version: 66.04
glider: 512
mission: 4
dive: 180
start: 10 20 113 3 58 13
data:
$ID,512
$MISSION,4
$DIVE,180
$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,130
$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,-110058.19
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2697
$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,58
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$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
$GPS1,034500,2242.839,-15806.124,62,0.9,62,10.0
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-82.3
$GPS2,035700,2242.853,-15806.090,14,1.5,19,10.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,0.256
$KALMAN_X,105700.4,238.6,157.8,-116415.2,-1813.0
$KALMAN_Y,73462.1,-1115.1,-430.6,-74188.2,2055.7
$MHEAD_RNG_PITCHd_Wd,16.1,40087,-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,-126.5,0.0,0.0,0,88,0.00,0.00,-68.22,0.000,2,0.000,0.000,11,2514,2856
$GC,94,-0.47,-126.5,2.1,-1.8,8,123,9.60,1.50,-12.48,0.000,4,0.205,0.038,2542,1428,3406
$GC,172,-0.47,-126.5,23.2,-25.8,18,181,0.00,1.65,0.00,0.000,6,0.000,0.035,2536,2505,3406
$GC,450,-0.47,-126.5,95.6,-19.4,45,454,0.00,1.52,0.00,0.000,4,0.000,0.018,2539,1422,3407
$GC,468,-0.47,-126.5,99.9,-19.4,46,476,0.00,1.58,0.00,0.000,6,0.000,0.035,2534,2460,3407
$GC,735,-0.47,-126.5,147.3,-17.1,71,739,0.00,1.67,0.00,0.000,4,0.000,0.045,2526,3559,3407
$GC,843,-0.47,-126.5,165.7,-14.7,80,851,0.00,1.58,0.00,0.000,6,0.000,0.018,2526,2451,3407
$GC,1120,-0.47,-126.5,206.0,-13.8,103,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2442,3407
$GC,1363,-0.47,-126.5,239.6,-13.8,109,1367,0.00,1.70,0.00,0.000,4,0.000,0.043,2523,3565,3407
$GC,1466,-0.47,-126.5,253.6,-12.6,111,1470,0.00,1.55,0.00,0.000,6,0.000,0.018,2523,2467,3407
$GC,1750,-0.47,-126.5,292.7,-14.0,118,1753,0.00,1.67,0.00,0.000,4,0.000,0.043,2515,3568,3406
$GC,1844,-0.47,-126.5,305.7,-13.8,120,1848,0.00,1.52,0.00,0.000,6,0.000,0.019,2515,2485,3407
$GC,2139,-0.47,-126.5,342.0,-12.1,127,2143,0.10,1.40,0.00,0.000,4,0.137,0.021,2544,1454,3405
$GC,2247,-0.47,-126.5,352.7,-9.2,129,2250,0.00,1.52,0.00,0.000,6,0.000,0.038,2539,2460,3405
$GC,2525,-0.47,-126.5,377.9,-9.2,136,2528,0.00,1.65,0.00,0.000,4,0.000,0.047,2530,3562,3402
$GC,2567,-0.47,-126.5,382.2,-9.7,136,2574,0.00,1.58,0.00,0.000,6,0.000,0.020,2531,2445,3402
$GC,2821,-0.47,-126.5,406.6,-9.8,143,2825,0.00,1.73,0.00,0.000,4,0.000,0.048,2524,3567,3400
$GC,2873,-0.47,-126.5,411.4,-9.2,144,2877,0.00,1.55,0.00,0.000,6,0.000,0.021,2524,2481,3399
$GC,3169,-0.47,-126.5,440.0,-9.7,151,3172,0.00,1.67,0.00,0.000,4,0.000,0.049,2523,3565,3398
$GC,3219,-0.47,-126.5,444.9,-9.0,152,3222,0.00,1.52,0.00,0.000,6,0.000,0.021,2524,2498,3397
