version: 66.04
glider: 512
mission: 4
dive: 103
start: 10 4 113 22 19 19
data:
$ID,512
$MISSION,4
$DIVE,103
$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,-108590.9
$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,38
$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,53
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2800
$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
$GPS1,220006,2305.308,-15758.683,47,1.2,47,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-79.6
$GPS2,221806,2305.334,-15758.670,11,1.9,22,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.274,-0.078
$KALMAN_X,33025.2,-474.2,246.4,-30445.1,2980.8
$KALMAN_Y,-3188.0,-426.5,157.8,42821.8,1091.1
$MHEAD_RNG_PITCHd_Wd,243.9,10109,-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,-0.47,-146.0,0.0,0.0,0,86,0.00,0.00,-65.75,0.000,2,0.000,0.000,11,2506,2724
$GC,92,-0.47,-146.0,2.1,-1.7,8,127,9.48,1.55,-16.88,0.000,4,0.206,0.039,2540,1418,3394
$GC,305,-0.47,-146.0,45.5,-20.9,35,308,0.00,1.65,0.00,0.000,6,0.000,0.040,2535,2508,3395
$GC,576,-0.47,-146.0,106.5,-19.0,60,580,0.00,1.60,0.00,0.000,4,0.000,0.046,2527,3561,3394
$GC,640,-0.47,-146.0,119.3,-18.1,65,648,0.00,1.52,0.00,0.000,6,0.000,0.018,2530,2481,3395
$GC,906,-0.47,-146.0,164.1,-16.5,90,910,0.00,1.67,0.00,0.000,4,0.000,0.042,2524,3563,3395
$GC,956,-0.47,-146.0,172.6,-17.0,94,960,0.00,1.48,0.00,0.000,6,0.000,0.018,2524,2514,3395
$GC,1254,-0.47,-146.0,218.8,-14.8,113,1257,0.00,1.45,0.00,0.000,4,0.000,0.019,2525,1447,3395
$GC,1334,-0.47,-146.0,229.9,-12.6,114,1337,0.00,1.60,0.00,0.000,6,0.000,0.040,2523,2517,3395
$GC,1595,-0.47,-146.0,264.2,-13.4,121,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2517,3394
$GC,1840,-0.47,-146.0,294.1,-12.1,127,1843,0.00,1.58,0.00,0.000,4,0.000,0.047,2516,3559,3393
$GC,1947,-0.47,-146.0,308.4,-12.9,129,1951,0.08,1.50,0.00,0.000,6,0.124,0.021,2555,2483,3393
$GC,2226,-0.47,-146.0,334.2,-9.1,136,2229,0.00,1.40,0.00,0.000,4,0.000,0.021,2556,1455,3391
$GC,2261,-0.47,-146.0,337.6,-8.3,136,2265,0.00,1.58,0.00,0.000,6,0.000,0.041,2550,2492,3391
$GC,2522,-0.47,-146.0,358.9,-8.4,143,2526,0.00,1.62,0.00,0.000,4,0.000,0.050,2546,3557,3389
$GC,2618,-0.47,-146.0,367.0,-8.5,145,2622,0.00,1.45,0.00,0.000,6,0.000,0.022,2546,2530,3388
$GC,2912,-0.47,-146.0,393.7,-9.0,152,2916,0.00,1.50,-0.08,0.000,4,0.000,0.041,2546,1448,3407
$GC,2969,-0.47,-146.0,398.9,-8.3,153,2973,0.00,1.62,0.00,0.000,6,0.000,0.041,2539,2531,3407
$GC,3253,-0.47,-146.0,422.7,-8.6,160,3257,0.00,1.58,0.00,0.000,4,0.000,0.050,2534,3557,3405
$GC,3291,-0.47,-146.0,426.3,-9.0,160,3294,0.00,1.48,0.00,0.000,6,0.000,0.023,2534,2523,3405
$GC,3551,-0.47,-146.0,451.2,-9.8,167,3555,0.00,1.60,0.00,0.000,4,0.000,0.048,2526,3568,3403
$GC,3587,-0.47,-146.0,455.1,-9.6,167,3591,0.00,1.45,0.00,0.000,6,0.000,0.023,2526,2547,3402
$GC,3848,-0.47,-146.0,479.9,-9.5,174,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2539,3401
$GC,4091,-0.47,-146.0,502.5,-9.4,180,4095,0.00,1.60,0.00,0.000,4,0.000,0.051,2524,3583,3399
$GC,4127,-0.47,-146.0,506.1,-9.3,180,4131,0.00,1.48,0.00,0.000,6,0.000,0.025,2524,2556,3399
$GC,4389,-0.47,-146.0,530.4,-9.5,187,4392,0.00,1.52,0.00,0.000,4,0.000,0.025,2524,1462,3397
$GC,4441,-0.47,-146.0,536.1,-10.1,188,4445,0.00,1.67,0.00,0.000,6,0.000,0.045,2524,2546,3396
