version: 66.04
glider: 512
mission: 4
dive: 275
start: 11 8 113 19 53 46
data:
$ID,512
$MISSION,4
$DIVE,275
$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,-111885.05
$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,65
$R_STBD_OVSHOOT,34
$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
$GPS1,194035,2250.924,-15805.847,41,1.3,52,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-79.1
$GPS2,195249,2251.062,-15805.896,17,1.3,17,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.066,0.226
$KALMAN_X,50676.9,-45.8,9.3,-60625.8,-765.2
$KALMAN_Y,67798.6,213.9,-236.3,-54838.7,1427.4
$MHEAD_RNG_PITCHd_Wd,6.3,24904,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.47,-126.5,0.0,0.0,0,97,0.00,0.00,-77.05,0.000,2,0.000,0.000,11,2514,2857
$GC,103,-0.47,-126.5,2.2,-1.3,9,132,9.52,1.58,-12.43,0.000,4,0.196,0.054,2526,3574,3409
$GC,241,-0.47,-126.5,38.2,-23.2,27,245,0.00,1.58,0.00,0.000,6,0.000,0.020,2528,2487,3409
$GC,513,-0.47,-126.5,99.0,-16.4,52,516,0.00,1.65,0.00,0.000,4,0.000,0.040,2522,3570,3410
$GC,586,-0.47,-126.5,111.0,-13.7,58,590,0.00,1.50,0.00,0.000,6,0.000,0.018,2522,2511,3410
$GC,858,-0.47,-126.5,155.1,-17.4,83,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2503,3410
$GC,1124,-0.47,-126.5,194.8,-14.7,108,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2503,3410
$GC,1411,-0.47,-126.5,234.4,-13.3,118,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2503,3410
$GC,1655,-0.47,-126.5,267.1,-13.4,124,1658,0.00,1.60,0.00,0.000,4,0.000,0.041,2514,3568,3409
$GC,1729,-0.47,-126.5,278.0,-13.6,125,1733,0.00,1.50,0.00,0.000,6,0.000,0.019,2517,2505,3409
$GC,1995,-0.47,-126.5,310.0,-11.9,132,1999,0.00,1.45,0.00,0.000,4,0.000,0.020,2518,1444,3409
$GC,2099,-0.47,-126.5,321.6,-10.4,134,2103,0.12,1.60,0.00,0.000,6,0.120,0.037,2549,2520,3408
$GC,2381,-0.47,-126.5,344.8,-8.0,141,2385,0.00,1.60,0.00,0.000,4,0.000,0.048,2544,3560,3407
$GC,2443,-0.47,-126.5,349.7,-7.6,142,2446,0.00,1.50,0.00,0.000,6,0.000,0.021,2544,2502,3406
$GC,2726,-0.47,-126.5,370.1,-6.9,149,2730,0.00,1.45,0.00,0.000,4,0.000,0.020,2544,1444,3403
$GC,2783,-0.47,-126.5,374.6,-7.1,150,2787,0.00,1.60,0.00,0.000,6,0.000,0.038,2537,2514,3403
$GC,3067,-0.47,-126.5,400.6,-10.0,157,3071,0.00,1.60,0.00,0.000,4,0.000,0.049,2529,3572,3401
$GC,3136,-0.47,-126.5,408.9,-12.2,158,3140,0.00,1.50,0.00,0.000,6,0.000,0.021,2529,2526,3400
$GC,3408,-0.47,-126.5,440.6,-11.6,165,3411,0.00,1.62,0.00,0.000,4,0.000,0.047,2523,3557,3398
$GC,3437,-0.47,-126.5,444.2,-11.1,165,3441,0.00,1.45,0.00,0.000,6,0.000,0.022,2523,2544,3398
$GC,3705,-0.47,-126.5,471.7,-10.3,172,3709,0.00,1.55,-0.08,0.000,4,0.000,0.040,2523,1453,3420
