version: 66.04
glider: 512
mission: 4
dive: 280
start: 11 9 113 22 55 7
data:
$ID,512
$MISSION,4
$DIVE,280
$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,333
$T_MISSION,670
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,23
$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,610.54175
$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,-111970.36
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2696
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,41
$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,73
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2888
$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
$GPS1,221529,2303.282,-15803.889,38,1.0,43,10.1
$_CALLS,5
$_XMS_NAKs,19
$_XMS_TOUTs,2
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.5
$GPS2,225413,2303.359,-15803.773,18,2.0,18,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.057,0.205
$KALMAN_X,50799.2,288.7,258.0,-57713.8,-549.9
$KALMAN_Y,67489.5,104.4,207.7,-32094.5,-614.9
$MHEAD_RNG_PITCHd_Wd,334.5,2391,-19.5,-9.009
$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,-0.52,-101.0,0.0,0.0,0,123,0.00,0.00,-103.20,0.000,2,0.000,0.000,7,2534,2991
$GC,129,-0.53,-126.5,2.6,-2.1,12,158,9.52,1.55,-8.55,0.000,4,0.198,0.054,2507,3553,3407
$GC,220,-0.53,-126.5,33.4,-31.9,24,223,0.00,1.52,0.00,0.000,6,0.000,0.021,2508,2500,3408
$GC,492,-0.53,-126.5,98.5,-18.3,49,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2493,3408
$GC,758,-0.53,-126.5,150.0,-17.7,74,761,0.00,1.60,0.00,0.000,4,0.000,0.039,2502,3542,3407
$GC,856,-0.53,-126.5,167.3,-16.9,82,864,0.00,1.48,0.00,0.000,6,0.000,0.018,2507,2491,3408
$GC,1140,-0.53,-126.5,213.8,-16.7,103,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2484,3407
$GC,1383,-0.53,-126.5,251.9,-15.4,109,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2484,3407
$GC,1628,-0.53,-126.5,285.9,-14.0,115,1631,0.00,1.60,0.00,0.000,4,0.000,0.041,2501,3551,3407
$GC,1690,-0.53,-126.5,295.9,-15.2,116,1694,0.00,1.45,0.00,0.000,6,0.000,0.019,2506,2516,3406
$GC,1967,-0.53,-126.5,329.8,-11.9,123,1971,0.00,1.45,0.00,0.000,4,0.000,0.020,2514,1451,3404
$GC,2054,-0.53,-126.5,339.4,-10.3,124,2060,0.00,1.55,0.00,0.000,6,0.000,0.037,2509,2481,3404
$GC,2309,-0.53,-126.5,367.6,-11.4,131,2312,0.00,1.62,0.00,0.000,4,0.000,0.046,2500,3565,3403
$GC,2468,-0.53,-126.5,385.7,-10.7,134,2471,0.00,1.45,0.00,0.000,6,0.000,0.021,2505,2544,3401
$GC,2739,-0.53,-126.5,416.8,-11.8,141,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2536,3398
$GC,2983,-0.53,-126.5,444.9,-11.3,147,2987,0.00,1.50,0.00,0.000,4,0.000,0.022,2508,1458,3396
$GC,3070,-0.53,-126.5,453.5,-8.7,148,3078,0.00,1.62,0.00,0.000,6,0.000,0.039,2502,2521,3395
$GC,3325,-0.53,-126.5,475.4,-8.7,155,3329,0.00,1.60,-0.08,0.000,4,0.000,0.065,2494,3565,3416
$GC,3389,-0.53,-126.5,481.6,-9.6,156,3393,0.00,1.50,0.00,0.000,6,0.000,0.022,2500,2525,3416
$GC,3667,-0.53,-126.5,509.4,-10.6,163,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2518,3414
$GC,3911,-0.53,-126.5,539.7,-12.6,169,3914,0.00,1.62,0.00,0.000,4,0.000,0.048,2494,3573,3411
$GC,4030,-0.53,-126.5,555.9,-13.3,171,4033,0.00,1.55,0.00,0.000,6,0.000,0.024,2499,2507,3410
$GC,4297,-0.53,-126.5,585.1,-10.7,178,4300,0.00,1.48,0.00,0.000,4,0.000,0.024,2507,1453,3409
$GC,4326,-0.53,-126.5,588.5,-9.7,178,4330,0.00,1.62,0.00,0.000,6,0.000,0.043,2502,2505,3408
