version: 66.04
glider: 512
mission: 4
dive: 143
start: 10 12 113 19 34 44
data:
$ID,512
$MISSION,4
$DIVE,143
$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,-109374.8
$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,81
$R_STBD_OVSHOOT,31
$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
$GPS1,192536,2300.696,-15736.012,41,1.0,41,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-83.8
$GPS2,193330,2300.668,-15736.005,12,1.2,17,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.004,0.285
$KALMAN_X,52654.4,-15.0,-83.7,-11488.3,501.1
$KALMAN_Y,33033.0,196.5,-503.3,-1999.7,-159.8
$MHEAD_RNG_PITCHd_Wd,350.6,8875,-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,-126.5,0.0,0.0,0,97,0.00,0.00,-76.62,0.000,2,0.000,0.000,12,2514,2978
$GC,103,-0.45,-126.5,2.5,-3.1,9,132,9.48,1.60,-8.80,0.000,4,0.202,0.054,2539,3566,3408
$GC,265,-0.45,-126.5,48.5,-20.0,27,275,0.00,1.52,0.00,0.000,6,0.000,0.019,2543,2517,3409
$GC,531,-0.45,-126.5,99.8,-16.8,52,535,0.00,1.62,0.00,0.000,4,0.000,0.043,2538,3559,3409
$GC,604,-0.45,-126.5,112.5,-16.0,58,607,0.00,1.52,0.00,0.000,6,0.000,0.018,2538,2499,3409
$GC,875,-0.45,-126.5,154.7,-14.7,83,879,0.00,1.45,0.00,0.000,4,0.000,0.020,2538,1440,3410
$GC,984,-0.45,-126.5,169.8,-12.8,92,991,0.00,1.58,0.00,0.000,6,0.000,0.039,2536,2474,3410
$GC,1277,-0.45,-126.5,213.3,-14.8,114,1281,0.00,1.62,0.00,0.000,4,0.000,0.045,2528,3567,3410
$GC,1397,-0.45,-126.5,230.0,-11.9,116,1401,0.00,1.55,0.00,0.000,6,0.000,0.019,2528,2472,3410
$GC,1663,-0.45,-126.5,263.1,-12.6,123,1667,0.00,1.40,0.00,0.000,4,0.000,0.020,2528,1442,3410
$GC,1772,-0.45,-126.5,275.6,-10.9,125,1775,0.00,1.55,0.00,0.000,6,0.000,0.037,2524,2468,3409
$GC,2049,-0.45,-126.5,308.6,-12.4,132,2052,0.00,1.65,0.00,0.000,4,0.000,0.047,2516,3574,3409
$GC,2113,-0.45,-126.5,317.2,-12.4,133,2117,0.05,1.55,0.00,0.000,6,0.105,0.020,2549,2469,3408
$GC,2390,-0.45,-126.5,342.8,-8.9,140,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2461,3407
$GC,2633,-0.45,-126.5,364.0,-8.8,146,2637,0.00,1.67,0.00,0.000,4,0.000,0.045,2542,3566,3404
$GC,2686,-0.45,-126.5,368.4,-8.5,147,2689,0.00,1.55,0.00,0.000,6,0.000,0.021,2542,2478,3404
$GC,2981,-0.45,-126.5,394.6,-8.8,154,2984,0.00,1.40,0.00,0.000,4,0.000,0.022,2542,1466,3402
$GC,3031,-0.45,-126.5,399.1,-7.8,155,3035,0.00,1.55,0.00,0.000,6,0.000,0.038,2537,2482,3402
$GC,3326,-0.45,-126.5,425.3,-9.0,162,3329,0.00,1.62,0.00,0.000,4,0.000,0.049,2529,3565,3399
$GC,3367,-0.45,-126.5,429.8,-9.7,162,3377,0.00,1.55,-0.05,0.000,6,0.000,0.022,2529,2475,3418
$GC,3624,-0.45,-126.5,455.3,-10.2,169,3627,0.00,1.42,0.00,0.000,4,0.000,0.022,2529,1467,3416
$GC,3654,-0.45,-126.5,459.0,-10.2,169,3658,0.00,1.55,0.00,0.000,6,0.000,0.041,2524,2481,3416
