version: 66.04
glider: 512
mission: 4
dive: 279
start: 11 9 113 17 24 31
data:
$ID,512
$MISSION,4
$DIVE,279
$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,610.54175
$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,-111951.29
$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,56
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2888
$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
$GPS1,170007,2300.777,-15803.486,71,1.8,71,10.1
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.1
$GPS2,172337,2300.774,-15803.460,13,2.0,13,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.073,0.223
$KALMAN_X,50142.6,353.3,-91.1,-56240.5,-60.4
$KALMAN_Y,68021.7,-160.1,-373.4,-36567.2,1270.2
$MHEAD_RNG_PITCHd_Wd,331.7,7046,-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,18,-0.47,-126.5,0.0,0.0,0,97,0.00,0.00,-76.75,0.000,2,0.000,0.000,8,2563,2922
$GC,103,-0.47,-126.5,2.5,-2.0,9,130,9.57,1.52,-10.35,0.000,4,0.197,0.057,2528,3554,3401
$GC,278,-0.47,-126.5,50.4,-24.5,29,282,0.00,1.55,0.00,0.000,6,0.000,0.020,2530,2480,3402
$GC,550,-0.47,-126.5,106.2,-17.8,54,553,0.00,1.42,0.00,0.000,4,0.000,0.019,2534,1434,3402
$GC,590,-0.47,-126.5,113.1,-16.9,57,594,0.00,1.62,0.00,0.000,6,0.000,0.038,2528,2523,3402
$GC,863,-0.47,-126.5,157.1,-15.6,82,866,0.00,1.58,0.00,0.000,4,0.000,0.044,2520,3558,3402
$GC,914,-0.47,-126.5,166.0,-15.5,86,922,0.00,1.45,0.00,0.000,6,0.000,0.019,2520,2525,3402
$GC,1190,-0.47,-126.5,206.4,-14.8,109,1194,0.00,1.60,0.00,0.000,4,0.000,0.040,2513,3564,3402
$GC,1219,-0.47,-126.5,211.7,-15.7,109,1223,0.00,1.42,0.00,0.000,6,0.000,0.019,2517,2548,3402
$GC,1485,-0.47,-126.5,251.5,-15.1,116,1489,0.00,1.50,0.00,0.000,4,0.000,0.020,2521,1453,3401
$GC,1548,-0.47,-126.5,259.5,-11.2,117,1552,0.00,1.62,0.00,0.000,6,0.000,0.037,2515,2546,3401
$GC,1827,-0.47,-126.5,293.9,-12.8,124,1830,0.00,1.55,0.00,0.000,4,0.000,0.045,2508,3565,3401
$GC,1868,-0.47,-126.5,299.5,-11.8,124,1874,0.08,1.45,0.00,0.000,6,0.109,0.020,2538,2522,3400
$GC,2122,-0.47,-126.5,323.7,-9.4,131,2126,0.00,1.45,0.00,0.000,4,0.000,0.020,2538,1461,3399
$GC,2147,-0.47,-126.5,326.3,-9.3,131,2150,0.00,1.62,0.00,0.000,6,0.000,0.038,2537,2530,3399
$GC,2418,-0.47,-126.5,351.5,-9.4,138,2422,0.00,1.58,0.00,0.000,4,0.000,0.047,2529,3561,3398
$GC,2527,-0.47,-126.5,361.5,-8.2,140,2531,0.00,1.42,0.00,0.000,6,0.000,0.021,2529,2557,3397
$GC,2805,-0.47,-126.5,385.5,-8.9,147,2809,0.00,1.58,-0.08,0.000,4,0.000,0.062,2523,3566,3416
$GC,2856,-0.47,-126.5,390.5,-9.8,148,2860,0.00,1.40,0.00,0.000,6,0.000,0.021,2523,2586,3416
$GC,3150,-0.47,-126.5,421.3,-10.3,155,3154,0.00,1.55,0.00,0.000,4,0.000,0.021,2523,1472,3414
$GC,3200,-0.47,-126.5,426.0,-8.7,156,3204,0.00,1.67,0.00,0.000,6,0.000,0.041,2523,2560,3413
