version: 66.04
glider: 512
mission: 4
dive: 34
start: 9 22 113 12 3 15
data:
$ID,512
$MISSION,4
$DIVE,34
$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,350
$T_MISSION,650
$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,140
$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,566.87909
$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,-107148.14
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2698
$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,2550
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2710
$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
$GPS1,112453,2240.535,-15733.165,29,0.9,46,10.1
$_CALLS,5
$_XMS_NAKs,40
$_XMS_TOUTs,2
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.0
$GPS2,120219,2240.820,-15732.904,33,1.2,33,10.1
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.149,-0.186
$KALMAN_X,-21400.4,290.7,899.8,66557.0,-703.9
$KALMAN_Y,10471.1,-261.7,-302.6,-15933.6,5393.8
$MHEAD_RNG_PITCHd_Wd,208.6,9342,-15.7,-8.571
$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,17,-0.58,-136.3,0.0,0.0,0,123,0.00,0.00,-102.93,0.000,2,0.000,0.000,11,2564,2940
$GC,129,-0.58,-136.3,2.1,-1.3,12,157,9.30,1.55,-7.65,0.000,4,0.208,0.040,2509,1467,3268
$GC,314,-0.58,-136.3,50.2,-24.0,34,323,0.00,1.65,0.00,0.000,6,0.000,0.037,2502,2550,3268
$GC,580,-0.58,-136.3,113.3,-21.0,59,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2550,3268
$GC,846,-0.58,-136.3,162.1,-17.2,84,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2550,3269
$GC,1120,-0.58,-136.3,207.3,-15.5,107,1124,0.00,1.58,0.00,0.000,4,0.000,0.043,2494,3607,3268
$GC,1150,-0.58,-136.3,212.3,-16.3,107,1153,0.00,1.58,0.00,0.000,6,0.000,0.020,2500,2499,3268
$GC,1416,-0.58,-136.3,251.3,-14.7,114,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2492,3267
$GC,1659,-0.58,-136.3,285.6,-14.3,120,1663,0.00,1.67,0.00,0.000,4,0.000,0.042,2494,3616,3266
$GC,1756,-0.58,-136.3,300.3,-14.8,122,1760,0.00,1.58,0.00,0.000,6,0.000,0.021,2500,2506,3265
$GC,2045,-0.58,-136.3,336.5,-11.9,129,2048,0.00,1.38,0.00,0.000,4,0.000,0.022,2508,1499,3263
$GC,2097,-0.58,-136.3,342.8,-10.1,130,2101,0.00,1.55,0.00,0.000,6,0.000,0.038,2502,2528,3262
$GC,2385,-0.58,-136.3,377.0,-12.5,137,2389,0.00,1.62,0.00,0.000,4,0.000,0.045,2493,3609,3259
$GC,2443,-0.58,-136.3,385.2,-13.7,138,2447,0.00,1.52,0.00,0.000,6,0.000,0.021,2499,2540,3258
$GC,2727,-0.58,-136.3,421.3,-12.8,145,2728,0.00,0.00,-0.08,0.000,6,0.000,0.000,2500,2533,3279
$GC,2971,-0.58,-136.3,452.3,-12.6,151,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2533,3278
$GC,3215,-0.58,-136.3,477.6,-10.1,157,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2533,3275
$GC,3459,-0.58,-136.3,503.4,-10.7,163,3462,0.00,1.62,0.00,0.000,4,0.000,0.048,2493,3610,3272
$GC,3510,-0.58,-136.3,510.2,-12.1,164,3514,0.00,1.52,0.00,0.000,6,0.000,0.025,2499,2544,3271
$GC,3799,-0.58,-136.3,540.4,-10.5,171,3802,0.00,1.45,0.00,0.000,4,0.000,0.027,2507,1505,3270
