version: 66.04
glider: 512
mission: 4
dive: 140
start: 10 12 113 4 54 44
data:
$ID,512
$MISSION,4
$DIVE,140
$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,130
$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,-109323.16
$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,98
$R_STBD_OVSHOOT,42
$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
$GPS1,044406,2254.079,-15737.421,43,1.1,43,10.1
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-81.9
$GPS2,045330,2254.054,-15737.429,11,1.2,16,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.029,0.283
$KALMAN_X,52335.3,128.4,-5.9,-13826.3,-173.3
$KALMAN_Y,35066.1,127.3,386.6,-17132.7,-2943.7
$MHEAD_RNG_PITCHd_Wd,355.8,21345,-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,-126.5,0.0,0.0,0,111,0.00,0.00,-90.32,0.000,2,0.000,0.000,11,2438,3039
$GC,117,-0.45,-126.5,2.6,-2.7,11,144,9.43,1.73,-7.43,0.000,4,0.201,0.054,2532,3559,3408
$GC,264,-0.45,-126.5,48.8,-23.8,27,267,0.00,1.50,0.00,0.000,6,0.000,0.020,2532,2525,3409
$GC,535,-0.45,-126.5,111.2,-18.2,52,539,0.00,1.50,0.00,0.000,4,0.000,0.019,2532,1439,3409
$GC,575,-0.45,-126.5,118.2,-17.6,55,579,0.00,1.62,0.00,0.000,6,0.000,0.035,2524,2525,3410
$GC,847,-0.45,-126.5,165.0,-16.4,80,850,0.00,1.58,0.00,0.000,4,0.000,0.047,2522,3562,3410
$GC,896,-0.45,-126.5,173.3,-16.0,84,900,0.00,1.50,0.00,0.000,6,0.000,0.019,2522,2497,3410
$GC,1195,-0.45,-126.5,219.0,-15.0,103,1198,0.00,1.42,0.00,0.000,4,0.000,0.020,2522,1459,3410
$GC,1245,-0.45,-126.5,226.2,-13.4,104,1249,0.12,1.60,0.00,0.000,6,0.129,0.038,2550,2512,3410
$GC,1538,-0.45,-126.5,258.8,-11.1,111,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2513,3409
$GC,1782,-0.45,-126.5,283.1,-9.8,117,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2513,3409
$GC,2025,-0.45,-126.5,307.7,-10.1,123,2029,0.00,1.48,0.00,0.000,4,0.000,0.021,2552,1456,3408
$GC,2049,-0.45,-126.5,310.5,-10.5,123,2053,0.00,1.55,0.00,0.000,6,0.000,0.040,2549,2479,3408
$GC,2322,-0.45,-126.5,333.9,-8.5,130,2326,0.00,1.62,0.00,0.000,4,0.000,0.048,2542,3567,3405
$GC,2374,-0.45,-126.5,338.7,-8.3,131,2378,0.00,1.52,0.00,0.000,6,0.000,0.021,2541,2486,3405
$GC,2663,-0.45,-126.5,365.5,-9.7,138,2667,0.00,1.42,0.00,0.000,4,0.000,0.021,2541,1448,3403
$GC,2699,-0.45,-126.5,369.6,-9.9,138,2703,0.00,1.58,0.00,0.000,6,0.000,0.040,2537,2481,3403
$GC,2961,-0.45,-126.5,396.3,-10.4,145,2964,0.00,1.62,0.00,0.000,4,0.000,0.049,2529,3566,3401
$GC,3091,-0.45,-126.5,410.5,-10.8,147,3100,0.00,1.50,0.00,0.000,6,0.000,0.021,2528,2502,3399
$GC,3346,-0.45,-126.5,435.7,-9.7,154,3348,0.00,0.00,-0.08,0.000,6,0.000,0.000,2528,2501,3421
$GC,3591,-0.45,-126.5,456.1,-8.2,160,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2502,3420
