version: 66.04
glider: 512
mission: 4
dive: 304
start: 11 15 113 6 32 43
data:
$ID,512
$MISSION,4
$DIVE,304
$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,-113349.31
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2680
$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,87
$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,2898
$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
$GPS1,061930,2239.558,-15737.280,44,1.6,44,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-81.7
$GPS2,063149,2239.492,-15737.352,13,1.4,13,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.162,0.171
$KALMAN_X,46488.3,301.5,409.1,-8429.7,-3201.8
$KALMAN_Y,68065.9,-319.6,457.4,-76703.6,-2867.1
$MHEAD_RNG_PITCHd_Wd,33.5,48149,-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,-126.5,0.0,0.0,0,88,0.00,0.00,-68.50,0.000,2,0.000,0.000,10,2511,2874
$GC,95,-0.47,-126.5,2.3,-1.4,8,124,9.65,1.58,-12.40,0.000,4,0.199,0.054,2510,3573,3414
$GC,215,-0.47,-126.5,36.0,-27.9,24,219,0.00,1.52,0.00,0.000,6,0.000,0.020,2514,2513,3415
$GC,488,-0.47,-126.5,100.7,-19.6,49,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2505,3415
$GC,753,-0.47,-126.5,149.6,-17.4,74,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2505,3416
$GC,1019,-0.47,-126.5,195.0,-15.9,99,1023,0.00,1.60,0.00,0.000,4,0.000,0.042,2507,3566,3416
$GC,1116,-0.47,-126.5,209.7,-13.5,104,1119,0.00,1.55,0.00,0.000,6,0.000,0.020,2508,2472,3416
$GC,1410,-0.47,-126.5,248.4,-12.5,111,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2465,3416
$GC,1653,-0.47,-126.5,277.1,-12.0,117,1657,0.00,1.67,0.00,0.000,4,0.000,0.044,2501,3570,3416
$GC,1704,-0.47,-126.5,283.2,-11.4,118,1708,0.00,1.52,0.00,0.000,6,0.000,0.020,2507,2493,3416
$GC,1999,-0.47,-126.5,319.1,-12.3,125,2002,0.00,1.42,0.00,0.000,4,0.000,0.020,2514,1447,3415
$GC,2035,-0.47,-126.5,324.1,-12.7,125,2038,0.00,1.58,0.00,0.000,6,0.000,0.038,2509,2484,3414
$GC,2295,-0.47,-126.5,354.4,-11.7,132,2298,0.00,1.62,0.00,0.000,4,0.000,0.047,2500,3565,3412
$GC,2404,-0.47,-126.5,367.8,-11.4,134,2408,0.00,1.50,0.00,0.000,6,0.000,0.021,2506,2513,3412
$GC,2681,-0.47,-126.5,397.9,-10.9,141,2685,0.00,1.62,0.00,0.000,4,0.000,0.046,2500,3570,3410
$GC,2713,-0.47,-126.5,401.5,-11.3,141,2716,0.00,1.52,0.00,0.000,6,0.000,0.021,2504,2507,3409
$GC,2980,-0.47,-126.5,427.8,-9.8,148,2984,0.00,1.62,0.00,0.000,4,0.000,0.047,2499,3560,3407
$GC,3005,-0.47,-126.5,430.9,-10.7,148,3009,0.00,1.52,0.00,0.000,6,0.000,0.022,2504,2502,3406
$GC,3276,-0.47,-126.5,457.4,-9.8,155,3280,0.00,1.70,-0.08,0.000,4,0.000,0.064,2497,3559,3429
$GC,3317,-0.47,-126.5,462.0,-10.5,155,3325,0.00,1.50,0.00,0.000,6,0.000,0.024,2503,2514,3429
$GC,3571,-0.47,-126.5,487.6,-10.2,162,3575,0.00,1.65,0.00,0.000,4,0.000,0.050,2498,3561,3426
