version: 66.04
glider: 512
mission: 4
dive: 134
start: 10 11 113 2 23 30
data:
$ID,512
$MISSION,4
$DIVE,134
$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,320
$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,-109219.12
$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,40
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.80000001
$PITCH_ADJ_DBAND,0.02
$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,67
$R_STBD_OVSHOOT,42
$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,0.00030000001
$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
$GPS1,021106,2242.694,-15738.707,37,1.1,37,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-83.5
$GPS2,022231,2242.727,-15738.737,13,2.0,13,10.1
$SPEED_LIMITS,0.258,0.261
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.049,0.257
$KALMAN_X,52797.4,-39.4,216.9,-16564.2,-496.6
$KALMAN_Y,44669.5,-423.8,273.2,-47019.6,-1660.9
$MHEAD_RNG_PITCHd_Wd,0.7,42424,-15.9,-9.375
$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,-0.44,-155.7,0.0,0.0,0,88,0.00,0.00,-68.50,0.000,2,0.000,0.000,10,2525,2854
$GC,94,-0.44,-155.7,2.1,-1.9,8,124,9.43,1.62,-15.30,0.000,4,0.199,0.059,2541,3559,3527
$GC,263,-0.44,-155.7,43.1,-21.2,28,272,0.00,1.55,0.00,0.000,6,0.000,0.019,2541,2490,3528
$GC,530,-0.44,-155.7,103.4,-17.1,53,533,0.00,1.45,0.00,0.000,4,0.000,0.020,2544,1437,3528
$GC,559,-0.44,-155.7,108.3,-17.0,55,562,0.00,1.65,0.00,0.000,6,0.000,0.038,2538,2513,3528
$GC,830,-0.44,-155.7,152.5,-15.1,80,834,0.00,1.60,0.00,0.000,4,0.000,0.045,2530,3565,3529
$GC,880,-0.44,-155.7,160.8,-16.5,84,884,0.00,1.52,0.00,0.000,6,0.000,0.019,2530,2495,3528
$GC,1160,-0.44,-155.7,207.1,-16.2,107,1164,0.00,1.42,0.00,0.000,4,0.000,0.020,2530,1456,3529
$GC,1257,1.42,-155.7,220.6,-12.2,109,1262,1.77,1.58,0.00,0.000,6,0.101,0.038,3152,2487,3529
$GC,1546,1.42,-155.7,276.1,-20.8,116,1550,0.00,1.45,0.00,0.000,4,0.000,0.019,3165,1442,3529
$GC,1565,1.42,-155.7,281.4,-20.5,116,1568,0.00,1.60,0.00,0.000,6,0.000,0.044,3166,2509,3528
$GC,1842,1.42,-155.7,341.4,-21.8,123,1846,0.00,1.50,0.00,0.000,4,0.000,0.020,3172,1429,3527
$GC,1862,1.42,-155.7,346.8,-24.0,123,1865,0.00,1.73,0.00,0.000,6,0.000,0.041,3172,2562,3527
$GC,2140,1.42,-155.7,404.9,-20.9,130,2143,0.00,1.50,0.00,0.000,4,0.000,0.042,3173,3566,3525
$GC,2153,1.42,-155.7,408.3,-20.2,130,2157,0.00,1.33,0.00,0.000,6,0.000,0.020,3179,2612,3525
$GC,2436,1.42,-155.7,471.8,-23.2,137,2440,0.00,1.45,0.00,0.000,4,0.000,0.044,3179,3556,3522
$GC,2450,1.42,-155.7,475.4,-22.9,137,2454,0.10,1.45,0.00,0.000,6,0.195,0.021,3159,2541,3522
$GC,2732,1.42,-155.7,535.2,-21.0,144,2736,0.00,1.50,0.00,0.000,4,0.000,0.020,3166,1418,3519
