version: 66.04
glider: 512
mission: 4
dive: 136
start: 10 11 113 9 31 49
data:
$ID,512
$MISSION,4
$DIVE,136
$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,140
$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,-109252.87
$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
$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,81
$R_STBD_OVSHOOT,46
$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
$GPS1,092253,2244.639,-15738.786,41,1.0,41,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-82.7
$GPS2,093036,2244.666,-15738.750,12,1.0,17,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.015,0.284
$KALMAN_X,52336.1,-238.3,100.2,-15810.8,14.9
$KALMAN_Y,38510.3,-495.2,17.1,-36939.4,-3239.6
$MHEAD_RNG_PITCHd_Wd,352.8,38871,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.45,-136.3,0.0,0.0,0,88,0.00,0.00,-68.05,0.000,2,0.000,0.000,11,2538,2900
$GC,94,-0.45,-136.3,2.0,-1.8,8,123,9.35,1.55,-12.00,0.000,4,0.199,0.058,2535,3549,3447
$GC,231,-0.45,-136.3,40.1,-22.7,25,235,0.00,1.50,0.00,0.000,6,0.000,0.021,2535,2521,3448
$GC,502,-0.45,-136.3,103.8,-19.3,50,506,0.00,1.50,0.00,0.000,4,0.000,0.021,2535,1440,3448
$GC,545,-0.45,-136.3,112.5,-17.7,53,553,0.00,1.60,0.00,0.000,6,0.000,0.038,2528,2487,3448
$GC,810,-0.45,-136.3,160.6,-16.9,78,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2488,3449
$GC,1095,-0.45,-136.3,206.4,-15.3,102,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2488,3449
$GC,1339,-0.45,-136.3,241.8,-14.2,108,1342,0.00,1.62,0.00,0.000,4,0.000,0.045,2523,3576,3450
$GC,1363,-0.45,-136.3,245.7,-13.6,108,1367,0.00,1.55,0.00,0.000,6,0.000,0.020,2523,2476,3449
$GC,1636,-0.45,-136.3,279.4,-12.5,115,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2469,3449
$GC,1879,-0.45,-136.3,309.8,-12.3,121,1882,0.00,1.65,0.00,0.000,4,0.000,0.044,2515,3565,3449
$GC,1953,-0.45,-136.3,319.2,-11.1,122,1957,0.08,1.45,0.00,0.000,6,0.112,0.021,2543,2520,3448
$GC,2220,-0.45,-136.3,342.6,-8.6,129,2223,0.00,1.45,0.00,0.000,4,0.000,0.021,2545,1463,3447
$GC,2271,-0.45,-136.3,346.8,-7.8,130,2274,0.00,1.62,0.00,0.000,6,0.000,0.039,2539,2553,3447
$GC,2565,-0.45,-136.3,372.5,-8.9,137,2569,0.00,1.52,0.00,0.000,4,0.000,0.048,2533,3559,3444
$GC,2628,-0.45,-136.3,378.8,-9.2,138,2632,0.00,1.45,0.00,0.000,6,0.000,0.021,2533,2536,3444
$GC,2906,-0.45,-136.3,407.1,-10.5,145,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2528,3441
$GC,3151,-0.45,-136.3,431.7,-10.1,151,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2528,3440
$GC,3395,-0.45,-136.3,455.8,-9.8,157,3398,0.00,1.50,0.00,0.000,4,0.000,0.023,2533,1459,3439
$GC,3489,-0.45,-136.3,465.1,-9.1,159,3493,0.00,1.65,0.00,0.000,6,0.000,0.042,2526,2533,3438
$GC,3785,-0.45,-136.3,492.6,-9.3,166,3786,0.00,0.00,-0.08,0.000,6,0.000,0.000,2526,2533,3461
$GC,4028,-0.45,-136.3,514.0,-8.8,172,4032,0.00,1.58,0.00,0.000,4,0.000,0.051,2523,3556,3459
$GC,4078,-0.45,-136.3,518.5,-8.0,173,4082,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2536,3458
$GC,4372,-0.45,-136.3,544.9,-9.0,180,4376,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1449,3456
$GC,4414,-0.45,-136.3,548.9,-8.5,180,4423,0.00,1.67,0.00,0.000,6,0.000,0.045,2523,2532,3456
$GC,4670,-0.45,-136.3,572.1,-9.3,187,4674,0.00,1.60,0.00,0.000,4,0.000,0.053,2523,3565,3454
$GC,4755,-0.45,-136.3,580.3,-9.0,188,4763,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2533,3454
$GC,5011,-0.45,-136.3,602.9,-9.0,195,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2532,3452
$GC,5254,-0.45,-136.3,623.4,-8.3,201,5257,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3566,3450
