version: 66.04
glider: 512
mission: 4
dive: 183
start: 10 20 113 18 51 15
data:
$ID,512
$MISSION,4
$DIVE,183
$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,-110126.03
$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,50
$R_STBD_OVSHOOT,40
$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
$GPS1,182753,2249.740,-15805.422,37,1.7,37,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-84.0
$GPS2,185001,2249.911,-15805.481,14,1.9,14,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.040,0.282
$KALMAN_X,103258.1,-94.5,-182.0,-112254.8,-479.5
$KALMAN_Y,69686.0,571.9,5.0,-59454.9,-1020.7
$MHEAD_RNG_PITCHd_Wd,358.0,26975,-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,-126.5,0.0,0.0,0,90,0.00,0.00,-65.75,0.000,2,0.000,0.000,10,2523,2850
$GC,96,-0.47,-126.5,2.3,-1.6,8,124,9.55,1.60,-12.38,0.000,4,0.202,0.040,2541,1429,3408
$GC,177,-0.47,-126.5,23.9,-24.6,19,187,0.00,1.65,0.00,0.000,6,0.000,0.040,2535,2493,3408
$GC,454,-0.47,-126.5,90.7,-19.9,46,458,0.00,1.62,0.00,0.000,4,0.000,0.046,2527,3570,3409
$GC,540,-0.47,-126.5,105.0,-15.5,53,544,0.00,1.52,0.00,0.000,6,0.000,0.018,2528,2499,3409
$GC,810,-0.47,-126.5,151.1,-16.7,78,814,0.00,1.45,0.00,0.000,4,0.000,0.020,2530,1443,3410
$GC,861,-0.47,-126.5,158.9,-14.7,82,865,0.00,1.65,0.00,0.000,6,0.000,0.037,2524,2522,3409
$GC,1163,-0.47,-126.5,208.0,-16.4,107,1166,0.00,1.58,0.00,0.000,4,0.000,0.046,2516,3561,3410
$GC,1231,-0.47,-126.5,220.0,-15.3,108,1235,0.00,1.48,0.00,0.000,6,0.000,0.018,2516,2514,3409
$GC,1504,-0.47,-126.5,262.3,-15.9,115,1507,0.00,1.60,0.00,0.000,4,0.000,0.043,2508,3570,3409
$GC,1733,-0.47,-126.5,295.8,-13.1,120,1737,0.10,1.40,0.00,0.000,6,0.120,0.018,2541,2551,3409
$GC,2028,-0.47,-126.5,325.0,-9.7,127,2031,0.00,1.50,0.00,0.000,4,0.000,0.021,2544,1459,3408
$GC,2131,-0.47,-126.5,335.3,-10.2,129,2135,0.00,1.70,0.00,0.000,6,0.000,0.041,2537,2596,3408
$GC,2415,-0.47,-126.5,364.5,-10.3,136,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2596,3406
$GC,2660,-0.47,-126.5,386.8,-9.2,142,2664,0.00,1.48,0.00,0.000,4,0.000,0.049,2530,3565,3404
$GC,2710,-0.47,-126.5,391.6,-9.0,143,2714,0.00,1.40,0.00,0.000,6,0.000,0.021,2530,2566,3403
$GC,3005,-0.47,-126.5,420.1,-9.7,150,3008,0.00,1.55,0.00,0.000,4,0.000,0.023,2530,1466,3400
$GC,3064,-0.47,-126.5,426.1,-9.2,151,3067,0.00,1.67,0.00,0.000,6,0.000,0.041,2523,2580,3399
$GC,3347,-0.47,-126.5,452.9,-9.3,158,3351,0.00,1.60,0.00,0.000,4,0.000,0.022,2524,1472,3398
$GC,3405,-0.47,-126.5,458.3,-8.3,159,3408,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2563,3398
$GC,3690,-0.47,-126.5,483.5,-9.1,166,3692,0.00,0.00,-0.08,0.000,6,0.000,0.000,2523,2563,3420
$GC,3932,-0.47,-126.5,507.6,-10.0,172,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2563,3418
$GC,4176,-0.47,-126.5,531.3,-9.7,178,4180,0.00,1.55,0.00,0.000,4,0.000,0.054,2523,3559,3416
$GC,4212,-0.47,-126.5,535.1,-8.6,178,4216,0.00,1.42,0.00,0.000,6,0.000,0.024,2524,2555,3416
$GC,4472,-0.47,-126.5,556.9,-8.4,185,4476,0.00,1.52,0.00,0.000,4,0.000,0.023,2523,1467,3414
$GC,4542,-0.47,-126.5,563.1,-8.2,186,4545,0.00,1.65,0.00,0.000,6,0.000,0.046,2523,2550,3413
$GC,4815,-0.47,-126.5,585.3,-8.2,193,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2551,3411
$GC,5058,-0.47,-126.5,604.7,-7.8,199,5062,0.00,1.58,0.00,0.000,4,0.000,0.056,2523,3559,3410
$GC,5133,-0.47,-126.5,610.8,-7.7,200,5137,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2535,3409
