version: 66.04
glider: 512
mission: 4
dive: 144
start: 10 13 113 0 39 12
data:
$ID,512
$MISSION,4
$DIVE,144
$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,-109399.83
$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,90
$R_STBD_OVSHOOT,28
$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
$GPS1,002336,2303.305,-15736.110,37,1.2,37,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-80.6
$GPS2,003754,2303.288,-15736.007,13,1.2,24,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.041,0.282
$KALMAN_X,52437.9,118.1,-68.1,-11416.6,85.8
$KALMAN_Y,31910.9,253.1,279.5,3125.9,-1784.2
$MHEAD_RNG_PITCHd_Wd,358.2,4092,-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,-126.5,0.0,0.0,0,106,0.00,0.00,-85.95,0.000,2,0.000,0.000,11,2506,2864
$GC,112,-0.45,-126.5,2.2,-1.5,10,141,9.43,1.62,-12.20,0.000,4,0.200,0.055,2538,3570,3406
$GC,355,-0.45,-126.5,61.7,-21.6,36,359,0.00,1.52,0.00,0.000,6,0.000,0.019,2538,2512,3407
$GC,628,-0.45,-126.5,117.7,-19.1,61,631,0.00,1.48,0.00,0.000,4,0.000,0.020,2538,1443,3407
$GC,670,-0.45,-126.5,124.6,-14.6,64,679,0.00,1.58,0.00,0.000,6,0.000,0.038,2531,2480,3407
$GC,935,-0.45,-126.5,166.5,-16.0,89,939,0.00,1.65,0.00,0.000,4,0.000,0.045,2523,3561,3407
$GC,985,-0.45,-126.5,174.5,-15.7,93,989,0.00,1.52,0.00,0.000,6,0.000,0.019,2523,2486,3407
$GC,1272,-0.45,-126.5,218.9,-15.4,111,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2480,3407
$GC,1515,-0.45,-126.5,252.4,-13.5,117,1519,0.00,1.42,0.00,0.000,4,0.000,0.021,2523,1448,3406
$GC,1568,-0.45,-126.5,258.9,-12.4,118,1571,0.00,1.58,0.00,0.000,6,0.000,0.040,2523,2480,3406
$GC,1861,-0.45,-126.5,296.5,-12.4,125,1865,0.00,1.45,0.00,0.000,4,0.000,0.021,2523,1447,3405
$GC,1912,-0.45,-126.5,302.5,-11.4,126,1916,0.08,1.52,0.00,0.000,6,0.117,0.038,2544,2453,3405
$GC,2207,-0.45,-126.5,331.5,-9.8,133,2210,0.00,1.65,0.00,0.000,4,0.000,0.048,2538,3559,3402
$GC,2292,-0.45,-126.5,340.8,-10.2,134,2300,0.00,1.58,0.00,0.000,6,0.000,0.021,2538,2442,3402
$GC,2547,-0.45,-126.5,366.0,-9.9,141,2551,0.00,1.70,0.00,0.000,4,0.000,0.046,2530,3560,3400
$GC,2606,-0.45,-126.5,371.7,-8.9,142,2610,0.00,1.58,0.00,0.000,6,0.000,0.021,2529,2452,3399
$GC,2889,-0.45,-126.5,400.3,-10.6,149,2892,0.00,1.38,0.00,0.000,4,0.000,0.023,2530,1448,3398
$GC,2939,-0.45,-126.5,405.7,-10.3,150,2943,0.00,1.55,0.00,0.000,6,0.000,0.041,2524,2462,3398
$GC,3233,-0.45,-126.5,438.2,-10.9,157,3238,0.00,1.67,-0.08,0.000,4,0.000,0.066,2516,3570,3418
$GC,3313,-0.45,-126.5,447.1,-10.2,158,3318,0.08,1.55,0.00,0.000,6,0.088,0.022,2556,2475,3417
$GC,3574,-0.45,-126.5,465.1,-6.8,165,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2468,3415
$GC,3817,-0.45,-126.5,481.6,-7.0,171,3821,0.00,1.70,0.00,0.000,4,0.000,0.051,2550,3571,3413
$GC,3869,-0.45,-126.5,485.2,-6.8,172,3872,0.00,1.58,0.00,0.000,6,0.000,0.024,2550,2474,3413
$GC,4163,-0.45,-126.5,507.2,-7.6,179,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2467,3411
$GC,4406,-0.45,-126.5,525.7,-7.5,185,4410,0.00,1.73,0.00,0.000,4,0.000,0.053,2542,3563,3409
$GC,4476,-0.45,-126.5,531.2,-7.2,186,4479,0.00,1.52,0.00,0.000,6,0.000,0.024,2542,2495,3408
$GC,4748,-0.45,-126.5,552.2,-7.8,193,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2488,3406
$GC,4992,-0.45,-126.5,571.9,-8.2,199,4996,0.00,1.45,0.00,0.000,4,0.000,0.025,2542,1466,3404
$GC,5042,-0.45,-126.5,576.2,-7.9,200,5046,0.00,1.60,0.00,0.000,6,0.000,0.044,2537,2497,3404
$GC,5337,-0.45,-126.5,601.6,-8.6,207,5340,0.00,1.62,0.00,0.000,4,0.000,0.053,2529,3566,3401
