version: 66.04
glider: 512
mission: 4
dive: 13
start: 9 19 113 20 3 32
data:
$ID,512
$MISSION,4
$DIVE,13
$D_SURF,3
$D_FLARE,2
$D_TGT,600
$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,200
$T_MISSION,630
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,380
$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,-106640.18
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2500
$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
$GPS1,195431,2246.528,-15754.538,14,1.6,15,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-79.4
$GPS2,200235,2246.558,-15754.534,41,0.9,41,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.256,0.044
$KALMAN_X,-7019.9,396.0,122.9,15914.6,-1994.8
$KALMAN_Y,-4339.2,-555.2,126.6,9348.8,-1087.8
$MHEAD_RNG_PITCHd_Wd,70.1,32175,-17.5,-10.000
$D_GRID,600
$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,13,begin dive
$GC,18,-0.64,-146.0,0.0,0.0,0,118,0.00,0.00,-95.35,0.000,6,0.000,0.000,11,2630,3096
$GC,124,-0.64,-146.0,3.1,-4.7,12,141,9.43,1.58,0.00,0.000,4,0.212,0.021,2510,1507,3097
$GC,253,-0.64,-146.0,40.9,-21.6,28,257,0.00,1.65,0.00,0.000,6,0.000,0.037,2504,2606,3098
$GC,525,-0.64,-146.0,97.0,-16.9,53,529,0.00,1.58,0.00,0.000,4,0.000,0.042,2496,3655,3099
$GC,601,-0.64,-146.0,110.8,-16.0,59,609,0.00,1.50,0.00,0.000,6,0.000,0.021,2501,2609,3100
$GC,866,-0.64,-146.0,152.6,-16.2,84,870,0.00,1.60,0.00,0.000,4,0.000,0.041,2495,3675,3100
$GC,938,-0.64,-146.0,164.1,-16.7,90,942,0.00,1.50,0.00,0.000,6,0.000,0.021,2501,2627,3100
$GC,1229,-0.64,-146.0,205.7,-14.0,114,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2621,3101
$GC,1472,-0.64,-146.0,236.8,-12.7,120,1476,0.00,1.50,0.00,0.000,4,0.000,0.023,2509,1545,3101
$GC,1548,-0.64,-146.0,246.3,-12.0,121,1551,0.00,1.62,0.00,0.000,6,0.000,0.037,2503,2641,3101
$GC,1813,-0.64,-146.0,276.2,-10.9,128,1817,0.00,1.55,0.00,0.000,4,0.000,0.023,2509,1550,3100
$GC,1863,-0.64,-146.0,281.6,-10.0,129,1866,0.00,1.60,0.00,0.000,6,0.000,0.038,2503,2604,3101
$GC,2157,-0.64,-146.0,314.2,-11.5,136,2161,0.00,1.50,0.00,0.000,4,0.000,0.024,2509,1550,3099
$GC,2187,-0.64,-146.0,318.1,-11.2,136,2191,0.00,1.58,0.00,0.000,6,0.000,0.039,2503,2592,3099
$GC,2453,-0.64,-146.0,346.5,-10.8,143,2456,0.00,1.48,0.00,0.000,4,0.000,0.024,2509,1554,3097
$GC,2516,-0.64,-146.0,353.3,-9.9,144,2519,0.00,1.58,0.00,0.000,6,0.000,0.039,2503,2595,3097
$GC,2794,-0.64,-146.0,382.8,-10.9,151,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2595,3094
$GC,3039,-0.64,-146.0,408.1,-10.2,157,3042,0.00,1.60,0.00,0.000,4,0.000,0.048,2494,3674,3092
$GC,3157,-0.64,-146.0,421.8,-11.2,159,3161,0.00,1.55,0.00,0.000,6,0.000,0.025,2500,2605,3092
$GC,3424,-0.64,-146.0,448.9,-10.2,166,3427,0.00,1.50,0.00,0.000,4,0.000,0.026,2509,1536,3090
$GC,3454,-0.64,-146.0,452.4,-9.9,166,3457,0.00,1.58,0.00,0.000,6,0.000,0.041,2503,2571,3090
$GC,3720,-0.64,-146.0,475.8,-8.9,173,3723,0.00,1.62,0.00,0.000,4,0.000,0.049,2494,3661,3088
$GC,3733,-0.64,-146.0,477.3,-8.6,173,3736,0.00,1.60,0.00,0.000,6,0.000,0.026,2500,2539,3088
$GC,4016,-0.64,-146.0,502.2,-9.1,180,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2532,3086