$GC,3631,-0.47,-126.5,494.4,-11.0,163,3635,0.00,1.48,0.00,0.000,6,0.000,0.023,2503,2543,3425
$GC,3914,-0.47,-126.5,524.2,-10.5,170,3918,0.00,1.52,0.00,0.000,4,0.000,0.024,2508,1453,3424
$GC,3944,-0.47,-126.5,527.6,-9.9,170,3947,0.00,1.65,0.00,0.000,6,0.000,0.042,2502,2542,3423
$GC,4210,-0.47,-126.5,553.9,-9.9,177,4214,0.00,1.58,0.00,0.000,4,0.000,0.052,2494,3554,3421
$GC,4269,-0.47,-126.5,560.0,-9.3,178,4272,0.00,1.45,0.00,0.000,6,0.000,0.025,2499,2559,3421
$GC,4552,-0.47,-126.5,584.0,-8.3,185,4555,0.00,1.55,0.00,0.000,4,0.000,0.024,2508,1453,3419
$GC,4593,-0.47,-126.5,587.6,-7.3,185,4601,0.00,1.70,0.00,0.000,6,0.000,0.044,2502,2546,3419
$GC,4848,-0.47,-126.5,607.5,-8.1,192,4852,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3584,3416
$GC,4884,-0.47,-126.5,611.0,-9.1,192,4887,0.00,1.52,0.00,0.000,6,0.000,0.025,2499,2547,3416
$GC,5145,-0.47,-126.5,633.0,-8.7,199,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2539,3415
$GC,5389,-0.47,-126.5,654.8,-9.0,205,5392,0.00,1.62,0.00,0.000,4,0.000,0.053,2494,3574,3413
$GC,5446,-0.47,-126.5,660.8,-9.9,206,5450,0.00,1.50,0.00,0.000,6,0.000,0.026,2499,2553,3412
$GC,5729,-0.47,-126.5,687.7,-9.8,213,5732,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3565,3411
$GC,5770,-0.47,-126.5,692.3,-10.2,213,5779,0.00,1.48,0.00,0.000,6,0.000,0.025,2499,2555,3411
$GC,6026,-0.47,-126.5,716.9,-9.8,220,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2555,3410
$GC,6269,-0.47,-126.5,740.7,-9.9,226,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2555,3408
$GC,6513,-0.47,-126.5,764.4,-9.6,232,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2555,3407
$GC,6757,-0.47,-126.5,787.3,-9.4,238,6761,0.00,1.60,0.00,0.000,4,0.000,0.027,2507,1442,3405
$GC,6815,-0.47,-126.5,792.7,-8.7,239,6819,0.00,1.75,0.00,0.000,6,0.000,0.047,2501,2574,3405
$GC,7098,-0.47,-126.5,816.9,-8.7,246,7102,0.00,1.58,0.00,0.000,4,0.000,0.057,2493,3565,3404
$GC,7134,-0.47,-126.5,820.3,-8.3,246,7138,0.08,1.48,0.00,0.000,6,0.115,0.027,2525,2567,3404
$GC,7396,-0.47,-126.5,836.4,-6.0,253,7400,0.00,1.60,0.00,0.000,4,0.000,0.027,2527,1425,3402
$GC,7427,-0.47,-126.5,838.6,-5.9,253,7431,0.00,1.80,0.00,0.000,6,0.000,0.048,2524,2563,3402
$GC,7693,-0.47,-126.5,852.6,-5.3,260,7697,0.00,1.60,0.00,0.000,4,0.000,0.060,2524,3562,3401
$GC,7723,-0.47,-126.5,854.3,-5.5,260,7726,0.00,1.50,0.00,0.000,6,0.000,0.028,2524,2545,3401
$GC,7990,-0.47,-126.5,865.8,-4.3,267,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2536,3400
$GC,8233,-0.47,-126.5,875.7,-4.1,273,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2536,3400
$GC,8476,-0.47,-126.5,885.8,-4.1,279,8480,0.00,1.65,0.00,0.000,4,0.000,0.058,2524,3569,3399
$GC,8518,-0.47,-126.5,887.6,-4.1,279,8527,0.00,1.48,0.00,0.000,6,0.000,0.028,2524,2563,3399
