version: 66.04
glider: 512
mission: 4
dive: 222
start: 10 28 113 12 38 0
data:
$ID,512
$MISSION,4
$DIVE,222
$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,25
$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,619.61768
$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,-110797.7
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2693
$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,65
$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,2925
$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
$GPS1,121106,2239.206,-15737.484,29,1.1,29,10.1
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-82.2
$GPS2,123701,2239.131,-15737.879,12,1.7,12,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,0.113
$KALMAN_X,62318.5,-42.3,54.4,-24465.1,-3768.2
$KALMAN_Y,100700.5,-429.9,306.0,-109742.1,-676.4
$MHEAD_RNG_PITCHd_Wd,52.3,48886,-18.9,-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,19,-0.51,-126.5,0.0,0.0,0,81,0.00,0.00,-60.03,0.000,2,0.000,0.000,24,2523,2729
$GC,87,-0.51,-126.5,2.0,-1.4,7,125,9.55,1.55,-18.23,0.000,4,0.204,0.038,2521,1439,3439
$GC,291,-0.51,-126.5,49.4,-22.6,31,295,0.00,1.60,0.00,0.000,6,0.000,0.038,2515,2504,3440
$GC,562,-0.51,-126.5,117.4,-19.2,56,566,0.00,1.60,0.00,0.000,4,0.000,0.045,2507,3556,3440
$GC,590,-0.51,-126.5,122.9,-20.1,58,594,0.00,1.52,0.00,0.000,6,0.000,0.018,2506,2471,3440
$GC,861,-0.51,-126.5,173.5,-17.0,83,865,0.00,1.65,0.00,0.000,4,0.000,0.040,2500,3564,3441
$GC,889,-0.51,-126.5,178.3,-17.5,85,893,0.00,1.48,0.00,0.000,6,0.000,0.018,2506,2507,3441
$GC,1185,-0.51,-126.5,228.7,-17.0,101,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2498,3441
$GC,1429,-0.51,-126.5,265.8,-15.2,107,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2498,3440
$GC,1672,-0.51,-126.5,300.8,-14.3,113,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2498,3439
$GC,1916,-0.51,-126.5,332.9,-12.8,119,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2498,3438
$GC,2160,-0.51,-126.5,362.1,-12.2,125,2163,0.00,1.60,0.00,0.000,4,0.000,0.043,2500,3561,3436
$GC,2195,-0.51,-126.5,366.9,-12.6,125,2199,0.00,1.45,0.00,0.000,6,0.000,0.021,2505,2530,3436
$GC,2456,-0.51,-126.5,398.4,-12.3,132,2459,0.00,1.60,0.00,0.000,4,0.000,0.046,2499,3576,3433
$GC,2515,-0.51,-126.5,406.0,-11.5,133,2519,0.00,1.48,-0.05,0.000,6,0.000,0.021,2504,2533,3451
$GC,2797,-0.51,-126.5,439.0,-11.7,140,2801,0.00,1.62,0.00,0.000,4,0.000,0.048,2498,3584,3449
$GC,2821,-0.51,-126.5,442.1,-11.3,140,2825,0.00,1.48,0.00,0.000,6,0.000,0.021,2504,2546,3449
$GC,3093,-0.51,-126.5,469.7,-10.0,147,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2538,3446
$GC,3336,-0.51,-126.5,494.5,-10.2,153,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2538,3444
$GC,3580,-0.51,-126.5,520.6,-10.8,159,3584,0.00,1.52,0.00,0.000,4,0.000,0.025,2512,1462,3442
$GC,3604,-0.51,-126.5,523.7,-11.8,159,3608,0.00,1.67,0.00,0.000,6,0.000,0.043,2510,2547,3442
$GC,3877,-0.51,-126.5,552.8,-11.0,166,3881,0.00,1.58,0.00,0.000,4,0.000,0.052,2503,3562,3439
$GC,3913,-0.51,-126.5,557.6,-12.5,166,3916,0.00,1.45,0.00,0.000,6,0.000,0.025,2508,2557,3439
$GC,4173,-0.51,-126.5,587.3,-11.5,173,4176,0.00,1.55,0.00,0.000,4,0.000,0.025,2508,1456,3437
