version: 66.04
glider: 512
mission: 4
dive: 358
start: 11 27 113 14 46 10
data:
$ID,512
$MISSION,4
$DIVE,358
$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,-114376.95
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,60
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2858
$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
$GPS1,143553,2259.789,-15803.977,65,1.2,65,10.1
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-81.8
$GPS2,144513,2259.754,-15803.885,10,1.9,10,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.142,0.188
$KALMAN_X,93059.0,-397.1,-33.9,-99176.1,2629.1
$KALMAN_Y,-49829.9,-190.1,-34.1,79081.1,-2111.1
$MHEAD_RNG_PITCHd_Wd,312.8,8764,-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,-0.54,-126.5,0.0,0.0,0,97,0.00,0.00,-77.10,0.000,2,0.000,0.000,10,2535,3103
$GC,103,-0.54,-126.5,2.6,-2.2,9,124,9.57,1.60,-5.53,0.000,4,0.196,0.052,2505,3570,3375
$GC,264,-0.54,-126.5,51.2,-22.1,27,273,0.00,1.58,0.00,0.000,6,0.000,0.021,2506,2488,3377
$GC,529,-0.54,-126.5,108.3,-17.1,52,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2480,3377
$GC,795,-0.54,-126.5,152.7,-16.4,77,798,0.00,1.62,0.00,0.000,4,0.000,0.041,2500,3544,3377
$GC,911,-0.54,-126.5,172.2,-15.3,87,915,0.00,1.52,0.00,0.000,6,0.000,0.019,2505,2462,3379
$GC,1189,-0.54,-126.5,213.1,-14.3,107,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2454,3378
$GC,1433,-0.54,-126.5,245.8,-13.0,113,1437,0.00,1.67,0.00,0.000,4,0.000,0.044,2499,3543,3378
$GC,1485,-0.54,-126.5,253.2,-13.0,114,1489,0.00,1.48,0.00,0.000,6,0.000,0.019,2504,2497,3379
$GC,1774,-0.54,-126.5,287.4,-12.1,121,1778,0.00,1.60,0.00,0.000,4,0.000,0.044,2498,3550,3378
$GC,1824,-0.54,-126.5,293.3,-11.4,122,1828,0.00,1.48,0.00,0.000,6,0.000,0.021,2503,2509,3377
$GC,2118,-0.54,-126.5,326.7,-11.4,129,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2501,3376
$GC,2362,-0.54,-126.5,353.0,-11.0,135,2365,0.00,1.60,0.00,0.000,4,0.000,0.045,2497,3560,3376
$GC,2403,-0.54,-126.5,358.0,-11.3,135,2412,0.00,1.50,0.00,0.000,6,0.000,0.021,2502,2499,3375
$GC,2659,-0.54,-126.5,386.9,-11.3,142,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2499,3373
$GC,2903,-0.54,-126.5,412.7,-10.3,148,2907,0.00,1.62,0.00,0.000,4,0.000,0.046,2497,3546,3371
$GC,2978,-0.54,-126.5,421.0,-10.3,149,2981,0.00,1.48,0.00,0.000,6,0.000,0.022,2502,2515,3371
$GC,3244,-0.54,-126.5,447.5,-10.1,156,3247,0.00,1.60,0.00,0.000,4,0.000,0.048,2496,3553,3368
$GC,3275,-0.54,-126.5,451.2,-11.1,156,3278,0.00,1.50,0.00,0.000,6,0.000,0.023,2502,2509,3368
$GC,3542,-0.54,-126.5,479.3,-10.7,163,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2501,3366