$GC,5423,-0.45,-126.5,609.1,-8.5,208,5431,0.00,1.52,0.00,0.000,6,0.000,0.025,2529,2500,3401
$GC,5679,-0.45,-126.5,629.0,-7.8,215,5682,0.00,1.48,0.00,0.000,4,0.000,0.025,2529,1467,3400
$GC,5715,-0.45,-126.5,632.2,-8.7,215,5718,0.00,1.60,0.00,0.000,6,0.000,0.044,2524,2522,3400
$GC,5975,-0.45,-126.5,653.2,-8.3,222,5979,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3569,3398
$GC,6034,-0.45,-126.5,658.4,-8.0,223,6037,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2517,3398
$GC,6317,-0.45,-126.5,680.9,-8.2,230,6321,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1460,3396
$GC,6413,-0.45,-126.5,688.8,-8.7,232,6416,0.00,1.62,0.00,0.000,6,0.000,0.047,2523,2522,3396
$GC,6707,-0.45,-126.5,714.1,-8.6,239,6711,0.00,1.62,0.00,0.000,4,0.000,0.057,2524,3560,3394
$GC,6749,-0.45,-126.5,718.0,-8.0,239,6757,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2500,3393
$GC,7003,-0.45,-126.5,738.2,-7.9,246,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2500,3393
$GC,7247,-0.45,-126.5,756.9,-7.7,252,7250,0.00,1.65,0.00,0.000,4,0.000,0.055,2523,3560,3392
$GC,7298,-0.45,-126.5,761.1,-7.5,253,7302,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2517,3391
$GC,7593,-0.45,-126.5,784.4,-8.0,260,7596,0.00,1.67,0.00,0.000,4,0.000,0.056,2524,3560,3390
$GC,7643,-0.45,-126.5,788.6,-7.7,261,7646,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2533,3390
$GC,7939,-0.45,-126.5,812.4,-8.2,268,7943,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1469,3389
$GC,7983,-0.45,-126.5,816.2,-7.9,268,7990,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2537,3389
$GC,8237,-0.45,-126.5,834.2,-7.0,275,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3387
$GC,8481,-0.45,-126.5,851.0,-6.7,281,8485,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3556,3386
$GC,8539,-0.45,-126.5,855.2,-6.5,282,8543,0.00,1.48,0.00,0.000,6,0.000,0.028,2524,2543,3386
$GC,8823,-0.45,-126.5,874.9,-7.2,289,8827,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1464,3386
$GC,8909,-0.45,-126.5,881.9,-7.8,290,8917,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2534,3386
$STATE,9159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9159,begin apogee
$GC,9170,-0.18,0.0,902.3,8.3,297,9282,0.35,0.00,107.68,1.266,6,0.096,0.000,2642,2225,2890
$STATE,9282,end apogee,CONTROL_FINISHED_OK
$STATE,9282,begin climb
$GC,9287,0.45,126.5,907.1,0.0,300,9420,0.52,1.67,120.57,1.209,4,0.031,0.028,2881,1182,2373
$GC,9450,0.45,126.5,894.9,16.2,303,9454,0.12,1.70,0.00,0.000,6,0.164,0.041,2848,2230,2369
$GC,9716,0.45,126.5,854.2,15.4,310,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2231,2363
$GC,9961,0.45,126.5,814.8,16.3,316,9965,0.00,1.62,0.00,0.000,4,0.000,0.048,2848,3281,2361
$GC,9985,0.45,126.5,810.0,15.7,316,9989,0.00,1.60,0.00,0.000,6,0.000,0.027,2855,2201,2360
$GC,10257,0.45,126.5,764.6,16.9,323,10260,0.00,1.75,0.00,0.000,4,0.000,0.049,2852,3290,2359
$GC,10307,0.45,126.5,755.9,17.9,324,10310,0.00,1.58,0.00,0.000,6,0.000,0.026,2858,2242,2358
$GC,10601,0.45,126.5,705.4,16.4,331,10605,0.00,1.65,0.00,0.000,4,0.000,0.048,2858,3294,2357
$GC,10698,0.45,126.5,688.2,16.3,333,10702,0.00,1.55,0.00,0.000,6,0.000,0.026,2865,2250,2357
$GC,10987,0.45,126.5,643.8,15.3,340,10990,0.00,1.58,0.00,0.000,4,0.000,0.029,2873,1162,2357
$GC,11081,0.45,126.5,629.9,13.5,342,11085,0.00,1.73,0.00,0.000,6,0.000,0.043,2873,2264,2356
$GC,11376,0.45,126.5,581.8,16.7,349,11380,0.00,1.58,0.00,0.000,4,0.000,0.049,2873,3275,2356
$GC,11439,0.45,126.5,570.6,16.4,350,11443,0.10,1.50,0.00,0.000,6,0.190,0.026,2851,2265,2355