$GC,4223,-0.51,-126.5,592.9,-11.1,174,4226,0.00,1.70,0.00,0.000,6,0.000,0.044,2503,2549,3437
$GC,4518,-0.51,-126.5,626.9,-11.7,181,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2549,3434
$GC,4763,-0.51,-126.5,654.5,-11.2,187,4766,0.00,1.58,0.00,0.000,4,0.000,0.053,2494,3560,3432
$GC,4825,-0.51,-126.5,662.3,-10.6,188,4829,0.00,1.42,0.00,0.000,6,0.000,0.026,2500,2582,3431
$GC,5103,-0.51,-126.5,691.3,-10.4,195,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2575,3430
$GC,5346,-0.51,-126.5,716.6,-10.4,201,5350,0.00,1.58,0.00,0.000,4,0.000,0.026,2507,1477,3428
$GC,5399,-0.51,-126.5,722.1,-8.6,202,5403,0.00,1.70,0.00,0.000,6,0.000,0.045,2502,2589,3428
$GC,5688,-0.51,-126.5,750.5,-10.1,209,5691,0.00,1.62,0.00,0.000,4,0.000,0.027,2507,1472,3425
$GC,5757,-0.51,-126.5,757.5,-9.6,210,5761,0.00,1.67,0.00,0.000,6,0.000,0.047,2502,2564,3425
$GC,6030,-0.51,-126.5,783.2,-9.8,217,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2564,3422
$GC,6275,-0.51,-126.5,807.2,-9.9,223,6278,0.00,1.55,0.00,0.000,4,0.000,0.056,2494,3553,3421
$GC,6310,-0.51,-126.5,811.6,-11.2,223,6314,0.00,1.45,0.00,0.000,6,0.000,0.028,2499,2555,3421
$GC,6570,-0.51,-126.5,837.3,-10.1,230,6574,0.00,1.55,0.00,0.000,4,0.000,0.028,2507,1470,3420
$GC,6612,-0.51,-126.5,841.7,-9.5,230,6620,0.00,1.67,0.00,0.000,6,0.000,0.048,2502,2537,3420
$GC,6866,-0.51,-126.5,866.5,-10.0,237,6870,0.00,1.60,0.00,0.000,4,0.000,0.056,2494,3572,3418
$GC,6890,-0.51,-126.5,869.3,-10.2,237,6894,0.00,1.50,0.00,0.000,6,0.000,0.027,2499,2545,3418
$GC,7163,-0.51,-126.5,895.7,-9.8,244,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2537,3417
$STATE,7238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7238,begin apogee
$GC,7249,-0.17,0.0,903.5,9.8,246,7361,0.40,0.00,107.18,1.252,6,0.107,0.000,2635,2216,2925
$STATE,7362,end apogee,CONTROL_FINISHED_OK
$STATE,7362,begin climb
$GC,7367,0.51,126.5,908.3,0.0,249,7500,0.57,1.67,120.88,1.197,4,0.032,0.029,2886,1197,2408
$GC,7588,0.51,126.5,887.5,17.6,253,7596,0.00,1.67,0.00,0.000,6,0.000,0.042,2886,2224,2401
$GC,7842,0.51,126.5,841.9,18.2,260,7846,0.00,1.67,0.00,0.000,4,0.000,0.050,2886,3277,2398
$GC,7892,0.51,126.5,832.5,19.8,261,7897,0.08,1.58,0.00,0.000,6,0.171,0.026,2863,2239,2396
$GC,8187,0.51,126.5,783.5,16.2,268,8191,0.00,1.60,0.00,0.000,4,0.000,0.028,2870,1169,2395
$GC,8229,0.51,126.5,776.1,16.5,268,8237,0.00,1.67,0.00,0.000,6,0.000,0.042,2870,2231,2394
$GC,8483,0.51,126.5,733.1,17.3,275,8487,0.00,1.62,0.00,0.000,4,0.000,0.049,2870,3291,2394
$GC,8518,0.51,126.5,726.0,19.7,275,8522,0.00,1.60,0.00,0.000,6,0.000,0.027,2878,2201,2394
$GC,8779,0.51,126.5,681.3,17.2,282,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2194,2393
$GC,9022,0.51,126.5,641.4,16.3,288,9026,0.00,1.73,0.00,0.000,4,0.000,0.051,2878,3294,2393
$GC,9131,0.51,126.5,623.2,16.0,290,9134,0.00,1.60,0.00,0.000,6,0.000,0.027,2884,2202,2391
$GC,9408,0.51,126.5,582.3,14.6,297,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2195,2391
$GC,9651,0.51,126.5,548.6,13.4,303,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2195,2391
$GC,9895,0.51,126.5,515.8,13.3,309,9899,0.00,1.70,0.00,0.000,4,0.000,0.051,2885,3281,2390
$GC,9965,0.51,126.5,505.7,13.5,310,9969,0.12,1.58,0.00,0.000,6,0.187,0.028,2862,2225,2390
