version: 66.04
glider: 512
mission: 4
dive: 223
start: 10 28 113 17 15 12
data:
$ID,512
$MISSION,4
$DIVE,223
$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,25
$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,619.61768
$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,-110811.95
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2693
$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,63
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2925
$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
$GPS1,164536,2239.921,-15736.921,26,1.3,26,10.1
$_CALLS,5
$_XMS_NAKs,43
$_XMS_TOUTs,3
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-82.4
$GPS2,171413,2239.761,-15737.201,13,1.6,13,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,0.085
$KALMAN_X,59436.1,-122.3,316.3,-20610.4,-3992.2
$KALMAN_Y,99999.4,-36.1,-257.7,-107707.0,29.6
$MHEAD_RNG_PITCHd_Wd,59.3,47636,-19.0,-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,-0.51,-126.0,0.0,0.0,0,123,0.00,0.00,-102.80,0.000,2,0.000,0.000,15,2511,2986
$GC,129,-0.51,-126.5,2.6,-2.3,12,157,9.45,1.60,-9.40,0.000,4,0.199,0.050,2516,3574,3441
$GC,279,-0.51,-126.5,50.2,-24.3,29,289,0.00,1.58,0.00,0.000,6,0.000,0.019,2516,2480,3441
$GC,545,-0.51,-126.5,111.7,-19.0,54,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2472,3441
$GC,812,-0.51,-126.5,159.9,-17.0,79,816,0.00,1.67,0.00,0.000,4,0.000,0.041,2508,3562,3442
$GC,884,-0.51,-126.5,172.3,-16.8,85,887,0.00,1.52,0.00,0.000,6,0.000,0.018,2508,2475,3441
$GC,1160,-0.51,-126.5,222.0,-17.8,102,1164,0.00,1.38,0.00,0.000,4,0.000,0.020,2508,1464,3441
$GC,1195,-0.51,-126.5,228.5,-15.6,102,1198,0.00,1.58,0.00,0.000,6,0.000,0.037,2502,2504,3441
$GC,1456,-0.51,-126.5,269.9,-15.7,109,1460,0.00,1.60,0.00,0.000,4,0.000,0.044,2494,3561,3440
$GC,1497,-0.51,-126.5,276.9,-15.5,109,1505,0.00,1.45,0.00,0.000,6,0.000,0.019,2500,2523,3440
$GC,1751,-0.51,-126.5,313.7,-14.6,116,1755,0.00,1.45,0.00,0.000,4,0.000,0.021,2507,1462,3438
$GC,1832,-0.51,-126.5,324.9,-12.1,117,1835,0.00,1.60,0.00,0.000,6,0.000,0.037,2501,2540,3438
$GC,2093,-0.51,-126.5,359.8,-13.7,124,2097,0.00,1.55,0.00,0.000,4,0.000,0.046,2493,3560,3437
$GC,2196,-0.51,-126.5,375.1,-13.2,126,2199,0.00,1.45,0.00,0.000,6,0.000,0.020,2499,2531,3435
$GC,2480,-0.51,-126.5,413.1,-13.2,133,2484,0.00,1.50,-0.08,0.000,4,0.000,0.040,2506,1459,3455
$GC,2529,-0.51,-126.5,419.6,-11.6,134,2533,0.00,1.62,0.00,0.000,6,0.000,0.038,2501,2544,3455
$GC,2823,-0.51,-126.5,454.5,-11.8,141,2827,0.00,1.55,0.00,0.000,4,0.000,0.022,2506,1464,3452
$GC,2848,-0.51,-126.5,457.7,-11.4,141,2852,0.00,1.60,0.00,0.000,6,0.000,0.040,2501,2509,3452
$GC,3120,-0.51,-126.5,485.8,-10.4,148,3124,0.00,1.62,0.00,0.000,4,0.000,0.049,2492,3580,3449
$GC,3195,-0.51,-126.5,494.0,-10.2,149,3198,0.00,1.50,0.00,0.000,6,0.000,0.023,2498,2533,3448
$GC,3460,-0.51,-126.5,521.6,-10.7,156,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2525,3446
$GC,3704,-0.51,-126.5,548.8,-11.3,162,3708,0.00,1.60,0.00,0.000,4,0.000,0.048,2492,3570,3443
$GC,3734,-0.51,-126.5,552.9,-12.6,162,3737,0.00,1.50,0.00,0.000,6,0.000,0.023,2498,2528,3443
$GC,4001,-0.51,-126.5,583.3,-11.7,169,4004,0.00,1.50,0.00,0.000,4,0.000,0.025,2506,1462,3440