$GC,3785,-0.54,-126.5,505.2,-10.6,169,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2501,3364
$GC,4029,-0.54,-126.5,530.9,-10.4,175,4033,0.00,1.62,0.00,0.000,4,0.000,0.051,2496,3556,3363
$GC,4086,-0.54,-126.5,537.4,-10.8,176,4090,0.00,1.50,0.00,0.000,6,0.000,0.025,2501,2525,3362
$GC,4370,-0.54,-126.5,563.6,-9.0,183,4373,0.00,1.60,0.00,0.000,4,0.000,0.051,2496,3553,3360
$GC,4434,-0.54,-126.5,569.5,-8.1,184,4438,0.00,1.48,0.00,0.000,6,0.000,0.025,2501,2538,3360
$GC,4712,-0.54,-126.5,591.7,-8.0,191,4716,0.00,1.52,0.00,0.000,4,0.000,0.025,2508,1451,3357
$GC,4764,-0.54,-126.5,596.2,-7.0,192,4768,0.00,1.65,0.00,0.000,6,0.000,0.043,2503,2517,3357
$GC,5054,-0.54,-126.5,620.9,-9.0,199,5058,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3562,3355
$GC,5119,-0.54,-126.5,627.3,-10.3,200,5122,0.00,1.50,0.00,0.000,6,0.000,0.026,2500,2537,3355
$GC,5396,-0.54,-126.5,652.1,-8.9,207,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2527,3353
$GC,5639,-0.54,-126.5,673.6,-8.8,213,5643,0.00,1.62,0.00,0.000,4,0.000,0.054,2494,3567,3351
$GC,5715,-0.54,-126.5,681.1,-9.3,214,5718,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2548,3350
$GC,5981,-0.54,-126.5,704.5,-8.9,221,5985,0.00,1.58,0.00,0.000,4,0.000,0.026,2508,1438,3349
$GC,6018,-0.54,-126.5,707.8,-8.5,221,6021,0.00,1.70,0.00,0.000,6,0.000,0.044,2502,2547,3349
$GC,6278,-0.54,-126.5,729.5,-8.5,228,6282,0.00,1.60,0.00,0.000,4,0.000,0.056,2494,3562,3347
$GC,6318,-0.54,-126.5,733.4,-9.1,228,6328,0.00,1.50,0.00,0.000,6,0.000,0.027,2500,2538,3347
$GC,6575,-0.54,-126.5,754.5,-8.3,235,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2538,3345
$GC,6818,-0.54,-126.5,774.5,-8.3,241,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2538,3344
$GC,7062,-0.54,-126.5,795.1,-8.4,247,7066,0.00,1.62,0.00,0.000,4,0.000,0.054,2494,3555,3343
$GC,7142,-0.54,-126.5,802.7,-9.2,248,7145,0.00,1.48,0.00,0.000,6,0.000,0.028,2499,2556,3343
$GC,7403,-0.54,-126.5,824.7,-8.6,255,7406,0.00,1.58,0.00,0.000,4,0.000,0.027,2507,1450,3342
$GC,7454,-0.54,-126.5,828.8,-7.6,256,7458,0.00,1.73,0.00,0.000,6,0.000,0.047,2502,2566,3342
$GC,7748,-0.54,-126.5,852.9,-8.1,263,7752,0.00,1.58,0.00,0.000,4,0.000,0.058,2494,3558,3341
$GC,7784,-0.54,-126.5,856.2,-9.1,263,7788,0.00,1.48,0.00,0.000,6,0.000,0.028,2499,2563,3341
$GC,8045,-0.54,-126.5,876.7,-8.0,270,8048,0.00,1.60,0.00,0.000,4,0.000,0.056,2494,3568,3341
$GC,8075,-0.54,-126.5,879.3,-8.2,270,8078,0.00,1.48,0.00,0.000,6,0.000,0.028,2499,2570,3340
$GC,8342,-0.54,-126.5,898.8,-7.3,277,8346,0.00,1.60,0.00,0.000,4,0.000,0.028,2507,1428,3339
$STATE,8350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8350,begin apogee
