version: 66.04
glider: 512
mission: 4
dive: 271
start: 11 7 113 22 59 59
data:
$ID,512
$MISSION,4
$DIVE,271
$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,333
$T_MISSION,670
$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,23
$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,-111817.01
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2696
$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,55
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2895
$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
$GPS1,223435,2240.497,-15806.359,37,1.4,42,10.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-77.6
$GPS2,225906,2240.705,-15806.717,15,1.8,20,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.022,0.234
$KALMAN_X,53450.6,-173.5,-78.2,-64580.6,54.4
$KALMAN_Y,66252.6,431.0,353.9,-73298.0,1175.3
$MHEAD_RNG_PITCHd_Wd,355.4,44134,-17.2,-9.009
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.47,-126.5,0.0,0.0,0,101,0.00,0.00,-77.12,0.000,2,0.000,0.000,8,2568,2862
$GC,107,-0.47,-126.5,2.1,-1.4,9,136,9.70,1.50,-12.82,0.000,4,0.201,0.058,2534,3570,3410
$GC,307,-0.47,-126.5,53.0,-23.5,32,316,0.00,1.58,0.00,0.000,6,0.000,0.018,2538,2475,3411
$GC,573,-0.47,-126.5,100.5,-15.7,57,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2468,3412
$GC,839,-0.47,-126.5,138.9,-12.9,82,843,0.00,1.67,0.00,0.000,4,0.000,0.042,2531,3574,3412
$GC,913,-0.47,-126.5,149.0,-12.4,88,917,0.00,1.55,0.00,0.000,6,0.000,0.018,2531,2474,3412
$GC,1184,-0.47,-126.5,186.5,-13.5,113,1188,0.00,1.67,0.00,0.000,4,0.000,0.042,2523,3573,3411
$GC,1271,-0.47,-126.5,198.2,-12.0,120,1281,0.00,1.48,0.00,0.000,6,0.000,0.018,2523,2520,3411
$GC,1536,-0.47,-126.5,233.8,-13.4,128,1540,0.00,1.45,0.00,0.000,4,0.000,0.020,2523,1460,3411
$GC,1566,-0.47,-126.5,238.2,-13.7,128,1570,0.00,1.60,0.00,0.000,6,0.000,0.038,2516,2533,3411
$GC,1832,-0.47,-126.5,272.8,-13.0,135,1836,0.00,1.58,0.00,0.000,4,0.000,0.047,2507,3563,3410
$GC,1928,-0.47,-126.5,284.4,-10.7,137,1932,0.08,1.42,0.00,0.000,6,0.114,0.019,2538,2545,3409
$GC,2222,-0.47,-126.5,311.6,-8.9,144,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2539,3408
$GC,2466,-0.47,-126.5,332.0,-8.3,150,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2539,3406
$GC,2709,-0.47,-126.5,351.4,-7.9,156,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2538,3404
$GC,2953,-0.47,-126.5,372.5,-8.7,162,2957,0.00,1.60,-0.08,0.000,4,0.000,0.064,2532,3568,3423
$GC,3004,-0.47,-126.5,377.1,-9.3,163,3007,0.00,1.42,0.00,0.000,6,0.000,0.021,2533,2567,3423
$GC,3298,-0.47,-126.5,405.6,-10.0,170,3301,0.00,1.52,0.00,0.000,4,0.000,0.022,2532,1470,3421
$GC,3462,-0.47,-126.5,422.1,-9.2,173,3466,0.00,1.62,0.00,0.000,6,0.000,0.042,2524,2544,3420
$GC,3728,-0.47,-126.5,449.7,-10.8,180,3732,0.00,1.58,0.00,0.000,4,0.000,0.054,2523,3554,3418
$GC,3769,-0.47,-126.5,454.6,-10.9,180,3779,0.00,1.45,0.00,0.000,6,0.000,0.023,2523,2536,3417
$GC,4025,-0.47,-126.5,481.0,-10.3,187,4028,0.00,1.60,0.00,0.000,4,0.000,0.052,2523,3563,3415
$GC,4083,-0.47,-126.5,486.8,-8.7,188,4086,0.00,1.45,0.00,0.000,6,0.000,0.024,2523,2555,3415
$GC,4366,-0.47,-126.5,508.1,-7.0,195,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2546,3413
$GC,4609,-0.47,-126.5,523.1,-6.2,201,4613,0.00,1.52,0.00,0.000,4,0.000,0.024,2524,1467,3411
$GC,4662,-0.47,-126.5,527.2,-7.3,202,4666,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2559,3411
$GC,4951,-0.47,-126.5,550.8,-9.0,209,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2558,3409
$GC,5195,-0.47,-126.5,574.8,-9.8,215,5198,0.00,1.58,0.00,0.000,4,0.000,0.055,2523,3555,3408
