version: 66.04
glider: 512
mission: 4
dive: 104
start: 10 5 113 3 7 20
data:
$ID,512
$MISSION,4
$DIVE,104
$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,588.95569
$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,-108608.34
$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,62
$R_STBD_OVSHOOT,33
$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
$GPS1,024023,2304.342,-15800.647,40,1.1,57,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-79.3
$GPS2,030606,2304.625,-15800.837,11,2.0,16,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.270,-0.090
$KALMAN_X,34733.7,-314.6,-409.5,-35342.5,3430.8
$KALMAN_Y,-3056.7,118.2,-436.4,41427.8,1549.5
$MHEAD_RNG_PITCHd_Wd,241.4,6292,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.47,-146.0,0.0,0.0,0,90,0.00,0.00,-65.95,0.000,2,0.000,0.000,11,2510,2769
$GC,96,-0.47,-146.0,2.2,-2.0,8,131,9.40,1.52,-15.43,0.000,4,0.202,0.039,2545,1423,3397
$GC,331,-0.47,-146.0,49.0,-20.3,37,334,0.00,1.62,0.00,0.000,6,0.000,0.040,2538,2502,3398
$GC,602,-0.47,-146.0,104.7,-17.5,62,606,0.00,1.50,0.00,0.000,4,0.000,0.019,2544,1432,3398
$GC,643,-0.47,-146.0,111.4,-16.7,65,646,0.00,1.62,0.00,0.000,6,0.000,0.040,2538,2513,3398
$GC,914,-0.47,-146.0,154.7,-15.1,90,917,0.00,1.60,0.00,0.000,4,0.000,0.046,2530,3567,3399
$GC,1031,-0.47,-146.0,172.1,-14.0,100,1034,0.00,1.52,0.00,0.000,6,0.000,0.019,2530,2481,3399
$GC,1309,-0.47,-146.0,211.0,-12.7,120,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2473,3399
$GC,1553,-0.47,-146.0,240.8,-12.2,126,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2473,3398
$GC,1796,-0.47,-146.0,271.3,-12.5,132,1800,0.00,1.65,0.00,0.000,4,0.000,0.044,2523,3564,3397
$GC,1877,-0.47,-146.0,282.0,-12.4,133,1881,0.00,1.48,0.00,0.000,6,0.000,0.021,2523,2512,3396
$GC,2137,-0.47,-146.0,313.3,-11.9,140,2141,0.00,1.45,0.00,0.000,4,0.000,0.021,2523,1455,3395
$GC,2173,-0.47,-146.0,317.6,-10.0,140,2176,0.00,1.60,0.00,0.000,6,0.000,0.041,2523,2524,3395
$GC,2433,-0.47,-146.0,346.2,-11.6,147,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2524,3393
$GC,2677,-0.47,-146.0,374.4,-11.5,153,2680,0.00,1.58,0.00,0.000,4,0.000,0.051,2523,3555,3391
$GC,2730,-0.47,-146.0,380.4,-9.9,154,2733,0.00,1.45,0.00,0.000,6,0.000,0.023,2523,2535,3390
$GC,3018,-0.47,-146.0,409.2,-10.0,161,3022,0.00,1.50,0.00,0.000,4,0.000,0.023,2523,1454,3388
$GC,3081,-0.47,-146.0,415.9,-10.3,162,3085,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2532,3388
$GC,3359,-0.47,-146.0,444.6,-10.7,169,3363,0.00,1.58,-0.08,0.000,4,0.000,0.071,2523,3573,3408
$GC,3433,-0.47,-146.0,452.8,-9.6,170,3437,0.00,1.48,0.00,0.000,6,0.000,0.024,2523,2541,3407
$GC,3699,-0.47,-146.0,480.4,-10.5,177,3703,0.00,1.52,0.00,0.000,4,0.000,0.024,2523,1454,3406
$GC,3750,-0.47,-146.0,485.4,-8.5,178,3754,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2541,3406
$GC,4045,-0.47,-146.0,513.8,-9.5,185,4048,0.00,1.58,0.00,0.000,4,0.000,0.053,2516,3564,3402
$GC,4119,-0.47,-146.0,521.4,-10.1,186,4122,0.00,1.48,0.00,0.000,6,0.000,0.025,2517,2534,3402
$GC,4386,-0.47,-146.0,547.8,-10.1,193,4388,0.10,0.00,0.00,0.000,6,0.135,0.000,2544,2526,3401
$GC,4631,-0.47,-146.0,568.7,-8.5,199,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2527,3399
$GC,4875,-0.47,-146.0,587.4,-7.5,205,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2526,3397
