version: 66.04
glider: 512
mission: 4
dive: 102
start: 10 4 113 17 37 48
data:
$ID,512
$MISSION,4
$DIVE,102
$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,150
$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,-108567.59
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2698
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,57
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2750
$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
$GPS1,172354,2306.072,-15757.761,42,1.0,42,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-81.7
$GPS2,173631,2306.149,-15757.724,15,0.9,15,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.254,-0.128
$KALMAN_X,30045.1,-84.1,-143.0,-25855.4,2329.7
$KALMAN_Y,-3599.5,-558.7,-88.2,45111.1,1699.6
$MHEAD_RNG_PITCHd_Wd,233.1,12007,-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,-0.48,-146.0,0.0,0.0,0,94,0.00,0.00,-73.85,0.000,2,0.000,0.000,11,2568,2726
$GC,100,-0.48,-146.0,2.3,-1.9,9,135,9.38,1.62,-15.88,0.000,4,0.202,0.039,2534,1440,3347
$GC,298,-0.48,-146.0,44.4,-20.3,34,307,0.00,1.62,0.00,0.000,6,0.000,0.038,2528,2496,3348
$GC,565,-0.48,-146.0,107.7,-18.2,59,569,0.00,1.62,0.00,0.000,4,0.000,0.045,2520,3564,3348
$GC,652,-0.48,-146.0,122.7,-16.1,66,661,0.00,1.52,0.00,0.000,6,0.000,0.019,2520,2493,3348
$GC,918,-0.48,-146.0,166.2,-18.0,91,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2486,3349
$GC,1202,-0.48,-146.0,212.5,-14.4,112,1206,0.00,1.62,0.00,0.000,4,0.000,0.041,2513,3571,3349
$GC,1244,-0.48,-146.0,219.0,-13.8,112,1252,0.00,1.48,0.00,0.000,6,0.000,0.019,2517,2521,3349
$GC,1498,-0.48,-146.0,252.0,-13.0,119,1502,0.00,1.45,0.00,0.000,4,0.000,0.020,2521,1458,3348
$GC,1578,-0.48,-146.0,262.5,-11.1,120,1582,0.00,1.60,0.00,0.000,6,0.000,0.037,2515,2538,3348
$GC,1839,-0.48,-146.0,296.4,-13.3,127,1842,0.00,1.55,0.00,0.000,4,0.000,0.045,2507,3564,3347
$GC,1919,-0.48,-146.0,307.8,-13.0,128,1923,0.08,1.45,0.00,0.000,6,0.125,0.020,2536,2527,3347
$GC,2179,-0.48,-146.0,335.3,-10.4,135,2182,0.00,1.48,0.00,0.000,4,0.000,0.021,2544,1454,3345
$GC,2209,-0.48,-146.0,338.4,-9.8,135,2213,0.00,1.65,0.00,0.000,6,0.000,0.040,2538,2539,3345
$GC,2476,-0.48,-146.0,363.8,-9.7,142,2480,0.00,1.55,0.00,0.000,4,0.000,0.048,2530,3558,3342
$GC,2534,-0.48,-146.0,370.1,-10.0,143,2538,0.00,1.42,0.00,0.000,6,0.000,0.022,2530,2546,3341
$GC,2817,-0.48,-146.0,398.8,-10.4,150,2820,0.00,1.50,0.00,0.000,4,0.000,0.022,2530,1461,3339
$GC,2870,-0.48,-146.0,404.7,-9.8,151,2873,0.00,1.60,0.00,0.000,6,0.000,0.041,2523,2531,3339
$GC,3158,-0.48,-146.0,435.3,-10.7,158,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2532,3337
$GC,3402,-0.48,-146.0,460.1,-9.9,164,3406,0.00,1.55,-0.08,0.000,4,0.000,0.068,2523,3560,3359
$GC,3471,-0.48,-146.0,467.1,-9.6,165,3474,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2525,3358
$GC,3744,-0.48,-146.0,492.3,-9.3,172,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2517,3357
$GC,3988,-0.48,-146.0,514.7,-9.3,178,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2517,3355
$GC,4232,-0.48,-146.0,538.8,-10.0,184,4236,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1452,3353
$GC,4262,-0.48,-146.0,542.5,-10.1,184,4266,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2525,3352
$GC,4528,-0.48,-146.0,568.5,-9.9,191,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2524,3351
$GC,4771,-0.48,-146.0,592.7,-9.8,197,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2524,3349