$GC,3767,-0.47,-126.5,478.3,-9.3,173,3771,0.00,1.65,0.00,0.000,6,0.000,0.043,2523,2538,3420
$GC,4045,-0.47,-126.5,504.3,-9.4,180,4048,0.00,1.60,0.00,0.000,4,0.000,0.052,2523,3583,3418
$GC,4149,-0.47,-126.5,513.6,-8.2,182,4152,0.00,1.50,0.00,0.000,6,0.000,0.024,2523,2543,3417
$GC,4432,-0.47,-126.5,535.4,-7.6,189,4435,0.00,1.52,0.00,0.000,4,0.000,0.024,2523,1454,3414
$GC,4468,-0.47,-126.5,538.6,-8.6,189,4471,0.00,1.67,0.00,0.000,6,0.000,0.044,2523,2553,3414
$GC,4730,-0.47,-126.5,559.2,-8.2,196,4733,0.00,1.58,0.00,0.000,4,0.000,0.023,2523,1455,3413
$GC,4805,-0.47,-126.5,566.3,-8.7,197,4808,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2520,3412
$GC,5070,-0.47,-126.5,590.8,-9.4,204,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2520,3410
$GC,5314,-0.47,-126.5,611.5,-8.3,210,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2520,3408
$GC,5558,-0.47,-126.5,630.3,-7.7,216,5562,0.00,1.62,0.00,0.000,4,0.000,0.054,2517,3572,3407
$GC,5623,-0.47,-126.5,635.6,-7.4,217,5626,0.00,1.55,0.00,0.000,6,0.000,0.025,2517,2513,3406
$GC,5900,-0.47,-126.5,658.4,-8.5,224,5904,0.00,1.50,0.00,0.000,4,0.000,0.025,2521,1451,3404
$GC,5997,-0.47,-126.5,665.9,-8.1,226,6000,0.00,1.62,0.00,0.000,6,0.000,0.045,2516,2508,3403
$GC,6291,-0.47,-126.5,689.8,-8.0,233,6295,0.00,1.62,0.00,0.000,4,0.000,0.054,2508,3561,3401
$GC,6456,-0.47,-126.5,704.4,-8.8,236,6460,0.05,1.52,0.00,0.000,6,0.116,0.026,2542,2519,3401
$GC,6723,-0.47,-126.5,721.4,-6.4,243,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2513,3399
$GC,6966,-0.47,-126.5,737.2,-6.5,249,6970,0.00,1.52,0.00,0.000,4,0.000,0.025,2544,1445,3399
$GC,7017,-0.47,-126.5,740.2,-5.6,250,7021,0.00,1.67,0.00,0.000,6,0.000,0.047,2538,2528,3398
$GC,7312,-0.47,-126.5,759.0,-6.3,257,7316,0.00,1.62,0.00,0.000,4,0.000,0.058,2536,3568,3397
$GC,7381,-0.47,-126.5,763.7,-6.9,258,7385,0.00,1.52,0.00,0.000,6,0.000,0.028,2536,2528,3396
$GC,7654,-0.47,-126.5,781.7,-6.9,265,7657,0.00,1.52,0.00,0.000,4,0.000,0.026,2536,1455,3395
$GC,7684,-0.47,-126.5,784.1,-7.7,265,7688,0.00,1.70,0.00,0.000,6,0.000,0.049,2535,2528,3395
$GC,7950,-0.47,-126.5,801.1,-6.4,272,7954,0.00,1.65,0.00,0.000,4,0.000,0.058,2528,3562,3393
$GC,8003,-0.47,-126.5,804.8,-7.0,273,8006,0.00,1.50,0.00,0.000,6,0.000,0.028,2528,2541,3393
$GC,8293,-0.47,-126.5,823.3,-6.3,280,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2532,3392
$GC,8536,-0.47,-126.5,836.8,-5.5,286,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2532,3391
$GC,8780,-0.47,-126.5,850.8,-5.7,292,8783,0.00,1.65,0.00,0.000,4,0.000,0.059,2524,3563,3391
$GC,8810,-0.47,-126.5,852.9,-6.8,292,8814,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2548,3390
$GC,9076,-0.47,-126.5,869.7,-6.7,299,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2541,3390
