version: 66.04
glider: 512
mission: 4
dive: 188
start: 10 21 113 19 4 28
data:
$ID,512
$MISSION,4
$DIVE,188
$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,-110226.1
$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,59
$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
$GPS1,185120,2302.390,-15803.493,40,6.3,59,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-82.4
$GPS2,190315,2302.515,-15803.390,15,7.9,34,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.134,0.240
$KALMAN_X,104151.5,-135.7,71.2,-109800.0,436.1
$KALMAN_Y,67766.6,238.8,284.6,-34156.5,-629.5
$MHEAD_RNG_PITCHd_Wd,320.6,4072,-16.3,-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,17,begin dive
$GC,22,-0.49,-126.5,0.0,0.0,0,93,0.00,0.00,-68.68,0.000,2,0.000,0.000,11,2543,2933
$GC,99,-0.49,-126.5,2.6,-2.4,8,128,9.48,1.50,-10.05,0.000,4,0.199,0.054,2531,3536,3408
$GC,212,-0.49,-126.5,36.0,-25.0,22,216,0.00,1.52,0.00,0.000,6,0.000,0.019,2531,2491,3409
$GC,485,-0.49,-126.5,99.6,-20.8,47,489,0.00,1.45,0.00,0.000,4,0.000,0.020,2531,1443,3409
$GC,538,-0.49,-126.5,109.8,-16.8,51,546,0.00,1.58,0.00,0.000,6,0.000,0.038,2523,2471,3410
$GC,805,-0.49,-126.5,157.0,-18.0,76,808,0.00,1.65,0.00,0.000,4,0.000,0.044,2517,3574,3410
$GC,878,-0.49,-126.5,169.8,-16.4,82,882,0.00,1.58,0.00,0.000,6,0.000,0.019,2517,2479,3410
$GC,1146,-0.49,-126.5,215.7,-17.3,101,1150,0.00,1.42,0.00,0.000,4,0.000,0.020,2522,1439,3410
$GC,1215,-0.49,-126.5,227.3,-15.7,102,1218,0.00,1.60,0.00,0.000,6,0.000,0.038,2515,2512,3410
$GC,1487,-0.49,-126.5,269.9,-14.9,109,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2512,3410
$GC,1732,-0.49,-126.5,302.4,-13.3,115,1735,0.00,1.58,0.00,0.000,4,0.000,0.045,2507,3553,3410
$GC,1775,-0.49,-126.5,308.3,-12.4,115,1783,0.08,1.50,0.00,0.000,6,0.109,0.019,2538,2483,3410
$GC,2029,-0.49,-126.5,334.2,-10.3,122,2033,0.00,1.65,0.00,0.000,4,0.000,0.045,2532,3565,3410
$GC,2086,-0.49,-126.5,341.1,-10.7,123,2090,0.00,1.48,0.00,0.000,6,0.000,0.019,2532,2521,3409
$GC,2370,-0.49,-126.5,372.0,-11.0,130,2374,0.00,1.48,0.00,0.000,4,0.000,0.020,2532,1448,3408
$GC,2406,-0.49,-126.5,376.3,-10.3,130,2409,0.00,1.62,0.00,0.000,6,0.000,0.039,2525,2516,3408
$GC,2666,-0.49,-126.5,403.6,-10.3,137,2669,0.00,1.60,0.00,0.000,4,0.000,0.049,2523,3558,3406
$GC,2729,-0.49,-126.5,410.0,-9.5,138,2733,0.00,1.48,0.00,0.000,6,0.000,0.021,2523,2518,3406
$GC,3008,-0.49,-126.5,435.9,-9.4,145,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2509,3403
$GC,3251,-0.49,-126.5,459.7,-9.9,151,3255,0.00,1.60,0.00,0.000,4,0.000,0.049,2523,3556,3401
$GC,3301,-0.49,-126.5,464.8,-9.5,152,3305,0.00,1.48,0.00,0.000,6,0.000,0.022,2523,2525,3401
$GC,3595,-0.49,-126.5,495.0,-10.5,159,3598,0.00,1.50,0.00,0.000,4,0.000,0.023,2523,1449,3398
$GC,3646,-0.49,-126.5,500.3,-10.3,160,3650,0.00,1.65,0.00,0.000,6,0.000,0.043,2523,2538,3399
$GC,3940,-0.49,-126.5,529.4,-9.8,167,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3396
$GC,4184,-0.49,-126.5,552.5,-9.4,173,4187,0.00,1.55,0.00,0.000,4,0.000,0.023,2523,1452,3393
$GC,4220,-0.49,-126.5,556.2,-9.2,173,4224,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2539,3393
$GC,4481,-0.49,-126.5,580.1,-9.3,180,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2539,3391
$GC,4724,-0.49,-126.5,601.9,-8.9,186,4728,0.00,1.58,0.00,0.000,4,0.000,0.051,2517,3556,3389
