version: 66.04
glider: 512
mission: 4
dive: 360
start: 11 28 113 0 37 35
data:
$ID,512
$MISSION,4
$DIVE,360
$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,603.18286
$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,-114410.76
$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,41
$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
$GPS1,001406,2302.097,-15804.987,30,1.0,30,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-80.0
$GPS2,003642,2302.230,-15804.971,13,1.0,18,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.097,0.214
$KALMAN_X,96137.1,171.2,-66.5,-104641.5,2015.3
$KALMAN_Y,-53948.2,748.8,216.4,86580.4,-3870.2
$MHEAD_RNG_PITCHd_Wd,325.5,4180,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.54,-126.5,0.0,0.0,0,101,0.00,0.00,-77.07,0.000,2,0.000,0.000,8,2521,2842
$GC,107,-0.54,-126.5,2.1,-1.0,9,136,9.70,1.55,-13.48,0.000,4,0.200,0.057,2510,3559,3375
$GC,323,-0.54,-126.5,51.5,-22.6,34,332,0.00,1.55,0.00,0.000,6,0.000,0.020,2513,2483,3375
$GC,589,-0.54,-126.5,108.9,-18.0,59,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2475,3376
$GC,855,-0.54,-126.5,155.5,-16.5,84,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2475,3376
$GC,1122,-0.54,-126.5,197.2,-14.2,109,1126,0.00,1.62,0.00,0.000,4,0.000,0.043,2506,3556,3376
$GC,1191,-0.54,-126.5,207.9,-15.3,112,1195,0.00,1.50,0.00,0.000,6,0.000,0.019,2507,2491,3376
$GC,1463,-0.54,-126.5,240.9,-12.3,119,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2485,3376
$GC,1706,-0.54,-126.5,269.9,-11.8,125,1710,0.00,1.62,0.00,0.000,4,0.000,0.044,2501,3563,3375
$GC,1786,-0.54,-126.5,280.2,-12.1,126,1790,0.00,1.48,0.00,0.000,6,0.000,0.019,2507,2507,3374
$GC,2048,-0.54,-126.5,308.9,-10.9,133,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2500,3372
$GC,2291,-0.54,-126.5,332.9,-9.6,139,2294,0.00,1.60,0.00,0.000,4,0.000,0.046,2501,3556,3371
$GC,2385,-0.54,-126.5,342.4,-9.8,141,2389,0.00,1.48,0.00,0.000,6,0.000,0.021,2506,2522,3371
$GC,2681,-0.54,-126.5,371.6,-9.9,148,2684,0.00,1.50,0.00,0.000,4,0.000,0.023,2508,1440,3369
$GC,2722,-0.54,-126.5,376.1,-9.1,148,2730,0.00,1.60,0.00,0.000,6,0.000,0.041,2502,2487,3368
$GC,2976,-0.54,-126.5,400.9,-10.0,155,2980,0.00,1.65,0.00,0.000,4,0.000,0.051,2494,3561,3365
$GC,3026,-0.54,-126.5,406.1,-10.9,156,3030,0.00,1.52,0.00,0.000,6,0.000,0.021,2500,2494,3365
$GC,3321,-0.54,-126.5,437.2,-10.7,163,3325,0.00,1.70,-0.08,0.000,4,0.000,0.064,2493,3573,3387
$GC,3390,-0.54,-126.5,445.4,-11.2,164,3394,0.00,1.50,0.00,0.000,6,0.000,0.021,2499,2524,3387
$GC,3661,-0.54,-126.5,476.0,-11.7,171,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2517,3384
$GC,3905,-0.54,-126.5,503.5,-11.2,177,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2516,3383
$GC,4149,-0.54,-126.5,528.9,-10.2,183,4153,0.00,1.62,0.00,0.000,4,0.000,0.051,2493,3566,3381
$GC,4219,-0.54,-126.5,536.7,-11.0,184,4223,0.00,1.50,0.00,0.000,6,0.000,0.023,2498,2528,3379
$GC,4491,-0.54,-126.5,563.5,-10.0,191,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2520,3378
$GC,4735,-0.54,-126.5,587.6,-10.0,197,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2520,3376
$GC,4978,-0.54,-126.5,611.1,-9.5,203,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2519,3374
$GC,5222,-0.54,-126.5,632.9,-8.9,209,5226,0.00,1.62,0.00,0.000,4,0.000,0.052,2493,3563,3372
$GC,5280,-0.54,-126.5,638.4,-8.8,210,5284,0.05,1.50,0.00,0.000,6,0.128,0.026,2521,2527,3372
