version: 66.04
glider: 512
mission: 4
dive: 112
start: 10 6 113 17 43 28
data:
$ID,512
$MISSION,4
$DIVE,112
$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,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,-108747.55
$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,78
$R_STBD_OVSHOOT,35
$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
$GPS1,172535,2256.954,-15756.434,36,1.2,36,10.1
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-80.1
$GPS2,174213,2257.146,-15756.380,13,1.6,13,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.010,-0.285
$KALMAN_X,42385.9,90.1,-380.6,-35830.9,1272.0
$KALMAN_Y,13535.4,-60.5,-11.6,10731.8,3540.5
$MHEAD_RNG_PITCHd_Wd,167.8,46786,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.47,-146.0,0.0,0.0,0,118,0.00,0.00,-98.72,0.000,2,0.000,0.000,11,2517,2872
$GC,124,-0.47,-146.0,2.2,-2.2,12,152,9.45,1.55,-13.45,0.000,4,0.204,0.040,2541,1444,3488
$GC,238,-0.47,-146.0,32.4,-24.0,28,241,0.00,1.60,0.00,0.000,6,0.000,0.044,2535,2492,3489
$GC,510,-0.47,-146.0,96.0,-17.9,53,514,0.00,1.62,0.00,0.000,4,0.000,0.044,2526,3562,3489
$GC,572,-0.47,-146.0,107.6,-17.8,58,576,0.00,1.50,0.00,0.000,6,0.000,0.018,2527,2513,3489
$GC,843,-0.47,-146.0,159.5,-19.1,83,846,0.00,1.48,0.00,0.000,4,0.000,0.020,2527,1435,3488
$GC,906,-0.47,-146.0,170.1,-14.8,88,914,0.00,1.65,0.00,0.000,6,0.000,0.039,2523,2518,3489
$GC,1178,-0.47,-146.0,212.8,-16.0,108,1182,0.00,1.58,0.00,0.000,4,0.000,0.046,2516,3559,3488
$GC,1214,-0.47,-146.0,219.4,-17.3,108,1218,0.08,1.45,0.00,0.000,6,0.122,0.019,2541,2510,3488
$GC,1474,-0.47,-146.0,252.0,-12.2,115,1478,0.00,1.60,0.00,0.000,4,0.000,0.044,2535,3565,3488
$GC,1549,-0.47,-146.0,261.2,-11.4,116,1552,0.00,1.38,0.00,0.000,6,0.000,0.020,2535,2580,3487
$GC,1815,-0.47,-146.0,293.6,-12.6,123,1818,0.00,1.52,0.00,0.000,4,0.000,0.021,2535,1472,3486
$GC,1867,-0.47,-146.0,300.4,-11.7,124,1871,0.00,1.65,0.00,0.000,6,0.000,0.041,2527,2577,3486
$GC,2156,-0.47,-146.0,331.5,-10.3,131,2159,0.00,1.55,0.00,0.000,4,0.000,0.021,2527,1477,3484
$GC,2219,-0.47,-146.0,337.7,-9.4,132,2223,0.00,1.60,0.00,0.000,6,0.000,0.041,2524,2548,3484
$GC,2497,-0.47,-146.0,363.7,-9.6,139,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2548,3481
$GC,2742,-0.47,-146.0,391.2,-11.5,145,2745,0.00,1.55,0.00,0.000,4,0.000,0.050,2523,3559,3479
$GC,2810,-0.47,-146.0,399.6,-11.3,146,2814,0.00,1.42,0.00,0.000,6,0.000,0.022,2523,2554,3478
$GC,3082,-0.47,-146.0,428.4,-10.7,153,3086,0.00,1.45,-0.08,0.000,4,0.000,0.043,2523,1477,3499
$GC,3122,-0.47,-146.0,432.9,-10.3,153,3131,0.00,1.60,0.00,0.000,6,0.000,0.044,2523,2521,3499
