version: 66.04
glider: 512
mission: 4
dive: 115
start: 10 7 113 9 1 36
data:
$ID,512
$MISSION,4
$DIVE,115
$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,-108818.88
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2689
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,31
$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
$GPS1,082353,2253.004,-15753.454,41,0.8,41,10.1
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-83.7
$GPS2,090019,2253.411,-15753.366,12,1.4,12,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.115,-0.260
$KALMAN_X,45149.9,93.7,111.2,-33936.5,869.3
$KALMAN_Y,20946.1,-176.2,522.6,-4012.6,1650.2
$MHEAD_RNG_PITCHd_Wd,146.1,38220,-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,13,begin dive
$GC,18,-0.46,-146.0,0.0,0.0,0,96,0.00,0.00,-75.80,0.000,2,0.000,0.000,10,2570,3021
$GC,102,-0.46,-146.0,2.4,-2.6,9,131,9.48,1.62,-9.77,0.000,4,0.204,0.038,2544,1432,3486
$GC,228,-0.46,-146.0,37.0,-19.9,25,231,0.00,1.62,0.00,0.000,6,0.000,0.039,2538,2509,3487
$GC,499,-0.46,-146.0,101.0,-19.8,50,503,0.00,1.60,0.00,0.000,4,0.000,0.042,2530,3593,3487
$GC,550,-0.46,-146.0,110.0,-16.0,54,554,0.00,1.55,0.00,0.000,6,0.000,0.019,2530,2505,3487
$GC,822,-0.46,-146.0,159.2,-17.7,79,825,0.00,1.45,0.00,0.000,4,0.000,0.019,2530,1440,3487
$GC,861,-0.46,-146.0,165.5,-15.0,82,865,0.00,1.60,0.00,0.000,6,0.000,0.038,2523,2492,3487
$GC,1130,-0.46,-146.0,205.9,-14.4,104,1134,0.00,1.62,0.00,0.000,4,0.000,0.045,2516,3565,3486
$GC,1233,-0.46,-146.0,220.8,-13.8,106,1237,0.00,1.50,0.00,0.000,6,0.000,0.019,2516,2496,3486
$GC,1516,-0.46,-146.0,260.5,-14.4,113,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2488,3485
$GC,1759,-0.46,-146.0,295.5,-14.2,119,1763,0.00,1.65,0.00,0.000,4,0.000,0.044,2508,3562,3484
$GC,1789,-0.46,-146.0,299.9,-13.7,119,1792,0.00,1.45,0.00,0.000,6,0.000,0.020,2508,2528,3484
$GC,2055,-0.46,-146.0,334.6,-13.2,126,2057,0.12,0.00,0.00,0.000,6,0.130,0.000,2543,2519,3482
$GC,2299,-0.46,-146.0,358.5,-9.6,132,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2519,3480
$GC,2543,-0.46,-146.0,381.4,-9.3,138,2546,0.00,1.60,0.00,0.000,4,0.000,0.047,2537,3577,3478
$GC,2579,-0.46,-146.0,385.1,-9.5,138,2582,0.00,1.48,0.00,0.000,6,0.000,0.022,2537,2537,3478
$GC,2841,-0.46,-146.0,409.8,-9.7,145,2844,0.00,1.48,-0.08,0.000,4,0.000,0.041,2537,1450,3498
$GC,2870,-0.46,-146.0,413.3,-10.1,145,2874,0.00,1.67,0.00,0.000,6,0.000,0.042,2537,2542,3497
$GC,3136,-0.46,-146.0,438.6,-9.6,152,3140,0.00,1.58,0.00,0.000,4,0.000,0.050,2529,3566,3494
$GC,3172,-0.46,-146.0,442.2,-9.1,152,3176,0.00,1.45,0.00,0.000,6,0.000,0.023,2529,2546,3495
$GC,3433,-0.46,-146.0,465.3,-8.9,159,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2537,3492
$GC,3676,-0.46,-146.0,486.8,-8.8,165,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2537,3490
$GC,3920,-0.46,-146.0,507.9,-8.8,171,3923,0.00,1.52,0.00,0.000,4,0.000,0.025,2529,1454,3488
$GC,3956,-0.46,-146.0,511.4,-9.0,171,3960,0.00,1.67,0.00,0.000,6,0.000,0.044,2524,2564,3488
$GC,4218,-0.46,-146.0,534.5,-9.1,178,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2564,3485
$GC,4463,-0.46,-146.0,557.0,-9.2,184,4466,0.00,1.55,0.00,0.000,4,0.000,0.054,2524,3565,3483
$GC,4493,-0.46,-146.0,560.3,-9.3,184,4497,0.00,1.48,0.00,0.000,6,0.000,0.025,2524,2539,3483
$GC,4759,-0.46,-146.0,584.8,-9.4,191,4763,0.00,1.62,0.00,0.000,4,0.000,0.054,2523,3562,3481
$GC,4788,-0.46,-146.0,588.1,-10.8,191,4792,0.00,1.45,0.00,0.000,6,0.000,0.025,2523,2553,3481
$GC,5054,-0.46,-146.0,613.2,-9.6,198,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2545,3479
