version: 66.04
glider: 512
mission: 4
dive: 179
start: 10 19 113 23 9 16
data:
$ID,512
$MISSION,4
$DIVE,179
$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,-110037.96
$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,41
$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,64
$R_STBD_OVSHOOT,67
$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,0.00069999998
$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
$GPS1,224624,2240.578,-15806.168,47,1.5,47,10.0
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-84.6
$GPS2,230801,2240.676,-15806.305,17,1.0,17,10.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.065,0.277
$KALMAN_X,106608.3,364.6,-63.5,-117589.7,-848.2
$KALMAN_Y,72669.7,197.5,31.4,-79186.2,-253.0
$MHEAD_RNG_PITCHd_Wd,3.3,44133,-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,-0.47,-126.5,0.0,0.0,0,85,0.00,0.00,-65.93,0.000,2,0.000,0.000,10,2547,2839
$GC,91,-0.47,-126.5,2.0,-1.5,8,119,9.57,1.62,-12.90,0.000,4,0.205,0.039,2543,1432,3408
$GC,214,-0.47,-126.5,32.2,-21.7,26,218,0.00,1.58,0.00,0.000,6,0.000,0.039,2537,2455,3408
$GC,487,-0.47,-126.5,98.0,-17.4,51,490,0.00,1.67,0.00,0.000,4,0.000,0.045,2529,3570,3409
$GC,585,-0.47,-126.5,115.3,-15.5,59,593,0.00,1.52,0.00,0.000,6,0.000,0.018,2529,2499,3409
$GC,851,-0.47,-126.5,158.9,-17.4,84,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2490,3409
$GC,1136,-0.47,-126.5,207.7,-17.2,108,1139,0.00,1.62,0.00,0.000,4,0.000,0.042,2523,3567,3409
$GC,1177,-0.47,-126.5,215.3,-16.4,108,1186,0.00,1.50,0.00,0.000,6,0.000,0.018,2523,2494,3409
$GC,1433,-0.47,-126.5,257.6,-16.4,115,1436,0.00,1.62,0.00,0.000,4,0.000,0.042,2516,3573,3409
$GC,1451,-0.47,-126.5,260.9,-14.7,115,1455,0.00,1.48,0.00,0.000,6,0.000,0.020,2515,2524,3409
$GC,1728,-0.47,-126.5,296.1,-12.2,122,1730,0.10,0.00,0.00,0.000,6,0.137,0.000,2542,2515,3408
$GC,1972,-0.47,-126.5,318.6,-9.2,128,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2515,3408
$GC,2215,-0.47,-126.5,345.4,-11.3,134,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2515,3406
$GC,2459,-0.47,-126.5,371.7,-10.4,140,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2515,3404
$GC,2703,-0.47,-126.5,395.6,-9.8,146,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2515,3403
$GC,2946,-0.47,-126.5,419.8,-10.2,152,2950,0.00,1.48,0.00,0.000,4,0.000,0.022,2542,1457,3400
$GC,2982,-0.47,-126.5,423.8,-9.6,152,2986,0.00,1.62,0.00,0.000,6,0.000,0.040,2537,2542,3400
$GC,3243,-0.47,-126.5,447.6,-9.0,159,3246,0.00,1.58,0.00,0.000,4,0.000,0.049,2531,3566,3398
$GC,3369,-0.47,-126.5,458.8,-8.2,161,3373,0.00,1.40,-0.05,0.000,6,0.000,0.022,2531,2581,3416
$GC,3629,-0.47,-126.5,481.9,-9.2,168,3633,0.00,1.55,0.00,0.000,4,0.000,0.023,2531,1473,3414
$GC,3665,-0.47,-126.5,486.0,-10.1,168,3669,0.00,1.67,0.00,0.000,6,0.000,0.042,2524,2581,3414
$GC,3926,-0.47,-126.5,513.8,-11.0,175,3930,0.00,1.60,0.00,0.000,4,0.000,0.023,2523,1464,3411
$GC,3976,-0.47,-126.5,519.3,-10.3,176,3980,0.00,1.65,0.00,0.000,6,0.000,0.043,2524,2549,3412
$GC,4270,-0.47,-126.5,548.4,-9.6,183,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2549,3409
$GC,4514,-0.47,-126.5,568.0,-7.8,189,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2549,3407
$GC,4758,-0.47,-126.5,586.2,-7.5,195,4761,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1473,3405
$GC,4811,-0.47,-126.5,590.6,-7.3,196,4814,0.00,1.65,0.00,0.000,6,0.000,0.046,2523,2557,3405