$GC,4795,-0.49,-126.5,608.6,-9.1,187,4798,0.00,1.50,0.00,0.000,6,0.000,0.025,2516,2518,3388
$GC,5066,-0.49,-126.5,633.3,-9.2,194,5070,0.00,1.65,0.00,0.000,4,0.000,0.051,2509,3557,3386
$GC,5129,-0.49,-126.5,639.5,-9.7,195,5133,0.08,1.48,0.00,0.000,6,0.102,0.025,2539,2530,3386
$GC,5407,-0.49,-126.5,661.3,-7.9,202,5411,0.00,1.50,0.00,0.000,4,0.000,0.025,2539,1466,3385
$GC,5457,-0.49,-126.5,665.4,-7.6,203,5461,0.00,1.65,0.00,0.000,6,0.000,0.045,2537,2545,3384
$GC,5751,-0.49,-126.5,687.0,-7.2,210,5755,0.00,1.58,0.00,0.000,4,0.000,0.054,2530,3555,3381
$GC,5787,-0.49,-126.5,689.8,-7.2,210,5791,0.00,1.45,0.00,0.000,6,0.000,0.026,2529,2550,3381
$GC,6049,-0.49,-126.5,706.3,-6.3,217,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2541,3380
$GC,6293,-0.49,-126.5,720.7,-6.0,223,6297,0.00,1.55,0.00,0.000,4,0.000,0.026,2530,1467,3379
$GC,6344,-0.49,-126.5,724.0,-6.1,224,6347,0.00,1.67,0.00,0.000,6,0.000,0.045,2524,2560,3378
$GC,6638,-0.49,-126.5,744.7,-7.2,231,6642,0.00,1.55,0.00,0.000,4,0.000,0.057,2523,3545,3377
$GC,6703,-0.49,-126.5,749.9,-7.6,232,6706,0.00,1.45,0.00,0.000,6,0.000,0.027,2524,2547,3377
$GC,6980,-0.49,-126.5,770.7,-7.6,239,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2539,3375
$GC,7224,-0.49,-126.5,788.2,-7.0,245,7227,0.00,1.55,0.00,0.000,4,0.000,0.028,2524,1455,3374
$GC,7276,-0.49,-126.5,792.4,-7.2,246,7279,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2559,3374
$GC,7565,-0.49,-126.5,813.7,-7.6,253,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2560,3372
$GC,7810,-0.49,-126.5,832.7,-7.9,259,7814,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3554,3371
$GC,7861,-0.49,-126.5,836.7,-7.4,260,7864,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2562,3371
$GC,8155,-0.49,-126.5,859.1,-7.5,267,8159,0.00,1.58,0.00,0.000,4,0.000,0.026,2523,1452,3370
$GC,8251,-0.49,-126.5,866.2,-7.3,269,8255,0.00,1.73,0.00,0.000,6,0.000,0.051,2524,2562,3370
$GC,8546,-0.49,-126.5,886.1,-6.6,276,8549,0.00,1.58,0.00,0.000,4,0.000,0.059,2524,3553,3369
$GC,8587,-0.49,-126.5,889.0,-6.3,276,8596,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2549,3368
$STATE,8796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8796,begin apogee
$GC,8807,-0.17,0.0,902.0,6.1,282,8919,0.35,0.00,103.95,1.269,6,0.098,0.000,2642,2227,2890
$STATE,8920,end apogee,CONTROL_FINISHED_OK
$STATE,8920,begin climb
$GC,8925,0.49,126.5,903.9,0.0,285,9080,0.60,0.00,127.85,1.161,6,0.029,0.000,2887,2227,2373
$GC,9326,0.49,126.5,844.3,19.7,295,9328,0.12,0.00,0.00,0.000,6,0.184,0.000,2859,2227,2364
$GC,9571,0.49,126.5,801.4,17.2,301,9575,0.00,1.67,0.00,0.000,4,0.000,0.048,2859,3290,2361
$GC,9589,0.49,126.5,797.3,17.1,301,9593,0.00,1.58,0.00,0.000,6,0.000,0.026,2865,2245,2361
$GC,9866,0.49,126.5,749.2,17.6,308,9870,0.00,1.60,0.00,0.000,4,0.000,0.029,2873,1154,2360
$GC,9896,0.49,126.5,743.5,17.1,308,9900,0.00,1.67,0.00,0.000,6,0.000,0.041,2872,2241,2359
$GC,10162,0.49,126.5,698.3,17.1,315,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2240,2359
$GC,10405,0.49,126.5,659.5,15.7,321,10409,0.00,1.62,0.00,0.000,4,0.000,0.048,2873,3297,2358
$GC,10459,0.49,126.5,650.3,16.5,322,10462,0.00,1.60,0.00,0.000,6,0.000,0.025,2880,2207,2357
$GC,10747,0.49,126.5,605.3,15.7,329,10751,0.00,1.73,0.00,0.000,4,0.000,0.048,2878,3283,2357