$GC,2746,1.42,-155.7,538.6,-19.8,144,2749,0.00,1.70,0.00,0.000,6,0.000,0.033,3165,2582,3519
$GC,3030,1.42,-155.7,599.3,-21.4,151,3033,0.00,1.60,0.00,0.000,4,0.000,0.022,3172,1431,3516
$GC,3132,1.42,-155.7,620.6,-20.0,153,3136,0.00,1.77,0.00,0.000,6,0.000,0.044,3165,2613,3515
$GC,3416,1.42,-155.7,682.9,-22.7,160,3420,0.00,1.65,0.00,0.000,4,0.000,0.024,3172,1424,3512
$GC,3502,1.42,-155.7,702.4,-21.5,161,3511,0.00,1.92,0.00,0.000,6,0.000,0.041,3165,2688,3511
$GC,3757,1.42,-155.7,761.6,-23.8,168,3761,0.00,1.77,0.00,0.000,4,0.000,0.024,3172,1453,3507
$GC,3974,1.42,-155.7,811.2,-23.3,172,3978,0.00,2.05,0.00,0.000,6,0.000,0.028,3173,2885,3506
$GC,4235,1.42,-155.7,871.0,-23.2,179,4239,0.00,2.08,0.00,0.000,4,0.000,0.028,3186,1451,3503
$GC,4321,1.42,-155.7,891.1,-21.1,180,4329,0.10,2.05,0.00,0.000,6,0.160,0.044,3157,2780,3502
$STATE,4367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4367,begin apogee
$GC,4379,-0.17,0.0,902.3,22.8,182,4514,1.77,0.00,130.07,1.239,6,0.176,0.000,2645,2199,2890
$STATE,4514,end apogee,CONTROL_FINISHED_OK
$STATE,4515,begin climb
$GC,4520,0.44,155.7,911.0,0.0,185,4673,0.50,0.00,145.10,1.181,6,0.028,0.000,2872,2199,2255
$GC,4897,0.44,155.7,852.6,21.1,194,4901,0.12,1.73,0.00,0.000,4,0.174,0.045,2843,3300,2246
$GC,4937,0.44,155.7,842.4,20.8,194,4946,0.00,1.58,0.00,0.000,6,0.000,0.025,2847,2266,2244
$GC,5192,0.44,155.7,793.9,19.6,201,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2266,2242
$GC,5436,0.44,155.7,748.8,18.4,207,5439,0.00,1.62,0.00,0.000,4,0.000,0.027,2853,1134,2240
$GC,5489,0.44,155.7,739.3,16.6,208,5493,0.00,1.73,0.00,0.000,6,0.000,0.040,2854,2265,2239
$GC,5778,0.44,155.7,689.6,17.2,215,5781,0.00,1.58,0.00,0.000,4,0.000,0.048,2854,3277,2238
$GC,5819,0.44,155.7,681.4,18.2,215,5827,0.00,1.52,0.00,0.000,6,0.000,0.027,2862,2252,2237
$GC,6074,0.44,155.7,638.1,17.1,222,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2246,2237
$GC,6317,0.44,155.7,595.4,17.7,228,6321,0.00,1.58,0.00,0.000,4,0.000,0.029,2870,1178,2236
$GC,6359,0.44,155.7,587.9,16.6,228,6368,0.00,1.70,0.00,0.000,6,0.000,0.041,2870,2275,2235
$GC,6615,0.44,155.7,541.0,18.8,235,6618,0.00,1.62,0.00,0.000,4,0.000,0.029,2877,1152,2235
$GC,6667,0.44,155.7,530.8,17.9,236,6671,0.12,1.67,0.00,0.000,6,0.153,0.041,2844,2257,2235
$GC,6955,0.44,155.7,488.6,14.6,243,6958,0.00,1.58,0.00,0.000,4,0.000,0.047,2844,3276,2234
$GC,6996,0.44,155.7,482.1,14.9,243,7006,0.00,1.52,0.00,0.000,6,0.000,0.028,2847,2254,2234
$GC,7253,0.44,155.7,448.1,13.2,250,7257,0.00,1.62,0.00,0.000,4,0.000,0.047,2847,3278,2234
$GC,7283,0.44,155.7,443.3,14.1,250,7286,0.00,1.50,0.00,0.000,6,0.000,0.028,2854,2267,2234
