version: 66.04
glider: 512
mission: 4
dive: 101
start: 10 4 113 13 3 7
data:
$ID,512
$MISSION,4
$DIVE,101
$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,-108551.55
$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,67
$R_STBD_OVSHOOT,29
$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
$GPS1,124306,2306.543,-15755.941,41,1.5,41,10.1
$_CALLS,3
$_XMS_NAKs,31
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-77.6
$GPS2,130150,2306.593,-15755.872,12,2.1,31,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.273,-0.081
$KALMAN_X,27169.3,579.6,306.5,-20912.6,345.3
$KALMAN_Y,-4699.4,-69.3,-119.4,46581.7,234.9
$MHEAD_RNG_PITCHd_Wd,243.3,15268,-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,-146.0,0.0,0.0,0,111,0.00,0.00,-90.45,0.000,2,0.000,0.000,10,2585,2935
$GC,116,-0.48,-146.0,2.0,-1.6,11,143,9.50,1.62,-9.60,0.000,4,0.207,0.038,2543,1440,3346
$GC,203,-0.48,-146.0,23.0,-20.6,23,213,0.00,1.62,0.00,0.000,6,0.000,0.038,2537,2495,3347
$GC,476,-0.48,-146.0,87.6,-21.8,50,479,0.00,1.62,0.00,0.000,4,0.000,0.044,2528,3581,3347
$GC,550,-0.48,-146.0,100.1,-15.1,56,553,0.00,1.55,0.00,0.000,6,0.000,0.018,2531,2489,3347
$GC,822,-0.48,-146.0,143.0,-15.4,81,826,0.00,1.42,0.00,0.000,4,0.000,0.019,2531,1448,3348
$GC,917,-0.48,-146.0,157.3,-14.5,89,921,0.00,1.60,0.00,0.000,6,0.000,0.037,2525,2497,3348
$GC,1188,-0.48,-146.0,198.2,-14.3,114,1191,0.00,1.60,0.00,0.000,4,0.000,0.044,2517,3559,3347
$GC,1296,-0.48,-146.0,213.5,-13.1,117,1300,0.00,1.50,0.00,0.000,6,0.000,0.019,2518,2500,3347
$GC,1574,-0.48,-146.0,247.3,-12.2,124,1578,0.00,1.42,0.00,0.000,4,0.000,0.020,2521,1454,3346
$GC,1624,-0.48,-146.0,252.9,-10.2,125,1627,0.00,1.55,0.00,0.000,6,0.000,0.037,2516,2478,3346
$GC,1918,-0.48,-146.0,288.4,-12.6,132,1922,0.00,1.62,0.00,0.000,4,0.000,0.047,2507,3574,3344
$GC,2004,-0.48,-146.0,300.6,-12.7,133,2011,0.08,1.52,0.00,0.000,6,0.130,0.021,2535,2480,3343
$GC,2259,-0.48,-146.0,328.0,-10.6,140,2263,0.00,1.67,0.00,0.000,4,0.000,0.045,2529,3559,3342
$GC,2309,-0.48,-146.0,333.0,-10.0,141,2313,0.00,1.48,0.00,0.000,6,0.000,0.021,2529,2518,3342
$GC,2604,-0.48,-146.0,360.3,-9.1,148,2608,0.00,1.48,0.00,0.000,4,0.000,0.022,2529,1449,3339
$GC,2647,-0.48,-146.0,364.3,-7.8,148,2655,0.00,1.62,0.00,0.000,6,0.000,0.040,2524,2514,3339
$GC,2902,-0.48,-146.0,388.0,-9.6,155,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2514,3337
$GC,3145,-0.48,-146.0,414.0,-10.9,161,3150,0.00,1.50,-0.08,0.000,4,0.000,0.042,2524,1460,3358
$GC,3181,-0.48,-146.0,418.3,-10.9,161,3184,0.00,1.58,0.00,0.000,6,0.000,0.042,2524,2489,3358
$GC,3441,-0.48,-146.0,444.1,-10.0,168,3445,0.00,1.62,0.00,0.000,4,0.000,0.051,2523,3562,3355
$GC,3477,-0.48,-146.0,447.9,-9.5,168,3481,0.00,1.50,0.00,0.000,6,0.000,0.023,2523,2512,3355
$GC,3739,-0.48,-146.0,472.0,-9.3,175,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2504,3353
$GC,3982,-0.48,-146.0,496.9,-10.4,181,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2504,3350
$GC,4227,-0.48,-146.0,523.7,-11.1,187,4231,0.00,1.48,0.00,0.000,4,0.000,0.025,2523,1458,3349
$GC,4296,-0.48,-146.0,531.2,-9.8,188,4300,0.00,1.62,0.00,0.000,6,0.000,0.045,2523,2510,3349
$GC,4568,-0.48,-146.0,555.5,-8.7,195,4571,0.00,1.60,0.00,0.000,4,0.000,0.052,2515,3570,3346
$GC,4632,-0.48,-146.0,561.4,-8.9,196,4636,0.00,1.52,0.00,0.000,6,0.000,0.024,2515,2512,3345
$GC,4910,-0.48,-146.0,586.0,-9.0,203,4914,0.00,1.50,0.00,0.000,4,0.000,0.025,2520,1443,3343