$GC,11715,0.45,126.5,532.2,13.6,357,11719,0.00,1.60,0.00,0.000,4,0.000,0.029,2858,1148,2355
$GC,11751,0.45,126.5,527.0,12.6,357,11755,0.00,1.73,0.00,0.000,6,0.000,0.041,2858,2283,2354
$GC,12012,0.45,126.5,490.6,13.9,364,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2283,2354
$GC,12257,0.45,126.5,457.7,13.6,370,12261,0.00,1.55,0.00,0.000,4,0.000,0.048,2858,3281,2354
$GC,12353,0.45,126.5,442.7,15.2,372,12357,0.00,1.50,0.00,0.000,6,0.000,0.026,2865,2263,2354
$GC,12642,0.45,126.5,401.0,14.7,379,12646,0.00,1.62,0.00,0.000,4,0.000,0.047,2863,3310,2354
$GC,12705,0.45,126.5,391.1,14.9,380,12709,0.00,1.52,0.00,0.000,6,0.000,0.026,2869,2275,2354
$GC,12982,0.45,126.5,357.5,11.4,387,12985,0.00,1.60,0.00,0.000,4,0.000,0.029,2877,1173,2354
$GC,13096,0.45,126.5,345.2,10.3,389,13100,0.12,1.65,0.00,0.000,6,0.156,0.041,2845,2258,2353
$GC,13367,0.46,150.3,320.5,9.1,396,13391,0.00,1.62,18.08,0.865,4,0.000,0.046,2844,3287,2277
$GC,13507,0.46,150.3,302.4,14.0,399,13511,0.00,1.52,0.00,0.000,6,0.000,0.026,2846,2267,2275
$GC,13796,0.46,150.3,268.5,11.6,406,13800,0.00,1.60,0.00,0.000,4,0.000,0.027,2854,1132,2274
$GC,13900,0.47,171.0,257.6,9.2,408,13924,0.00,1.73,18.52,0.808,6,0.000,0.038,2854,2266,2192
$GC,14181,0.47,171.0,227.5,10.7,415,14184,0.00,1.58,0.00,0.000,4,0.000,0.048,2854,3279,2188
$GC,14288,0.47,171.0,215.7,10.9,417,14291,0.00,1.50,0.00,0.000,6,0.000,0.025,2860,2273,2187
$GC,14548,0.47,184.6,190.8,9.5,428,14564,0.00,1.60,12.55,0.723,4,0.000,0.028,2860,1158,2137
$GC,14613,0.48,204.6,184.3,9.2,433,14637,0.00,1.77,18.30,0.727,6,0.000,0.038,2860,2296,2054
$GC,14910,0.48,204.6,153.2,11.3,460,14913,0.00,1.52,0.00,0.000,4,0.000,0.044,2860,3284,2051
$GC,15009,0.48,204.6,140.4,11.8,468,15018,0.00,1.42,0.00,0.000,6,0.000,0.022,2867,2311,2050
$GC,15276,0.48,204.6,110.6,10.9,493,15280,0.00,1.65,0.00,0.000,4,0.000,0.025,2872,1162,2050
$GC,15349,0.48,204.6,102.1,10.7,499,15353,0.00,1.70,0.00,0.000,6,0.000,0.036,2872,2290,2049
$GC,15621,0.52,303.7,79.6,6.3,524,15705,0.00,1.75,79.43,0.633,4,0.000,0.024,2872,1160,1651
$GC,15725,0.54,360.2,71.8,7.9,533,15776,0.00,1.80,45.20,0.607,6,0.000,0.035,2872,2299,1420
$GC,16033,0.57,418.5,48.1,7.8,561,16083,0.00,0.00,46.45,0.584,6,0.000,0.000,2872,2299,1182
$GC,16347,0.61,520.7,28.4,6.2,592,16438,0.00,1.75,80.10,0.561,4,0.000,0.024,2872,1158,766
$GC,16481,0.61,520.7,18.8,10.9,608,16490,0.00,1.75,0.00,0.000,6,0.000,0.028,2872,2299,764
$STATE,16614,end climb,SURFACE_DEPTH_REACHED
$STATE,16614,begin surface coast
$FINISH,0.5,0.997664
$STATE,16645,end surface coast,CONTROL_FINISHED_OK
$STATE,16645,begin surface
$SM_CCo,16730,0.00,0.000,0,0,762,521.99
$SM_GC,1.30,7.22,0.00,0.00,0.022,0.000,0.000,35,2512,762,-8.22,0.34,521.99
$IRIDIUM_FIX,2255.72,-15734.52,070103,000026
$TT8_MAMPS,0.023777
$HUMID,2183
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,26.60
$XPDR_PINGS,4
$24V_AH,24.0,24.162
$10V_AH,10.7,26.059
$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,18.025,128.325,546.875,0.000,0.000,60.073,73.098,459.291,1.000,0.000,0.000,24.394,1379.326,11065.202,493.410,3433.491,1229.257,33.372,1678.319,0.000,3408.579,0.000,0.547,0.000
$DEVICE_MAMPS,200.187,65.962,1266.317,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,429.026,2085.391,2147.550,1218.317,1407.806,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54273,633
$CAP_FILE_SIZE,140026,0
$CFSIZE,260165632,249192448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131013,051929,2305.628,-15735.054,39,1.0,44,10.1