version: 66.04
glider: 512
mission: 4
dive: 111
start: 10 6 113 12 52 21
data:
$ID,512
$MISSION,4
$DIVE,111
$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,300
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,611.03235
$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,-108733.46
$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,38
$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,59
$R_STBD_OVSHOOT,79
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2890
$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
$GPS1,122606,2257.923,-15757.630,41,1.0,41,10.1
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-77.9
$GPS2,125107,2257.996,-15757.553,11,1.9,11,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,-0.266
$KALMAN_X,41442.5,309.6,174.9,-37654.7,-321.7
$KALMAN_Y,10625.9,-91.6,-295.0,15519.8,3179.4
$MHEAD_RNG_PITCHd_Wd,149.0,49303,-15.6,-10.000
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.47,-146.0,0.0,0.0,0,124,0.00,0.00,-98.62,0.000,2,0.000,0.000,10,2548,2881
$GC,129,-0.47,-146.0,2.4,-2.3,12,157,9.40,1.62,-13.27,0.000,4,0.205,0.037,2546,1409,3488
$GC,211,-0.47,-146.0,24.6,-24.3,23,220,0.00,1.60,0.00,0.000,6,0.000,0.039,2540,2449,3488
$GC,483,-0.47,-146.0,88.4,-18.0,49,486,0.00,1.62,0.00,0.000,4,0.000,0.044,2532,3537,3488
$GC,556,-0.47,-146.0,101.1,-17.4,55,560,0.00,1.50,0.00,0.000,6,0.000,0.019,2532,2485,3488
$GC,827,-0.47,-146.0,149.0,-16.9,80,831,0.00,1.42,0.00,0.000,4,0.000,0.019,2532,1441,3489
$GC,902,-0.47,-146.0,160.8,-12.7,86,911,0.00,1.52,0.00,0.000,6,0.000,0.037,2526,2450,3489
$GC,1168,-0.47,-146.0,197.5,-13.2,111,1172,0.00,1.67,0.00,0.000,4,0.000,0.047,2521,3572,3489
$GC,1204,-0.47,-146.0,203.1,-14.3,113,1208,0.00,1.55,0.00,0.000,6,0.000,0.019,2521,2475,3488
$GC,1465,-0.47,-146.0,238.6,-14.1,120,1468,0.00,1.65,0.00,0.000,4,0.000,0.043,2513,3563,3488
$GC,1560,-0.47,-146.0,251.6,-12.0,122,1564,0.08,1.50,0.00,0.000,6,0.127,0.019,2554,2483,3487
$GC,1854,-0.47,-146.0,278.4,-9.0,129,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2476,3486
$GC,2097,-0.47,-146.0,302.3,-9.8,135,2101,0.00,1.65,0.00,0.000,4,0.000,0.046,2549,3564,3484
$GC,2129,-0.47,-146.0,305.4,-9.3,135,2133,0.00,1.50,0.00,0.000,6,0.000,0.021,2549,2500,3484
$GC,2396,-0.47,-146.0,329.8,-9.3,142,2400,0.00,1.42,0.00,0.000,4,0.000,0.021,2549,1455,3481
$GC,2482,-0.47,-146.0,337.9,-8.3,143,2490,0.00,1.55,0.00,0.000,6,0.000,0.039,2542,2477,3481
$GC,2737,-0.47,-146.0,361.3,-9.5,150,2741,0.00,1.62,0.00,0.000,4,0.000,0.050,2535,3562,3478
$GC,2796,-0.47,-146.0,367.3,-8.5,151,2800,0.00,1.52,0.00,0.000,6,0.000,0.022,2535,2488,3478
$GC,3079,-0.47,-146.0,394.2,-9.7,158,3081,0.00,0.00,-0.08,0.000,6,0.000,0.000,2535,2480,3498
$GC,3322,-0.47,-146.0,417.2,-9.4,164,3326,0.00,1.65,0.00,0.000,4,0.000,0.048,2527,3560,3497
$GC,3408,-0.47,-146.0,425.4,-9.1,165,3418,0.00,1.52,0.00,0.000,6,0.000,0.024,2527,2487,3495
$GC,3664,-0.47,-146.0,450.2,-9.9,172,3668,0.00,1.45,0.00,0.000,4,0.000,0.022,2527,1450,3494
$GC,3714,-0.47,-146.0,455.1,-8.5,173,3718,0.00,1.58,0.00,0.000,6,0.000,0.042,2524,2475,3493
$GC,4009,-0.47,-146.0,483.6,-10.0,180,4013,0.00,1.65,0.00,0.000,4,0.000,0.052,2523,3565,3491
$GC,4105,-0.47,-146.0,493.2,-9.6,182,4109,0.00,1.55,0.00,0.000,6,0.000,0.024,2524,2491,3490
$GC,4399,-0.47,-146.0,520.3,-9.0,189,4403,0.00,1.67,0.00,0.000,4,0.000,0.052,2523,3573,3488
$GC,4431,-0.47,-146.0,523.3,-9.0,189,4434,0.00,1.55,0.00,0.000,6,0.000,0.024,2523,2493,3488