$GC,3513,-0.47,-126.5,472.4,-9.1,159,3515,0.00,0.00,-0.08,0.000,6,0.000,0.000,2523,2489,3419
$GC,3757,-0.47,-126.5,493.4,-8.6,165,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2489,3417
$GC,4000,-0.47,-126.5,513.7,-8.4,171,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2490,3415
$GC,4244,-0.47,-126.5,535.2,-9.1,177,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2490,3413
$GC,4488,-0.47,-126.5,557.7,-9.3,183,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2489,3411
$GC,4731,-0.47,-126.5,579.6,-9.0,189,4735,0.00,1.67,0.00,0.000,4,0.000,0.052,2516,3572,3409
$GC,4783,-0.47,-126.5,584.1,-8.4,190,4787,0.05,1.58,0.00,0.000,6,0.089,0.024,2548,2476,3409
$GC,5076,-0.47,-126.5,605.9,-7.4,197,5080,0.00,1.73,0.00,0.000,4,0.000,0.052,2542,3558,3407
$GC,5118,-0.47,-126.5,609.6,-8.3,197,5126,0.00,1.52,0.00,0.000,6,0.000,0.025,2542,2496,3407
$GC,5373,-0.47,-126.5,630.7,-8.5,204,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2496,3404
$GC,5617,-0.47,-126.5,651.0,-8.3,210,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2495,3403
$GC,5860,-0.47,-126.5,668.5,-6.9,216,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2496,3401
$GC,6104,-0.47,-126.5,682.6,-5.6,222,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2495,3400
$GC,6348,-0.47,-126.5,695.0,-5.1,228,6351,0.00,1.67,0.00,0.000,4,0.000,0.055,2537,3568,3399
$GC,6384,-0.47,-126.5,697.2,-6.0,228,6387,0.00,1.55,0.00,0.000,6,0.000,0.026,2537,2502,3399
$GC,6645,-0.47,-126.5,712.4,-6.1,235,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2495,3397
$GC,6890,-0.47,-126.5,728.9,-6.9,241,6893,0.00,1.67,0.00,0.000,4,0.000,0.056,2537,3561,3396
$GC,6926,-0.47,-126.5,731.8,-7.5,241,6930,0.00,1.52,0.00,0.000,6,0.000,0.026,2536,2513,3395
$GC,7186,-0.47,-126.5,750.4,-7.4,248,7190,0.00,1.50,0.00,0.000,4,0.000,0.025,2536,1454,3394
$GC,7216,-0.47,-126.5,753.0,-8.2,248,7220,0.00,1.65,0.00,0.000,6,0.000,0.049,2536,2523,3394
$GC,7483,-0.47,-126.5,772.5,-7.5,255,7487,0.00,1.62,0.00,0.000,4,0.000,0.058,2536,3569,3393
$GC,7534,-0.47,-126.5,776.2,-7.4,256,7538,0.00,1.55,0.00,0.000,6,0.000,0.027,2536,2508,3393
$GC,7829,-0.47,-126.5,796.8,-6.9,263,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2500,3392
$GC,8072,-0.47,-126.5,813.6,-7.0,269,8075,0.00,1.67,0.00,0.000,4,0.000,0.058,2536,3563,3391
$GC,8113,-0.47,-126.5,816.6,-6.9,269,8122,0.00,1.50,0.00,0.000,6,0.000,0.027,2536,2527,3391
$GC,8368,-0.47,-126.5,833.1,-6.5,276,8372,0.00,1.52,0.00,0.000,4,0.000,0.026,2536,1460,3390
$GC,8404,-0.47,-126.5,835.8,-6.9,276,8408,0.00,1.67,0.00,0.000,6,0.000,0.049,2536,2542,3390
$GC,8666,-0.47,-126.5,852.1,-6.3,283,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2542,3389
