version: 66.04
glider: 512
mission: 4
dive: 190
start: 10 22 113 4 19 44
data:
$ID,512
$MISSION,4
$DIVE,190
$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,-110254.77
$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,20
$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,0.00039999999
$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
$GPS1,040436,2305.028,-15805.658,41,1.3,41,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-82.7
$GPS2,041825,2305.073,-15805.601,11,1.4,11,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.239,-0.135
$KALMAN_X,106953.2,549.2,-137.1,-116850.8,1008.7
$KALMAN_Y,66896.1,163.3,-139.6,-28046.0,-682.2
$MHEAD_RNG_PITCHd_Wd,109.4,2166,-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,12,begin dive
$GC,17,-0.45,-126.5,0.0,0.0,0,88,0.00,0.00,-68.20,0.000,2,0.000,0.000,11,2508,2916
$GC,93,-0.45,-126.5,2.4,-2.2,8,122,9.60,1.52,-10.35,0.000,4,0.202,0.038,2548,1432,3407
$GC,209,-0.45,-126.5,33.9,-20.8,23,219,0.00,1.67,0.00,0.000,6,0.000,0.039,2542,2512,3408
$GC,475,-0.45,-126.5,91.4,-16.0,48,479,0.00,1.62,0.00,0.000,4,0.000,0.046,2534,3568,3409
$GC,616,-0.45,-126.5,113.7,-15.2,60,620,0.00,1.50,0.00,0.000,6,0.000,0.018,2533,2512,3409
$GC,889,-0.45,-126.5,155.8,-15.4,85,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2503,3410
$GC,1155,-0.45,-126.5,197.1,-14.9,110,1158,0.00,1.45,0.00,0.000,4,0.000,0.019,2534,1452,3409
$GC,1235,-0.45,-126.5,208.4,-12.5,113,1239,0.00,1.62,0.00,0.000,6,0.000,0.038,2526,2540,3409
$GC,1495,-0.45,-126.5,243.1,-13.6,120,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2540,3409
$GC,1739,-0.45,-126.5,275.5,-12.9,126,1742,0.00,1.55,0.00,0.000,4,0.000,0.045,2518,3563,3409
$GC,1757,-0.45,-126.5,278.3,-13.0,126,1762,0.08,1.45,0.00,0.000,6,0.115,0.019,2545,2518,3409
$GC,2035,-0.45,-126.5,305.8,-9.8,133,2039,0.00,1.42,0.00,0.000,4,0.000,0.020,2548,1473,3409
$GC,2085,-0.45,-126.5,310.5,-8.3,134,2089,0.00,1.60,0.00,0.000,6,0.000,0.041,2541,2521,3408
$GC,2380,-0.45,-126.5,338.1,-9.1,141,2384,0.00,1.58,0.00,0.000,4,0.000,0.048,2534,3554,3407
$GC,2421,-0.45,-126.5,342.2,-9.7,141,2431,0.00,1.45,0.00,0.000,6,0.000,0.020,2534,2518,3407
$GC,2679,-0.45,-126.5,365.6,-9.4,148,2682,0.00,1.45,0.00,0.000,4,0.000,0.021,2534,1471,3404
$GC,2709,-0.45,-126.5,369.0,-9.9,148,2713,0.00,1.60,0.00,0.000,6,0.000,0.040,2526,2520,3404
$GC,2975,-0.45,-126.5,394.7,-9.8,155,2979,0.00,1.60,0.00,0.000,4,0.000,0.050,2521,3581,3402
$GC,3027,-0.45,-126.5,399.8,-9.7,156,3031,0.08,1.48,0.00,0.000,6,0.106,0.021,2549,2538,3402
$GC,3321,-0.45,-126.5,426.1,-8.8,163,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2529,3400
$GC,3567,-0.45,-126.5,447.1,-8.7,169,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2530,3398