$GC,3496,-0.47,-126.5,454.1,-9.7,163,3499,0.00,1.55,0.00,0.000,4,0.000,0.051,2523,3558,3411
$GC,3570,-0.47,-126.5,461.5,-8.8,164,3574,0.00,1.40,0.00,0.000,6,0.000,0.023,2523,2585,3411
$GC,3836,-0.47,-126.5,486.2,-9.3,171,3840,0.00,1.55,0.00,0.000,4,0.000,0.022,2523,1472,3408
$GC,3901,-0.47,-126.5,492.2,-9.0,172,3905,0.00,1.65,0.00,0.000,6,0.000,0.040,2516,2567,3408
$GC,4178,-0.47,-126.5,519.5,-10.1,179,4182,0.00,1.55,0.00,0.000,4,0.000,0.023,2521,1482,3404
$GC,4258,-0.47,-126.5,527.1,-8.7,180,4261,0.00,1.62,0.00,0.000,6,0.000,0.041,2515,2557,3404
$GC,4519,-0.47,-126.5,550.6,-9.1,187,4523,0.00,1.55,0.00,0.000,4,0.000,0.051,2507,3555,3402
$GC,4561,-0.47,-126.5,555.0,-9.8,187,4567,0.08,1.42,0.00,0.000,6,0.105,0.025,2539,2559,3401
$GC,4816,-0.47,-126.5,573.0,-6.9,194,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2558,3400
$GC,5059,-0.47,-126.5,588.8,-6.4,200,5063,0.00,1.52,0.00,0.000,4,0.000,0.025,2539,1481,3398
$GC,5109,-0.47,-126.5,591.7,-5.3,201,5113,0.00,1.65,0.00,0.000,6,0.000,0.043,2537,2561,3398
$GC,5405,-0.47,-126.5,611.5,-6.9,208,5408,0.00,1.55,0.00,0.000,4,0.000,0.053,2530,3552,3396
$GC,5479,-0.47,-126.5,617.4,-7.6,209,5483,0.00,1.40,0.00,0.000,6,0.000,0.025,2530,2585,3395
$GC,5746,-0.47,-126.5,637.4,-7.5,216,5750,0.00,1.55,0.00,0.000,4,0.000,0.025,2530,1482,3393
$GC,5822,-0.47,-126.5,643.2,-6.8,217,5826,0.00,1.62,0.00,0.000,6,0.000,0.043,2525,2548,3393
$GC,6088,-0.47,-126.5,663.2,-7.7,224,6092,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3556,3391
$GC,6152,-0.47,-126.5,668.7,-8.1,225,6155,0.00,1.42,0.00,0.000,6,0.000,0.027,2523,2582,3391
$GC,6430,-0.47,-126.5,691.8,-8.6,232,6434,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1482,3389
$GC,6494,-0.47,-126.5,697.9,-8.6,233,6497,0.00,1.67,0.00,0.000,6,0.000,0.045,2524,2551,3390
$GC,6771,-0.47,-126.5,719.5,-7.7,240,6774,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3577,3387
$GC,6852,-0.47,-126.5,725.6,-6.5,241,6856,0.00,1.45,0.00,0.000,6,0.000,0.027,2523,2592,3387
$GC,7113,-0.47,-126.5,743.1,-6.7,248,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2584,3386
$GC,7357,-0.47,-126.5,759.3,-6.6,254,7360,0.00,1.58,0.00,0.000,4,0.000,0.026,2524,1483,3385
$GC,7409,-0.47,-126.5,763.1,-6.7,255,7413,0.00,1.73,0.00,0.000,6,0.000,0.046,2523,2582,3385
$GC,7698,-0.47,-126.5,780.2,-5.9,262,7702,0.00,1.55,0.00,0.000,4,0.000,0.058,2523,3555,3383
$GC,7748,-0.47,-126.5,783.3,-6.0,263,7752,0.00,1.40,0.00,0.000,6,0.000,0.028,2523,2604,3383
$GC,8043,-0.47,-126.5,800.8,-6.1,270,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2596,3381
$GC,8286,-0.47,-126.5,817.6,-6.9,276,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2596,3380
$GC,8530,-0.47,-126.5,835.0,-7.2,282,8534,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1463,3379
