version: 66.04
glider: 512
mission: 4
dive: 141
start: 10 12 113 9 55 25
data:
$ID,512
$MISSION,4
$DIVE,141
$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,-109340.97
$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,65
$R_STBD_OVSHOOT,52
$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
$GPS1,094223,2256.233,-15737.261,26,1.1,43,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-82.2
$GPS2,095406,2256.276,-15737.281,12,1.1,17,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.038,0.282
$KALMAN_X,52379.4,-48.1,-140.7,-13299.5,353.4
$KALMAN_Y,35396.7,-596.7,-155.8,-12074.1,494.7
$MHEAD_RNG_PITCHd_Wd,357.7,17247,-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,17,-0.45,-126.5,0.0,0.0,0,85,0.00,0.00,-65.68,0.000,2,0.000,0.000,11,2535,2777
$GC,91,-0.45,-126.5,2.1,-2.1,8,126,9.38,1.58,-15.52,0.000,4,0.197,0.062,2535,3541,3407
$GC,296,-0.45,-126.5,50.4,-23.6,33,299,0.00,1.50,0.00,0.000,6,0.000,0.019,2535,2498,3408
$GC,567,-0.45,-126.5,107.4,-16.1,58,571,0.00,1.45,0.00,0.000,4,0.000,0.021,2536,1447,3408
$GC,630,-0.45,-126.5,116.7,-14.4,63,633,0.00,1.62,0.00,0.000,6,0.000,0.042,2536,2516,3409
$GC,902,-0.45,-126.5,157.9,-14.0,88,905,0.00,1.60,0.00,0.000,4,0.000,0.045,2528,3589,3410
$GC,1019,-0.45,-126.5,174.9,-13.8,98,1023,0.00,1.52,0.00,0.000,6,0.000,0.018,2528,2517,3409
$GC,1305,-0.45,-126.5,218.3,-14.9,116,1309,0.00,1.48,0.00,0.000,4,0.000,0.020,2528,1442,3410
$GC,1357,-0.45,-126.5,225.9,-12.6,117,1361,0.00,1.62,0.00,0.000,6,0.000,0.039,2523,2530,3410
$GC,1647,-0.45,-126.5,262.6,-12.9,124,1650,0.00,1.55,0.00,0.000,4,0.000,0.045,2516,3557,3409
$GC,1726,-0.45,-126.5,274.0,-13.2,125,1731,0.08,1.42,0.00,0.000,6,0.115,0.019,2544,2542,3409
$GC,1987,-0.45,-126.5,301.1,-10.4,132,1990,0.00,1.50,0.00,0.000,4,0.000,0.021,2547,1452,3408
$GC,2022,-0.45,-126.5,304.9,-10.0,132,2026,0.00,1.65,0.00,0.000,6,0.000,0.040,2541,2559,3408
$GC,2284,-0.45,-126.5,329.4,-9.5,139,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2560,3407
$GC,2529,-0.45,-126.5,350.6,-8.6,145,2532,0.00,1.55,0.00,0.000,4,0.000,0.022,2541,1465,3405
$GC,2579,-0.45,-126.5,355.3,-8.6,146,2582,0.00,1.62,0.00,0.000,6,0.000,0.041,2536,2546,3405
$GC,2873,-0.45,-126.5,384.4,-10.3,153,2876,0.00,1.55,0.00,0.000,4,0.000,0.049,2529,3562,3402
$GC,2948,-0.45,-126.5,392.8,-10.6,154,2952,0.00,1.42,0.00,0.000,6,0.000,0.023,2529,2552,3401
$GC,3214,-0.45,-126.5,420.6,-10.6,161,3218,0.00,1.52,0.00,0.000,4,0.000,0.025,2529,1465,3400
$GC,3278,-0.45,-126.5,427.4,-9.7,162,3281,0.00,1.65,0.00,0.000,6,0.000,0.041,2524,2563,3399
$GC,3556,-0.45,-126.5,454.0,-9.6,169,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2564,3398
$GC,3801,-0.45,-126.5,477.1,-9.4,175,3803,0.00,0.00,-0.08,0.000,6,0.000,0.000,2523,2564,3420
$GC,4044,-0.45,-126.5,500.6,-9.8,181,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2564,3418
$GC,4288,-0.45,-126.5,524.5,-9.9,187,4292,0.00,1.58,0.00,0.000,4,0.000,0.025,2525,1462,3416
$GC,4346,-0.45,-126.5,530.8,-9.4,188,4350,0.00,1.65,0.00,0.000,6,0.000,0.044,2524,2531,3416
$GC,4629,-0.45,-126.5,557.9,-9.8,195,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2531,3413
$GC,4873,-0.45,-126.5,581.6,-9.7,201,4876,0.00,1.60,0.00,0.000,4,0.000,0.051,2517,3585,3412
$GC,4924,-0.45,-126.5,586.5,-9.7,202,4929,0.08,1.50,0.00,0.000,6,0.107,0.026,2544,2541,3412
$GC,5218,-0.45,-126.5,607.6,-6.8,209,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2536,3410