$GC,5015,-0.48,-146.0,614.2,-8.7,203,5019,0.00,1.60,0.00,0.000,4,0.000,0.052,2515,3584,3347
$GC,5073,-0.48,-146.0,619.5,-8.4,204,5076,0.00,1.52,0.00,0.000,6,0.000,0.026,2515,2531,3346
$GC,5357,-0.48,-146.0,643.3,-8.6,211,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2523,3345
$GC,5602,-0.48,-146.0,665.0,-8.9,217,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2523,3343
$GC,5845,-0.48,-146.0,686.6,-8.8,223,5849,0.00,1.60,0.00,0.000,4,0.000,0.051,2510,3564,3341
$GC,5925,-0.48,-146.0,694.8,-9.9,224,5930,0.08,1.50,0.00,0.000,6,0.117,0.027,2549,2521,3340
$GC,6186,-0.48,-146.0,712.4,-6.8,231,6190,0.00,1.50,0.00,0.000,4,0.000,0.027,2549,1461,3339
$GC,6222,-0.48,-146.0,715.2,-7.2,231,6226,0.00,1.62,0.00,0.000,6,0.000,0.048,2549,2526,3339
$GC,6484,-0.48,-146.0,732.6,-6.8,238,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2526,3338
$GC,6729,-0.48,-146.0,748.0,-6.3,244,6732,0.00,1.60,0.00,0.000,4,0.000,0.054,2542,3578,3336
$GC,6779,-0.48,-146.0,751.2,-5.8,245,6783,0.00,1.52,0.00,0.000,6,0.000,0.028,2542,2533,3336
$GC,7074,-0.48,-146.0,768.5,-5.7,252,7077,0.00,1.52,0.00,0.000,4,0.000,0.028,2544,1463,3335
$GC,7144,-0.48,-146.0,772.6,-5.2,253,7147,0.00,1.62,0.00,0.000,6,0.000,0.048,2538,2532,3335
$GC,7415,-0.48,-146.0,787.3,-5.4,260,7419,0.00,1.60,0.00,0.000,4,0.000,0.055,2532,3560,3333
$GC,7451,-0.48,-146.0,789.5,-5.9,260,7455,0.00,1.50,0.00,0.000,6,0.000,0.028,2531,2532,3333
$GC,7712,-0.48,-146.0,804.0,-5.7,267,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2523,3333
$GC,7955,-0.48,-146.0,817.8,-5.8,273,7959,0.00,1.52,0.00,0.000,4,0.000,0.028,2532,1459,3331
$GC,7986,-0.48,-146.0,819.9,-6.7,273,7989,0.00,1.70,0.00,0.000,6,0.000,0.049,2524,2549,3331
$GC,8253,-0.48,-146.0,836.7,-6.5,280,8256,0.00,1.58,0.00,0.000,4,0.000,0.058,2524,3556,3330
$GC,8283,-0.48,-146.0,839.0,-7.4,280,8286,0.00,1.50,0.00,0.000,6,0.000,0.030,2523,2532,3330
$GC,8549,-0.48,-146.0,856.2,-6.6,287,8552,0.00,1.52,0.00,0.000,4,0.000,0.028,2524,1465,3329
$GC,8607,-0.48,-146.0,860.5,-7.0,288,8610,0.00,1.65,0.00,0.000,6,0.000,0.049,2523,2540,3329
$GC,8891,-0.48,-146.0,879.7,-6.8,295,8894,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3557,3328
$GC,8943,-0.48,-146.0,883.7,-6.9,296,8946,0.00,1.50,0.00,0.000,6,0.000,0.030,2523,2533,3327
$STATE,9185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9185,begin apogee
$GC,9197,-0.19,0.0,901.0,7.1,302,9326,0.35,0.00,126.95,1.263,6,0.104,0.000,2641,2221,2750
$STATE,9327,end apogee,CONTROL_FINISHED_OK
$STATE,9327,begin climb
$GC,9332,0.48,146.0,904.1,0.0,305,9500,0.57,1.67,140.07,1.170,4,0.046,0.029,2868,1180,2153
$GC,9511,0.48,146.0,883.2,17.9,309,9515,0.00,1.70,0.00,0.000,6,0.000,0.041,2868,2228,2150
$GC,9806,0.48,146.0,824.9,20.1,316,9809,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3285,2144
$GC,9856,0.48,146.0,814.7,20.7,317,9859,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2244,2143
$GC,10150,0.48,146.0,758.0,19.3,324,10153,0.00,1.60,0.00,0.000,4,0.000,0.030,2877,1160,2141
$GC,10168,0.48,146.0,753.7,19.3,324,10172,0.00,1.67,0.00,0.000,6,0.000,0.042,2877,2223,2141
$GC,10446,0.48,146.0,698.0,20.4,331,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2223,2140
$GC,10690,0.48,146.0,650.4,19.5,337,10694,0.00,1.62,0.00,0.000,4,0.000,0.051,2876,3283,2140
$GC,10720,0.48,146.0,643.5,20.6,337,10724,0.00,1.62,0.00,0.000,6,0.000,0.028,2882,2201,2139
$GC,10985,0.48,146.0,593.0,19.2,344,10989,0.00,1.73,0.00,0.000,4,0.000,0.049,2878,3282,2138
