version: 66.04
glider: 512
mission: 4
dive: 310
start: 11 16 113 13 53 31
data:
$ID,512
$MISSION,4
$DIVE,310
$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,-113442.33
$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,69
$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,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
$GPS1,133454,2244.749,-15734.604,42,1.7,42,10.1
$_CALLS,2
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-81.3
$GPS2,135237,2244.636,-15734.740,12,1.6,12,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.039,0.232
$KALMAN_X,41713.9,20.4,-99.2,1589.1,-854.3
$KALMAN_Y,52955.9,65.7,-234.6,-51763.4,-2435.5
$MHEAD_RNG_PITCHd_Wd,359.6,38527,-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,-126.5,0.0,0.0,0,80,0.00,0.00,-59.72,0.000,2,0.000,0.000,10,2522,2697
$GC,86,-0.47,-126.5,2.2,-1.2,7,122,9.62,1.60,-19.80,0.000,4,0.196,0.061,2531,3574,3414
$GC,153,-0.47,-126.5,13.2,-21.5,15,162,0.00,1.58,0.00,0.000,6,0.000,0.020,2534,2482,3414
$GC,436,-0.47,-126.5,85.9,-24.3,45,440,0.00,1.67,0.00,0.000,4,0.000,0.043,2528,3555,3415
$GC,487,-0.47,-126.5,96.4,-20.7,49,491,0.00,1.48,0.00,0.000,6,0.000,0.020,2531,2512,3415
$GC,758,-0.47,-126.5,142.2,-15.7,74,762,0.00,1.60,0.00,0.000,4,0.000,0.044,2525,3561,3415
$GC,822,-0.47,-126.5,152.4,-16.4,79,825,0.00,1.48,0.00,0.000,6,0.000,0.019,2525,2519,3415
$GC,1093,-0.47,-126.5,193.6,-14.5,104,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2511,3415
$GC,1349,-0.47,-126.5,227.2,-12.7,114,1353,0.00,1.60,0.00,0.000,4,0.000,0.042,2518,3553,3415
$GC,1436,-0.47,-126.5,238.0,-11.3,115,1445,0.00,1.45,0.00,0.000,6,0.000,0.019,2518,2521,3415
$GC,1691,-0.47,-126.5,267.7,-12.1,122,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2520,3415
$GC,1934,-0.47,-126.5,298.7,-12.8,128,1938,0.00,1.48,0.00,0.000,4,0.000,0.019,2519,1448,3414
$GC,1970,-0.47,-126.5,303.6,-12.2,128,1974,0.10,1.60,0.00,0.000,6,0.125,0.037,2542,2522,3414
$GC,2229,-0.47,-126.5,329.1,-9.8,135,2233,0.00,1.58,0.00,0.000,4,0.000,0.047,2536,3554,3412
$GC,2283,-0.47,-126.5,334.5,-9.6,136,2286,0.00,1.45,0.00,0.000,6,0.000,0.021,2536,2530,3412
$GC,2571,-0.47,-126.5,359.9,-8.9,143,2575,0.00,1.48,0.00,0.000,4,0.000,0.021,2536,1455,3410
$GC,2613,-0.47,-126.5,363.8,-8.3,143,2621,0.00,1.62,0.00,0.000,6,0.000,0.038,2529,2523,3410
$GC,2868,-0.47,-126.5,386.8,-9.2,150,2871,0.00,1.60,0.00,0.000,4,0.000,0.048,2520,3583,3409
$GC,2943,-0.47,-126.5,394.9,-10.5,151,2946,0.00,1.48,0.00,0.000,6,0.000,0.022,2521,2557,3408
$GC,3209,-0.47,-126.5,424.1,-11.2,158,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2548,3406
$GC,3452,-0.47,-126.5,451.7,-11.3,164,3456,0.00,1.52,-0.08,0.000,4,0.000,0.040,2521,1461,3428
$GC,3503,-0.47,-126.5,457.2,-10.7,165,3506,0.00,1.65,0.00,0.000,6,0.000,0.039,2515,2535,3427
$GC,3798,-0.47,-126.5,487.2,-9.8,172,3801,0.00,1.60,0.00,0.000,4,0.000,0.050,2507,3563,3425
$GC,3847,-0.47,-126.5,491.9,-9.4,173,3852,0.08,1.48,0.00,0.000,6,0.106,0.023,2539,2544,3424
$GC,4141,-0.47,-126.5,512.9,-7.0,180,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2537,3422
$GC,4385,-0.47,-126.5,532.3,-8.2,186,4388,0.00,1.52,0.00,0.000,4,0.000,0.024,2544,1455,3421
$GC,4420,-0.47,-126.5,535.8,-8.6,186,4424,0.00,1.65,0.00,0.000,6,0.000,0.042,2539,2542,3420
$GC,4682,-0.47,-126.5,558.8,-8.9,193,4686,0.00,1.58,0.00,0.000,4,0.000,0.052,2531,3553,3418
$GC,4714,-0.47,-126.5,562.0,-9.2,193,4717,0.00,1.48,0.00,0.000,6,0.000,0.025,2531,2536,3418
$GC,4980,-0.47,-126.5,585.1,-8.6,200,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2528,3416
$GC,5223,-0.47,-126.5,605.3,-8.2,206,5227,0.00,1.62,0.00,0.000,4,0.000,0.051,2524,3555,3414