$GC,8774,-0.47,-126.5,899.1,-4.6,286,8778,0.00,1.60,0.00,0.000,4,0.000,0.027,2524,1431,3399
$STATE,8782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8782,begin apogee
$GC,8794,-0.17,0.0,900.1,4.8,286,8910,0.28,0.00,111.03,1.260,6,0.092,0.000,2620,2230,2898
$STATE,8910,end apogee,CONTROL_FINISHED_OK
$STATE,8911,begin climb
$GC,8916,0.47,126.5,902.0,0.0,289,9103,0.57,1.67,136.00,1.104,4,0.054,0.026,2837,1176,2382
$GC,9136,0.47,126.5,886.1,13.6,294,9140,0.00,1.73,0.00,0.000,6,0.000,0.041,2836,2215,2377
$GC,9431,0.47,126.5,846.6,13.5,301,9435,0.00,1.67,0.00,0.000,4,0.000,0.049,2836,3283,2372
$GC,9526,0.47,126.5,833.2,16.1,303,9530,0.00,1.58,0.00,0.000,6,0.000,0.027,2842,2244,2371
$GC,9821,0.47,126.5,794.3,13.0,310,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2238,2369
$GC,10064,0.47,126.5,763.6,12.5,316,10068,0.00,1.58,0.00,0.000,4,0.000,0.028,2850,1163,2368
$GC,10133,0.47,126.5,755.0,11.0,317,10137,0.00,1.73,0.00,0.000,6,0.000,0.043,2850,2257,2368
$GC,10404,0.47,126.5,720.3,13.0,324,10408,0.00,1.62,0.00,0.000,4,0.000,0.051,2850,3308,2367
$GC,10468,0.47,126.5,710.9,13.9,325,10472,0.00,1.58,0.00,0.000,6,0.000,0.028,2857,2259,2367
$GC,10746,0.47,126.5,671.5,14.4,332,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2254,2366
$GC,10989,0.47,126.5,637.3,13.9,338,10993,0.00,1.62,0.00,0.000,4,0.000,0.050,2858,3287,2366
$GC,11103,0.47,126.5,620.7,14.2,340,11108,0.10,1.52,0.00,0.000,6,0.176,0.028,2836,2265,2366
$GC,11375,0.47,126.5,590.2,11.1,347,11376,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2258,2365
$GC,11619,0.47,126.5,564.9,10.4,353,11622,0.00,1.62,0.00,0.000,4,0.000,0.050,2836,3295,2365
$GC,11669,0.47,126.5,559.7,10.9,354,11672,0.00,1.58,0.00,0.000,6,0.000,0.027,2842,2240,2365
$GC,11963,0.47,126.5,529.9,10.2,361,11967,0.00,1.65,0.00,0.000,4,0.000,0.049,2843,3286,2365
$GC,12013,0.47,126.5,524.0,11.4,362,12017,0.00,1.52,0.00,0.000,6,0.000,0.028,2846,2276,2364
$GC,12307,0.47,126.5,492.6,10.4,369,12311,0.00,1.62,0.00,0.000,4,0.000,0.029,2855,1165,2364
$GC,12368,0.47,126.5,485.9,10.5,370,12371,0.00,1.70,0.00,0.000,6,0.000,0.044,2854,2266,2363
$GC,12650,0.47,126.5,454.7,11.1,377,12654,0.00,1.60,0.00,0.000,4,0.000,0.052,2854,3283,2363
$GC,12759,0.47,126.5,441.7,11.3,379,12763,0.00,1.52,0.00,0.000,6,0.000,0.028,2860,2257,2362
$GC,13036,0.47,126.5,414.2,9.7,386,13037,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2251,2362
$GC,13280,0.47,126.5,391.2,9.4,392,13283,0.00,1.65,0.00,0.000,4,0.000,0.048,2859,3284,2363
$GC,13309,0.47,126.5,388.2,10.2,392,13313,0.10,1.48,0.00,0.000,6,0.174,0.027,2837,2292,2363
$GC,13576,0.48,144.6,367.2,8.1,399,13599,0.00,0.00,16.40,0.798,6,0.000,0.000,2837,2285,2308
$GC,13819,0.48,144.6,344.8,9.2,405,13822,0.00,1.60,0.00,0.000,4,0.000,0.049,2837,3307,2305
