version: 66.04
glider: 512
mission: 4
dive: 182
start: 10 20 113 13 51 23
data:
$ID,512
$MISSION,4
$DIVE,182
$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,-110110.5
$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,66
$R_STBD_OVSHOOT,38
$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
$GPS1,133930,2247.228,-15805.234,70,1.8,70,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-82.8
$GPS2,135006,2247.238,-15805.202,33,1.8,33,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.051,0.280
$KALMAN_X,104492.5,-224.6,107.4,-113176.5,-670.9
$KALMAN_Y,71296.0,-286.5,-632.2,-64510.9,1722.8
$MHEAD_RNG_PITCHd_Wd,0.2,31897,-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,-0.47,-126.5,0.0,0.0,0,80,0.00,0.00,-59.80,0.000,2,0.000,0.000,11,2509,2704
$GC,86,-0.47,-126.5,2.3,-2.0,7,124,9.55,1.52,-17.15,0.000,4,0.203,0.040,2541,1442,3407
$GC,148,-0.47,-126.5,15.2,-24.0,14,157,0.00,1.62,0.00,0.000,6,0.000,0.040,2535,2490,3407
$GC,425,-0.47,-126.5,87.9,-24.5,43,429,0.00,1.65,0.00,0.000,4,0.000,0.048,2528,3560,3408
$GC,498,-0.47,-126.5,104.8,-22.7,49,501,0.00,1.52,0.00,0.000,6,0.000,0.018,2527,2497,3408
$GC,769,-0.47,-126.5,154.9,-15.8,74,773,0.00,1.45,0.00,0.000,4,0.000,0.019,2527,1441,3409
$GC,908,-0.47,-126.5,175.6,-15.3,86,912,0.00,1.60,0.00,0.000,6,0.000,0.039,2523,2486,3410
$GC,1187,-0.47,-126.5,223.1,-17.4,103,1191,0.00,1.62,0.00,0.000,4,0.000,0.047,2516,3573,3409
$GC,1245,-0.47,-126.5,233.4,-15.7,104,1249,0.00,1.55,0.00,0.000,6,0.000,0.019,2516,2482,3409
$GC,1528,-0.47,-126.5,275.8,-15.0,111,1531,0.00,1.65,0.00,0.000,4,0.000,0.043,2508,3566,3409
$GC,1659,-0.47,-126.5,294.7,-12.6,113,1667,0.10,1.48,0.00,0.000,6,0.107,0.018,2544,2501,3409
$GC,1914,-0.47,-126.5,318.9,-8.9,120,1918,0.00,1.40,0.00,0.000,4,0.000,0.020,2544,1475,3409
$GC,1967,-0.47,-126.5,324.2,-9.0,121,1971,0.00,1.60,0.00,0.000,6,0.000,0.040,2538,2547,3409
$GC,2255,-0.47,-126.5,353.2,-10.4,128,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2548,3408
$GC,2500,-0.47,-126.5,378.0,-9.8,134,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2548,3407
$GC,2743,-0.47,-126.5,399.7,-8.8,140,2747,0.00,1.55,0.00,0.000,4,0.000,0.048,2531,3560,3406
$GC,2841,-0.47,-126.5,409.3,-9.2,142,2845,0.00,1.45,0.00,0.000,6,0.000,0.022,2531,2535,3405
$GC,3129,-0.47,-126.5,438.2,-10.1,149,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2526,3402
$GC,3373,-0.47,-126.5,461.5,-9.4,155,3376,0.00,1.60,0.00,0.000,4,0.000,0.048,2524,3556,3400
$GC,3402,-0.47,-126.5,464.7,-10.0,155,3406,0.00,1.48,0.00,0.000,6,0.000,0.022,2524,2527,3400
$GC,3669,-0.47,-126.5,487.9,-8.6,162,3672,0.00,1.50,0.00,0.000,4,0.000,0.022,2524,1451,3398
$GC,3784,-0.47,-126.5,497.3,-8.0,164,3787,0.00,1.60,0.00,0.000,6,0.000,0.044,2523,2507,3398
$GC,4055,-0.47,-126.5,519.2,-8.2,171,4059,0.00,1.60,0.00,0.000,4,0.000,0.052,2523,3560,3395
$GC,4125,-0.47,-126.5,525.6,-8.7,172,4129,0.00,1.50,0.00,0.000,6,0.000,0.023,2523,2517,3394
$GC,4397,-0.47,-126.5,549.2,-8.8,179,4401,0.00,1.48,0.00,0.000,4,0.000,0.023,2523,1456,3393
$GC,4461,-0.47,-126.5,555.0,-7.7,180,4464,0.00,1.60,0.00,0.000,6,0.000,0.045,2523,2509,3392
$GC,4739,-0.47,-126.5,577.2,-8.1,187,4743,0.00,1.60,0.00,0.000,4,0.000,0.053,2523,3560,3390
$GC,4770,-0.47,-126.5,579.9,-7.6,187,4774,0.00,1.52,0.00,0.000,6,0.000,0.024,2523,2501,3390
$GC,5036,-0.47,-126.5,602.2,-8.7,194,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2495,3388
$GC,5279,-0.47,-126.5,624.0,-8.9,200,5283,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3569,3386
