version: 66.04
glider: 512
mission: 4
dive: 120
start: 10 8 113 9 51 27
data:
$ID,512
$MISSION,4
$DIVE,120
$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,160
$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,-108908.3
$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,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,62
$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,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
$GPS1,091953,2247.455,-15747.411,28,1.1,46,10.1
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-78.8
$GPS2,095013,2247.660,-15747.227,13,2.0,13,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,-0.266
$KALMAN_X,49078.0,-18.5,170.8,-27327.2,720.3
$KALMAN_Y,34596.0,-53.6,378.8,-28292.2,2116.4
$MHEAD_RNG_PITCHd_Wd,148.9,23268,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.46,-155.7,0.0,0.0,0,123,0.00,0.00,-102.32,0.000,2,0.000,0.000,11,2514,2969
$GC,129,-0.46,-155.7,2.4,-2.1,12,157,9.38,1.52,-11.60,0.000,4,0.202,0.037,2547,1425,3525
$GC,218,-0.46,-155.7,27.7,-21.4,24,227,0.00,1.65,0.00,0.000,6,0.000,0.040,2541,2495,3526
$GC,484,-0.46,-155.7,92.7,-19.7,49,488,0.00,1.60,0.00,0.000,4,0.000,0.046,2533,3565,3526
$GC,591,-0.46,-155.7,111.4,-15.0,58,595,0.00,1.52,0.00,0.000,6,0.000,0.018,2533,2484,3526
$GC,862,-0.46,-155.7,155.8,-15.4,83,866,0.00,1.65,0.00,0.000,4,0.000,0.041,2525,3560,3526
$GC,901,-0.46,-155.7,161.4,-14.8,86,904,0.00,1.45,0.00,0.000,6,0.000,0.018,2525,2522,3526
$GC,1172,-0.46,-155.7,200.1,-15.6,111,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2514,3526
$GC,1416,-0.46,-155.7,238.6,-15.8,117,1419,0.00,1.45,0.00,0.000,4,0.000,0.020,2528,1460,3525
$GC,1467,-0.46,-155.7,245.4,-12.5,118,1470,0.00,1.60,0.00,0.000,6,0.000,0.038,2524,2514,3525
$GC,1761,-0.46,-155.7,279.0,-11.1,125,1764,0.00,1.58,0.00,0.000,4,0.000,0.047,2517,3557,3523
$GC,1829,-0.46,-155.7,287.5,-11.6,126,1834,0.08,1.45,0.00,0.000,6,0.106,0.020,2546,2509,3523
$GC,2102,-0.46,-155.7,314.2,-9.5,133,2106,0.00,1.42,0.00,0.000,4,0.000,0.021,2546,1467,3521
$GC,2182,-0.46,-155.7,321.7,-8.4,134,2186,0.00,1.58,0.00,0.000,6,0.000,0.038,2540,2508,3520
$GC,2443,-0.46,-155.7,344.6,-8.7,141,2446,0.00,1.60,0.00,0.000,4,0.000,0.048,2532,3562,3517
$GC,2494,-0.46,-155.7,349.1,-9.3,142,2498,0.00,1.50,0.00,0.000,6,0.000,0.021,2532,2500,3517
$GC,2788,-0.46,-155.7,376.0,-9.0,149,2790,0.00,0.00,-0.08,0.000,6,0.000,0.000,2532,2493,3536
$GC,3032,-0.46,-155.7,397.1,-8.8,155,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2493,3534
$GC,3276,-0.46,-155.7,420.1,-9.5,161,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2493,3532
$GC,3519,-0.46,-155.7,444.2,-9.9,167,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2493,3530
$GC,3763,-0.46,-155.7,468.8,-10.0,173,3767,0.00,1.65,0.00,0.000,4,0.000,0.048,2524,3558,3527
$GC,3798,-0.46,-155.7,472.5,-9.5,173,3802,0.00,1.50,0.00,0.000,6,0.000,0.023,2524,2509,3526
$GC,4059,-0.46,-155.7,495.5,-8.7,180,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2501,3525
$GC,4303,-0.46,-155.7,514.7,-7.8,186,4306,0.00,1.62,0.00,0.000,4,0.000,0.051,2524,3562,3523
$GC,4361,-0.46,-155.7,519.9,-8.4,187,4365,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2501,3522
$GC,4644,-0.46,-155.7,544.7,-9.0,194,4648,0.00,1.48,0.00,0.000,4,0.000,0.024,2524,1443,3520
$GC,4694,-0.46,-155.7,549.1,-8.7,195,4698,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2516,3519
$GC,4989,-0.46,-155.7,575.3,-9.0,202,4993,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3570,3518
