version: 66.04
glider: 512
mission: 4
dive: 133
start: 10 10 113 21 25 15
data:
$ID,512
$MISSION,4
$DIVE,133
$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,-109205.11
$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,88
$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
$GPS1,211206,2240.568,-15738.510,41,1.0,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-80.7
$GPS2,212401,2240.638,-15738.483,12,1.4,12,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.031,0.283
$KALMAN_X,53091.6,22.3,-227.9,-16045.1,1151.7
$KALMAN_Y,46173.0,-7.7,-352.2,-52173.8,38.7
$MHEAD_RNG_PITCHd_Wd,343.6,46210,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.45,-155.7,0.0,0.0,0,102,0.00,0.00,-77.15,0.000,2,0.000,0.000,10,2495,2962
$GC,107,-0.45,-155.7,2.1,-1.6,9,136,9.48,1.65,-12.23,0.000,4,0.202,0.051,2543,3585,3526
$GC,351,-0.45,-155.7,58.6,-19.9,35,355,0.00,1.55,0.00,0.000,6,0.000,0.019,2544,2513,3527
$GC,623,-0.45,-155.7,114.3,-16.5,60,626,0.00,1.48,0.00,0.000,4,0.000,0.019,2547,1442,3527
$GC,685,-0.45,-155.7,123.2,-13.1,65,689,0.00,1.60,0.00,0.000,6,0.000,0.038,2541,2495,3527
$GC,956,-0.45,-155.7,163.3,-15.4,90,959,0.00,1.62,0.00,0.000,4,0.000,0.044,2532,3564,3527
$GC,985,-0.45,-155.7,168.4,-16.1,92,993,0.00,1.55,0.00,0.000,6,0.000,0.019,2532,2477,3527
$GC,1249,-0.45,-155.7,207.5,-14.7,114,1253,0.00,1.40,0.00,0.000,4,0.000,0.020,2532,1451,3527
$GC,1300,-0.45,-155.7,214.7,-14.1,115,1304,0.08,1.55,0.00,0.000,6,0.115,0.036,2554,2473,3527
$GC,1593,-0.45,-155.7,248.0,-11.0,122,1597,0.00,1.65,0.00,0.000,4,0.000,0.047,2548,3558,3527
$GC,1634,-0.45,-155.7,253.2,-11.0,122,1642,0.00,1.58,0.00,0.000,6,0.000,0.019,2548,2443,3527
$GC,1888,-0.45,-155.7,280.7,-10.8,129,1892,0.00,1.73,0.00,0.000,4,0.000,0.044,2540,3561,3526
$GC,1924,-0.45,-155.7,284.8,-10.7,129,1927,0.00,1.55,0.00,0.000,6,0.000,0.020,2540,2464,3526
$GC,2185,-0.45,-155.7,311.6,-10.6,136,2188,0.00,1.38,0.00,0.000,4,0.000,0.021,2540,1453,3526
$GC,2235,-0.45,-155.7,317.0,-10.7,137,2238,0.00,1.52,0.00,0.000,6,0.000,0.038,2537,2462,3525
$GC,2529,-0.45,-155.7,347.2,-10.2,144,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2463,3524
$GC,2772,-0.45,-155.7,371.7,-10.0,150,2776,0.00,1.65,0.00,0.000,4,0.000,0.048,2529,3564,3522
$GC,2824,-0.45,-155.7,376.7,-9.2,151,2827,0.00,1.58,0.00,0.000,6,0.000,0.021,2528,2466,3521
$GC,3118,-0.45,-155.7,407.0,-10.4,158,3120,0.10,0.00,0.00,0.000,6,0.127,0.000,2557,2458,3519
$GC,3361,-0.45,-155.7,425.6,-7.3,164,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2459,3517
$GC,3605,-0.45,-155.7,443.1,-7.2,170,3609,0.00,1.70,-0.08,0.000,4,0.000,0.065,2550,3565,3539