$GC,5298,-0.46,-146.0,635.5,-9.0,204,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2544,3476
$GC,5542,-0.46,-146.0,656.8,-8.7,210,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2545,3476
$GC,5786,-0.46,-146.0,677.2,-8.3,216,5789,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1456,3474
$GC,5816,-0.46,-146.0,680.4,-9.9,216,5820,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2562,3474
$GC,6083,-0.46,-146.0,702.5,-8.5,223,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2562,3472
$GC,6328,-0.46,-146.0,722.8,-8.2,229,6331,0.00,1.55,0.00,0.000,4,0.000,0.057,2523,3557,3470
$GC,6352,-0.46,-146.0,725.4,-8.7,229,6356,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2555,3470
$GC,6624,-0.46,-146.0,746.0,-7.6,236,6628,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1460,3469
$GC,6660,-0.46,-146.0,749.2,-8.2,236,6663,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2567,3469
$GC,6921,-0.46,-146.0,767.3,-7.0,243,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2567,3467
$GC,7164,-0.46,-146.0,783.9,-6.8,249,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2567,3466
$GC,7408,-0.46,-146.0,800.0,-6.7,255,7411,0.00,1.55,0.00,0.000,4,0.000,0.058,2523,3557,3464
$GC,7432,-0.46,-146.0,801.9,-6.6,255,7436,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2543,3465
$GC,7705,-0.46,-146.0,818.4,-6.1,262,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3463
$GC,7950,-0.46,-146.0,834.2,-6.6,268,7954,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1454,3462
$GC,7986,-0.46,-146.0,837.3,-8.0,268,7990,0.00,1.70,0.00,0.000,6,0.000,0.050,2524,2539,3462
$GC,8246,-0.46,-146.0,855.0,-7.0,275,8250,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3557,3461
$GC,8297,-0.46,-146.0,858.6,-7.4,276,8301,0.00,1.48,0.00,0.000,6,0.000,0.029,2523,2543,3461
$GC,8592,-0.46,-146.0,879.9,-7.3,283,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3460
$GC,8837,-0.46,-146.0,897.6,-7.3,289,8841,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1457,3458
$STATE,8862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8862,begin apogee
$GC,8875,-0.18,0.0,900.4,7.3,289,9001,0.30,0.00,123.70,1.259,6,0.100,0.000,2633,2231,2890
$STATE,9002,end apogee,CONTROL_FINISHED_OK
$STATE,9002,begin climb
$GC,9007,0.46,146.0,903.7,0.0,292,9157,0.55,1.67,137.62,1.198,4,0.050,0.028,2865,1196,2294
$GC,9213,0.46,146.0,884.3,17.1,296,9217,0.00,1.65,0.00,0.000,6,0.000,0.041,2865,2225,2287
$GC,9479,0.46,146.0,836.2,18.6,303,9483,0.00,1.65,0.00,0.000,4,0.000,0.050,2863,3281,2282
$GC,9537,0.46,146.0,824.2,18.8,304,9542,0.08,1.55,0.00,0.000,6,0.156,0.028,2837,2264,2281
$GC,9820,0.46,146.0,779.7,15.5,311,9824,0.00,1.62,0.00,0.000,4,0.000,0.029,2844,1165,2280
$GC,9905,0.46,146.0,766.9,14.2,312,9914,0.00,1.67,0.00,0.000,6,0.000,0.044,2844,2225,2280
$GC,10161,0.46,146.0,728.8,15.3,319,10164,0.00,1.65,0.00,0.000,4,0.000,0.051,2844,3298,2278
$GC,10202,0.46,146.0,721.6,16.0,319,10210,0.00,1.60,0.00,0.000,6,0.000,0.028,2847,2238,2278
$GC,10456,0.46,146.0,682.7,15.3,326,10460,0.00,1.60,0.00,0.000,4,0.000,0.031,2847,1154,2278
$GC,10514,0.46,146.0,674.2,13.1,327,10517,0.00,1.65,0.00,0.000,6,0.000,0.042,2847,2231,2277
$GC,10797,0.46,146.0,631.2,15.5,334,10801,0.00,1.62,0.00,0.000,4,0.000,0.050,2847,3292,2277
$GC,10883,0.46,146.0,616.7,16.1,335,10891,0.00,1.58,0.00,0.000,6,0.000,0.028,2855,2236,2277
$GC,11138,0.46,146.0,575.9,16.0,342,11141,0.00,1.58,0.00,0.000,4,0.000,0.031,2857,1162,2276
$GC,11162,0.46,146.0,571.8,14.8,342,11166,0.00,1.73,0.00,0.000,6,0.000,0.044,2857,2267,2276