$GC,8363,-0.20,0.0,900.0,7.3,277,8478,0.38,0.00,108.07,1.255,6,0.098,0.000,2635,2235,2858
$STATE,8479,end apogee,CONTROL_FINISHED_OK
$STATE,8479,begin climb
$GC,8484,0.54,126.5,902.8,0.0,280,8672,0.62,1.70,136.60,1.105,4,0.040,0.028,2886,1182,2341
$GC,8741,0.54,126.5,876.2,16.1,285,8751,0.00,1.70,0.00,0.000,6,0.000,0.042,2886,2222,2335
$GC,8997,0.54,126.5,832.7,17.3,292,9001,0.00,1.67,0.00,0.000,4,0.000,0.051,2886,3277,2331
$GC,9032,0.54,126.5,825.7,18.2,292,9036,0.00,1.58,0.00,0.000,6,0.000,0.028,2893,2234,2330
$GC,9293,0.54,126.5,780.4,17.4,299,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2228,2329
$GC,9536,0.54,126.5,737.3,17.8,305,9539,0.00,1.65,0.00,0.000,4,0.000,0.049,2891,3285,2328
$GC,9593,0.54,126.5,726.2,18.4,306,9597,0.00,1.58,0.00,0.000,6,0.000,0.028,2897,2229,2327
$GC,9877,0.54,126.5,678.5,16.9,313,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2224,2327
$GC,10121,0.54,126.5,639.3,16.3,319,10124,0.00,1.67,0.00,0.000,4,0.000,0.050,2891,3294,2326
$GC,10178,0.54,126.5,629.4,15.7,320,10182,0.00,1.58,0.00,0.000,6,0.000,0.027,2897,2235,2326
$GC,10461,0.54,126.5,588.4,14.7,327,10465,0.00,1.67,0.00,0.000,4,0.000,0.049,2891,3281,2326
$GC,10485,0.54,126.5,584.4,14.2,327,10488,0.00,1.55,0.00,0.000,6,0.000,0.028,2896,2235,2325
$GC,10758,0.54,126.5,546.2,14.3,334,10759,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2231,2325
$GC,11001,0.54,126.5,511.6,14.4,340,11005,0.00,1.67,0.00,0.000,4,0.000,0.049,2891,3286,2325
$GC,11075,0.54,126.5,499.6,15.2,341,11079,0.00,1.55,0.00,0.000,6,0.000,0.028,2897,2245,2325
$GC,11342,0.54,126.5,463.5,13.4,348,11345,0.00,1.65,0.00,0.000,4,0.000,0.050,2891,3294,2324
$GC,11383,0.54,126.5,457.2,14.1,348,11392,0.00,1.52,0.00,0.000,6,0.000,0.028,2897,2265,2324
$GC,11638,0.54,126.5,424.3,13.0,355,11642,0.00,1.60,0.00,0.000,4,0.000,0.028,2905,1156,2324
$GC,11657,0.54,126.5,421.5,13.0,355,11660,0.00,1.70,0.00,0.000,6,0.000,0.043,2905,2265,2324
$GC,11934,0.54,126.5,386.1,12.8,362,11938,0.00,1.58,0.00,0.000,4,0.000,0.050,2905,3277,2324
$GC,11958,0.54,126.5,382.4,13.2,362,11963,0.10,1.52,0.00,0.000,6,0.164,0.027,2881,2248,2323
$GC,12229,0.54,126.5,352.4,10.6,369,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2242,2323
$GC,12474,0.54,126.5,325.0,11.4,375,12477,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3281,2324
$GC,12570,0.54,126.5,313.6,11.9,377,12573,0.00,1.52,0.00,0.000,6,0.000,0.027,2881,2249,2323
$GC,12864,0.54,126.5,284.0,9.8,384,12867,0.00,1.58,0.00,0.000,4,0.000,0.028,2889,1159,2323
$GC,12888,0.55,135.9,281.6,8.6,384,12899,0.00,1.73,6.65,0.718,6,0.000,0.041,2889,2268,2303
