version: 66.04
glider: 512
mission: 4
dive: 184
start: 10 20 113 23 37 13
data:
$ID,512
$MISSION,4
$DIVE,184
$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,-110141.79
$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,62
$R_STBD_OVSHOOT,31
$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
$GPS1,232124,2252.603,-15804.914,46,1.3,46,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-82.4
$GPS2,233554,2252.549,-15804.962,11,1.2,15,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.066,0.277
$KALMAN_X,102703.9,194.2,237.6,-111531.6,-1090.6
$KALMAN_Y,69293.5,527.0,237.0,-54383.2,-2157.4
$MHEAD_RNG_PITCHd_Wd,3.3,22054,-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,-65.78,0.000,2,0.000,0.000,11,2562,2825
$GC,91,-0.47,-126.5,2.0,-2.1,8,120,9.38,1.65,-13.75,0.000,4,0.196,0.038,2542,1423,3407
$GC,212,-0.47,-126.5,30.6,-21.7,25,221,0.00,1.67,0.00,0.000,6,0.000,0.040,2536,2499,3407
$GC,477,-0.47,-126.5,90.4,-16.9,50,481,0.00,1.62,0.00,0.000,4,0.000,0.044,2528,3564,3408
$GC,528,-0.47,-126.5,99.1,-16.2,54,531,0.00,1.52,0.00,0.000,6,0.000,0.018,2530,2489,3408
$GC,800,-0.47,-126.5,145.2,-17.2,79,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2481,3409
$GC,1066,-0.47,-126.5,185.6,-15.0,104,1069,0.00,1.65,0.00,0.000,4,0.000,0.041,2523,3573,3409
$GC,1138,-0.47,-126.5,196.9,-14.7,110,1142,0.00,1.50,0.00,0.000,6,0.000,0.018,2524,2513,3409
$GC,1410,-0.47,-126.5,240.8,-16.1,118,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2504,3409
$GC,1655,-0.47,-126.5,275.7,-13.5,124,1658,0.00,1.60,0.00,0.000,4,0.000,0.043,2516,3569,3409
$GC,1673,-0.47,-126.5,278.6,-12.3,124,1677,0.00,1.48,0.00,0.000,6,0.000,0.018,2516,2519,3408
$GC,1950,-0.47,-126.5,309.0,-11.4,131,1954,0.00,1.62,0.00,0.000,4,0.000,0.044,2508,3566,3409
$GC,2018,-0.47,-126.5,317.7,-12.2,132,2023,0.10,1.45,0.00,0.000,6,0.109,0.019,2544,2525,3408
$GC,2291,-0.47,-126.5,345.6,-10.8,139,2295,0.00,1.45,0.00,0.000,4,0.000,0.021,2545,1468,3408
$GC,2309,-0.47,-126.5,348.2,-10.9,139,2313,0.00,1.62,0.00,0.000,6,0.000,0.038,2539,2556,3407
$GC,2587,-0.47,-126.5,375.4,-9.5,146,2590,0.00,1.55,0.00,0.000,4,0.000,0.048,2532,3569,3406
$GC,2651,-0.47,-126.5,381.6,-8.8,147,2654,0.00,1.45,0.00,0.000,6,0.000,0.020,2532,2544,3405
$GC,2929,-0.47,-126.5,407.5,-9.5,154,2932,0.00,1.50,0.00,0.000,4,0.000,0.021,2532,1459,3403
$GC,3014,-0.47,-126.5,416.5,-10.2,155,3022,0.00,1.62,0.00,0.000,6,0.000,0.039,2525,2523,3402
$GC,3269,-0.47,-126.5,443.6,-10.9,162,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2523,3400
$GC,3513,-0.47,-126.5,468.2,-9.8,168,3516,0.00,1.60,0.00,0.000,4,0.000,0.051,2523,3575,3398
$GC,3549,-0.47,-126.5,471.9,-9.7,168,3552,0.00,1.52,0.00,0.000,6,0.000,0.023,2523,2512,3398
$GC,3810,-0.47,-126.5,494.5,-8.6,175,3814,0.00,1.65,-0.08,0.000,4,0.000,0.067,2523,3565,3421
$GC,3852,-0.47,-126.5,498.4,-9.5,175,3860,0.00,1.50,0.00,0.000,6,0.000,0.022,2523,2511,3421
$GC,4107,-0.47,-126.5,519.9,-8.7,182,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2512,3418
$GC,4351,-0.47,-126.5,542.6,-9.4,188,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2512,3417
$GC,4594,-0.47,-126.5,565.2,-9.2,194,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2512,3415
$GC,4838,-0.47,-126.5,587.2,-9.1,200,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2512,3413
$GC,5082,-0.47,-126.5,608.8,-8.7,206,5085,0.00,1.62,0.00,0.000,4,0.000,0.052,2523,3557,3411