$GC,8571,-0.47,-126.5,838.4,-7.8,282,8581,0.00,1.77,0.00,0.000,6,0.000,0.047,2523,2588,3379
$GC,8828,-0.47,-126.5,856.3,-7.2,289,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2588,3379
$GC,9072,-0.47,-126.5,874.5,-7.5,295,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2588,3378
$GC,9315,-0.47,-126.5,893.4,-7.8,301,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2588,3378
$STATE,9431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9432,begin apogee
$GC,9443,-0.17,0.0,902.9,7.7,304,9555,0.35,0.00,108.45,1.266,6,0.095,0.000,2641,2255,2888
$STATE,9556,end apogee,CONTROL_FINISHED_OK
$STATE,9556,begin climb
$GC,9561,0.47,126.5,907.2,0.0,307,9714,0.57,0.00,128.70,1.165,6,0.031,0.000,2876,2254,2372
$GC,9959,0.47,126.5,854.2,18.7,317,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2254,2362
$GC,10203,0.47,126.5,808.6,18.9,323,10207,0.00,1.67,0.00,0.000,4,0.000,0.050,2875,3290,2360
$GC,10227,0.47,126.5,803.4,18.9,323,10231,0.12,1.60,0.00,0.000,6,0.183,0.028,2852,2212,2360
$GC,10498,0.47,126.5,758.4,16.4,330,10502,0.00,1.70,0.00,0.000,4,0.000,0.048,2850,3285,2358
$GC,10522,0.47,126.5,753.9,15.8,330,10526,0.00,1.60,0.00,0.000,6,0.000,0.028,2855,2225,2357
$GC,10795,0.47,126.5,712.7,15.0,337,10796,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2219,2356
$GC,11038,0.47,126.5,678.9,13.6,343,11042,0.00,1.70,0.00,0.000,4,0.000,0.051,2857,3296,2356
$GC,11074,0.47,126.5,673.1,15.2,343,11078,0.00,1.58,0.00,0.000,6,0.000,0.028,2864,2244,2355
$GC,11334,0.47,126.5,636.4,14.0,350,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2238,2355
$GC,11578,0.47,126.5,603.3,13.7,356,11581,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3290,2354
$GC,11596,0.47,126.5,600.4,13.6,356,11600,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2247,2354
$GC,11873,0.47,126.5,561.8,13.9,363,11874,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2241,2354
$GC,12116,0.47,126.5,528.6,13.3,369,12120,0.00,1.65,0.00,0.000,4,0.000,0.050,2864,3290,2354
$GC,12180,0.47,126.5,519.8,12.8,370,12184,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2234,2353
$GC,12458,0.47,126.5,485.6,12.5,377,12461,0.00,1.58,0.00,0.000,4,0.000,0.029,2877,1156,2353
$GC,12577,0.47,126.5,469.9,13.5,379,12581,0.00,1.65,0.00,0.000,6,0.000,0.043,2876,2225,2352
$GC,12843,0.47,126.5,437.5,12.1,386,12847,0.00,1.58,0.00,0.000,4,0.000,0.028,2881,1168,2352
$GC,12868,0.47,126.5,434.1,12.9,386,12871,0.00,1.62,0.00,0.000,6,0.000,0.041,2876,2207,2352
$GC,13139,0.47,126.5,399.0,12.7,393,13142,0.00,1.65,0.00,0.000,4,0.000,0.049,2875,3285,2352
$GC,13264,0.47,126.5,382.0,13.8,395,13269,0.12,1.58,0.00,0.000,6,0.173,0.027,2851,2224,2351
$GC,13525,0.47,126.5,354.3,10.3,402,13526,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2219,2351
