version: 66.04
glider: 512
mission: 4
dive: 100
start: 10 4 113 8 19 1
data:
$ID,512
$MISSION,4
$DIVE,100
$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,-108518.88
$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,63
$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
$GPS1,075536,2306.958,-15754.147,45,1.4,45,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-79.6
$GPS2,081742,2307.171,-15754.029,13,1.6,18,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.282,-0.039
$KALMAN_X,25769.4,575.6,-206.8,-15861.2,2982.7
$KALMAN_Y,-5287.6,570.3,209.1,47270.7,111.7
$MHEAD_RNG_PITCHd_Wd,252.0,18579,-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,-146.0,0.0,0.0,0,110,0.00,0.00,-90.47,0.000,2,0.000,0.000,10,2537,2973
$GC,116,-0.48,-146.0,2.3,-1.8,11,143,9.40,1.55,-8.32,0.000,4,0.205,0.036,2540,1419,3347
$GC,334,-0.48,-146.0,53.0,-20.4,36,338,0.00,1.60,0.00,0.000,6,0.000,0.038,2534,2488,3348
$GC,606,-0.48,-146.0,105.7,-17.6,61,610,0.00,1.48,0.00,0.000,4,0.000,0.018,2534,1426,3348
$GC,623,-0.48,-146.0,108.9,-18.4,62,626,0.00,1.58,0.00,0.000,6,0.000,0.035,2526,2474,3348
$GC,894,-0.48,-146.0,156.9,-17.4,87,898,0.00,1.65,0.00,0.000,4,0.000,0.046,2520,3562,3348
$GC,933,-0.48,-146.0,163.8,-17.7,90,936,0.00,1.55,0.00,0.000,6,0.000,0.019,2520,2465,3348
$GC,1204,-0.48,-146.0,206.8,-15.8,112,1208,0.00,1.67,0.00,0.000,4,0.000,0.041,2512,3557,3348
$GC,1284,-0.48,-146.0,220.2,-14.7,113,1287,0.00,1.50,0.00,0.000,6,0.000,0.019,2514,2492,3348
$GC,1544,-0.48,-146.0,256.8,-14.1,120,1548,0.00,1.42,0.00,0.000,4,0.000,0.019,2519,1445,3347
$GC,1639,-0.48,-146.0,268.3,-11.6,122,1643,0.00,1.55,0.00,0.000,6,0.000,0.036,2514,2473,3347
$GC,1933,-0.48,-146.0,303.9,-12.4,129,1937,0.00,1.62,0.00,0.000,4,0.000,0.046,2505,3570,3344
$GC,2003,-0.48,-146.0,313.9,-13.3,130,2007,0.05,1.55,0.00,0.000,6,0.101,0.021,2540,2472,3344
$GC,2274,-0.48,-146.0,341.3,-10.0,137,2278,0.00,1.70,0.00,0.000,4,0.000,0.045,2534,3570,3341
$GC,2324,-0.48,-146.0,346.0,-9.1,138,2328,0.00,1.52,0.00,0.000,6,0.000,0.021,2534,2496,3342
$GC,2619,-0.48,-146.0,373.6,-9.3,145,2623,0.00,1.42,0.00,0.000,4,0.000,0.021,2534,1455,3339
$GC,2655,-0.48,-146.0,377.6,-9.6,145,2659,0.00,1.58,0.00,0.000,6,0.000,0.040,2527,2492,3339
$GC,2915,-0.48,-146.0,402.5,-9.7,152,2919,0.00,1.62,0.00,0.000,4,0.000,0.050,2521,3558,3337
$GC,2957,-0.48,-146.0,406.9,-9.9,152,2963,0.00,1.50,0.00,0.000,6,0.000,0.023,2522,2498,3336
$GC,3212,-0.48,-146.0,431.5,-9.6,159,3216,0.00,1.45,-0.08,0.000,4,0.000,0.043,2521,1437,3357
$GC,3263,-0.48,-146.0,436.1,-9.1,160,3266,0.00,1.60,0.00,0.000,6,0.000,0.040,2515,2484,3357
$GC,3557,-0.48,-146.0,465.3,-10.2,167,3561,0.00,1.65,0.00,0.000,4,0.000,0.049,2507,3561,3355
$GC,3614,-0.48,-146.0,472.2,-11.5,168,3618,0.08,1.52,0.00,0.000,6,0.132,0.023,2545,2482,3353
$GC,3898,-0.48,-146.0,496.8,-8.7,175,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2478,3351
$GC,4143,-0.48,-146.0,516.9,-8.1,181,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2478,3350
$GC,4387,-0.48,-146.0,534.2,-6.9,187,4390,0.00,1.65,0.00,0.000,4,0.000,0.050,2538,3558,3348
$GC,4506,-0.48,-146.0,543.1,-7.1,189,4509,0.00,1.50,0.00,0.000,6,0.000,0.025,2538,2516,3346
$GC,4773,-0.48,-146.0,562.9,-7.7,196,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2508,3344
$GC,5018,-0.48,-146.0,582.9,-8.2,202,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2508,3343
