version: 66.04
glider: 512
mission: 4
dive: 181
start: 10 20 113 8 54 19
data:
$ID,512
$MISSION,4
$DIVE,181
$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,-110076.06
$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,52
$R_STBD_OVSHOOT,41
$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
$GPS1,084205,2245.050,-15805.313,41,1.2,46,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-82.5
$GPS2,085300,2245.042,-15805.371,11,1.2,17,10.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.055,0.279
$KALMAN_X,105247.7,-114.1,-65.4,-114164.1,-700.1
$KALMAN_Y,72888.0,-1457.6,-70.1,-69563.7,2086.9
$MHEAD_RNG_PITCHd_Wd,1.1,35972,-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,18,-0.47,-126.5,0.0,0.0,0,94,0.00,0.00,-74.05,0.000,2,0.000,0.000,11,2513,2867
$GC,100,-0.47,-126.5,2.2,-2.3,9,127,9.48,1.60,-12.00,0.000,4,0.201,0.039,2542,1421,3409
$GC,193,-0.47,-126.5,27.1,-23.0,22,202,0.00,1.65,0.00,0.000,6,0.000,0.040,2536,2482,3409
$GC,468,-0.47,-126.5,85.9,-17.5,48,472,0.00,1.65,0.00,0.000,4,0.000,0.046,2528,3576,3410
$GC,599,-0.47,-126.5,107.5,-14.7,59,602,0.00,1.52,0.00,0.000,6,0.000,0.020,2528,2504,3410
$GC,870,-0.47,-126.5,151.7,-15.7,84,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2495,3410
$GC,1137,-0.47,-126.5,194.3,-15.6,109,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2495,3410
$GC,1423,-0.47,-126.5,233.4,-12.6,119,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2495,3410
$GC,1667,-0.47,-126.5,265.0,-13.1,125,1670,0.00,1.62,0.00,0.000,4,0.000,0.044,2524,3567,3410
$GC,1730,-0.47,-126.5,273.5,-12.5,126,1733,0.00,1.42,0.00,0.000,6,0.000,0.020,2524,2552,3410
$GC,2008,-0.47,-126.5,306.7,-12.1,133,2011,0.00,1.50,0.00,0.000,4,0.000,0.020,2524,1457,3409
$GC,2076,-0.47,-126.5,315.1,-11.0,134,2080,0.00,1.67,0.00,0.000,6,0.000,0.041,2523,2552,3409
$GC,2348,-0.47,-126.5,344.1,-10.8,141,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2552,3408
$GC,2592,-0.47,-126.5,371.8,-11.4,147,2595,0.00,1.55,0.00,0.000,4,0.000,0.047,2516,3567,3406
$GC,2643,-0.47,-126.5,377.7,-10.9,148,2646,0.00,1.48,0.00,0.000,6,0.000,0.021,2516,2533,3405
$GC,2937,-0.47,-126.5,410.2,-10.4,155,2939,0.10,0.00,0.00,0.000,6,0.126,0.000,2544,2524,3403
$GC,3180,-0.47,-126.5,430.1,-8.0,161,3184,0.00,1.60,0.00,0.000,4,0.000,0.048,2538,3572,3400
$GC,3244,-0.47,-126.5,435.9,-8.6,162,3247,0.00,1.45,0.00,0.000,6,0.000,0.022,2538,2550,3400
$GC,3522,-0.47,-126.5,461.3,-9.5,169,3526,0.00,1.52,0.00,0.000,4,0.000,0.023,2538,1458,3398
$GC,3641,-0.47,-126.5,472.6,-8.7,171,3645,0.00,1.65,-0.08,0.000,6,0.000,0.044,2537,2545,3421
$GC,3908,-0.47,-126.5,496.8,-9.1,178,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2545,3419
$GC,4153,-0.47,-126.5,517.1,-8.1,184,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2546,3418
$GC,4397,-0.47,-126.5,536.1,-7.7,190,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2545,3416
$GC,4640,-0.47,-126.5,554.9,-7.8,196,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2545,3414
$GC,4884,-0.47,-126.5,573.9,-7.7,202,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2545,3412
$GC,5127,-0.47,-126.5,592.2,-7.6,208,5131,0.00,1.55,0.00,0.000,4,0.000,0.025,2537,1468,3411
$GC,5163,-0.47,-126.5,595.3,-7.0,208,5167,0.00,1.65,0.00,0.000,6,0.000,0.047,2537,2525,3411
$GC,5424,-0.47,-126.5,612.0,-6.5,215,5428,0.00,1.62,0.00,0.000,4,0.000,0.054,2529,3566,3409
$GC,5498,-0.47,-126.5,617.4,-6.9,216,5502,0.00,1.48,0.00,0.000,6,0.000,0.025,2529,2542,3408