$GC,4729,-0.47,-146.0,563.9,-9.9,195,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2546,3394
$GC,4973,-0.47,-146.0,586.9,-9.3,201,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2546,3392
$GC,5217,-0.47,-146.0,609.5,-9.2,207,5220,0.00,1.58,0.00,0.000,4,0.000,0.054,2523,3562,3390
$GC,5268,-0.47,-146.0,614.1,-9.3,208,5272,0.00,1.45,0.00,0.000,6,0.000,0.027,2524,2556,3389
$GC,5562,-0.47,-146.0,641.0,-9.0,215,5566,0.00,1.55,0.00,0.000,4,0.000,0.025,2524,1458,3388
$GC,5592,-0.47,-146.0,644.1,-9.6,215,5596,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2574,3388
$GC,5859,-0.47,-146.0,666.7,-8.6,222,5863,0.00,1.52,0.00,0.000,4,0.000,0.055,2524,3557,3386
$GC,5935,-0.47,-146.0,673.6,-9.0,223,5938,0.00,1.40,0.00,0.000,6,0.000,0.028,2523,2586,3385
$GC,6201,-0.47,-146.0,696.0,-8.6,230,6204,0.00,1.58,0.00,0.000,4,0.000,0.026,2523,1471,3383
$GC,6270,-0.47,-146.0,702.2,-8.8,231,6274,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2584,3383
$GC,6543,-0.47,-146.0,723.9,-8.1,238,6546,0.00,1.60,0.00,0.000,4,0.000,0.026,2523,1454,3381
$GC,6612,-0.47,-146.0,729.9,-8.5,239,6616,0.00,1.70,0.00,0.000,6,0.000,0.050,2523,2564,3381
$GC,6884,-0.47,-146.0,749.5,-7.3,246,6888,0.00,1.55,0.00,0.000,4,0.000,0.058,2523,3555,3379
$GC,6935,-0.47,-146.0,753.2,-6.5,247,6939,0.00,1.42,0.00,0.000,6,0.000,0.029,2523,2574,3379
$GC,7229,-0.47,-146.0,774.3,-7.2,254,7233,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1469,3378
$GC,7271,-0.47,-146.0,777.6,-7.5,254,7279,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2575,3378
$GC,7526,-0.47,-146.0,796.9,-7.8,261,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2575,3377
$GC,7769,-0.47,-146.0,815.4,-7.7,267,7773,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1450,3375
$GC,7811,-0.47,-146.0,819.0,-7.9,267,7820,0.00,1.77,0.00,0.000,6,0.000,0.051,2523,2582,3375
$GC,8068,-0.47,-146.0,838.8,-7.8,274,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2582,3374
$GC,8312,-0.47,-146.0,858.0,-7.9,280,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2583,3373
$GC,8555,-0.47,-146.0,876.8,-7.6,286,8559,0.00,1.52,0.00,0.000,4,0.000,0.058,2523,3556,3372
$GC,8607,-0.47,-146.0,881.1,-7.7,287,8611,0.00,1.42,0.00,0.000,6,0.000,0.030,2523,2577,3372
$STATE,8891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8891,begin apogee
$GC,8902,-0.18,0.0,901.4,7.1,294,9030,0.35,0.00,124.68,1.261,6,0.104,0.000,2640,2234,2799
$STATE,9031,end apogee,CONTROL_FINISHED_OK
$STATE,9031,begin climb
$GC,9036,0.47,146.0,904.4,0.0,297,9181,0.60,0.00,136.95,1.196,6,0.058,0.000,2867,2235,2203
$GC,9423,0.47,146.0,840.4,20.2,307,9427,0.00,1.67,0.00,0.000,4,0.000,0.048,2863,3289,2194
$GC,9447,0.47,146.0,834.6,21.0,307,9451,0.00,1.62,0.00,0.000,6,0.000,0.027,2869,2226,2193
$GC,9718,0.47,146.0,780.7,19.9,314,9722,0.00,1.58,0.00,0.000,4,0.000,0.031,2877,1156,2191
$GC,9743,0.47,146.0,775.2,20.3,314,9746,0.00,1.65,0.00,0.000,6,0.000,0.043,2877,2223,2191
$GC,10014,0.47,146.0,720.7,20.6,321,10018,0.00,1.62,0.00,0.000,4,0.000,0.050,2877,3279,2190
$GC,10050,0.47,146.0,712.3,22.0,321,10054,0.15,1.58,0.00,0.000,6,0.188,0.028,2847,2232,2189
$GC,10311,0.47,146.0,668.5,16.7,328,10314,0.00,1.58,0.00,0.000,4,0.000,0.030,2854,1157,2188
$GC,10362,0.47,146.0,659.9,15.2,329,10366,0.00,1.65,0.00,0.000,6,0.000,0.044,2854,2216,2188
$GC,10651,0.47,146.0,615.3,15.6,336,10655,0.00,1.62,0.00,0.000,4,0.000,0.051,2853,3280,2188
