version: 66.04
glider: 512
mission: 4
dive: 137
start: 10 11 113 14 13 27
data:
$ID,512
$MISSION,4
$DIVE,137
$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,-109268.06
$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,55
$R_STBD_OVSHOOT,55
$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
$GPS1,140406,2247.136,-15738.592,42,1.4,42,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-81.9
$GPS2,141213,2247.129,-15738.584,14,1.9,14,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.037,0.282
$KALMAN_X,52107.3,-103.9,209.6,-15547.7,-529.3
$KALMAN_Y,36554.0,201.6,834.3,-31963.3,-4179.2
$MHEAD_RNG_PITCHd_Wd,357.4,34319,-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,-136.3,0.0,0.0,0,111,0.00,0.00,-86.53,0.000,2,0.000,0.000,14,2526,3006
$GC,117,-0.45,-136.3,2.4,-2.3,10,146,9.27,1.55,-8.98,0.000,4,0.193,0.056,2539,3544,3448
$GC,266,-0.45,-136.3,46.6,-23.0,27,269,0.00,1.52,0.00,0.000,6,0.000,0.020,2539,2504,3449
$GC,537,-0.45,-136.3,104.8,-18.8,52,541,0.00,1.60,0.00,0.000,4,0.000,0.042,2534,3535,3449
$GC,576,-0.45,-136.3,112.0,-18.5,55,580,0.00,1.50,0.00,0.000,6,0.000,0.020,2534,2489,3449
$GC,848,-0.45,-136.3,158.4,-16.3,80,851,0.00,1.45,0.00,0.000,4,0.000,0.020,2534,1433,3450
$GC,878,-0.45,-136.3,163.4,-14.4,82,886,0.00,1.60,0.00,0.000,6,0.000,0.035,2526,2494,3450
$GC,1173,-0.45,-136.3,207.4,-14.7,107,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2494,3450
$GC,1417,-0.45,-136.3,238.5,-12.4,113,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2494,3450
$GC,1661,-0.45,-136.3,270.3,-13.2,119,1664,0.00,1.62,0.00,0.000,4,0.000,0.048,2523,3560,3449
$GC,1712,-0.45,-136.3,277.8,-12.5,120,1716,0.00,1.50,0.00,0.000,6,0.000,0.019,2523,2496,3449
$GC,2002,-0.45,-136.3,312.8,-11.9,127,2005,0.00,1.42,0.00,0.000,4,0.000,0.021,2523,1464,3449
$GC,2065,-0.45,-136.3,320.7,-11.2,128,2068,0.00,1.58,0.00,0.000,6,0.000,0.039,2523,2500,3449
$GC,2342,-0.45,-136.3,351.7,-11.3,135,2345,0.00,1.60,0.00,0.000,4,0.000,0.050,2522,3569,3447
$GC,2423,-0.45,-136.3,361.0,-10.7,136,2426,0.00,1.50,0.00,0.000,6,0.000,0.021,2522,2511,3446
$GC,2683,-0.45,-136.3,389.1,-10.8,143,2687,0.00,1.48,0.00,0.000,4,0.000,0.023,2522,1450,3444
$GC,2752,-0.45,-136.3,396.0,-8.7,144,2756,0.12,1.60,0.00,0.000,6,0.114,0.040,2551,2522,3444
$GC,3024,-0.45,-136.3,415.1,-7.0,151,3028,0.00,1.58,0.00,0.000,4,0.000,0.050,2545,3555,3441
$GC,3095,-0.45,-136.3,420.5,-7.6,152,3098,0.00,1.48,0.00,0.000,6,0.000,0.023,2545,2511,3440
$GC,3366,-0.45,-136.3,440.7,-7.4,159,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2502,3439
$GC,3610,-0.45,-136.3,456.6,-6.5,165,3614,0.00,1.45,0.00,0.000,4,0.000,0.024,2545,1474,3437
$GC,3669,-0.45,-136.3,460.9,-6.6,166,3673,0.00,1.60,-0.08,0.000,6,0.000,0.044,2538,2535,3461
$GC,3952,-0.45,-136.3,483.2,-8.3,173,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2535,3458
$GC,4195,-0.45,-136.3,505.4,-9.2,179,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2535,3457
$GC,4439,-0.45,-136.3,527.2,-8.8,185,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2535,3455
$GC,4683,-0.45,-136.3,546.6,-7.8,191,4686,0.00,1.58,0.00,0.000,4,0.000,0.053,2531,3554,3453
$GC,4713,-0.45,-136.3,549.4,-8.5,191,4716,0.00,1.50,0.00,0.000,6,0.000,0.025,2530,2516,3453
$GC,4979,-0.45,-136.3,571.9,-8.6,198,4982,0.00,1.62,0.00,0.000,4,0.000,0.051,2524,3564,3452
$GC,5038,-0.45,-136.3,577.4,-8.5,199,5041,0.00,1.50,0.00,0.000,6,0.000,0.025,2524,2520,3451
$GC,5320,-0.45,-136.3,600.9,-8.3,206,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2513,3449