$GC,4259,-0.64,-146.0,524.8,-9.2,186,4263,0.00,1.40,0.00,0.000,4,0.000,0.028,2508,1539,3084
$GC,4346,-0.64,-146.0,532.4,-8.2,187,4355,0.00,1.58,0.00,0.000,6,0.000,0.042,2503,2569,3084
$GC,4601,-0.64,-146.0,554.5,-8.9,194,4605,0.00,1.50,0.00,0.000,4,0.000,0.029,2508,1532,3082
$GC,4705,-0.64,-146.0,563.4,-8.2,196,4708,0.00,1.52,0.00,0.000,6,0.000,0.044,2503,2527,3081
$GC,4987,-0.64,-146.0,587.0,-8.7,203,4991,0.00,1.42,0.00,0.000,4,0.000,0.029,2508,1539,3080
$GC,5067,-0.64,-146.0,594.4,-9.0,204,5071,0.00,1.50,0.00,0.000,6,0.000,0.044,2502,2516,3079
$STATE,5160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5160,begin apogee
$GC,5171,-0.23,0.0,602.2,8.5,207,5295,0.45,0.00,121.70,1.029,6,0.130,0.000,2647,2298,2500
$STATE,5296,end apogee,CONTROL_FINISHED_OK
$STATE,5296,begin climb
$GC,5301,0.64,146.0,604.0,0.0,210,5440,0.80,0.00,129.32,0.966,6,0.080,0.000,2922,2298,1904
$GC,5675,0.64,146.0,514.4,27.8,219,5679,0.00,1.58,0.00,0.000,4,0.000,0.030,2929,1247,1895
$GC,5778,0.64,146.0,487.7,24.2,221,5782,0.00,1.60,0.00,0.000,6,0.000,0.042,2929,2284,1894
$GC,6061,0.64,146.0,410.6,27.5,228,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2285,1892
$GC,6304,0.64,146.0,345.9,26.5,234,6308,0.00,1.62,0.00,0.000,4,0.000,0.047,2929,3359,1890
$GC,6328,0.64,146.0,338.4,27.6,234,6332,0.00,1.70,0.00,0.000,6,0.000,0.030,2937,2229,1890
$GC,6600,0.64,146.0,264.2,27.5,241,6604,0.00,1.42,0.00,0.000,4,0.000,0.031,2945,1245,1890
$GC,6694,0.64,146.0,241.8,22.8,243,6698,0.00,1.48,0.00,0.000,6,0.000,0.041,2945,2198,1889
$GC,6963,0.64,146.0,177.5,23.6,256,6966,0.00,1.77,0.00,0.000,4,0.000,0.048,2945,3370,1889
$GC,7013,0.64,146.0,164.5,26.1,260,7016,0.00,1.73,0.00,0.000,6,0.000,0.029,2954,2199,1888
$GC,7285,0.64,146.0,99.0,23.3,285,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2192,1888
$GC,7552,0.64,146.0,46.1,16.9,310,7556,0.00,1.80,0.00,0.000,4,0.000,0.044,2954,3362,1888
$GC,7581,0.64,146.0,41.1,17.3,312,7585,0.15,1.67,0.00,0.000,6,0.182,0.027,2925,2202,1888
$STATE,7851,end climb,SURFACE_DEPTH_REACHED
$STATE,7851,begin surface coast
$FINISH,0.0,1.023130
$STATE,7873,end surface coast,CONTROL_FINISHED_OK
$STATE,7873,begin surface
$SM_CCo,7898,92.95,0.565,0,0,949,380.21
$SM_GC,0.91,0.00,0.00,92.95,0.000,0.000,0.565,26,2621,949,-8.41,0.59,380.21
$IRIDIUM_FIX,2239.35,-15757.16,141202,171709
$TT8_MAMPS,0.023777
$HUMID,2371
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.30
$XPDR_PINGS,3
$24V_AH,24.4,1.786
$10V_AH,10.7,1.602
$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,18.050,57.450,251.025,92.950,0.000,24.327,50.782,234.755,0.750,0.000,0.000,41.295,746.675,4848.595,402.113,1842.788,644.071,33.348,961.063,0.000,1823.263,0.000,0.544,0.000
$DEVICE_MAMPS,212.459,49.088,1028.547,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,238.309,1156.425,1206.275,146.291,885.109,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31941,351
$CAP_FILE_SIZE,67527,0
$CFSIZE,260165632,257245184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190913,221802,2246.526,-15753.363,11,2.3,31,10.1