$GC,5295,-0.45,-136.3,627.0,-8.1,201,5304,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2535,3450
$GC,5551,-0.45,-136.3,646.5,-7.7,208,5555,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1474,3448
$GC,5587,-0.45,-136.3,649.7,-8.0,208,5591,0.00,1.67,0.00,0.000,6,0.000,0.047,2523,2552,3448
$GC,5848,-0.45,-136.3,668.5,-7.2,215,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2552,3446
$GC,6091,-0.45,-136.3,685.8,-7.1,221,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2552,3445
$GC,6335,-0.45,-136.3,703.4,-7.3,227,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2552,3443
$GC,6578,-0.45,-136.3,721.4,-7.5,233,6582,0.00,1.58,0.00,0.000,4,0.000,0.027,2524,1463,3442
$GC,6642,-0.45,-136.3,726.5,-7.7,234,6645,0.00,1.65,0.00,0.000,6,0.000,0.046,2523,2544,3442
$GC,6920,-0.45,-136.3,748.5,-8.4,241,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2544,3440
$GC,7164,-0.45,-136.3,769.2,-8.6,247,7167,0.00,1.60,0.00,0.000,4,0.000,0.057,2523,3582,3439
$GC,7214,-0.45,-136.3,773.5,-8.4,248,7217,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2571,3440
$GC,7508,-0.45,-136.3,797.4,-8.2,255,7511,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1470,3439
$GC,7578,-0.45,-136.3,803.5,-8.2,256,7582,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2547,3438
$GC,7850,-0.45,-136.3,823.8,-7.5,263,7854,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3581,3438
$GC,7902,-0.45,-136.3,828.0,-7.3,264,7906,0.00,1.50,0.00,0.000,6,0.000,0.029,2523,2552,3438
$GC,8192,-0.45,-136.3,847.9,-6.9,271,8195,0.00,1.52,0.00,0.000,4,0.000,0.028,2523,1491,3437
$GC,8222,-0.45,-136.3,850.2,-7.1,271,8226,0.00,1.65,0.00,0.000,6,0.000,0.049,2523,2545,3437
$GC,8488,-0.45,-136.3,867.7,-6.7,278,8492,0.00,1.60,0.00,0.000,4,0.000,0.058,2524,3558,3435
$GC,8524,-0.45,-136.3,870.1,-6.7,278,8527,0.00,1.45,0.00,0.000,6,0.000,0.029,2523,2564,3435
$GC,8784,-0.45,-136.3,885.8,-6.0,285,8788,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1488,3434
$GC,8836,-0.45,-136.3,888.9,-5.8,286,8839,0.00,1.62,0.00,0.000,6,0.000,0.048,2523,2542,3434
$STATE,9043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9043,begin apogee
$GC,9055,-0.18,0.0,900.8,5.5,291,9175,0.35,0.00,118.03,1.269,6,0.097,0.000,2643,2241,2890
$STATE,9176,end apogee,CONTROL_FINISHED_OK
$STATE,9176,begin climb
$GC,9181,0.45,136.3,902.8,0.0,294,9346,0.52,1.65,134.07,1.167,4,0.028,0.028,2884,1176,2335
$GC,9438,0.45,136.3,871.3,19.4,299,9447,0.10,1.70,0.00,0.000,6,0.150,0.041,2852,2221,2327
$GC,9693,0.45,136.3,826.6,17.5,306,9697,0.00,1.67,0.00,0.000,4,0.000,0.050,2850,3289,2324
$GC,9734,0.45,136.3,818.4,19.7,306,9743,0.00,1.60,0.00,0.000,6,0.000,0.027,2856,2234,2323
$GC,9989,0.45,136.3,774.0,17.5,313,9993,0.00,1.67,0.00,0.000,4,0.000,0.049,2856,3293,2322
$GC,10019,0.45,136.3,768.0,18.0,313,10023,0.00,1.60,0.00,0.000,6,0.000,0.027,2864,2228,2321
$GC,10285,0.45,136.3,721.8,17.7,320,10288,0.00,1.55,0.00,0.000,4,0.000,0.030,2871,1172,2321
$GC,10314,0.45,136.3,715.9,17.6,320,10318,0.00,1.67,0.00,0.000,6,0.000,0.043,2871,2240,2320
$GC,10580,0.45,136.3,670.4,17.3,327,10583,0.00,1.60,0.00,0.000,4,0.000,0.030,2878,1161,2320
$GC,10615,0.45,136.3,663.7,17.6,327,10619,0.12,1.65,0.00,0.000,6,0.156,0.044,2845,2235,2319
$GC,10876,0.45,136.3,624.5,15.1,334,10879,0.00,1.62,0.00,0.000,4,0.000,0.050,2845,3296,2318
$GC,10933,0.45,136.3,614.4,16.0,335,10937,0.00,1.55,0.00,0.000,6,0.000,0.028,2847,2259,2318
$GC,11215,0.45,136.3,570.3,15.6,342,11218,0.00,1.62,0.00,0.000,4,0.000,0.049,2847,3296,2318