$GC,3835,-0.45,-126.5,475.2,-7.8,166,3838,0.00,1.62,0.00,0.000,4,0.000,0.049,2524,3563,3417
$GC,3893,-0.45,-126.5,480.6,-7.9,167,3897,0.00,1.50,0.00,0.000,6,0.000,0.024,2524,2511,3417
$GC,4176,-0.45,-126.5,506.3,-9.2,174,4179,0.00,1.48,0.00,0.000,4,0.000,0.024,2524,1454,3415
$GC,4217,-0.45,-126.5,510.4,-9.3,174,4226,0.00,1.62,0.00,0.000,6,0.000,0.044,2524,2510,3414
$GC,4474,-0.45,-126.5,534.7,-9.8,181,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2510,3412
$GC,4718,-0.45,-126.5,558.9,-9.9,187,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2510,3411
$GC,4961,-0.45,-126.5,582.0,-9.3,193,4965,0.00,1.60,0.00,0.000,4,0.000,0.053,2523,3563,3410
$GC,5030,-0.45,-126.5,588.6,-8.5,194,5034,0.00,1.55,0.00,0.000,6,0.000,0.025,2523,2489,3409
$GC,5302,-0.45,-126.5,610.3,-8.0,201,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2481,3408
$GC,5546,-0.45,-126.5,628.0,-7.1,207,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2482,3405
$GC,5790,-0.45,-126.5,646.6,-7.7,213,5793,0.00,1.67,0.00,0.000,4,0.000,0.052,2521,3565,3403
$GC,5826,-0.45,-126.5,649.9,-8.4,213,5829,0.00,1.55,0.00,0.000,6,0.000,0.026,2521,2497,3403
$GC,6087,-0.45,-126.5,672.9,-9.1,220,6091,0.00,1.65,0.00,0.000,4,0.000,0.051,2513,3559,3402
$GC,6137,-0.45,-126.5,677.8,-9.9,221,6142,0.08,1.52,0.00,0.000,6,0.106,0.026,2558,2502,3402
$GC,6432,-0.45,-126.5,694.8,-5.4,228,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2499,3400
$GC,6676,-0.45,-126.5,707.9,-5.4,234,6679,0.00,1.65,0.00,0.000,4,0.000,0.054,2552,3565,3399
$GC,6717,-0.45,-126.5,710.6,-6.0,234,6726,0.00,1.52,0.00,0.000,6,0.000,0.025,2552,2504,3399
$GC,6974,-0.45,-126.5,725.4,-5.9,241,6978,0.00,1.48,0.00,0.000,4,0.000,0.025,2552,1469,3398
$GC,7032,-0.45,-126.5,729.3,-5.8,242,7035,0.00,1.62,0.00,0.000,6,0.000,0.047,2550,2513,3398
$GC,7315,-0.45,-126.5,746.6,-6.2,249,7318,0.00,1.60,0.00,0.000,4,0.000,0.054,2542,3560,3397
$GC,7366,-0.45,-126.5,749.8,-5.9,250,7370,0.00,1.50,0.00,0.000,6,0.000,0.027,2542,2533,3396
$GC,7660,-0.45,-126.5,767.8,-5.9,257,7664,0.00,1.52,0.00,0.000,4,0.000,0.026,2542,1464,3395
$GC,7718,-0.45,-126.5,771.7,-6.1,258,7722,0.00,1.62,0.00,0.000,6,0.000,0.047,2537,2528,3395
$GC,8002,-0.45,-126.5,787.8,-5.7,265,8006,0.00,1.60,0.00,0.000,4,0.000,0.058,2537,3563,3393
$GC,8053,-0.45,-126.5,790.7,-5.3,266,8056,0.00,1.52,0.00,0.000,6,0.000,0.028,2536,2520,3393
$GC,8347,-0.45,-126.5,807.6,-5.7,273,8351,0.00,1.50,0.00,0.000,4,0.000,0.026,2536,1456,3392
$GC,8398,-0.45,-126.5,810.7,-6.2,274,8402,0.00,1.65,0.00,0.000,6,0.000,0.049,2536,2525,3392
$GC,8692,-0.45,-126.5,828.3,-6.1,281,8696,0.00,1.62,0.00,0.000,4,0.000,0.059,2536,3555,3391
$GC,8734,-0.45,-126.5,831.3,-6.6,281,8740,0.00,1.50,0.00,0.000,6,0.000,0.028,2536,2518,3391
