version: 66.04
glider: 512
mission: 4
dive: 105
start: 10 5 113 8 10 20
data:
$ID,512
$MISSION,4
$DIVE,105
$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,-108643.2
$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,51
$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
$GPS1,073053,2304.271,-15802.205,25,1.1,42,10.1
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-79.2
$GPS2,080903,2304.750,-15802.089,14,2.3,33,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.285,-0.003
$KALMAN_X,36754.6,-21.5,-20.4,-40191.9,2753.7
$KALMAN_Y,-2304.0,383.9,397.6,39798.3,-261.0
$MHEAD_RNG_PITCHd_Wd,259.3,4187,-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,13,begin dive
$GC,18,-0.47,-146.0,0.0,0.0,0,119,0.00,0.00,-98.72,0.000,2,0.000,0.000,10,2524,2872
$GC,125,-0.47,-146.0,2.3,-1.6,12,152,9.40,1.58,-12.20,0.000,4,0.204,0.040,2544,1434,3398
$GC,344,-0.47,-146.0,49.1,-21.0,39,348,0.00,1.60,0.00,0.000,6,0.000,0.036,2538,2507,3398
$GC,615,-0.47,-146.0,105.6,-18.1,64,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2507,3398
$GC,882,-0.47,-146.0,148.6,-16.7,89,886,0.00,1.50,0.00,0.000,4,0.000,0.019,2538,1435,3398
$GC,954,-0.47,-146.0,159.8,-14.0,95,958,0.00,1.65,0.00,0.000,6,0.000,0.039,2534,2517,3398
$GC,1225,-0.47,-146.0,199.5,-13.6,120,1229,0.00,1.58,0.00,0.000,4,0.000,0.045,2526,3561,3397
$GC,1255,-0.47,-146.0,203.9,-13.6,121,1259,0.00,1.50,0.00,0.000,6,0.000,0.019,2526,2490,3397
$GC,1521,-0.47,-146.0,237.8,-12.6,128,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2483,3397
$GC,1764,-0.47,-146.0,268.0,-12.6,134,1768,0.00,1.65,0.00,0.000,4,0.000,0.044,2523,3559,3396
$GC,1839,-0.47,-146.0,278.1,-12.9,135,1842,0.00,1.45,0.00,0.000,6,0.000,0.019,2523,2521,3396
$GC,2106,-0.47,-146.0,311.3,-12.6,142,2110,0.00,1.45,0.00,0.000,4,0.000,0.021,2523,1463,3394
$GC,2191,-0.47,-146.0,321.9,-11.0,143,2198,0.08,1.55,0.00,0.000,6,0.119,0.038,2543,2490,3394
$GC,2446,-0.47,-146.0,345.1,-9.0,150,2450,0.00,1.60,0.00,0.000,4,0.000,0.048,2537,3564,3391
$GC,2505,-0.47,-146.0,351.0,-9.3,151,2508,0.00,1.50,0.00,0.000,6,0.000,0.021,2537,2502,3391
$GC,2787,-0.47,-146.0,378.5,-10.0,158,2791,0.00,1.42,0.00,0.000,4,0.000,0.022,2536,1462,3388
$GC,2838,-0.47,-146.0,383.7,-9.9,159,2841,0.00,1.60,0.00,0.000,6,0.000,0.042,2537,2507,3388
$GC,3133,-0.47,-146.0,413.0,-9.7,166,3135,0.00,0.00,-0.08,0.000,6,0.000,0.000,2537,2508,3407
$GC,3378,-0.47,-146.0,436.4,-9.6,172,3381,0.00,1.62,0.00,0.000,4,0.000,0.049,2529,3586,3405
$GC,3429,-0.47,-146.0,442.2,-10.6,173,3433,0.00,1.52,0.00,0.000,6,0.000,0.022,2528,2511,3405
$GC,3718,-0.47,-146.0,471.4,-10.2,180,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2504,3402
$GC,3962,-0.47,-146.0,493.3,-8.9,186,3965,0.00,1.48,0.00,0.000,4,0.000,0.024,2528,1450,3400
$GC,4013,-0.47,-146.0,497.8,-8.8,187,4016,0.00,1.62,0.00,0.000,6,0.000,0.042,2524,2527,3400
$GC,4307,-0.47,-146.0,525.0,-9.3,194,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2527,3398
$GC,4551,-0.47,-146.0,547.4,-9.1,200,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2527,3396
$GC,4794,-0.47,-146.0,569.4,-8.9,206,4798,0.00,1.60,0.00,0.000,4,0.000,0.052,2522,3567,3394
$GC,4868,-0.47,-146.0,576.1,-8.8,207,4872,0.00,1.52,0.00,0.000,6,0.000,0.025,2522,2508,3393
$GC,5135,-0.47,-146.0,599.1,-8.7,214,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2500,3391