$GC,11434,0.46,146.0,531.8,14.7,349,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2267,2276
$GC,11679,0.46,146.0,494.3,15.5,355,11682,0.00,1.62,0.00,0.000,4,0.000,0.030,2865,1156,2275
$GC,11697,0.46,146.0,490.5,15.6,355,11701,0.00,1.73,0.00,0.000,6,0.000,0.044,2865,2284,2275
$GC,11974,0.46,146.0,448.8,15.0,362,11978,0.00,1.55,0.00,0.000,4,0.000,0.050,2864,3280,2276
$GC,12004,0.46,146.0,443.7,16.1,362,12008,0.08,1.50,0.00,0.000,6,0.169,0.027,2836,2267,2275
$GC,12269,0.46,146.0,413.8,11.0,369,12273,0.00,1.62,0.00,0.000,4,0.000,0.031,2835,1138,2275
$GC,12373,0.46,161.6,403.1,9.4,371,12388,0.00,1.73,11.48,0.889,6,0.000,0.044,2835,2265,2231
$GC,12649,0.46,161.6,372.9,11.2,378,12653,0.00,1.58,0.00,0.000,4,0.000,0.050,2835,3280,2228
$GC,12700,0.46,161.6,366.7,13.0,379,12704,0.00,1.52,0.00,0.000,6,0.000,0.028,2835,2263,2228
$GC,12994,0.46,161.6,335.5,10.4,386,12998,0.00,1.60,0.00,0.000,4,0.000,0.030,2835,1163,2228
$GC,13029,0.48,189.0,331.9,9.0,386,13060,0.00,1.67,24.73,0.871,6,0.000,0.043,2835,2259,2118
$GC,13334,0.48,189.0,297.8,12.1,394,13337,0.00,1.60,0.00,0.000,4,0.000,0.048,2835,3309,2114
$GC,13383,0.48,189.0,291.1,12.9,395,13387,0.00,1.60,0.00,0.000,6,0.000,0.026,2835,2247,2113
$GC,13677,0.48,189.0,257.7,10.7,402,13681,0.00,1.58,0.00,0.000,4,0.000,0.028,2842,1160,2112
$GC,13713,0.48,194.0,253.9,9.8,402,13728,0.00,1.70,5.03,0.638,6,0.000,0.041,2837,2271,2099
$GC,13974,0.48,206.1,229.4,9.5,409,13988,0.00,0.00,12.30,0.753,6,0.000,0.000,2836,2271,2049
$GC,14218,0.49,228.4,207.0,9.2,415,14242,0.00,1.60,19.90,0.742,4,0.000,0.047,2836,3286,1958
$GC,14265,0.49,228.4,202.0,10.7,416,14269,0.00,1.62,0.00,0.000,6,0.000,0.025,2843,2210,1957
$GC,14542,0.49,228.4,171.8,11.0,438,14545,0.00,1.52,0.00,0.000,4,0.000,0.028,2846,1164,1955
$GC,14637,0.50,241.1,162.1,9.5,446,14654,0.00,1.65,11.35,0.669,6,0.000,0.038,2846,2225,1908
$GC,14921,0.50,241.1,131.4,10.7,472,14925,0.00,1.60,0.00,0.000,4,0.000,0.044,2846,3289,1907
$GC,14961,0.50,241.1,127.2,10.3,475,14965,0.00,1.55,0.00,0.000,6,0.000,0.023,2846,2237,1906
$GC,15233,0.50,241.1,100.7,10.2,500,15237,0.00,1.55,0.00,0.000,4,0.000,0.026,2846,1158,1906
$GC,15353,0.54,358.6,91.8,5.6,510,15453,0.00,1.58,95.15,0.634,6,0.000,0.035,2847,2186,1428
$GC,15715,0.58,444.9,71.3,6.8,541,15788,0.00,1.70,68.72,0.602,4,0.000,0.039,2846,3284,1074
$GC,16054,0.58,444.9,31.1,11.8,568,16063,0.00,1.52,0.00,0.000,6,0.000,0.020,2846,2228,1072
$STATE,16289,end climb,SURFACE_DEPTH_REACHED
$STATE,16290,begin surface coast
$FINISH,0.3,0.998091
$STATE,16323,end surface coast,CONTROL_FINISHED_OK
$STATE,16323,begin surface
$SM_CCo,16408,0.00,0.000,0,0,1070,446.19
$SM_GC,1.39,7.12,0.00,0.00,0.026,0.000,0.000,39,2532,1070,-8.19,0.93,446.19
$IRIDIUM_FIX,2248.70,-15756.28,010103,080835
$TT8_MAMPS,0.023777
$HUMID,2229
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.00
$XPDR_PINGS,3
$24V_AH,24.1,19.209
$10V_AH,10.7,20.163
$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,17.725,117.625,509.975,0.000,0.000,136.226,210.034,1367.769,0.750,0.000,0.000,16.979,1316.178,11306.328,482.141,3099.953,2401.037,33.382,1498.384,0.000,3113.099,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,58.292,1259.414,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,416.238,2009.580,2084.510,429.363,1318.925,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54218,610
$CAP_FILE_SIZE,145162,0
$CFSIZE,260165632,251117568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071013,133630,2251.857,-15751.728,43,1.7,43,10.1