$GC,4698,-0.47,-146.0,545.9,-8.7,196,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2485,3486
$GC,4943,-0.47,-146.0,567.7,-9.2,202,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2486,3484
$GC,5187,-0.47,-146.0,590.7,-9.4,208,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2485,3482
$GC,5430,-0.47,-146.0,614.1,-9.6,214,5434,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3565,3480
$GC,5460,-0.47,-146.0,617.6,-10.3,214,5464,0.00,1.58,0.00,0.000,6,0.000,0.025,2523,2484,3479
$GC,5726,-0.47,-146.0,641.6,-9.2,221,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2477,3477
$GC,5970,-0.47,-146.0,663.1,-8.7,227,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2477,3476
$GC,6213,-0.47,-146.0,683.9,-8.5,233,6217,0.00,1.70,0.00,0.000,4,0.000,0.055,2523,3571,3475
$GC,6265,-0.47,-146.0,688.2,-8.1,234,6268,0.00,1.58,0.00,0.000,6,0.000,0.026,2523,2491,3475
$GC,6560,-0.47,-146.0,713.5,-8.5,241,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2484,3473
$GC,6805,-0.47,-146.0,734.5,-8.6,247,6808,0.00,1.67,0.00,0.000,4,0.000,0.057,2523,3558,3472
$GC,6863,-0.47,-146.0,739.9,-8.7,248,6866,0.00,1.58,0.00,0.000,6,0.000,0.027,2524,2484,3471
$GC,7145,-0.47,-146.0,764.6,-9.1,255,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2477,3470
$GC,7389,-0.47,-146.0,787.7,-9.6,261,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2477,3469
$GC,7633,-0.47,-146.0,810.2,-9.1,267,7636,0.00,1.70,0.00,0.000,4,0.000,0.058,2523,3561,3467
$GC,7674,-0.47,-146.0,814.1,-8.6,267,7683,0.00,1.58,0.00,0.000,6,0.000,0.027,2523,2480,3467
$GC,7931,-0.47,-146.0,833.7,-7.6,274,7935,0.00,1.70,0.00,0.000,4,0.000,0.058,2523,3566,3466
$GC,7956,-0.47,-146.0,835.9,-7.1,274,7960,0.00,1.55,0.00,0.000,6,0.000,0.028,2523,2505,3465
$GC,8227,-0.47,-146.0,854.1,-6.8,281,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2498,3464
$GC,8471,-0.47,-146.0,870.1,-6.6,287,8475,0.00,1.70,0.00,0.000,4,0.000,0.058,2523,3561,3463
$GC,8501,-0.47,-146.0,872.4,-7.0,287,8505,0.00,1.55,0.00,0.000,6,0.000,0.028,2523,2503,3463
$GC,8767,-0.47,-146.0,890.2,-6.7,294,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2496,3462
$STATE,8926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8926,begin apogee
$GC,8938,-0.18,0.0,901.9,7.2,298,9065,0.35,0.00,123.93,1.259,6,0.097,0.000,2644,2209,2890
$STATE,9065,end apogee,CONTROL_FINISHED_OK
$STATE,9065,begin climb
$GC,9070,0.47,146.0,905.7,0.0,301,9249,0.52,1.65,142.55,1.162,4,0.030,0.028,2885,1169,2293
$GC,9318,0.47,146.0,878.5,18.4,306,9322,0.15,1.70,0.00,0.000,6,0.173,0.042,2848,2234,2287
$GC,9590,0.47,146.0,832.1,17.1,313,9593,0.00,1.65,0.00,0.000,4,0.000,0.048,2848,3294,2283
$GC,9640,0.47,146.0,823.0,18.0,314,9643,0.00,1.60,0.00,0.000,6,0.000,0.027,2854,2242,2281
$GC,9934,0.47,146.0,770.4,17.9,321,9937,0.00,1.60,0.00,0.000,4,0.000,0.030,2860,1163,2281
$GC,9969,0.47,146.0,763.7,17.3,321,9973,0.00,1.65,0.00,0.000,6,0.000,0.044,2860,2230,2280
$GC,10230,0.47,146.0,718.4,17.8,328,10234,0.00,1.62,0.00,0.000,4,0.000,0.051,2860,3290,2279
$GC,10324,0.47,146.0,700.3,18.2,330,10328,0.00,1.55,0.00,0.000,6,0.000,0.028,2868,2253,2279
$GC,10619,0.47,146.0,648.6,17.2,337,10623,0.00,1.60,0.00,0.000,4,0.000,0.031,2875,1158,2279
$GC,10649,0.47,146.0,643.0,16.6,337,10653,0.00,1.73,0.00,0.000,6,0.000,0.044,2875,2261,2278
$GC,10915,0.47,146.0,598.8,16.9,344,10916,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2261,2277
$GC,11158,0.47,146.0,557.5,16.8,350,11162,0.00,1.60,0.00,0.000,4,0.000,0.050,2875,3288,2276