$GC,5564,-0.45,-136.3,621.4,-8.5,212,5568,0.00,1.50,0.00,0.000,4,0.000,0.025,2524,1466,3447
$GC,5639,-0.45,-136.3,628.1,-8.5,213,5642,0.00,1.60,0.00,0.000,6,0.000,0.046,2524,2518,3447
$GC,5906,-0.45,-136.3,652.0,-9.2,220,5909,0.00,1.60,0.00,0.000,4,0.000,0.055,2524,3565,3445
$GC,5942,-0.45,-136.3,655.6,-8.8,220,5946,0.00,1.52,0.00,0.000,6,0.000,0.025,2524,2511,3445
$GC,6202,-0.45,-136.3,678.0,-8.6,227,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2502,3443
$GC,6446,-0.45,-136.3,697.9,-8.1,233,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2502,3442
$GC,6690,-0.45,-136.3,715.9,-7.3,239,6693,0.00,1.50,0.00,0.000,4,0.000,0.027,2524,1458,3440
$GC,6731,-0.45,-136.3,718.9,-6.3,239,6740,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2517,3440
$GC,6986,-0.45,-136.3,736.0,-6.9,246,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2517,3440
$GC,7230,-0.45,-136.3,753.1,-7.1,252,7233,0.00,1.62,0.00,0.000,4,0.000,0.057,2524,3573,3439
$GC,7294,-0.45,-136.3,758.0,-7.5,253,7297,0.00,1.52,0.00,0.000,6,0.000,0.028,2524,2524,3438
$GC,7572,-0.45,-136.3,778.2,-7.5,260,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2516,3438
$GC,7815,-0.45,-136.3,796.0,-7.3,266,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2516,3437
$GC,8059,-0.45,-136.3,813.6,-7.2,272,8062,0.00,1.65,0.00,0.000,4,0.000,0.057,2523,3570,3436
$GC,8095,-0.45,-136.3,816.6,-7.7,272,8099,0.00,1.50,0.00,0.000,6,0.000,0.028,2524,2538,3436
$GC,8355,-0.45,-136.3,834.4,-6.9,279,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2530,3434
$GC,8599,-0.45,-136.3,850.6,-6.7,285,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2530,3433
$GC,8843,-0.45,-136.3,866.6,-6.6,291,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2530,3432
$GC,9087,-0.45,-136.3,883.4,-7.0,297,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2530,3431
$STATE,9325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9325,begin apogee
$GC,9337,-0.18,0.0,900.6,7.1,303,9458,0.35,0.00,118.40,1.264,6,0.096,0.000,2644,2208,2890
$STATE,9458,end apogee,CONTROL_FINISHED_OK
$STATE,9459,begin climb
$GC,9464,0.45,136.3,904.3,0.0,306,9630,0.52,1.67,134.93,1.167,4,0.030,0.028,2883,1176,2334
$GC,9687,0.45,136.3,883.8,17.9,311,9691,0.12,1.70,0.00,0.000,6,0.161,0.041,2847,2236,2328
$GC,9981,0.45,136.3,834.9,16.5,318,9984,0.00,1.65,0.00,0.000,4,0.000,0.048,2847,3295,2323
$GC,10031,0.45,136.3,825.9,17.7,319,10035,0.00,1.62,0.00,0.000,6,0.000,0.027,2852,2206,2321
$GC,10326,0.45,136.3,777.2,16.5,326,10329,0.00,1.73,0.00,0.000,4,0.000,0.049,2852,3294,2319
$GC,10350,0.45,136.3,772.2,17.9,326,10354,0.00,1.60,0.00,0.000,6,0.000,0.027,2860,2232,2320
$GC,10621,0.45,136.3,724.2,17.7,333,10625,0.00,1.67,0.00,0.000,4,0.000,0.050,2860,3294,2319
$GC,10685,0.45,136.3,711.5,19.7,334,10689,0.00,1.58,0.00,0.000,6,0.000,0.028,2868,2242,2319
$GC,10962,0.45,136.3,662.0,17.6,341,10966,0.00,1.58,0.00,0.000,4,0.000,0.029,2876,1160,2318
$GC,11012,0.45,136.3,653.6,16.4,342,11017,0.08,1.70,0.00,0.000,6,0.146,0.043,2850,2243,2318
$GC,11308,0.45,136.3,608.7,14.9,349,11311,0.00,1.62,0.00,0.000,4,0.000,0.050,2850,3301,2317
$GC,11332,0.45,136.3,604.3,15.4,349,11336,0.00,1.60,0.00,0.000,6,0.000,0.028,2856,2232,2316
$GC,11603,0.45,136.3,565.9,14.2,356,11604,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2225,2316
$GC,11846,0.45,136.3,532.4,13.8,362,11850,0.00,1.67,0.00,0.000,4,0.000,0.051,2856,3276,2316