$GC,5564,-0.54,-126.5,658.4,-7.2,217,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2519,3370
$GC,5807,-0.54,-126.5,677.6,-8.0,223,5810,0.00,1.65,0.00,0.000,4,0.000,0.054,2515,3573,3369
$GC,5849,-0.54,-126.5,681.4,-8.9,223,5857,0.00,1.52,0.00,0.000,6,0.000,0.026,2515,2524,3368
$GC,6103,-0.54,-126.5,701.4,-7.8,230,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2524,3366
$GC,6347,-0.54,-126.5,719.3,-7.3,236,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2524,3365
$GC,6591,-0.54,-126.5,736.8,-7.1,242,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2524,3364
$GC,6834,-0.54,-126.5,754.0,-6.9,248,6838,0.00,1.65,0.00,0.000,4,0.000,0.054,2510,3559,3362
$GC,6892,-0.54,-126.5,758.4,-7.3,249,6896,0.00,1.48,0.00,0.000,6,0.000,0.028,2510,2555,3362
$GC,7177,-0.54,-126.5,777.6,-6.9,256,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2547,3360
$GC,7420,-0.54,-126.5,793.6,-6.6,262,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2547,3359
$GC,7664,-0.54,-126.5,809.6,-6.5,268,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2547,3359
$GC,7907,-0.54,-126.5,825.3,-6.4,274,7911,0.00,1.60,0.00,0.000,4,0.000,0.055,2502,3563,3358
$GC,7944,-0.54,-126.5,828.1,-7.3,274,7947,0.00,1.48,0.00,0.000,6,0.000,0.028,2507,2565,3358
$GC,8204,-0.54,-126.5,843.8,-6.0,281,8208,0.00,1.58,0.00,0.000,4,0.000,0.027,2508,1456,3356
$GC,8256,-0.54,-126.5,847.2,-5.6,282,8260,0.00,1.70,0.00,0.000,6,0.000,0.046,2503,2540,3357
$GC,8547,-0.54,-126.5,866.3,-6.8,289,8550,0.00,1.60,0.00,0.000,4,0.000,0.058,2495,3566,3355
$GC,8597,-0.54,-126.5,870.1,-7.0,290,8601,0.00,1.50,0.00,0.000,6,0.000,0.028,2500,2556,3355
$GC,8892,-0.54,-126.5,890.5,-6.9,297,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2546,3355
$STATE,9049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9049,begin apogee
$GC,9061,-0.20,0.0,902.1,7.1,301,9176,0.40,0.00,111.70,1.266,6,0.100,0.000,2638,2216,2858
$STATE,9176,end apogee,CONTROL_FINISHED_OK
$STATE,9176,begin climb
$GC,9182,0.54,126.5,905.0,0.0,304,9331,0.62,1.65,127.28,1.174,4,0.037,0.029,2890,1186,2341
$GC,9382,0.54,126.5,884.9,17.0,308,9386,0.00,1.70,0.00,0.000,6,0.000,0.042,2890,2233,2336
$GC,9653,0.54,126.5,835.3,18.5,315,9657,0.00,1.65,0.00,0.000,4,0.000,0.049,2890,3276,2331
$GC,9689,0.54,126.5,827.9,19.9,315,9692,0.00,1.58,0.00,0.000,6,0.000,0.027,2897,2230,2330
$GC,9950,0.54,126.5,779.6,18.8,322,9954,0.00,1.70,0.00,0.000,4,0.000,0.048,2892,3287,2329
$GC,9975,0.54,126.5,773.9,19.0,322,9979,0.00,1.58,0.00,0.000,6,0.000,0.028,2898,2238,2328
$GC,10246,0.54,126.5,726.4,17.6,329,10250,0.00,1.65,0.00,0.000,4,0.000,0.048,2899,3287,2327
$GC,10271,0.54,126.5,721.5,17.8,329,10275,0.10,1.55,0.00,0.000,6,0.166,0.028,2881,2250,2327
$GC,10541,0.54,126.5,680.6,14.8,336,10542,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2245,2326
$GC,10785,0.54,126.5,645.4,14.3,342,10789,0.00,1.62,0.00,0.000,4,0.000,0.051,2876,3281,2325
$GC,10838,0.54,126.5,636.8,15.8,343,10842,0.00,1.55,0.00,0.000,6,0.000,0.028,2881,2239,2325
$GC,11127,0.54,126.5,595.6,14.0,350,11130,0.00,1.65,0.00,0.000,4,0.000,0.049,2876,3293,2325
$GC,11177,0.54,126.5,588.5,14.4,351,11181,0.00,1.52,0.00,0.000,6,0.000,0.027,2881,2267,2324
$GC,11472,0.54,126.5,547.8,14.0,358,11475,0.00,1.60,0.00,0.000,4,0.000,0.029,2889,1166,2325
$GC,11490,0.54,126.5,544.9,14.0,358,11494,0.00,1.73,0.00,0.000,6,0.000,0.042,2889,2271,2324
$GC,11767,0.54,126.5,506.6,13.9,365,11771,0.00,1.58,0.00,0.000,4,0.000,0.051,2889,3279,2324