$GC,4968,-0.48,-146.0,591.6,-8.1,204,4971,0.00,1.60,0.00,0.000,6,0.000,0.044,2515,2502,3342
$GC,5252,-0.48,-146.0,618.0,-9.7,211,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2502,3340
$GC,5496,-0.48,-146.0,641.5,-9.6,217,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2502,3339
$GC,5740,-0.48,-146.0,664.1,-9.2,223,5744,0.00,1.62,0.00,0.000,4,0.000,0.055,2510,3569,3338
$GC,5811,-0.48,-146.0,671.0,-8.9,224,5815,0.05,1.55,0.00,0.000,6,0.100,0.027,2542,2494,3337
$GC,6082,-0.48,-146.0,689.0,-6.6,231,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2494,3335
$GC,6326,-0.48,-146.0,703.9,-6.0,237,6329,0.00,1.65,0.00,0.000,4,0.000,0.055,2536,3560,3334
$GC,6377,-0.48,-146.0,707.2,-6.1,238,6381,0.00,1.52,0.00,0.000,6,0.000,0.028,2537,2515,3334
$GC,6671,-0.48,-146.0,725.7,-6.1,245,6675,0.00,1.50,0.00,0.000,4,0.000,0.027,2537,1453,3333
$GC,6707,-0.48,-146.0,728.1,-6.3,245,6711,0.00,1.62,0.00,0.000,6,0.000,0.050,2536,2515,3332
$GC,6967,-0.48,-146.0,742.9,-5.8,252,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2516,3331
$GC,7211,-0.48,-146.0,757.7,-6.2,258,7215,0.00,1.60,0.00,0.000,4,0.000,0.058,2530,3563,3330
$GC,7243,-0.48,-146.0,760.1,-7.0,258,7246,0.00,1.52,0.00,0.000,6,0.000,0.028,2530,2517,3329
$GC,7510,-0.48,-146.0,780.0,-7.7,265,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2508,3328
$GC,7755,-0.48,-146.0,799.4,-7.9,271,7758,0.00,1.50,0.00,0.000,4,0.000,0.028,2530,1455,3327
$GC,7798,-0.48,-146.0,803.3,-8.3,271,7806,0.00,1.65,0.00,0.000,6,0.000,0.049,2524,2511,3326
$GC,8052,-0.48,-146.0,823.5,-7.9,278,8056,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3568,3326
$GC,8105,-0.48,-146.0,828.0,-8.6,279,8108,0.00,1.55,0.00,0.000,6,0.000,0.028,2523,2508,3325
$GC,8394,-0.48,-146.0,850.3,-7.8,286,8398,0.00,1.50,0.00,0.000,4,0.000,0.028,2523,1451,3324
$GC,8430,-0.48,-146.0,853.4,-7.9,286,8434,0.00,1.67,0.00,0.000,6,0.000,0.051,2523,2521,3324
$GC,8690,-0.48,-146.0,873.7,-7.9,293,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3323
$GC,8934,-0.48,-146.0,892.1,-7.5,299,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3323
$STATE,9050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9050,begin apogee
$GC,9062,-0.19,0.0,900.6,7.1,302,9190,0.35,0.00,125.78,1.255,6,0.107,0.000,2640,2222,2750
$STATE,9191,end apogee,CONTROL_FINISHED_OK
$STATE,9191,begin climb
$GC,9196,0.48,146.0,902.9,0.0,305,9364,0.57,1.70,140.12,1.167,4,0.052,0.031,2865,1167,2153
$GC,9410,0.48,146.0,873.4,18.7,309,9420,0.00,1.73,0.00,0.000,6,0.000,0.044,2865,2217,2147
$GC,9667,0.48,146.0,821.4,21.1,316,9671,0.00,1.67,0.00,0.000,4,0.000,0.050,2863,3288,2143
$GC,9710,0.48,146.0,811.3,21.7,316,9718,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2236,2142
$GC,9964,0.48,146.0,758.6,20.7,323,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2229,2141
$GC,10208,0.48,146.0,710.0,19.8,329,10212,0.00,1.58,0.00,0.000,4,0.000,0.031,2877,1166,2140
$GC,10237,0.48,146.0,703.6,19.4,329,10241,0.00,1.67,0.00,0.000,6,0.000,0.044,2877,2253,2140
$GC,10503,0.48,146.0,652.7,19.6,336,10507,0.00,1.60,0.00,0.000,4,0.000,0.050,2877,3278,2139
$GC,10539,0.48,146.0,644.8,20.5,336,10542,0.00,1.58,0.00,0.000,6,0.000,0.028,2884,2232,2139
$GC,10800,0.48,146.0,593.4,20.1,343,10804,0.12,1.52,0.00,0.000,4,0.183,0.029,2859,1161,2138
$GC,10818,0.48,146.0,589.2,19.8,343,10821,0.00,1.60,0.00,0.000,6,0.000,0.043,2859,2206,2139