$GC,5274,-0.47,-126.5,609.4,-8.1,207,5278,0.00,1.48,0.00,0.000,6,0.000,0.027,2523,2548,3413
$GC,5570,-0.47,-126.5,635.0,-8.7,214,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3412
$GC,5813,-0.47,-126.5,655.8,-8.5,220,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2540,3410
$GC,6057,-0.47,-126.5,676.2,-8.3,226,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2539,3409
$GC,6301,-0.47,-126.5,697.1,-8.6,232,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3409
$GC,6544,-0.47,-126.5,718.3,-8.7,238,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2540,3406
$GC,6788,-0.47,-126.5,737.6,-7.7,244,6791,0.00,1.62,0.00,0.000,4,0.000,0.057,2524,3568,3405
$GC,6840,-0.47,-126.5,741.8,-7.2,245,6844,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2550,3405
$GC,7128,-0.47,-126.5,760.1,-6.2,252,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2541,3404
$GC,7372,-0.47,-126.5,774.1,-5.7,258,7375,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1450,3402
$GC,7413,-0.47,-126.5,776.6,-4.6,258,7423,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2545,3402
$GC,7670,-0.47,-126.5,790.6,-5.6,265,7674,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3562,3401
$GC,7711,-0.47,-126.5,793.3,-5.5,265,7719,0.00,1.50,0.00,0.000,6,0.000,0.029,2523,2541,3401
$GC,7966,-0.47,-126.5,807.8,-5.9,272,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3400
$GC,8209,-0.47,-126.5,823.1,-6.3,278,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3399
$GC,8453,-0.47,-126.5,839.8,-6.9,284,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3399
$GC,8697,-0.47,-126.5,858.3,-7.7,290,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3398
$GC,8941,-0.47,-126.5,878.2,-8.3,296,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3397
$GC,9184,-0.47,-126.5,898.1,-8.0,302,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3397
$STATE,9219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9220,begin apogee
$GC,9231,-0.17,0.0,901.3,8.0,303,9346,0.35,0.00,111.47,1.257,6,0.089,0.000,2644,2219,2898
$STATE,9347,end apogee,CONTROL_FINISHED_OK
$STATE,9347,begin climb
$GC,9352,0.47,126.5,906.2,0.0,306,9506,0.55,0.00,129.05,1.154,6,0.028,0.000,2883,2218,2383
$GC,9774,0.47,126.5,853.1,17.7,316,9776,0.15,0.00,0.00,0.000,6,0.179,0.000,2848,2218,2372
$GC,10018,0.47,126.5,817.4,14.4,322,10022,0.00,1.70,0.00,0.000,4,0.000,0.051,2848,3290,2370
$GC,10059,0.47,126.5,810.6,15.4,322,10067,0.00,1.60,0.00,0.000,6,0.000,0.028,2853,2231,2370
$GC,10314,0.47,126.5,773.3,14.9,329,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2225,2369
$GC,10557,0.47,126.5,738.4,14.2,335,10561,0.00,1.70,0.00,0.000,4,0.000,0.050,2854,3285,2367
$GC,10608,0.47,126.5,730.9,16.3,336,10611,0.00,1.60,0.00,0.000,6,0.000,0.029,2861,2223,2367
$GC,10903,0.47,126.5,687.6,14.7,343,10904,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2216,2366
$GC,11146,0.47,126.5,652.0,14.3,349,11150,0.00,1.55,0.00,0.000,4,0.000,0.029,2869,1158,2365
$GC,11159,0.47,126.5,649.5,14.0,349,11163,0.00,1.65,0.00,0.000,6,0.000,0.042,2869,2230,2365
$GC,11442,0.47,126.5,610.0,14.1,356,11446,0.00,1.65,0.00,0.000,4,0.000,0.051,2863,3280,2365
$GC,11516,0.47,126.5,598.8,14.8,357,11520,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2224,2365
$GC,11783,0.47,126.5,561.4,14.2,364,11787,0.00,1.70,0.00,0.000,4,0.000,0.048,2864,3282,2365
$GC,11807,0.47,126.5,557.7,12.3,364,11810,0.00,1.55,0.00,0.000,6,0.000,0.028,2869,2242,2365
$GC,12079,0.47,126.5,522.4,12.9,371,12082,0.00,1.65,0.00,0.000,4,0.000,0.050,2863,3287,2364
$GC,12153,0.47,126.5,511.6,13.6,372,12156,0.00,1.52,0.00,0.000,6,0.000,0.025,2869,2259,2364