$GC,5261,-0.48,-146.0,603.0,-8.1,208,5265,0.00,1.50,0.00,0.000,4,0.000,0.025,2539,1445,3340
$GC,5297,-0.48,-146.0,606.6,-8.3,208,5301,0.00,1.65,0.00,0.000,6,0.000,0.045,2537,2511,3340
$GC,5557,-0.48,-146.0,627.6,-8.2,215,5561,0.00,1.62,0.00,0.000,4,0.000,0.054,2529,3561,3339
$GC,5587,-0.48,-146.0,630.5,-9.1,215,5591,0.00,1.52,0.00,0.000,6,0.000,0.026,2529,2511,3338
$GC,5854,-0.48,-146.0,653.9,-9.0,222,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2503,3337
$GC,6097,-0.48,-146.0,674.6,-8.3,228,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2503,3335
$GC,6341,-0.48,-146.0,693.1,-7.5,234,6344,0.00,1.62,0.00,0.000,4,0.000,0.053,2524,3561,3334
$GC,6400,-0.48,-146.0,697.9,-8.0,235,6403,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2512,3334
$GC,6682,-0.48,-146.0,719.3,-7.7,242,6686,0.00,1.50,0.00,0.000,4,0.000,0.026,2524,1449,3333
$GC,6735,-0.48,-146.0,723.7,-8.1,243,6738,0.00,1.62,0.00,0.000,6,0.000,0.048,2523,2515,3332
$GC,7024,-0.48,-146.0,746.3,-8.0,250,7028,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3561,3331
$GC,7095,-0.48,-146.0,752.2,-7.8,251,7098,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2516,3330
$GC,7367,-0.48,-146.0,771.1,-6.8,258,7370,0.00,1.65,0.00,0.000,4,0.000,0.056,2523,3569,3328
$GC,7403,-0.48,-146.0,773.7,-6.3,258,7406,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2522,3328
$GC,7665,-0.48,-146.0,791.1,-6.7,265,7668,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1448,3327
$GC,7700,-0.48,-146.0,794.0,-7.2,265,7704,0.00,1.67,0.00,0.000,6,0.000,0.049,2523,2520,3327
$GC,7961,-0.48,-146.0,811.9,-7.0,272,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2520,3326
$GC,8204,-0.48,-146.0,828.2,-6.7,278,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2520,3325
$GC,8448,-0.48,-146.0,844.8,-6.8,284,8452,0.00,1.62,0.00,0.000,4,0.000,0.059,2523,3558,3324
$GC,8489,-0.48,-146.0,848.2,-7.7,284,8498,0.00,1.52,0.00,0.000,6,0.000,0.029,2523,2508,3324
$GC,8745,-0.48,-146.0,865.6,-7.0,291,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2508,3323
$GC,8988,-0.48,-146.0,882.7,-7.1,297,8991,0.00,1.50,0.00,0.000,4,0.000,0.028,2523,1461,3323
$GC,9024,-0.48,-146.0,885.6,-7.8,297,9027,0.00,1.65,0.00,0.000,6,0.000,0.049,2523,2536,3323
$STATE,9238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9239,begin apogee
$GC,9250,-0.19,0.0,901.2,7.2,303,9379,0.35,0.00,126.20,1.256,6,0.107,0.000,2639,2233,2750
$STATE,9380,end apogee,CONTROL_FINISHED_OK
$STATE,9380,begin climb
$GC,9385,0.48,146.0,904.0,0.0,306,9540,0.57,1.67,138.02,1.185,4,0.048,0.029,2867,1159,2153
$GC,9612,0.48,146.0,873.1,19.4,311,9616,0.00,1.73,0.00,0.000,6,0.000,0.041,2867,2241,2147
$GC,9906,0.48,146.0,814.3,20.1,318,9909,0.00,1.62,0.00,0.000,4,0.000,0.049,2863,3284,2144
$GC,9930,0.48,146.0,808.5,21.0,318,9934,0.00,1.62,0.00,0.000,6,0.000,0.028,2869,2220,2142
$GC,10202,0.48,146.0,754.8,19.7,325,10206,0.00,1.55,0.00,0.000,4,0.000,0.030,2877,1163,2141
$GC,10245,0.48,146.0,745.9,20.0,325,10253,0.00,1.65,0.00,0.000,6,0.000,0.044,2877,2210,2140
$GC,10499,0.48,146.0,692.8,21.3,332,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2209,2140
$GC,10743,0.48,146.0,641.8,20.8,338,10747,0.00,1.67,0.00,0.000,4,0.000,0.051,2877,3279,2139
$GC,10839,0.48,146.0,621.0,22.5,340,10843,0.10,1.58,0.00,0.000,6,0.174,0.028,2854,2231,2139
