version: 66.04
glider: 512
mission: 4
dive: 132
start: 10 10 113 16 35 46
data:
$ID,512
$MISSION,4
$DIVE,132
$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,160
$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,-109191.97
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2705
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,55
$R_STBD_OVSHOOT,40
$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
$GPS1,162600,2238.596,-15738.554,39,1.6,39,10.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-81.2
$GPS2,163431,2238.581,-15738.574,14,1.5,14,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.021,0.284
$KALMAN_X,52904.4,-256.3,-257.1,-15697.7,1076.0
$KALMAN_Y,47849.6,-81.2,-541.5,-57404.6,1393.8
$MHEAD_RNG_PITCHd_Wd,345.7,50013,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.45,-155.7,0.0,0.0,0,92,0.00,0.00,-68.15,0.000,2,0.000,0.000,11,2513,2923
$GC,98,-0.45,-155.7,2.4,-2.4,8,127,9.45,1.55,-12.68,0.000,4,0.199,0.057,2547,3555,3527
$GC,275,-0.45,-155.7,44.4,-19.1,28,278,0.00,1.55,0.00,0.000,6,0.000,0.020,2552,2487,3528
$GC,547,-0.45,-155.7,102.8,-19.3,53,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2479,3529
$GC,813,-0.45,-155.7,144.1,-14.2,78,816,0.00,1.45,0.00,0.000,4,0.000,0.020,2553,1435,3529
$GC,843,-0.45,-155.7,148.6,-13.1,80,852,0.00,1.62,0.00,0.000,6,0.000,0.038,2549,2500,3529
$GC,1108,-0.45,-155.7,183.9,-14.0,105,1112,0.00,1.62,0.00,0.000,4,0.000,0.046,2541,3569,3529
$GC,1158,-0.45,-155.7,191.1,-14.1,109,1162,0.00,1.55,0.00,0.000,6,0.000,0.020,2542,2481,3530
$GC,1431,-0.45,-155.7,228.1,-13.4,120,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2474,3530
$GC,1675,-0.45,-155.7,257.5,-11.7,126,1678,0.00,1.65,0.00,0.000,4,0.000,0.044,2534,3567,3530
$GC,1699,-0.45,-155.7,260.7,-11.6,126,1703,0.00,1.55,0.00,0.000,6,0.000,0.020,2534,2470,3530
$GC,1971,-0.45,-155.7,289.0,-10.2,133,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2464,3530
$GC,2216,-0.45,-155.7,312.6,-9.6,139,2219,0.00,1.40,0.00,0.000,4,0.000,0.020,2534,1446,3528
$GC,2274,-0.45,-155.7,318.5,-9.1,140,2278,0.08,1.60,0.00,0.000,6,0.107,0.038,2555,2500,3528
$GC,2556,-0.45,-155.7,341.9,-8.4,147,2560,0.00,1.60,0.00,0.000,4,0.000,0.048,2550,3566,3526
$GC,2638,-0.45,-155.7,348.8,-7.9,148,2642,0.00,1.52,0.00,0.000,6,0.000,0.021,2550,2493,3526
$GC,2899,-0.45,-155.7,370.0,-8.2,155,2902,0.00,1.42,0.00,0.000,4,0.000,0.021,2550,1459,3524
$GC,2934,-0.45,-155.7,373.4,-8.0,155,2938,0.00,1.60,0.00,0.000,6,0.000,0.042,2549,2522,3524
$GC,3195,-0.45,-155.7,395.0,-8.5,162,3198,0.00,1.60,0.00,0.000,4,0.000,0.049,2542,3564,3522
$GC,3246,-0.45,-155.7,399.3,-8.3,163,3250,0.00,1.50,0.00,0.000,6,0.000,0.024,2541,2515,3521
$GC,3540,-0.45,-155.7,425.7,-8.9,170,3544,0.00,1.48,0.00,0.000,4,0.000,0.022,2542,1453,3518
$GC,3570,-0.45,-155.7,428.5,-8.6,170,3574,0.00,1.62,0.00,0.000,6,0.000,0.042,2537,2532,3518
$GC,3837,-0.45,-155.7,452.8,-9.4,177,3839,0.00,0.00,-0.08,0.000,6,0.000,0.000,2537,2532,3541
$GC,4081,-0.45,-155.7,474.0,-8.5,183,4084,0.00,1.60,0.00,0.000,4,0.000,0.051,2529,3566,3540
$GC,4112,-0.45,-155.7,476.9,-8.7,183,4116,0.00,1.50,0.00,0.000,6,0.000,0.025,2529,2521,3540
$GC,4379,-0.45,-155.7,499.1,-8.4,190,4383,0.00,1.50,0.00,0.000,4,0.000,0.025,2529,1451,3538
$GC,4430,-0.45,-155.7,503.4,-8.2,191,4434,0.12,1.62,0.00,0.000,6,0.114,0.042,2561,2524,3538
$GC,4724,-0.45,-155.7,520.6,-5.9,198,4727,0.00,1.60,0.00,0.000,4,0.000,0.055,2561,3572,3535