$GC,11095,0.48,146.0,545.0,15.9,350,11096,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2206,2138
$GC,11338,0.48,146.0,505.8,16.2,356,11339,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2206,2138
$GC,11582,0.48,146.0,466.2,16.2,362,11586,0.00,1.67,0.00,0.000,4,0.000,0.050,2859,3285,2137
$GC,11623,0.48,146.0,458.8,16.5,362,11631,0.00,1.62,0.00,0.000,6,0.000,0.027,2867,2194,2137
$GC,11877,0.48,146.0,416.4,16.7,369,11881,0.00,1.50,0.00,0.000,4,0.000,0.031,2873,1164,2136
$GC,11913,0.48,146.0,410.4,15.0,369,11916,0.00,1.58,0.00,0.000,6,0.000,0.042,2873,2180,2136
$GC,12174,0.48,146.0,369.5,15.8,376,12178,0.00,1.67,0.00,0.000,4,0.000,0.049,2873,3286,2136
$GC,12260,0.48,146.0,354.6,17.7,377,12268,0.08,1.62,0.00,0.000,6,0.171,0.027,2858,2192,2135
$GC,12514,0.48,146.0,318.9,13.9,384,12518,0.00,1.50,0.00,0.000,4,0.000,0.031,2860,1159,2135
$GC,12532,0.48,146.0,316.0,13.9,384,12536,0.00,1.60,0.00,0.000,6,0.000,0.041,2860,2197,2135
$GC,12810,0.48,146.0,280.4,12.5,391,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2197,2135
$GC,13055,0.48,146.0,248.2,13.5,397,13059,0.00,1.65,0.00,0.000,4,0.000,0.048,2860,3288,2135
$GC,13202,0.48,146.0,226.7,13.9,400,13206,0.00,1.60,0.00,0.000,6,0.000,0.025,2868,2179,2135
$GC,13466,0.48,146.0,194.3,12.0,408,13469,0.00,1.48,0.00,0.000,4,0.000,0.028,2873,1156,2135
$GC,13485,0.48,146.0,191.5,12.0,409,13493,0.00,1.60,0.00,0.000,6,0.000,0.040,2873,2196,2135
$GC,13751,0.48,146.0,162.6,10.6,434,13754,0.00,1.67,0.00,0.000,4,0.000,0.047,2873,3290,2135
$GC,13823,0.48,146.0,153.8,12.0,440,13826,0.00,1.60,0.00,0.000,6,0.000,0.024,2881,2196,2136
$GC,14095,0.48,146.0,122.2,11.8,465,14099,0.00,1.48,0.00,0.000,4,0.000,0.025,2888,1151,2136
$GC,14169,0.49,164.6,114.3,9.3,471,14188,0.08,1.58,14.00,0.667,6,0.125,0.036,2860,2188,2079
$GC,14448,0.51,227.2,88.5,7.6,496,14506,0.00,1.70,51.70,0.647,4,0.000,0.041,2860,3276,1821
$GC,14576,0.52,235.8,76.9,9.7,506,14591,0.00,1.58,8.32,0.568,6,0.000,0.023,2860,2220,1787
$GC,14853,0.54,308.0,55.2,7.3,531,14922,0.00,1.60,57.12,0.604,4,0.000,0.025,2860,1155,1492
$GC,14941,0.59,411.7,48.9,6.1,537,15028,0.00,1.65,81.85,0.590,6,0.000,0.034,2860,2228,1070
$GC,15299,0.60,447.3,22.3,8.7,574,15334,0.00,1.55,28.17,0.551,4,0.000,0.021,2860,1166,926
$GC,15406,0.60,447.3,9.1,13.2,589,15413,0.00,1.58,0.00,0.000,6,0.000,0.031,2860,2191,924
$STATE,15451,end climb,SURFACE_DEPTH_REACHED
$STATE,15451,begin surface coast
$FINISH,0.2,1.020955
$STATE,15477,end surface coast,CONTROL_FINISHED_OK
$STATE,15478,begin surface
$SM_CCo,15562,0.00,0.000,0,0,923,448.16
$SM_GC,1.23,7.25,0.00,0.00,0.025,0.000,0.000,30,2573,923,-8.24,2.06,448.16
$IRIDIUM_FIX,2258.07,-15751.47,291202,121254
$TT8_MAMPS,0.023777
$HUMID,2200
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.60
$XPDR_PINGS,4
$24V_AH,24.1,16.648
$10V_AH,10.6,17.250
$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,18.075,114.750,507.075,0.000,0.000,96.133,130.895,553.055,1.000,0.000,0.000,32.049,1284.868,10492.162,500.381,3024.635,1397.101,33.393,1519.877,0.000,3012.677,0.000,0.544,0.000
$DEVICE_MAMPS,207.090,57.525,1254.812,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,407.549,1972.132,2033.141,279.600,1334.262,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50966,600
$CAP_FILE_SIZE,133481,0
$CFSIZE,260165632,252100608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,041013,172354,2306.072,-15757.761,42,1.0,42,10.1