$GC,11132,0.48,146.0,569.9,16.8,347,11136,0.00,1.58,0.00,0.000,4,0.000,0.031,2860,1160,2138
$GC,11227,0.48,146.0,555.3,15.0,349,11231,0.00,1.67,0.00,0.000,6,0.000,0.044,2861,2228,2138
$GC,11521,0.48,146.0,508.9,15.8,356,11525,0.00,1.62,0.00,0.000,4,0.000,0.050,2860,3277,2138
$GC,11571,0.48,146.0,500.6,17.1,357,11574,0.00,1.52,0.00,0.000,6,0.000,0.028,2867,2255,2136
$GC,11865,0.48,146.0,452.4,16.1,364,11869,0.00,1.60,0.00,0.000,4,0.000,0.032,2873,1162,2136
$GC,11895,0.48,146.0,447.0,15.6,364,11899,0.00,1.73,0.00,0.000,6,0.000,0.044,2873,2269,2136
$GC,12161,0.48,146.0,405.9,15.5,371,12164,0.00,1.62,0.00,0.000,4,0.000,0.029,2881,1155,2136
$GC,12202,0.48,146.0,399.2,14.3,371,12210,0.00,1.70,0.00,0.000,6,0.000,0.043,2878,2250,2136
$GC,12456,0.48,146.0,358.5,16.4,378,12460,0.00,1.60,0.00,0.000,4,0.000,0.051,2877,3285,2136
$GC,12507,0.48,146.0,350.2,16.2,379,12511,0.00,1.52,0.00,0.000,6,0.000,0.027,2883,2259,2135
$GC,12801,0.48,146.0,302.9,16.3,386,12805,0.12,1.58,0.00,0.000,4,0.173,0.028,2858,1164,2136
$GC,12850,0.48,146.0,295.9,14.1,387,12854,0.00,1.67,0.00,0.000,6,0.000,0.042,2858,2263,2135
$GC,13145,0.48,146.0,255.6,13.8,394,13149,0.00,1.58,0.00,0.000,4,0.000,0.049,2858,3283,2135
$GC,13243,0.48,146.0,242.0,12.9,396,13247,0.00,1.48,0.00,0.000,6,0.000,0.026,2865,2280,2136
$GC,13532,0.48,146.0,207.9,11.8,403,13536,0.00,1.62,0.00,0.000,4,0.000,0.028,2873,1138,2135
$GC,13601,0.48,146.0,200.4,10.6,404,13605,0.00,1.77,0.00,0.000,6,0.000,0.042,2873,2287,2136
$GC,13873,0.48,146.0,167.1,13.1,428,13877,0.00,1.52,0.00,0.000,4,0.000,0.048,2872,3281,2135
$GC,13970,0.48,146.0,154.3,12.1,436,13977,0.00,1.45,0.00,0.000,6,0.000,0.025,2880,2286,2136
$GC,14236,0.48,146.0,122.5,11.6,461,14240,0.00,1.62,0.00,0.000,4,0.000,0.027,2886,1128,2136
$GC,14321,0.48,146.0,112.7,10.6,468,14325,0.08,1.75,0.00,0.000,6,0.123,0.038,2858,2274,2136
$GC,14597,0.49,166.5,86.0,9.2,493,14621,0.00,0.00,15.43,0.637,6,0.000,0.000,2858,2274,2072
$GC,14879,0.52,242.7,65.8,7.1,519,14953,0.00,1.62,62.17,0.622,4,0.000,0.042,2858,3297,1758
$GC,14972,0.55,310.4,59.5,7.5,526,15031,0.00,1.55,53.95,0.606,6,0.000,0.022,2858,2251,1483
$GC,15300,0.58,406.3,38.4,6.4,555,15383,0.00,1.62,74.72,0.579,4,0.000,0.025,2858,1171,1092
$GC,15437,0.62,493.4,29.8,6.7,565,15512,0.08,1.73,68.30,0.562,6,0.088,0.035,2890,2273,737
$STATE,15648,end climb,SURFACE_DEPTH_REACHED
$STATE,15649,begin surface coast
$FINISH,0.3,1.010862
$STATE,15675,end surface coast,CONTROL_FINISHED_OK
$STATE,15675,begin surface
$SM_CCo,15761,0.00,0.000,0,0,733,494.76
$SM_GC,1.19,7.30,0.00,0.00,0.022,0.000,0.000,29,2585,733,-8.24,2.49,494.76
$IRIDIUM_FIX,2255.72,-15754.52,291202,080832
$TT8_MAMPS,0.023777
$HUMID,2191
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.90
$XPDR_PINGS,8
$24V_AH,24.1,16.473
$10V_AH,10.6,17.049
$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,18.125,118.450,538.800,0.000,0.000,126.603,174.851,644.241,2.000,0.000,0.000,18.252,1301.945,10609.439,499.734,3135.991,1556.281,33.370,1576.271,0.000,3130.563,0.000,0.545,0.000
$DEVICE_MAMPS,204.789,59.059,1256.346,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,407.308,1973.210,2034.214,304.592,1348.926,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51224,600
$CAP_FILE_SIZE,136237,0
$CFSIZE,260165632,252162048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,041013,124306,2306.543,-15755.941,41,1.5,41,10.1