version: 66.04
glider: 512
mission: 4
dive: 191
start: 10 22 113 9 17 55
data:
$ID,512
$MISSION,4
$DIVE,191
$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,-110278.7
$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,50
$R_STBD_OVSHOOT,56
$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,0.00039999999
$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
$GPS1,090836,2304.928,-15802.704,35,1.0,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-81.0
$GPS2,091642,2304.979,-15802.644,18,1.0,23,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.275,-0.005
$KALMAN_X,107954.6,177.6,-20.2,-112540.5,630.2
$KALMAN_Y,68402.9,15.4,787.9,-30524.8,-892.6
$MHEAD_RNG_PITCHd_Wd,258.9,3352,-16.3,-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,-0.45,-126.5,0.0,0.0,0,106,0.00,0.00,-85.90,0.000,2,0.000,0.000,11,2535,2834
$GC,112,-0.45,-126.5,2.1,-1.6,10,141,9.57,1.50,-13.32,0.000,4,0.202,0.054,2545,3555,3406
$GC,229,-0.45,-126.5,32.3,-21.4,26,238,0.00,1.58,0.00,0.000,6,0.000,0.019,2550,2473,3406
$GC,496,-0.45,-126.5,94.4,-18.7,51,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2465,3407
$GC,761,-0.45,-126.5,135.4,-15.1,76,765,0.00,1.65,0.00,0.000,4,0.000,0.041,2544,3538,3407
$GC,812,-0.45,-126.5,143.0,-14.0,80,816,0.00,1.50,0.00,0.000,6,0.000,0.018,2550,2479,3408
$GC,1084,-0.45,-126.5,180.5,-12.9,105,1087,0.00,1.40,0.00,0.000,4,0.000,0.020,2557,1455,3408
$GC,1147,-0.45,-126.5,188.5,-10.9,110,1155,0.00,1.55,0.00,0.000,6,0.000,0.037,2551,2476,3408
$GC,1418,-0.45,-126.5,222.0,-12.8,124,1422,0.00,1.62,0.00,0.000,4,0.000,0.045,2543,3565,3409
$GC,1487,-0.45,-126.5,231.6,-12.6,125,1491,0.00,1.52,0.00,0.000,6,0.000,0.019,2543,2483,3408
$GC,1758,-0.45,-126.5,262.7,-10.9,132,1762,0.00,1.40,0.00,0.000,4,0.000,0.020,2544,1454,3408
$GC,1829,-0.45,-126.5,270.2,-9.8,133,1832,0.00,1.50,0.00,0.000,6,0.000,0.038,2538,2446,3407
$GC,2100,-0.45,-126.5,300.2,-11.4,140,2104,0.00,1.67,0.00,0.000,4,0.000,0.046,2530,3566,3407
$GC,2220,-0.45,-126.5,314.6,-11.6,142,2224,0.00,1.55,0.00,0.000,6,0.000,0.019,2530,2470,3407
$GC,2487,-0.45,-126.5,345.1,-11.5,149,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2462,3406
$GC,2729,-0.45,-126.5,371.1,-10.4,155,2733,0.00,1.40,0.00,0.000,4,0.000,0.020,2530,1446,3404
$GC,2816,-0.45,-126.5,379.8,-9.3,156,2825,0.00,1.55,0.00,0.000,6,0.000,0.038,2524,2463,3403
$GC,3071,-0.45,-126.5,406.5,-10.9,163,3074,0.00,1.65,0.00,0.000,4,0.000,0.048,2517,3562,3401
$GC,3121,-0.45,-126.5,412.1,-10.8,164,3125,0.05,1.58,0.00,0.000,6,0.088,0.021,2549,2453,3401
$GC,3415,-0.45,-126.5,437.5,-8.6,171,3418,0.00,1.73,0.00,0.000,4,0.000,0.047,2542,3570,3399
$GC,3485,-0.45,-126.5,444.1,-9.6,172,3488,0.00,1.55,0.00,0.000,6,0.000,0.021,2542,2485,3398