$GC,5766,-0.47,-126.5,635.4,-6.9,223,5769,0.00,1.52,0.00,0.000,4,0.000,0.025,2529,1459,3407
$GC,5840,-0.47,-126.5,641.2,-7.5,224,5844,0.00,1.65,0.00,0.000,6,0.000,0.047,2524,2537,3406
$GC,6107,-0.47,-126.5,662.6,-8.3,231,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2537,3405
$GC,6350,-0.47,-126.5,683.8,-8.7,237,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2537,3403
$GC,6594,-0.47,-126.5,704.2,-8.4,243,6598,0.00,1.60,0.00,0.000,4,0.000,0.054,2520,3576,3402
$GC,6646,-0.47,-126.5,708.5,-8.3,244,6649,0.00,1.55,0.00,0.000,6,0.000,0.026,2520,2518,3401
$GC,6940,-0.47,-126.5,733.0,-8.3,251,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2509,3400
$GC,7184,-0.47,-126.5,752.3,-7.8,257,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2509,3399
$GC,7427,-0.47,-126.5,772.2,-8.1,263,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2509,3398
$GC,7671,-0.47,-126.5,791.6,-7.8,269,7674,0.00,1.52,0.00,0.000,4,0.000,0.028,2520,1443,3398
$GC,7728,-0.47,-126.5,796.1,-6.6,270,7732,0.12,1.65,0.00,0.000,6,0.120,0.047,2549,2519,3398
$GC,8013,-0.47,-126.5,810.5,-4.9,277,8016,0.00,1.62,0.00,0.000,4,0.000,0.058,2548,3566,3397
$GC,8070,-0.47,-126.5,813.5,-4.2,278,8074,0.00,1.52,0.00,0.000,6,0.000,0.028,2548,2518,3396
$GC,8353,-0.47,-126.5,827.2,-4.9,285,8357,0.00,1.50,0.00,0.000,4,0.000,0.027,2548,1461,3395
$GC,8395,-0.47,-126.5,829.6,-5.6,285,8404,0.00,1.67,0.00,0.000,6,0.000,0.048,2541,2531,3395
$GC,8653,-0.47,-126.5,843.7,-5.7,292,8656,0.00,1.60,0.00,0.000,4,0.000,0.057,2537,3562,3394
$GC,8689,-0.47,-126.5,846.2,-5.6,292,8692,0.00,1.50,0.00,0.000,6,0.000,0.028,2537,2536,3393
$GC,8949,-0.47,-126.5,861.0,-5.7,299,8953,0.00,1.55,0.00,0.000,4,0.000,0.028,2537,1451,3393
$GC,8991,-0.47,-126.5,863.7,-6.1,299,8999,0.00,1.70,0.00,0.000,6,0.000,0.051,2537,2526,3393
$GC,9246,-0.47,-126.5,877.4,-5.5,306,9249,0.00,1.62,0.00,0.000,4,0.000,0.059,2534,3568,3392
$GC,9297,-0.47,-126.5,880.2,-5.6,307,9300,0.00,1.52,0.00,0.000,6,0.000,0.028,2534,2532,3392
$GC,9591,-0.47,-126.5,897.1,-5.8,314,9595,0.00,1.55,0.00,0.000,4,0.000,0.028,2534,1451,3391
$GC,9633,-0.47,-126.5,899.9,-6.2,314,9641,0.00,1.70,0.00,0.000,6,0.000,0.051,2526,2529,3391
$STATE,9680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9680,begin apogee
$GC,9691,-0.17,0.0,902.8,6.0,316,9804,0.35,0.00,109.90,1.270,6,0.099,0.000,2643,2229,2890
$STATE,9805,end apogee,CONTROL_FINISHED_OK
$STATE,9805,begin climb
$GC,9810,0.47,126.5,905.9,0.0,319,9956,0.55,1.65,124.22,1.183,4,0.031,0.026,2886,1179,2373
$GC,9979,0.47,126.5,892.1,18.3,322,9988,0.12,1.75,0.00,0.000,6,0.162,0.041,2851,2230,2368
$GC,10234,0.47,126.5,849.6,16.7,329,10237,0.00,1.67,0.00,0.000,4,0.000,0.049,2850,3292,2363
$GC,10303,0.47,126.5,837.0,17.6,330,10306,0.00,1.60,0.00,0.000,6,0.000,0.027,2856,2220,2361
$GC,10575,0.47,126.5,790.9,17.1,337,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2214,2359
$GC,10820,0.47,126.5,748.7,17.4,343,10821,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2214,2359
$GC,11063,0.47,126.5,706.4,17.2,349,11067,0.00,1.70,0.00,0.000,4,0.000,0.049,2856,3299,2358
$GC,11113,0.47,126.5,696.7,20.2,350,11117,0.00,1.58,0.00,0.000,6,0.000,0.027,2864,2250,2358
$GC,11407,0.47,126.5,645.7,17.0,357,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2245,2357
$GC,11651,0.47,126.5,608.0,15.2,363,11654,0.00,1.58,0.00,0.000,4,0.000,0.030,2872,1174,2356
$GC,11687,0.47,126.5,602.4,14.9,363,11690,0.00,1.65,0.00,0.000,6,0.000,0.042,2872,2249,2356
