version: 66.04
glider: 512
mission: 4
dive: 187
start: 10 21 113 14 21 27
data:
$ID,512
$MISSION,4
$DIVE,187
$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,-110190.44
$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,57
$R_STBD_OVSHOOT,48
$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
$GPS1,141206,2259.316,-15803.569,34,0.8,34,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-84.0
$GPS2,142013,2259.305,-15803.553,14,1.3,14,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.016,0.284
$KALMAN_X,103344.6,46.8,123.7,-109501.9,-626.1
$KALMAN_Y,68005.7,-327.0,-211.1,-39269.3,148.5
$MHEAD_RNG_PITCHd_Wd,346.7,9672,-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,-126.5,0.0,0.0,0,80,0.00,0.00,-59.33,0.000,2,0.000,0.000,13,2520,2681
$GC,85,-0.47,-126.5,2.0,-1.7,7,123,9.55,1.58,-18.45,0.000,4,0.203,0.055,2528,3547,3407
$GC,141,-0.47,-126.5,13.1,-23.0,13,150,0.00,1.55,0.00,0.000,6,0.000,0.020,2533,2469,3408
$GC,417,-0.47,-126.5,88.5,-22.7,42,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2460,3408
$GC,683,-0.47,-126.5,135.4,-17.3,67,687,0.00,1.65,0.00,0.000,4,0.000,0.041,2526,3551,3409
$GC,734,-0.47,-126.5,144.5,-16.8,71,737,0.00,1.50,0.00,0.000,6,0.000,0.019,2530,2497,3409
$GC,1006,-0.47,-126.5,186.6,-15.5,96,1009,0.00,1.42,0.00,0.000,4,0.000,0.019,2529,1455,3409
$GC,1058,-0.47,-126.5,194.5,-13.3,100,1066,0.00,1.55,0.00,0.000,6,0.000,0.038,2524,2474,3409
$GC,1315,-0.47,-126.5,233.7,-16.0,110,1318,0.00,1.65,0.00,0.000,4,0.000,0.046,2518,3576,3409
$GC,1418,-0.47,-126.5,249.8,-13.8,112,1422,0.00,1.45,0.00,0.000,6,0.000,0.019,2518,2546,3409
$GC,1700,-0.47,-126.5,288.2,-13.2,119,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2538,3409
$GC,1944,-0.47,-126.5,316.5,-11.8,125,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2538,3409
$GC,2187,-0.47,-126.5,349.4,-13.6,131,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2538,3408
$GC,2431,-0.47,-126.5,379.1,-11.9,137,2435,0.00,1.50,0.00,0.000,4,0.000,0.021,2520,1461,3407
$GC,2506,-0.47,-126.5,387.7,-11.2,138,2510,0.12,1.67,0.00,0.000,6,0.118,0.039,2550,2583,3406
$GC,2773,-0.47,-126.5,409.5,-8.0,145,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2584,3405
$GC,3016,-0.47,-126.5,428.4,-7.6,151,3020,0.00,1.60,0.00,0.000,4,0.000,0.021,2549,1434,3403
$GC,3047,-0.47,-126.5,430.9,-7.9,151,3050,0.00,1.73,0.00,0.000,6,0.000,0.042,2546,2560,3402
$GC,3313,-0.47,-126.5,451.5,-7.8,158,3316,0.00,1.55,0.00,0.000,4,0.000,0.049,2539,3568,3400
$GC,3376,-0.47,-126.5,457.0,-8.3,159,3379,0.00,1.40,0.00,0.000,6,0.000,0.023,2539,2573,3399
$GC,3654,-0.47,-126.5,480.7,-8.9,166,3658,0.00,1.55,0.00,0.000,4,0.000,0.024,2539,1459,3398
$GC,3758,-0.47,-126.5,489.7,-8.4,168,3762,0.00,1.67,-0.08,0.000,6,0.000,0.043,2537,2566,3422
$GC,4041,-0.47,-126.5,511.7,-7.8,175,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2567,3419
$GC,4285,-0.47,-126.5,529.1,-7.1,181,4288,0.00,1.52,0.00,0.000,4,0.000,0.052,2529,3555,3418
$GC,4328,-0.47,-126.5,532.7,-7.9,181,4336,0.00,1.42,0.00,0.000,6,0.000,0.024,2529,2547,3417
$GC,4583,-0.47,-126.5,554.9,-9.2,188,4587,0.00,1.52,0.00,0.000,4,0.000,0.024,2530,1481,3416
$GC,4618,-0.47,-126.5,558.8,-10.3,188,4622,0.00,1.65,0.00,0.000,6,0.000,0.044,2524,2567,3415
$GC,4879,-0.47,-126.5,585.7,-10.6,195,4882,0.00,1.58,0.00,0.000,4,0.000,0.025,2524,1469,3413
$GC,4908,-0.47,-126.5,589.2,-11.4,195,4912,0.00,1.67,0.00,0.000,6,0.000,0.045,2524,2548,3413
