version: 66.04
glider: 512
mission: 4
dive: 142
start: 10 12 113 14 43 3
data:
$ID,512
$MISSION,4
$DIVE,142
$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,-109356.45
$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,77
$R_STBD_OVSHOOT,58
$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
$GPS1,143206,2258.900,-15736.877,43,1.0,43,10.1
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-81.2
$GPS2,144149,2258.904,-15736.786,14,1.3,14,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.062,0.278
$KALMAN_X,52332.0,-165.9,181.3,-12609.3,-243.8
$KALMAN_Y,34518.2,-322.1,261.1,-7001.5,-461.5
$MHEAD_RNG_PITCHd_Wd,2.5,12308,-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,-126.5,0.0,0.0,0,114,0.00,0.00,-93.75,0.000,2,0.000,0.000,11,2533,3108
$GC,120,-0.45,-126.5,2.6,-2.7,11,141,9.43,1.55,-5.82,0.000,4,0.199,0.053,2540,3547,3408
$GC,388,-0.45,-126.5,78.9,-21.9,37,391,0.00,1.50,0.00,0.000,6,0.000,0.020,2541,2506,3409
$GC,659,-0.45,-126.5,131.3,-17.4,62,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2498,3409
$GC,924,-0.45,-126.5,172.8,-14.3,87,928,0.00,1.58,0.00,0.000,4,0.000,0.041,2535,3527,3409
$GC,985,-0.45,-126.5,181.4,-13.7,92,989,0.00,1.45,0.00,0.000,6,0.000,0.019,2535,2498,3409
$GC,1251,-0.45,-126.5,218.5,-14.3,108,1255,0.00,1.42,0.00,0.000,4,0.000,0.020,2535,1457,3410
$GC,1316,-0.45,-126.5,227.4,-12.0,109,1320,0.00,1.58,0.00,0.000,6,0.000,0.039,2528,2494,3410
$GC,1593,-0.45,-126.5,262.7,-12.9,116,1597,0.00,1.62,0.00,0.000,4,0.000,0.048,2523,3559,3410
$GC,1725,-0.45,-126.5,280.2,-11.3,118,1733,0.00,1.42,0.00,0.000,6,0.000,0.020,2523,2536,3409
$GC,1979,-0.45,-126.5,312.0,-12.8,125,1983,0.00,1.48,0.00,0.000,4,0.000,0.021,2523,1474,3408
$GC,2020,-0.45,-126.5,317.4,-11.9,125,2029,0.00,1.62,0.00,0.000,6,0.000,0.041,2523,2541,3408
$GC,2275,-0.45,-126.5,345.1,-10.9,132,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2541,3406
$GC,2518,-0.45,-126.5,373.0,-11.6,138,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2541,3405
$GC,2762,-0.45,-126.5,400.1,-10.9,144,2766,0.00,1.55,0.00,0.000,4,0.000,0.048,2517,3560,3402
$GC,2803,-0.45,-126.5,405.2,-11.1,144,2813,0.08,1.45,0.00,0.000,6,0.109,0.022,2545,2525,3402
$GC,3060,-0.45,-126.5,428.0,-9.0,151,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2525,3400
$GC,3304,-0.45,-126.5,451.0,-9.5,157,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2525,3399
$GC,3548,-0.45,-126.5,473.8,-9.2,163,3552,0.00,1.48,-0.08,0.000,4,0.000,0.044,2547,1458,3422
$GC,3590,-0.45,-126.5,477.8,-8.2,163,3598,0.00,1.65,0.00,0.000,6,0.000,0.044,2540,2534,3422