$GC,5185,-0.47,-126.5,617.5,-7.9,208,5189,0.00,1.48,0.00,0.000,6,0.000,0.024,2523,2537,3411
$GC,5468,-0.47,-126.5,638.6,-7.5,215,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2529,3409
$GC,5712,-0.47,-126.5,657.7,-8.0,221,5715,0.00,1.52,0.00,0.000,4,0.000,0.024,2523,1456,3407
$GC,5775,-0.47,-126.5,663.2,-7.5,222,5779,0.00,1.65,0.00,0.000,6,0.000,0.046,2523,2534,3407
$GC,6054,-0.47,-126.5,686.3,-8.4,229,6058,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3558,3405
$GC,6090,-0.47,-126.5,689.8,-9.0,229,6093,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2530,3405
$GC,6350,-0.47,-126.5,709.9,-7.7,236,6354,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1454,3403
$GC,6419,-0.47,-126.5,715.3,-7.5,237,6423,0.00,1.65,0.00,0.000,6,0.000,0.047,2523,2526,3403
$GC,6692,-0.47,-126.5,735.4,-7.6,244,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2525,3401
$GC,6936,-0.47,-126.5,755.4,-8.3,250,6940,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3558,3400
$GC,7044,-0.47,-126.5,765.3,-8.5,252,7047,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2519,3400
$GC,7323,-0.47,-126.5,789.6,-9.0,259,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2511,3399
$GC,7566,-0.47,-126.5,810.4,-8.4,265,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2511,3399
$GC,7809,-0.47,-126.5,828.8,-7.4,271,7813,0.00,1.67,0.00,0.000,4,0.000,0.058,2523,3571,3397
$GC,7841,-0.47,-126.5,831.5,-8.7,271,7845,0.00,1.55,0.00,0.000,6,0.000,0.027,2523,2514,3397
$GC,8107,-0.47,-126.5,849.8,-7.0,278,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2507,3396
$GC,8351,-0.47,-126.5,866.7,-6.9,284,8354,0.00,1.70,0.00,0.000,4,0.000,0.058,2523,3561,3394
$GC,8401,-0.47,-126.5,870.3,-7.1,285,8405,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2544,3394
$GC,8698,-0.47,-126.5,891.4,-7.2,292,8702,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1454,3393
$GC,8750,-0.47,-126.5,895.7,-7.2,293,8754,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2551,3393
$STATE,8833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8833,begin apogee
$GC,8844,-0.17,0.0,901.4,7.0,295,8957,0.35,0.00,110.05,1.259,6,0.100,0.000,2640,2211,2890
$STATE,8958,end apogee,CONTROL_FINISHED_OK
$STATE,8958,begin climb
$GC,8963,0.47,126.5,904.3,0.0,298,9149,0.55,1.65,134.38,1.104,4,0.033,0.028,2879,1173,2374
$GC,9190,0.47,126.5,882.6,17.9,303,9194,0.00,1.70,0.00,0.000,6,0.000,0.039,2878,2229,2368
$GC,9480,0.47,126.5,826.9,19.3,310,9483,0.00,1.65,0.00,0.000,4,0.000,0.048,2878,3285,2364
$GC,9515,0.47,126.5,819.2,19.3,310,9520,0.15,1.60,0.00,0.000,6,0.181,0.025,2849,2213,2362
$GC,9775,0.47,126.5,777.8,15.8,317,9779,0.00,1.55,0.00,0.000,4,0.000,0.028,2855,1164,2360
$GC,9794,0.47,126.5,774.3,15.6,317,9797,0.00,1.65,0.00,0.000,6,0.000,0.041,2855,2229,2360
$GC,10071,0.47,126.5,734.1,14.3,324,10075,0.00,1.62,0.00,0.000,4,0.000,0.050,2855,3282,2359
$GC,10141,0.47,126.5,723.0,15.2,325,10144,0.00,1.58,0.00,0.000,6,0.000,0.027,2863,2232,2359
$GC,10412,0.47,126.5,684.3,14.4,332,10416,0.00,1.58,0.00,0.000,4,0.000,0.029,2870,1168,2358
$GC,10487,0.47,126.5,673.6,13.2,333,10490,0.00,1.62,0.00,0.000,6,0.000,0.042,2870,2222,2358
$GC,10753,0.47,126.5,633.6,15.7,340,10757,0.00,1.65,0.00,0.000,4,0.000,0.051,2870,3292,2357
$GC,10789,0.47,126.5,627.0,17.2,340,10793,0.00,1.58,0.00,0.000,6,0.000,0.026,2878,2235,2357
$GC,11049,0.47,126.5,585.3,16.2,347,11053,0.00,1.67,0.00,0.000,4,0.000,0.048,2878,3282,2357