$GC,3810,-0.45,-126.5,467.3,-8.3,175,3814,0.00,1.60,-0.08,0.000,4,0.000,0.066,2543,3562,3421
$GC,3873,-0.45,-126.5,472.6,-8.5,176,3877,0.00,1.48,0.00,0.000,6,0.000,0.022,2543,2529,3420
$GC,4151,-0.45,-126.5,492.7,-7.3,183,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2520,3418
$GC,4394,-0.45,-126.5,509.8,-7.0,189,4397,0.00,1.50,0.00,0.000,4,0.000,0.022,2543,1454,3416
$GC,4445,-0.45,-126.5,513.3,-7.2,190,4449,0.00,1.65,0.00,0.000,6,0.000,0.044,2537,2539,3416
$GC,4740,-0.45,-126.5,537.6,-8.6,197,4743,0.00,1.58,0.00,0.000,4,0.000,0.051,2530,3558,3414
$GC,4814,-0.45,-126.5,545.0,-9.7,198,4818,0.00,1.48,0.00,0.000,6,0.000,0.024,2530,2535,3413
$GC,5082,-0.45,-126.5,570.2,-9.5,205,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2527,3411
$GC,5325,-0.45,-126.5,591.6,-8.6,211,5329,0.00,1.52,0.00,0.000,4,0.000,0.024,2530,1453,3410
$GC,5355,-0.45,-126.5,594.5,-8.5,211,5359,0.00,1.67,0.00,0.000,6,0.000,0.046,2524,2530,3410
$GC,5621,-0.45,-126.5,616.1,-8.3,218,5625,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3555,3408
$GC,5679,-0.45,-126.5,621.3,-8.1,219,5683,0.00,1.45,0.00,0.000,6,0.000,0.026,2523,2550,3408
$GC,5964,-0.45,-126.5,644.1,-8.2,226,5967,0.00,1.60,0.00,0.000,4,0.000,0.052,2515,3575,3406
$GC,5988,-0.45,-126.5,646.8,-9.1,226,5993,0.08,1.48,0.00,0.000,6,0.104,0.025,2546,2547,3405
$GC,6259,-0.45,-126.5,664.7,-6.5,233,6263,0.00,1.55,0.00,0.000,4,0.000,0.025,2547,1457,3404
$GC,6289,-0.45,-126.5,666.9,-6.7,233,6292,0.00,1.67,0.00,0.000,6,0.000,0.046,2541,2555,3404
$GC,6555,-0.45,-126.5,686.0,-7.4,240,6559,0.00,1.58,0.00,0.000,4,0.000,0.055,2535,3558,3402
$GC,6587,-0.45,-126.5,688.7,-7.7,240,6590,0.00,1.48,0.00,0.000,6,0.000,0.026,2535,2540,3401
$GC,6854,-0.45,-126.5,708.6,-7.6,247,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2532,3400
$GC,7098,-0.45,-126.5,724.9,-6.6,253,7101,0.00,1.62,0.00,0.000,4,0.000,0.055,2528,3569,3400
$GC,7155,-0.45,-126.5,728.9,-6.2,254,7159,0.00,1.50,0.00,0.000,6,0.000,0.026,2527,2541,3399
$GC,7438,-0.45,-126.5,747.6,-6.8,261,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2532,3398
$GC,7682,-0.45,-126.5,764.7,-7.1,267,7686,0.00,1.62,0.00,0.000,4,0.000,0.056,2524,3567,3397
$GC,7707,-0.45,-126.5,766.8,-7.3,267,7711,0.00,1.48,0.00,0.000,6,0.000,0.026,2524,2548,3397
$GC,7979,-0.45,-126.5,787.0,-7.6,274,7983,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1457,3396
$GC,8031,-0.45,-126.5,791.3,-7.3,275,8035,0.00,1.67,0.00,0.000,6,0.000,0.048,2524,2543,3395
$GC,8320,-0.45,-126.5,812.9,-7.6,282,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2542,3394
$GC,8563,-0.45,-126.5,831.1,-7.5,288,8567,0.00,1.60,0.00,0.000,4,0.000,0.058,2524,3573,3394
$GC,8588,-0.45,-126.5,833.4,-8.2,288,8591,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2528,3394