$GC,4592,-0.53,-126.5,612.6,-9.1,185,4596,0.00,1.62,0.00,0.000,4,0.000,0.051,2494,3550,3405
$GC,4712,-0.53,-126.5,624.2,-9.2,187,4715,0.00,1.52,0.00,0.000,6,0.000,0.025,2499,2506,3404
$GC,4978,-0.53,-126.5,647.9,-8.9,194,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2499,3402
$GC,5221,-0.53,-126.5,668.3,-8.2,200,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2499,3400
$GC,5465,-0.53,-126.5,687.8,-8.0,206,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2499,3399
$GC,5709,-0.53,-126.5,708.1,-8.4,212,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2499,3397
$GC,5953,-0.53,-126.5,729.4,-8.8,218,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2499,3395
$GC,6196,-0.53,-126.5,750.8,-8.8,224,6200,0.00,1.70,0.00,0.000,4,0.000,0.053,2494,3561,3394
$GC,6238,-0.53,-126.5,755.1,-10.0,224,6246,0.00,1.55,0.00,0.000,6,0.000,0.028,2499,2508,3393
$GC,6492,-0.53,-126.5,777.9,-9.0,231,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2507,3392
$GC,6736,-0.53,-126.5,799.8,-9.1,237,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2507,3391
$GC,6980,-0.53,-126.5,820.7,-8.6,243,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2507,3390
$GC,7224,-0.53,-126.5,841.1,-8.3,249,7228,0.00,1.65,0.00,0.000,4,0.000,0.054,2494,3555,3388
$GC,7320,-0.53,-126.5,849.4,-8.0,251,7324,0.00,1.52,0.00,0.000,6,0.000,0.028,2499,2531,3387
$GC,7615,-0.53,-126.5,873.5,-8.2,258,7619,0.00,1.65,0.00,0.000,4,0.000,0.055,2493,3567,3387
$GC,7680,-0.53,-126.5,879.4,-8.3,259,7683,0.00,1.55,0.00,0.000,6,0.000,0.027,2499,2522,3386
$STATE,7952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7952,begin apogee
$GC,7964,-0.17,0.0,902.0,8.1,266,8077,0.43,0.00,109.85,1.256,6,0.102,0.000,2645,2202,2888
$STATE,8077,end apogee,CONTROL_FINISHED_OK
$STATE,8077,begin climb
$GC,8082,0.53,126.5,905.4,0.0,269,8264,0.57,1.62,133.50,1.114,4,0.030,0.027,2893,1177,2371
$GC,8310,0.53,126.5,883.9,18.7,274,8313,0.00,1.70,0.00,0.000,6,0.000,0.039,2891,2234,2366
$GC,8604,0.53,126.5,828.1,18.9,281,8607,0.00,1.62,0.00,0.000,4,0.000,0.047,2891,3278,2361
$GC,8701,0.53,126.5,808.9,19.6,283,8705,0.08,1.55,0.00,0.000,6,0.162,0.027,2866,2250,2360
$GC,8989,0.53,126.5,764.3,15.3,290,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2244,2357
$GC,9233,0.53,126.5,725.9,15.8,296,9236,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3293,2357
$GC,9264,0.53,126.5,720.7,16.7,296,9268,0.00,1.58,0.00,0.000,6,0.000,0.026,2869,2237,2356
$GC,9530,0.53,126.5,680.3,15.2,303,9534,0.00,1.58,0.00,0.000,4,0.000,0.029,2877,1155,2356
$GC,9590,0.53,126.5,671.0,14.4,304,9594,0.00,1.65,0.00,0.000,6,0.000,0.041,2876,2230,2355
$GC,9873,0.53,126.5,626.6,15.7,311,9877,0.00,1.65,0.00,0.000,4,0.000,0.051,2876,3279,2354
$GC,9914,0.53,126.5,619.1,16.9,311,9922,0.00,1.58,0.00,0.000,6,0.000,0.028,2881,2223,2354
$GC,10169,0.53,126.5,579.6,15.4,318,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2217,2354
$GC,10412,0.53,126.5,543.7,14.5,324,10416,0.00,1.52,0.00,0.000,4,0.000,0.028,2889,1168,2354
$GC,10431,0.53,126.5,540.4,14.4,324,10434,0.00,1.65,0.00,0.000,6,0.000,0.041,2889,2244,2353
$GC,10709,0.53,126.5,499.9,15.0,331,10712,0.00,1.62,0.00,0.000,4,0.000,0.051,2889,3299,2353
$GC,10803,0.53,126.5,484.2,17.2,333,10808,0.08,1.60,0.00,0.000,6,0.160,0.027,2873,2231,2353