$GC,12420,0.47,126.5,478.0,12.5,379,12421,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2253,2364
$GC,12663,0.47,126.5,449.4,11.5,385,12667,0.00,1.60,0.00,0.000,4,0.000,0.028,2877,1155,2364
$GC,12687,0.47,126.5,446.2,11.0,385,12691,0.00,1.73,0.00,0.000,6,0.000,0.042,2876,2276,2364
$GC,12959,0.47,126.5,416.0,11.3,392,12963,0.00,1.62,0.00,0.000,4,0.000,0.028,2882,1168,2364
$GC,13000,0.47,126.5,411.2,10.9,392,13008,0.00,1.70,0.00,0.000,6,0.000,0.040,2876,2258,2363
$GC,13255,0.47,126.5,383.1,11.1,399,13258,0.00,1.60,0.00,0.000,4,0.000,0.050,2875,3278,2363
$GC,13353,0.47,126.5,371.2,11.8,401,13357,0.10,1.48,0.00,0.000,6,0.166,0.026,2851,2284,2363
$GC,13641,0.47,126.5,344.3,9.3,408,13644,0.00,1.62,0.00,0.000,4,0.000,0.028,2858,1136,2363
$GC,13694,0.47,129.6,339.3,8.9,409,13698,0.00,1.75,0.00,0.000,6,0.000,0.042,2858,2274,2363
$GC,13983,0.48,147.6,314.4,8.1,416,14012,0.00,1.58,18.75,0.772,4,0.000,0.048,2858,3278,2296
$GC,14060,0.48,147.6,307.7,9.1,417,14063,0.00,1.50,0.00,0.000,6,0.000,0.026,2860,2272,2294
$GC,14321,0.48,150.3,285.5,8.9,424,14324,0.00,1.60,0.00,0.000,4,0.000,0.028,2860,1153,2293
$GC,14386,0.49,166.1,279.9,8.3,425,14415,0.00,1.70,19.60,0.742,6,0.000,0.041,2860,2258,2221
$GC,14660,0.49,166.1,250.3,10.7,432,14664,0.00,1.60,0.00,0.000,4,0.000,0.047,2860,3304,2217
$GC,14775,0.49,166.1,237.2,10.9,434,14779,0.00,1.55,0.00,0.000,6,0.000,0.025,2868,2257,2217
$GC,15046,0.49,166.1,212.0,9.2,441,15048,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2251,2216
$GC,15294,0.49,166.1,189.2,9.5,453,15297,0.00,1.60,0.00,0.000,4,0.000,0.044,2863,3290,2216
$GC,15367,0.49,166.1,181.5,10.2,459,15370,0.00,1.50,0.00,0.000,6,0.000,0.025,2868,2265,2216
$GC,15644,0.49,184.2,156.9,8.1,484,15670,0.00,1.60,16.77,0.681,4,0.000,0.026,2873,1169,2145
$GC,15732,0.50,202.8,149.6,8.1,491,15758,0.00,1.70,17.42,0.669,6,0.000,0.037,2873,2265,2070
$GC,16021,0.50,202.8,123.3,9.9,517,16024,0.00,1.60,0.00,0.000,4,0.000,0.023,2880,1172,2068
$GC,16060,0.50,202.8,118.8,10.5,520,16063,0.00,1.67,0.00,0.000,6,0.000,0.035,2875,2255,2067
$GC,16332,0.50,202.8,93.4,9.0,545,16336,0.00,1.55,0.00,0.000,4,0.000,0.041,2876,3273,2066
$GC,16385,0.50,202.8,87.9,9.7,549,16393,0.00,1.45,0.00,0.000,6,0.000,0.021,2881,2274,2066
$GC,16652,0.52,253.4,68.3,6.6,574,16700,0.00,0.00,42.33,0.606,6,0.000,0.000,2882,2267,1866
$GC,16963,0.53,281.9,44.1,7.6,603,16993,0.00,1.62,24.77,0.571,4,0.000,0.023,2883,1171,1747
$GC,17046,0.55,313.7,37.7,7.5,609,17078,0.00,1.70,26.75,0.563,6,0.000,0.032,2883,2293,1619
$GC,17375,0.55,323.4,11.3,8.5,653,17393,0.00,0.00,8.73,0.498,6,0.000,0.000,2883,2292,1580
$STATE,17468,end climb,SURFACE_DEPTH_REACHED
$STATE,17469,begin surface coast
$FINISH,0.6,1.023398
$STATE,17507,end surface coast,CONTROL_FINISHED_OK
$STATE,17507,begin surface
$SM_CCo,17533,28.38,0.527,0,0,1307,390.02
$SM_GC,1.34,0.00,0.00,28.38,0.000,0.000,0.527,33,2531,1307,-8.32,0.88,390.02
$IRIDIUM_FIX,2237.01,-15735.03,100203,131350
$TT8_MAMPS,0.023777
$HUMID,2218
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.20
$XPDR_PINGS,12
$24V_AH,23.2,51.773
$10V_AH,10.6,62.314
$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,18.125,108.675,415.650,28.375,0.000,61.945,70.643,662.797,3.000,0.000,0.000,12.561,1376.613,11951.523,478.169,3335.697,1476.756,33.381,1512.683,0.000,3328.423,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,61.360,1257.113,526.929,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,458.524,2213.597,2284.338,1577.081,1499.241,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57349,673
$CAP_FILE_SIZE,138321,0
$CFSIZE,260165632,237830144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,161113,184736,2246.510,-15734.809,34,1.3,34,10.1