version: 66.04
glider: 512
mission: 4
dive: 185
start: 10 21 113 4 30 44
data:
$ID,512
$MISSION,4
$DIVE,185
$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,-110158.43
$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,60
$R_STBD_OVSHOOT,61
$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
$GPS1,040730,2254.765,-15804.369,39,2.0,39,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-82.3
$GPS2,042925,2254.866,-15804.290,15,1.4,15,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.060,0.278
$KALMAN_X,102556.1,408.0,135.9,-110350.9,-1187.9
$KALMAN_Y,69512.5,-43.8,-100.8,-49405.4,-371.7
$MHEAD_RNG_PITCHd_Wd,2.1,17753,-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,12,begin dive
$GC,18,-0.47,-126.5,0.0,0.0,0,106,0.00,0.00,-85.85,0.000,2,0.000,0.000,10,2549,2985
$GC,112,-0.47,-126.5,2.3,-2.4,10,141,9.52,1.60,-8.88,0.000,4,0.201,0.036,2546,1405,3408
$GC,249,-0.47,-126.5,39.1,-21.5,27,253,0.00,1.62,0.00,0.000,6,0.000,0.039,2540,2479,3409
$GC,521,-0.47,-126.5,97.7,-15.8,52,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2479,3409
$GC,788,-0.47,-126.5,137.7,-15.4,77,791,0.00,1.62,0.00,0.000,4,0.000,0.044,2532,3567,3410
$GC,816,-0.47,-126.5,142.3,-15.9,79,820,0.00,1.55,0.00,0.000,6,0.000,0.019,2532,2476,3409
$GC,1087,-0.47,-126.5,186.5,-16.5,104,1091,0.00,1.67,0.00,0.000,4,0.000,0.042,2524,3560,3409
$GC,1126,-0.47,-126.5,193.2,-17.5,107,1130,0.00,1.48,0.00,0.000,6,0.000,0.018,2524,2507,3409
$GC,1419,-0.47,-126.5,239.0,-15.4,117,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2499,3409
$GC,1662,-0.47,-126.5,272.3,-13.1,123,1666,0.00,1.42,0.00,0.000,4,0.000,0.020,2524,1462,3409
$GC,1732,-0.47,-126.5,281.0,-11.6,124,1735,0.00,1.60,0.00,0.000,6,0.000,0.038,2523,2536,3408
$GC,2003,-0.47,-126.5,314.1,-12.5,131,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3408
$GC,2247,-0.47,-126.5,343.0,-11.6,137,2250,0.00,1.58,0.00,0.000,4,0.000,0.047,2519,3571,3407
$GC,2400,-0.47,-126.5,359.8,-10.6,140,2404,0.00,1.50,0.00,0.000,6,0.000,0.020,2518,2511,3405
$GC,2677,-0.47,-126.5,388.9,-10.7,147,2681,0.00,1.45,0.00,0.000,4,0.000,0.021,2521,1459,3404
$GC,2719,-0.47,-126.5,393.7,-9.9,147,2729,0.00,1.60,0.00,0.000,6,0.000,0.038,2516,2513,3403
$GC,2976,-0.47,-126.5,420.1,-10.3,154,2978,0.10,0.00,0.00,0.000,6,0.138,0.000,2542,2513,3401
$GC,3220,-0.47,-126.5,437.5,-6.8,160,3223,0.00,1.60,0.00,0.000,4,0.000,0.050,2536,3573,3399
$GC,3270,-0.47,-126.5,441.5,-7.3,161,3273,0.00,1.52,0.00,0.000,6,0.000,0.022,2536,2504,3398
$GC,3564,-0.47,-126.5,467.2,-9.3,168,3566,0.00,0.00,-0.08,0.000,6,0.000,0.000,2536,2496,3420
$GC,3808,-0.47,-126.5,489.1,-8.9,174,3811,0.00,1.65,0.00,0.000,4,0.000,0.048,2528,3568,3418
$GC,3849,-0.47,-126.5,493.0,-9.1,174,3859,0.00,1.50,0.00,0.000,6,0.000,0.022,2528,2512,3417
$GC,4105,-0.47,-126.5,515.6,-9.1,181,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2512,3415
$GC,4349,-0.47,-126.5,538.7,-9.6,187,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2511,3413
$GC,4592,-0.47,-126.5,562.0,-9.4,193,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2511,3411
$GC,4836,-0.47,-126.5,582.9,-8.5,199,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2512,3409
$GC,5080,-0.47,-126.5,603.2,-8.3,205,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2512,3408
$GC,5324,-0.47,-126.5,622.3,-7.8,211,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2511,3406