$GC,11097,0.53,126.5,445.4,12.4,340,11101,0.00,1.67,0.00,0.000,4,0.000,0.050,2872,3294,2353
$GC,11245,0.53,126.5,425.5,13.9,343,11249,0.00,1.55,0.00,0.000,6,0.000,0.026,2878,2248,2352
$GC,11528,0.53,126.5,390.7,12.3,350,11531,0.00,1.58,0.00,0.000,4,0.000,0.028,2886,1158,2352
$GC,11546,0.53,126.5,388.0,12.2,350,11550,0.00,1.75,0.00,0.000,6,0.000,0.041,2886,2279,2352
$GC,11824,0.53,126.5,354.2,12.2,357,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2279,2351
$GC,12067,0.53,126.5,327.7,10.3,363,12070,0.00,1.55,0.00,0.000,4,0.000,0.047,2886,3276,2351
$GC,12102,0.53,126.5,323.4,12.2,363,12106,0.00,1.45,0.00,0.000,6,0.000,0.026,2893,2291,2351
$GC,12364,0.53,126.5,294.5,11.0,370,12367,0.00,1.62,0.00,0.000,4,0.000,0.027,2899,1153,2351
$GC,12504,0.53,126.5,280.8,9.2,373,12508,0.12,1.75,0.00,0.000,6,0.150,0.040,2868,2296,2350
$GC,12798,0.53,140.9,257.0,8.1,380,12812,0.00,1.50,10.70,0.761,4,0.000,0.047,2863,3285,2313
$GC,12948,0.53,140.9,242.8,9.2,383,12952,0.00,1.42,0.00,0.000,6,0.000,0.025,2868,2311,2311
$GC,13226,0.53,149.7,218.8,8.5,390,13240,0.00,1.67,9.45,0.709,4,0.000,0.027,2873,1165,2277
$GC,13306,0.54,152.0,211.9,8.9,391,13309,0.00,1.75,0.00,0.000,6,0.000,0.038,2873,2311,2276
$GC,13571,0.54,152.0,185.3,10.6,407,13575,0.00,1.50,0.00,0.000,4,0.000,0.046,2873,3284,2274
$GC,13610,0.54,152.0,180.7,12.8,410,13614,0.00,1.48,0.00,0.000,6,0.000,0.023,2880,2275,2274
$GC,13883,0.54,154.7,153.3,8.8,435,13898,0.00,1.60,5.85,0.580,4,0.000,0.024,2888,1155,2257
$GC,13949,0.54,162.1,147.6,8.6,440,13963,0.00,1.75,8.23,0.619,6,0.000,0.038,2888,2287,2226
$GC,14224,0.54,162.1,121.5,10.0,465,14232,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2287,2225
$GC,14490,0.54,171.1,95.8,8.5,490,14505,0.00,1.50,9.45,0.588,4,0.000,0.043,2888,3294,2190
$GC,14627,0.54,171.1,80.7,10.2,501,14635,0.00,1.50,0.00,0.000,6,0.000,0.021,2895,2254,2189
$GC,14894,0.58,250.6,60.9,4.2,526,14965,0.00,1.67,65.55,0.606,4,0.000,0.040,2891,3286,1865
$GC,15054,0.58,273.0,50.4,7.7,538,15083,0.00,1.40,19.38,0.571,6,0.000,0.021,2897,2328,1772
$GC,15358,0.58,273.0,16.4,13.7,572,15367,0.00,1.67,0.00,0.000,4,0.000,0.023,2899,1168,1768
$GC,15397,0.58,273.0,11.3,12.9,577,15406,0.00,1.80,0.00,0.000,6,0.000,0.036,2899,2332,1767
$STATE,15499,end climb,SURFACE_DEPTH_REACHED
$STATE,15500,begin surface coast
$FINISH,0.6,1.023155
$STATE,15538,end surface coast,CONTROL_FINISHED_OK
$STATE,15543,begin surface
$SM_CCo,15568,152.12,0.539,0,0,398,610.54
$SM_GC,1.35,0.00,0.00,152.12,0.000,0.000,0.539,26,2527,398,-8.31,0.76,610.54
$IRIDIUM_FIX,2150.42,-15435.69,030203,222223
$TT8_MAMPS,0.023777
$HUMID,2167
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.90
$XPDR_PINGS,6
$24V_AH,23.7,46.403
$10V_AH,10.6,55.300
$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,18.050,98.950,371.950,152.125,0.000,157.067,199.483,1494.203,1.500,0.000,0.000,18.447,1258.835,10553.806,586.961,3148.863,2490.572,33.372,1602.642,0.000,3145.626,0.000,0.546,0.000
$DEVICE_MAMPS,197.886,65.195,1255.579,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,407.352,1971.620,2036.006,1378.493,1326.297,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51011,599
$CAP_FILE_SIZE,143251,0
$CFSIZE,260165632,239984640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,1
$GPS,101113,031859,2305.428,-15803.624,57,1.2,62,10.1