$GC,5099,-0.47,-126.5,614.0,-8.3,203,5103,0.00,1.55,0.00,0.000,4,0.000,0.053,2523,3556,3402
$GC,5168,-0.47,-126.5,620.0,-7.8,204,5172,0.00,1.45,0.00,0.000,6,0.000,0.025,2523,2549,3402
$GC,5441,-0.47,-126.5,643.9,-9.0,211,5445,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1457,3400
$GC,5505,-0.47,-126.5,650.2,-9.2,212,5509,0.00,1.70,0.00,0.000,6,0.000,0.047,2523,2546,3400
$GC,5782,-0.47,-126.5,675.7,-9.3,219,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2545,3399
$GC,6026,-0.47,-126.5,698.3,-9.2,225,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2546,3397
$GC,6270,-0.47,-126.5,718.3,-8.0,231,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2546,3395
$GC,6513,-0.47,-126.5,734.9,-6.6,237,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2546,3394
$GC,6757,-0.47,-126.5,750.1,-6.2,243,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2546,3393
$GC,7000,-0.47,-126.5,765.9,-6.4,249,7004,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3579,3392
$GC,7052,-0.47,-126.5,769.1,-6.5,250,7056,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2539,3391
$GC,7346,-0.47,-126.5,789.8,-7.3,257,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2532,3390
$GC,7590,-0.47,-126.5,808.6,-7.8,263,7593,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1454,3389
$GC,7641,-0.47,-126.5,812.4,-8.1,264,7645,0.00,1.67,0.00,0.000,6,0.000,0.049,2523,2535,3389
$GC,7937,-0.47,-126.5,835.6,-7.9,271,7941,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3562,3387
$GC,7973,-0.47,-126.5,838.7,-8.5,271,7976,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2534,3387
$GC,8233,-0.47,-126.5,857.1,-7.1,278,8237,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1458,3386
$GC,8269,-0.47,-126.5,859.8,-6.3,278,8273,0.00,1.67,0.00,0.000,6,0.000,0.049,2523,2540,3386
$GC,8530,-0.47,-126.5,876.7,-6.5,285,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3386
$GC,8773,-0.47,-126.5,892.5,-6.5,291,8777,0.00,1.60,0.00,0.000,4,0.000,0.059,2523,3568,3385
$GC,8815,-0.47,-126.5,895.6,-6.4,291,8825,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2519,3384
$STATE,8902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8902,begin apogee
$GC,8913,-0.17,0.0,901.3,6.5,294,9025,0.35,0.00,108.40,1.266,6,0.100,0.000,2641,2230,2890
$STATE,9026,end apogee,CONTROL_FINISHED_OK
$STATE,9026,begin climb
$GC,9031,0.47,126.5,904.0,0.0,297,9186,0.57,0.00,127.68,1.162,6,0.030,0.000,2882,2230,2373
$GC,9432,0.47,126.5,847.4,19.0,307,9434,0.15,0.00,0.00,0.000,6,0.191,0.000,2848,2230,2364
$GC,9676,0.47,126.5,810.7,14.6,313,9680,0.00,1.70,0.00,0.000,4,0.000,0.048,2849,3288,2361
$GC,9694,0.47,126.5,807.0,14.8,313,9698,0.00,1.60,0.00,0.000,6,0.000,0.026,2855,2205,2361
$GC,9971,0.47,126.5,764.8,15.6,320,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2198,2359
$GC,10215,0.47,126.5,726.1,15.9,326,10219,0.00,1.73,0.00,0.000,4,0.000,0.048,2855,3281,2358
$GC,10267,0.47,126.5,716.9,18.0,327,10270,0.00,1.58,0.00,0.000,6,0.000,0.028,2863,2237,2358
$GC,10557,0.47,126.5,667.9,17.3,334,10561,0.00,1.60,0.00,0.000,4,0.000,0.029,2871,1146,2358
$GC,10620,0.47,126.5,656.7,15.6,335,10624,0.00,1.70,0.00,0.000,6,0.000,0.042,2871,2230,2357
$GC,10898,0.47,126.5,611.9,16.4,342,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2230,2356
$GC,11141,0.47,126.5,575.4,14.6,348,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2230,2355
$GC,11385,0.47,126.5,539.8,14.7,354,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2229,2355