$GC,4036,-0.51,-126.5,587.9,-11.2,169,4040,0.00,1.62,0.00,0.000,6,0.000,0.043,2500,2513,3440
$GC,4296,-0.51,-126.5,617.1,-11.5,176,4300,0.00,1.62,0.00,0.000,4,0.000,0.053,2492,3558,3438
$GC,4348,-0.51,-126.5,623.7,-10.8,177,4352,0.00,1.50,0.00,0.000,6,0.000,0.024,2498,2522,3438
$GC,4638,-0.51,-126.5,655.5,-11.1,184,4641,0.00,1.62,0.00,0.000,4,0.000,0.049,2492,3566,3435
$GC,4675,-0.51,-126.5,660.0,-11.5,184,4679,0.00,1.50,0.00,0.000,6,0.000,0.022,2497,2521,3435
$GC,4935,-0.51,-126.5,687.4,-10.5,191,4938,0.00,1.62,0.00,0.000,4,0.000,0.051,2492,3561,3432
$GC,4970,-0.51,-126.5,691.4,-11.1,191,4974,0.00,1.48,0.00,0.000,6,0.000,0.023,2497,2538,3432
$GC,5231,-0.51,-126.5,717.7,-10.1,198,5234,0.00,1.52,0.00,0.000,4,0.000,0.025,2506,1459,3430
$GC,5282,-0.51,-126.5,722.5,-8.8,199,5286,0.00,1.65,0.00,0.000,6,0.000,0.042,2499,2539,3430
$GC,5576,-0.51,-126.5,751.6,-9.9,206,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2539,3428
$GC,5820,-0.51,-126.5,775.4,-9.8,212,5823,0.00,1.60,0.00,0.000,4,0.000,0.054,2492,3580,3426
$GC,5878,-0.51,-126.5,781.7,-10.3,213,5881,0.00,1.52,0.00,0.000,6,0.000,0.025,2497,2535,3425
$GC,6162,-0.51,-126.5,809.1,-9.8,220,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2526,3424
$GC,6407,-0.51,-126.5,832.5,-9.6,226,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2525,3422
$GC,6650,-0.51,-126.5,855.5,-9.5,232,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2525,3421
$GC,6894,-0.51,-126.5,878.9,-9.7,238,6896,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2526,3420
$STATE,7133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7133,begin apogee
$GC,7144,-0.17,0.0,902.5,9.7,244,7255,0.43,0.00,107.97,1.250,6,0.107,0.000,2641,2206,2925
$STATE,7255,end apogee,CONTROL_FINISHED_OK
$STATE,7255,begin climb
$GC,7261,0.51,126.5,907.1,0.0,247,7393,0.57,1.65,121.30,1.194,4,0.028,0.026,2897,1179,2409
$GC,7497,0.51,126.5,882.8,17.8,252,7501,0.12,1.67,0.00,0.000,6,0.176,0.039,2862,2233,2401
$GC,7780,0.51,126.5,836.7,16.6,259,7783,0.00,1.62,0.00,0.000,4,0.000,0.045,2862,3283,2398
$GC,7821,0.51,126.5,828.6,17.7,259,7829,0.00,1.58,0.00,0.000,6,0.000,0.025,2868,2235,2397
$GC,8076,0.51,126.5,784.0,17.8,266,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2229,2396
$GC,8319,0.51,126.5,742.0,17.3,272,8323,0.00,1.67,0.00,0.000,4,0.000,0.045,2864,3281,2395
$GC,8348,0.51,126.5,736.1,18.7,272,8352,0.00,1.60,0.00,0.000,6,0.000,0.025,2869,2194,2394
$GC,8614,0.51,126.5,691.5,16.7,279,8618,0.00,1.50,0.00,0.000,4,0.000,0.027,2877,1160,2393
$GC,8639,0.51,126.5,687.1,16.5,279,8642,0.00,1.65,0.00,0.000,6,0.000,0.041,2877,2211,2392
$GC,8911,0.51,126.5,641.2,17.3,286,8915,0.00,1.65,0.00,0.000,4,0.000,0.047,2877,3295,2392
$GC,9007,0.51,126.5,623.4,18.3,288,9011,0.00,1.62,0.00,0.000,6,0.000,0.025,2883,2203,2391
$GC,9296,0.51,126.5,576.7,16.1,295,9299,0.00,1.70,0.00,0.000,4,0.000,0.048,2884,3286,2391
$GC,9346,0.51,126.5,568.1,17.5,296,9350,0.12,1.60,0.00,0.000,6,0.184,0.025,2862,2214,2391
$GC,9640,0.51,126.5,528.5,13.1,303,9643,0.00,1.52,0.00,0.000,4,0.000,0.028,2868,1170,2390
$GC,9691,0.51,126.5,522.4,12.5,304,9694,0.00,1.62,0.00,0.000,6,0.000,0.039,2863,2232,2390
$GC,9985,0.51,126.5,486.5,12.1,311,9988,0.00,1.62,0.00,0.000,4,0.000,0.046,2863,3278,2389