$GC,3845,-0.45,-126.5,498.5,-8.1,170,3848,0.00,1.60,0.00,0.000,4,0.000,0.051,2536,3565,3419
$GC,3903,-0.45,-126.5,503.5,-7.8,171,3906,0.00,1.45,0.00,0.000,6,0.000,0.024,2537,2547,3418
$GC,4187,-0.45,-126.5,526.1,-8.2,178,4190,0.00,1.52,0.00,0.000,4,0.000,0.024,2536,1456,3416
$GC,4250,-0.45,-126.5,531.6,-7.9,179,4253,0.00,1.67,0.00,0.000,6,0.000,0.047,2536,2538,3416
$GC,4527,-0.45,-126.5,552.7,-7.6,186,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2538,3413
$GC,4771,-0.45,-126.5,571.4,-7.7,192,4774,0.00,1.58,0.00,0.000,4,0.000,0.051,2529,3559,3412
$GC,4852,-0.45,-126.5,578.1,-7.5,193,4856,0.00,1.45,0.00,0.000,6,0.000,0.025,2529,2544,3411
$GC,5113,-0.45,-126.5,596.8,-7.2,200,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2537,3410
$GC,5356,-0.45,-126.5,613.4,-6.8,206,5360,0.00,1.52,0.00,0.000,4,0.000,0.026,2529,1459,3408
$GC,5453,-0.45,-126.5,620.4,-7.0,208,5456,0.00,1.67,0.00,0.000,6,0.000,0.045,2524,2537,3408
$GC,5747,-0.45,-126.5,644.8,-8.6,215,5751,0.00,1.60,0.00,0.000,4,0.000,0.054,2522,3566,3406
$GC,5843,-0.45,-126.5,653.3,-8.9,217,5847,0.00,1.48,0.00,0.000,6,0.000,0.025,2522,2547,3405
$GC,6137,-0.45,-126.5,679.5,-8.8,224,6141,0.00,1.60,0.00,0.000,4,0.000,0.053,2514,3560,3403
$GC,6167,-0.45,-126.5,682.6,-9.6,224,6172,0.08,1.45,0.00,0.000,6,0.100,0.026,2547,2546,3403
$GC,6434,-0.45,-126.5,700.3,-6.5,231,6438,0.00,1.52,0.00,0.000,4,0.000,0.025,2548,1477,3402
$GC,6498,-0.45,-126.5,704.6,-6.6,232,6502,0.00,1.65,0.00,0.000,6,0.000,0.048,2548,2557,3401
$GC,6776,-0.45,-126.5,720.7,-5.8,239,6779,0.00,1.58,0.00,0.000,4,0.000,0.055,2542,3566,3400
$GC,6817,-0.45,-126.5,723.6,-6.3,239,6825,0.00,1.48,0.00,0.000,6,0.000,0.026,2542,2535,3400
$GC,7072,-0.45,-126.5,738.5,-5.8,246,7076,0.00,1.52,0.00,0.000,4,0.000,0.025,2543,1461,3399
$GC,7137,-0.45,-126.5,742.5,-5.8,247,7140,0.00,1.67,0.00,0.000,6,0.000,0.047,2537,2559,3399
$GC,7414,-0.45,-126.5,759.1,-6.1,254,7417,0.00,1.55,0.00,0.000,4,0.000,0.055,2531,3556,3398
$GC,7465,-0.45,-126.5,762.2,-5.7,255,7468,0.00,1.45,0.00,0.000,6,0.000,0.028,2531,2555,3398
$GC,7760,-0.45,-126.5,780.8,-6.3,262,7763,0.00,1.52,0.00,0.000,4,0.000,0.027,2531,1482,3397
$GC,7797,-0.45,-126.5,783.5,-6.9,262,7800,0.00,1.65,0.00,0.000,6,0.000,0.048,2524,2563,3396
$GC,8057,-0.45,-126.5,801.9,-7.2,269,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2562,3395
$GC,8301,-0.45,-126.5,820.3,-7.6,275,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2562,3394
$GC,8544,-0.45,-126.5,839.5,-7.9,281,8548,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3562,3393
$GC,8586,-0.45,-126.5,842.9,-7.7,281,8594,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2543,3393