$GC,5175,-0.47,-126.5,615.5,-9.9,202,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2548,3412
$GC,5419,-0.47,-126.5,637.7,-8.9,208,5423,0.00,1.58,0.00,0.000,4,0.000,0.056,2523,3557,3409
$GC,5483,-0.47,-126.5,643.4,-8.2,209,5486,0.00,1.40,0.00,0.000,6,0.000,0.026,2523,2584,3409
$GC,5760,-0.47,-126.5,667.9,-9.2,216,5763,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1467,3408
$GC,5830,-0.47,-126.5,674.9,-9.2,217,5833,0.00,1.70,0.00,0.000,6,0.000,0.046,2523,2577,3407
$GC,6102,-0.47,-126.5,700.3,-9.5,224,6106,0.00,1.55,0.00,0.000,4,0.000,0.057,2523,3561,3406
$GC,6134,-0.47,-126.5,703.6,-9.7,224,6137,0.00,1.40,0.00,0.000,6,0.000,0.026,2523,2589,3405
$GC,6400,-0.47,-126.5,727.1,-8.8,231,6403,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1484,3403
$GC,6476,-0.47,-126.5,734.1,-9.5,232,6479,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2557,3403
$GC,6742,-0.47,-126.5,756.2,-8.4,239,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3401
$GC,6985,-0.47,-126.5,776.6,-8.3,245,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3400
$GC,7229,-0.47,-126.5,795.1,-7.5,251,7233,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3554,3400
$GC,7279,-0.47,-126.5,798.7,-7.1,252,7283,0.00,1.42,0.00,0.000,6,0.000,0.028,2523,2568,3399
$GC,7575,-0.47,-126.5,819.0,-6.7,259,7578,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1482,3399
$GC,7632,-0.47,-126.5,823.4,-7.1,260,7636,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2565,3398
$GC,7915,-0.47,-126.5,843.7,-7.5,267,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2565,3397
$GC,8159,-0.47,-126.5,862.5,-7.8,273,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2565,3397
$GC,8403,-0.47,-126.5,881.1,-7.6,279,8406,0.00,1.58,0.00,0.000,4,0.000,0.026,2523,1480,3395
$GC,8439,-0.47,-126.5,884.0,-7.4,279,8442,0.00,1.67,0.00,0.000,6,0.000,0.049,2523,2564,3395
$STATE,8653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8653,begin apogee
$GC,8665,-0.17,0.0,900.9,7.8,285,8778,0.35,0.00,110.05,1.261,6,0.097,0.000,2641,2240,2890
$STATE,8778,end apogee,CONTROL_FINISHED_OK
$STATE,8778,begin climb
$GC,8783,0.47,126.5,904.9,0.0,288,8938,0.55,1.73,126.12,1.161,4,0.031,0.028,2885,1174,2373
$GC,8979,0.47,126.5,890.3,15.8,292,8983,0.15,1.70,0.00,0.000,6,0.163,0.041,2848,2224,2368
$GC,9256,0.47,126.5,848.3,15.4,299,9259,0.00,1.67,0.00,0.000,4,0.000,0.049,2848,3290,2363
$GC,9274,0.47,126.5,844.8,15.4,299,9278,0.00,1.60,0.00,0.000,6,0.000,0.025,2854,2237,2362
$GC,9550,0.47,126.5,799.6,16.6,306,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2229,2360
$GC,9794,0.47,126.5,760.7,15.9,312,9798,0.00,1.67,0.00,0.000,4,0.000,0.049,2855,3297,2359
$GC,9845,0.47,126.5,752.4,17.5,313,9849,0.00,1.60,0.00,0.000,6,0.000,0.027,2863,2235,2359
$GC,10139,0.47,126.5,704.5,15.9,320,10143,0.00,1.58,0.00,0.000,4,0.000,0.029,2870,1162,2358
$GC,10180,0.47,126.5,697.9,14.7,320,10188,0.00,1.70,0.00,0.000,6,0.000,0.044,2870,2242,2357
$GC,10435,0.47,126.5,659.2,15.4,327,10439,0.00,1.62,0.00,0.000,4,0.000,0.051,2870,3298,2357
$GC,10465,0.47,126.5,653.8,17.1,327,10468,0.00,1.58,0.00,0.000,6,0.000,0.027,2878,2242,2357
$GC,10732,0.47,126.5,610.8,16.2,334,10735,0.00,1.62,0.00,0.000,4,0.000,0.049,2878,3278,2356
$GC,10856,0.47,126.5,588.8,16.4,336,10860,0.08,1.50,0.00,0.000,6,0.182,0.027,2852,2272,2356
$GC,11116,0.47,126.5,553.3,13.8,343,11120,0.00,1.62,0.00,0.000,4,0.000,0.029,2859,1137,2355
$GC,11158,0.47,126.5,547.4,12.6,343,11166,0.00,1.77,0.00,0.000,6,0.000,0.043,2859,2269,2355