$GC,5380,-0.47,-146.0,620.9,-9.0,220,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2500,3389
$GC,5624,-0.47,-146.0,644.0,-9.5,226,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2499,3388
$GC,5868,-0.47,-146.0,666.7,-9.2,232,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2500,3386
$GC,6111,-0.47,-146.0,688.6,-8.9,238,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2500,3384
$GC,6355,-0.47,-146.0,710.3,-9.0,244,6359,0.00,1.48,0.00,0.000,4,0.000,0.026,2522,1459,3382
$GC,6391,-0.47,-146.0,714.0,-8.6,244,6395,0.08,1.60,0.00,0.000,6,0.110,0.046,2545,2492,3382
$GC,6650,-0.47,-146.0,732.7,-7.2,251,6654,0.00,1.65,0.00,0.000,4,0.000,0.055,2539,3555,3380
$GC,6692,-0.47,-146.0,736.1,-7.5,251,6700,0.00,1.55,0.00,0.000,6,0.000,0.027,2538,2486,3380
$GC,6947,-0.47,-146.0,754.0,-7.2,258,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2486,3379
$GC,7191,-0.47,-146.0,769.8,-6.2,264,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2486,3377
$GC,7434,-0.47,-146.0,784.5,-6.0,270,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2486,3376
$GC,7678,-0.47,-146.0,799.2,-6.2,276,7682,0.00,1.67,0.00,0.000,4,0.000,0.057,2537,3560,3375
$GC,7714,-0.47,-146.0,801.8,-6.4,276,7718,0.00,1.52,0.00,0.000,6,0.000,0.028,2536,2517,3375
$GC,7976,-0.47,-146.0,817.9,-6.2,283,7979,0.00,1.50,0.00,0.000,4,0.000,0.027,2537,1453,3373
$GC,8028,-0.47,-146.0,821.4,-5.9,284,8032,0.00,1.65,0.00,0.000,6,0.000,0.050,2537,2506,3373
$GC,8317,-0.47,-146.0,838.1,-5.7,291,8320,0.00,1.62,0.00,0.000,4,0.000,0.058,2535,3565,3372
$GC,8375,-0.47,-146.0,841.9,-6.2,292,8379,0.00,1.55,0.00,0.000,6,0.000,0.028,2535,2507,3372
$GC,8658,-0.47,-146.0,857.9,-5.8,299,8662,0.00,1.50,0.00,0.000,4,0.000,0.028,2535,1450,3371
$GC,8709,-0.47,-146.0,860.9,-6.0,300,8712,0.00,1.65,0.00,0.000,6,0.000,0.048,2527,2523,3371
$GC,9004,-0.47,-146.0,880.8,-7.0,307,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2523,3371
$GC,9249,-0.47,-146.0,899.0,-7.5,313,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2523,3370
$STATE,9283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9283,begin apogee
$GC,9295,-0.18,0.0,902.0,7.6,314,9422,0.32,0.00,124.53,1.262,6,0.100,0.000,2638,2220,2800
$STATE,9423,end apogee,CONTROL_FINISHED_OK
$STATE,9423,begin climb
$GC,9428,0.47,146.0,906.3,0.0,317,9576,0.57,1.67,137.02,1.199,4,0.044,0.031,2868,1171,2203
$GC,9618,0.47,146.0,885.2,18.1,321,9621,0.00,1.70,0.00,0.000,6,0.000,0.041,2867,2226,2198
$GC,9901,0.47,146.0,829.9,19.9,328,9905,0.00,1.65,0.00,0.000,4,0.000,0.048,2864,3284,2193
$GC,9943,0.47,146.0,820.6,20.8,328,9951,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2239,2192
$GC,10197,0.47,146.0,768.7,20.8,335,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2234,2191
$GC,10441,0.47,146.0,719.6,20.1,341,10445,0.00,1.60,0.00,0.000,4,0.000,0.031,2878,1152,2190
$GC,10491,0.47,146.0,709.8,18.8,342,10494,0.00,1.70,0.00,0.000,6,0.000,0.043,2878,2252,2189
$GC,10786,0.47,146.0,652.7,19.4,349,10789,0.00,1.62,0.00,0.000,4,0.000,0.030,2884,1143,2189
$GC,10815,0.47,146.0,646.5,18.6,349,10820,0.10,1.70,0.00,0.000,6,0.146,0.044,2851,2228,2188
$GC,11081,0.47,146.0,604.5,15.9,356,11085,0.00,1.62,0.00,0.000,4,0.000,0.050,2851,3291,2188
$GC,11111,0.47,146.0,598.9,16.9,356,11114,0.00,1.60,0.00,0.000,6,0.000,0.028,2857,2202,2188