$GC,7549,0.44,155.7,409.2,12.6,257,7553,0.00,1.60,0.00,0.000,4,0.000,0.029,2857,1166,2234
$GC,7591,0.44,155.7,403.5,12.1,257,7599,0.00,1.67,0.00,0.000,6,0.000,0.041,2856,2252,2233
$GC,7846,0.44,155.7,368.0,14.5,264,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2252,2233
$GC,8089,0.44,155.7,331.1,15.1,270,8093,0.00,1.58,0.00,0.000,4,0.000,0.047,2856,3275,2233
$GC,8141,0.44,155.7,323.0,16.8,271,8144,0.00,1.55,0.00,0.000,6,0.000,0.027,2865,2231,2232
$GC,8435,0.44,155.7,281.6,14.0,278,8439,0.00,1.52,0.00,0.000,4,0.000,0.028,2871,1174,2232
$GC,8448,0.44,155.7,279.4,13.8,278,8453,0.12,1.62,0.00,0.000,6,0.148,0.040,2838,2253,2233
$GC,8731,0.44,155.7,249.3,10.5,285,8735,0.00,1.60,0.00,0.000,4,0.000,0.027,2845,1171,2232
$GC,8790,0.44,155.7,243.2,9.7,286,8794,0.00,1.62,0.00,0.000,6,0.000,0.039,2845,2250,2232
$GC,9073,0.44,155.7,216.2,9.9,293,9077,0.00,1.60,0.00,0.000,4,0.000,0.028,2847,1168,2232
$GC,9159,0.44,155.7,207.2,10.0,294,9168,0.00,1.60,0.00,0.000,6,0.000,0.039,2846,2211,2232
$GC,9423,0.44,155.7,182.1,10.0,313,9427,0.00,1.62,0.00,0.000,4,0.000,0.044,2846,3275,2232
$GC,9450,0.44,155.7,178.9,11.0,315,9454,0.00,1.60,0.00,0.000,6,0.000,0.024,2846,2164,2232
$GC,9723,0.44,155.7,151.4,9.5,340,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2158,2232
$GC,9991,0.45,181.4,127.3,8.3,365,10018,0.00,1.75,18.02,0.673,4,0.000,0.042,2847,3282,2154
$GC,10103,0.45,181.4,116.6,9.7,374,10107,0.00,1.60,0.00,0.000,6,0.000,0.023,2846,2199,2153
$GC,10380,-1.77,211.1,95.2,8.2,399,10412,2.05,1.65,25.52,0.644,4,0.097,0.031,2116,3308,2028
$GC,10677,-1.77,211.1,47.8,18.4,423,10687,0.00,1.58,0.00,0.000,6,0.000,0.020,2122,2179,2022
$STATE,10931,end climb,SURFACE_DEPTH_REACHED
$STATE,10931,begin surface coast
$FINISH,0.8,1.023080
$STATE,10945,end surface coast,CONTROL_FINISHED_OK
$STATE,10945,begin surface
$SM_CCo,10968,71.12,0.546,0,0,1299,390.02
$SM_GC,1.56,0.00,0.00,71.12,0.000,0.000,0.546,30,2557,1299,-8.30,1.61,390.02
$IRIDIUM_FIX,2232.34,-15735.92,050103,020254
$TT8_MAMPS,0.02301
$HUMID,2267
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,24.1,22.581
$10V_AH,10.7,23.984
$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,21.450,92.125,318.725,71.125,0.000,56.540,73.992,301.472,0.750,0.000,0.000,13.374,1002.678,6950.299,457.933,2383.969,929.561,33.365,1224.760,0.000,2381.194,0.000,0.544,0.000
$DEVICE_MAMPS,198.653,59.059,1238.705,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,311.646,1510.891,1563.510,980.377,1009.452,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38300,459
$CAP_FILE_SIZE,104644,0
$CFSIZE,260165632,249913344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111013,052905,2243.527,-15738.533,37,0.9,47,10.1