version: 66.04
glider: 512
mission: 4
dive: 386
start: 12 3 113 11 36 19
data:
$ID,512
$MISSION,4
$DIVE,386
$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,-115212.26
$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,64
$R_STBD_OVSHOOT,54
$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
$GPS1,111806,2254.742,-15738.203,38,1.7,38,10.1
$_CALLS,3
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-82.5
$GPS2,113525,2254.784,-15738.243,16,1.9,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.095,0.215
$KALMAN_X,109607.7,-91.7,373.0,-72642.4,-653.1
$KALMAN_Y,-47612.7,-185.2,-240.6,67852.2,773.0
$MHEAD_RNG_PITCHd_Wd,13.7,20294,-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,-126.5,0.0,0.0,0,88,0.00,0.00,-67.57,0.000,2,0.000,0.000,10,2532,2835
$GC,94,-0.54,-126.5,2.2,-1.6,9,126,9.88,1.55,-13.00,0.000,4,0.207,0.057,2506,3539,3376
$GC,239,-0.54,-126.5,35.5,-21.6,31,242,0.00,1.50,0.00,0.000,6,0.000,0.018,2506,2489,3376
$GC,510,-0.54,-126.5,100.9,-17.6,56,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2482,3377
$GC,776,-0.54,-126.5,146.2,-15.5,81,780,0.00,1.62,0.00,0.000,4,0.000,0.040,2499,3544,3377
$GC,857,-0.54,-126.5,158.8,-14.0,88,860,0.00,1.45,0.00,0.000,6,0.000,0.018,2504,2504,3377
$GC,1129,-0.54,-126.5,198.4,-14.3,113,1132,0.00,1.58,0.00,0.000,4,0.000,0.040,2499,3534,3378
$GC,1178,-0.54,-126.5,205.8,-13.9,115,1182,0.00,1.42,0.00,0.000,6,0.000,0.018,2503,2518,3378
$GC,1472,-0.54,-126.5,245.5,-13.0,122,1476,0.00,1.58,0.00,0.000,4,0.000,0.041,2497,3542,3377
$GC,1522,-0.54,-126.5,252.0,-12.3,123,1526,0.00,1.40,0.00,0.000,6,0.000,0.018,2503,2547,3377
$GC,1817,-0.54,-126.5,288.6,-12.3,130,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2538,3376
$GC,2060,-0.54,-126.5,317.2,-11.6,136,2064,0.00,1.52,0.00,0.000,4,0.000,0.042,2497,3535,3375
$GC,2090,-0.54,-126.5,321.5,-12.6,136,2094,0.00,1.40,0.00,0.000,6,0.000,0.020,2502,2539,3375
$GC,2356,-0.54,-126.5,352.9,-12.0,143,2360,0.00,1.50,0.00,0.000,4,0.000,0.019,2509,1445,3373
$GC,2392,-0.54,-126.5,357.2,-10.5,143,2395,0.00,1.62,0.00,0.000,6,0.000,0.038,2504,2533,3373
$GC,2652,-0.54,-126.5,385.6,-11.2,150,2655,0.00,1.58,0.00,0.000,4,0.000,0.048,2496,3562,3371
$GC,2710,-0.54,-126.5,392.5,-10.4,151,2713,0.00,1.42,0.00,0.000,6,0.000,0.020,2501,2556,3370
$GC,2992,-0.54,-126.5,420.8,-10.1,158,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2547,3368
$GC,3236,-0.54,-126.5,444.7,-9.7,164,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2547,3366
$GC,3480,-0.54,-126.5,466.3,-8.7,170,3482,0.00,0.00,-0.08,0.000,6,0.000,0.000,2502,2548,3390
$GC,3723,-0.54,-126.5,487.4,-8.7,176,3727,0.00,1.58,0.00,0.000,4,0.000,0.047,2496,3553,3388
$GC,3782,-0.54,-126.5,493.2,-9.7,177,3785,0.00,1.40,0.00,0.000,6,0.000,0.022,2502,2573,3387
$GC,4064,-0.54,-126.5,521.0,-10.2,184,4068,0.00,1.55,0.00,0.000,4,0.000,0.022,2509,1458,3385
$GC,4144,-0.54,-126.5,529.5,-10.2,185,4148,0.00,1.65,0.00,0.000,6,0.000,0.040,2504,2552,3385
$GC,4405,-0.54,-126.5,556.1,-10.5,192,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2551,3382
$GC,4648,-0.54,-126.5,581.2,-10.2,198,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2551,3381
$GC,4891,-0.54,-126.5,606.1,-10.2,204,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2551,3379
