version: 66.04
glider: 512
mission: 4
dive: 186
start: 10 21 113 9 31 14
data:
$ID,512
$MISSION,4
$DIVE,186
$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,-110175.59
$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,63
$R_STBD_OVSHOOT,47
$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
$GPS1,091136,2257.163,-15803.428,33,1.0,33,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-82.0
$GPS2,092955,2257.213,-15803.281,16,1.1,16,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.012,0.284
$KALMAN_X,103203.8,434.5,106.4,-109277.7,-524.6
$KALMAN_Y,68987.1,-400.3,128.3,-44394.1,-376.5
$MHEAD_RNG_PITCHd_Wd,347.4,13568,-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,17,-0.47,-126.5,0.0,0.0,0,87,0.00,0.00,-67.47,0.000,2,0.000,0.000,11,2523,2825
$GC,93,-0.47,-126.5,2.3,-2.0,8,121,9.52,1.60,-13.18,0.000,4,0.202,0.053,2527,3560,3408
$GC,192,-0.47,-126.5,28.7,-27.0,22,201,0.00,1.55,0.00,0.000,6,0.000,0.019,2527,2495,3409
$GC,459,-0.47,-126.5,95.4,-18.5,47,463,0.00,1.45,0.00,0.000,4,0.000,0.020,2527,1447,3409
$GC,520,-0.47,-126.5,105.7,-14.6,52,524,0.00,1.55,0.00,0.000,6,0.000,0.038,2524,2458,3410
$GC,793,-0.47,-126.5,149.1,-16.8,77,796,0.00,1.65,0.00,0.000,4,0.000,0.044,2515,3562,3410
$GC,900,-0.47,-126.5,168.3,-16.0,86,907,0.08,1.55,0.00,0.000,6,0.121,0.018,2542,2464,3410
$GC,1164,-0.47,-126.5,207.2,-14.8,108,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2455,3410
$GC,1407,-0.47,-126.5,239.4,-12.9,114,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2455,3410
$GC,1651,-0.47,-126.5,267.8,-11.4,120,1655,0.00,1.38,0.00,0.000,4,0.000,0.020,2544,1449,3410
$GC,1710,-0.47,-126.5,274.3,-9.6,121,1714,0.00,1.58,0.00,0.000,6,0.000,0.038,2538,2489,3410
$GC,1993,-0.47,-126.5,305.7,-11.3,128,1996,0.00,1.62,0.00,0.000,4,0.000,0.046,2530,3560,3408
$GC,2033,-0.47,-126.5,310.4,-10.5,128,2042,0.00,1.52,0.00,0.000,6,0.000,0.020,2530,2471,3408
$GC,2288,-0.47,-126.5,335.7,-10.2,135,2292,0.00,1.65,0.00,0.000,4,0.000,0.044,2523,3559,3408
$GC,2414,-0.47,-126.5,349.0,-10.3,137,2418,0.00,1.45,0.00,0.000,6,0.000,0.020,2523,2533,3407
$GC,2675,-0.47,-126.5,374.3,-9.8,144,2678,0.00,1.48,0.00,0.000,4,0.000,0.021,2523,1461,3404
$GC,2790,-0.47,-126.5,386.1,-9.9,146,2794,0.00,1.60,0.00,0.000,6,0.000,0.040,2523,2527,3404
$GC,3061,-0.47,-126.5,414.5,-10.7,153,3065,0.00,1.58,0.00,0.000,4,0.000,0.049,2520,3558,3402
$GC,3112,-0.47,-126.5,419.8,-10.6,154,3116,0.00,1.48,0.00,0.000,6,0.000,0.021,2520,2525,3401
$GC,3406,-0.47,-126.5,450.5,-10.3,161,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2518,3399
$GC,3650,-0.47,-126.5,474.5,-9.8,167,3652,0.00,0.00,-0.08,0.000,6,0.000,0.000,2519,2518,3421
$GC,3894,-0.47,-126.5,496.5,-9.0,173,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2518,3419
$GC,4138,-0.47,-126.5,519.9,-9.7,179,4141,0.00,1.50,0.00,0.000,4,0.000,0.023,2519,1454,3417
$GC,4195,-0.47,-126.5,526.1,-9.9,180,4200,0.12,1.60,0.00,0.000,6,0.118,0.041,2549,2516,3417
$GC,4479,-0.47,-126.5,546.7,-7.2,187,4483,0.00,1.60,0.00,0.000,4,0.000,0.052,2543,3569,3414
$GC,4582,-0.47,-126.5,554.6,-7.7,189,4586,0.00,1.50,0.00,0.000,6,0.000,0.023,2543,2523,3413
$GC,4866,-0.47,-126.5,577.1,-8.3,196,4870,0.00,1.48,0.00,0.000,4,0.000,0.024,2543,1464,3412
$GC,4916,-0.47,-126.5,581.7,-8.6,197,4920,0.00,1.65,0.00,0.000,6,0.000,0.044,2537,2526,3411
$GC,5211,-0.47,-126.5,608.1,-8.9,204,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2526,3409
$GC,5454,-0.47,-126.5,627.3,-7.7,210,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2526,3408
