version: 66.04
glider: 512
mission: 4
dive: 117
start: 10 7 113 18 39 44
data:
$ID,512
$MISSION,4
$DIVE,117
$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,-108849.91
$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,87
$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
$GPS1,182636,2250.679,-15750.432,32,1.7,32,10.1
$_CALLS,1
$_XMS_NAKs,59
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-77.4
$GPS2,183830,2250.836,-15750.364,11,2.0,16,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.029,-0.283
$KALMAN_X,47104.8,24.2,-285.0,-30305.2,1665.7
$KALMAN_Y,25922.9,175.0,-5.3,-13582.4,2789.6
$MHEAD_RNG_PITCHd_Wd,164.1,31226,-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,-0.46,-146.0,0.0,0.0,0,102,0.00,0.00,-77.57,0.000,2,0.000,0.000,10,2571,2880
$GC,108,-0.46,-146.0,2.1,-1.6,9,137,9.40,1.55,-13.68,0.000,4,0.202,0.039,2539,1458,3488
$GC,210,-0.46,-146.0,30.3,-28.3,23,214,0.00,1.60,0.00,0.000,6,0.000,0.038,2533,2498,3488
$GC,482,-0.46,-146.0,101.5,-24.0,48,485,0.00,1.60,0.00,0.000,4,0.000,0.045,2525,3567,3488
$GC,601,-0.46,-146.0,124.2,-18.4,58,605,0.00,1.45,0.00,0.000,6,0.000,0.018,2528,2540,3488
$GC,872,-0.46,-146.0,173.7,-18.1,83,876,0.00,1.50,0.00,0.000,4,0.000,0.019,2528,1453,3489
$GC,900,-0.46,-146.0,178.4,-17.5,85,904,0.00,1.65,0.00,0.000,6,0.000,0.038,2523,2556,3489
$GC,1196,-0.46,-146.0,225.4,-15.1,101,1199,0.00,1.52,0.00,0.000,4,0.000,0.044,2516,3568,3489
$GC,1253,-0.46,-146.0,234.8,-15.2,102,1257,0.00,1.42,0.00,0.000,6,0.000,0.019,2516,2549,3489
$GC,1537,-0.46,-146.0,274.3,-14.1,109,1540,0.00,1.55,0.00,0.000,4,0.000,0.043,2510,3558,3488
$GC,1566,-0.46,-146.0,279.1,-13.8,109,1570,0.00,1.38,0.00,0.000,6,0.000,0.019,2511,2568,3488
$GC,1832,-0.46,-146.0,313.5,-13.1,116,1836,0.00,1.52,0.00,0.000,4,0.000,0.020,2516,1460,3488
$GC,1882,-0.46,-146.0,319.8,-12.2,117,1886,0.10,1.67,0.00,0.000,6,0.130,0.038,2538,2578,3487
$GC,2176,-0.46,-146.0,351.9,-10.6,124,2180,0.00,1.50,0.00,0.000,4,0.000,0.047,2532,3566,3485
$GC,2226,-0.46,-146.0,357.2,-10.4,125,2230,0.00,1.40,0.00,0.000,6,0.000,0.021,2532,2570,3485
$GC,2521,-0.46,-146.0,386.1,-9.7,132,2524,0.00,1.52,0.00,0.000,4,0.000,0.021,2532,1466,3483
$GC,2572,-0.46,-146.0,390.8,-8.7,133,2576,0.00,1.65,0.00,0.000,6,0.000,0.040,2525,2565,3482
$GC,2866,-0.46,-146.0,420.1,-10.2,140,2870,0.00,1.52,0.00,0.000,4,0.000,0.051,2523,3562,3480
$GC,2916,-0.46,-146.0,425.4,-9.9,141,2920,0.00,1.40,0.00,0.000,6,0.000,0.022,2523,2568,3479
$GC,3211,-0.46,-146.0,456.5,-10.7,148,3215,0.00,1.52,-0.08,0.000,4,0.000,0.042,2523,1457,3500
$GC,3261,-0.46,-146.0,461.8,-9.3,149,3265,0.00,1.67,0.00,0.000,6,0.000,0.042,2515,2566,3500