$GC,3380,-0.47,-146.0,457.7,-9.9,160,3383,0.00,1.60,0.00,0.000,4,0.000,0.052,2523,3557,3497
$GC,3404,-0.47,-146.0,460.7,-9.5,160,3408,0.00,1.45,0.00,0.000,6,0.000,0.024,2523,2539,3496
$GC,3675,-0.47,-146.0,487.3,-10.0,167,3679,0.00,1.52,0.00,0.000,4,0.000,0.024,2523,1455,3494
$GC,3705,-0.47,-146.0,490.7,-10.4,167,3708,0.00,1.62,0.00,0.000,6,0.000,0.045,2523,2528,3494
$GC,3971,-0.47,-146.0,515.6,-9.5,174,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2528,3492
$GC,4215,-0.47,-146.0,539.4,-9.9,180,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2528,3489
$GC,4458,-0.47,-146.0,562.6,-9.4,186,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2528,3488
$GC,4702,-0.47,-146.0,583.6,-8.4,192,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2528,3485
$GC,4946,-0.47,-146.0,603.6,-8.2,198,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2528,3483
$GC,5189,-0.47,-146.0,624.5,-8.6,204,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2528,3482
$GC,5433,-0.47,-146.0,647.3,-9.5,210,5437,0.00,1.60,0.00,0.000,4,0.000,0.055,2516,3576,3480
$GC,5464,-0.47,-146.0,650.7,-11.2,210,5469,0.05,1.52,0.00,0.000,6,0.114,0.028,2548,2521,3479
$GC,5732,-0.47,-146.0,670.9,-7.4,217,5735,0.00,1.50,0.00,0.000,4,0.000,0.028,2548,1465,3477
$GC,5762,-0.47,-146.0,673.7,-8.4,217,5766,0.00,1.62,0.00,0.000,6,0.000,0.048,2548,2510,3477
$GC,6028,-0.47,-146.0,691.5,-6.6,224,6031,0.00,1.60,0.00,0.000,4,0.000,0.057,2545,3557,3476
$GC,6063,-0.47,-146.0,693.9,-7.1,224,6067,0.00,1.52,0.00,0.000,6,0.000,0.028,2545,2504,3476
$GC,6324,-0.47,-146.0,710.8,-6.7,231,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2496,3474
$GC,6568,-0.47,-146.0,726.8,-6.6,237,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2496,3472
$GC,6811,-0.47,-146.0,742.6,-6.4,243,6815,0.00,1.67,0.00,0.000,4,0.000,0.058,2537,3569,3471
$GC,6847,-0.47,-146.0,745.2,-6.6,243,6851,0.00,1.52,0.00,0.000,6,0.000,0.029,2537,2521,3471
$GC,7109,-0.47,-146.0,762.9,-7.0,250,7113,0.00,1.50,0.00,0.000,4,0.000,0.029,2537,1459,3470
$GC,7145,-0.47,-146.0,765.8,-7.3,250,7149,0.00,1.67,0.00,0.000,6,0.000,0.051,2537,2526,3470
$GC,7405,-0.47,-146.0,782.2,-6.3,257,7409,0.00,1.62,0.00,0.000,4,0.000,0.059,2531,3561,3468
$GC,7429,-0.47,-146.0,783.9,-6.3,257,7433,0.00,1.50,0.00,0.000,6,0.000,0.029,2531,2530,3468
$GC,7701,-0.47,-146.0,802.1,-6.8,264,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2522,3467
$GC,7944,-0.47,-146.0,819.2,-7.1,270,7948,0.00,1.52,0.00,0.000,4,0.000,0.028,2531,1462,3466
$GC,7974,-0.47,-146.0,821.6,-7.8,270,7978,0.00,1.70,0.00,0.000,6,0.000,0.050,2524,2544,3466
$GC,8242,-0.47,-146.0,840.5,-7.2,277,8245,0.00,1.60,0.00,0.000,4,0.000,0.061,2524,3577,3465