$GC,5039,-0.46,-155.7,579.8,-8.8,203,5043,0.00,1.55,0.00,0.000,6,0.000,0.025,2523,2497,3517
$GC,5334,-0.46,-155.7,604.4,-8.2,210,5337,0.00,1.65,0.00,0.000,4,0.000,0.054,2523,3560,3515
$GC,5358,-0.46,-155.7,607.0,-9.1,210,5362,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2503,3515
$GC,5631,-0.46,-155.7,629.3,-8.5,217,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2497,3513
$GC,5876,-0.46,-155.7,650.5,-8.6,223,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2496,3511
$GC,6118,-0.46,-155.7,670.1,-7.9,229,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2497,3510
$GC,6362,-0.46,-155.7,688.1,-7.3,235,6365,0.00,1.65,0.00,0.000,4,0.000,0.054,2523,3561,3508
$GC,6412,-0.46,-155.7,691.7,-6.7,236,6416,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2511,3508
$GC,6706,-0.46,-155.7,713.8,-7.7,243,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2503,3507
$GC,6950,-0.46,-155.7,733.3,-8.1,249,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2503,3505
$GC,7194,-0.46,-155.7,753.3,-8.2,255,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2503,3504
$GC,7437,-0.46,-155.7,773.5,-8.2,261,7441,0.00,1.65,0.00,0.000,4,0.000,0.056,2523,3563,3502
$GC,7496,-0.46,-155.7,778.3,-7.0,262,7500,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2531,3502
$GC,7779,-0.46,-155.7,798.1,-6.8,269,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2522,3501
$GC,8022,-0.46,-155.7,813.3,-6.1,275,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2522,3500
$GC,8266,-0.46,-155.7,828.6,-6.3,281,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2522,3499
$GC,8510,-0.46,-155.7,845.4,-7.0,287,8513,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3562,3498
$GC,8529,-0.46,-155.7,846.8,-7.1,287,8532,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2531,3497
$GC,8806,-0.46,-155.7,866.4,-7.1,294,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2524,3497
$GC,9050,-0.46,-155.7,883.0,-6.7,300,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2524,3496
$GC,9294,-0.46,-155.7,899.7,-6.9,306,9297,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3561,3495
$STATE,9302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9302,begin apogee
$GC,9315,-0.18,0.0,900.9,6.8,306,9450,0.32,0.00,131.88,1.259,6,0.095,0.000,2639,2223,2890
$STATE,9450,end apogee,CONTROL_FINISHED_OK
$STATE,9451,begin climb
$GC,9456,0.46,155.7,905.4,0.0,309,9639,0.52,1.67,151.35,1.166,4,0.029,0.029,2883,1170,2254
$GC,9663,0.46,155.7,887.7,17.9,313,9668,0.15,1.73,0.00,0.000,6,0.156,0.041,2847,2233,2250
$GC,9929,0.46,155.7,844.2,16.5,320,9933,0.00,1.67,0.00,0.000,4,0.000,0.049,2847,3284,2244
$GC,10025,0.46,155.7,828.0,16.8,322,10029,0.00,1.58,0.00,0.000,6,0.000,0.028,2847,2258,2243
$GC,10318,0.46,155.7,778.8,16.5,329,10322,0.00,1.62,0.00,0.000,4,0.000,0.030,2855,1154,2242
$GC,10376,0.46,155.7,769.0,15.5,330,10379,0.00,1.67,0.00,0.000,6,0.000,0.042,2855,2241,2241
$GC,10660,0.46,155.7,720.4,17.8,337,10663,0.00,1.62,0.00,0.000,4,0.000,0.050,2855,3301,2241
$GC,10739,0.46,155.7,704.8,18.6,338,10743,0.00,1.58,0.00,0.000,6,0.000,0.028,2863,2245,2239
$GC,10999,0.46,155.7,659.0,17.7,345,11001,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2238,2239
$GC,11243,0.46,155.7,615.6,17.5,351,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2238,2239
$GC,11487,0.46,155.7,575.2,16.2,357,11490,0.00,1.58,0.00,0.000,4,0.000,0.030,2871,1156,2238
$GC,11516,0.46,155.7,570.0,15.7,357,11520,0.00,1.70,0.00,0.000,6,0.000,0.043,2871,2249,2238