$GC,5135,-0.54,-126.5,629.5,-9.5,210,5139,0.00,1.58,0.00,0.000,4,0.000,0.051,2496,3561,3377
$GC,5165,-0.54,-126.5,632.6,-9.4,210,5168,0.00,1.48,0.00,0.000,6,0.000,0.024,2501,2554,3377
$GC,5432,-0.54,-126.5,655.5,-8.7,217,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2545,3375
$GC,5675,-0.54,-126.5,675.5,-8.0,223,5678,0.00,1.55,0.00,0.000,4,0.000,0.024,2509,1453,3373
$GC,5727,-0.54,-126.5,679.7,-7.1,224,5731,0.00,1.67,0.00,0.000,6,0.000,0.043,2503,2551,3372
$GC,6016,-0.54,-126.5,701.7,-7.7,231,6020,0.00,1.58,0.00,0.000,4,0.000,0.053,2496,3558,3371
$GC,6080,-0.54,-126.5,707.4,-8.9,232,6083,0.00,1.45,0.00,0.000,6,0.000,0.025,2501,2561,3371
$GC,6358,-0.54,-126.5,728.5,-7.7,239,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2552,3371
$GC,6601,-0.54,-126.5,747.3,-7.7,245,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2552,3369
$GC,6845,-0.54,-126.5,766.1,-7.8,251,6848,0.00,1.55,0.00,0.000,4,0.000,0.025,2509,1463,3368
$GC,6881,-0.54,-126.5,769.2,-7.9,251,6884,0.00,1.67,0.00,0.000,6,0.000,0.046,2509,2548,3368
$GC,7141,-0.54,-126.5,789.0,-7.7,258,7145,0.00,1.60,0.00,0.000,4,0.000,0.057,2509,3577,3366
$GC,7183,-0.54,-126.5,792.6,-8.0,258,7191,0.00,1.50,0.00,0.000,6,0.000,0.025,2508,2542,3365
$GC,7440,-0.54,-126.5,811.2,-7.3,265,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2542,3365
$GC,7682,-0.54,-126.5,828.6,-7.1,271,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2542,3364
$GC,7925,-0.54,-126.5,845.2,-6.8,277,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2542,3363
$GC,8169,-0.54,-126.5,861.5,-6.7,283,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2542,3362
$GC,8413,-0.54,-126.5,878.1,-6.8,289,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2542,3361
$GC,8656,-0.54,-126.5,894.6,-6.8,295,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2542,3360
$STATE,8732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8732,begin apogee
$GC,8744,-0.20,0.0,900.0,6.6,297,8861,0.38,0.00,114.65,1.262,6,0.095,0.000,2636,2224,2858
$STATE,8862,end apogee,CONTROL_FINISHED_OK
$STATE,8862,begin climb
$GC,8868,0.54,126.5,902.6,0.0,300,9092,0.65,1.65,147.45,1.045,4,0.043,0.026,2887,1187,2342
$GC,9111,0.54,126.5,877.6,16.1,305,9115,0.00,1.67,0.00,0.000,6,0.000,0.039,2887,2228,2339
$GC,9378,0.54,126.5,830.7,18.0,312,9381,0.00,1.65,0.00,0.000,4,0.000,0.049,2887,3293,2334
$GC,9408,0.54,126.5,824.2,20.5,312,9411,0.00,1.58,0.00,0.000,6,0.000,0.025,2894,2243,2333
$GC,9674,0.54,126.5,775.3,18.7,319,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2236,2332
$GC,9917,0.54,126.5,730.7,18.2,325,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2236,2331
$GC,10161,0.54,126.5,687.0,17.9,331,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2236,2330
$GC,10405,0.54,126.5,645.5,16.9,337,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2236,2329
$GC,10648,0.54,126.5,606.2,15.9,343,10652,0.00,1.62,0.00,0.000,4,0.000,0.047,2891,3284,2329
$GC,10684,0.54,126.5,600.1,15.6,343,10687,0.00,1.55,0.00,0.000,6,0.000,0.026,2897,2237,2328
$GC,10944,0.54,126.5,561.0,15.0,350,10945,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2231,2328
$GC,11188,0.54,126.5,524.2,14.9,356,11192,0.00,1.65,0.00,0.000,4,0.000,0.046,2892,3278,2327
$GC,11262,0.54,126.5,512.4,14.9,357,11265,0.00,1.50,0.00,0.000,6,0.000,0.025,2897,2255,2327