$GC,5698,-0.47,-126.5,644.4,-6.8,216,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2526,3406
$GC,5941,-0.47,-126.5,660.8,-6.7,222,5945,0.00,1.60,0.00,0.000,4,0.000,0.054,2529,3568,3404
$GC,5983,-0.47,-126.5,664.2,-7.2,222,5992,0.00,1.50,0.00,0.000,6,0.000,0.027,2529,2527,3403
$GC,6239,-0.47,-126.5,682.9,-7.5,229,6242,0.00,1.60,0.00,0.000,4,0.000,0.052,2523,3559,3401
$GC,6281,-0.47,-126.5,686.5,-7.8,229,6289,0.00,1.48,0.00,0.000,6,0.000,0.026,2523,2536,3401
$GC,6535,-0.47,-126.5,704.8,-7.1,236,6539,0.00,1.62,0.00,0.000,4,0.000,0.055,2524,3557,3400
$GC,6566,-0.47,-126.5,707.2,-8.2,236,6569,0.00,1.45,0.00,0.000,6,0.000,0.027,2523,2550,3400
$GC,6832,-0.47,-126.5,725.0,-6.8,243,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2542,3399
$GC,7076,-0.47,-126.5,741.5,-6.8,249,7079,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1458,3398
$GC,7127,-0.47,-126.5,745.0,-7.0,250,7130,0.00,1.70,0.00,0.000,6,0.000,0.048,2524,2561,3398
$GC,7422,-0.47,-126.5,765.0,-6.8,257,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2561,3396
$GC,7665,-0.47,-126.5,781.8,-6.9,263,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2562,3395
$GC,7909,-0.47,-126.5,798.3,-6.8,269,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2562,3394
$GC,8152,-0.47,-126.5,815.2,-7.0,275,8156,0.00,1.60,0.00,0.000,4,0.000,0.026,2523,1437,3393
$GC,8203,-0.47,-126.5,818.7,-6.9,276,8207,0.00,1.75,0.00,0.000,6,0.000,0.048,2523,2543,3393
$GC,8498,-0.47,-126.5,839.0,-6.9,283,8501,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3573,3392
$GC,8555,-0.47,-126.5,843.4,-7.1,284,8559,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2558,3391
$GC,8838,-0.47,-126.5,864.0,-7.6,291,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2549,3390
$GC,9082,-0.47,-126.5,882.8,-7.7,297,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2549,3390
$STATE,9321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9321,begin apogee
$GC,9332,-0.17,0.0,901.2,7.5,303,9445,0.35,0.00,110.07,1.263,6,0.093,0.000,2643,2229,2890
$STATE,9446,end apogee,CONTROL_FINISHED_OK
$STATE,9446,begin climb
$GC,9451,0.47,126.5,904.7,0.0,306,9606,0.55,1.67,126.50,1.162,4,0.030,0.028,2889,1178,2374
$GC,9646,0.47,126.5,887.9,17.7,310,9651,0.15,1.70,0.00,0.000,6,0.169,0.041,2854,2229,2369
$GC,9924,0.47,126.5,844.3,15.7,317,9927,0.00,1.65,0.00,0.000,4,0.000,0.049,2853,3281,2363
$GC,9998,0.47,126.5,831.0,17.1,318,10002,0.00,1.60,0.00,0.000,6,0.000,0.028,2860,2213,2361
$GC,10265,0.47,126.5,787.6,16.8,325,10268,0.00,1.55,0.00,0.000,4,0.000,0.029,2868,1156,2360
$GC,10328,0.47,126.5,776.8,15.5,326,10332,0.00,1.67,0.00,0.000,6,0.000,0.042,2866,2217,2361
$GC,10605,0.47,126.5,730.9,16.5,333,10608,0.00,1.65,0.00,0.000,4,0.000,0.050,2863,3285,2359
$GC,10640,0.47,126.5,724.0,18.8,333,10644,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2197,2358
$GC,10902,0.47,126.5,683.1,15.6,340,10906,0.00,1.73,0.00,0.000,4,0.000,0.046,2864,3279,2357
$GC,10952,0.47,126.5,675.2,16.4,341,10955,0.00,1.58,0.00,0.000,6,0.000,0.026,2869,2230,2357
$GC,11246,0.47,126.5,629.1,15.9,348,11249,0.00,1.65,0.00,0.000,4,0.000,0.048,2864,3280,2356
$GC,11332,0.47,126.5,614.4,16.8,349,11341,0.00,1.55,0.00,0.000,6,0.000,0.027,2870,2245,2357
$GC,11587,0.47,126.5,576.7,14.9,356,11591,0.00,1.58,0.00,0.000,4,0.000,0.029,2878,1160,2356
$GC,11661,0.47,126.5,566.4,12.6,357,11664,0.00,1.65,0.00,0.000,6,0.000,0.043,2876,2233,2356
$GC,11928,0.47,126.5,529.3,13.9,364,11931,0.00,1.62,0.00,0.000,4,0.000,0.050,2876,3292,2355