$GC,8841,-0.45,-126.5,862.1,-7.6,288,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2543,3392
$GC,9084,-0.45,-126.5,879.5,-7.1,294,9088,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1465,3391
$GC,9143,-0.45,-126.5,883.9,-6.8,295,9147,0.00,1.67,0.00,0.000,6,0.000,0.050,2523,2554,3391
$STATE,9381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9381,begin apogee
$GC,9393,-0.18,0.0,900.3,6.8,301,9505,0.35,0.00,109.43,1.266,6,0.100,0.000,2641,2236,2890
$STATE,9505,end apogee,CONTROL_FINISHED_OK
$STATE,9506,begin climb
$GC,9511,0.45,126.5,902.8,0.0,304,9665,0.52,1.73,125.95,1.163,4,0.031,0.027,2879,1166,2373
$GC,9691,0.45,126.5,887.4,17.6,308,9696,0.10,1.75,0.00,0.000,6,0.156,0.041,2848,2226,2369
$GC,9984,0.45,126.5,837.2,16.8,315,9988,0.00,1.67,0.00,0.000,4,0.000,0.049,2848,3276,2362
$GC,10036,0.45,126.5,828.2,19.5,316,10039,0.00,1.58,0.00,0.000,6,0.000,0.026,2854,2235,2361
$GC,10329,0.45,126.5,777.7,16.9,323,10333,0.00,1.67,0.00,0.000,4,0.000,0.048,2850,3277,2360
$GC,10359,0.45,126.5,772.0,17.9,323,10363,0.00,1.55,0.00,0.000,6,0.000,0.027,2856,2243,2359
$GC,10625,0.45,126.5,728.7,16.5,330,10629,0.00,1.65,0.00,0.000,4,0.000,0.047,2850,3299,2358
$GC,10683,0.45,126.5,718.2,16.4,331,10687,0.00,1.55,0.00,0.000,6,0.000,0.025,2856,2259,2358
$GC,10966,0.45,126.5,673.9,15.6,338,10970,0.00,1.60,0.00,0.000,4,0.000,0.030,2864,1166,2358
$GC,11052,0.45,126.5,660.8,13.9,339,11061,0.00,1.67,0.00,0.000,6,0.000,0.043,2863,2238,2357
$GC,11308,0.45,126.5,622.7,15.2,346,11312,0.00,1.62,0.00,0.000,4,0.000,0.050,2863,3303,2356
$GC,11403,0.45,126.5,606.9,17.6,348,11406,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2249,2356
$GC,11697,0.45,126.5,560.0,16.1,355,11701,0.00,1.58,0.00,0.000,4,0.000,0.031,2877,1157,2356
$GC,11755,0.45,126.5,550.8,15.3,356,11759,0.10,1.70,0.00,0.000,6,0.150,0.044,2845,2249,2355
$GC,12037,0.45,126.5,513.3,13.2,363,12041,0.00,1.60,0.00,0.000,4,0.000,0.051,2845,3275,2355
$GC,12190,0.45,126.5,490.9,14.2,366,12194,0.00,1.50,0.00,0.000,6,0.000,0.028,2847,2273,2354
$GC,12469,0.45,126.5,454.0,13.5,373,12470,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2267,2354
$GC,12712,0.45,126.5,423.1,12.1,379,12716,0.00,1.62,0.00,0.000,4,0.000,0.031,2849,1137,2354
$GC,12825,0.45,126.5,410.0,11.1,381,12829,0.00,1.75,0.00,0.000,6,0.000,0.043,2848,2284,2353
$GC,13097,0.45,126.5,378.9,11.4,388,13101,0.00,1.55,0.00,0.000,4,0.000,0.048,2849,3284,2353
$GC,13127,0.45,126.5,374.7,12.6,388,13131,0.00,1.48,0.00,0.000,6,0.000,0.026,2856,2282,2353
$GC,13393,0.45,126.5,344.8,11.5,395,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2276,2353