$GC,11528,0.54,126.5,476.2,13.9,364,11531,0.00,1.58,0.00,0.000,4,0.000,0.028,2905,1166,2327
$GC,11624,0.54,126.5,462.5,13.1,366,11628,0.00,1.62,0.00,0.000,6,0.000,0.040,2905,2230,2326
$GC,11913,0.54,126.5,424.3,13.5,373,11916,0.00,1.62,0.00,0.000,4,0.000,0.049,2905,3295,2326
$GC,11998,0.54,126.5,411.1,15.5,374,12007,0.10,1.55,0.00,0.000,6,0.169,0.025,2882,2247,2326
$GC,12254,0.54,126.5,380.1,12.1,381,12257,0.00,1.58,0.00,0.000,4,0.000,0.027,2888,1161,2325
$GC,12317,0.54,126.5,373.0,10.7,382,12320,0.00,1.65,0.00,0.000,6,0.000,0.041,2888,2241,2326
$GC,12594,0.54,126.5,341.3,11.6,389,12598,0.00,1.62,0.00,0.000,4,0.000,0.050,2887,3303,2326
$GC,12659,0.54,126.5,333.0,12.6,390,12663,0.00,1.58,0.00,0.000,6,0.000,0.024,2894,2228,2326
$GC,12936,0.54,126.5,301.0,11.4,397,12940,0.00,1.65,0.00,0.000,4,0.000,0.047,2891,3284,2326
$GC,12961,0.54,126.5,297.8,11.8,397,12965,0.00,1.50,0.00,0.000,6,0.000,0.025,2897,2258,2325
$GC,13232,0.54,126.5,268.2,11.0,404,13233,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2251,2326
$GC,13476,0.54,126.5,242.9,10.0,410,13480,0.00,1.62,0.00,0.000,4,0.000,0.046,2898,3278,2325
$GC,13511,0.54,126.5,239.4,9.1,410,13514,0.00,1.52,0.00,0.000,6,0.000,0.023,2902,2239,2325
$GC,13771,0.55,135.2,216.3,8.6,417,13780,0.00,0.00,6.78,0.680,6,0.000,0.000,2902,2235,2306
$GC,14017,0.55,135.2,193.4,9.6,426,14020,0.00,1.55,0.00,0.000,4,0.000,0.025,2908,1155,2305
$GC,14152,0.56,161.6,181.2,7.7,438,14181,0.00,1.62,24.83,0.735,6,0.000,0.037,2905,2226,2199
$GC,14448,0.56,167.2,152.3,8.7,465,14456,0.00,0.00,5.95,0.589,6,0.000,0.000,2905,2225,2176
$GC,14714,0.56,167.2,125.7,10.6,490,14718,0.00,1.55,0.00,0.000,4,0.000,0.024,2910,1160,2175
$GC,14828,0.56,168.6,115.1,8.9,500,14832,0.00,1.62,0.00,0.000,6,0.000,0.035,2910,2233,2175
$GC,15101,0.58,219.6,93.3,6.6,525,15153,0.00,1.60,45.83,0.644,4,0.000,0.041,2910,3282,1961
$GC,15321,0.58,219.6,72.3,10.3,544,15325,0.00,1.45,0.00,0.000,6,0.000,0.021,2912,2289,1959
$GC,15593,0.58,219.6,42.8,11.1,569,15597,0.00,1.60,0.00,0.000,4,0.000,0.024,2915,1152,1958
$GC,15664,0.58,219.6,35.6,9.2,575,15668,0.00,1.70,0.00,0.000,6,0.000,0.034,2915,2264,1957
$GC,15932,0.58,219.6,5.9,11.8,619,15940,0.00,1.55,0.00,0.000,4,0.000,0.042,2915,3282,1957
$STATE,15951,end climb,SURFACE_DEPTH_REACHED
$STATE,15951,begin surface coast
$FINISH,0.5,1.023606
$STATE,15974,end surface coast,CONTROL_FINISHED_OK
$STATE,15974,begin surface
$SM_CCo,16000,69.47,0.548,0,0,1266,390.02
$SM_GC,1.28,0.00,0.00,69.47,0.000,0.000,0.548,32,2448,1266,-8.34,-1.50,390.02
$IRIDIUM_FIX,2246.36,-15736.30,270203,111153
$TT8_MAMPS,0.023777
$HUMID,2228
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.00
$XPDR_PINGS,10
$24V_AH,22.3,65.117
$10V_AH,10.5,79.991
$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,18.375,90.750,345.475,69.475,0.000,84.130,123.398,487.011,2.500,0.000,0.000,16.959,1269.225,11227.344,490.378,2777.745,1338.168,33.376,1399.485,0.000,2758.229,0.000,0.544,0.000
$DEVICE_MAMPS,207.090,56.758,1261.715,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,426.728,2062.269,2148.518,1153.181,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51054,626
$CAP_FILE_SIZE,123803,0
$CFSIZE,260165632,232435712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,1
$GPS,031213,160556,2256.292,-15737.641,37,3.4,56,10.1