$GC,5567,-0.47,-126.5,640.8,-7.6,217,5571,0.00,1.48,0.00,0.000,4,0.000,0.025,2528,1470,3403
$GC,5619,-0.47,-126.5,645.3,-7.4,218,5623,0.00,1.62,0.00,0.000,6,0.000,0.044,2524,2534,3404
$GC,5908,-0.47,-126.5,667.9,-8.0,225,5911,0.00,1.60,0.00,0.000,4,0.000,0.056,2522,3574,3401
$GC,5989,-0.47,-126.5,674.9,-8.2,226,5993,0.00,1.48,0.00,0.000,6,0.000,0.026,2522,2560,3401
$GC,6250,-0.47,-126.5,694.4,-7.4,233,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2550,3400
$GC,6493,-0.47,-126.5,712.0,-7.3,239,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2550,3399
$GC,6738,-0.47,-126.5,730.4,-7.7,245,6741,0.00,1.55,0.00,0.000,4,0.000,0.025,2522,1469,3398
$GC,6774,-0.47,-126.5,733.5,-8.2,245,6778,0.10,1.65,0.00,0.000,6,0.119,0.045,2544,2547,3397
$GC,7034,-0.47,-126.5,749.9,-6.4,252,7038,0.00,1.60,0.00,0.000,4,0.000,0.057,2539,3562,3396
$GC,7088,-0.47,-126.5,754.0,-7.4,253,7092,0.00,1.45,0.00,0.000,6,0.000,0.027,2538,2561,3395
$GC,7376,-0.47,-126.5,773.9,-7.0,260,7380,0.00,1.55,0.00,0.000,4,0.000,0.025,2538,1466,3393
$GC,7434,-0.47,-126.5,778.4,-8.1,261,7438,0.00,1.65,0.00,0.000,6,0.000,0.047,2536,2538,3393
$GC,7718,-0.47,-126.5,798.7,-7.3,268,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2539,3392
$GC,7962,-0.47,-126.5,815.2,-6.7,274,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2538,3391
$GC,8206,-0.47,-126.5,829.8,-5.8,280,8209,0.00,1.60,0.00,0.000,4,0.000,0.058,2534,3569,3390
$GC,8236,-0.47,-126.5,831.8,-5.7,280,8240,0.00,1.50,0.00,0.000,6,0.000,0.027,2534,2546,3390
$GC,8502,-0.47,-126.5,845.3,-5.0,287,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2538,3390
$GC,8746,-0.47,-126.5,857.3,-4.9,293,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2538,3389
$GC,8989,-0.47,-126.5,869.4,-5.0,299,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2538,3388
$GC,9233,-0.47,-126.5,881.5,-5.0,305,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2538,3387
$GC,9477,-0.47,-126.5,894.8,-5.5,311,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2538,3386
$STATE,9593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9593,begin apogee
$GC,9604,-0.17,0.0,902.1,5.9,314,9717,0.32,0.00,109.32,1.261,6,0.093,0.000,2646,2216,2890
$STATE,9717,end apogee,CONTROL_FINISHED_OK
$STATE,9717,begin climb
$GC,9722,0.47,126.5,905.7,0.0,317,9876,0.52,1.65,126.78,1.164,4,0.031,0.028,2883,1182,2373
$GC,9911,0.47,126.5,891.6,16.7,321,9915,0.08,1.73,0.00,0.000,6,0.167,0.041,2855,2225,2368
$GC,10194,0.47,126.5,846.8,16.0,328,10197,0.00,1.67,0.00,0.000,4,0.000,0.050,2850,3287,2362
$GC,10288,0.47,126.5,830.8,16.5,330,10292,0.00,1.58,0.00,0.000,6,0.000,0.027,2856,2252,2361
$GC,10583,0.47,126.5,784.0,16.0,337,10586,0.00,1.60,0.00,0.000,4,0.000,0.030,2864,1176,2360
$GC,10618,0.47,126.5,777.8,15.9,337,10622,0.00,1.65,0.00,0.000,6,0.000,0.041,2863,2244,2359
$GC,10878,0.47,126.5,736.3,16.1,344,10882,0.00,1.62,0.00,0.000,4,0.000,0.051,2863,3276,2359
$GC,10908,0.47,126.5,730.7,18.9,344,10912,0.00,1.55,0.00,0.000,6,0.000,0.025,2869,2236,2358
$GC,11174,0.47,126.5,685.4,17.3,351,11178,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3286,2357
$GC,11225,0.47,126.5,676.3,17.9,352,11228,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2263,2357
$GC,11519,0.47,126.5,625.4,16.8,359,11522,0.00,1.62,0.00,0.000,4,0.000,0.048,2863,3304,2356
$GC,11576,0.47,126.5,615.1,17.6,360,11580,0.00,1.52,0.00,0.000,6,0.000,0.028,2869,2279,2357