$GC,3555,-0.46,-146.0,493.0,-10.6,156,3559,0.00,1.58,0.00,0.000,4,0.000,0.023,2521,1467,3497
$GC,3607,-0.46,-146.0,498.0,-9.2,157,3610,0.00,1.65,0.00,0.000,6,0.000,0.042,2515,2561,3497
$GC,3900,-0.46,-146.0,528.7,-10.7,164,3904,0.00,1.52,0.00,0.000,4,0.000,0.051,2507,3556,3495
$GC,3980,-0.46,-146.0,537.9,-11.6,165,3984,0.08,1.40,0.00,0.000,6,0.111,0.025,2536,2568,3494
$GC,4242,-0.46,-146.0,560.0,-8.3,172,4245,0.00,1.55,0.00,0.000,4,0.000,0.025,2536,1466,3492
$GC,4278,-0.46,-146.0,563.4,-7.9,172,4282,0.00,1.65,0.00,0.000,6,0.000,0.044,2536,2536,3492
$GC,4538,-0.46,-146.0,582.8,-7.6,179,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2537,3490
$GC,4782,-0.46,-146.0,600.4,-7.2,185,4785,0.00,1.58,0.00,0.000,4,0.000,0.052,2529,3558,3488
$GC,4806,-0.46,-146.0,602.6,-7.6,185,4810,0.00,1.42,0.00,0.000,6,0.000,0.026,2529,2561,3487
$GC,5078,-0.46,-146.0,624.0,-8.1,192,5081,0.00,1.55,0.00,0.000,4,0.000,0.025,2529,1475,3486
$GC,5119,-0.46,-146.0,627.8,-8.4,192,5128,0.00,1.67,0.00,0.000,6,0.000,0.046,2524,2554,3485
$GC,5376,-0.46,-146.0,648.6,-8.3,199,5380,0.00,1.58,0.00,0.000,4,0.000,0.056,2522,3566,3484
$GC,5412,-0.46,-146.0,652.1,-8.7,199,5416,0.00,1.42,0.00,0.000,6,0.000,0.026,2522,2569,3483
$GC,5673,-0.46,-146.0,672.2,-7.8,206,5676,0.00,1.55,0.00,0.000,4,0.000,0.026,2522,1469,3482
$GC,5714,-0.46,-146.0,675.9,-7.6,206,5722,0.00,1.70,0.00,0.000,6,0.000,0.047,2515,2564,3482
$GC,5969,-0.46,-146.0,696.9,-8.6,213,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2564,3480
$GC,6213,-0.46,-146.0,719.7,-9.5,219,6216,0.00,1.55,0.00,0.000,4,0.000,0.056,2511,3558,3478
$GC,6248,-0.46,-146.0,723.6,-10.4,219,6252,0.00,1.40,0.00,0.000,6,0.000,0.028,2510,2588,3477
$GC,6510,-0.46,-146.0,748.3,-9.6,226,6514,0.10,1.55,0.00,0.000,4,0.130,0.027,2543,1469,3476
$GC,6559,-0.46,-146.0,752.4,-6.9,227,6563,0.00,1.67,0.00,0.000,6,0.000,0.047,2537,2564,3476
$GC,6854,-0.46,-146.0,773.0,-6.9,234,6857,0.00,1.55,0.00,0.000,4,0.000,0.057,2531,3558,3476
$GC,6890,-0.46,-146.0,775.6,-7.7,234,6893,0.00,1.42,0.00,0.000,6,0.000,0.028,2531,2568,3474
$GC,7151,-0.46,-146.0,792.7,-6.6,241,7155,0.00,1.55,0.00,0.000,4,0.000,0.028,2531,1477,3473
$GC,7181,-0.46,-146.0,794.9,-6.7,241,7185,0.00,1.67,0.00,0.000,6,0.000,0.049,2524,2550,3473
$GC,7447,-0.46,-146.0,812.1,-6.4,248,7451,0.00,1.60,0.00,0.000,4,0.000,0.059,2523,3585,3472
$GC,7477,-0.46,-146.0,814.3,-7.4,248,7481,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2571,3472
$GC,7744,-0.46,-146.0,830.7,-6.3,255,7747,0.00,1.58,0.00,0.000,4,0.000,0.028,2524,1470,3471
$GC,7808,-0.46,-146.0,835.0,-6.5,256,7812,0.00,1.67,0.00,0.000,6,0.000,0.050,2524,2558,3471