$GC,11956,0.45,136.3,515.1,15.1,364,11960,0.00,1.55,0.00,0.000,6,0.000,0.027,2864,2234,2316
$GC,12233,0.45,136.3,474.1,14.7,371,12237,0.00,1.55,0.00,0.000,4,0.000,0.029,2872,1165,2316
$GC,12290,0.45,136.3,465.6,12.9,372,12294,0.00,1.62,0.00,0.000,6,0.000,0.044,2872,2228,2315
$GC,12574,0.45,136.3,426.2,13.9,379,12578,0.00,1.58,0.00,0.000,4,0.000,0.028,2879,1172,2315
$GC,12654,0.45,136.3,415.0,12.8,380,12658,0.12,1.60,0.00,0.000,6,0.147,0.041,2842,2227,2315
$GC,12913,0.45,136.3,386.2,10.9,387,12917,0.00,1.62,0.00,0.000,4,0.000,0.050,2842,3274,2315
$GC,13011,0.45,136.3,374.3,12.3,389,13015,0.00,1.52,0.00,0.000,6,0.000,0.027,2846,2247,2314
$GC,13299,0.45,136.3,342.8,11.0,396,13303,0.00,1.58,0.00,0.000,4,0.000,0.028,2855,1156,2314
$GC,13369,0.45,136.3,334.6,10.9,397,13373,0.00,1.65,0.00,0.000,6,0.000,0.042,2855,2241,2314
$GC,13641,0.45,136.3,303.7,11.3,404,13642,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2241,2314
$GC,13884,0.45,136.3,277.0,10.8,410,13888,0.00,1.60,0.00,0.000,4,0.000,0.048,2855,3277,2314
$GC,13908,0.46,146.1,274.4,9.6,410,13918,0.00,1.58,6.30,0.717,6,0.000,0.026,2859,2197,2294
$GC,14173,0.47,177.4,251.8,8.8,417,14208,0.00,1.75,28.15,0.811,4,0.000,0.047,2859,3277,2165
$GC,14273,0.47,177.4,241.7,12.1,419,14277,0.00,1.52,0.00,0.000,6,0.000,0.025,2860,2265,2163
$GC,14556,0.47,177.4,210.2,11.6,426,14560,0.00,1.60,0.00,0.000,4,0.000,0.026,2868,1137,2161
$GC,14675,0.47,177.4,197.0,10.3,430,14678,0.00,1.70,0.00,0.000,6,0.000,0.039,2867,2249,2159
$GC,14946,0.47,177.4,168.1,10.3,455,14953,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2249,2159
$GC,15212,0.47,177.4,138.5,11.1,480,15215,0.00,1.58,0.00,0.000,4,0.000,0.045,2863,3279,2160
$GC,15274,0.47,177.4,131.1,12.0,485,15278,0.00,1.55,0.00,0.000,6,0.000,0.024,2869,2222,2159
$GC,15545,0.47,177.4,101.4,10.2,510,15554,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2216,2160
$GC,15812,0.50,247.7,78.6,7.4,535,15881,0.00,1.58,57.15,0.634,4,0.000,0.025,2873,1169,1878
$GC,15923,0.52,302.7,70.2,7.9,544,15979,0.00,1.62,44.72,0.613,6,0.000,0.036,2873,2230,1654
$GC,16236,0.54,362.4,47.0,7.8,572,16292,0.00,1.65,47.33,0.588,4,0.000,0.040,2872,3280,1412
$GC,16357,0.56,398.7,36.7,8.6,581,16399,0.00,1.58,29.98,0.568,6,0.000,0.021,2872,2221,1262
$GC,16691,0.59,473.7,15.7,7.2,626,16761,0.00,1.55,59.17,0.555,4,0.000,0.024,2873,1180,956
$GC,16804,0.62,556.1,9.7,6.9,640,16874,0.00,1.62,64.45,0.541,6,0.000,0.029,2872,2240,621
$STATE,16881,end climb,SURFACE_DEPTH_REACHED
$STATE,16881,begin surface coast
$FINISH,0.4,1.007926
$STATE,16914,end surface coast,CONTROL_FINISHED_OK
$STATE,16914,begin surface
$SM_CCo,17000,0.00,0.000,0,0,618,557.31
$SM_GC,1.42,7.35,0.00,0.00,0.024,0.000,0.000,22,2519,618,-8.22,0.68,557.31
$IRIDIUM_FIX,2237.01,-15740.24,050103,090926
$TT8_MAMPS,0.02301
$HUMID,2156
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,26.50
$XPDR_PINGS,3
$24V_AH,23.9,23.048
$10V_AH,10.6,24.584
$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,17.950,108.450,590.575,0.000,0.000,29.205,32.983,245.138,0.750,0.000,0.000,14.565,1350.939,11359.864,529.645,3332.308,922.886,33.367,1655.568,0.000,3334.015,0.000,0.545,0.000
$DEVICE_MAMPS,193.284,56.758,1264.016,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,443.736,2154.595,2228.761,1329.196,1476.398,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54067,654
$CAP_FILE_SIZE,129697,0
$CFSIZE,260165632,249688064
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,111013,185806,2249.212,-15738.352,36,0.9,36,10.1