$GC,13636,0.45,126.5,318.8,10.5,401,13640,0.00,1.62,0.00,0.000,4,0.000,0.029,2860,1138,2353
$GC,13705,0.46,150.4,311.9,9.1,402,13730,0.00,1.75,18.65,0.855,6,0.000,0.041,2860,2289,2275
$GC,13976,0.46,150.4,282.8,11.0,409,13979,0.00,1.52,0.00,0.000,4,0.000,0.048,2860,3273,2271
$GC,14011,0.46,150.4,278.5,10.7,409,14015,0.00,1.48,0.00,0.000,6,0.000,0.025,2868,2272,2271
$GC,14271,0.46,150.4,251.1,10.2,416,14275,0.00,1.60,0.00,0.000,4,0.000,0.028,2873,1166,2271
$GC,14306,0.46,158.3,247.3,9.7,416,14320,0.00,1.73,7.60,0.723,6,0.000,0.042,2873,2293,2244
$GC,14566,0.46,158.3,216.9,11.8,423,14567,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2293,2243
$GC,14812,0.47,186.8,193.2,8.9,432,14843,0.00,1.55,25.17,0.752,4,0.000,0.047,2873,3278,2127
$GC,15059,0.47,186.8,164.3,13.2,453,15063,0.00,1.45,0.00,0.000,6,0.000,0.024,2880,2291,2124
$GC,15331,0.47,186.8,131.5,12.1,478,15334,0.00,1.60,0.00,0.000,4,0.000,0.026,2888,1151,2123
$GC,15416,0.47,186.8,121.6,11.0,485,15421,0.10,1.73,0.00,0.000,6,0.126,0.037,2853,2273,2122
$GC,15692,0.49,221.0,93.6,8.7,510,15733,0.00,1.60,28.92,0.649,4,0.000,0.042,2853,3291,1987
$GC,15784,0.53,330.4,87.7,5.9,517,15877,0.00,1.45,87.15,0.636,6,0.000,0.022,2856,2310,1542
$GC,16136,0.56,390.0,62.2,7.8,548,16192,0.00,1.55,47.28,0.601,4,0.000,0.039,2856,3277,1300
$GC,16309,0.57,434.7,49.8,8.3,561,16351,0.00,1.55,36.40,0.582,6,0.000,0.020,2856,2204,1117
$GC,16627,0.57,434.7,16.0,11.4,597,16636,0.00,1.67,0.00,0.000,4,0.000,0.039,2856,3285,1113
$GC,16673,0.57,434.7,10.8,10.4,603,16682,0.00,1.50,0.00,0.000,6,0.000,0.019,2856,2239,1113
$STATE,16750,end climb,SURFACE_DEPTH_REACHED
$STATE,16751,begin surface coast
$FINISH,0.5,1.004269
$STATE,16784,end surface coast,CONTROL_FINISHED_OK
$STATE,16784,begin surface
$SM_CCo,16869,0.00,0.000,0,0,1112,436.38
$SM_GC,1.47,7.15,0.00,0.00,0.023,0.000,0.000,24,2514,1112,-8.23,0.25,436.38
$IRIDIUM_FIX,2248.70,-15740.63,060103,101013
$TT8_MAMPS,0.023777
$HUMID,2217
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,3
$24V_AH,24.0,23.840
$10V_AH,10.7,25.628
$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,17.900,120.450,486.550,0.000,0.000,24.941,39.560,329.838,0.750,0.000,0.000,14.861,1351.656,11278.051,489.766,3315.560,1027.049,33.374,1618.042,0.000,3309.063,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,58.292,1265.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,421.463,2042.554,2112.406,1092.272,1353.506,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54062,620
$CAP_FILE_SIZE,134225,0
$CFSIZE,260165632,249344000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,121013,192536,2300.696,-15736.012,41,1.0,41,10.1