$GC,11043,0.48,146.0,581.1,18.8,345,11047,0.12,1.58,0.00,0.000,6,0.183,0.028,2854,2230,2138
$GC,11326,0.48,146.0,536.2,15.8,352,11330,0.00,1.58,0.00,0.000,4,0.000,0.031,2861,1155,2138
$GC,11422,0.48,146.0,521.2,13.8,354,11426,0.00,1.67,0.00,0.000,6,0.000,0.043,2861,2230,2137
$GC,11712,0.48,146.0,475.1,16.2,361,11715,0.00,1.62,0.00,0.000,4,0.000,0.051,2862,3297,2137
$GC,11775,0.48,146.0,463.7,16.4,362,11779,0.00,1.58,0.00,0.000,6,0.000,0.028,2868,2236,2137
$GC,12052,0.48,146.0,419.1,16.2,369,12055,0.00,1.62,0.00,0.000,4,0.000,0.048,2863,3284,2137
$GC,12116,0.48,146.0,408.2,15.6,370,12119,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2254,2137
$GC,12393,0.48,146.0,365.8,15.7,377,12397,0.00,1.58,0.00,0.000,4,0.000,0.031,2877,1170,2137
$GC,12443,0.48,146.0,358.4,14.5,378,12447,0.00,1.67,0.00,0.000,6,0.000,0.043,2877,2266,2136
$GC,12738,0.48,146.0,311.7,15.8,385,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2266,2136
$GC,12983,0.48,146.0,275.3,14.9,391,12986,0.00,1.58,0.00,0.000,4,0.000,0.049,2876,3284,2136
$GC,13012,0.48,146.0,270.0,15.1,391,13016,0.00,1.55,0.00,0.000,6,0.000,0.027,2882,2234,2136
$GC,13278,0.48,146.0,230.8,14.7,398,13282,0.00,1.55,0.00,0.000,4,0.000,0.028,2889,1158,2136
$GC,13358,0.48,146.0,218.8,13.9,399,13362,0.12,1.60,0.00,0.000,6,0.136,0.041,2855,2219,2136
$GC,13622,0.48,146.0,188.9,10.6,412,13626,0.00,1.62,0.00,0.000,4,0.000,0.047,2855,3298,2136
$GC,13640,0.48,146.0,186.3,11.0,413,13648,0.00,1.60,0.00,0.000,6,0.000,0.025,2859,2214,2136
$GC,13906,0.48,146.0,158.1,10.4,438,13910,0.00,1.52,0.00,0.000,4,0.000,0.027,2868,1148,2137
$GC,13981,0.49,166.6,149.9,9.2,444,14003,0.00,1.62,15.68,0.700,6,0.000,0.038,2866,2210,2070
$GC,14264,0.49,166.6,120.9,10.8,470,14268,0.00,1.62,0.00,0.000,4,0.000,0.043,2865,3298,2069
$GC,14420,0.49,166.6,102.8,11.2,483,14427,0.00,1.55,0.00,0.000,6,0.000,0.023,2870,2241,2068
$GC,14692,0.49,184.3,75.7,9.3,508,14712,0.00,1.60,16.12,0.617,4,0.000,0.026,2873,1149,1997
$GC,14800,0.52,241.9,65.9,7.8,516,14856,0.00,1.65,47.15,0.620,6,0.000,0.035,2873,2254,1763
$GC,15113,0.54,285.5,42.7,8.4,544,15155,0.00,1.58,34.83,0.588,4,0.000,0.038,2873,3273,1586
$GC,15186,0.54,287.2,35.9,9.9,549,15189,0.00,1.55,0.00,0.000,6,0.000,0.022,2873,2240,1584
$GC,15489,0.56,344.0,8.6,7.9,592,15542,0.00,1.55,46.35,0.554,4,0.000,0.022,2873,1149,1347
$STATE,15550,end climb,SURFACE_DEPTH_REACHED
$STATE,15550,begin surface coast
$FINISH,0.9,1.023234
$STATE,15595,end surface coast,CONTROL_FINISHED_OK
$STATE,15595,begin surface
$SM_CCo,15622,19.55,0.525,0,0,1159,390.02
$SM_GC,1.31,0.00,0.00,19.55,0.000,0.000,0.525,42,2510,1159,-8.30,0.28,390.02
$IRIDIUM_FIX,2255.72,-15759.74,291202,171743
$TT8_MAMPS,0.023777
$HUMID,2185
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,26.20
$XPDR_PINGS,5
$24V_AH,24.0,16.797
$10V_AH,10.6,17.450
$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,18.025,117.800,427.150,19.550,0.000,58.777,76.214,362.432,1.250,0.000,0.000,15.410,1315.855,10410.120,462.150,3108.659,1120.579,33.364,1473.628,0.000,3108.961,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,68.263,1263.249,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,412.831,1994.612,2052.903,248.747,1357.159,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50955,606
$CAP_FILE_SIZE,129527,0
$CFSIZE,260165632,252035072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,041013,220006,2305.308,-15758.683,47,1.2,47,10.1