$GC,3756,-0.45,-126.5,468.5,-9.1,179,3758,0.00,0.00,-0.08,0.000,6,0.000,0.000,2542,2477,3420
$GC,4000,-0.45,-126.5,489.8,-8.7,185,4004,0.00,1.67,0.00,0.000,4,0.000,0.049,2535,3562,3418
$GC,4052,-0.45,-126.5,494.7,-8.4,186,4056,0.00,1.58,0.00,0.000,6,0.000,0.023,2535,2470,3418
$GC,4342,-0.45,-126.5,518.3,-8.0,193,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2462,3416
$GC,4586,-0.45,-126.5,536.5,-7.4,199,4589,0.00,1.70,0.00,0.000,4,0.000,0.050,2526,3562,3413
$GC,4636,-0.45,-126.5,540.6,-7.8,200,4640,0.00,1.58,0.00,0.000,6,0.000,0.023,2526,2484,3413
$GC,4930,-0.45,-126.5,568.4,-9.8,207,4934,0.00,1.67,0.00,0.000,4,0.000,0.051,2523,3559,3412
$GC,4965,-0.45,-126.5,572.4,-10.2,207,4969,0.00,1.58,0.00,0.000,6,0.000,0.025,2524,2474,3411
$GC,5227,-0.45,-126.5,600.2,-10.9,214,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2468,3409
$GC,5471,-0.45,-126.5,625.1,-10.0,220,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2468,3408
$GC,5714,-0.45,-126.5,645.2,-8.0,226,5718,0.00,1.73,0.00,0.000,4,0.000,0.056,2523,3566,3406
$GC,5809,-0.45,-126.5,651.7,-6.4,228,5812,0.00,1.55,0.00,0.000,6,0.000,0.025,2523,2500,3404
$GC,6104,-0.45,-126.5,673.1,-7.6,235,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2493,3403
$GC,6348,-0.45,-126.5,693.7,-8.5,241,6351,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3563,3400
$GC,6389,-0.45,-126.5,697.8,-9.2,241,6397,0.00,1.52,0.00,0.000,6,0.000,0.025,2524,2503,3400
$GC,6644,-0.45,-126.5,719.8,-8.8,248,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2503,3399
$GC,6888,-0.45,-126.5,740.7,-8.5,254,6891,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3554,3399
$GC,6929,-0.45,-126.5,744.4,-8.5,254,6938,0.08,1.50,0.00,0.000,6,0.100,0.025,2553,2511,3398
$GC,7184,-0.45,-126.5,758.7,-5.5,261,7188,0.00,1.48,0.00,0.000,4,0.000,0.024,2557,1467,3397
$GC,7214,-0.45,-126.5,760.5,-5.3,261,7218,0.00,1.60,0.00,0.000,6,0.000,0.044,2551,2520,3397
$GC,7482,-0.45,-126.5,774.1,-5.1,268,7485,0.00,1.62,0.00,0.000,4,0.000,0.055,2550,3554,3396
$GC,7517,-0.45,-126.5,776.1,-5.3,268,7521,0.00,1.50,0.00,0.000,6,0.000,0.025,2550,2515,3395
$GC,7778,-0.45,-126.5,789.2,-5.1,275,7782,0.00,1.50,0.00,0.000,4,0.000,0.025,2550,1464,3394
$GC,7836,-0.45,-126.5,792.8,-5.5,276,7840,0.00,1.65,0.00,0.000,6,0.000,0.047,2549,2520,3394
$GC,8120,-0.45,-126.5,808.7,-5.7,283,8123,0.00,1.60,0.00,0.000,4,0.000,0.056,2549,3556,3392
$GC,8170,-0.45,-126.5,811.7,-5.6,284,8174,0.00,1.50,0.00,0.000,6,0.000,0.027,2550,2521,3393
$GC,8464,-0.45,-126.5,829.3,-5.9,291,8468,0.00,1.50,0.00,0.000,4,0.000,0.025,2550,1472,3391
$GC,8516,-0.45,-126.5,832.5,-6.4,292,8520,0.00,1.62,0.00,0.000,6,0.000,0.048,2549,2505,3391
$GC,8810,-0.45,-126.5,849.6,-5.7,299,8814,0.00,1.67,0.00,0.000,4,0.000,0.058,2550,3562,3390