$GC,8860,-0.45,-126.5,852.2,-6.9,295,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2519,3393
$GC,9104,-0.45,-126.5,868.1,-6.5,301,9108,0.00,1.65,0.00,0.000,4,0.000,0.055,2523,3570,3392
$GC,9134,-0.45,-126.5,870.3,-6.7,301,9138,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2542,3392
$GC,9401,-0.45,-126.5,885.9,-5.9,308,9404,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1465,3391
$GC,9437,-0.45,-126.5,888.4,-6.9,308,9440,0.00,1.65,0.00,0.000,6,0.000,0.047,2523,2538,3391
$STATE,9651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9651,begin apogee
$GC,9663,-0.17,0.0,901.1,5.8,314,9775,0.35,0.00,109.72,1.262,6,0.099,0.000,2642,2209,2890
$STATE,9776,end apogee,CONTROL_FINISHED_OK
$STATE,9776,begin climb
$GC,9781,0.45,126.5,902.8,0.0,317,9926,0.52,1.65,124.38,1.175,4,0.031,0.026,2880,1183,2373
$GC,9950,0.45,126.5,888.2,16.7,320,9957,0.10,1.73,0.00,0.000,6,0.152,0.039,2848,2224,2368
$GC,10205,0.45,126.5,845.5,16.8,327,10208,0.00,1.67,0.00,0.000,4,0.000,0.048,2849,3291,2363
$GC,10246,0.45,126.5,838.0,17.1,327,10255,0.00,1.58,0.00,0.000,6,0.000,0.024,2855,2250,2362
$GC,10503,0.45,126.5,795.5,16.7,334,10506,0.00,1.60,0.00,0.000,4,0.000,0.028,2862,1167,2360
$GC,10527,0.45,126.5,790.4,17.1,334,10530,0.00,1.67,0.00,0.000,6,0.000,0.041,2862,2247,2360
$GC,10798,0.45,126.5,745.2,16.8,341,10802,0.00,1.62,0.00,0.000,4,0.000,0.049,2862,3277,2359
$GC,10849,0.45,126.5,735.5,18.5,342,10853,0.00,1.52,0.00,0.000,6,0.000,0.025,2869,2258,2358
$GC,11139,0.45,126.5,687.4,16.9,349,11143,0.00,1.62,0.00,0.000,4,0.000,0.047,2864,3276,2358
$GC,11189,0.45,126.5,678.5,17.4,350,11192,0.00,1.45,0.00,0.000,6,0.000,0.025,2869,2303,2357
$GC,11483,0.45,126.5,630.7,15.9,357,11486,0.00,1.65,0.00,0.000,4,0.000,0.028,2877,1154,2356
$GC,11524,0.45,126.5,623.8,14.7,357,11533,0.10,1.80,0.00,0.000,6,0.145,0.042,2846,2302,2356
$GC,11779,0.45,126.5,590.4,12.9,364,11783,0.00,1.52,0.00,0.000,4,0.000,0.048,2845,3278,2355
$GC,11865,0.45,126.5,578.0,13.0,365,11873,0.00,1.42,0.00,0.000,6,0.000,0.027,2847,2323,2355
$GC,12119,0.45,126.5,546.2,12.6,372,12123,0.00,1.67,0.00,0.000,4,0.000,0.028,2856,1152,2354
$GC,12155,0.45,126.5,541.4,11.8,372,12158,0.00,1.77,0.00,0.000,6,0.000,0.041,2856,2309,2354
$GC,12416,0.45,126.5,507.1,13.7,379,12419,0.00,1.67,0.00,0.000,4,0.000,0.028,2857,1166,2354
$GC,12484,0.45,126.5,497.6,12.2,380,12488,0.00,1.70,0.00,0.000,6,0.000,0.042,2856,2274,2354
$GC,12756,0.45,126.5,462.6,12.9,387,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2274,2354
$GC,12999,0.45,126.5,432.6,12.3,393,13003,0.00,1.58,0.00,0.000,4,0.000,0.048,2857,3289,2354
$GC,13029,0.45,126.5,428.4,12.6,393,13032,0.00,1.55,0.00,0.000,6,0.000,0.025,2865,2237,2353
$GC,13296,0.45,126.5,397.8,11.6,400,13297,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2232,2354