$GC,5315,-0.47,-126.5,627.4,-8.7,200,5318,0.00,1.55,0.00,0.000,6,0.000,0.025,2523,2501,3385
$GC,5576,-0.47,-126.5,648.4,-8.0,207,5579,0.00,1.65,0.00,0.000,4,0.000,0.054,2516,3557,3384
$GC,5627,-0.47,-126.5,652.5,-8.0,208,5631,0.00,1.52,0.00,0.000,6,0.000,0.025,2516,2510,3384
$GC,5921,-0.47,-126.5,675.8,-7.9,215,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2502,3382
$GC,6165,-0.47,-126.5,695.0,-7.8,221,6167,0.10,0.00,0.00,0.000,6,0.130,0.000,2544,2502,3380
$GC,6408,-0.47,-126.5,709.5,-5.9,227,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2502,3379
$GC,6652,-0.47,-126.5,725.1,-6.5,233,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2502,3378
$GC,6896,-0.47,-126.5,742.6,-7.3,239,6899,0.00,1.65,0.00,0.000,4,0.000,0.054,2538,3559,3377
$GC,6932,-0.47,-126.5,745.7,-8.3,239,6935,0.00,1.52,0.00,0.000,6,0.000,0.028,2538,2513,3377
$GC,7192,-0.47,-126.5,764.5,-7.2,246,7196,0.00,1.50,0.00,0.000,4,0.000,0.026,2538,1453,3375
$GC,7228,-0.47,-126.5,767.2,-7.3,246,7232,0.00,1.65,0.00,0.000,6,0.000,0.050,2536,2523,3375
$GC,7490,-0.47,-126.5,783.3,-6.1,253,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2523,3374
$GC,7735,-0.47,-126.5,796.6,-5.4,259,7739,0.00,1.62,0.00,0.000,4,0.000,0.058,2532,3572,3372
$GC,7785,-0.47,-126.5,799.6,-5.9,260,7789,0.00,1.52,0.00,0.000,6,0.000,0.027,2532,2530,3372
$GC,8080,-0.47,-126.5,815.9,-5.6,267,8083,0.00,1.52,0.00,0.000,4,0.000,0.028,2532,1454,3371
$GC,8131,-0.47,-126.5,818.8,-6.0,268,8135,0.00,1.67,0.00,0.000,6,0.000,0.049,2524,2538,3371
$GC,8425,-0.47,-126.5,836.4,-5.9,275,8429,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3564,3370
$GC,8467,-0.47,-126.5,839.2,-6.6,275,8475,0.00,1.50,0.00,0.000,6,0.000,0.027,2522,2531,3370
$GC,8722,-0.47,-126.5,855.2,-6.6,282,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3369
$GC,8965,-0.47,-126.5,872.7,-7.4,288,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3369
$GC,9209,-0.47,-126.5,890.5,-7.3,294,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3369
$STATE,9368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9368,begin apogee
$GC,9380,-0.17,0.0,901.9,7.0,298,9490,0.35,0.00,103.93,1.271,6,0.098,0.000,2641,2224,2890
$STATE,9490,end apogee,CONTROL_FINISHED_OK
$STATE,9490,begin climb
$GC,9496,0.47,126.5,905.2,0.0,301,9649,0.55,1.67,125.55,1.168,4,0.031,0.028,2889,1182,2373
$GC,9678,0.47,126.5,888.9,18.2,305,9682,0.12,1.73,0.00,0.000,6,0.167,0.043,2855,2223,2369
$GC,9965,0.47,126.5,840.9,16.5,312,9969,0.00,1.70,0.00,0.000,4,0.000,0.051,2850,3279,2363
$GC,10035,0.47,126.5,828.7,17.3,313,10039,0.00,1.58,0.00,0.000,6,0.000,0.027,2856,2243,2361
$GC,10306,0.47,126.5,783.9,16.5,320,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2237,2360
$GC,10550,0.47,126.5,744.6,15.9,326,10554,0.00,1.60,0.00,0.000,4,0.000,0.029,2864,1148,2359
$GC,10580,0.47,126.5,739.4,16.9,326,10584,0.00,1.67,0.00,0.000,6,0.000,0.041,2863,2233,2359
$GC,10846,0.47,126.5,696.6,16.5,333,10850,0.00,1.62,0.00,0.000,4,0.000,0.049,2863,3289,2358
$GC,10877,0.47,126.5,691.1,17.0,333,10881,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2195,2357
$GC,11144,0.47,126.5,648.4,16.1,340,11148,0.00,1.70,0.00,0.000,4,0.000,0.046,2864,3282,2357
$GC,11163,0.47,126.5,644.7,15.9,340,11166,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2229,2356
$GC,11440,0.47,126.5,602.3,15.1,347,11441,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2223,2356
$GC,11683,0.47,126.5,566.8,14.4,353,11687,0.00,1.67,0.00,0.000,4,0.000,0.049,2864,3275,2355