$GC,10105,0.51,126.5,470.6,13.0,313,10108,0.00,1.52,0.00,0.000,6,0.000,0.025,2869,2244,2389
$GC,10371,0.51,126.5,437.3,12.7,320,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2238,2389
$GC,10614,0.51,126.5,407.2,12.4,326,10618,0.00,1.58,0.00,0.000,4,0.000,0.028,2876,1161,2389
$GC,10632,0.51,126.5,404.6,11.9,326,10636,0.00,1.67,0.00,0.000,6,0.000,0.041,2876,2257,2389
$GC,10909,0.51,126.5,371.7,12.2,333,10913,0.00,1.62,0.00,0.000,4,0.000,0.026,2882,1138,2389
$GC,10962,0.51,126.5,365.1,11.7,334,10966,0.00,1.62,0.00,0.000,6,0.000,0.040,2877,2202,2388
$GC,11250,0.51,126.5,332.5,11.6,341,11254,0.00,1.67,0.00,0.000,4,0.000,0.048,2876,3282,2388
$GC,11404,0.51,126.5,311.8,13.5,344,11408,0.00,1.58,0.00,0.000,6,0.000,0.024,2882,2211,2388
$GC,11681,0.51,126.5,281.9,10.4,351,11685,0.00,1.50,0.00,0.000,4,0.000,0.027,2890,1165,2388
$GC,11777,0.52,141.3,273.1,9.2,353,11792,0.00,1.62,10.68,0.784,6,0.000,0.039,2889,2231,2348
$GC,12064,0.52,141.3,245.5,10.2,360,12068,0.00,1.60,0.00,0.000,4,0.000,0.045,2889,3292,2346
$GC,12281,0.52,155.0,223.5,9.3,364,12299,0.08,1.52,13.27,0.753,6,0.160,0.024,2863,2247,2292
$GC,12583,0.54,194.2,199.1,7.9,372,12623,0.00,0.00,33.92,0.749,6,0.000,0.000,2863,2247,2132
$GC,12884,0.54,194.2,168.4,11.0,399,12888,0.00,1.60,0.00,0.000,4,0.000,0.042,2863,3283,2127
$GC,12923,0.54,194.2,163.2,12.9,402,12927,0.00,1.50,0.00,0.000,6,0.000,0.023,2869,2273,2127
$GC,13196,0.54,194.2,133.3,10.3,427,13199,0.00,1.60,0.00,0.000,4,0.000,0.025,2877,1139,2127
$GC,13224,0.54,195.7,130.4,9.9,429,13228,0.00,1.75,0.00,0.000,6,0.000,0.037,2877,2285,2126
$GC,13496,0.54,195.7,101.3,10.1,454,13499,0.00,1.52,0.00,0.000,4,0.000,0.043,2877,3281,2126
$GC,13593,0.54,195.7,89.4,11.3,462,13597,0.00,1.45,0.00,0.000,6,0.000,0.022,2884,2282,2126
$GC,13865,0.56,246.4,63.1,7.3,487,13913,0.00,1.62,43.10,0.612,4,0.000,0.041,2884,3290,1919
$GC,13944,0.57,268.2,57.1,8.8,492,13972,0.00,1.48,18.83,0.582,6,0.000,0.021,2891,2274,1830
$GC,14235,0.57,280.6,29.4,9.3,518,14253,0.00,1.60,10.82,0.538,4,0.000,0.022,2899,1179,1781
$GC,14320,0.59,306.8,21.1,8.6,530,14347,0.00,1.73,22.52,0.554,6,0.000,0.035,2899,2296,1673
$STATE,14494,end climb,SURFACE_DEPTH_REACHED
$STATE,14495,begin surface coast
$FINISH,0.3,1.009558
$STATE,14533,end surface coast,CONTROL_FINISHED_OK
$STATE,14533,begin surface
$SM_CCo,14559,143.07,0.536,0,0,398,619.62
$SM_GC,1.30,0.00,0.00,143.07,0.000,0.000,0.536,42,2532,398,-8.27,0.90,619.62
$IRIDIUM_FIX,2232.34,-15738.08,220103,171756
$TT8_MAMPS,0.023777
$HUMID,2151
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.80
$XPDR_PINGS,5
$24V_AH,23.8,36.501
$10V_AH,10.7,42.327
$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,18.100,108.075,382.425,143.075,0.000,134.538,302.632,832.514,1.250,0.000,0.000,13.607,1210.964,9836.985,542.592,2961.785,1868.809,33.398,1525.268,0.000,2961.038,0.000,0.545,0.000
$DEVICE_MAMPS,199.420,53.690,1250.210,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,382.937,1854.780,1915.432,537.504,1252.347,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47789,563
$CAP_FILE_SIZE,132595,0
$CFSIZE,260165632,243982336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281013,212135,2240.161,-15736.382,31,1.1,31,10.1