$GC,5280,-0.47,-126.5,583.4,-9.4,216,5289,0.00,1.40,0.00,0.000,6,0.000,0.025,2523,2582,3406
$GC,5536,-0.47,-126.5,606.2,-8.9,223,5539,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1473,3404
$GC,5631,-0.47,-126.5,613.6,-7.6,225,5635,0.00,1.70,0.00,0.000,6,0.000,0.046,2523,2559,3404
$GC,5926,-0.47,-126.5,634.4,-7.0,232,5930,0.00,1.58,0.00,0.000,4,0.000,0.057,2523,3556,3401
$GC,6028,-0.47,-126.5,641.8,-6.9,234,6032,0.00,1.42,0.00,0.000,6,0.000,0.027,2523,2575,3401
$GC,6313,-0.47,-126.5,662.0,-7.4,241,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3400
$GC,6556,-0.47,-126.5,679.6,-7.2,247,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3399
$GC,6800,-0.47,-126.5,697.7,-7.4,253,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3398
$GC,7043,-0.47,-126.5,716.0,-7.4,259,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3396
$GC,7287,-0.47,-126.5,733.2,-7.0,265,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3395
$GC,7531,-0.47,-126.5,751.0,-7.4,271,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3394
$GC,7774,-0.47,-126.5,769.5,-7.7,277,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3393
$GC,8018,-0.47,-126.5,788.7,-7.9,283,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3392
$GC,8262,-0.47,-126.5,808.0,-7.8,289,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3391
$GC,8506,-0.47,-126.5,826.5,-7.6,295,8510,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1477,3390
$GC,8549,-0.47,-126.5,830.2,-7.8,295,8557,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2567,3390
$GC,8804,-0.47,-126.5,849.4,-7.6,302,8808,0.00,1.58,0.00,0.000,4,0.000,0.059,2523,3551,3389
$GC,8862,-0.47,-126.5,854.0,-7.2,303,8866,0.00,1.40,0.00,0.000,6,0.000,0.029,2523,2601,3388
$GC,9146,-0.47,-126.5,873.8,-7.0,310,9150,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1464,3388
$GC,9210,-0.47,-126.5,878.3,-6.5,311,9213,0.00,1.75,0.00,0.000,6,0.000,0.048,2523,2571,3387
$GC,9487,-0.47,-126.5,896.0,-6.3,318,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2571,3387
$STATE,9562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9563,begin apogee
$GC,9574,-0.17,0.0,901.0,6.1,320,9686,0.35,0.00,109.32,1.262,6,0.097,0.000,2640,2235,2894
$STATE,9687,end apogee,CONTROL_FINISHED_OK
$STATE,9687,begin climb
$GC,9692,0.47,126.5,903.3,0.0,323,9827,0.55,1.73,122.47,1.203,4,0.032,0.029,2880,1168,2378
$GC,9873,0.47,126.5,886.6,17.1,327,9876,0.00,1.73,0.00,0.000,6,0.000,0.041,2878,2224,2373
$GC,10168,0.47,126.5,831.8,18.7,334,10171,0.00,1.67,0.00,0.000,4,0.000,0.051,2875,3284,2367
$GC,10218,0.47,126.5,821.8,20.4,335,10222,0.12,1.60,0.00,0.000,6,0.176,0.027,2852,2239,2366
$GC,10511,0.47,126.5,772.8,16.4,342,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2233,2365
$GC,10755,0.47,126.5,733.0,16.2,348,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2233,2363
$GC,10998,0.47,126.5,696.7,14.5,354,11002,0.00,1.67,0.00,0.000,4,0.000,0.050,2852,3293,2362
$GC,11030,0.47,126.5,691.8,15.4,354,11033,0.00,1.60,0.00,0.000,6,0.000,0.028,2859,2208,2361
$GC,11297,0.47,126.5,655.8,13.2,361,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2201,2361
$GC,11540,0.47,126.5,626.1,11.8,367,11544,0.00,1.73,0.00,0.000,4,0.000,0.051,2859,3293,2361
$GC,11659,0.47,126.5,611.0,11.7,369,11662,0.00,1.58,0.00,0.000,6,0.000,0.027,2867,2237,2361
$GC,11926,0.47,126.5,579.3,12.2,376,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2230,2361
$GC,12169,0.47,126.5,548.3,12.7,382,12173,0.00,1.67,0.00,0.000,4,0.000,0.051,2863,3293,2361
$GC,12238,0.47,126.5,538.2,14.7,383,12242,0.00,1.55,0.00,0.000,6,0.000,0.028,2868,2255,2360
$GC,12509,0.47,126.5,502.0,13.4,390,12512,0.00,1.60,0.00,0.000,4,0.000,0.030,2877,1158,2360