$GC,11412,0.47,126.5,512.9,13.9,350,11413,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2269,2355
$GC,11656,0.47,126.5,481.4,12.8,356,11659,0.00,1.58,0.00,0.000,4,0.000,0.051,2859,3277,2354
$GC,11674,0.47,126.5,478.6,12.3,356,11678,0.00,1.50,0.00,0.000,6,0.000,0.026,2867,2260,2354
$GC,11951,0.47,126.5,442.8,12.7,363,11955,0.00,1.62,0.00,0.000,4,0.000,0.048,2864,3302,2354
$GC,12054,0.47,126.5,428.9,13.2,365,12058,0.00,1.50,0.00,0.000,6,0.000,0.026,2869,2291,2354
$GC,12337,0.47,126.5,393.6,12.6,372,12338,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2284,2354
$GC,12581,0.47,126.5,365.7,11.1,378,12584,0.00,1.58,0.00,0.000,4,0.000,0.048,2864,3280,2354
$GC,12639,0.47,126.5,358.2,11.6,379,12643,0.00,1.48,0.00,0.000,6,0.000,0.026,2869,2283,2354
$GC,12922,0.47,126.5,328.5,10.7,386,12926,0.00,1.62,0.00,0.000,4,0.000,0.028,2877,1152,2354
$GC,12963,0.47,126.5,323.6,10.1,386,12971,0.00,1.77,0.00,0.000,6,0.000,0.041,2876,2294,2354
$GC,13217,0.47,126.5,296.9,10.4,393,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2294,2353
$GC,13461,0.50,169.2,276.3,8.4,399,13500,0.00,1.60,34.20,0.831,4,0.000,0.048,2875,3296,2199
$GC,13596,0.50,169.2,261.3,12.9,402,13599,0.00,1.52,0.00,0.000,6,0.000,0.025,2881,2280,2196
$GC,13890,0.50,169.2,227.7,10.9,409,13894,0.00,1.60,0.00,0.000,4,0.000,0.026,2889,1150,2194
$GC,13915,0.50,169.2,224.7,10.6,409,13919,0.12,1.77,0.00,0.000,6,0.146,0.040,2857,2309,2193
$GC,14186,0.50,169.2,197.1,10.3,416,14193,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2309,2193
$GC,14452,0.50,176.7,169.7,9.7,441,14467,0.00,1.67,6.90,0.627,4,0.000,0.025,2860,1171,2170
$GC,14540,0.53,213.1,161.8,8.6,448,14580,0.00,1.70,32.15,0.701,6,0.000,0.037,2860,2271,2019
$GC,14837,0.53,213.1,129.2,11.9,475,14840,0.00,1.62,0.00,0.000,4,0.000,0.025,2860,1152,2016
$GC,14888,0.54,225.1,123.9,9.6,479,14905,0.00,1.67,11.00,0.621,6,0.000,0.036,2860,2237,1971
$GC,15172,0.54,225.1,92.7,11.0,505,15176,0.00,1.60,0.00,0.000,4,0.000,0.041,2860,3284,1969
$GC,15302,0.54,232.7,79.0,9.7,516,15317,0.00,1.50,7.75,0.557,6,0.000,0.021,2860,2262,1942
$GC,15578,0.61,332.2,58.0,6.3,541,15663,0.10,1.65,79.90,0.600,4,0.060,0.022,2922,1162,1534
$GC,15706,0.61,332.2,45.8,10.5,550,15715,0.00,1.70,0.00,0.000,6,0.000,0.034,2922,2250,1530
$GC,15999,0.61,332.2,4.9,15.6,588,16007,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2250,1528
$STATE,16014,end climb,SURFACE_DEPTH_REACHED
$STATE,16014,begin surface coast
$FINISH,0.3,1.018092
$STATE,16034,end surface coast,CONTROL_FINISHED_OK
$STATE,16034,begin surface
$SM_CCo,16060,24.05,0.535,0,0,1299,390.02
$SM_GC,1.35,0.00,0.00,24.05,0.000,0.000,0.535,47,2545,1299,-8.28,1.39,390.02
$IRIDIUM_FIX,2248.70,-15800.62,150103,090920
$TT8_MAMPS,0.023777
$HUMID,2224
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.10
$XPDR_PINGS,5
$24V_AH,23.8,30.879
$10V_AH,10.7,34.863
$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,18.400,112.375,408.075,24.050,0.000,25.195,39.807,231.961,1.250,0.000,0.000,14.218,1283.173,10888.716,468.563,3035.686,910.383,33.378,1458.672,0.000,3027.734,0.000,0.543,0.000
$DEVICE_MAMPS,203.255,58.292,1260.948,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,403.689,1953.620,2012.807,1188.567,1252.992,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50956,593
$CAP_FILE_SIZE,124244,0
$CFSIZE,260165632,246374400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,211013,185120,2302.390,-15803.493,40,6.3,59,10.1