$GC,4760,-0.45,-155.7,523.0,-6.2,198,4764,0.00,1.52,0.00,0.000,6,0.000,0.026,2561,2506,3535
$GC,5022,-0.45,-155.7,541.4,-7.7,205,5025,0.00,1.48,0.00,0.000,4,0.000,0.025,2567,1453,3533
$GC,5281,-0.45,-155.7,566.8,-9.5,210,5285,0.00,1.58,0.00,0.000,6,0.000,0.045,2567,2478,3531
$GC,5543,-0.45,-155.7,588.8,-8.4,217,5546,0.00,1.65,0.00,0.000,4,0.000,0.053,2567,3562,3530
$GC,5639,-0.45,-155.7,596.7,-7.8,219,5643,0.00,1.55,0.00,0.000,6,0.000,0.026,2568,2491,3529
$GC,5935,-0.45,-155.7,619.5,-7.8,226,5938,0.00,1.45,0.00,0.000,4,0.000,0.025,2570,1456,3527
$GC,5985,-0.45,-155.7,623.4,-7.5,227,5989,0.00,1.60,0.00,0.000,6,0.000,0.046,2570,2489,3527
$GC,6279,-0.45,-155.7,645.1,-7.6,234,6283,0.00,1.62,0.00,0.000,4,0.000,0.053,2570,3555,3525
$GC,6355,-0.45,-155.7,651.4,-7.8,235,6359,0.00,1.55,0.00,0.000,6,0.000,0.026,2570,2487,3525
$GC,6621,-0.45,-155.7,673.5,-8.6,242,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2480,3524
$GC,6864,-0.45,-155.7,695.9,-9.3,248,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2480,3522
$GC,7108,-0.45,-155.7,720.1,-9.9,254,7112,0.00,1.45,0.00,0.000,4,0.000,0.027,2570,1456,3521
$GC,7143,-0.45,-155.7,724.1,-10.3,254,7146,0.00,1.60,0.00,0.000,6,0.000,0.046,2570,2512,3522
$GC,7404,-0.45,-155.7,747.4,-9.1,261,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2512,3520
$GC,7647,-0.45,-155.7,769.0,-8.7,267,7651,0.00,1.52,0.00,0.000,4,0.000,0.028,2571,1455,3519
$GC,7683,-0.45,-155.7,772.4,-8.2,267,7687,0.00,1.58,0.00,0.000,6,0.000,0.047,2571,2474,3519
$GC,7945,-0.45,-155.7,792.1,-7.7,274,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2474,3518
$GC,8189,-0.45,-155.7,810.5,-7.4,280,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2474,3517
$GC,8432,-0.45,-155.7,828.9,-7.6,286,8435,0.00,1.67,0.00,0.000,4,0.000,0.056,2571,3561,3516
$GC,8518,-0.45,-155.7,835.6,-7.4,287,8526,0.00,1.60,0.00,0.000,6,0.000,0.028,2570,2465,3515
$GC,8772,-0.45,-155.7,854.2,-7.6,294,8776,0.00,1.45,0.00,0.000,4,0.000,0.027,2571,1453,3514
$GC,8824,-0.45,-155.7,858.2,-8.0,295,8828,0.00,1.58,0.00,0.000,6,0.000,0.048,2571,2464,3514
$GC,9117,-0.45,-155.7,880.6,-7.9,302,9121,0.00,1.73,0.00,0.000,4,0.000,0.057,2571,3559,3513
$GC,9223,-0.45,-155.7,889.1,-8.2,304,9226,0.00,1.60,0.00,0.000,6,0.000,0.029,2570,2449,3513
$STATE,9378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9378,begin apogee
$GC,9390,-0.17,0.0,901.6,7.9,308,9528,0.22,0.00,135.15,1.263,6,0.049,0.000,2682,2224,2890
$STATE,9528,end apogee,CONTROL_FINISHED_OK
$STATE,9529,begin climb
$GC,9534,0.45,155.7,908.3,0.0,311,9712,0.45,1.83,149.38,1.181,4,0.035,0.048,2866,3284,2255
$GC,9913,0.45,155.7,851.9,22.3,319,9916,0.00,1.62,0.00,0.000,6,0.000,0.028,2871,2204,2246
$GC,10190,0.45,155.7,793.8,21.1,326,10194,0.00,1.52,0.00,0.000,4,0.000,0.030,2879,1172,2244
$GC,10270,0.45,155.7,777.5,19.2,327,10273,0.00,1.60,0.00,0.000,6,0.000,0.041,2878,2205,2243
$GC,10531,0.45,155.7,726.3,19.9,334,10534,0.00,1.67,0.00,0.000,4,0.000,0.049,2877,3290,2242
$GC,10610,0.45,155.7,708.7,20.7,335,10615,0.12,1.60,0.00,0.000,6,0.186,0.028,2855,2210,2242
$GC,10871,0.45,155.7,664.7,16.6,342,10874,0.00,1.73,0.00,0.000,4,0.000,0.048,2853,3286,2241
$GC,10922,0.45,155.7,656.0,18.7,343,10926,0.00,1.58,0.00,0.000,6,0.000,0.028,2857,2250,2241
$GC,11215,0.45,155.7,608.4,15.9,350,11219,0.00,1.60,0.00,0.000,4,0.000,0.032,2860,1164,2240
$GC,11320,0.45,155.7,592.8,13.8,352,11324,0.00,1.67,0.00,0.000,6,0.000,0.044,2860,2254,2239
