version: 66.04
glider: 512
mission: 4
dive: 138
start: 10 11 113 19 16 8
data:
$ID,512
$MISSION,4
$DIVE,138
$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,-109285.88
$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,68
$R_STBD_OVSHOOT,49
$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
$GPS1,185806,2249.212,-15738.352,36,0.9,36,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-81.2
$GPS2,191454,2249.191,-15738.425,12,2.0,17,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.002,0.285
$KALMAN_X,51954.8,159.5,-297.4,-14880.2,462.9
$KALMAN_Y,35311.7,1347.2,-200.3,-27012.8,-2612.2
$MHEAD_RNG_PITCHd_Wd,349.5,30508,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.45,-136.3,0.0,0.0,0,114,0.00,0.00,-93.97,0.000,2,0.000,0.000,12,2518,2942
$GC,120,-0.45,-136.3,2.2,-1.9,11,148,9.32,1.55,-10.95,0.000,4,0.196,0.053,2539,3549,3443
$GC,410,-0.45,-136.3,73.5,-19.2,41,413,0.00,1.50,0.00,0.000,6,0.000,0.019,2539,2499,3444
$GC,682,-0.45,-136.3,121.8,-16.7,66,685,0.00,1.45,0.00,0.000,4,0.000,0.019,2539,1440,3445
$GC,756,-0.45,-136.3,133.1,-13.7,72,759,0.00,1.58,0.00,0.000,6,0.000,0.038,2537,2477,3445
$GC,1028,-0.45,-136.3,174.3,-15.4,97,1031,0.00,1.62,0.00,0.000,4,0.000,0.044,2528,3573,3445
$GC,1111,-0.45,-136.3,187.1,-14.0,104,1114,0.00,1.55,0.00,0.000,6,0.000,0.019,2528,2481,3444
$GC,1404,-0.45,-136.3,233.7,-15.5,117,1408,0.00,1.40,0.00,0.000,4,0.000,0.020,2529,1451,3443
$GC,1456,-0.45,-136.3,240.3,-12.7,118,1459,0.00,1.58,0.00,0.000,6,0.000,0.038,2524,2489,3444
$GC,1749,-0.45,-136.3,279.0,-12.7,125,1753,0.00,1.62,0.00,0.000,4,0.000,0.046,2516,3562,3442
$GC,1812,-0.45,-136.3,286.9,-11.4,126,1817,0.08,1.50,0.00,0.000,6,0.132,0.019,2544,2482,3443
$GC,2091,-0.45,-136.3,312.6,-9.2,133,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2474,3441
$GC,2336,-0.45,-136.3,334.5,-8.9,139,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2474,3439
$GC,2579,-0.45,-136.3,357.8,-9.8,145,2583,0.00,1.65,0.00,0.000,4,0.000,0.046,2537,3565,3438
$GC,2609,-0.45,-136.3,361.2,-10.0,145,2613,0.00,1.50,0.00,0.000,6,0.000,0.021,2537,2502,3438
$GC,2875,-0.45,-136.3,386.8,-9.8,152,2880,0.00,1.45,-0.08,0.000,4,0.000,0.041,2537,1464,3457
$GC,2926,-0.45,-136.3,391.6,-9.7,153,2929,0.00,1.58,0.00,0.000,6,0.000,0.041,2537,2493,3457
$GC,3221,-0.45,-136.3,419.5,-9.6,160,3224,0.00,1.62,0.00,0.000,4,0.000,0.049,2529,3572,3455
$GC,3316,-0.45,-136.3,428.8,-9.9,162,3319,0.00,1.52,0.00,0.000,6,0.000,0.022,2528,2505,3454
$GC,3610,-0.45,-136.3,458.1,-10.1,169,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2497,3452
$GC,3856,-0.45,-136.3,480.9,-9.1,175,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2497,3450
$GC,4100,-0.45,-136.3,500.9,-8.1,181,4103,0.00,1.62,0.00,0.000,4,0.000,0.049,2523,3559,3447
$GC,4150,-0.45,-136.3,505.3,-8.1,182,4154,0.00,1.52,0.00,0.000,6,0.000,0.024,2524,2502,3447
$GC,4444,-0.45,-136.3,532.9,-9.6,189,4448,0.00,1.48,0.00,0.000,4,0.000,0.025,2523,1454,3444
$GC,4508,-0.45,-136.3,539.1,-8.8,190,4512,0.00,1.60,0.00,0.000,6,0.000,0.044,2523,2512,3444
$GC,4786,-0.45,-136.3,562.9,-8.5,197,4790,0.00,1.62,0.00,0.000,4,0.000,0.054,2523,3560,3441
$GC,4906,-0.45,-136.3,573.6,-8.7,199,4910,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2517,3440
$GC,5172,-0.45,-136.3,597.7,-9.3,206,5176,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1457,3439
$GC,5223,-0.45,-136.3,602.5,-9.4,207,5227,0.00,1.62,0.00,0.000,6,0.000,0.046,2523,2525,3439