$GC,3646,-0.45,-155.7,446.3,-7.1,170,3654,0.00,1.60,0.00,0.000,6,0.000,0.023,2550,2441,3539
$GC,3901,-0.45,-155.7,462.9,-6.5,177,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2441,3538
$GC,4145,-0.45,-155.7,478.9,-6.6,183,4148,0.00,1.75,0.00,0.000,4,0.000,0.052,2549,3568,3535
$GC,4186,-0.45,-155.7,482.0,-6.7,183,4195,0.00,1.60,0.00,0.000,6,0.000,0.024,2549,2447,3534
$GC,4443,-0.45,-155.7,500.6,-7.5,190,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2447,3533
$GC,4687,-0.45,-155.7,519.6,-7.8,196,4691,0.00,1.73,0.00,0.000,4,0.000,0.052,2542,3562,3530
$GC,4737,-0.45,-155.7,523.9,-8.5,197,4741,0.00,1.58,0.00,0.000,6,0.000,0.025,2542,2469,3530
$GC,5032,-0.45,-155.7,546.9,-7.7,204,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2462,3528
$GC,5275,-0.45,-155.7,562.9,-6.5,210,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2462,3526
$GC,5519,-0.45,-155.7,579.5,-6.9,216,5522,0.00,1.70,0.00,0.000,4,0.000,0.054,2537,3557,3524
$GC,5555,-0.45,-155.7,582.4,-7.6,216,5558,0.00,1.55,0.00,0.000,6,0.000,0.026,2537,2489,3524
$GC,5816,-0.45,-155.7,601.7,-7.6,223,5820,0.00,1.45,0.00,0.000,4,0.000,0.025,2537,1455,3523
$GC,5874,-0.45,-155.7,606.6,-8.1,224,5878,0.00,1.58,0.00,0.000,6,0.000,0.047,2536,2473,3523
$GC,6156,-0.45,-155.7,627.3,-7.3,231,6160,0.00,1.70,0.00,0.000,4,0.000,0.054,2530,3562,3520
$GC,6208,-0.45,-155.7,631.0,-7.4,232,6212,0.00,1.58,0.00,0.000,6,0.000,0.026,2530,2483,3520
$GC,6502,-0.45,-155.7,652.5,-7.3,239,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2475,3519
$GC,6746,-0.45,-155.7,671.9,-8.1,245,6750,0.00,1.70,0.00,0.000,4,0.000,0.054,2524,3554,3517
$GC,6781,-0.45,-155.7,675.3,-8.9,245,6786,0.08,1.55,0.00,0.000,6,0.085,0.027,2565,2484,3517
$GC,7042,-0.45,-155.7,691.0,-6.1,252,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2482,3516
$GC,7286,-0.45,-155.7,705.5,-5.8,258,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2482,3514
$GC,7529,-0.45,-155.7,718.5,-5.2,264,7533,0.00,1.70,0.00,0.000,4,0.000,0.056,2563,3568,3513
$GC,7571,-0.45,-155.7,720.5,-4.8,264,7580,0.00,1.58,0.00,0.000,6,0.000,0.028,2563,2480,3513
$GC,7827,-0.45,-155.7,735.3,-6.4,271,7830,0.00,1.45,0.00,0.000,4,0.000,0.027,2563,1460,3512
$GC,7974,-0.45,-155.7,746.1,-7.6,274,7978,0.00,1.60,0.00,0.000,6,0.000,0.048,2564,2509,3511
$GC,8257,-0.45,-155.7,766.5,-7.5,281,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2509,3511
$GC,8501,-0.45,-155.7,786.5,-8.3,287,8504,0.00,1.65,0.00,0.000,4,0.000,0.056,2563,3560,3510
$GC,8551,-0.45,-155.7,790.7,-8.8,288,8555,0.00,1.55,0.00,0.000,6,0.000,0.028,2563,2499,3509
$GC,8847,-0.45,-155.7,815.1,-8.4,295,8850,0.00,1.48,0.00,0.000,4,0.000,0.028,2563,1460,3509