$GC,11182,0.47,146.0,553.1,16.8,350,11186,0.08,1.55,0.00,0.000,6,0.161,0.027,2849,2244,2276
$GC,11453,0.47,146.0,513.9,14.2,357,11456,0.00,1.58,0.00,0.000,4,0.000,0.030,2856,1154,2276
$GC,11504,0.47,146.0,507.1,13.1,358,11508,0.00,1.65,0.00,0.000,6,0.000,0.043,2851,2234,2275
$GC,11798,0.47,146.0,468.4,13.2,365,11802,0.00,1.62,0.00,0.000,4,0.000,0.049,2851,3285,2275
$GC,11913,0.47,146.0,452.4,13.2,367,11916,0.00,1.55,0.00,0.000,6,0.000,0.027,2858,2245,2275
$GC,12184,0.47,146.0,417.5,12.8,374,12188,0.00,1.58,0.00,0.000,4,0.000,0.031,2860,1164,2275
$GC,12324,0.47,146.0,399.8,12.6,377,12328,0.00,1.62,0.00,0.000,6,0.000,0.043,2860,2206,2274
$GC,12618,0.47,146.0,360.6,13.6,384,12622,0.00,1.65,0.00,0.000,4,0.000,0.051,2860,3295,2274
$GC,12744,0.47,146.0,341.2,14.8,386,12747,0.00,1.60,0.00,0.000,6,0.000,0.026,2868,2188,2274
$GC,13004,0.47,146.0,307.1,12.8,393,13008,0.00,1.48,0.00,0.000,4,0.000,0.029,2873,1170,2275
$GC,13100,0.47,146.0,296.2,11.3,395,13103,0.00,1.60,0.00,0.000,6,0.000,0.041,2873,2207,2274
$GC,13393,0.47,146.0,263.4,10.9,402,13397,0.00,1.62,0.00,0.000,4,0.000,0.048,2873,3282,2274
$GC,13429,0.47,146.0,259.0,11.8,402,13433,0.12,1.60,0.00,0.000,6,0.180,0.025,2851,2172,2274
$GC,13690,0.48,170.0,234.5,9.1,409,13719,0.00,1.73,20.15,0.729,4,0.000,0.044,2850,3285,2197
$GC,13849,0.48,170.0,216.4,11.7,412,13852,0.00,1.50,0.00,0.000,6,0.000,0.025,2856,2273,2195
$GC,14116,0.48,170.0,187.3,10.6,427,14124,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2267,2194
$GC,14382,0.48,182.6,160.8,9.5,452,14399,0.00,1.62,11.98,0.682,4,0.000,0.028,2860,1163,2145
$GC,14492,0.49,189.9,150.4,9.7,461,14504,0.00,1.75,7.78,0.627,6,0.000,0.040,2859,2293,2115
$GC,14776,0.49,189.9,121.7,11.0,487,14784,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2293,2113
$GC,15042,0.49,189.9,94.3,11.8,512,15045,0.00,1.62,0.00,0.000,4,0.000,0.026,2860,1162,2113
$GC,15082,0.49,189.9,89.8,11.5,515,15086,0.00,1.73,0.00,0.000,6,0.000,0.038,2860,2301,2113
$GC,15355,0.50,232.4,66.0,8.4,540,15397,0.00,1.67,36.00,0.611,4,0.000,0.022,2860,1154,1941
$GC,15428,0.55,339.5,61.2,6.0,545,15525,0.00,1.65,85.22,0.600,6,0.000,0.035,2860,2244,1504
$GC,15782,0.59,458.4,38.5,5.5,576,15880,0.00,1.67,92.78,0.574,4,0.000,0.041,2859,3288,1020
$GC,15985,0.59,458.4,24.2,10.6,595,15994,0.00,1.55,0.00,0.000,6,0.000,0.020,2860,2227,1018
$STATE,16167,end climb,SURFACE_DEPTH_REACHED
$STATE,16172,begin surface coast
$FINISH,0.5,1.011231
$STATE,16210,end surface coast,CONTROL_FINISHED_OK
$STATE,16210,begin surface
$SM_CCo,16235,73.05,0.533,0,0,398,611.03
$SM_GC,1.22,0.00,0.00,73.05,0.000,0.000,0.533,44,2525,398,-8.28,0.71,611.03
$IRIDIUM_FIX,2248.70,-15756.28,311202,121212
$TT8_MAMPS,0.023777
$HUMID,2152
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.90
$XPDR_PINGS,6
$24V_AH,24.1,18.435
$10V_AH,10.7,19.315
$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,17.900,113.100,520.375,73.050,0.000,132.081,201.660,707.422,1.500,0.000,0.000,12.105,1352.933,10921.451,592.875,3270.989,1687.011,33.364,1687.162,0.000,3274.562,0.000,0.545,0.000
$DEVICE_MAMPS,204.789,58.292,1258.647,533.065,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,428.191,2075.530,2138.469,435.002,1404.446,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54244,630
$CAP_FILE_SIZE,144589,0
$CFSIZE,260165632,251392000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,061013,172535,2256.954,-15756.434,36,1.2,36,10.1