$GC,3874,-0.58,-136.3,548.1,-8.7,172,3877,0.00,1.58,0.00,0.000,6,0.000,0.043,2501,2537,3269
$GC,4139,-0.58,-136.3,574.5,-10.4,179,4143,0.00,1.65,0.00,0.000,4,0.000,0.051,2493,3617,3266
$GC,4189,-0.58,-136.3,580.1,-11.1,180,4193,0.00,1.55,0.00,0.000,6,0.000,0.027,2499,2546,3266
$GC,4484,-0.58,-136.3,612.8,-11.1,187,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2539,3264
$GC,4729,-0.58,-136.3,639.2,-10.8,193,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2539,3262
$GC,4973,-0.58,-136.3,663.6,-9.9,199,4976,0.00,1.48,0.00,0.000,4,0.000,0.029,2506,1503,3260
$GC,5035,-0.58,-136.3,670.3,-9.2,200,5039,0.00,1.60,0.00,0.000,6,0.000,0.045,2501,2544,3260
$GC,5313,-0.58,-136.3,696.9,-9.9,207,5316,0.00,1.62,0.00,0.000,4,0.000,0.054,2493,3620,3257
$GC,5371,-0.58,-136.3,703.8,-11.8,208,5375,0.00,1.55,0.00,0.000,6,0.000,0.029,2499,2558,3256
$GC,5653,-0.58,-136.3,733.1,-10.6,215,5657,0.00,1.50,0.00,0.000,4,0.000,0.029,2506,1499,3254
$GC,5689,-0.58,-136.3,737.3,-10.5,215,5692,0.00,1.60,0.00,0.000,6,0.000,0.048,2501,2555,3255
$GC,5949,-0.58,-136.3,763.2,-10.1,222,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2555,3253
$GC,6192,-0.58,-136.3,786.7,-9.5,228,6196,0.00,1.52,0.00,0.000,4,0.000,0.029,2506,1500,3252
$GC,6228,-0.58,-136.3,790.3,-9.2,228,6231,0.00,1.60,0.00,0.000,6,0.000,0.048,2501,2552,3252
$GC,6489,-0.58,-136.3,812.4,-8.5,235,6493,0.00,1.52,0.00,0.000,4,0.000,0.029,2506,1500,3249
$GC,6540,-0.58,-136.3,816.6,-7.3,236,6543,0.00,1.62,0.00,0.000,6,0.000,0.048,2500,2565,3249
$GC,6834,-0.58,-136.3,839.4,-7.6,243,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2564,3248
$GC,7077,-0.58,-136.3,856.6,-6.9,249,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2564,3247
$GC,7321,-0.58,-136.3,874.6,-7.7,255,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2565,3246
$GC,7565,-0.58,-136.3,894.3,-8.1,261,7568,0.00,1.55,0.00,0.000,4,0.000,0.031,2505,1503,3245
$GC,7617,-0.58,-136.3,899.1,-8.8,262,7621,0.00,1.60,0.00,0.000,6,0.000,0.051,2500,2552,3245
$STATE,7631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7631,begin apogee
$GC,7642,-0.23,0.0,900.5,7.7,262,7761,0.32,0.00,116.10,1.256,6,0.118,0.000,2615,2221,2710
$STATE,7762,end apogee,CONTROL_FINISHED_OK
$STATE,7762,begin climb
$GC,7767,0.58,136.3,903.6,0.0,265,7922,0.77,1.67,132.32,1.163,4,0.076,0.033,2889,1172,2153
$GC,7939,0.58,136.3,880.3,20.0,268,7947,0.00,1.73,0.00,0.000,6,0.000,0.042,2889,2220,2149
$GC,8194,0.58,136.3,822.7,23.3,275,8197,0.00,1.65,0.00,0.000,4,0.000,0.049,2889,3284,2143
$GC,8251,0.58,136.3,808.5,25.0,276,8255,0.00,1.58,0.00,0.000,6,0.000,0.031,2896,2261,2143
$GC,8534,0.58,136.3,740.2,25.0,283,8538,0.00,1.62,0.00,0.000,4,0.000,0.034,2905,1145,2141
$GC,8576,0.58,136.3,729.1,25.6,283,8584,0.00,1.73,0.00,0.000,6,0.000,0.045,2905,2241,2140
$GC,8830,0.58,136.3,667.1,24.7,290,8833,0.00,1.62,0.00,0.000,4,0.000,0.050,2905,3301,2139
$GC,8860,0.58,136.3,659.1,24.5,290,8863,0.00,1.60,0.00,0.000,6,0.000,0.032,2911,2230,2139
$GC,9126,0.58,136.3,596.7,23.3,297,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2224,2139
