version: 66.04
glider: 512
mission: 4
dive: 135
start: 10 11 113 5 42 13
data:
$ID,512
$MISSION,4
$DIVE,135
$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,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,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,-109234.12
$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,39
$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,112
$R_STBD_OVSHOOT,70
$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
$GPS1,052905,2243.527,-15738.533,37,0.9,47,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-81.4
$GPS2,054119,2243.522,-15738.580,14,1.9,14,10.1
$SPEED_LIMITS,0.201,0.261
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.012,0.261
$KALMAN_X,52827.1,-133.5,-399.2,-15621.7,749.3
$KALMAN_Y,42434.8,-679.6,-746.8,-42033.5,-1072.9
$MHEAD_RNG_PITCHd_Wd,347.3,40929,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.45,-155.7,0.0,0.0,0,88,0.00,0.00,-67.88,0.000,2,0.000,0.000,11,2555,2915
$GC,94,-0.45,-155.7,2.3,-2.0,8,123,9.32,1.45,-12.77,0.000,4,0.197,0.058,2538,3534,3525
$GC,259,-0.45,-155.7,48.7,-22.9,26,263,0.00,1.45,0.00,0.000,6,0.000,0.020,2539,2539,3526
$GC,532,-0.45,-155.7,109.6,-18.0,51,535,0.00,1.52,0.00,0.000,4,0.000,0.021,2539,1444,3526
$GC,628,-0.45,-155.7,124.0,-13.6,59,632,0.00,1.58,0.00,0.000,6,0.000,0.040,2537,2472,3527
$GC,900,-0.45,-155.7,167.1,-16.3,84,904,0.00,1.67,0.00,0.000,4,0.000,0.046,2529,3570,3527
$GC,997,-0.45,-155.7,182.5,-14.0,92,1005,0.00,1.52,0.00,0.000,6,0.000,0.019,2529,2497,3527
$GC,1277,-0.45,-155.7,222.9,-14.1,107,1280,0.00,1.42,0.00,0.000,4,0.000,0.020,2529,1454,3527
$GC,1307,-0.45,-155.7,227.2,-12.6,107,1311,0.00,1.60,0.00,0.000,6,0.000,0.037,2523,2528,3527
$GC,1574,-0.45,-155.7,263.5,-13.7,114,1577,0.00,1.58,0.00,0.000,4,0.000,0.047,2517,3565,3527
$GC,1615,-0.45,-155.7,269.8,-14.0,114,1625,0.08,1.48,0.00,0.000,6,0.113,0.020,2545,2496,3527
$GC,1872,0.55,-155.7,295.8,-10.0,121,1875,0.95,0.00,0.00,0.000,6,0.094,0.000,2874,2493,3527
$GC,2116,0.55,-155.7,318.7,-11.4,127,2119,0.00,1.40,0.00,0.000,4,0.000,0.022,2883,1481,3525
$GC,2353,0.55,-155.7,349.2,-11.7,132,2357,0.00,1.75,0.00,0.000,6,0.000,0.047,2883,2614,3523
$GC,2637,0.55,-155.7,380.7,-11.1,139,2641,0.00,1.45,0.00,0.000,4,0.000,0.053,2884,3557,3521
$GC,2679,0.55,-155.7,387.7,-22.4,139,2687,0.00,1.42,0.00,0.000,6,0.000,0.024,2893,2567,3521
$GC,2934,0.55,-155.7,418.9,-12.3,146,2937,0.00,1.55,0.00,0.000,4,0.000,0.046,2894,3562,3519
$GC,2986,0.55,-155.7,426.3,-13.0,147,2989,0.00,1.30,0.00,0.000,6,0.000,0.022,2899,2644,3518
$GC,3281,0.55,-155.7,461.4,-11.0,154,3283,0.00,0.00,-0.08,0.000,6,0.000,0.000,2900,2636,3540
$GC,3525,0.55,-155.7,488.6,-11.2,160,3529,0.00,1.62,0.00,0.000,4,0.000,0.025,2900,1492,3539
$GC,3639,0.55,-155.7,504.8,-11.2,162,3642,0.00,1.62,0.00,0.000,6,0.000,0.046,2903,2566,3538