$GC,3920,-0.45,-126.5,484.6,-9.7,176,3923,0.00,1.65,0.00,0.000,4,0.000,0.051,2521,3566,3414
$GC,3989,-0.45,-126.5,491.1,-9.3,177,3992,0.00,1.55,0.00,0.000,6,0.000,0.023,2521,2485,3413
$GC,4261,-0.45,-126.5,516.0,-9.4,184,4265,0.00,1.67,0.00,0.000,4,0.000,0.049,2513,3572,3411
$GC,4332,-0.45,-126.5,523.3,-10.0,185,4336,0.05,1.55,0.00,0.000,6,0.089,0.023,2550,2488,3411
$GC,4603,-0.45,-126.5,544.6,-7.8,192,4607,0.00,1.67,0.00,0.000,4,0.000,0.051,2543,3571,3409
$GC,4645,-0.45,-126.5,548.1,-8.4,192,4654,0.00,1.52,0.00,0.000,6,0.000,0.023,2543,2500,3409
$GC,4902,-0.45,-126.5,568.5,-8.1,199,4905,0.00,1.45,0.00,0.000,4,0.000,0.024,2543,1470,3408
$GC,4952,-0.45,-126.5,573.0,-7.9,200,4956,0.00,1.60,0.00,0.000,6,0.000,0.044,2537,2506,3408
$GC,5246,-0.45,-126.5,598.0,-8.3,207,5250,0.00,1.62,0.00,0.000,4,0.000,0.054,2529,3572,3405
$GC,5305,-0.45,-126.5,603.1,-8.4,208,5309,0.00,1.50,0.00,0.000,6,0.000,0.025,2529,2530,3404
$GC,5588,-0.45,-126.5,625.1,-7.8,215,5592,0.00,1.50,0.00,0.000,4,0.000,0.025,2529,1468,3402
$GC,5675,-0.45,-126.5,632.2,-8.0,216,5684,0.00,1.62,0.00,0.000,6,0.000,0.045,2524,2519,3402
$GC,5931,-0.45,-126.5,654.4,-9.0,223,5934,0.00,1.60,0.00,0.000,4,0.000,0.055,2522,3568,3400
$GC,6027,-0.45,-126.5,663.4,-9.1,225,6031,0.00,1.48,0.00,0.000,6,0.000,0.025,2522,2549,3399
$GC,6317,-0.45,-126.5,687.3,-8.2,232,6321,0.00,1.55,0.00,0.000,4,0.000,0.026,2522,1455,3399
$GC,6436,-0.45,-126.5,697.0,-7.8,234,6441,0.12,1.65,0.00,0.000,6,0.112,0.046,2551,2538,3398
$GC,6704,-0.45,-126.5,710.9,-5.1,241,6707,0.00,1.60,0.00,0.000,4,0.000,0.055,2545,3559,3397
$GC,6735,-0.45,-126.5,712.7,-5.7,241,6739,0.00,1.50,0.00,0.000,6,0.000,0.027,2545,2522,3397
$GC,7001,-0.45,-126.5,727.6,-5.7,248,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2515,3395
$GC,7245,-0.45,-126.5,742.9,-6.3,254,7249,0.00,1.50,0.00,0.000,4,0.000,0.027,2545,1456,3394
$GC,7275,-0.45,-126.5,745.2,-7.5,254,7278,0.00,1.67,0.00,0.000,6,0.000,0.048,2537,2552,3394
$GC,7541,-0.45,-126.5,763.3,-6.9,261,7545,0.00,1.58,0.00,0.000,4,0.000,0.057,2531,3556,3392
$GC,7577,-0.45,-126.5,766.0,-7.4,261,7581,0.00,1.48,0.00,0.000,6,0.000,0.028,2531,2543,3393
$GC,7839,-0.45,-126.5,784.1,-7.0,268,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2535,3392
$GC,8084,-0.45,-126.5,800.9,-6.9,274,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2535,3391
$GC,8328,-0.45,-126.5,817.3,-6.8,280,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2534,3390
$GC,8571,-0.45,-126.5,833.6,-6.6,286,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2534,3390
$GC,8815,-0.45,-126.5,849.4,-6.5,292,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2534,3388