$GC,5399,-0.47,-126.5,631.6,-8.2,207,5403,0.00,1.62,0.00,0.000,4,0.000,0.054,2523,3572,3408
$GC,5441,-0.47,-126.5,635.4,-8.5,207,5450,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2538,3407
$GC,5697,-0.47,-126.5,657.2,-8.7,214,5700,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1469,3405
$GC,5732,-0.47,-126.5,660.8,-8.8,214,5736,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2544,3405
$GC,5993,-0.47,-126.5,683.3,-8.9,221,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2543,3403
$GC,6237,-0.47,-126.5,704.5,-8.7,227,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2543,3402
$GC,6480,-0.47,-126.5,725.4,-8.5,233,6484,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3559,3400
$GC,6516,-0.47,-126.5,728.7,-8.5,233,6519,0.00,1.45,0.00,0.000,6,0.000,0.027,2523,2555,3400
$GC,6776,-0.47,-126.5,749.5,-8.1,240,6780,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1467,3400
$GC,6829,-0.47,-126.5,754.2,-8.2,241,6833,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2555,3399
$GC,7118,-0.47,-126.5,778.3,-8.6,248,7122,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3554,3398
$GC,7181,-0.47,-126.5,784.3,-9.0,249,7185,0.00,1.45,0.00,0.000,6,0.000,0.027,2523,2549,3398
$GC,7459,-0.47,-126.5,807.6,-8.5,256,7463,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1465,3396
$GC,7501,-0.47,-126.5,811.5,-8.8,256,7509,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2547,3396
$GC,7756,-0.47,-126.5,830.5,-7.3,263,7760,0.00,1.60,0.00,0.000,4,0.000,0.058,2520,3559,3395
$GC,7842,-0.47,-126.5,836.9,-7.7,264,7851,0.00,1.45,0.00,0.000,6,0.000,0.028,2520,2558,3394
$GC,8097,-0.47,-126.5,853.1,-6.3,271,8101,0.00,1.58,0.00,0.000,4,0.000,0.028,2520,1467,3394
$GC,8141,-0.47,-126.5,856.1,-6.8,271,8149,0.08,1.73,0.00,0.000,6,0.112,0.048,2541,2567,3393
$GC,8395,-0.47,-126.5,867.4,-4.2,278,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2567,3392
$GC,8639,-0.47,-126.5,878.4,-4.6,284,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2567,3392
$GC,8883,-0.47,-126.5,890.3,-5.0,290,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2567,3391
$STATE,9081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9082,begin apogee
$GC,9093,-0.17,0.0,901.0,5.2,295,9205,0.30,0.00,108.68,1.264,6,0.089,0.000,2647,2232,2890
$STATE,9206,end apogee,CONTROL_FINISHED_OK
$STATE,9206,begin climb
$GC,9211,0.47,126.5,903.8,0.0,298,9340,0.55,0.00,119.50,1.210,6,0.048,0.000,2881,2232,2374
$GC,9621,0.47,126.5,843.2,19.2,308,9626,0.12,1.60,0.00,0.000,4,0.196,0.028,2859,1185,2363
$GC,9657,0.47,126.5,835.5,16.5,308,9660,0.00,1.65,0.00,0.000,6,0.000,0.043,2859,2235,2362
$GC,9917,0.47,126.5,793.1,16.3,315,9920,0.00,1.62,0.00,0.000,4,0.000,0.049,2859,3282,2359
$GC,9987,0.47,126.5,780.1,17.6,316,9990,0.00,1.58,0.00,0.000,6,0.000,0.027,2867,2244,2359
$GC,10258,0.47,126.5,735.2,16.5,323,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2238,2358
$GC,10501,0.47,126.5,696.8,15.8,329,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2238,2358
$GC,10745,0.47,126.5,658.5,15.8,335,10746,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2238,2357
$GC,10989,0.47,126.5,619.5,16.2,341,10993,0.00,1.67,0.00,0.000,4,0.000,0.049,2863,3288,2356
$GC,11013,0.47,126.5,615.1,16.2,341,11017,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2239,2356
$GC,11285,0.47,126.5,574.2,15.1,348,11288,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3296,2355