$GC,8911,-0.47,-126.5,868.3,-6.7,289,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2543,3388
$GC,9155,-0.47,-126.5,885.7,-7.2,295,9158,0.00,1.58,0.00,0.000,4,0.000,0.027,2536,1464,3387
$GC,9198,-0.47,-126.5,889.3,-7.7,295,9206,0.00,1.67,0.00,0.000,6,0.000,0.048,2536,2526,3387
$STATE,9366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9366,begin apogee
$GC,9377,-0.17,0.0,901.6,7.1,300,9489,0.32,0.00,109.00,1.268,6,0.096,0.000,2646,2240,2890
$STATE,9490,end apogee,CONTROL_FINISHED_OK
$STATE,9490,begin climb
$GC,9495,0.47,126.5,905.9,0.0,303,9628,0.52,1.73,121.10,1.210,4,0.030,0.028,2883,1174,2373
$GC,9680,0.47,126.5,890.4,17.9,307,9684,0.10,1.73,0.00,0.000,6,0.169,0.041,2855,2225,2367
$GC,9973,0.47,126.5,841.6,16.7,314,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2225,2362
$GC,10217,0.47,126.5,800.4,16.9,320,10220,0.00,1.65,0.00,0.000,4,0.000,0.049,2850,3286,2360
$GC,10297,0.47,126.5,786.0,17.2,321,10300,0.00,1.58,0.00,0.000,6,0.000,0.027,2856,2241,2359
$GC,10558,0.47,126.5,744.4,16.0,328,10561,0.00,1.65,0.00,0.000,4,0.000,0.048,2850,3289,2358
$GC,10587,0.47,126.5,738.8,17.5,328,10591,0.00,1.55,0.00,0.000,6,0.000,0.026,2856,2252,2358
$GC,10853,0.47,126.5,698.9,15.0,335,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2246,2358
$GC,11096,0.47,126.5,663.8,14.1,341,11100,0.00,1.65,0.00,0.000,4,0.000,0.050,2857,3278,2356
$GC,11121,0.47,126.5,659.8,14.2,341,11124,0.00,1.50,0.00,0.000,6,0.000,0.028,2864,2269,2356
$GC,11392,0.47,126.5,622.0,14.0,348,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2263,2356
$GC,11636,0.47,126.5,586.6,14.8,354,11639,0.00,1.62,0.00,0.000,4,0.000,0.050,2863,3302,2355
$GC,11671,0.47,126.5,580.6,15.7,354,11675,0.00,1.52,0.00,0.000,6,0.000,0.028,2869,2274,2355
$GC,11932,0.47,126.5,541.1,15.3,361,11936,0.00,1.60,0.00,0.000,4,0.000,0.049,2864,3277,2354
$GC,11962,0.47,126.5,535.9,15.6,361,11966,0.00,1.45,0.00,0.000,6,0.000,0.026,2869,2295,2354
$GC,12227,0.47,126.5,497.4,14.6,368,12231,0.00,1.65,0.00,0.000,4,0.000,0.029,2877,1169,2354
$GC,12331,0.47,126.5,483.1,12.8,370,12334,0.00,1.73,0.00,0.000,6,0.000,0.043,2877,2275,2354
$GC,12613,0.47,126.5,445.7,13.3,377,12617,0.00,1.58,0.00,0.000,4,0.000,0.051,2877,3283,2353
$GC,12643,0.47,126.5,440.7,16.1,377,12647,0.08,1.52,0.00,0.000,6,0.176,0.026,2851,2257,2353
$GC,12908,0.47,126.5,406.5,12.9,384,12912,0.00,1.62,0.00,0.000,4,0.000,0.048,2851,3300,2353
$GC,13023,0.47,126.5,389.9,14.8,386,13026,0.00,1.50,0.00,0.000,6,0.000,0.026,2857,2293,2353
$GC,13294,0.47,126.5,356.9,12.0,393,13298,0.00,1.62,0.00,0.000,4,0.000,0.029,2860,1156,2353
$GC,13464,0.47,126.5,339.3,10.5,396,13468,0.00,1.67,0.00,0.000,6,0.000,0.042,2860,2251,2352
