.000,0.000,15.556,1266.049,10426.924,492.191,2996.495,1348.763,33.371,1503.785,0.000,3021.138,0.000,0.545,0.000
$DEVICE_MAMPS,205.556,56.758,1257.113,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,418.126,2032.738,2101.625,537.291,1419.703,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54021,617
$CAP_FILE_SIZE,123293,0
$CFSIZE,260165632,252235776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,041013,075536,2306.958,-15754.147,45,1.4,45,10.1