$GC,5518,-0.45,-136.3,629.8,-9.1,214,5522,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1444,3438
$GC,5554,-0.45,-136.3,633.2,-8.1,214,5558,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2495,3437
$GC,5814,-0.45,-136.3,653.7,-7.9,221,5818,0.00,1.62,0.00,0.000,4,0.000,0.054,2523,3559,3435
$GC,5884,-0.45,-136.3,659.0,-7.9,222,5887,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2505,3435
$GC,6156,-0.45,-136.3,678.5,-7.4,229,6160,0.00,1.48,0.00,0.000,4,0.000,0.026,2523,1455,3432
$GC,6207,-0.45,-136.3,682.3,-7.5,230,6210,0.00,1.62,0.00,0.000,6,0.000,0.048,2523,2517,3432
$GC,6501,-0.45,-136.3,704.8,-7.8,237,6504,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3563,3430
$GC,6552,-0.45,-136.3,708.9,-7.4,238,6555,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2512,3430
$GC,6846,-0.45,-136.3,734.0,-8.6,245,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2504,3429
$GC,7090,-0.45,-136.3,754.7,-8.4,251,7093,0.00,1.65,0.00,0.000,4,0.000,0.055,2523,3566,3428
$GC,7155,-0.45,-136.3,759.9,-7.5,252,7158,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2532,3428
$GC,7433,-0.45,-136.3,780.1,-7.2,259,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3427
$GC,7677,-0.45,-136.3,796.2,-6.6,265,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3425
$GC,7920,-0.45,-136.3,811.8,-6.3,271,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3424
$GC,8164,-0.45,-136.3,827.6,-6.7,277,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3422
$GC,8407,-0.45,-136.3,844.1,-6.7,283,8411,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3562,3421
$GC,8443,-0.45,-136.3,846.9,-7.1,283,8447,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2518,3421
$GC,8704,-0.45,-136.3,864.4,-6.9,290,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2510,3421
$GC,8948,-0.45,-136.3,880.3,-6.5,296,8951,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1447,3420
$GC,8984,-0.45,-136.3,883.1,-6.8,296,8987,0.00,1.67,0.00,0.000,6,0.000,0.051,2523,2533,3420
$STATE,9239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9239,begin apogee
$GC,9250,-0.18,0.0,901.0,7.0,303,9369,0.35,0.00,115.53,1.266,6,0.095,0.000,2644,2212,2891
$STATE,9369,end apogee,CONTROL_FINISHED_OK
$STATE,9370,begin climb
$GC,9375,0.45,136.3,904.5,0.0,306,9541,0.52,1.67,135.07,1.164,4,0.030,0.028,2884,1176,2334
$GC,9588,0.45,136.3,884.0,18.3,310,9596,0.12,1.73,0.00,0.000,6,0.144,0.040,2847,2232,2328
$GC,9843,0.45,136.3,841.9,16.8,317,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2231,2323
$GC,10086,0.45,136.3,802.6,16.0,323,10090,0.00,1.65,0.00,0.000,4,0.000,0.049,2847,3276,2322
$GC,10122,0.45,136.3,795.9,17.4,323,10126,0.00,1.58,0.00,0.000,6,0.000,0.026,2853,2230,2321
$GC,10382,0.45,136.3,753.2,16.5,330,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2223,2319
$GC,10626,0.45,136.3,714.0,16.1,336,10629,0.00,1.65,0.00,0.000,4,0.000,0.048,2851,3279,2319
$GC,10679,0.45,136.3,704.7,16.3,337,10682,0.00,1.55,0.00,0.000,6,0.000,0.028,2857,2250,2319
$GC,10967,0.45,136.3,657.9,16.1,344,10971,0.00,1.60,0.00,0.000,4,0.000,0.031,2865,1158,2318
$GC,11024,0.45,136.3,648.8,14.5,345,11028,0.00,1.70,0.00,0.000,6,0.000,0.044,2865,2243,2318
$GC,11308,0.45,136.3,603.8,16.3,352,11311,0.00,1.62,0.00,0.000,4,0.000,0.051,2863,3303,2317
$GC,11344,0.45,136.3,596.9,18.1,352,11347,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2214,2318