$GC,13541,0.45,126.5,369.3,11.2,406,13544,0.00,1.62,0.00,0.000,4,0.000,0.045,2863,3286,2353
$GC,13688,0.45,126.5,348.7,13.6,409,13691,0.00,1.55,0.00,0.000,6,0.000,0.025,2869,2241,2353
$GC,13970,0.45,126.5,315.6,11.8,416,13974,0.00,1.58,0.00,0.000,4,0.000,0.026,2877,1148,2353
$GC,14020,0.45,126.5,310.4,10.6,417,14024,0.12,1.67,0.00,0.000,6,0.155,0.039,2844,2249,2353
$GC,14314,0.47,176.7,284.2,8.0,424,14357,0.00,0.00,40.60,0.838,6,0.000,0.000,2844,2248,2168
$GC,14597,0.47,181.0,257.2,9.8,431,14606,0.00,1.60,4.15,0.565,4,0.000,0.044,2844,3269,2152
$GC,14794,0.47,181.0,235.8,10.7,435,14798,0.00,1.45,0.00,0.000,6,0.000,0.024,2846,2295,2151
$GC,15072,0.47,181.0,208.1,10.4,442,15075,0.00,1.62,0.00,0.000,4,0.000,0.027,2847,1157,2150
$GC,15107,0.47,181.0,203.8,11.4,442,15111,0.00,1.77,0.00,0.000,6,0.000,0.038,2847,2300,2149
$GC,15377,0.48,213.0,178.7,8.7,464,15416,0.00,1.75,28.55,0.718,4,0.000,0.025,2847,1148,2019
$GC,15456,0.49,235.9,171.9,9.1,470,15484,0.00,1.73,20.02,0.693,6,0.000,0.036,2847,2269,1928
$GC,15744,0.49,239.3,143.8,9.9,496,15759,0.00,1.55,3.95,0.464,4,0.000,0.041,2847,3269,1914
$GC,15812,0.49,239.3,135.6,11.0,501,15820,0.00,1.50,0.00,0.000,6,0.000,0.021,2847,2265,1914
$GC,16083,0.50,260.2,108.9,9.1,526,16110,0.00,1.62,19.02,0.631,4,0.000,0.024,2847,1153,1827
$GC,16153,0.53,333.9,102.6,7.0,531,16218,0.00,1.75,60.00,0.635,6,0.000,0.035,2847,2283,1527
$GC,16485,0.57,432.0,80.7,6.0,561,16570,0.10,0.00,78.62,0.608,6,0.066,0.000,2912,2284,1126
$GC,16826,0.57,432.0,32.7,15.8,592,16831,0.12,1.65,0.00,0.000,4,0.113,0.022,2882,1155,1123
$GC,16897,0.61,529.4,25.4,6.0,601,16977,0.00,1.67,75.85,0.561,6,0.000,0.031,2882,2250,731
$STATE,17136,end climb,SURFACE_DEPTH_REACHED
$STATE,17136,begin surface coast
$FINISH,0.5,0.997943
$STATE,17169,end surface coast,CONTROL_FINISHED_OK
$STATE,17169,begin surface
$SM_CCo,17254,0.00,0.000,0,0,725,531.07
$SM_GC,1.20,7.28,0.00,0.00,0.024,0.000,0.000,48,2532,725,-8.21,0.85,531.07
$IRIDIUM_FIX,2258.07,-15806.26,160103,040410
$TT8_MAMPS,0.023777
$HUMID,2189
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,26.00
$XPDR_PINGS,6
$24V_AH,23.8,31.319
$10V_AH,10.6,35.470
$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,18.525,127.775,564.875,0.000,0.000,83.002,160.928,279.280,1.500,0.000,0.000,12.065,1377.743,11719.283,528.189,3287.643,1186.616,33.373,1654.626,0.000,3275.508,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,65.962,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,434.330,2106.841,2173.262,1128.133,1343.171,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53829,640
$CAP_FILE_SIZE,140317,0
$CFSIZE,260165632,246165504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,221013,090836,2304.928,-15802.704,35,1.0,35,10.1