$GC,13769,0.48,141.6,333.5,8.3,408,13793,0.00,1.73,13.20,0.728,4,0.000,0.048,2851,3288,2310
$GC,13881,0.48,141.6,321.4,10.9,410,13884,0.00,1.58,0.00,0.000,6,0.000,0.026,2857,2232,2309
$GC,14152,0.48,141.6,292.5,10.6,417,14154,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2226,2309
$GC,14396,0.49,179.4,273.0,7.2,423,14435,0.00,1.62,34.20,0.820,4,0.000,0.028,2860,1155,2155
$GC,14493,0.51,224.2,266.3,6.9,425,14537,0.00,1.73,39.03,0.797,6,0.000,0.040,2860,2263,1974
$GC,14816,0.51,224.2,232.2,11.4,433,14819,0.00,1.60,0.00,0.000,4,0.000,0.047,2860,3300,1967
$GC,14873,0.51,224.2,224.2,12.8,434,14877,0.00,1.58,0.00,0.000,6,0.000,0.025,2860,2254,1967
$GC,15137,0.51,224.2,195.2,10.9,442,15145,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2254,1966
$GC,15403,0.51,224.2,165.5,11.2,467,15407,0.00,1.60,0.00,0.000,4,0.000,0.043,2860,3284,1966
$GC,15421,0.51,224.2,163.0,11.4,468,15431,0.00,1.50,0.00,0.000,6,0.000,0.023,2860,2269,1966
$GC,15689,0.51,224.2,133.7,11.1,493,15696,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2269,1966
$GC,15954,0.51,224.2,103.8,11.4,518,15963,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2268,1966
$GC,16221,0.52,246.0,79.8,8.0,543,16242,0.00,0.00,18.52,0.610,6,0.000,0.000,2860,2262,1884
$GC,16498,0.55,315.6,62.4,5.7,569,16560,0.00,1.65,56.67,0.604,4,0.000,0.041,2860,3283,1601
$GC,16601,0.56,360.6,56.5,6.8,576,16644,0.00,1.50,37.30,0.587,6,0.000,0.021,2860,2267,1417
$GC,16900,0.56,360.6,32.2,10.0,603,16904,0.00,1.58,0.00,0.000,4,0.000,0.023,2860,1175,1411
$GC,17088,0.56,360.6,14.3,10.1,629,17097,0.00,1.70,0.00,0.000,6,0.000,0.031,2860,2294,1410
$STATE,17191,end climb,SURFACE_DEPTH_REACHED
$STATE,17191,begin surface coast
$FINISH,0.4,1.023120
$STATE,17223,end surface coast,CONTROL_FINISHED_OK
$STATE,17223,begin surface
$SM_CCo,17249,116.88,0.535,0,0,398,610.54
$SM_GC,1.30,0.00,0.00,116.88,0.000,0.000,0.535,24,2536,398,-8.33,1.02,610.54
$IRIDIUM_FIX,2141.13,-15809.76,030203,171722
$TT8_MAMPS,0.023777
$HUMID,2174
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.70
$XPDR_PINGS,8
$24V_AH,23.4,46.170
$10V_AH,10.6,55.076
$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,18.100,117.175,436.075,116.875,0.000,138.561,266.756,533.610,2.000,0.000,0.000,13.707,1371.308,11821.733,619.737,3335.337,1621.528,33.383,1648.012,0.000,3330.135,0.000,0.547,0.000
$DEVICE_MAMPS,197.119,62.127,1265.550,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,443.093,2135.908,2217.624,1516.471,1466.406,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54031,650
$CAP_FILE_SIZE,138363,0
$CFSIZE,260165632,240046080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,091113,221529,2303.282,-15803.889,38,1.0,43,10.1