$GC,11860,0.47,126.5,570.6,15.5,367,11864,0.00,1.62,0.00,0.000,4,0.000,0.030,2877,1147,2356
$GC,11910,0.47,126.5,563.2,13.9,368,11914,0.00,1.77,0.00,0.000,6,0.000,0.044,2877,2298,2355
$GC,12204,0.47,126.5,520.0,15.2,375,12207,0.00,1.52,0.00,0.000,4,0.000,0.051,2877,3277,2355
$GC,12228,0.47,126.5,515.7,15.7,375,12232,0.10,1.48,0.00,0.000,6,0.177,0.026,2855,2285,2355
$GC,12500,0.47,126.5,480.2,12.8,382,12503,0.00,1.62,0.00,0.000,4,0.000,0.029,2860,1152,2354
$GC,12524,0.47,126.5,476.5,12.7,382,12528,0.00,1.75,0.00,0.000,6,0.000,0.041,2859,2273,2354
$GC,12795,0.47,126.5,443.4,12.2,389,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2273,2354
$GC,13038,0.47,126.5,412.7,12.3,395,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2272,2354
$GC,13282,0.47,126.5,382.8,12.3,401,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2273,2354
$GC,13526,0.47,129.8,357.6,9.9,407,13527,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2272,2354
$GC,13770,0.49,158.2,335.3,8.9,413,13799,0.00,1.60,24.80,0.884,4,0.000,0.048,2860,3285,2245
$GC,13938,0.49,158.2,315.3,11.5,416,13941,0.00,1.55,0.00,0.000,6,0.000,0.026,2868,2249,2242
$GC,14198,0.49,158.2,284.5,11.9,423,14201,0.00,1.58,0.00,0.000,4,0.000,0.029,2873,1165,2241
$GC,14340,0.51,183.7,268.7,9.0,426,14369,0.00,1.67,22.58,0.811,6,0.000,0.041,2873,2262,2140
$GC,14626,0.51,183.7,238.3,11.1,433,14627,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2263,2135
$GC,14869,0.51,183.7,209.6,12.0,439,14873,0.00,1.58,0.00,0.000,4,0.000,0.046,2873,3277,2135
$GC,14927,0.51,183.7,201.8,13.4,440,14931,0.00,1.48,0.00,0.000,6,0.000,0.023,2880,2272,2134
$GC,15201,0.51,183.7,168.1,12.5,463,15205,0.00,1.60,0.00,0.000,4,0.000,0.026,2886,1162,2135
$GC,15228,0.51,183.7,164.6,12.4,465,15231,0.00,1.70,0.00,0.000,6,0.000,0.039,2886,2283,2134
$GC,15499,0.51,183.7,129.1,12.3,490,15503,0.00,1.52,0.00,0.000,4,0.000,0.044,2886,3281,2134
$GC,15597,0.51,183.7,114.8,13.9,498,15607,0.08,1.48,0.00,0.000,6,0.146,0.022,2869,2266,2134
$GC,15868,0.53,214.4,87.6,8.8,523,15899,0.00,1.60,26.38,0.631,4,0.000,0.025,2873,1161,2014
$GC,16103,0.63,350.1,73.0,4.9,542,16216,0.00,1.73,107.85,0.612,6,0.000,0.038,2873,2296,1461
$GC,16472,0.67,410.7,47.0,7.7,574,16524,0.12,0.00,48.55,0.577,6,0.054,0.000,2957,2297,1215
$STATE,16676,end climb,SURFACE_DEPTH_REACHED
$STATE,16677,begin surface coast
$FINISH,0.3,1.013433
$STATE,16691,end surface coast,CONTROL_FINISHED_OK
$STATE,16691,begin surface
$SM_CCo,16776,0.00,0.000,0,0,1207,412.83
$SM_GC,1.28,7.53,0.00,0.00,0.026,0.000,0.000,45,2529,1207,-8.23,0.88,412.83
$IRIDIUM_FIX,2246.36,-15805.83,150103,040413
$TT8_MAMPS,0.02301
$HUMID,2220
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.60
$XPDR_PINGS,2
$24V_AH,23.8,30.583
$10V_AH,10.7,34.455
$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,18.475,92.650,466.250,0.000,0.000,60.150,72.324,933.063,0.500,0.000,0.000,16.018,1274.344,11646.686,452.086,3058.970,1674.652,33.380,1437.750,0.000,3055.845,0.000,0.545,0.000
$DEVICE_MAMPS,200.954,58.292,1260.948,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,410.392,1983.260,2054.671,1206.938,1288.162,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50895,602
$CAP_FILE_SIZE,129581,0
$CFSIZE,260165632,246497280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,211013,091136,2257.163,-15803.428,33,1.0,33,10.1