$GC,10236,0.51,126.5,473.3,12.0,317,10240,0.00,1.55,0.00,0.000,4,0.000,0.031,2868,1166,2389
$GC,10299,0.51,126.5,465.6,12.8,318,10303,0.00,1.62,0.00,0.000,6,0.000,0.043,2866,2221,2389
$GC,10577,0.51,126.5,431.5,12.7,325,10581,0.00,1.62,0.00,0.000,4,0.000,0.050,2863,3280,2388
$GC,10640,0.51,126.5,422.4,13.4,326,10644,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2205,2388
$GC,10917,0.51,126.5,388.1,12.4,333,10921,0.00,1.70,0.00,0.000,4,0.000,0.050,2869,3288,2388
$GC,10958,0.51,126.5,382.1,14.6,333,10966,0.00,1.60,0.00,0.000,6,0.000,0.025,2876,2204,2388
$GC,11214,0.51,126.5,350.8,12.5,340,11218,0.00,1.70,0.00,0.000,4,0.000,0.050,2877,3289,2388
$GC,11445,0.51,126.5,317.6,14.1,345,11449,0.00,1.50,0.00,0.000,6,0.000,0.024,2884,2268,2388
$GC,11740,0.51,126.5,283.0,10.9,352,11744,0.00,1.60,0.00,0.000,4,0.000,0.028,2891,1162,2388
$GC,11888,0.52,146.7,268.3,8.9,355,11907,0.00,1.67,15.15,0.806,6,0.000,0.041,2891,2260,2326
$GC,12169,0.52,146.7,237.6,11.2,362,12172,0.00,1.58,0.00,0.000,4,0.000,0.047,2891,3277,2323
$GC,12226,0.52,146.7,229.8,11.5,363,12231,0.10,1.50,0.00,0.000,6,0.155,0.025,2867,2261,2323
$GC,12509,0.53,175.0,205.0,8.5,370,12539,0.00,1.58,25.15,0.762,4,0.000,0.026,2873,1166,2211
$GC,12636,0.54,191.8,191.8,9.1,375,12659,0.00,1.65,15.00,0.719,6,0.000,0.038,2873,2221,2144
$GC,12921,0.54,191.8,162.0,10.9,401,12924,0.00,1.62,0.00,0.000,4,0.000,0.046,2873,3284,2140
$GC,13016,0.54,191.8,150.4,12.4,409,13019,0.00,1.55,0.00,0.000,6,0.000,0.022,2880,2232,2139
$GC,13287,0.54,191.8,121.5,10.3,434,13296,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2226,2139
$GC,13554,0.54,191.8,92.8,12.2,459,13561,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2225,2139
$GC,13822,0.54,209.4,63.5,9.1,484,13841,0.00,0.00,16.35,0.601,6,0.000,0.000,2881,2225,2070
$GC,14098,0.58,296.7,48.6,5.4,510,14181,0.00,1.60,70.88,0.597,4,0.000,0.024,2885,1168,1712
$GC,14200,0.59,330.9,41.1,8.2,517,14238,0.00,1.73,27.83,0.571,6,0.000,0.034,2885,2269,1575
$GC,14524,0.60,345.9,11.5,9.2,559,14542,0.00,0.00,12.98,0.526,6,0.000,0.000,2885,2269,1514
$STATE,14599,end climb,SURFACE_DEPTH_REACHED
$STATE,14599,begin surface coast
$FINISH,0.4,1.011267
$STATE,14625,end surface coast,CONTROL_FINISHED_OK
$STATE,14625,begin surface
$SM_CCo,14651,130.02,0.535,0,0,399,619.62
$SM_GC,1.29,0.00,0.00,130.02,0.000,0.000,0.535,40,2514,399,-8.29,0.40,619.62
$IRIDIUM_FIX,2230.01,-15735.92,220103,121212
$TT8_MAMPS,0.023777
$HUMID,2145
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,26.10
$XPDR_PINGS,5
$24V_AH,23.8,36.304
$10V_AH,10.6,42.127
$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,18.125,96.450,411.375,130.025,0.000,127.837,220.399,751.693,1.250,0.000,0.000,12.749,1195.352,9926.976,538.480,2960.640,1715.341,33.371,1486.206,0.000,2967.247,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,55.991,1251.744,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,390.631,1889.276,1958.845,1040.620,1320.245,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47826,574
$CAP_FILE_SIZE,125901,0
$CFSIZE,260165632,244060160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281013,164536,2239.921,-15736.921,26,1.3,26,10.1