$GC,13914,0.48,144.6,335.0,10.2,407,13918,0.00,1.52,0.00,0.000,6,0.000,0.026,2843,2284,2305
$GC,14209,0.48,155.3,308.3,8.5,414,14229,0.00,1.60,11.05,0.803,4,0.000,0.027,2846,1165,2264
$GC,14388,0.50,199.0,295.5,6.9,418,14433,0.00,1.67,39.22,0.835,6,0.000,0.041,2846,2252,2086
$GC,14678,0.50,199.0,270.2,9.3,425,14682,0.00,1.62,0.00,0.000,4,0.000,0.048,2846,3286,2080
$GC,14735,0.50,199.0,263.8,10.9,426,14739,0.00,1.60,0.00,0.000,6,0.000,0.025,2847,2205,2079
$GC,15019,0.50,199.8,238.8,9.0,433,15023,0.00,1.52,0.00,0.000,4,0.000,0.030,2846,1164,2078
$GC,15114,0.50,199.8,230.4,9.6,435,15118,0.00,1.65,0.00,0.000,6,0.000,0.040,2846,2213,2077
$GC,15409,0.50,199.8,202.8,9.1,442,15412,0.00,1.62,0.00,0.000,4,0.000,0.045,2846,3284,2078
$GC,15515,0.50,199.8,192.5,9.8,448,15519,0.00,1.60,0.00,0.000,6,0.000,0.025,2847,2213,2077
$GC,15787,0.51,235.4,170.8,7.3,473,15825,0.00,0.00,31.02,0.709,6,0.000,0.000,2846,2212,1937
$GC,16089,0.52,252.0,147.5,8.2,501,16115,0.00,1.58,15.15,0.658,4,0.000,0.027,2847,1156,1868
$GC,16144,0.53,288.7,142.9,7.3,505,16184,0.00,1.67,31.60,0.670,6,0.000,0.037,2846,2233,1721
$GC,16441,0.54,307.0,118.6,8.1,532,16468,0.00,1.65,16.50,0.628,4,0.000,0.041,2846,3281,1645
$GC,16542,0.56,359.9,110.8,6.5,540,16596,0.00,1.55,44.42,0.638,6,0.000,0.022,2846,2227,1428
$GC,16852,0.60,448.0,94.3,4.8,568,16928,0.00,0.00,70.93,0.622,6,0.000,0.000,2846,2226,1071
$GC,17187,0.60,448.0,62.9,12.6,598,17191,0.00,1.62,0.00,0.000,4,0.000,0.042,2846,3279,1068
$GC,17278,0.60,448.0,51.3,14.6,605,17282,0.00,1.52,0.00,0.000,6,0.000,0.021,2846,2226,1067
$GC,17562,0.60,448.0,17.9,12.7,637,17571,0.00,1.65,0.00,0.000,4,0.000,0.043,2847,3277,1067
$GC,17630,0.60,448.0,9.6,11.2,646,17639,0.00,1.45,0.00,0.000,6,0.000,0.020,2846,2249,1067
$STATE,17683,end climb,SURFACE_DEPTH_REACHED
$STATE,17683,begin surface coast
$FINISH,0.5,1.013348
$STATE,17709,end surface coast,CONTROL_FINISHED_OK
$STATE,17709,begin surface
$SM_CCo,17795,0.00,0.000,0,0,1066,449.38
$SM_GC,1.39,7.15,0.00,0.00,0.025,0.000,0.000,43,2525,1066,-8.16,0.71,449.38
$IRIDIUM_FIX,2232.34,-15738.97,090203,060628
$TT8_MAMPS,0.023777
$HUMID,2241
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.60
$XPDR_PINGS,9
$24V_AH,23.3,50.676
$10V_AH,10.6,60.956
$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,17.925,127.250,523.325,0.000,0.000,52.692,76.701,345.134,2.250,0.000,0.000,13.765,1391.066,11926.521,534.866,3480.475,1188.830,33.376,1707.698,0.000,3483.833,0.000,0.544,0.000
$DEVICE_MAMPS,198.653,64.428,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,447.797,2167.790,2259.819,1391.560,1398.409,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54039,658
$CAP_FILE_SIZE,141100,0
$CFSIZE,260165632,238256128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
$GPS,151113,113036,2239.916,-15736.111,34,1.2,34,10.1