version: 66.04
glider: 512
mission: 4
dive: 139
start: 10 12 113 0 10 19
data:
$ID,512
$MISSION,4
$DIVE,139
$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,-109306.14
$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,54
$R_STBD_OVSHOOT,47
$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
$GPS1,235705,2251.978,-15738.209,40,1.0,45,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-82.5
$GPS2,000906,2252.045,-15738.160,14,1.0,19,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.063,0.278
$KALMAN_X,51765.4,228.2,310.4,-14914.8,-1025.3
$KALMAN_Y,34696.7,1368.2,657.8,-21993.7,-4400.6
$MHEAD_RNG_PITCHd_Wd,2.7,25226,-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,-136.3,0.0,0.0,0,104,0.00,0.00,-84.35,0.000,2,0.000,0.000,13,2524,3019
$GC,110,-0.45,-136.3,2.4,-2.3,10,139,9.30,1.55,-8.75,0.000,4,0.196,0.055,2535,3547,3449
$GC,271,-0.45,-136.3,50.0,-22.9,28,275,0.00,1.52,0.00,0.000,6,0.000,0.021,2536,2493,3449
$GC,543,-0.45,-136.3,117.0,-18.3,53,547,0.00,1.45,0.00,0.000,4,0.000,0.021,2536,1444,3449
$GC,594,-0.45,-136.3,125.5,-15.5,57,597,0.00,1.58,0.00,0.000,6,0.000,0.039,2536,2474,3449
$GC,866,-0.45,-136.3,170.8,-16.0,82,869,0.00,1.62,0.00,0.000,4,0.000,0.044,2528,3566,3450
$GC,917,-0.45,-136.3,179.4,-14.9,86,923,0.00,1.50,0.00,0.000,6,0.000,0.018,2528,2515,3450
$GC,1178,-0.45,-136.3,220.0,-16.0,102,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2508,3450
$GC,1421,-0.45,-136.3,254.0,-13.0,108,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2508,3450
$GC,1665,-0.45,-136.3,284.7,-12.4,114,1668,0.00,1.48,0.00,0.000,4,0.000,0.020,2528,1438,3449
$GC,1813,-0.45,-136.3,300.4,-9.9,117,1816,0.00,1.62,0.00,0.000,6,0.000,0.038,2523,2529,3449
$GC,2096,-0.45,-136.3,332.6,-11.5,124,2100,0.00,1.58,0.00,0.000,4,0.000,0.046,2516,3569,3448
$GC,2176,-0.45,-136.3,342.9,-11.7,125,2180,0.08,1.50,0.00,0.000,6,0.117,0.020,2557,2495,3446
$GC,2436,-0.45,-136.3,364.6,-8.2,132,2440,0.00,1.40,0.00,0.000,4,0.000,0.021,2558,1467,3445
$GC,2487,-0.45,-136.3,368.7,-7.8,133,2491,0.00,1.60,0.00,0.000,6,0.000,0.039,2553,2521,3444
$GC,2781,-0.45,-136.3,394.4,-8.9,140,2785,0.00,1.58,0.00,0.000,4,0.000,0.048,2545,3557,3442
$GC,2839,-0.45,-136.3,399.8,-8.3,141,2843,0.00,1.45,0.00,0.000,6,0.000,0.022,2545,2530,3442
$GC,3123,-0.45,-136.3,424.6,-8.7,148,3127,0.00,1.48,0.00,0.000,4,0.000,0.022,2545,1461,3439
$GC,3153,-0.45,-136.3,427.5,-8.9,148,3157,0.00,1.62,0.00,0.000,6,0.000,0.043,2537,2525,3439
$GC,3419,-0.45,-136.3,450.6,-8.7,155,3423,0.00,1.58,-0.08,0.000,4,0.000,0.071,2537,3558,3461
$GC,3472,-0.45,-136.3,455.2,-7.8,156,3475,0.00,1.45,0.00,0.000,6,0.000,0.023,2536,2536,3460
$GC,3761,-0.45,-136.3,478.1,-8.0,163,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2527,3458
$GC,4006,-0.45,-136.3,497.8,-8.2,169,4010,0.00,1.50,0.00,0.000,4,0.000,0.024,2537,1473,3457
$GC,4049,-0.45,-136.3,501.9,-8.4,169,4057,0.00,1.62,0.00,0.000,6,0.000,0.045,2536,2529,3457
$GC,4304,-0.45,-136.3,524.1,-9.0,176,4307,0.00,1.60,0.00,0.000,4,0.000,0.052,2531,3584,3454
$GC,4362,-0.45,-136.3,529.6,-8.3,177,4365,0.00,1.50,0.00,0.000,6,0.000,0.025,2531,2539,3453
$GC,4646,-0.45,-136.3,553.5,-8.4,184,4649,0.00,1.52,0.00,0.000,4,0.000,0.024,2531,1458,3452
$GC,4687,-0.45,-136.3,557.5,-8.3,184,4695,0.00,1.67,0.00,0.000,6,0.000,0.044,2524,2543,3452
$GC,4942,-0.45,-136.3,580.1,-9.2,191,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2543,3449