$GC,5462,-0.45,-126.5,624.2,-6.9,215,5466,0.00,1.52,0.00,0.000,4,0.000,0.026,2547,1467,3409
$GC,5514,-0.45,-126.5,627.7,-6.6,216,5518,0.00,1.62,0.00,0.000,6,0.000,0.045,2541,2537,3408
$GC,5809,-0.45,-126.5,649.5,-7.4,223,5813,0.00,1.58,0.00,0.000,4,0.000,0.054,2535,3554,3406
$GC,5904,-0.45,-126.5,656.7,-7.5,225,5908,0.00,1.45,0.00,0.000,6,0.000,0.026,2535,2545,3406
$GC,6199,-0.45,-126.5,678.5,-7.3,232,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2537,3404
$GC,6443,-0.45,-126.5,695.2,-6.9,238,6447,0.00,1.60,0.00,0.000,4,0.000,0.054,2527,3573,3402
$GC,6507,-0.45,-126.5,700.0,-7.2,239,6511,0.00,1.45,0.00,0.000,6,0.000,0.026,2527,2566,3402
$GC,6785,-0.45,-126.5,720.2,-7.4,246,6788,0.00,1.55,0.00,0.000,4,0.000,0.026,2527,1475,3401
$GC,6872,-0.45,-126.5,727.1,-7.7,247,6880,0.00,1.67,0.00,0.000,6,0.000,0.048,2524,2549,3400
$GC,7126,-0.45,-126.5,746.7,-7.9,254,7130,0.00,1.58,0.00,0.000,4,0.000,0.026,2524,1455,3399
$GC,7168,-0.45,-126.5,750.4,-8.1,254,7176,0.00,1.70,0.00,0.000,6,0.000,0.049,2524,2541,3400
$GC,7423,-0.45,-126.5,770.3,-7.9,261,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2541,3399
$GC,7666,-0.45,-126.5,789.3,-7.9,267,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2540,3398
$GC,7910,-0.45,-126.5,808.7,-7.9,273,7913,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3576,3397
$GC,7951,-0.45,-126.5,812.3,-8.2,273,7960,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2536,3397
$GC,8209,-0.45,-126.5,830.7,-7.2,280,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3396
$GC,8453,-0.45,-126.5,848.1,-7.1,286,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3395
$GC,8696,-0.45,-126.5,864.2,-6.5,292,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3393
$GC,8940,-0.45,-126.5,879.2,-6.1,298,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3392
$GC,9183,-0.45,-126.5,894.4,-6.3,304,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3392
$STATE,9299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9299,begin apogee
$GC,9310,-0.18,0.0,902.3,6.5,307,9423,0.35,0.00,109.70,1.264,6,0.110,0.000,2638,2235,2890
$STATE,9423,end apogee,CONTROL_FINISHED_OK
$STATE,9424,begin climb
$GC,9429,0.45,126.5,905.1,0.0,310,9560,0.52,1.67,118.80,1.222,4,0.033,0.028,2873,1181,2372
$GC,9602,0.45,126.5,888.5,16.3,313,9609,0.08,1.73,0.00,0.000,6,0.160,0.041,2851,2230,2367
$GC,9856,0.45,126.5,846.4,16.8,320,9860,0.00,1.67,0.00,0.000,4,0.000,0.049,2850,3281,2363
$GC,9920,0.45,126.5,835.2,16.6,321,9923,0.00,1.58,0.00,0.000,6,0.000,0.028,2856,2251,2361
$GC,10198,0.45,126.5,789.4,16.6,328,10201,0.00,1.62,0.00,0.000,4,0.000,0.048,2850,3290,2360
$GC,10228,0.45,126.5,783.2,17.8,328,10231,0.00,1.58,0.00,0.000,6,0.000,0.027,2856,2247,2359
$GC,10493,0.45,126.5,739.9,16.2,335,10497,0.00,1.60,0.00,0.000,4,0.000,0.030,2864,1157,2358
$GC,10589,0.45,126.5,725.9,14.3,337,10593,0.00,1.70,0.00,0.000,6,0.000,0.042,2863,2240,2357
$GC,10883,0.45,126.5,679.5,15.7,344,10887,0.00,1.62,0.00,0.000,4,0.000,0.050,2863,3278,2357
$GC,10987,0.45,126.5,661.6,16.9,346,10990,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2253,2356
$GC,11269,0.45,126.5,615.7,16.4,353,11273,0.00,1.60,0.00,0.000,4,0.000,0.048,2863,3287,2356
$GC,11288,0.45,126.5,612.2,15.8,353,11291,0.00,1.50,0.00,0.000,6,0.000,0.027,2869,2275,2356
$GC,11565,0.45,126.5,569.8,15.4,360,11568,0.00,1.60,0.00,0.000,4,0.000,0.049,2863,3278,2355
$GC,11624,0.45,126.5,559.6,16.5,361,11627,0.00,1.48,0.00,0.000,6,0.000,0.027,2869,2281,2355