$GC,8863,-0.45,-126.5,852.8,-5.5,300,8866,0.00,1.52,0.00,0.000,6,0.000,0.027,2550,2515,3390
$GC,9152,-0.45,-126.5,867.9,-5.3,307,9156,0.00,1.50,0.00,0.000,4,0.000,0.026,2550,1454,3389
$GC,9203,-0.45,-126.5,870.7,-5.6,308,9206,0.00,1.65,0.00,0.000,6,0.000,0.049,2549,2520,3389
$GC,9497,-0.45,-126.5,886.1,-5.1,315,9500,0.00,1.62,0.00,0.000,4,0.000,0.057,2549,3566,3388
$GC,9548,-0.45,-126.5,888.5,-4.8,316,9552,0.00,1.55,0.00,0.000,6,0.000,0.027,2550,2507,3388
$STATE,9837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9837,begin apogee
$GC,9849,-0.17,0.0,901.3,4.1,323,9961,0.28,0.00,109.15,1.262,6,0.087,0.000,2647,2222,2890
$STATE,9962,end apogee,CONTROL_FINISHED_OK
$STATE,9962,begin climb
$GC,9967,0.45,126.5,903.3,0.0,326,10144,0.50,1.67,130.20,1.134,4,0.055,0.027,2878,1183,2372
$GC,10158,0.45,126.5,886.3,18.1,330,10162,0.15,1.70,0.00,0.000,6,0.159,0.040,2841,2227,2370
$GC,10441,0.45,126.5,838.3,17.0,337,10445,0.00,1.65,0.00,0.000,4,0.000,0.048,2838,3280,2362
$GC,10491,0.45,126.5,829.3,17.8,338,10495,0.00,1.58,0.00,0.000,6,0.000,0.026,2844,2242,2362
$GC,10785,0.45,126.5,780.7,15.9,345,10789,0.00,1.60,0.00,0.000,4,0.000,0.030,2847,1165,2361
$GC,10814,0.45,126.5,775.8,15.3,345,10818,0.00,1.65,0.00,0.000,6,0.000,0.040,2847,2233,2360
$GC,11081,0.45,126.5,735.9,15.2,352,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2233,2359
$GC,11325,0.45,126.5,700.0,14.7,358,11328,0.00,1.62,0.00,0.000,4,0.000,0.048,2847,3290,2359
$GC,11399,0.45,126.5,687.7,16.6,359,11403,0.00,1.60,0.00,0.000,6,0.000,0.026,2855,2201,2358
$GC,11665,0.45,126.5,647.8,15.3,366,11669,0.00,1.73,0.00,0.000,4,0.000,0.048,2856,3277,2358
$GC,11741,0.45,126.5,635.3,16.4,367,11744,0.00,1.58,0.00,0.000,6,0.000,0.025,2864,2217,2357
$GC,12006,0.45,126.5,594.8,15.6,374,12010,0.00,1.70,0.00,0.000,4,0.000,0.046,2863,3280,2357
$GC,12102,0.45,126.5,579.4,17.3,376,12106,0.00,1.52,0.00,0.000,6,0.000,0.025,2869,2265,2357
$GC,12396,0.45,126.5,535.1,15.0,383,12400,0.00,1.62,0.00,0.000,4,0.000,0.029,2873,1156,2356
$GC,12431,0.45,126.5,529.8,14.1,383,12435,0.12,1.70,0.00,0.000,6,0.156,0.041,2842,2268,2355
$GC,12691,0.45,126.5,498.3,11.9,390,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2268,2355
$GC,12934,0.45,126.5,470.1,11.6,396,12938,0.00,1.58,0.00,0.000,4,0.000,0.048,2838,3277,2355
$GC,13021,0.45,126.5,458.9,12.0,397,13029,0.00,1.55,0.00,0.000,6,0.000,0.024,2844,2239,2354
$GC,13276,0.45,126.5,429.4,11.4,404,13279,0.00,1.62,0.00,0.000,4,0.000,0.046,2845,3280,2354
$GC,13325,0.45,126.5,423.0,12.5,405,13329,0.00,1.55,0.00,0.000,6,0.000,0.027,2847,2232,2354
$GC,13620,0.45,126.5,389.7,11.2,412,13624,0.00,1.55,0.00,0.000,4,0.000,0.028,2855,1161,2354