$GC,11603,0.45,155.7,548.4,15.8,359,11607,0.00,1.60,0.00,0.000,4,0.000,0.051,2860,3279,2240
$GC,11655,0.45,155.7,539.0,18.2,360,11659,0.00,1.52,0.00,0.000,6,0.000,0.028,2867,2256,2239
$GC,11944,0.45,155.7,492.7,16.1,367,11948,0.00,1.60,0.00,0.000,4,0.000,0.031,2870,1166,2239
$GC,11987,0.45,155.7,486.1,13.6,367,11995,0.00,1.70,0.00,0.000,6,0.000,0.043,2870,2259,2238
$GC,12241,0.45,155.7,449.4,14.1,374,12245,0.00,1.60,0.00,0.000,4,0.000,0.049,2870,3285,2238
$GC,12282,0.45,155.7,442.9,15.7,374,12290,0.00,1.52,0.00,0.000,6,0.000,0.027,2877,2259,2238
$GC,12537,0.45,155.7,405.6,14.7,381,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2253,2238
$GC,12780,0.45,155.7,369.4,15.1,387,12781,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2253,2238
$GC,13024,0.45,155.7,334.7,14.5,393,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2253,2238
$GC,13268,0.45,155.7,302.5,12.9,399,13269,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2253,2238
$GC,13511,0.45,155.7,274.7,11.6,405,13515,0.00,1.60,0.00,0.000,4,0.000,0.029,2885,1158,2238
$GC,13642,0.45,155.7,259.5,10.5,407,13651,0.10,1.70,0.00,0.000,6,0.152,0.041,2853,2260,2238
$GC,13897,0.45,155.7,232.5,10.8,414,13901,0.00,1.62,0.00,0.000,4,0.000,0.027,2857,1135,2238
$GC,14045,0.46,182.3,216.8,9.0,417,14070,0.00,1.65,20.88,0.765,6,0.000,0.038,2857,2227,2146
$GC,14324,0.47,201.0,189.5,9.3,429,14351,0.00,1.67,16.88,0.722,4,0.000,0.044,2857,3286,2069
$GC,14415,0.47,201.0,179.6,10.7,436,14423,0.00,1.62,0.00,0.000,6,0.000,0.025,2860,2209,2068
$GC,14681,0.47,201.0,150.9,11.3,461,14688,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2209,2067
$GC,14947,0.47,202.5,121.7,9.9,486,14950,0.00,1.52,0.00,0.000,4,0.000,0.026,2868,1146,2067
$GC,15001,0.48,232.1,116.5,8.9,490,15037,0.00,1.65,26.85,0.658,6,0.000,0.037,2868,2218,1943
$GC,15298,0.49,243.1,88.7,9.6,517,15320,0.00,1.67,10.12,0.586,4,0.000,0.043,2868,3284,1898
$GC,15382,0.49,243.1,79.2,10.5,524,15386,0.00,1.58,0.00,0.000,6,0.000,0.023,2869,2228,1896
$GC,15654,0.52,335.8,61.7,6.5,549,15737,0.00,1.58,74.40,0.604,4,0.000,0.025,2869,1168,1519
$GC,15769,0.56,423.2,53.6,6.7,557,15847,0.00,1.67,69.22,0.588,6,0.000,0.034,2869,2241,1165
$GC,16104,0.56,433.1,34.3,9.6,587,16119,0.00,1.58,9.40,0.520,4,0.000,0.041,2869,3288,1122
$GC,16349,0.56,433.1,6.1,11.7,622,16359,0.00,1.52,0.00,0.000,6,0.000,0.020,2869,2218,1122
$STATE,16378,end climb,SURFACE_DEPTH_REACHED
$STATE,16378,begin surface coast
$FINISH,0.6,1.022023
$STATE,16411,end surface coast,CONTROL_FINISHED_OK
$STATE,16411,begin surface
$SM_CCo,16496,0.00,0.000,0,0,1119,434.42
$SM_GC,1.56,7.10,0.00,0.00,0.021,0.000,0.000,25,2489,1119,-8.24,-0.31,434.42
$IRIDIUM_FIX,2230.01,-15738.97,040103,121238
$TT8_MAMPS,0.023777
$HUMID,2177
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.40
$XPDR_PINGS,4
$24V_AH,23.9,22.287
$10V_AH,10.7,23.611
$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,17.650,114.850,512.275,0.000,0.000,31.499,34.972,268.265,1.000,0.000,0.000,14.261,1367.181,10841.893,505.793,3364.072,940.591,33.364,1616.105,0.000,3355.555,0.000,0.545,0.000
$DEVICE_MAMPS,198.653,56.758,1263.249,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,428.684,2078.451,2147.548,1292.600,1420.085,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54153,631
$CAP_FILE_SIZE,131613,0
$CFSIZE,260165632,250003456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,101013,211206,2240.568,-15738.510,41,1.0,41,10.1