$GC,8897,-0.45,-155.7,819.3,-8.4,296,8900,0.00,1.62,0.00,0.000,6,0.000,0.048,2563,2519,3508
$GC,9191,-0.45,-155.7,842.6,-8.0,303,9195,0.00,1.62,0.00,0.000,4,0.000,0.056,2563,3554,3508
$GC,9311,-0.45,-155.7,853.1,-9.2,305,9314,0.00,1.52,0.00,0.000,6,0.000,0.029,2563,2505,3507
$GC,9577,-0.45,-155.7,873.9,-8.0,312,9581,0.00,1.50,0.00,0.000,4,0.000,0.028,2563,1460,3506
$GC,9674,-0.45,-155.7,881.2,-6.7,314,9678,0.00,1.62,0.00,0.000,6,0.000,0.050,2562,2516,3506
$STATE,9922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9922,begin apogee
$GC,9934,-0.17,0.0,900.2,7.5,320,10070,0.25,0.00,133.02,1.275,6,0.048,0.000,2678,2217,2890
$STATE,10071,end apogee,CONTROL_FINISHED_OK
$STATE,10071,begin climb
$GC,10076,0.45,155.7,907.1,0.0,323,10254,0.45,1.83,148.82,1.190,4,0.033,0.049,2876,3278,2253
$GC,10491,0.45,155.7,844.2,20.9,332,10495,0.12,1.60,0.00,0.000,6,0.182,0.028,2855,2219,2245
$GC,10784,0.45,155.7,789.1,18.3,339,10788,0.00,1.58,0.00,0.000,4,0.000,0.031,2857,1163,2242
$GC,10814,0.45,155.7,783.3,17.6,339,10818,0.00,1.67,0.00,0.000,6,0.000,0.043,2857,2221,2241
$GC,11081,0.45,155.7,737.3,17.7,346,11084,0.00,1.65,0.00,0.000,4,0.000,0.051,2857,3292,2241
$GC,11116,0.45,155.7,730.0,19.3,346,11120,0.00,1.60,0.00,0.000,6,0.000,0.027,2864,2225,2240
$GC,11376,0.45,155.7,684.1,18.1,353,11379,0.00,1.67,0.00,0.000,4,0.000,0.047,2863,3292,2240
$GC,11394,0.45,155.7,680.2,17.4,353,11398,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2242,2240
$GC,11671,0.45,155.7,631.9,17.1,360,11672,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2236,2239
$GC,11915,0.45,155.7,591.3,16.6,366,11918,0.00,1.58,0.00,0.000,4,0.000,0.031,2877,1161,2239
$GC,11956,0.45,155.7,584.2,15.2,366,11965,0.00,1.70,0.00,0.000,6,0.000,0.044,2877,2249,2238
$GC,12211,0.45,155.7,541.3,17.3,373,12215,0.00,1.62,0.00,0.000,4,0.000,0.030,2884,1138,2238
$GC,12261,0.45,155.7,533.2,15.7,374,12265,0.12,1.70,0.00,0.000,6,0.168,0.043,2853,2243,2238
$GC,12555,0.45,155.7,490.9,14.1,381,12558,0.00,1.62,0.00,0.000,4,0.000,0.050,2852,3305,2237
$GC,12636,0.45,155.7,478.1,14.5,382,12639,0.00,1.58,0.00,0.000,6,0.000,0.028,2858,2247,2237
$GC,12896,0.45,155.7,441.0,14.4,389,12897,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2242,2237
$GC,13140,0.45,155.7,406.9,14.2,395,13143,0.00,1.62,0.00,0.000,4,0.000,0.049,2859,3288,2237
$GC,13171,0.45,155.7,402.2,15.3,395,13175,0.00,1.55,0.00,0.000,6,0.000,0.027,2860,2249,2237
$GC,13437,0.45,155.7,367.1,12.8,402,13440,0.00,1.60,0.00,0.000,4,0.000,0.030,2860,1151,2237
$GC,13488,0.45,155.7,361.2,11.0,403,13492,0.00,1.70,0.00,0.000,6,0.000,0.042,2860,2244,2237