$GC,11948,0.47,126.5,565.8,14.3,370,11951,0.00,1.62,0.00,0.000,4,0.000,0.028,2880,1150,2356
$GC,11983,0.47,126.5,560.3,13.8,370,11987,0.00,1.70,0.00,0.000,6,0.000,0.042,2877,2235,2355
$GC,12243,0.47,126.5,522.9,14.3,377,12247,0.00,1.62,0.00,0.000,4,0.000,0.050,2876,3279,2355
$GC,12358,0.47,126.5,504.2,15.1,379,12362,0.08,1.55,0.00,0.000,6,0.159,0.028,2851,2239,2355
$GC,12629,0.47,126.5,469.7,12.8,386,12630,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2231,2354
$GC,12872,0.47,126.5,439.6,12.3,392,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2231,2354
$GC,13116,0.47,126.5,410.8,11.9,398,13120,0.00,1.65,0.00,0.000,4,0.000,0.048,2850,3279,2354
$GC,13201,0.47,126.5,399.4,13.2,399,13210,0.00,1.58,0.00,0.000,6,0.000,0.026,2857,2218,2353
$GC,13457,0.47,126.5,370.0,11.5,406,13460,0.00,1.67,0.00,0.000,4,0.000,0.048,2857,3290,2353
$GC,13716,0.47,126.5,338.6,11.3,411,13719,0.00,1.50,0.00,0.000,6,0.000,0.026,2864,2268,2353
$GC,13977,0.48,138.6,313.0,9.5,418,13987,0.00,0.00,8.35,0.794,6,0.000,0.000,2865,2262,2324
$GC,14221,0.50,169.2,291.5,8.9,424,14250,0.00,0.00,27.55,0.840,6,0.000,0.000,2864,2262,2200
$GC,14505,0.50,169.2,262.3,11.0,431,14509,0.00,1.62,0.00,0.000,4,0.000,0.048,2864,3281,2194
$GC,14720,0.50,169.2,238.0,10.4,435,14724,0.00,1.48,0.00,0.000,6,0.000,0.025,2869,2288,2193
$GC,14982,0.50,169.2,208.7,11.5,442,14985,0.00,1.60,0.00,0.000,4,0.000,0.027,2877,1147,2193
$GC,15109,0.51,191.8,195.0,9.2,447,15137,0.00,1.67,19.17,0.731,6,0.000,0.038,2876,2250,2109
$GC,15395,0.51,191.8,164.1,11.2,473,15398,0.00,1.60,0.00,0.000,4,0.000,0.044,2876,3308,2106
$GC,15434,0.51,191.8,159.0,13.8,476,15437,0.00,1.58,0.00,0.000,6,0.000,0.023,2882,2242,2105
$GC,15706,0.51,191.8,123.0,12.1,501,15710,0.00,1.55,0.00,0.000,4,0.000,0.025,2890,1155,2106
$GC,15758,0.53,217.5,117.7,9.0,505,15786,0.00,1.65,22.98,0.656,6,0.000,0.036,2890,2246,2003
$GC,16047,0.53,217.5,86.2,12.2,531,16054,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2245,2000
$GC,16314,0.54,230.6,59.0,9.5,556,16332,0.00,1.60,12.25,0.577,4,0.000,0.043,2890,3279,1948
$GC,16380,0.54,230.6,51.8,10.7,561,16384,0.00,1.48,0.00,0.000,6,0.000,0.021,2897,2268,1947
$GC,16649,0.56,264.0,28.7,8.7,586,16685,0.00,1.60,27.98,0.571,4,0.000,0.025,2899,1169,1813
$GC,16741,0.60,311.9,20.8,8.2,598,16785,0.00,1.67,39.12,0.562,6,0.000,0.035,2899,2259,1617
$STATE,16896,end climb,SURFACE_DEPTH_REACHED
$STATE,16896,begin surface coast
$FINISH,0.7,1.023006
$STATE,16933,end surface coast,CONTROL_FINISHED_OK
$STATE,16934,begin surface
$SM_CCo,16959,31.92,0.534,0,0,1298,390.02
$SM_GC,1.70,0.00,0.00,31.92,0.000,0.000,0.534,40,2515,1298,-8.30,0.45,390.02
$IRIDIUM_FIX,2234.68,-15808.45,140103,030348
$TT8_MAMPS,0.023777
$HUMID,2177
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.10
$XPDR_PINGS,4
$24V_AH,23.8,29.911
$10V_AH,10.6,33.640
$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,18.150,102.725,391.525,31.925,0.000,29.175,39.707,393.015,1.000,0.000,0.000,17.240,1346.810,11550.141,450.884,3220.741,1098.078,33.374,1470.495,0.000,3221.551,0.000,0.544,0.000
$DEVICE_MAMPS,200.954,59.059,1270.152,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,426.583,2060.643,2140.256,874.122,1383.218,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54265,626
$CAP_FILE_SIZE,128472,0
$CFSIZE,260165632,246755328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,201013,133930,2247.228,-15805.234,70,1.8,70,10.1