$GC,11906,0.45,126.5,515.1,15.7,368,11910,0.00,1.62,0.00,0.000,4,0.000,0.030,2877,1157,2355
$GC,11980,0.45,126.5,504.1,13.7,369,11984,0.12,1.67,0.00,0.000,6,0.161,0.042,2843,2254,2354
$GC,12246,0.45,126.5,472.9,11.6,376,12250,0.00,1.60,0.00,0.000,4,0.000,0.051,2843,3280,2354
$GC,12303,0.45,126.5,465.4,11.6,377,12307,0.00,1.50,0.00,0.000,6,0.000,0.028,2847,2277,2353
$GC,12586,0.45,126.5,434.1,11.0,384,12589,0.00,1.60,0.00,0.000,4,0.000,0.029,2855,1167,2353
$GC,12615,0.45,126.5,430.5,10.5,384,12619,0.00,1.67,0.00,0.000,6,0.000,0.042,2855,2266,2353
$GC,12883,0.45,126.5,398.2,12.6,391,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2266,2354
$GC,13127,0.45,126.5,368.8,12.2,397,13131,0.00,1.58,0.00,0.000,4,0.000,0.049,2855,3280,2353
$GC,13157,0.45,126.5,364.3,12.6,397,13161,0.00,1.50,0.00,0.000,6,0.000,0.027,2863,2262,2353
$GC,13422,0.45,126.5,334.0,11.5,404,13424,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2256,2353
$GC,13666,0.45,126.5,307.1,10.9,410,13670,0.00,1.58,0.00,0.000,4,0.000,0.028,2870,1161,2353
$GC,13696,0.46,159.8,304.1,8.8,410,13728,0.00,1.67,26.20,0.855,6,0.000,0.041,2871,2265,2238
$GC,14008,0.46,159.8,266.2,13.2,418,14011,0.00,1.58,0.00,0.000,4,0.000,0.048,2871,3276,2233
$GC,14060,0.46,159.8,259.4,11.9,419,14064,0.00,1.50,0.00,0.000,6,0.000,0.025,2878,2260,2232
$GC,14348,0.46,159.8,225.1,11.6,426,14352,0.12,1.55,0.00,0.000,4,0.170,0.027,2847,1166,2232
$GC,14423,0.50,251.4,219.2,6.6,427,14504,0.00,1.67,75.70,0.776,6,0.000,0.039,2847,2268,1864
$GC,14764,0.50,251.4,181.7,12.3,444,14773,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2269,1857
$GC,15031,0.50,251.4,151.8,10.7,469,15035,0.00,1.58,0.00,0.000,4,0.000,0.044,2847,3287,1856
$GC,15061,0.50,251.4,147.8,12.0,471,15069,0.00,1.55,0.00,0.000,6,0.000,0.023,2847,2245,1856
$GC,15327,0.50,251.4,121.2,10.5,496,15331,0.00,1.58,0.00,0.000,4,0.000,0.028,2847,1160,1856
$GC,15392,0.51,283.9,114.8,8.8,501,15427,0.00,1.67,26.10,0.657,6,0.000,0.038,2847,2247,1732
$GC,15689,0.55,369.1,87.4,6.8,528,15762,0.00,1.67,68.40,0.630,4,0.000,0.042,2847,3291,1384
$GC,15793,0.60,512.5,81.4,4.6,535,15912,0.10,1.60,113.15,0.611,6,0.046,0.020,2909,2206,799
$GC,16168,0.60,512.5,31.5,16.0,568,16172,0.00,1.50,0.00,0.000,4,0.000,0.028,2912,1192,796
$GC,16291,0.60,512.5,16.0,10.4,585,16300,0.00,1.52,0.00,0.000,6,0.000,0.031,2912,2193,795
$STATE,16399,end climb,SURFACE_DEPTH_REACHED
$STATE,16399,begin surface coast
$FINISH,0.4,0.999523
$STATE,16430,end surface coast,CONTROL_FINISHED_OK
$STATE,16430,begin surface
$SM_CCo,16515,0.00,0.000,0,0,793,514.39
$SM_GC,1.14,7.30,0.00,0.00,0.025,0.000,0.000,28,2537,793,-8.22,1.05,514.39
$IRIDIUM_FIX,2246.36,-15801.49,060103,090907
$TT8_MAMPS,0.02301
$HUMID,2220
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.70
$XPDR_PINGS,4
$24V_AH,23.9,23.690
$10V_AH,10.7,25.419
$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,18.125,111.250,538.050,0.000,0.000,51.100,72.149,322.724,1.000,0.000,0.000,17.169,1314.043,11195.228,495.088,3136.080,1091.906,33.365,1547.727,0.000,3147.565,0.000,0.543,0.000
$DEVICE_MAMPS,197.119,62.127,1264.016,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,412.290,1994.811,2068.657,608.652,1279.989,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50775,606
$CAP_FILE_SIZE,129931,0
$CFSIZE,260165632,249421824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121013,143206,2258.900,-15736.877,43,1.0,43,10.1