$GC,5119,-0.47,-146.0,602.9,-6.2,211,5122,0.00,1.60,0.00,0.000,4,0.000,0.052,2538,3568,3395
$GC,5171,-0.47,-146.0,606.4,-6.6,212,5175,0.00,1.50,0.00,0.000,6,0.000,0.027,2538,2530,3395
$GC,5459,-0.47,-146.0,625.2,-6.8,219,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2522,3392
$GC,5703,-0.47,-146.0,643.0,-7.4,225,5706,0.00,1.62,0.00,0.000,4,0.000,0.054,2533,3571,3391
$GC,5754,-0.47,-146.0,646.8,-7.8,226,5758,0.00,1.48,0.00,0.000,6,0.000,0.027,2533,2553,3391
$GC,6048,-0.47,-146.0,669.9,-7.8,233,6052,0.00,1.55,0.00,0.000,4,0.000,0.027,2533,1459,3389
$GC,6090,-0.47,-146.0,673.5,-8.4,233,6098,0.00,1.70,0.00,0.000,6,0.000,0.048,2526,2551,3389
$GC,6345,-0.47,-146.0,695.2,-8.6,240,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2552,3387
$GC,6588,-0.47,-146.0,715.6,-8.4,246,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2551,3385
$GC,6832,-0.47,-146.0,735.0,-7.9,252,6835,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3557,3384
$GC,6856,-0.47,-146.0,737.4,-8.5,252,6860,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2544,3384
$GC,7129,-0.47,-146.0,758.3,-7.9,259,7133,0.00,1.55,0.00,0.000,4,0.000,0.028,2524,1454,3383
$GC,7193,-0.47,-146.0,763.7,-7.9,260,7196,0.00,1.67,0.00,0.000,6,0.000,0.049,2523,2525,3383
$GC,7470,-0.47,-146.0,784.1,-7.4,267,7474,0.00,1.60,0.00,0.000,4,0.000,0.059,2523,3565,3381
$GC,7529,-0.47,-146.0,788.7,-7.1,268,7532,0.00,1.50,0.00,0.000,6,0.000,0.028,2524,2535,3381
$GC,7812,-0.47,-146.0,806.9,-6.5,275,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2528,3380
$GC,8055,-0.47,-146.0,822.2,-6.3,281,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2527,3379
$GC,8299,-0.47,-146.0,838.3,-6.7,287,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2528,3378
$GC,8543,-0.47,-146.0,856.0,-7.4,293,8546,0.00,1.55,0.00,0.000,4,0.000,0.028,2524,1447,3377
$GC,8573,-0.47,-146.0,858.6,-8.0,293,8577,0.00,1.70,0.00,0.000,6,0.000,0.050,2523,2551,3377
$GC,8839,-0.47,-146.0,878.0,-7.5,300,8843,0.00,1.58,0.00,0.000,4,0.000,0.059,2523,3558,3376
$GC,8892,-0.47,-146.0,882.4,-8.5,301,8896,0.00,1.48,0.00,0.000,6,0.000,0.029,2523,2549,3376
$STATE,9136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9136,begin apogee
$GC,9148,-0.18,0.0,900.0,7.2,307,9276,0.35,0.00,125.32,1.260,6,0.103,0.000,2641,2221,2800
$STATE,9277,end apogee,CONTROL_FINISHED_OK
$STATE,9277,begin climb
$GC,9282,0.47,146.0,903.3,0.0,310,9427,0.55,0.00,136.80,1.194,6,0.040,0.000,2861,2221,2204
$GC,9656,0.47,146.0,843.7,19.8,319,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2221,2194
$GC,9900,0.47,146.0,797.3,19.1,325,9904,0.00,1.70,0.00,0.000,4,0.000,0.050,2860,3296,2192
$GC,9936,0.47,146.0,789.5,19.1,325,9940,0.00,1.60,0.00,0.000,6,0.000,0.028,2868,2243,2191
$GC,10196,0.47,146.0,740.0,19.2,332,10200,0.00,1.60,0.00,0.000,4,0.000,0.030,2877,1157,2191
$GC,10265,0.47,146.0,726.7,17.6,333,10268,0.00,1.65,0.00,0.000,6,0.000,0.043,2877,2227,2190
$GC,10537,0.47,146.0,672.4,20.4,340,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2228,2190
$GC,10782,0.47,146.0,623.9,19.5,346,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2227,2189
$GC,11026,0.47,146.0,576.5,19.4,352,11029,0.00,1.62,0.00,0.000,4,0.000,0.050,2876,3291,2188
$GC,11089,0.47,146.0,562.9,20.4,353,11093,0.10,1.62,0.00,0.000,6,0.178,0.028,2853,2206,2187