$GC,10776,0.49,126.5,599.9,17.9,329,10780,0.00,1.55,0.00,0.000,6,0.000,0.027,2884,2250,2356
$GC,11043,0.49,126.5,558.9,15.6,336,11047,0.12,1.62,0.00,0.000,4,0.187,0.048,2855,3288,2356
$GC,11093,0.49,126.5,551.2,15.5,337,11097,0.00,1.55,0.00,0.000,6,0.000,0.027,2860,2270,2356
$GC,11388,0.49,126.5,510.8,13.6,344,11391,0.00,1.62,0.00,0.000,4,0.000,0.029,2868,1132,2356
$GC,11462,0.49,126.5,500.1,13.3,345,11465,0.00,1.70,0.00,0.000,6,0.000,0.041,2867,2244,2355
$GC,11729,0.49,126.5,463.7,13.7,352,11730,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2244,2355
$GC,11974,0.49,126.5,432.3,12.3,358,11977,0.00,1.62,0.00,0.000,4,0.000,0.050,2863,3303,2354
$GC,12042,0.49,126.5,423.4,11.1,359,12046,0.00,1.62,0.00,0.000,6,0.000,0.027,2869,2212,2354
$GC,12314,0.49,126.5,392.2,11.8,366,12317,0.00,1.52,0.00,0.000,4,0.000,0.029,2877,1154,2354
$GC,12400,0.49,126.5,382.2,10.5,367,12408,0.00,1.65,0.00,0.000,6,0.000,0.041,2877,2213,2353
$GC,12655,0.49,126.5,352.0,12.6,374,12659,0.00,1.65,0.00,0.000,4,0.000,0.048,2876,3295,2354
$GC,12870,0.49,126.5,323.3,12.5,378,12874,0.00,1.55,0.00,0.000,6,0.000,0.025,2882,2250,2354
$GC,13133,0.49,126.5,294.7,11.6,385,13134,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2244,2354
$GC,13375,0.50,152.5,272.0,8.9,391,13400,0.00,1.55,20.27,0.819,4,0.000,0.027,2890,1156,2267
$GC,13424,0.54,206.3,268.1,7.8,392,13476,0.00,1.70,46.42,0.812,6,0.000,0.039,2889,2246,2048
$GC,13762,0.54,206.3,221.2,14.4,400,13765,0.00,1.60,0.00,0.000,4,0.000,0.026,2896,1159,2040
$GC,13819,0.54,206.3,212.0,14.5,401,13823,0.00,1.67,0.00,0.000,6,0.000,0.038,2891,2226,2039
$GC,14088,0.54,206.3,169.6,16.2,418,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2227,2039
$GC,14355,0.54,206.3,128.9,13.7,443,14363,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2226,2039
$GC,14621,0.54,206.3,94.2,13.1,468,14625,0.00,1.62,0.00,0.000,4,0.000,0.043,2891,3288,2039
$GC,14694,0.54,206.3,85.7,10.6,474,14698,0.00,1.60,0.00,0.000,6,0.000,0.022,2897,2203,2039
$GC,14972,0.60,282.9,61.0,6.9,499,15041,0.00,0.00,61.35,0.613,6,0.000,0.000,2898,2197,1734
$GC,15304,0.60,282.9,28.2,10.6,531,15314,0.00,1.70,0.00,0.000,4,0.000,0.041,2898,3282,1730
$GC,15339,0.60,282.9,23.7,11.8,535,15348,0.00,1.58,0.00,0.000,6,0.000,0.022,2902,2216,1730
$STATE,15515,end climb,SURFACE_DEPTH_REACHED
$STATE,15516,begin surface coast
$FINISH,0.3,1.011557
$STATE,15553,end surface coast,CONTROL_FINISHED_OK
$STATE,15553,begin surface
$SM_CCo,15578,43.65,0.545,0,0,1299,390.02
$SM_GC,1.54,0.00,0.00,43.65,0.000,0.000,0.545,38,2527,1299,-8.30,0.76,390.02
$IRIDIUM_FIX,2255.72,-15804.08,150103,191918
$TT8_MAMPS,0.023777
$HUMID,2209
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.60
$XPDR_PINGS,2
$24V_AH,23.8,31.014
$10V_AH,10.6,35.057
$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,18.075,108.350,359.850,43.650,0.000,63.236,95.142,291.203,0.500,0.000,0.000,35.028,1259.158,10587.967,481.523,2970.049,1053.303,33.370,1412.689,0.000,2957.330,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,59.059,1269.385,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,387.409,1871.268,1937.901,949.537,1256.978,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47731,568
$CAP_FILE_SIZE,122780,0
$CFSIZE,260165632,246317056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,211013,232626,2304.571,-15803.668,28,4.6,47,10.1