$GC,9059,-0.45,-126.5,864.8,-6.2,298,9062,0.00,1.55,0.00,0.000,4,0.000,0.028,2530,1459,3387
$GC,9111,-0.45,-126.5,868.5,-6.0,299,9114,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2551,3387
$GC,9399,-0.45,-126.5,886.9,-6.3,306,9403,0.00,1.60,0.00,0.000,4,0.000,0.059,2524,3582,3387
$GC,9435,-0.45,-126.5,889.7,-6.5,306,9439,0.00,1.50,0.00,0.000,6,0.000,0.029,2524,2558,3386
$STATE,9609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9609,begin apogee
$GC,9621,-0.18,0.0,900.5,6.2,311,9732,0.35,0.00,107.53,1.269,6,0.099,0.000,2642,2213,2889
$STATE,9733,end apogee,CONTROL_FINISHED_OK
$STATE,9733,begin climb
$GC,9738,0.45,126.5,902.9,0.0,314,9871,0.55,1.83,121.53,1.206,4,0.031,0.048,2866,3279,2373
$GC,9908,0.45,126.5,887.0,19.7,318,9911,0.00,1.62,0.00,0.000,6,0.000,0.027,2872,2234,2369
$GC,10192,0.45,126.5,834.8,18.2,325,10195,0.00,1.60,0.00,0.000,4,0.000,0.029,2880,1160,2363
$GC,10241,0.45,126.5,825.9,17.6,326,10246,0.12,1.65,0.00,0.000,6,0.163,0.042,2846,2213,2361
$GC,10535,0.45,126.5,781.1,15.2,333,10539,0.00,1.65,0.00,0.000,4,0.000,0.048,2846,3280,2361
$GC,10594,0.45,126.5,771.1,17.0,334,10597,0.00,1.62,0.00,0.000,6,0.000,0.029,2847,2194,2360
$GC,10876,0.45,126.5,726.0,16.3,341,10880,0.00,1.75,0.00,0.000,4,0.000,0.048,2847,3285,2359
$GC,10900,0.45,126.5,721.3,17.3,341,10904,0.00,1.60,0.00,0.000,6,0.000,0.028,2855,2198,2358
$GC,11172,0.45,126.5,676.8,16.0,348,11175,0.00,1.52,0.00,0.000,4,0.000,0.030,2860,1159,2357
$GC,11225,0.45,126.5,668.7,13.8,349,11228,0.00,1.62,0.00,0.000,6,0.000,0.042,2860,2220,2357
$GC,11513,0.45,126.5,626.3,14.8,356,11517,0.00,1.67,0.00,0.000,4,0.000,0.051,2860,3286,2357
$GC,11576,0.45,126.5,615.7,16.6,357,11580,0.00,1.58,0.00,0.000,6,0.000,0.028,2868,2228,2356
$GC,11854,0.45,126.5,573.4,15.3,364,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2222,2356
$GC,12099,0.45,126.5,538.1,14.6,370,12102,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3283,2356
$GC,12117,0.45,126.5,534.6,14.5,370,12121,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2243,2355
$GC,12394,0.45,126.5,494.8,14.2,377,12398,0.00,1.65,0.00,0.000,4,0.000,0.047,2863,3282,2356
$GC,12457,0.45,126.5,485.7,13.8,378,12460,0.00,1.50,0.00,0.000,6,0.000,0.027,2869,2272,2355
$GC,12735,0.45,126.5,449.4,13.0,385,12738,0.00,1.60,0.00,0.000,4,0.000,0.030,2877,1163,2355
$GC,12764,0.45,126.5,445.0,12.9,385,12769,0.10,1.70,0.00,0.000,6,0.145,0.044,2845,2257,2354
$GC,13029,0.45,126.5,414.5,11.7,392,13033,0.00,1.60,0.00,0.000,4,0.000,0.049,2844,3283,2354
$GC,13087,0.45,126.5,406.8,13.8,393,13090,0.00,1.50,0.00,0.000,6,0.000,0.027,2846,2278,2354
$GC,13370,0.45,126.5,375.7,10.5,400,13374,0.00,1.62,0.00,0.000,4,0.000,0.029,2855,1135,2354