$GC,12007,0.47,126.5,516.2,15.8,365,12012,0.12,1.58,0.00,0.000,6,0.186,0.027,2854,2234,2356
$GC,12267,0.47,126.5,482.3,12.7,372,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2229,2354
$GC,12511,0.47,126.5,451.0,13.2,378,12515,0.00,1.55,0.00,0.000,4,0.000,0.030,2857,1175,2354
$GC,12607,0.47,126.5,439.3,12.6,380,12611,0.00,1.67,0.00,0.000,6,0.000,0.041,2857,2270,2354
$GC,12901,0.47,126.5,404.5,11.5,387,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2270,2354
$GC,13145,0.47,126.5,378.0,11.2,393,13146,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2270,2353
$GC,13388,0.47,126.5,351.4,10.8,399,13392,0.00,1.62,0.00,0.000,4,0.000,0.029,2860,1160,2354
$GC,13458,0.48,142.3,344.1,9.4,400,13474,0.00,1.70,11.65,0.851,6,0.000,0.041,2860,2274,2309
$GC,13724,0.48,142.3,315.8,10.5,406,13727,0.00,1.58,0.00,0.000,4,0.000,0.049,2860,3287,2307
$GC,13809,0.48,142.3,305.5,10.9,407,13817,0.00,1.50,0.00,0.000,6,0.000,0.025,2868,2272,2306
$GC,14064,0.48,142.3,276.2,12.0,414,14068,0.00,1.60,0.00,0.000,4,0.000,0.047,2864,3302,2306
$GC,14117,0.48,142.3,270.0,11.1,415,14120,0.00,1.45,0.00,0.000,6,0.000,0.025,2869,2313,2307
$GC,14405,0.50,171.7,243.6,8.9,422,14436,0.00,1.67,26.30,0.797,4,0.000,0.025,2877,1144,2188
$GC,14566,0.50,171.7,227.5,10.5,425,14569,0.00,1.77,0.00,0.000,6,0.000,0.040,2877,2275,2184
$GC,14831,0.50,171.7,195.4,12.7,432,14835,0.00,1.55,0.00,0.000,4,0.000,0.046,2876,3278,2183
$GC,14948,0.50,171.7,180.3,13.2,442,14952,0.00,1.48,0.00,0.000,6,0.000,0.023,2881,2278,2182
$GC,15221,0.50,171.7,148.6,11.8,467,15225,0.00,1.60,0.00,0.000,4,0.000,0.026,2886,1162,2183
$GC,15239,0.50,171.7,146.1,11.2,468,15248,0.00,1.73,0.00,0.000,6,0.000,0.037,2886,2284,2183
$GC,15506,0.50,171.7,115.1,13.4,493,15513,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2283,2182
$GC,15772,0.54,228.5,87.5,7.9,518,15826,0.00,1.67,46.95,0.640,4,0.000,0.023,2894,1147,1957
$GC,15901,0.55,241.5,76.9,9.5,528,15917,0.00,1.73,11.77,0.586,6,0.000,0.036,2891,2277,1904
$GC,16178,0.56,263.9,55.1,9.2,553,16207,0.00,1.55,19.10,0.586,4,0.000,0.040,2891,3282,1813
$GC,16248,0.56,263.9,47.5,10.9,558,16251,0.00,1.52,0.00,0.000,6,0.000,0.021,2897,2258,1812
$GC,16544,0.58,282.4,15.5,9.3,592,16571,0.00,1.60,16.45,0.547,4,0.000,0.025,2899,1162,1736
$GC,16613,0.58,282.4,7.8,11.4,601,16622,0.00,1.67,0.00,0.000,6,0.000,0.034,2899,2258,1735
$STATE,16660,end climb,SURFACE_DEPTH_REACHED
$STATE,16660,begin surface coast
$FINISH,0.4,1.008905
$STATE,16699,end surface coast,CONTROL_FINISHED_OK
$STATE,16699,begin surface
$SM_CCo,16725,43.90,0.540,0,0,1299,390.02
$SM_GC,1.41,0.00,0.00,43.90,0.000,0.000,0.540,36,2526,1299,-8.31,0.74,390.02
$IRIDIUM_FIX,2251.04,-15802.79,150103,090914
$TT8_MAMPS,0.023777
$HUMID,2201
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.00
$XPDR_PINGS,5
$24V_AH,23.8,30.745
$10V_AH,10.6,34.666
$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,18.225,111.950,368.800,43.900,0.000,52.305,69.563,730.088,1.250,0.000,0.000,16.532,1333.263,11417.017,460.230,3207.266,1471.671,33.408,1479.530,0.000,3202.378,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,58.292,1263.249,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,418.727,2020.983,2094.165,992.335,1345.066,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54118,614
$CAP_FILE_SIZE,137903,0
$CFSIZE,260165632,246423552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,211013,141206,2259.316,-15803.569,34,0.8,34,10.1