$GC,11604,0.45,136.3,556.7,15.4,359,11605,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2208,2317
$GC,11847,0.45,136.3,518.1,16.3,365,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2208,2317
$GC,12091,0.45,136.3,479.2,15.8,371,12095,0.00,1.70,0.00,0.000,4,0.000,0.047,2864,3286,2316
$GC,12115,0.45,136.3,475.0,15.8,371,12119,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2256,2315
$GC,12387,0.45,136.3,434.6,15.1,378,12390,0.00,1.62,0.00,0.000,4,0.000,0.049,2870,3297,2316
$GC,12437,0.45,136.3,427.0,15.8,379,12442,0.08,1.52,0.00,0.000,6,0.196,0.026,2846,2269,2316
$GC,12731,0.45,136.3,390.3,11.6,386,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2262,2315
$GC,12975,0.45,136.3,361.2,12.0,392,12979,0.00,1.60,0.00,0.000,4,0.000,0.031,2847,1170,2315
$GC,13032,0.45,136.3,354.3,10.8,393,13036,0.00,1.67,0.00,0.000,6,0.000,0.041,2847,2275,2315
$GC,13316,0.45,136.3,322.3,11.3,400,13320,0.00,1.58,0.00,0.000,4,0.000,0.050,2847,3291,2315
$GC,13380,0.45,136.3,314.4,11.8,401,13383,0.00,1.48,0.00,0.000,6,0.000,0.025,2854,2285,2315
$GC,13657,0.45,136.3,285.0,10.3,408,13658,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2279,2315
$GC,13900,0.46,156.2,261.9,9.3,414,13919,0.00,0.00,15.30,0.802,6,0.000,0.000,2855,2279,2252
$GC,14194,0.46,161.9,235.2,9.8,421,14204,0.00,1.60,6.12,0.671,4,0.000,0.027,2856,1149,2229
$GC,14392,0.48,192.8,216.1,8.8,425,14424,0.00,1.67,27.35,0.768,6,0.000,0.038,2856,2255,2102
$GC,14691,0.48,192.8,184.6,10.9,442,14694,0.00,1.58,0.00,0.000,4,0.000,0.044,2856,3278,2098
$GC,14763,0.48,192.8,175.5,11.5,448,14767,0.00,1.50,0.00,0.000,6,0.000,0.025,2860,2269,2098
$GC,15036,0.48,192.8,144.9,10.9,473,15043,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2264,2097
$GC,15301,0.48,192.8,116.8,10.1,498,15305,0.00,1.60,0.00,0.000,4,0.000,0.025,2868,1148,2097
$GC,15432,0.51,271.3,105.5,7.1,509,15501,0.00,1.73,63.58,0.654,6,0.000,0.037,2868,2272,1783
$GC,15769,0.55,368.4,76.8,6.4,539,15849,0.00,0.00,76.62,0.615,6,0.000,0.000,2868,2272,1387
$GC,16110,0.59,470.9,55.0,6.2,571,16200,0.00,0.00,80.35,0.585,6,0.000,0.000,2868,2272,971
$GC,16466,0.59,470.9,24.7,11.0,607,16475,0.00,1.65,0.00,0.000,4,0.000,0.024,2868,1157,967
$GC,16635,0.59,470.9,4.8,10.9,633,16644,0.00,1.67,0.00,0.000,6,0.000,0.030,2868,2267,968
$STATE,16651,end climb,SURFACE_DEPTH_REACHED
$STATE,16651,begin surface coast
$FINISH,0.5,0.997801
$STATE,16684,end surface coast,CONTROL_FINISHED_OK
$STATE,16684,begin surface
$SM_CCo,16769,0.00,0.000,0,0,966,471.95
$SM_GC,1.43,7.18,0.00,0.00,0.023,0.000,0.000,17,2521,966,-8.24,0.59,471.95
$IRIDIUM_FIX,2239.35,-15739.35,050103,191929
$TT8_MAMPS,0.023777
$HUMID,2185
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.40
$XPDR_PINGS,3
$24V_AH,24.0,23.219
$10V_AH,10.7,24.802
$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,17.650,102.050,519.925,0.000,0.000,86.328,106.865,492.380,0.750,0.000,0.000,17.183,1346.987,11344.764,484.822,3309.075,1300.934,33.360,1560.672,0.000,3295.268,0.000,0.545,0.000
$DEVICE_MAMPS,196.352,57.525,1265.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,435.118,2105.338,2174.623,1266.257,1438.210,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54265,640
$CAP_FILE_SIZE,134120,0
$CFSIZE,260165632,249614336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,111013,235705,2251.978,-15738.209,40,1.0,45,10.1