$GC,13782,0.45,155.7,327.7,11.3,410,13785,0.00,1.62,0.00,0.000,4,0.000,0.029,2860,1157,2237
$GC,13832,0.45,155.7,321.9,11.5,411,13835,0.00,1.65,0.00,0.000,6,0.000,0.041,2860,2238,2236
$GC,14128,0.45,155.7,286.5,11.7,418,14131,0.00,1.60,0.00,0.000,4,0.000,0.028,2860,1152,2236
$GC,14141,0.45,155.7,284.3,11.9,418,14144,0.00,1.65,0.00,0.000,6,0.000,0.041,2860,2241,2236
$GC,14423,0.45,155.7,250.4,11.9,425,14427,0.00,1.60,0.00,0.000,4,0.000,0.026,2868,1156,2236
$GC,14475,0.45,155.7,245.3,10.8,426,14478,0.00,1.62,0.00,0.000,6,0.000,0.041,2867,2226,2236
$GC,14770,0.45,155.7,213.7,10.4,433,14774,0.00,1.62,0.00,0.000,4,0.000,0.047,2863,3281,2236
$GC,14865,0.46,176.1,204.7,9.2,435,14885,0.00,1.55,15.43,0.748,6,0.000,0.025,2869,2224,2172
$GC,15148,0.46,176.1,176.7,11.5,455,15152,0.00,1.52,0.00,0.000,4,0.000,0.028,2873,1173,2169
$GC,15231,0.46,179.2,167.7,9.9,462,15247,0.00,1.62,3.83,0.485,6,0.000,0.037,2873,2248,2160
$GC,15507,0.46,179.2,134.5,12.4,487,15511,0.00,1.58,0.00,0.000,4,0.000,0.044,2873,3277,2159
$GC,15649,0.46,179.2,116.8,11.4,499,15653,0.00,1.48,0.00,0.000,6,0.000,0.023,2880,2265,2160
$GC,15925,0.47,192.2,89.4,9.5,524,15943,0.00,1.60,13.43,0.617,4,0.000,0.041,2876,3284,2105
$GC,16100,0.49,253.0,72.4,7.7,538,16154,0.00,1.45,49.60,0.624,6,0.000,0.021,2882,2274,1859
$GC,16423,0.51,309.3,50.6,7.9,567,16479,0.00,1.65,45.55,0.597,4,0.000,0.025,2883,1174,1626
$GC,16544,0.54,383.7,40.9,7.2,576,16614,0.00,1.70,59.12,0.581,6,0.000,0.033,2883,2291,1324
$GC,16906,0.55,405.5,7.1,9.2,623,16932,0.00,0.00,17.83,0.535,6,0.000,0.000,2883,2291,1236
$STATE,16945,end climb,SURFACE_DEPTH_REACHED
$STATE,16945,begin surface coast
$FINISH,0.7,1.022982
$STATE,16984,end surface coast,CONTROL_FINISHED_OK
$STATE,16985,begin surface
$SM_CCo,17070,0.00,0.000,0,0,1231,406.95
$SM_GC,1.37,7.20,0.00,0.00,0.021,0.000,0.000,23,2519,1231,-8.26,0.54,406.95
$IRIDIUM_FIX,2232.34,-15741.13,040103,212156
$TT8_MAMPS,0.023777
$HUMID,2183
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.20
$XPDR_PINGS,7
$24V_AH,23.9,22.445
$10V_AH,10.6,23.826
$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,17.875,122.400,486.625,0.000,0.000,58.198,83.963,320.504,1.750,0.000,0.000,12.513,1389.249,11421.743,483.960,3376.036,1124.326,33.363,1607.228,0.000,3373.161,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,65.195,1274.754,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,431.418,2088.597,2158.669,1160.270,1409.002,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54043,634
$CAP_FILE_SIZE,137336,0
$CFSIZE,260165632,249929728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,111013,021106,2242.694,-15738.707,37,1.1,37,10.1