$GC,5186,-0.45,-136.3,602.8,-9.4,197,5190,0.00,1.55,0.00,0.000,4,0.000,0.025,2524,1459,3447
$GC,5221,-0.45,-136.3,606.4,-10.3,197,5225,0.00,1.65,0.00,0.000,6,0.000,0.045,2524,2543,3447
$GC,5482,-0.45,-136.3,630.0,-9.2,204,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2543,3445
$GC,5726,-0.45,-136.3,651.1,-8.4,210,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2543,3444
$GC,5969,-0.45,-136.3,670.2,-7.7,216,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2543,3442
$GC,6213,-0.45,-136.3,687.3,-7.1,222,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2543,3441
$GC,6457,-0.45,-136.3,704.2,-7.0,228,6460,0.00,1.58,0.00,0.000,4,0.000,0.056,2523,3553,3440
$GC,6532,-0.45,-136.3,709.8,-6.7,229,6536,0.00,1.48,0.00,0.000,6,0.000,0.027,2523,2536,3439
$GC,6798,-0.45,-136.3,729.0,-7.6,236,6802,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1466,3438
$GC,6828,-0.45,-136.3,731.6,-8.0,236,6832,0.00,1.65,0.00,0.000,6,0.000,0.047,2523,2545,3438
$GC,7095,-0.45,-136.3,752.4,-8.0,243,7098,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3552,3438
$GC,7159,-0.45,-136.3,757.9,-8.4,244,7162,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2533,3437
$GC,7437,-0.45,-136.3,780.7,-8.5,251,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2525,3436
$GC,7680,-0.45,-136.3,801.4,-8.5,257,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2525,3434
$GC,7923,-0.45,-136.3,821.7,-8.3,263,7927,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1463,3433
$GC,7959,-0.45,-136.3,825.1,-8.2,263,7963,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2553,3433
$GC,8220,-0.45,-136.3,845.6,-7.9,270,8223,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3556,3431
$GC,8271,-0.45,-136.3,849.6,-7.6,271,8275,0.00,1.48,0.00,0.000,6,0.000,0.028,2522,2546,3431
$GC,8566,-0.45,-136.3,871.4,-7.2,278,8569,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1457,3430
$GC,8635,-0.45,-136.3,876.8,-7.9,279,8638,0.00,1.67,0.00,0.000,6,0.000,0.050,2523,2545,3430
$GC,8908,-0.45,-136.3,895.9,-7.1,286,8911,0.00,1.60,0.00,0.000,4,0.000,0.059,2523,3576,3429
$STATE,8960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8960,begin apogee
$GC,8974,-0.18,0.0,900.4,6.4,287,9094,0.30,0.00,116.97,1.265,6,0.098,0.000,2634,2221,2890
$STATE,9095,end apogee,CONTROL_FINISHED_OK
$STATE,9095,begin climb
$GC,9100,0.45,136.3,904.0,0.0,290,9258,0.55,0.00,134.62,1.164,6,0.036,0.000,2862,2220,2334
$GC,9520,0.45,136.3,846.9,18.2,300,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2221,2324
$GC,9764,0.45,136.3,803.3,17.8,306,9768,0.00,1.67,0.00,0.000,4,0.000,0.049,2862,3284,2322
$GC,9800,0.45,136.3,796.0,19.3,306,9803,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2212,2320
$GC,10061,0.45,136.3,748.1,18.8,313,10064,0.00,1.70,0.00,0.000,4,0.000,0.048,2863,3290,2320
$GC,10103,0.45,136.3,739.7,18.9,313,10111,0.00,1.62,0.00,0.000,6,0.000,0.027,2869,2210,2319
$GC,10358,0.45,136.3,693.3,18.3,320,10362,0.00,1.73,0.00,0.000,4,0.000,0.048,2863,3290,2319
$GC,10398,0.45,136.3,685.1,19.9,320,10407,0.00,1.58,0.00,0.000,6,0.000,0.026,2869,2236,2319
$GC,10653,0.45,136.3,638.6,18.5,327,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2230,2318
$GC,10896,0.45,136.3,596.8,17.1,333,10900,0.00,1.58,0.00,0.000,4,0.000,0.029,2876,1156,2318
$GC,10977,0.45,136.3,583.8,15.9,334,10982,0.12,1.70,0.00,0.000,6,0.157,0.043,2845,2266,2317
$GC,11237,0.45,136.3,548.1,13.4,341,11241,0.00,1.58,0.00,0.000,4,0.000,0.048,2845,3278,2316