$GC,8283,-0.47,-146.0,843.8,-7.7,277,8291,0.00,1.50,0.00,0.000,6,0.000,0.030,2524,2540,3464
$GC,8538,-0.47,-146.0,861.4,-7.1,284,8542,0.00,1.55,0.00,0.000,4,0.000,0.029,2524,1474,3464
$GC,8602,-0.47,-146.0,866.5,-7.8,285,8605,0.00,1.65,0.00,0.000,6,0.000,0.051,2524,2543,3464
$GC,8880,-0.47,-146.0,886.8,-7.5,292,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2542,3463
$STATE,9076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9076,begin apogee
$GC,9088,-0.18,0.0,901.5,7.3,297,9215,0.35,0.00,124.90,1.262,6,0.095,0.000,2644,2230,2890
$STATE,9216,end apogee,CONTROL_FINISHED_OK
$STATE,9216,begin climb
$GC,9221,0.47,146.0,905.8,0.0,300,9371,0.52,1.67,138.18,1.200,4,0.031,0.029,2883,1162,2294
$GC,9423,0.47,146.0,885.9,18.6,304,9426,0.00,1.73,0.00,0.000,6,0.000,0.044,2879,2227,2287
$GC,9694,0.47,146.0,833.9,19.2,311,9698,0.00,1.70,0.00,0.000,4,0.000,0.051,2877,3288,2283
$GC,9724,0.47,146.0,827.3,20.4,311,9728,0.15,1.60,0.00,0.000,6,0.202,0.028,2850,2223,2282
$GC,9989,0.47,146.0,782.2,17.2,318,9993,0.00,1.58,0.00,0.000,4,0.000,0.031,2856,1157,2281
$GC,10040,0.47,146.0,774.1,15.6,319,10043,0.00,1.65,0.00,0.000,6,0.000,0.044,2850,2215,2280
$GC,10334,0.47,146.0,725.5,16.6,326,10337,0.00,1.67,0.00,0.000,4,0.000,0.051,2850,3278,2279
$GC,10402,0.47,146.0,713.1,17.1,327,10406,0.00,1.60,0.00,0.000,6,0.000,0.028,2856,2197,2279
$GC,10675,0.47,146.0,668.2,16.5,334,10678,0.00,1.73,0.00,0.000,4,0.000,0.050,2856,3295,2279
$GC,10716,0.47,146.0,660.5,18.5,334,10724,0.00,1.60,0.00,0.000,6,0.000,0.026,2864,2228,2278
$GC,10970,0.47,146.0,618.7,16.5,341,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2222,2278
$GC,11214,0.47,146.0,578.1,16.7,347,11218,0.00,1.58,0.00,0.000,4,0.000,0.031,2872,1153,2277
$GC,11277,0.47,146.0,567.6,16.3,348,11280,0.00,1.70,0.00,0.000,6,0.000,0.044,2872,2261,2277
$GC,11555,0.47,146.0,522.1,16.7,355,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2260,2276
$GC,11800,0.47,146.0,484.1,15.3,361,11803,0.00,1.60,0.00,0.000,4,0.000,0.050,2871,3289,2276
$GC,11835,0.47,146.0,477.5,16.9,361,11839,0.00,1.55,0.00,0.000,6,0.000,0.027,2878,2246,2276
$GC,12095,0.47,146.0,436.9,15.6,368,12099,0.00,1.65,0.00,0.000,4,0.000,0.050,2877,3283,2276
$GC,12130,0.47,146.0,430.5,16.9,368,12134,0.10,1.48,0.00,0.000,6,0.186,0.028,2854,2290,2275
$GC,12391,0.47,146.0,397.2,12.3,375,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2284,2275
$GC,12634,0.47,146.0,367.1,12.4,381,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2284,2275
$GC,12878,0.47,146.0,334.4,13.7,387,12881,0.00,1.58,0.00,0.000,4,0.000,0.048,2852,3283,2276