$GC,13156,0.55,135.9,254.6,10.4,391,13160,0.00,1.62,0.00,0.000,4,0.000,0.028,2896,1161,2302
$GC,13191,0.55,135.9,250.1,10.3,391,13195,0.00,1.70,0.00,0.000,6,0.000,0.041,2891,2273,2302
$GC,13452,0.55,135.9,223.6,10.0,398,13456,0.00,1.55,0.00,0.000,4,0.000,0.048,2891,3277,2302
$GC,13493,0.55,135.9,219.1,9.8,398,13501,0.00,1.45,0.00,0.000,6,0.000,0.025,2897,2287,2302
$GC,13751,0.55,136.6,194.3,9.0,408,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2281,2302
$GC,14018,0.55,139.3,169.3,8.9,433,14032,0.00,1.62,4.78,0.555,4,0.000,0.027,2902,1163,2290
$GC,14083,0.56,177.2,164.2,7.2,438,14123,0.00,1.77,34.50,0.716,6,0.000,0.039,2903,2311,2135
$GC,14381,0.56,177.2,133.9,10.5,465,14385,0.00,1.67,0.00,0.000,4,0.000,0.025,2911,1156,2130
$GC,14420,0.56,177.2,129.6,10.9,468,14424,0.00,1.75,0.00,0.000,6,0.000,0.038,2910,2287,2129
$GC,14693,0.56,177.2,98.7,11.8,493,14696,0.00,1.52,0.00,0.000,4,0.000,0.045,2910,3280,2129
$GC,14789,0.56,177.2,88.0,10.0,501,14793,0.10,1.40,0.00,0.000,6,0.139,0.024,2883,2324,2128
$GC,15066,0.60,268.5,70.3,4.6,526,15148,0.00,1.70,75.12,0.621,4,0.000,0.024,2886,1172,1763
$GC,15215,0.62,325.5,61.1,6.3,537,15267,0.00,1.83,47.22,0.599,6,0.000,0.035,2886,2344,1530
$GC,15524,0.63,351.4,37.9,7.8,565,15553,0.00,1.73,21.85,0.567,4,0.000,0.024,2886,1171,1425
$GC,15582,0.64,381.6,32.6,7.6,569,15614,0.00,1.77,25.95,0.561,6,0.000,0.033,2885,2344,1301
$GC,15922,0.65,388.5,7.1,8.7,619,15933,0.00,1.77,6.62,0.469,4,0.000,0.022,2885,1154,1273
$GC,15970,0.65,406.9,3.4,8.1,625,15981,0.00,1.75,7.60,0.476,2,0.000,0.032,2885,2303,1223
$STATE,15982,end climb,SURFACE_DEPTH_REACHED
$STATE,15982,begin surface coast
$FINISH,0.5,1.023597
$STATE,16033,end surface coast,CONTROL_FINISHED_OK
$STATE,16033,begin surface
$SM_CCo,16119,0.00,0.000,0,0,1218,402.04
$SM_GC,1.50,7.28,0.00,0.00,0.025,0.000,0.000,44,2526,1218,-8.23,0.76,402.04
$IRIDIUM_FIX,2253.38,-15801.91,210203,101043
$TT8_MAMPS,0.023777
$HUMID,2223
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.00
$XPDR_PINGS,4
$24V_AH,23.3,59.866
$10V_AH,10.6,73.843
$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,18.050,121.725,474.975,0.000,0.000,25.046,34.968,307.808,1.000,0.000,0.000,15.222,1311.216,10626.354,474.436,3229.802,1028.957,33.379,1546.309,0.000,3227.414,0.000,0.544,0.000
$DEVICE_MAMPS,196.352,57.525,1254.812,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,431.073,2086.844,2150.923,1504.382,1438.906,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54084,634
$CAP_FILE_SIZE,128883,0
$CFSIZE,260165632,234332160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,8,0
$GPS,271113,191606,2300.986,-15804.548,33,1.3,33,10.1