$GC,11262,0.45,136.3,544.3,13.9,341,11265,0.00,1.55,0.00,0.000,6,0.000,0.028,2847,2247,2316
$GC,11533,0.45,136.3,508.6,13.5,348,11536,0.00,1.58,0.00,0.000,4,0.000,0.029,2855,1156,2316
$GC,11563,0.45,136.3,504.4,12.5,348,11566,0.00,1.67,0.00,0.000,6,0.000,0.042,2855,2254,2316
$GC,11829,0.45,136.3,469.1,13.5,355,11833,0.00,1.60,0.00,0.000,4,0.000,0.050,2855,3281,2315
$GC,11894,0.45,136.3,459.7,13.9,356,11897,0.00,1.52,0.00,0.000,6,0.000,0.028,2860,2261,2315
$GC,12171,0.45,136.3,420.8,14.0,363,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2255,2315
$GC,12414,0.45,136.3,387.4,13.4,369,12418,0.00,1.62,0.00,0.000,4,0.000,0.048,2860,3309,2315
$GC,12467,0.45,136.3,379.7,13.4,370,12470,0.00,1.58,0.00,0.000,6,0.000,0.026,2868,2244,2315
$GC,12755,0.45,136.3,342.7,13.1,377,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2237,2315
$GC,12999,0.45,136.3,312.0,12.4,383,13000,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2237,2315
$GC,13242,0.45,136.3,286.1,10.1,389,13244,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2238,2315
$GC,13486,0.46,140.7,261.8,9.8,395,13490,0.00,1.55,0.00,0.000,4,0.000,0.028,2873,1163,2315
$GC,13634,0.46,140.7,246.3,11.0,398,13638,0.00,1.70,0.00,0.000,6,0.000,0.041,2873,2285,2315
$GC,13917,0.46,140.7,214.1,10.6,405,13921,0.00,1.52,0.00,0.000,4,0.000,0.047,2873,3280,2315
$GC,14004,0.46,140.7,204.6,10.5,406,14012,0.10,1.50,0.00,0.000,6,0.176,0.024,2851,2248,2315
$GC,14266,0.48,210.4,185.1,7.4,425,14332,0.00,1.65,58.65,0.744,4,0.000,0.043,2852,3276,2032
$GC,14393,0.48,210.4,172.0,12.3,435,14396,0.00,1.48,0.00,0.000,6,0.000,0.023,2856,2297,2029
$GC,14664,0.48,210.4,140.3,10.3,460,14668,0.00,1.65,0.00,0.000,4,0.000,0.027,2860,1167,2028
$GC,14704,0.48,210.4,136.2,10.6,463,14708,0.00,1.75,0.00,0.000,6,0.000,0.038,2860,2295,2026
$GC,14975,0.48,210.4,105.8,11.3,488,14979,0.00,1.65,0.00,0.000,4,0.000,0.025,2860,1177,2026
$GC,15072,0.51,264.3,96.9,8.0,496,15125,0.00,1.70,43.78,0.647,6,0.000,0.036,2860,2285,1811
$GC,15384,0.55,380.2,72.2,5.6,524,15483,0.00,0.00,91.85,0.616,6,0.000,0.000,2860,2285,1339
$GC,15745,0.60,507.2,53.0,5.2,558,15855,0.00,1.70,99.53,0.585,4,0.000,0.022,2859,1181,820
$GC,15885,0.60,507.2,42.3,10.6,568,15888,0.00,1.65,0.00,0.000,6,0.000,0.029,2859,2270,818
$GC,16187,0.60,507.2,7.2,11.1,606,16196,0.00,1.52,0.00,0.000,4,0.000,0.043,2859,3262,817
$STATE,16222,end climb,SURFACE_DEPTH_REACHED
$STATE,16222,begin surface coast
$FINISH,0.4,1.010634
$STATE,16255,end surface coast,CONTROL_FINISHED_OK
$STATE,16255,begin surface
$SM_CCo,16341,0.00,0.000,0,0,816,508.74
$SM_GC,1.25,7.20,0.00,0.00,0.024,0.000,0.000,30,2446,816,-8.24,-1.53,508.74
$IRIDIUM_FIX,2241.69,-15739.35,060103,000050
$TT8_MAMPS,0.02301
$HUMID,2192
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,26.10
$XPDR_PINGS,2
$24V_AH,24.0,23.383
$10V_AH,10.6,25.010
$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,17.650,110.600,545.400,0.000,0.000,49.645,80.104,326.567,0.500,0.000,0.000,19.640,1290.194,11033.308,501.713,3166.553,1078.650,33.360,1570.968,0.000,3164.113,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,70.564,1264.783,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,417.929,2027.552,2100.968,1172.722,1377.824,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54045,616
$CAP_FILE_SIZE,127970,0
$CFSIZE,260165632,249548800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,121013,044406,2254.079,-15737.421,43,1.1,43,10.1