$GC,9369,0.58,136.3,538.2,24.3,303,9373,0.00,1.58,0.00,0.000,4,0.000,0.035,2919,1154,2138
$GC,9393,0.58,136.3,531.4,25.4,303,9397,0.10,1.75,0.00,0.000,6,0.158,0.045,2886,2278,2138
$GC,9665,0.58,136.3,476.1,20.1,310,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2278,2137
$GC,9910,0.58,136.3,430.0,19.0,316,9911,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2278,2136
$GC,10153,0.58,136.3,385.0,18.4,322,10157,0.00,1.55,0.00,0.000,4,0.000,0.050,2885,3281,2136
$GC,10177,0.58,136.3,379.7,18.8,322,10181,0.00,1.50,0.00,0.000,6,0.000,0.031,2891,2275,2136
$GC,10449,0.58,136.3,331.9,18.0,329,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2269,2136
$GC,10692,0.58,136.3,288.3,17.4,335,10695,0.00,1.62,0.00,0.000,4,0.000,0.033,2899,1143,2136
$GC,10743,0.58,136.3,280.2,17.3,336,10747,0.00,1.77,0.00,0.000,6,0.000,0.045,2899,2305,2136
$GC,11038,0.58,136.3,231.4,16.7,343,11042,0.00,1.50,0.00,0.000,4,0.000,0.048,2899,3285,2135
$GC,11101,0.58,136.3,219.4,17.7,344,11105,0.00,1.42,0.00,0.000,6,0.000,0.029,2906,2320,2135
$GC,11365,0.58,136.3,172.9,17.0,361,11369,0.00,1.67,0.00,0.000,4,0.000,0.031,2915,1145,2135
$GC,11416,0.58,136.3,164.8,13.8,365,11420,0.12,1.85,0.00,0.000,6,0.148,0.043,2881,2371,2135
$GC,11691,0.58,136.3,128.3,13.1,390,11695,0.00,1.40,0.00,0.000,4,0.000,0.047,2878,3289,2135
$GC,11720,0.58,136.3,123.7,13.9,392,11723,0.00,1.35,0.00,0.000,6,0.000,0.026,2883,2361,2135
$GC,11992,0.58,136.3,85.9,13.6,417,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2354,2135
$GC,12260,0.59,160.9,59.5,7.5,442,12284,0.00,0.00,18.52,0.628,6,0.000,0.000,2884,2354,2054
$GC,12543,0.59,160.9,38.0,8.8,468,12546,0.00,1.70,0.00,0.000,4,0.000,0.026,2892,1151,2053
$GC,12584,0.59,160.9,34.1,8.9,471,12587,0.00,1.88,0.00,0.000,6,0.000,0.038,2891,2401,2052
$GC,12907,0.60,202.2,5.9,6.8,516,12934,0.00,0.00,24.85,0.556,2,0.000,0.000,2891,2402,1886
$STATE,12935,end climb,SURFACE_DEPTH_REACHED
$STATE,12935,begin surface coast
$FINISH,0.1,1.019811
$STATE,12973,end surface coast,CONTROL_FINISHED_OK
$STATE,12973,begin surface
$SM_CCo,12998,161.10,0.542,0,0,398,566.88
$SM_GC,1.06,0.00,0.00,161.10,0.000,0.000,0.542,25,2599,398,-8.32,1.41,566.88
$IRIDIUM_FIX,2230.01,-15730.71,171202,111152
$TT8_MAMPS,0.023777
$HUMID,2164
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.30
$XPDR_PINGS,5
$24V_AH,24.2,4.762
$10V_AH,10.6,4.597
$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,17.800,80.275,291.800,161.100,0.000,149.076,207.857,1424.233,1.250,0.000,0.000,37.725,1082.377,8859.300,508.387,2630.007,2326.105,33.355,1311.435,0.000,2626.235,0.000,0.545,0.000
$DEVICE_MAMPS,207.857,53.690,1255.579,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,357.881,1729.599,1798.656,226.869,1265.923,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44704,525
$CAP_FILE_SIZE,118662,0
$CFSIZE,260165632,256188416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,220913,154405,2239.271,-15733.825,42,1.6,42,10.1