$GC,11377,0.47,146.0,555.8,16.5,363,11380,0.00,1.70,0.00,0.000,4,0.000,0.050,2857,3286,2187
$GC,11428,0.47,146.0,547.4,18.0,364,11431,0.00,1.55,0.00,0.000,6,0.000,0.028,2865,2249,2187
$GC,11722,0.47,146.0,499.0,16.3,371,11725,0.00,1.58,0.00,0.000,4,0.000,0.031,2873,1173,2187
$GC,11825,0.47,146.0,483.5,14.1,373,11829,0.00,1.65,0.00,0.000,6,0.000,0.043,2873,2236,2186
$GC,12108,0.47,146.0,439.1,16.1,380,12111,0.00,1.62,0.00,0.000,4,0.000,0.049,2873,3302,2186
$GC,12159,0.47,146.0,431.0,16.2,381,12163,0.08,1.58,0.00,0.000,6,0.156,0.028,2848,2249,2185
$GC,12453,0.47,146.0,391.7,12.8,388,12457,0.00,1.58,0.00,0.000,4,0.000,0.030,2854,1165,2186
$GC,12494,0.47,146.0,385.9,13.3,388,12502,0.00,1.67,0.00,0.000,6,0.000,0.043,2854,2243,2185
$GC,12749,0.47,146.0,351.1,14.3,395,12752,0.00,1.62,0.00,0.000,4,0.000,0.050,2854,3312,2185
$GC,12779,0.47,146.0,345.9,15.5,395,12782,0.00,1.58,0.00,0.000,6,0.000,0.027,2860,2256,2185
$GC,13045,0.47,146.0,306.5,15.0,402,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2250,2185
$GC,13288,0.47,146.0,273.9,13.1,408,13292,0.00,1.60,0.00,0.000,4,0.000,0.029,2866,1149,2185
$GC,13339,0.47,146.0,267.8,12.1,409,13343,0.00,1.70,0.00,0.000,6,0.000,0.041,2866,2269,2185
$GC,13633,0.47,146.0,231.6,12.2,416,13637,0.00,1.55,0.00,0.000,4,0.000,0.048,2864,3276,2185
$GC,13702,0.47,146.0,222.8,11.3,417,13705,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2241,2185
$GC,13965,0.47,146.0,191.9,11.5,426,13968,0.00,1.62,0.00,0.000,4,0.000,0.045,2864,3296,2185
$GC,14070,0.47,146.0,179.3,12.4,435,14074,0.00,1.50,0.00,0.000,6,0.000,0.025,2869,2277,2185
$GC,14343,0.47,146.0,149.2,10.9,460,14347,0.00,1.60,0.00,0.000,4,0.000,0.028,2873,1168,2185
$GC,14485,0.47,161.0,134.7,9.4,472,14501,0.00,1.67,11.15,0.667,6,0.000,0.039,2873,2259,2142
$GC,14762,0.47,161.0,103.7,11.7,497,14769,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2259,2141
$GC,15029,0.48,183.5,74.7,9.2,522,15057,0.00,1.58,20.40,0.627,4,0.000,0.042,2873,3284,2051
$GC,15157,0.48,183.5,61.5,10.6,532,15160,0.00,1.50,0.00,0.000,6,0.000,0.023,2873,2268,2049
$GC,15430,0.51,258.8,40.9,7.2,557,15500,0.00,1.62,60.47,0.597,4,0.000,0.024,2873,1163,1744
$GC,15577,0.53,293.9,28.8,8.7,569,15613,0.00,1.73,28.75,0.571,6,0.000,0.036,2873,2271,1599
$STATE,15866,end climb,SURFACE_DEPTH_REACHED
$STATE,15867,begin surface coast
$FINISH,0.4,1.023174
$STATE,15905,end surface coast,CONTROL_FINISHED_OK
$STATE,15905,begin surface
$SM_CCo,15930,134.57,0.542,0,0,398,588.96
$SM_GC,1.26,0.00,0.00,134.57,0.000,0.000,0.542,32,2551,398,-8.29,1.39,588.96
$IRIDIUM_FIX,2253.38,-15801.91,301202,080853
$TT8_MAMPS,0.023777
$HUMID,2142
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.80
$XPDR_PINGS,7
$24V_AH,24.1,17.389
$10V_AH,10.7,18.082
$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,17.825,102.525,382.325,134.575,0.000,135.732,233.153,1442.158,1.750,0.000,0.000,34.225,1325.269,10914.486,547.575,3141.992,2445.283,33.369,1526.707,0.000,3128.756,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,58.292,1261.715,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,423.383,2044.027,2112.210,272.329,1413.294,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54067,621
$CAP_FILE_SIZE,144976,0
$CFSIZE,260165632,251797504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051013,123936,2304.227,-15804.050,41,1.2,41,10.1