$GC,11628,0.47,126.5,502.5,15.6,360,11632,0.00,1.60,0.00,0.000,4,0.000,0.030,2878,1152,2355
$GC,11692,0.47,126.5,493.1,12.7,361,11696,0.00,1.62,0.00,0.000,6,0.000,0.041,2878,2215,2354
$GC,11969,0.47,126.5,455.9,13.2,368,11973,0.00,1.65,0.00,0.000,4,0.000,0.048,2876,3277,2354
$GC,12005,0.47,126.5,450.2,15.0,368,12009,0.12,1.60,0.00,0.000,6,0.184,0.026,2853,2177,2354
$GC,12265,0.47,126.5,418.9,11.8,375,12268,0.00,1.73,0.00,0.000,4,0.000,0.048,2850,3285,2354
$GC,12318,0.47,126.5,411.9,11.5,376,12321,0.00,1.58,0.00,0.000,6,0.000,0.026,2857,2222,2354
$GC,12606,0.47,126.5,380.3,10.5,383,12610,0.00,1.55,0.00,0.000,4,0.000,0.029,2860,1159,2353
$GC,12702,0.47,126.5,370.7,10.9,385,12706,0.00,1.62,0.00,0.000,6,0.000,0.042,2860,2194,2353
$GC,12996,0.48,141.2,342.9,9.4,392,13010,0.00,1.65,10.35,0.839,4,0.000,0.048,2860,3290,2315
$GC,13090,0.48,141.2,333.0,10.7,394,13093,0.00,1.62,0.00,0.000,6,0.000,0.025,2869,2175,2314
$GC,13384,0.49,150.1,304.4,9.7,401,13397,0.00,0.00,9.77,0.795,6,0.000,0.000,2869,2168,2277
$GC,13677,0.49,150.1,274.5,10.5,408,13680,0.00,1.75,0.00,0.000,4,0.000,0.048,2863,3298,2274
$GC,13894,0.49,159.9,249.7,9.6,412,13908,0.00,1.58,9.62,0.748,6,0.000,0.025,2869,2225,2238
$GC,14153,0.52,199.2,226.7,8.5,419,14197,0.00,1.70,34.28,0.772,4,0.000,0.044,2864,3283,2077
$GC,14262,0.52,199.2,212.9,13.0,421,14266,0.00,1.58,0.00,0.000,6,0.000,0.024,2870,2241,2075
$GC,14525,0.52,199.2,179.8,11.9,438,14533,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2235,2072
$GC,14791,0.52,199.2,147.8,11.7,463,14795,0.00,1.55,0.00,0.000,4,0.000,0.025,2878,1159,2072
$GC,14844,0.52,199.2,141.0,11.8,467,14852,0.00,1.70,0.00,0.000,6,0.000,0.038,2877,2259,2072
$GC,15110,0.52,199.2,110.2,11.5,492,15114,0.00,1.55,0.00,0.000,4,0.000,0.042,2876,3277,2071
$GC,15141,0.52,199.2,106.2,11.7,494,15150,0.00,1.50,0.00,0.000,6,0.000,0.022,2882,2243,2071
$GC,15408,0.59,305.6,81.8,6.0,519,15502,0.00,1.60,85.32,0.627,4,0.000,0.024,2886,1169,1644
$GC,15595,0.66,399.4,69.1,6.5,533,15678,0.00,1.60,74.47,0.603,6,0.000,0.035,2885,2215,1261
$GC,15935,0.66,399.4,37.2,10.5,563,15938,0.00,1.62,0.00,0.000,4,0.000,0.041,2885,3293,1257
$GC,15977,0.66,400.0,32.8,10.0,566,15981,0.00,1.62,0.00,0.000,6,0.000,0.021,2886,2190,1257
$GC,16284,0.66,400.0,5.7,10.3,612,16293,0.00,1.48,0.00,0.000,4,0.000,0.025,2886,1160,1257
$STATE,16312,end climb,SURFACE_DEPTH_REACHED
$STATE,16313,begin surface coast
$FINISH,0.4,1.010887
$STATE,16351,end surface coast,CONTROL_FINISHED_OK
$STATE,16351,begin surface
$SM_CCo,16438,0.00,0.000,0,0,1254,401.30
$SM_GC,1.35,7.20,0.00,0.00,0.025,0.000,0.000,46,2521,1254,-8.21,0.59,401.30
$IRIDIUM_FIX,2232.34,-15808.45,130103,232346
$TT8_MAMPS,0.023777
$HUMID,2195
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.60
$XPDR_PINGS,6
$24V_AH,23.9,29.615
$10V_AH,10.7,33.228
$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,18.075,99.825,459.900,0.000,0.000,117.403,153.112,622.240,1.500,0.000,0.000,17.461,1306.883,11314.082,501.956,3105.225,1518.231,33.374,1469.472,0.000,3110.002,0.000,0.545,0.000
$DEVICE_MAMPS,204.789,59.059,1265.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,423.502,2049.157,2110.019,623.342,1366.132,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54328,622
$CAP_FILE_SIZE,130931,0
$CFSIZE,260165632,246890496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,201013,034500,2242.839,-15806.124,62,0.9,62,10.0