$GC,12913,0.47,146.0,328.9,14.3,387,12917,0.00,1.45,0.00,0.000,6,0.000,0.028,2856,2308,2275
$GC,13175,0.47,146.0,295.8,12.2,394,13178,0.00,1.65,0.00,0.000,4,0.000,0.031,2860,1152,2275
$GC,13293,0.47,146.0,282.6,10.2,396,13297,0.00,1.70,0.00,0.000,6,0.000,0.041,2860,2271,2275
$GC,13560,0.47,146.0,253.7,10.8,403,13563,0.00,1.55,0.00,0.000,4,0.000,0.049,2860,3279,2275
$GC,13640,0.47,146.0,243.6,11.2,404,13643,0.00,1.48,0.00,0.000,6,0.000,0.026,2868,2266,2275
$GC,13900,0.47,146.0,215.7,10.9,411,13903,0.00,1.60,0.00,0.000,4,0.000,0.046,2863,3287,2275
$GC,13941,0.47,146.0,210.7,11.4,411,13950,0.00,1.38,0.00,0.000,6,0.000,0.025,2868,2338,2275
$GC,14205,0.47,149.1,182.5,9.9,430,14208,0.00,1.67,0.00,0.000,4,0.000,0.028,2876,1172,2275
$GC,14287,0.47,149.1,174.2,10.3,437,14291,0.00,1.73,0.00,0.000,6,0.000,0.041,2875,2290,2275
$GC,14559,0.47,152.8,144.9,9.9,462,14563,0.00,1.52,0.00,0.000,4,0.000,0.047,2876,3290,2275
$GC,14656,0.48,166.0,135.5,9.5,470,14675,0.00,1.48,15.20,0.674,6,0.000,0.023,2882,2261,2213
$GC,14936,0.48,166.0,105.6,10.9,495,14939,0.00,1.55,0.00,0.000,4,0.000,0.025,2889,1182,2211
$GC,14964,0.48,168.7,102.7,9.9,497,14969,0.15,1.73,0.00,0.000,6,0.155,0.039,2848,2322,2211
$GC,15240,0.51,239.8,82.3,7.3,522,15309,0.00,1.50,60.58,0.635,4,0.000,0.042,2848,3282,1913
$GC,15386,0.53,303.0,70.4,7.6,533,15442,0.00,1.40,51.55,0.611,6,0.000,0.022,2848,2335,1654
$GC,15700,0.59,454.5,53.3,4.3,561,15825,0.12,1.70,117.47,0.587,4,0.057,0.025,2932,1186,1036
$GC,15982,0.59,454.5,13.3,15.2,591,15992,0.12,1.73,0.00,0.000,6,0.093,0.033,2886,2302,1033
$STATE,16054,end climb,SURFACE_DEPTH_REACHED
$STATE,16054,begin surface coast
$FINISH,0.4,1.023031
$STATE,16087,end surface coast,CONTROL_FINISHED_OK
$STATE,16087,begin surface
$SM_CCo,16172,0.00,0.000,0,0,1029,456.50
$SM_GC,1.26,7.25,0.00,0.00,0.021,0.000,0.000,40,2576,1029,-8.22,2.15,456.50
$IRIDIUM_FIX,2246.36,-15756.28,311202,171741
$TT8_MAMPS,0.023777
$HUMID,2213
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.40
$XPDR_PINGS,5
$24V_AH,24.0,18.611
$10V_AH,10.7,19.518
$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,18.350,117.550,507.875,0.000,0.000,48.615,91.993,604.145,1.250,0.000,0.000,13.452,1293.036,11001.209,486.529,3036.625,1362.320,33.370,1506.609,0.000,3036.142,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,61.360,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,412.990,1999.754,2064.305,434.039,1316.940,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53991,607
$CAP_FILE_SIZE,133388,0
$CFSIZE,260165632,251342848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061013,221424,2255.846,-15755.410,41,1.3,41,10.1