$GC,8085,-0.46,-146.0,851.0,-5.8,263,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2558,3470
$GC,8329,-0.46,-146.0,865.4,-5.8,269,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2558,3468
$GC,8573,-0.46,-146.0,880.2,-6.2,275,8576,0.00,1.58,0.00,0.000,4,0.000,0.059,2524,3557,3467
$GC,8603,-0.46,-146.0,882.4,-6.8,275,8606,0.00,1.45,0.00,0.000,6,0.000,0.030,2524,2563,3467
$GC,8869,-0.46,-146.0,899.4,-6.5,282,8872,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1480,3467
$STATE,8877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8877,begin apogee
$GC,8889,-0.18,0.0,900.6,6.7,282,9017,0.30,0.00,124.30,1.265,6,0.099,0.000,2632,2240,2890
$STATE,9017,end apogee,CONTROL_FINISHED_OK
$STATE,9017,begin climb
$GC,9022,0.46,146.0,903.8,0.0,285,9172,0.55,1.67,136.75,1.200,4,0.045,0.028,2868,1208,2293
$GC,9190,0.46,146.0,889.2,17.1,288,9194,0.12,1.65,0.00,0.000,6,0.156,0.042,2840,2218,2290
$GC,9451,0.46,146.0,845.4,16.9,295,9454,0.00,1.67,0.00,0.000,4,0.000,0.050,2841,3289,2282
$GC,9502,0.46,146.0,835.5,18.3,296,9506,0.00,1.55,0.00,0.000,6,0.000,0.027,2846,2281,2282
$GC,9791,0.46,146.0,786.2,17.3,303,9794,0.00,1.60,0.00,0.000,4,0.000,0.030,2855,1198,2280
$GC,9886,0.46,146.0,770.5,15.6,305,9890,0.00,1.62,0.00,0.000,6,0.000,0.043,2855,2246,2279
$GC,10180,0.46,146.0,719.4,17.9,312,10184,0.00,1.62,0.00,0.000,4,0.000,0.050,2855,3305,2279
$GC,10231,0.46,146.0,710.6,17.9,313,10235,0.00,1.58,0.00,0.000,6,0.000,0.028,2862,2266,2278
$GC,10525,0.46,146.0,660.7,16.7,320,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2260,2278
$GC,10769,0.46,146.0,623.1,15.4,326,10770,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2260,2277
$GC,11012,0.46,146.0,585.6,15.3,332,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2260,2277
$GC,11256,0.46,146.0,548.2,15.3,338,11259,0.00,1.62,0.00,0.000,4,0.000,0.031,2871,1134,2276
$GC,11297,0.46,146.0,541.8,14.6,338,11305,0.10,1.73,0.00,0.000,6,0.144,0.044,2840,2238,2276
$GC,11551,0.46,146.0,508.4,13.1,345,11555,0.00,1.62,0.00,0.000,4,0.000,0.050,2840,3305,2275
$GC,11660,0.46,146.0,492.5,14.4,347,11663,0.00,1.55,0.00,0.000,6,0.000,0.028,2847,2273,2275
$GC,11937,0.46,146.0,454.5,14.0,354,11941,0.00,1.62,0.00,0.000,4,0.000,0.032,2846,1143,2275
$GC,12033,0.46,146.0,442.0,12.1,356,12036,0.00,1.73,0.00,0.000,6,0.000,0.044,2846,2269,2275
$GC,12327,0.46,146.0,404.4,12.8,363,12330,0.00,1.58,0.00,0.000,4,0.000,0.051,2847,3281,2275
$GC,12441,0.46,146.0,388.1,14.1,365,12444,0.00,1.48,0.00,0.000,6,0.000,0.027,2854,2286,2274
$GC,12713,0.46,146.0,351.2,13.5,372,12716,0.00,1.62,0.00,0.000,4,0.000,0.030,2857,1148,2274