$GC,11712,0.47,126.5,561.8,15.9,353,11716,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2217,2355
$GC,11978,0.47,126.5,521.5,15.7,360,11979,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2212,2354
$GC,12222,0.47,126.5,485.6,14.5,366,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2211,2354
$GC,12465,0.47,126.5,455.3,12.3,372,12469,0.00,1.52,0.00,0.000,4,0.000,0.029,2877,1166,2354
$GC,12552,0.47,126.5,444.7,12.3,373,12560,0.00,1.62,0.00,0.000,6,0.000,0.041,2876,2209,2354
$GC,12806,0.47,126.5,413.6,12.6,380,12810,0.00,1.67,0.00,0.000,4,0.000,0.049,2876,3282,2354
$GC,12960,0.47,126.5,390.7,14.2,383,12964,0.08,1.52,0.00,0.000,6,0.182,0.028,2850,2253,2354
$GC,13237,0.47,126.5,352.8,14.1,390,13241,0.00,1.62,0.00,0.000,4,0.000,0.048,2850,3296,2353
$GC,13318,0.47,126.5,341.3,13.4,391,13322,0.00,1.55,0.00,0.000,6,0.000,0.026,2857,2257,2353
$GC,13578,0.49,160.4,316.8,8.7,398,13609,0.00,1.65,26.75,0.865,4,0.000,0.029,2860,1160,2236
$GC,13685,0.51,192.0,307.4,8.8,400,13717,0.00,1.75,27.85,0.842,6,0.000,0.043,2860,2286,2107
$GC,14001,0.51,192.0,267.2,12.5,408,14004,0.00,1.58,0.00,0.000,4,0.000,0.048,2860,3290,2102
$GC,14070,0.51,192.0,257.2,14.4,409,14074,0.00,1.50,0.00,0.000,6,0.000,0.024,2867,2285,2101
$GC,14342,0.51,192.0,225.9,11.5,416,14345,0.00,1.58,0.00,0.000,4,0.000,0.044,2863,3283,2101
$GC,14461,0.51,192.0,211.4,12.5,418,14465,0.00,1.45,0.00,0.000,6,0.000,0.025,2869,2305,2100
$GC,14725,0.51,192.0,176.8,13.7,436,14729,0.00,1.65,0.00,0.000,4,0.000,0.027,2873,1149,2100
$GC,14819,0.51,192.0,165.6,10.4,444,14823,0.00,1.75,0.00,0.000,6,0.000,0.038,2873,2300,2100
$GC,15092,0.51,192.0,132.1,12.9,469,15096,0.00,1.67,0.00,0.000,4,0.000,0.024,2881,1156,2100
$GC,15143,0.51,192.0,125.3,12.5,473,15146,0.00,1.73,0.00,0.000,6,0.000,0.038,2878,2293,2100
$GC,15414,0.51,192.0,95.7,10.3,498,15418,0.00,1.65,0.00,0.000,4,0.000,0.024,2884,1142,2100
$GC,15570,0.56,258.1,82.0,7.5,511,15636,0.00,1.70,56.20,0.615,6,0.000,0.038,2885,2250,1836
$GC,15905,0.60,308.2,51.4,8.1,541,15951,0.00,1.62,40.50,0.591,4,0.000,0.041,2884,3282,1632
$GC,15988,0.60,308.2,43.6,10.3,547,15991,0.00,1.60,0.00,0.000,6,0.000,0.022,2886,2199,1630
$GC,16285,0.60,308.2,16.7,10.4,582,16294,0.00,1.50,0.00,0.000,4,0.000,0.024,2893,1153,1627
$GC,16331,0.61,328.3,12.1,9.2,588,16359,0.00,1.62,16.33,0.540,6,0.000,0.035,2891,2206,1552
$STATE,16421,end climb,SURFACE_DEPTH_REACHED
$STATE,16421,begin surface coast
$FINISH,0.7,1.022996
$STATE,16452,end surface coast,CONTROL_FINISHED_OK
$STATE,16452,begin surface
$SM_CCo,16477,26.55,0.533,0,0,1299,390.02
$SM_GC,1.22,0.00,0.00,26.55,0.000,0.000,0.533,44,2530,1299,-8.29,0.85,390.02
$IRIDIUM_FIX,2239.35,-15802.37,140103,080859
$TT8_MAMPS,0.023777
$HUMID,2198
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.90
$XPDR_PINGS,2
$24V_AH,23.8,30.051
$10V_AH,10.6,33.845
$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,18.100,115.400,397.100,26.550,0.000,27.420,32.707,367.873,0.500,0.000,0.000,33.803,1327.367,11128.449,444.354,3201.209,1057.358,33.377,1468.760,0.000,3186.376,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,58.292,1270.919,533.065,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,412.782,1993.139,2071.054,999.837,1334.619,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51060,605
$CAP_FILE_SIZE,130464,0
$CFSIZE,260165632,246693888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,201013,182753,2249.740,-15805.422,37,1.7,37,10.1