$GC,11365,0.47,146.0,517.7,15.8,360,11369,0.00,1.52,0.00,0.000,4,0.000,0.031,2859,1161,2187
$GC,11384,0.47,146.0,514.5,15.4,360,11388,0.00,1.62,0.00,0.000,6,0.000,0.043,2859,2205,2187
$GC,11662,0.47,146.0,472.2,15.5,367,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2206,2186
$GC,11907,0.47,146.0,434.3,15.8,373,11908,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2206,2187
$GC,12150,0.47,146.0,398.6,14.6,379,12154,0.00,1.65,0.00,0.000,4,0.000,0.051,2859,3291,2186
$GC,12230,0.47,146.0,386.3,14.5,380,12234,0.00,1.60,0.00,0.000,6,0.000,0.028,2867,2192,2185
$GC,12491,0.47,146.0,350.3,14.0,387,12494,0.00,1.70,0.00,0.000,4,0.000,0.047,2863,3291,2185
$GC,12522,0.47,146.0,345.0,16.0,387,12526,0.00,1.60,0.00,0.000,6,0.000,0.028,2870,2194,2186
$GC,12789,0.47,146.0,306.6,14.8,394,12792,0.00,1.50,0.00,0.000,4,0.000,0.031,2873,1163,2185
$GC,12902,0.47,146.0,291.9,11.8,396,12906,0.00,1.60,0.00,0.000,6,0.000,0.042,2873,2218,2185
$GC,13174,0.47,146.0,254.4,14.3,403,13178,0.00,1.62,0.00,0.000,4,0.000,0.048,2873,3294,2185
$GC,13260,0.47,146.0,240.6,15.3,404,13267,0.08,1.55,0.00,0.000,6,0.168,0.026,2857,2243,2185
$GC,13515,0.47,146.0,209.6,11.7,411,13518,0.00,1.55,0.00,0.000,4,0.000,0.028,2863,1163,2185
$GC,13611,0.47,151.2,200.1,9.8,413,13614,0.00,1.62,0.00,0.000,6,0.000,0.041,2863,2238,2185
$GC,13890,0.47,151.2,172.7,10.0,435,13893,0.00,1.60,0.00,0.000,4,0.000,0.047,2863,3308,2185
$GC,13985,0.47,151.2,161.3,11.1,443,13989,0.00,1.58,0.00,0.000,6,0.000,0.024,2869,2227,2185
$GC,14260,0.48,172.8,133.7,9.2,468,14288,0.00,1.50,20.77,0.686,4,0.000,0.027,2873,1168,2094
$GC,14328,0.49,201.7,127.4,8.9,473,14359,0.00,1.62,25.33,0.673,6,0.000,0.039,2873,2218,1976
$GC,14625,0.49,201.7,92.8,10.8,500,14629,0.00,1.62,0.00,0.000,4,0.000,0.044,2873,3279,1971
$GC,14698,0.49,201.7,84.3,11.7,506,14702,0.00,1.50,0.00,0.000,6,0.000,0.023,2880,2261,1971
$GC,14971,0.52,263.1,59.6,7.7,531,15028,0.00,1.58,49.58,0.613,4,0.000,0.024,2886,1167,1725
$GC,15104,0.53,294.7,48.7,8.8,541,15136,0.00,1.62,25.95,0.588,6,0.000,0.036,2886,2234,1596
$GC,15416,0.53,294.7,15.7,10.7,578,15425,0.00,1.58,0.00,0.000,4,0.000,0.025,2886,1167,1592
$GC,15450,0.53,294.7,12.0,11.3,582,15459,0.00,1.58,0.00,0.000,6,0.000,0.032,2886,2201,1592
$STATE,15527,end climb,SURFACE_DEPTH_REACHED
$STATE,15528,begin surface coast
$FINISH,0.2,1.000851
$STATE,15560,end surface coast,CONTROL_FINISHED_OK
$STATE,15560,begin surface
$SM_CCo,15586,136.55,0.545,0,0,399,588.96
$SM_GC,1.23,0.00,0.00,136.55,0.000,0.000,0.545,29,2527,399,-8.31,0.76,588.96
$IRIDIUM_FIX,2255.72,-15759.74,301202,030324
$TT8_MAMPS,0.023777
$HUMID,2126
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.80
$XPDR_PINGS,4
$24V_AH,24.1,17.154
$10V_AH,10.7,17.860
$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,17.825,101.700,383.750,136.550,0.000,149.038,184.403,741.442,1.000,0.000,0.000,16.806,1294.439,10703.790,548.757,3005.280,1728.920,33.368,1471.645,0.000,3027.186,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,70.564,1260.181,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,409.422,1971.663,2042.550,308.276,1321.889,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50941,599
$CAP_FILE_SIZE,134805,0
$CFSIZE,260165632,251887616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051013,073053,2304.271,-15802.205,25,1.1,42,10.1