$GC,12799,0.46,146.0,340.7,12.0,373,12807,0.00,1.75,0.00,0.000,6,0.000,0.041,2857,2281,2274
$GC,13053,0.46,146.0,310.3,11.9,380,13057,0.00,1.55,0.00,0.000,4,0.000,0.048,2857,3288,2274
$GC,13105,0.46,146.0,303.5,12.5,381,13109,0.00,1.48,0.00,0.000,6,0.000,0.025,2864,2275,2274
$GC,13394,0.46,146.0,270.5,11.6,388,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2268,2274
$GC,13640,0.46,146.0,242.0,11.3,394,13643,0.00,1.60,0.00,0.000,4,0.000,0.048,2863,3290,2274
$GC,13758,0.46,146.0,227.1,11.7,396,13762,0.08,1.45,0.00,0.000,6,0.161,0.025,2845,2297,2274
$GC,14025,0.48,195.6,204.4,8.1,403,14069,0.00,1.73,39.12,0.762,4,0.000,0.028,2847,1152,2091
$GC,14180,0.50,245.3,192.3,8.1,410,14232,0.00,1.77,41.50,0.735,6,0.000,0.039,2847,2285,1888
$GC,14489,0.50,245.3,156.7,12.3,438,14493,0.00,1.55,0.00,0.000,4,0.000,0.043,2847,3291,1883
$GC,14509,0.50,245.3,153.8,12.7,439,14517,0.00,1.55,0.00,0.000,6,0.000,0.024,2846,2246,1882
$GC,14774,0.50,245.3,121.6,11.4,464,14778,0.00,1.58,0.00,0.000,4,0.000,0.027,2854,1160,1882
$GC,14883,0.51,280.3,111.4,8.7,473,14923,0.00,1.65,28.75,0.653,6,0.000,0.037,2854,2227,1745
$GC,15180,0.51,280.3,81.4,10.7,500,15183,0.00,1.62,0.00,0.000,4,0.000,0.042,2854,3308,1743
$GC,15244,0.53,314.6,75.5,8.7,505,15276,0.00,1.50,28.15,0.615,6,0.000,0.023,2856,2288,1607
$GC,15540,0.57,416.3,53.9,6.2,531,15626,0.00,1.70,80.60,0.594,4,0.000,0.025,2856,1166,1192
$GC,15676,0.61,516.1,46.1,6.3,541,15759,0.00,1.70,78.82,0.574,6,0.000,0.031,2850,2283,785
$GC,16042,0.61,516.1,3.6,11.1,589,16051,0.10,1.67,0.00,0.000,4,0.240,0.025,2888,1172,780
$STATE,16059,end climb,SURFACE_DEPTH_REACHED
$STATE,16059,begin surface coast
$FINISH,0.4,1.023188
$STATE,16085,end surface coast,CONTROL_FINISHED_OK
$STATE,16085,begin surface
$SM_CCo,16172,0.00,0.000,0,0,779,517.82
$SM_GC,1.28,7.28,0.00,0.00,0.025,0.000,0.000,41,2509,779,-8.20,0.25,517.82
$IRIDIUM_FIX,2241.69,-15751.94,010103,131312
$TT8_MAMPS,0.02301
$HUMID,2188
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.30
$XPDR_PINGS,8
$24V_AH,24.0,19.563
$10V_AH,10.6,20.566
$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,18.200,132.375,558.000,0.000,0.000,25.453,42.059,456.326,2.000,0.000,0.000,16.963,1316.003,10745.439,509.528,3172.960,1151.984,33.381,1616.702,0.000,3163.211,0.000,0.544,0.000
$DEVICE_MAMPS,240.071,59.059,1264.783,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,404.709,1960.217,2020.245,472.474,1295.525,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50811,595
$CAP_FILE_SIZE,137145,0
$CFSIZE,260165632,250994688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071013,231045,2249.677,-15749.552,37,1.2,46,10.1