$GC,11783,0.46,155.7,527.7,16.5,364,11787,0.00,1.62,0.00,0.000,4,0.000,0.031,2873,1145,2238
$GC,11833,0.46,155.7,519.4,15.7,365,11837,0.00,1.65,0.00,0.000,6,0.000,0.043,2872,2219,2238
$GC,12127,0.46,155.7,472.1,16.1,372,12131,0.00,1.62,0.00,0.000,4,0.000,0.051,2873,3283,2237
$GC,12223,0.46,155.7,455.9,16.6,374,12227,0.08,1.58,0.00,0.000,6,0.154,0.027,2848,2228,2237
$GC,12517,0.46,155.7,418.1,12.5,381,12520,0.00,1.55,0.00,0.000,4,0.000,0.030,2854,1159,2236
$GC,12558,0.46,155.7,412.8,11.9,381,12567,0.00,1.65,0.00,0.000,6,0.000,0.043,2855,2224,2236
$GC,12814,0.46,155.7,380.3,13.1,388,12818,0.00,1.62,0.00,0.000,4,0.000,0.050,2855,3293,2236
$GC,12864,0.46,155.7,372.8,14.4,389,12868,0.00,1.58,0.00,0.000,6,0.000,0.027,2860,2228,2236
$GC,13159,0.46,155.7,334.7,12.7,396,13162,0.00,1.65,0.00,0.000,4,0.000,0.048,2860,3294,2236
$GC,13200,0.46,155.7,328.4,13.9,396,13209,0.00,1.52,0.00,0.000,6,0.000,0.026,2867,2261,2236
$GC,13456,0.46,155.7,294.1,13.4,403,13460,0.00,1.60,0.00,0.000,4,0.000,0.030,2873,1154,2236
$GC,13570,0.46,155.7,278.2,12.2,405,13573,0.00,1.65,0.00,0.000,6,0.000,0.041,2873,2246,2236
$GC,13842,0.46,155.7,241.7,13.5,412,13845,0.00,1.60,0.00,0.000,4,0.000,0.048,2873,3283,2236
$GC,13883,0.46,155.7,236.0,11.9,412,13892,0.10,1.50,0.00,0.000,6,0.165,0.025,2850,2258,2236
$GC,14138,0.48,197.2,213.3,8.4,419,14181,0.00,1.62,32.83,0.783,4,0.000,0.027,2855,1166,2083
$GC,14254,0.49,219.0,202.0,9.2,421,14278,0.00,1.62,19.05,0.743,6,0.000,0.039,2855,2225,1996
$GC,14539,0.49,219.0,170.7,11.3,446,14542,0.00,1.60,0.00,0.000,4,0.000,0.045,2855,3278,1990
$GC,14600,0.49,219.0,162.6,12.7,451,14604,0.00,1.58,0.00,0.000,6,0.000,0.025,2860,2235,1990
$GC,14871,0.49,219.0,129.8,11.8,476,14875,0.00,1.55,0.00,0.000,4,0.000,0.026,2868,1156,1989
$GC,14935,0.49,219.0,122.6,10.3,481,14938,0.00,1.60,0.00,0.000,6,0.000,0.037,2866,2217,1989
$GC,15206,0.49,219.5,94.5,10.0,506,15210,0.00,1.62,0.00,0.000,4,0.000,0.044,2865,3302,1989
$GC,15326,0.50,260.1,82.7,8.5,516,15368,0.00,1.55,34.00,0.634,6,0.000,0.024,2869,2226,1828
$GC,15626,0.54,339.4,57.0,7.0,543,15695,0.00,1.52,62.88,0.604,4,0.000,0.026,2872,1179,1506
$GC,15772,0.57,419.5,46.8,7.0,554,15842,0.00,1.62,63.92,0.586,6,0.000,0.035,2873,2245,1178
$GC,16112,0.63,582.5,26.9,3.9,588,16243,0.00,1.70,126.38,0.559,4,0.000,0.044,2872,3288,514
$GC,16298,0.63,582.5,10.3,12.8,611,16308,0.00,1.55,0.00,0.000,6,0.000,0.021,2872,2245,512
$STATE,16346,end climb,SURFACE_DEPTH_REACHED
$STATE,16346,begin surface coast
$FINISH,0.3,1.000939
$STATE,16372,end surface coast,CONTROL_FINISHED_OK
$STATE,16372,begin surface
$SM_CCo,16457,0.00,0.000,0,0,511,583.56
$SM_GC,1.09,7.28,0.00,0.00,0.023,0.000,0.000,33,2534,511,-8.22,0.96,583.56
$IRIDIUM_FIX,2239.35,-15747.62,020103,090921
$TT8_MAMPS,0.02301
$HUMID,2195
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,26.10
$XPDR_PINGS,6
$24V_AH,24.0,20.243
$10V_AH,10.6,21.220
$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,17.900,108.750,622.275,0.000,0.000,139.647,228.619,998.067,1.500,0.000,0.000,13.611,1302.084,11263.085,551.043,3168.509,2000.670,33.380,1655.023,0.000,3175.730,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,57.525,1258.647,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,421.779,2048.389,2116.270,861.692,1387.051,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53951,622
$CAP_FILE_SIZE,139382,0
$CFSIZE,260165632,250765312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,081013,142730,2245.956,-15745.718,62,1.1,62,10.1