$GC,8989,-0.45,-126.5,848.1,-6.8,288,8993,0.00,1.52,0.00,0.000,4,0.000,0.028,2536,1451,3390
$GC,9043,-0.45,-126.5,852.2,-6.7,289,9046,0.00,1.65,0.00,0.000,6,0.000,0.049,2537,2522,3390
$GC,9331,-0.45,-126.5,872.2,-6.9,296,9335,0.00,1.65,0.00,0.000,4,0.000,0.060,2536,3564,3389
$GC,9382,-0.45,-126.5,875.6,-6.8,297,9385,0.00,1.52,0.00,0.000,6,0.000,0.028,2536,2525,3389
$GC,9677,-0.45,-126.5,895.1,-6.6,304,9680,0.00,1.52,0.00,0.000,4,0.000,0.028,2536,1457,3388
$GC,9727,-0.45,-126.5,898.6,-6.9,305,9731,0.00,1.67,0.00,0.000,6,0.000,0.051,2537,2537,3388
$STATE,9741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9741,begin apogee
$GC,9752,-0.18,0.0,900.1,7.0,305,9864,0.28,0.00,108.65,1.269,6,0.097,0.000,2638,2215,2890
$STATE,9865,end apogee,CONTROL_FINISHED_OK
$STATE,9865,begin climb
$GC,9870,0.45,126.5,903.1,0.0,308,10013,0.55,0.00,124.90,1.181,6,0.034,0.000,2868,2215,2374
$GC,10242,0.45,126.5,856.0,17.6,317,10246,0.00,1.73,0.00,0.000,4,0.000,0.048,2863,3290,2363
$GC,10283,0.45,126.5,847.9,18.7,317,10292,0.00,1.60,0.00,0.000,6,0.000,0.026,2870,2241,2362
$GC,10538,0.45,126.5,805.6,16.7,324,10539,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2234,2361
$GC,10782,0.45,126.5,765.0,16.6,330,10785,0.00,1.65,0.00,0.000,4,0.000,0.047,2864,3290,2359
$GC,10794,0.45,126.5,762.1,16.7,330,10798,0.00,1.58,0.00,0.000,6,0.000,0.026,2870,2245,2359
$GC,11078,0.45,126.5,715.3,16.7,337,11082,0.00,1.60,0.00,0.000,4,0.000,0.029,2877,1149,2358
$GC,11113,0.45,126.5,708.7,16.2,337,11118,0.10,1.73,0.00,0.000,6,0.152,0.043,2846,2249,2357
$GC,11373,0.45,126.5,669.9,15.2,344,11377,0.00,1.62,0.00,0.000,4,0.000,0.050,2846,3282,2357
$GC,11442,0.45,126.5,658.7,15.7,345,11445,0.00,1.55,0.00,0.000,6,0.000,0.028,2852,2246,2357
$GC,11714,0.45,126.5,617.2,15.1,352,11718,0.00,1.62,0.00,0.000,4,0.000,0.050,2852,3278,2357
$GC,11755,0.45,126.5,609.7,17.5,352,11763,0.00,1.50,0.00,0.000,6,0.000,0.028,2858,2269,2357
$GC,12010,0.45,126.5,570.5,15.5,359,12014,0.00,1.62,0.00,0.000,4,0.000,0.050,2858,3304,2356
$GC,12062,0.45,126.5,561.8,16.7,360,12065,0.00,1.50,0.00,0.000,6,0.000,0.028,2865,2292,2356
$GC,12351,0.45,126.5,519.2,14.6,367,12355,0.00,1.62,0.00,0.000,4,0.000,0.030,2873,1149,2355
$GC,12401,0.45,126.5,512.1,13.5,368,12405,0.00,1.75,0.00,0.000,6,0.000,0.043,2873,2288,2355
$GC,12695,0.45,126.5,471.0,14.0,375,12698,0.00,1.65,0.00,0.000,4,0.000,0.028,2880,1161,2354
$GC,12746,0.45,126.5,464.2,13.4,376,12750,0.12,1.73,0.00,0.000,6,0.156,0.044,2845,2285,2354
$GC,13039,0.45,126.5,430.3,11.0,383,13043,0.00,1.55,0.00,0.000,4,0.000,0.049,2845,3283,2354
$GC,13089,0.45,126.5,424.2,12.4,384,13092,0.00,1.52,0.00,0.000,6,0.000,0.028,2847,2265,2354
$GC,13383,0.45,126.5,391.7,11.1,391,13385,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2260,2354