$GC,9320,-0.47,-126.5,886.3,-6.8,305,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2541,3389
$STATE,9558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9558,begin apogee
$GC,9570,-0.17,0.0,902.5,6.6,311,9683,0.35,0.00,110.78,1.262,6,0.093,0.000,2645,2216,2890
$STATE,9684,end apogee,CONTROL_FINISHED_OK
$STATE,9684,begin climb
$GC,9689,0.47,126.5,905.7,0.0,314,9844,0.52,1.62,128.27,1.161,4,0.031,0.026,2881,1193,2373
$GC,9900,0.47,126.5,887.8,15.7,318,9904,0.00,1.70,0.00,0.000,6,0.000,0.042,2878,2228,2367
$GC,10161,0.47,126.5,842.4,17.7,325,10165,0.00,1.67,0.00,0.000,4,0.000,0.051,2877,3293,2362
$GC,10211,0.47,126.5,833.2,18.5,326,10216,0.10,1.60,0.00,0.000,6,0.174,0.026,2855,2243,2361
$GC,10506,0.47,126.5,787.6,15.1,333,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2237,2359
$GC,10749,0.47,126.5,751.8,14.6,339,10752,0.00,1.65,0.00,0.000,4,0.000,0.048,2854,3284,2358
$GC,10790,0.47,126.5,745.1,15.8,339,10799,0.00,1.60,0.00,0.000,6,0.000,0.028,2862,2223,2358
$GC,11046,0.47,126.5,708.1,14.4,346,11050,0.00,1.55,0.00,0.000,4,0.000,0.028,2869,1168,2357
$GC,11109,0.47,126.5,699.3,12.6,347,11113,0.00,1.65,0.00,0.000,6,0.000,0.043,2866,2236,2356
$GC,11386,0.47,126.5,661.1,14.0,354,11390,0.00,1.62,0.00,0.000,4,0.000,0.050,2863,3290,2356
$GC,11450,0.47,126.5,650.4,15.6,355,11454,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2204,2356
$GC,11727,0.47,126.5,608.1,15.4,362,11731,0.00,1.52,0.00,0.000,4,0.000,0.029,2877,1157,2355
$GC,11757,0.47,126.5,603.1,14.6,362,11761,0.00,1.67,0.00,0.000,6,0.000,0.044,2875,2220,2355
$GC,12023,0.47,126.5,565.5,14.1,369,12027,0.00,1.58,0.00,0.000,4,0.000,0.029,2881,1158,2354
$GC,12087,0.47,126.5,556.9,11.8,370,12091,0.00,1.62,0.00,0.000,6,0.000,0.042,2876,2211,2354
$GC,12364,0.47,126.5,523.7,12.2,377,12368,0.00,1.58,0.00,0.000,4,0.000,0.028,2881,1162,2354
$GC,12405,0.47,126.5,518.7,11.1,377,12413,0.00,1.60,0.00,0.000,6,0.000,0.042,2876,2179,2354
$GC,12660,0.47,126.5,487.1,13.2,384,12664,0.00,1.70,0.00,0.000,4,0.000,0.051,2875,3281,2354
$GC,12756,0.47,126.5,473.2,15.0,386,12760,0.12,1.62,0.00,0.000,6,0.179,0.027,2852,2174,2353
$GC,13049,0.47,126.5,440.0,10.6,393,13053,0.00,1.48,0.00,0.000,4,0.000,0.028,2858,1165,2353
$GC,13090,0.47,126.5,435.6,9.4,393,13099,0.00,1.58,0.00,0.000,6,0.000,0.042,2858,2169,2353
$GC,13346,0.47,126.5,408.9,10.7,400,13349,0.00,1.73,0.00,0.000,4,0.000,0.051,2858,3288,2352
$GC,13505,0.47,126.5,391.0,10.9,403,13508,0.00,1.60,0.00,0.000,6,0.000,0.026,2866,2188,2352
$GC,13777,0.47,126.5,364.8,9.5,410,13780,0.00,1.73,0.00,0.000,4,0.000,0.048,2863,3286,2352
$GC,13891,0.47,126.5,352.6,10.1,412,13894,0.00,1.58,0.00,0.000,6,0.000,0.026,2869,2223,2352