$GC,3912,0.55,-155.7,537.5,-11.9,169,3915,0.00,1.52,0.00,0.000,4,0.000,0.047,2903,3565,3536
$GC,4076,0.55,-155.7,565.6,-19.2,172,4080,0.00,1.48,0.00,0.000,6,0.000,0.027,2903,2536,3534
$GC,4343,0.55,-155.7,606.6,-16.1,179,4346,0.00,1.58,0.00,0.000,4,0.000,0.038,2903,3572,3532
$GC,4490,0.55,-155.7,636.6,-20.0,182,4495,0.10,1.50,0.00,0.000,6,0.264,0.022,2881,2517,3531
$GC,4774,0.55,-155.7,678.3,-14.2,189,4777,0.00,1.60,0.00,0.000,4,0.000,0.047,2882,3570,3528
$GC,5035,0.55,-155.7,724.6,-18.0,194,5039,0.00,1.45,0.00,0.000,6,0.000,0.023,2900,2572,3526
$GC,5296,0.55,-155.7,761.1,-13.5,201,5300,0.00,1.52,0.00,0.000,4,0.000,0.037,2900,3579,3524
$GC,5558,0.55,-155.7,808.0,-16.5,206,5562,0.10,1.42,0.00,0.000,6,0.205,0.033,2883,2640,3523
$GC,5819,0.55,-155.7,839.3,-11.3,213,5822,0.00,1.65,0.00,0.000,4,0.000,0.026,2884,1453,3521
$GC,5960,0.55,-155.7,856.4,-10.7,216,5963,0.00,1.67,0.00,0.000,6,0.000,0.048,2884,2544,3520
$GC,6255,0.55,-155.7,894.5,-12.9,223,6258,0.00,1.58,0.00,0.000,4,0.000,0.028,2898,1460,3518
$STATE,6300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6300,begin apogee
$GC,6312,-0.18,0.0,900.8,10.0,224,6451,1.00,0.00,135.48,1.250,6,0.219,0.000,2643,2229,2890
$STATE,6452,end apogee,CONTROL_FINISHED_OK
$STATE,6452,begin climb
$GC,6457,0.45,155.7,907.1,0.0,227,6639,0.52,1.62,150.70,1.156,4,0.039,0.026,2883,1193,2254
$GC,6828,0.45,155.7,852.2,20.5,235,6832,0.12,1.62,0.00,0.000,6,0.163,0.041,2846,2230,2246
$GC,7105,0.45,155.7,801.8,18.1,242,7109,0.00,1.65,0.00,0.000,4,0.000,0.048,2847,3276,2242
$GC,7179,0.45,155.7,787.2,18.5,243,7183,0.00,1.52,0.00,0.000,6,0.000,0.028,2848,2273,2241
$GC,7447,0.45,155.7,741.0,17.2,250,7451,0.00,1.58,0.00,0.000,4,0.000,0.029,2855,1194,2241
$GC,7542,0.45,155.7,725.2,16.4,252,7546,0.00,1.60,0.00,0.000,6,0.000,0.041,2855,2214,2240
$GC,7837,0.45,155.7,675.1,17.0,259,7841,0.00,1.65,0.00,0.000,4,0.000,0.049,2855,3296,2239
$GC,7868,0.45,155.7,669.0,19.1,259,7871,0.00,1.58,0.00,0.000,6,0.000,0.026,2857,2244,2239
$GC,8134,0.45,155.7,624.4,16.7,266,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2238,2238
$GC,8377,0.45,155.7,586.2,15.6,272,8381,0.00,1.60,0.00,0.000,4,0.000,0.046,2857,3283,2238
$GC,8475,0.45,155.7,569.8,16.2,274,8479,0.00,1.55,0.00,0.000,6,0.000,0.027,2864,2238,2237
$GC,8764,0.45,155.7,523.1,16.6,281,8767,0.00,1.55,0.00,0.000,4,0.000,0.028,2872,1168,2237
$GC,8800,0.45,155.7,516.5,17.0,281,8804,0.00,1.62,0.00,0.000,6,0.000,0.041,2872,2237,2237
$GC,9060,0.45,155.7,472.7,17.2,288,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2237,2236
$GC,9304,0.45,155.7,430.5,17.2,294,9308,0.00,1.62,0.00,0.000,4,0.000,0.049,2872,3306,2236
$GC,9356,0.45,155.7,421.9,17.6,295,9360,0.12,1.60,0.00,0.000,6,0.187,0.027,2849,2231,2235
$GC,9650,0.45,155.7,383.9,12.1,302,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2226,2236