$GC,11074,0.47,126.5,580.8,16.9,347,11078,0.08,1.52,0.00,0.000,6,0.175,0.026,2852,2262,2356
$GC,11345,0.47,126.5,543.9,13.2,354,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2255,2356
$GC,11589,0.47,126.5,512.9,12.4,360,11592,0.00,1.62,0.00,0.000,4,0.000,0.048,2850,3296,2355
$GC,11630,0.47,126.5,507.2,13.5,360,11639,0.00,1.58,0.00,0.000,6,0.000,0.026,2857,2238,2355
$GC,11885,0.47,126.5,477.1,11.6,367,11889,0.00,1.65,0.00,0.000,4,0.000,0.047,2857,3290,2355
$GC,11935,0.47,126.5,470.6,13.5,368,11939,0.00,1.52,0.00,0.000,6,0.000,0.026,2864,2262,2355
$GC,12229,0.47,126.5,433.2,12.9,375,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2256,2355
$GC,12473,0.47,126.5,402.6,12.5,381,12476,0.00,1.58,0.00,0.000,4,0.000,0.028,2872,1169,2355
$GC,12559,0.47,126.5,391.7,12.0,382,12567,0.00,1.73,0.00,0.000,6,0.000,0.041,2872,2277,2354
$GC,12814,0.47,126.5,361.9,11.7,389,12818,0.00,1.55,0.00,0.000,4,0.000,0.048,2871,3279,2354
$GC,13037,0.47,126.5,333.0,14.0,393,13046,0.00,1.45,0.00,0.000,6,0.000,0.025,2878,2296,2354
$GC,13292,0.47,126.5,301.5,11.9,400,13294,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2290,2354
$GC,13536,0.48,145.8,278.9,9.3,406,13555,0.00,1.65,14.55,0.810,4,0.000,0.028,2886,1172,2295
$GC,13615,0.49,151.7,270.8,9.8,407,13629,0.12,1.70,6.95,0.716,6,0.156,0.040,2854,2286,2270
$GC,13874,0.49,161.2,246.3,9.6,414,13886,0.00,0.00,9.57,0.741,6,0.000,0.000,2854,2286,2232
$GC,14118,0.52,193.6,225.0,8.8,420,14152,0.00,1.58,28.73,0.766,4,0.000,0.045,2853,3281,2099
$GC,14218,0.52,195.1,215.1,9.9,422,14222,0.00,1.55,0.00,0.000,6,0.000,0.024,2856,2254,2097
$GC,14486,0.52,195.1,186.9,11.0,436,14494,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2249,2095
$GC,14752,0.52,195.1,155.1,12.2,461,14756,0.00,1.62,0.00,0.000,4,0.000,0.043,2856,3286,2095
$GC,14793,0.52,195.1,149.4,13.3,464,14802,0.00,1.50,0.00,0.000,6,0.000,0.023,2860,2269,2095
$GC,15060,0.52,195.1,118.1,11.5,489,15064,0.00,1.58,0.00,0.000,4,0.000,0.025,2860,1169,2095
$GC,15101,0.52,195.1,113.0,10.5,492,15110,0.00,1.70,0.00,0.000,6,0.000,0.038,2860,2274,2094
$GC,15368,0.54,227.0,87.2,8.8,517,15403,0.00,0.00,27.90,0.627,6,0.000,0.000,2860,2273,1965
$GC,15667,0.60,321.1,64.6,6.5,544,15751,0.00,1.67,75.68,0.606,4,0.000,0.022,2860,1169,1579
$GC,15806,0.72,490.2,57.1,3.7,554,15944,0.15,1.75,132.57,0.581,6,0.081,0.034,2962,2292,891
$STATE,16041,end climb,SURFACE_DEPTH_REACHED
$STATE,16041,begin surface coast
$FINISH,0.3,1.022974
$STATE,16050,end surface coast,CONTROL_FINISHED_OK
$STATE,16050,begin surface
$SM_CCo,16135,0.00,0.000,0,0,884,492.06
$SM_GC,1.26,7.60,0.00,0.00,0.026,0.000,0.000,42,2554,884,-8.23,1.53,492.06
$IRIDIUM_FIX,2244.02,-15806.70,140103,181815
$TT8_MAMPS,0.02301
$HUMID,2218
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.70
$XPDR_PINGS,5
$24V_AH,23.9,30.398
$10V_AH,10.7,34.245
$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,18.475,109.025,540.375,0.000,0.000,30.694,36.216,622.699,1.250,0.000,0.000,15.128,1250.869,10941.165,526.231,3004.090,1298.211,33.405,1570.449,0.000,3001.667,0.000,0.545,0.000
$DEVICE_MAMPS,196.352,66.729,1259.414,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,393.162,1907.511,1973.980,1040.719,1191.257,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47816,579
$CAP_FILE_SIZE,129305,0
$CFSIZE,260165632,246562816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,211013,040730,2254.765,-15804.369,39,2.0,39,10.1