$GC,13683,0.45,126.5,382.0,11.3,413,13687,0.00,1.65,0.00,0.000,6,0.000,0.041,2856,2220,2354
$GC,13960,0.45,126.5,347.3,12.9,420,13964,0.00,1.55,0.00,0.000,4,0.000,0.028,2857,1177,2353
$GC,14024,0.45,126.5,339.4,10.7,421,14028,0.00,1.60,0.00,0.000,6,0.000,0.039,2857,2231,2354
$GC,14302,0.45,126.5,310.0,10.5,428,14305,0.00,1.58,0.00,0.000,4,0.000,0.025,2864,1162,2354
$GC,14315,0.45,126.5,308.0,10.7,428,14318,0.00,1.62,0.00,0.000,6,0.000,0.040,2864,2229,2353
$GC,14597,0.45,126.5,278.9,10.2,435,14598,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2229,2354
$GC,14841,0.45,135.6,255.5,9.6,441,14851,0.00,1.60,5.75,0.679,4,0.000,0.045,2863,3290,2337
$GC,15110,0.45,135.6,227.9,11.9,447,15114,0.00,1.62,0.00,0.000,6,0.000,0.023,2870,2164,2337
$GC,15406,0.47,175.4,201.0,8.4,454,15450,0.00,1.77,35.25,0.755,4,0.000,0.042,2870,3278,2173
$GC,15613,0.47,175.4,176.3,12.9,469,15617,0.00,1.60,0.00,0.000,6,0.000,0.021,2877,2178,2170
$GC,15884,0.47,175.4,143.4,12.5,494,15888,0.00,1.48,0.00,0.000,4,0.000,0.025,2885,1153,2169
$GC,15957,0.47,175.4,134.6,11.1,500,15961,0.12,1.58,0.00,0.000,6,0.138,0.035,2852,2171,2168
$GC,16236,0.49,218.9,111.9,8.2,525,16277,0.00,1.75,36.20,0.657,4,0.000,0.042,2851,3279,1996
$GC,16401,0.49,218.9,95.3,11.2,538,16405,0.00,1.58,0.00,0.000,6,0.000,0.021,2856,2212,1994
$GC,16678,0.52,302.3,72.3,6.6,563,16749,0.00,1.52,67.30,0.617,4,0.000,0.023,2856,1164,1655
$GC,16779,0.56,399.4,64.6,6.0,571,16864,0.00,1.62,77.03,0.600,6,0.000,0.034,2856,2220,1260
$GC,17120,0.56,399.4,37.0,10.4,601,17123,0.00,1.62,0.00,0.000,4,0.000,0.044,2856,3284,1254
$GC,17390,0.56,399.4,9.9,10.8,636,17399,0.00,1.58,0.00,0.000,6,0.000,0.019,2856,2188,1254
$STATE,17455,end climb,SURFACE_DEPTH_REACHED
$STATE,17455,begin surface coast
$FINISH,0.4,1.010986
$STATE,17494,end surface coast,CONTROL_FINISHED_OK
$STATE,17494,begin surface
$SM_CCo,17579,0.00,0.000,0,0,1252,401.79
$SM_GC,1.41,7.18,0.00,0.00,0.028,0.000,0.000,41,2511,1252,-8.22,0.31,401.79
$IRIDIUM_FIX,2253.38,-15804.96,160103,040434
$TT8_MAMPS,0.023777
$HUMID,2214
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.20
$XPDR_PINGS,5
$24V_AH,23.8,31.456
$10V_AH,10.6,35.691
$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,18.050,131.350,460.875,0.000,0.000,24.545,36.148,220.413,1.250,0.000,0.000,23.299,1429.974,11666.921,478.030,3533.737,964.048,33.370,1649.480,0.000,3517.598,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,57.525,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,443.915,2147.954,2229.824,1365.298,1453.249,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54227,652
$CAP_FILE_SIZE,140205,0
$CFSIZE,260165632,246095872
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,221013,141206,2304.578,-15804.415,29,1.6,29,10.1