$GC,11797,0.54,126.5,501.4,16.0,365,11800,0.00,1.50,0.00,0.000,6,0.000,0.027,2896,2264,2324
$GC,12063,0.54,126.5,463.9,14.0,372,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2258,2324
$GC,12306,0.54,126.5,430.8,13.6,378,12310,0.00,1.62,0.00,0.000,4,0.000,0.048,2891,3302,2323
$GC,12387,0.54,126.5,419.4,14.1,379,12391,0.00,1.52,0.00,0.000,6,0.000,0.028,2897,2273,2323
$GC,12648,0.54,126.5,386.4,12.8,386,12651,0.00,1.60,0.00,0.000,4,0.000,0.030,2903,1177,2323
$GC,12677,0.54,126.5,382.4,11.7,386,12681,0.00,1.67,0.00,0.000,6,0.000,0.042,2902,2249,2323
$GC,12943,0.54,126.5,347.3,13.5,393,12947,0.00,1.60,0.00,0.000,4,0.000,0.051,2902,3274,2323
$GC,12979,0.54,126.5,341.5,14.5,393,12983,0.10,1.48,0.00,0.000,6,0.160,0.026,2869,2275,2323
$GC,13240,0.54,126.5,313.3,10.3,400,13241,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2269,2323
$GC,13484,0.54,126.5,289.7,9.5,406,13487,0.00,1.60,0.00,0.000,4,0.000,0.049,2865,3277,2323
$GC,13552,0.54,126.5,282.4,10.2,407,13556,0.00,1.48,0.00,0.000,6,0.000,0.025,2870,2277,2322
$GC,13824,0.54,126.5,257.8,9.2,414,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2270,2323
$GC,14067,0.54,126.5,235.2,9.1,420,14070,0.00,1.60,0.00,0.000,4,0.000,0.027,2878,1164,2323
$GC,14137,0.54,126.5,228.5,9.1,421,14140,0.00,1.73,0.00,0.000,6,0.000,0.041,2876,2297,2322
$GC,14409,0.54,132.3,204.1,8.7,428,14410,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2296,2323
$GC,14659,0.56,161.6,185.0,7.6,446,14698,0.00,0.00,30.88,0.702,6,0.000,0.000,2876,2296,2198
$GC,14960,0.56,164.4,158.8,8.9,474,14963,0.00,1.52,0.00,0.000,4,0.000,0.047,2876,3282,2195
$GC,15082,0.56,164.4,146.6,10.0,484,15091,0.00,1.45,0.00,0.000,6,0.000,0.024,2882,2282,2194
$GC,15349,0.56,177.1,122.7,8.4,509,15368,0.00,1.65,14.32,0.653,4,0.000,0.025,2886,1165,2135
$GC,15477,0.57,193.9,112.3,8.2,519,15504,0.00,1.75,16.02,0.652,6,0.000,0.037,2885,2298,2065
$GC,15765,0.57,193.9,87.5,9.7,545,15768,0.00,1.65,0.00,0.000,4,0.000,0.025,2886,1152,2063
$GC,15805,0.57,201.6,83.3,8.6,548,15819,0.00,1.75,7.82,0.565,6,0.000,0.038,2886,2285,2035
$GC,16080,0.59,255.2,64.5,6.4,573,16130,0.00,0.00,45.65,0.612,6,0.000,0.000,2886,2284,1816
$GC,16391,0.59,255.2,39.7,9.6,602,16400,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2284,1811
$GC,16698,0.60,260.2,13.9,8.8,641,16707,0.00,0.00,4.95,0.434,6,0.000,0.000,2886,2284,1796
$STATE,16813,end climb,SURFACE_DEPTH_REACHED
$STATE,16813,begin surface coast
$FINISH,0.5,1.012296
$STATE,16863,end surface coast,CONTROL_FINISHED_OK
$STATE,16863,begin surface
$SM_CCo,16888,160.65,0.538,0,0,399,603.18
$SM_GC,1.29,0.00,0.00,160.65,0.000,0.000,0.538,30,2556,399,-8.33,1.53,603.18
$IRIDIUM_FIX,2253.38,-15807.13,220203,000045
$TT8_MAMPS,0.023777
$HUMID,2170
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.80
$XPDR_PINGS,6
$24V_AH,23.1,60.217
$10V_AH,10.6,74.293
$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,18.175,96.100,358.625,160.650,0.000,130.359,203.765,503.906,1.500,0.000,0.000,19.081,1345.952,11618.529,556.724,3298.789,1578.702,33.373,1547.212,0.000,3293.233,0.000,0.545,0.000
$DEVICE_MAMPS,200.187,64.428,1265.550,538.434,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,454.220,2194.139,2271.466,1551.375,1519.104,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54241,666
$CAP_FILE_SIZE,134604,0
$CFSIZE,260165632,234180608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,281113,052306,2303.773,-15805.111,33,0.9,33,10.1