$GC,13725,0.47,126.5,314.1,10.1,403,13729,0.00,1.60,0.00,0.000,4,0.000,0.049,2860,3280,2353
$GC,13739,0.47,126.5,312.3,10.0,403,13742,0.00,1.55,0.00,0.000,6,0.000,0.025,2868,2225,2353
$GC,14021,0.48,137.6,284.5,9.6,410,14030,0.00,0.00,7.25,0.748,6,0.000,0.000,2868,2219,2329
$GC,14265,0.49,152.1,261.9,9.5,416,14284,0.00,1.70,14.52,0.794,4,0.000,0.048,2863,3281,2269
$GC,14455,0.49,152.1,239.0,11.7,420,14459,0.00,1.55,0.00,0.000,6,0.000,0.025,2869,2236,2267
$GC,14738,0.49,152.1,209.2,10.3,427,14742,0.00,1.55,0.00,0.000,4,0.000,0.026,2877,1150,2265
$GC,14802,0.49,155.5,202.9,9.9,428,14810,0.00,1.67,4.15,0.540,6,0.000,0.040,2877,2227,2255
$GC,15083,0.49,155.5,176.1,10.2,452,15086,0.00,1.62,0.00,0.000,4,0.000,0.046,2877,3304,2255
$GC,15178,0.49,155.5,165.2,11.4,460,15181,0.00,1.60,0.00,0.000,6,0.000,0.023,2883,2223,2255
$GC,15450,0.49,155.5,136.5,10.0,485,15454,0.00,1.52,0.00,0.000,4,0.000,0.025,2891,1152,2255
$GC,15512,0.49,155.5,130.3,10.3,490,15516,0.12,1.60,0.00,0.000,6,0.153,0.038,2858,2213,2255
$GC,15789,0.49,155.5,103.6,10.0,515,15793,0.00,1.62,0.00,0.000,4,0.000,0.044,2858,3279,2255
$GC,15885,0.50,165.9,93.1,9.6,523,15900,0.00,1.60,10.88,0.607,6,0.000,0.022,2860,2154,2213
$GC,16162,0.55,241.0,73.5,7.2,548,16231,0.00,1.80,61.90,0.621,4,0.000,0.041,2860,3308,1906
$GC,16307,0.56,251.0,59.8,9.6,559,16322,0.00,1.67,9.43,0.551,6,0.000,0.022,2860,2159,1866
$GC,16585,0.61,325.6,39.5,7.2,584,16654,0.00,1.48,59.42,0.582,4,0.000,0.025,2860,1161,1560
$GC,16696,0.69,436.3,31.4,5.8,592,16795,0.17,1.60,87.38,0.565,6,0.128,0.034,2958,2184,1111
$STATE,16839,end climb,SURFACE_DEPTH_REACHED
$STATE,16839,begin surface coast
$FINISH,1.4,1.022988
$STATE,16858,end surface coast,CONTROL_FINISHED_OK
$STATE,16858,begin surface
$SM_CCo,16943,0.00,0.000,0,0,1104,438.10
$SM_GC,1.21,7.55,0.00,0.00,0.022,0.000,0.000,45,2508,1104,-8.22,0.23,438.10
$IRIDIUM_FIX,2230.01,-15804.11,130103,232359
$TT8_MAMPS,0.023777
$HUMID,2204
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.00
$XPDR_PINGS,5
$24V_AH,23.8,29.769
$10V_AH,10.7,33.430
$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,18.625,116.200,485.025,0.000,0.000,28.642,33.693,463.969,1.250,0.000,0.000,19.593,1334.066,11556.717,458.359,3157.869,1165.155,33.367,1515.784,0.000,3158.157,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,58.292,1267.851,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,415.586,2010.087,2085.225,420.678,1282.764,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50992,611
$CAP_FILE_SIZE,133017,0
$CFSIZE,260165632,246824960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201013,084205,2245.050,-15805.313,41,1.2,46,10.0