$GC,13413,0.45,126.5,371.2,10.5,400,13421,0.00,1.77,0.00,0.000,6,0.000,0.041,2855,2278,2354
$GC,13667,0.45,126.5,345.0,10.5,407,13671,0.00,1.55,0.00,0.000,4,0.000,0.048,2855,3279,2354
$GC,13686,0.45,126.5,342.6,10.5,407,13689,0.00,1.48,0.00,0.000,6,0.000,0.026,2860,2284,2354
$GC,13963,0.45,130.4,314.9,9.9,414,13967,0.00,1.58,0.00,0.000,4,0.000,0.045,2860,3282,2354
$GC,14155,0.45,130.4,293.8,11.1,418,14159,0.00,1.42,0.00,0.000,6,0.000,0.025,2867,2311,2354
$GC,14449,0.45,130.4,262.8,10.4,425,14453,0.00,1.62,0.00,0.000,4,0.000,0.027,2873,1157,2354
$GC,14608,0.45,130.4,245.8,10.4,428,14611,0.00,1.70,0.00,0.000,6,0.000,0.038,2873,2286,2354
$GC,14880,0.46,145.7,219.8,9.4,435,14899,0.00,1.67,14.32,0.758,4,0.000,0.025,2881,1145,2296
$GC,15071,0.47,166.9,202.0,9.2,439,15095,0.00,1.73,19.42,0.746,6,0.000,0.038,2876,2283,2209
$GC,15364,0.47,166.9,169.5,12.2,464,15368,0.00,1.52,0.00,0.000,4,0.000,0.044,2876,3274,2204
$GC,15451,0.47,166.9,157.2,13.1,471,15461,0.10,1.48,0.00,0.000,6,0.166,0.023,2851,2268,2204
$GC,15721,0.47,183.4,129.9,9.4,496,15740,0.00,1.58,14.68,0.665,4,0.000,0.023,2857,1160,2141
$GC,15825,0.48,197.9,119.9,9.5,504,15843,0.00,1.67,13.50,0.644,6,0.000,0.036,2856,2250,2082
$GC,16111,0.49,229.8,93.6,8.8,530,16143,0.00,1.60,27.42,0.638,4,0.000,0.024,2857,1156,1952
$GC,16217,0.52,307.8,84.8,7.1,538,16286,0.00,1.65,63.08,0.628,6,0.000,0.035,2856,2218,1634
$GC,16542,0.56,407.4,64.3,6.3,567,16627,0.00,1.73,78.50,0.601,4,0.000,0.041,2857,3290,1228
$GC,16692,0.61,523.8,56.2,5.6,578,16791,0.12,1.58,91.75,0.583,6,0.135,0.020,2894,2208,753
$GC,17066,0.61,523.8,11.4,13.1,620,17075,0.00,1.48,0.00,0.000,4,0.000,0.025,2894,1194,749
$STATE,17132,end climb,SURFACE_DEPTH_REACHED
$STATE,17132,begin surface coast
$FINISH,0.5,1.010449
$STATE,17165,end surface coast,CONTROL_FINISHED_OK
$STATE,17165,begin surface
$SM_CCo,17252,0.00,0.000,0,0,747,525.42
$SM_GC,1.29,7.30,0.00,0.00,0.026,0.000,0.000,24,2507,747,-8.24,0.20,525.42
$IRIDIUM_FIX,2248.70,-15737.57,060103,141455
$TT8_MAMPS,0.023777
$HUMID,2174
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.70
$XPDR_PINGS,4
$24V_AH,23.9,23.992
$10V_AH,10.7,25.842
$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,18.350,137.175,551.725,0.000,0.000,30.588,36.057,209.949,1.000,0.000,0.000,17.723,1434.057,11380.235,532.925,3448.197,938.939,33.379,1703.597,0.000,3440.603,0.000,0.545,0.000
$DEVICE_MAMPS,201.721,59.059,1269.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,431.828,2091.968,2155.505,1141.420,1368.281,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54212,635
$CAP_FILE_SIZE,141396,0
$CFSIZE,260165632,249262080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131013,002336,2303.305,-15736.110,37,1.2,37,10.1