$GC,12590,0.47,126.5,491.3,12.3,391,12594,0.00,1.70,0.00,0.000,6,0.000,0.044,2876,2259,2359
$GC,12851,0.47,126.5,456.6,13.5,398,12854,0.00,1.60,0.00,0.000,4,0.000,0.049,2876,3277,2359
$GC,12946,0.47,126.5,443.5,13.3,400,12950,0.10,1.50,0.00,0.000,6,0.161,0.027,2852,2277,2359
$GC,13240,0.47,126.5,414.4,9.2,407,13244,0.00,1.62,0.00,0.000,4,0.000,0.029,2858,1133,2359
$GC,13354,0.47,126.5,403.3,9.2,409,13358,0.00,1.75,0.00,0.000,6,0.000,0.044,2858,2264,2358
$GC,13626,0.47,126.5,377.6,9.6,416,13630,0.00,1.60,0.00,0.000,4,0.000,0.050,2858,3283,2358
$GC,13711,0.47,126.5,368.5,9.8,417,13721,0.00,1.50,0.00,0.000,6,0.000,0.025,2866,2260,2358
$GC,13967,0.47,126.5,342.3,10.8,424,13968,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2258,2358
$GC,14211,0.47,126.5,315.9,10.9,430,14214,0.00,1.62,0.00,0.000,4,0.000,0.048,2863,3299,2358
$GC,14285,0.47,126.5,307.7,10.3,431,14289,0.00,1.50,0.00,0.000,6,0.000,0.025,2869,2276,2358
$GC,14551,0.48,143.9,285.2,8.2,438,14576,0.00,1.60,15.20,0.722,4,0.000,0.047,2863,3296,2308
$GC,14707,0.48,143.9,271.4,9.4,441,14710,0.00,1.45,0.00,0.000,6,0.000,0.024,2868,2310,2307
$GC,14985,0.48,143.9,245.0,9.8,448,14988,0.00,1.62,0.00,0.000,4,0.000,0.025,2877,1153,2306
$GC,15109,0.48,162.7,233.6,8.1,450,15133,0.00,1.73,17.35,0.770,6,0.000,0.039,2876,2283,2232
$GC,15416,0.48,162.7,204.0,9.6,458,15420,0.00,1.55,0.00,0.000,4,0.000,0.047,2876,3280,2229
$GC,15467,0.48,162.7,198.6,11.0,459,15470,0.00,1.48,0.00,0.000,6,0.000,0.023,2881,2276,2229
$GC,15739,0.48,162.7,168.9,11.3,484,15743,0.00,1.60,0.00,0.000,4,0.000,0.045,2876,3284,2228
$GC,15767,0.48,162.7,165.9,10.5,486,15770,0.00,1.48,0.00,0.000,6,0.000,0.023,2881,2276,2228
$GC,16040,0.50,198.1,141.8,7.3,511,16075,0.00,1.60,31.27,0.683,4,0.000,0.025,2889,1161,2086
$GC,16099,0.50,211.3,137.2,8.4,516,16117,0.08,1.75,12.50,0.633,6,0.124,0.038,2864,2283,2032
$GC,16384,0.50,211.3,115.5,9.1,542,16388,0.00,1.55,0.00,0.000,4,0.000,0.043,2864,3283,2029
$GC,16424,0.50,211.3,111.5,11.5,545,16428,0.00,1.45,0.00,0.000,6,0.000,0.022,2869,2297,2028
$GC,16697,0.51,226.2,86.2,8.3,570,16715,0.00,1.62,13.48,0.598,4,0.000,0.025,2872,1180,1972
$GC,16776,0.53,283.7,80.1,6.2,576,16830,0.00,1.75,47.90,0.615,6,0.000,0.038,2872,2306,1738
$GC,17099,0.56,345.5,56.4,6.0,605,17155,0.00,1.52,49.80,0.590,4,0.000,0.042,2872,3297,1485
$GC,17173,0.59,415.8,51.9,5.6,610,17241,0.00,1.50,57.00,0.579,6,0.000,0.021,2872,2282,1197
$GC,17500,0.59,415.8,28.0,10.0,640,17509,0.00,1.60,0.00,0.000,4,0.000,0.025,2872,1179,1193
$STATE,17736,end climb,SURFACE_DEPTH_REACHED
$STATE,17736,begin surface coast
$FINISH,0.6,1.023117
$STATE,17756,end surface coast,CONTROL_FINISHED_OK
$STATE,17756,begin surface
$SM_CCo,17843,0.00,0.000,0,0,1191,417.98
$SM_GC,1.40,7.20,0.00,0.00,0.021,0.000,0.000,38,2518,1191,-8.23,0.51,417.98
$IRIDIUM_FIX,2152.74,-15754.65,010203,222217
$TT8_MAMPS,0.023777
$HUMID,2215
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.00
$XPDR_PINGS,5
$24V_AH,23.4,44.794
$10V_AH,10.6,53.238
$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,18.175,111.775,476.300,0.000,0.000,84.223,112.806,941.011,1.250,0.000,0.000,20.861,1415.675,12057.628,463.144,3544.417,1820.961,33.381,1593.980,0.000,3538.991,0.000,0.545,0.000
$DEVICE_MAMPS,200.954,63.661,1262.482,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,463.182,2240.268,2319.429,1539.005,1508.906,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57413,680
$CAP_FILE_SIZE,144378,0
$CFSIZE,260165632,240615424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,081113,035836,2243.088,-15806.710,31,1.3,31,10.0