$GC,14162,0.47,126.5,326.2,9.8,419,14163,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2221,2352
$GC,14406,0.47,126.5,298.0,11.7,425,14409,0.00,1.52,0.00,0.000,4,0.000,0.028,2877,1166,2352
$GC,14480,0.47,126.5,288.3,12.1,426,14484,0.00,1.62,0.00,0.000,6,0.000,0.040,2875,2228,2353
$GC,14747,0.47,126.5,259.5,10.0,433,14750,0.00,1.58,0.00,0.000,4,0.000,0.026,2882,1169,2353
$GC,14818,0.48,149.1,252.8,7.9,434,14842,0.00,1.60,17.50,0.787,6,0.000,0.038,2876,2221,2282
$GC,15087,0.48,163.2,230.1,8.3,441,15107,0.00,1.65,13.65,0.748,4,0.000,0.048,2876,3272,2223
$GC,15291,0.48,163.2,207.3,12.6,445,15294,0.00,1.55,0.00,0.000,6,0.000,0.024,2881,2219,2222
$GC,15562,0.48,163.2,176.6,11.7,466,15565,0.00,1.65,0.00,0.000,4,0.000,0.044,2876,3279,2220
$GC,15611,0.48,163.2,170.7,11.5,470,15615,0.00,1.55,0.00,0.000,6,0.000,0.023,2881,2220,2220
$GC,15884,0.48,163.2,143.8,9.8,495,15887,0.00,1.50,0.00,0.000,4,0.000,0.024,2889,1167,2220
$GC,15912,0.48,163.2,140.8,10.4,497,15916,0.12,1.60,0.00,0.000,6,0.143,0.036,2858,2227,2220
$GC,16188,0.49,180.7,119.6,8.2,522,16211,0.00,0.00,16.10,0.645,6,0.000,0.000,2857,2227,2152
$GC,16469,0.49,180.7,94.2,9.2,548,16472,0.00,1.60,0.00,0.000,4,0.000,0.042,2857,3293,2151
$GC,16554,0.49,180.7,85.6,9.6,555,16558,0.00,1.58,0.00,0.000,6,0.000,0.022,2857,2220,2151
$GC,16831,0.54,310.4,69.6,2.8,580,16943,0.00,1.70,104.93,0.610,4,0.000,0.042,2857,3280,1623
$GC,17118,0.54,310.4,53.1,9.5,602,17121,0.00,1.60,0.00,0.000,6,0.000,0.021,2857,2167,1620
$GC,17391,0.55,327.9,29.6,8.2,627,17409,0.00,0.00,14.60,0.542,6,0.000,0.000,2857,2161,1552
$STATE,17679,end climb,SURFACE_DEPTH_REACHED
$STATE,17679,begin surface coast
$FINISH,0.6,1.011043
$STATE,17711,end surface coast,CONTROL_FINISHED_OK
$STATE,17711,begin surface
$SM_CCo,17736,27.48,0.525,0,0,1299,390.02
$SM_GC,1.38,0.00,0.00,27.48,0.000,0.000,0.525,33,2508,1299,-8.32,0.23,390.02
$IRIDIUM_FIX,2216.01,-15805.85,020203,191925
$TT8_MAMPS,0.023777
$HUMID,2236
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.40
$XPDR_PINGS,6
$24V_AH,23.4,45.415
$10V_AH,10.6,54.148
$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,18.050,124.900,405.825,27.475,0.000,54.497,71.270,341.133,1.500,0.000,0.000,21.361,1450.664,11774.441,452.224,3660.586,1156.672,33.379,1603.336,0.000,3645.078,0.000,0.544,0.000
$DEVICE_MAMPS,196.352,59.059,1262.482,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,461.895,2230.351,2322.380,1579.283,1551.571,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57258,677
$CAP_FILE_SIZE,142531,0
$CFSIZE,260165632,240345088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,091113,005144,2253.478,-15804.934,45,2.7,64,10.1