$GC,11326,0.47,126.5,567.0,16.6,348,11335,0.00,1.58,0.00,0.000,6,0.000,0.026,2869,2244,2355
$GC,11581,0.47,126.5,528.6,15.3,355,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2237,2355
$GC,11825,0.47,126.5,494.7,13.7,361,11829,0.00,1.62,0.00,0.000,4,0.000,0.048,2864,3281,2354
$GC,11849,0.47,126.5,490.5,13.7,361,11853,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2256,2354
$GC,12121,0.47,126.5,453.0,13.8,368,12125,0.00,1.65,0.00,0.000,4,0.000,0.050,2870,3286,2354
$GC,12201,0.47,126.5,440.3,15.0,369,12204,0.00,1.50,0.00,0.000,6,0.000,0.027,2877,2275,2354
$GC,12462,0.47,126.5,405.5,13.2,376,12466,0.00,1.62,0.00,0.000,4,0.000,0.029,2885,1142,2354
$GC,12498,0.47,126.5,400.2,12.2,376,12502,0.15,1.73,0.00,0.000,6,0.163,0.044,2847,2267,2353
$GC,12757,0.47,126.5,371.2,11.2,383,12758,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2267,2353
$GC,13001,0.47,126.5,345.5,10.7,389,13005,0.00,1.58,0.00,0.000,4,0.000,0.050,2847,3276,2353
$GC,13154,0.47,126.5,326.3,10.9,392,13157,0.00,1.50,0.00,0.000,6,0.000,0.026,2847,2268,2352
$GC,13431,0.48,141.4,298.6,9.4,399,13445,0.00,1.58,10.38,0.802,4,0.000,0.026,2854,1146,2315
$GC,13516,0.52,201.6,290.5,7.7,400,13575,0.00,1.75,52.80,0.839,6,0.000,0.041,2854,2269,2068
$GC,13860,0.52,201.6,250.0,12.2,409,13863,0.00,1.60,0.00,0.000,4,0.000,0.049,2854,3305,2061
$GC,13884,0.52,201.6,246.0,13.6,409,13887,0.00,1.58,0.00,0.000,6,0.000,0.025,2860,2260,2060
$GC,14155,0.52,201.6,216.6,11.0,416,14159,0.00,1.62,0.00,0.000,4,0.000,0.044,2860,3280,2059
$GC,14191,0.52,201.6,211.7,12.3,416,14194,0.00,1.50,0.00,0.000,6,0.000,0.024,2867,2266,2059
$GC,14456,0.52,201.6,179.7,13.1,432,14465,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2259,2059
$GC,14723,0.52,201.6,145.6,12.7,457,14727,0.00,1.60,0.00,0.000,4,0.000,0.044,2863,3278,2059
$GC,14785,0.52,201.6,137.4,12.2,462,14789,0.00,1.45,0.00,0.000,6,0.000,0.023,2868,2289,2059
$GC,15057,0.52,201.6,102.6,12.0,487,15061,0.00,1.62,0.00,0.000,4,0.000,0.025,2873,1140,2059
$GC,15133,0.52,201.6,93.5,10.1,493,15141,0.00,1.77,0.00,0.000,6,0.000,0.038,2873,2296,2059
$GC,15400,0.54,223.1,66.8,9.2,518,15428,0.00,0.00,18.25,0.606,6,0.000,0.000,2873,2296,1979
$GC,15686,0.60,314.6,46.7,6.6,544,15770,0.00,1.73,73.30,0.594,4,0.000,0.025,2873,1159,1605
$GC,15813,0.66,393.7,37.2,7.0,553,15885,0.05,1.75,62.95,0.575,6,0.055,0.036,2932,2277,1284
$STATE,16019,end climb,SURFACE_DEPTH_REACHED
$STATE,16019,begin surface coast
$FINISH,0.4,1.022940
$STATE,16033,end surface coast,CONTROL_FINISHED_OK
$STATE,16033,begin surface
$SM_CCo,16119,0.00,0.000,0,0,1278,395.42
$SM_GC,1.17,7.50,0.00,0.00,0.028,0.000,0.000,43,2554,1278,-8.23,1.53,395.42
$IRIDIUM_FIX,2239.35,-15804.53,140103,181832
$TT8_MAMPS,0.023777
$HUMID,2227
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.00
$XPDR_PINGS,7
$24V_AH,23.8,30.223
$10V_AH,10.7,34.047
$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,18.400,108.475,445.850,0.000,0.000,107.710,143.613,685.807,1.750,0.000,0.000,14.899,1266.245,11157.766,447.980,3018.258,1567.026,33.375,1446.687,0.000,3019.211,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,58.292,1264.016,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,396.266,1914.021,1980.500,942.908,1246.723,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51016,582
$CAP_FILE_SIZE,134421,0
$CFSIZE,260165632,246620160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201013,232124,2252.603,-15804.914,46,1.3,46,10.1