$GC,11245,0.45,136.3,565.1,16.9,342,11248,0.00,1.52,0.00,0.000,6,0.000,0.027,2854,2264,2317
$GC,11511,0.45,136.3,525.0,14.9,349,11515,0.00,1.62,0.00,0.000,4,0.000,0.049,2855,3306,2318
$GC,11591,0.45,136.3,512.7,14.3,350,11595,0.00,1.50,0.00,0.000,6,0.000,0.028,2861,2297,2317
$GC,11851,0.45,136.3,479.6,12.5,357,11855,0.00,1.65,0.00,0.000,4,0.000,0.031,2868,1166,2317
$GC,11904,0.45,136.3,473.3,10.5,358,11908,0.00,1.73,0.00,0.000,6,0.000,0.044,2868,2275,2317
$GC,12193,0.45,136.3,439.3,12.4,365,12196,0.00,1.65,0.00,0.000,4,0.000,0.029,2874,1160,2317
$GC,12222,0.45,136.3,435.1,13.7,365,12226,0.00,1.70,0.00,0.000,6,0.000,0.044,2874,2271,2316
$GC,12488,0.45,136.3,399.4,13.6,372,12492,0.00,1.58,0.00,0.000,4,0.000,0.051,2873,3284,2317
$GC,12614,0.45,136.3,380.7,14.4,374,12618,0.10,1.45,0.00,0.000,6,0.183,0.027,2851,2305,2316
$GC,12874,0.45,136.3,349.6,12.1,381,12875,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2299,2316
$GC,13117,0.45,136.3,321.7,11.3,387,13121,0.00,1.62,0.00,0.000,4,0.000,0.029,2857,1166,2316
$GC,13170,0.46,158.4,316.4,9.2,388,13194,0.00,1.75,17.35,0.858,6,0.000,0.041,2856,2322,2243
$GC,13456,0.46,158.4,287.0,10.8,395,13459,0.00,1.70,0.00,0.000,4,0.000,0.028,2860,1162,2240
$GC,13497,0.48,192.9,282.9,8.7,395,13534,0.00,1.80,30.40,0.835,6,0.000,0.041,2860,2314,2102
$GC,13797,0.48,192.9,246.1,13.1,403,13801,0.00,1.50,0.00,0.000,4,0.000,0.048,2860,3278,2097
$GC,13821,0.48,192.9,242.2,13.2,403,13824,0.00,1.45,0.00,0.000,6,0.000,0.025,2867,2302,2096
$GC,14092,0.48,192.9,209.9,11.5,410,14096,0.00,1.62,0.00,0.000,4,0.000,0.028,2870,1163,2096
$GC,14161,0.48,192.9,202.3,10.4,411,14165,0.00,1.75,0.00,0.000,6,0.000,0.040,2870,2309,2095
$GC,14433,0.48,192.9,170.4,11.7,435,14442,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2309,2095
$GC,14699,0.48,192.9,137.5,11.6,460,14703,0.00,1.50,0.00,0.000,4,0.000,0.044,2869,3291,2095
$GC,14738,0.48,192.9,132.7,12.7,463,14742,0.00,1.45,0.00,0.000,6,0.000,0.022,2877,2297,2095
$GC,15010,0.48,192.9,101.9,10.1,488,15013,0.00,1.62,0.00,0.000,4,0.000,0.025,2885,1135,2095
$GC,15064,0.48,192.9,96.0,10.1,492,15074,0.10,1.83,0.00,0.000,6,0.108,0.039,2849,2323,2095
$GC,15336,0.54,341.5,79.4,4.4,517,15461,0.00,1.75,118.25,0.628,4,0.000,0.023,2849,1155,1496
$GC,15518,0.60,489.2,70.6,4.5,530,15643,0.12,1.70,116.72,0.603,6,0.064,0.031,2898,2266,892
$GC,15900,0.60,489.2,34.8,13.4,563,15903,0.00,1.55,0.00,0.000,4,0.000,0.039,2898,3278,889
$GC,15942,0.60,489.2,29.4,12.5,566,15951,0.00,1.55,0.00,0.000,6,0.000,0.022,2902,2231,889
$STATE,16140,end climb,SURFACE_DEPTH_REACHED
$STATE,16140,begin surface coast
$FINISH,0.4,1.023091
$STATE,16167,end surface coast,CONTROL_FINISHED_OK
$STATE,16167,begin surface
$SM_CCo,16252,0.00,0.000,0,0,887,491.33
$SM_GC,1.19,7.20,0.00,0.00,0.019,0.000,0.000,16,2522,887,-8.23,0.62,491.33
$IRIDIUM_FIX,2234.68,-15745.45,050103,050538
$TT8_MAMPS,0.023777
$HUMID,2223
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.90
$XPDR_PINGS,5
$24V_AH,23.9,22.887
$10V_AH,10.7,24.366
$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,18.050,121.775,534.825,0.000,0.000,25.523,35.304,217.812,1.250,0.000,0.000,18.106,1295.279,10890.352,507.208,3146.448,886.977,33.368,1580.881,0.000,3130.375,0.000,0.543,0.000
$DEVICE_MAMPS,198.653,58.292,1269.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,408.559,1979.968,2046.997,1273.455,1310.514,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51055,601
$CAP_FILE_SIZE,127588,0
$CFSIZE,260165632,249753600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,111013,140406,2247.136,-15738.592,42,1.4,42,10.1