$GC,10709,0.47,146.0,605.2,16.0,337,10713,0.00,1.58,0.00,0.000,6,0.000,0.028,2860,2236,2188
$GC,10992,0.47,146.0,561.0,15.8,344,10996,0.00,1.58,0.00,0.000,4,0.000,0.031,2868,1158,2187
$GC,11021,0.47,146.0,556.0,15.4,344,11024,0.00,1.62,0.00,0.000,6,0.000,0.042,2865,2225,2187
$GC,11287,0.47,146.0,513.9,16.1,351,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2224,2187
$GC,11530,0.47,146.0,475.3,15.6,357,11534,0.00,1.62,0.00,0.000,4,0.000,0.051,2863,3295,2186
$GC,11600,0.47,146.0,463.1,15.9,358,11604,0.00,1.62,0.00,0.000,6,0.000,0.028,2869,2184,2186
$GC,11871,0.47,146.0,420.9,15.5,365,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2178,2186
$GC,12115,0.47,146.0,384.5,14.7,371,12118,0.00,1.48,0.00,0.000,4,0.000,0.031,2877,1162,2186
$GC,12172,0.47,146.0,375.7,13.1,372,12176,0.00,1.60,0.00,0.000,6,0.000,0.043,2877,2216,2185
$GC,12456,0.47,146.0,332.8,15.4,379,12459,0.00,1.62,0.00,0.000,4,0.000,0.048,2877,3288,2185
$GC,12480,0.47,146.0,328.2,16.1,379,12485,0.10,1.58,0.00,0.000,6,0.170,0.026,2852,2230,2184
$GC,12751,0.47,146.0,292.1,12.7,386,12754,0.00,1.55,0.00,0.000,4,0.000,0.029,2859,1169,2185
$GC,12808,0.47,146.0,284.9,11.2,387,12811,0.00,1.60,0.00,0.000,6,0.000,0.041,2859,2227,2185
$GC,13092,0.47,146.0,251.5,11.9,394,13095,0.00,1.62,0.00,0.000,4,0.000,0.048,2860,3307,2185
$GC,13177,0.47,146.0,239.5,13.6,395,13186,0.00,1.62,0.00,0.000,6,0.000,0.025,2867,2208,2185
$GC,13432,0.47,146.0,206.3,13.0,402,13435,0.00,1.50,0.00,0.000,4,0.000,0.028,2873,1169,2185
$GC,13483,0.47,146.0,200.0,12.1,403,13487,0.00,1.60,0.00,0.000,6,0.000,0.041,2873,2211,2185
$GC,13755,0.47,146.0,168.6,10.2,428,13762,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2211,2185
$GC,14021,0.47,146.0,140.4,11.3,453,14025,0.00,1.52,0.00,0.000,4,0.000,0.025,2880,1164,2185
$GC,14293,0.47,159.3,112.5,9.5,476,14309,0.00,1.62,9.73,0.637,6,0.000,0.038,2875,2250,2149
$GC,14570,0.47,159.3,81.5,11.6,501,14573,0.00,1.55,0.00,0.000,4,0.000,0.043,2875,3279,2149
$GC,14771,0.48,186.2,60.9,9.0,517,14799,0.00,1.55,23.75,0.617,6,0.000,0.023,2882,2211,2040
$GC,15062,0.52,262.7,39.6,7.1,543,15127,0.00,0.00,61.65,0.597,6,0.000,0.000,2883,2211,1727
$GC,15410,0.53,299.5,7.8,8.6,592,15446,0.00,1.50,29.12,0.556,4,0.000,0.023,2886,1166,1577
$STATE,15460,end climb,SURFACE_DEPTH_REACHED
$STATE,15460,begin surface coast
$FINISH,0.5,1.023132
$STATE,15492,end surface coast,CONTROL_FINISHED_OK
$STATE,15492,begin surface
$SM_CCo,15519,38.08,0.542,0,0,1209,390.02
$SM_GC,1.38,0.00,0.00,38.08,0.000,0.000,0.542,37,2513,1209,-8.31,0.40,390.02
$IRIDIUM_FIX,2255.72,-15759.74,291202,222253
$TT8_MAMPS,0.023777
$HUMID,2205
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,8
$24V_AH,24.1,16.962
$10V_AH,10.6,17.654
$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,18.075,114.200,385.875,38.075,0.000,48.814,74.314,694.653,2.000,0.000,0.000,22.668,1311.398,10347.743,457.795,3078.739,1456.858,33.371,1423.750,0.000,3105.257,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,58.292,1260.948,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,411.317,1986.557,2065.018,430.495,1361.159,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50981,603
$CAP_FILE_SIZE,131042,0
$CFSIZE,260165632,251965440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051013,024023,2304.342,-15800.647,40,1.1,57,10.1