$GC,9893,0.45,155.7,353.8,12.4,308,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2226,2235
$GC,10137,0.45,155.7,323.3,12.5,314,10141,0.00,1.55,0.00,0.000,4,0.000,0.031,2849,1165,2235
$GC,10206,0.45,155.7,314.9,11.0,315,10210,0.00,1.65,0.00,0.000,6,0.000,0.041,2849,2253,2235
$GC,10479,0.45,155.7,283.9,11.3,322,10483,0.00,1.58,0.00,0.000,4,0.000,0.048,2849,3274,2235
$GC,10610,0.45,155.7,267.9,11.6,324,10619,0.00,1.50,0.00,0.000,6,0.000,0.026,2855,2246,2235
$GC,10866,0.46,174.9,244.9,8.6,331,10885,0.00,1.58,14.05,0.779,4,0.000,0.028,2856,1179,2177
$GC,11041,0.47,203.3,229.7,8.2,334,11072,0.00,1.60,25.25,0.779,6,0.000,0.038,2856,2214,2060
$GC,11339,0.47,203.3,196.1,12.1,342,11343,0.00,1.55,0.00,0.000,4,0.000,0.026,2860,1170,2056
$GC,11359,0.47,203.3,193.3,12.1,343,11367,0.00,1.60,0.00,0.000,6,0.000,0.037,2860,2203,2056
$GC,11630,0.47,203.3,160.8,12.3,368,11633,0.00,1.65,0.00,0.000,4,0.000,0.043,2860,3281,2056
$GC,11692,0.47,203.3,152.1,13.6,373,11695,0.00,1.55,0.00,0.000,6,0.000,0.023,2867,2230,2055
$GC,11968,0.47,203.3,122.2,11.0,398,11972,0.00,1.62,0.00,0.000,4,0.000,0.041,2863,3299,2055
$GC,11986,0.47,203.3,119.8,11.0,399,11990,0.00,1.60,0.00,0.000,6,0.000,0.022,2869,2205,2055
$GC,12262,0.48,237.8,91.6,8.0,424,12302,0.00,1.75,29.10,0.637,4,0.000,0.041,2863,3299,1919
$GC,12332,-0.59,281.6,86.2,7.6,429,12375,1.02,1.58,35.83,0.630,6,0.106,0.022,2502,2219,1740
$GC,12642,-0.59,281.6,53.9,12.0,457,12646,0.00,1.62,0.00,0.000,4,0.000,0.028,2493,3331,1732
$GC,12736,-0.59,281.6,41.7,9.8,464,12745,0.00,1.60,0.00,0.000,6,0.000,0.020,2499,2223,1730
$GC,13035,-0.59,281.6,3.0,11.2,505,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2211,1731
$STATE,13050,end climb,SURFACE_DEPTH_REACHED
$STATE,13050,begin surface coast
$FINISH,0.3,0.997905
$STATE,13083,end surface coast,CONTROL_FINISHED_OK
$STATE,13083,begin surface
$SM_CCo,13107,43.67,0.542,0,0,1300,390.02
$SM_GC,1.66,0.00,0.00,43.67,0.000,0.000,0.542,22,2543,1300,-8.35,1.22,390.02
$IRIDIUM_FIX,2237.01,-15737.19,050103,050534
$TT8_MAMPS,0.025311
$HUMID,2244
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.10
$XPDR_PINGS,4
$24V_AH,24.0,22.732
$10V_AH,10.7,24.164
$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,19.500,93.975,390.400,43.675,0.000,56.320,73.361,364.359,1.000,0.000,0.000,14.375,1169.067,8287.276,462.946,2933.789,1032.100,33.362,1425.909,0.000,2926.214,0.000,0.544,0.000
$DEVICE_MAMPS,263.848,57.525,1250.210,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,348.294,1686.756,1747.687,1044.235,1151.570,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44689,512
$CAP_FILE_SIZE,122544,0
$CFSIZE,260165632,249835520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,111013,092253,2244.639,-15738.786,41,1.0,41,10.1