$GC,13628,0.45,126.5,365.2,10.7,397,13632,0.00,1.60,0.00,0.000,4,0.000,0.047,2847,3277,2353
$GC,13691,0.45,126.5,357.3,11.6,398,13695,0.00,1.52,0.00,0.000,6,0.000,0.027,2847,2250,2353
$GC,13969,0.45,126.5,328.9,10.3,405,13972,0.00,1.58,0.00,0.000,4,0.000,0.028,2855,1169,2354
$GC,14027,0.45,126.5,321.4,11.5,406,14030,0.00,1.65,0.00,0.000,6,0.000,0.041,2855,2256,2353
$GC,14310,0.45,126.5,289.2,11.4,413,14311,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2256,2353
$GC,14553,0.47,171.5,268.0,8.3,419,14597,0.00,1.65,35.62,0.828,4,0.000,0.028,2857,1164,2189
$GC,14656,0.48,195.8,258.7,9.1,421,14682,0.00,1.73,21.55,0.794,6,0.000,0.041,2856,2259,2091
$GC,14932,0.48,195.8,225.4,12.9,427,14936,0.00,1.60,0.00,0.000,4,0.000,0.045,2856,3309,2085
$GC,15001,0.48,195.8,215.8,12.9,428,15004,0.00,1.55,0.00,0.000,6,0.000,0.025,2860,2278,2084
$GC,15267,0.48,195.8,185.0,11.4,443,15271,0.00,1.62,0.00,0.000,4,0.000,0.027,2868,1159,2084
$GC,15353,0.48,195.8,175.6,10.9,450,15362,0.00,1.67,0.00,0.000,6,0.000,0.039,2866,2239,2083
$GC,15619,0.48,195.8,144.8,12.2,475,15623,0.00,1.60,0.00,0.000,4,0.000,0.044,2865,3278,2083
$GC,15649,0.48,195.8,140.7,12.3,477,15657,0.00,1.50,0.00,0.000,6,0.000,0.023,2871,2249,2083
$GC,15915,0.48,195.8,109.7,11.8,502,15919,0.00,1.62,0.00,0.000,4,0.000,0.044,2871,3301,2083
$GC,16001,0.48,195.8,98.2,13.4,509,16005,0.00,1.48,0.00,0.000,6,0.000,0.022,2878,2292,2083
$GC,16274,0.51,276.4,69.2,7.0,534,16341,0.00,0.00,64.57,0.624,6,0.000,0.000,2879,2287,1763
$GC,16597,0.53,331.9,44.6,7.9,563,16653,0.00,1.70,44.05,0.591,4,0.000,0.024,2886,1161,1534
$GC,16706,0.56,408.1,36.0,7.1,571,16776,0.00,1.80,60.38,0.577,6,0.000,0.035,2886,2334,1226
$STATE,17055,end climb,SURFACE_DEPTH_REACHED
$STATE,17055,begin surface coast
$FINISH,0.5,1.010286
$STATE,17088,end surface coast,CONTROL_FINISHED_OK
$STATE,17088,begin surface
$SM_CCo,17173,0.00,0.000,0,0,1219,410.13
$SM_GC,1.26,7.25,0.00,0.00,0.025,0.000,0.000,25,2527,1219,-8.21,0.79,410.13
$IRIDIUM_FIX,2244.02,-15746.73,060103,000057
$TT8_MAMPS,0.02301
$HUMID,2200
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.00
$XPDR_PINGS,5
$24V_AH,24.0,23.526
$10V_AH,10.7,25.218
$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,17.925,127.700,459.725,0.000,0.000,27.062,38.934,303.095,1.250,0.000,0.000,16.394,1373.059,11602.789,481.789,3279.156,1011.071,33.363,1568.841,0.000,3277.602,0.000,0.544,0.000
$DEVICE_MAMPS,200.954,59.826,1269.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,426.456,2060.459,2129.525,780.935,1375.752,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54025,626
$CAP_FILE_SIZE,136877,0
$CFSIZE,260165632,249475072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,121013,094223,2256.233,-15737.261,26,1.1,43,10.1