version: 66.04
glider: 512
mission: 4
dive: 122
start: 10 7 113 20 58 10
data:
$ID,512
$MISSION,4
$DIVE,122
$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,-108989.48
$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,56
$R_STBD_OVSHOOT,25
$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
$GPS1,204114,2246.123,-15745.834,52,1.7,52,14.0
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-81.0
$GPS2,195606,2244.890,-15744.689,61,1.6,61,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.176
$KALMAN_X,50405.3,64.8,-90.5,-24143.7,-169.7
$KALMAN_Y,39565.0,-65.0,21.8,-38022.8,-659.9
$MHEAD_RNG_PITCHd_Wd,118.1,16570,-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,-0.46,-155.7,0.0,0.0,0,86,0.00,0.00,-66.43,0.000,2,0.000,0.000,10,2504,2884
$GC,92,-0.46,-155.7,2.4,-1.3,8,120,9.45,1.58,-13.12,0.000,4,0.206,0.038,2543,1410,3527
$GC,163,-0.46,-155.7,24.3,-26.8,17,172,0.00,1.70,0.00,0.000,6,0.000,0.039,2537,2510,3528
$GC,439,-0.46,-155.7,98.1,-22.5,44,443,0.00,1.60,0.00,0.000,4,0.000,0.047,2529,3575,3528
$GC,548,-0.46,-155.7,118.8,-16.3,53,552,0.00,1.52,0.00,0.000,6,0.000,0.019,2529,2497,3529
$GC,819,-0.46,-155.7,166.7,-18.5,78,823,0.00,1.65,0.00,0.000,4,0.000,0.042,2524,3564,3529
$GC,869,-0.46,-155.7,175.5,-17.4,82,873,0.00,1.45,0.00,0.000,6,0.000,0.019,2523,2527,3529
$GC,1135,-0.46,-155.7,223.9,-18.3,98,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2519,3529
$GC,1378,-0.46,-155.7,261.0,-14.6,104,1382,0.00,1.60,0.00,0.000,4,0.000,0.044,2516,3563,3529
$GC,1436,-0.46,-155.7,269.6,-13.8,105,1440,0.08,1.42,0.00,0.000,6,0.110,0.019,2544,2536,3528
$GC,1719,-0.46,-155.7,298.6,-9.9,112,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2529,3529
$GC,1964,-0.46,-155.7,319.5,-8.5,118,1968,0.00,1.60,0.00,0.000,4,0.000,0.044,2537,3591,3527
$GC,2014,-0.46,-155.7,323.8,-8.1,119,2018,0.00,1.48,0.00,0.000,6,0.000,0.019,2537,2538,3527
$GC,2309,-0.46,-155.7,350.0,-9.3,126,2312,0.00,1.48,0.00,0.000,4,0.000,0.019,2538,1458,3525
$GC,2368,-0.46,-155.7,356.2,-9.6,127,2371,0.00,1.62,0.00,0.000,6,0.000,0.042,2537,2541,3524
$GC,2650,-0.46,-155.7,386.7,-11.2,134,2654,0.00,1.55,0.00,0.000,4,0.000,0.048,2529,3560,3523
$GC,2674,-0.46,-155.7,389.9,-11.6,134,2678,0.00,1.45,0.00,0.000,6,0.000,0.021,2529,2533,3522
$GC,2945,-0.46,-155.7,419.2,-10.7,141,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2526,3520
$GC,3190,-0.46,-155.7,443.4,-9.8,147,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2526,3517
$GC,3433,-0.46,-155.7,467.2,-9.9,153,3437,0.00,1.60,-0.08,0.000,4,0.000,0.067,2524,3569,3540
$GC,3451,-0.46,-155.7,469.3,-9.6,153,3455,0.00,1.45,0.00,0.000,6,0.000,0.023,2524,2545,3540
$GC,3730,-0.46,-155.7,496.2,-9.9,160,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2538,3539
$GC,3975,-0.46,-155.7,519.2,-9.3,166,3978,0.00,1.60,0.00,0.000,4,0.000,0.051,2523,3578,3536
$GC,3994,-0.46,-155.7,521.6,-9.2,166,3997,0.00,1.45,0.00,0.000,6,0.000,0.025,2523,2558,3536
$GC,4271,-0.46,-155.7,546.9,-9.3,173,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2551,3533
$GC,4514,-0.46,-155.7,569.6,-9.3,179,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2551,3532
$GC,4758,-0.46,-155.7,591.7,-9.0,185,4762,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1456,3530
$GC,4788,-0.46,-155.7,594.8,-9.4,185,4792,0.00,1.70,0.00,0.000,6,0.000,0.046,2524,2577,3530
$GC,5054,-0.46,-155.7,617.8,-8.8,192,5058,0.00,1.52,0.00,0.000,4,0.000,0.054,2523,3560,3527
$GC,5090,-0.46,-155.7,621.2,-8.5,192,5094,0.00,1.40,0.00,0.000,6,0.000,0.027,2523,2580,3526
$GC,5352,-0.46,-155.7,643.8,-8.9,199,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2571,3525
$GC,5597,-0.46,-155.7,666.3,-9.4,205,5600,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1463,3524
$GC,5639,-0.46,-155.7,671.0,-10.0,205,5647,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2572,3523
$GC,5894,-0.46,-155.7,694.8,-9.5,212,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2572,3522
$GC,6138,-0.46,-155.7,716.7,-9.0,218,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2572,3520
$GC,6381,-0.46,-155.7,737.6,-8.5,224,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2573,3519
$GC,6625,-0.46,-155.7,757.1,-7.9,230,6629,0.00,1.55,0.00,0.000,4,0.000,0.056,2523,3564,3518
$GC,6676,-0.46,-155.7,761.0,-6.7,231,6679,0.00,1.42,0.00,0.000,6,0.000,0.028,2523,2578,3516
$GC,6971,-0.46,-155.7,782.9,-7.4,238,6974,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1475,3515
$GC,7034,-0.46,-155.7,787.9,-7.2,239,7038,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2562,3515
$GC,7312,-0.46,-155.7,807.7,-7.2,246,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2562,3514
$GC,7555,-0.46,-155.7,825.9,-7.5,252,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2562,3513
$GC,7799,-0.46,-155.7,844.0,-7.4,258,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2562,3511
$GC,8043,-0.46,-155.7,862.9,-7.8,264,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2563,3511
$GC,8286,-0.46,-155.7,882.1,-7.9,270,8290,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3564,3510
$GC,8328,-0.46,-155.7,885.7,-8.0,270,8337,0.00,1.45,0.00,0.000,6,0.000,0.029,2523,2564,3511
$STATE,8536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8536,begin apogee
$GC,8548,-0.18,0.0,902.2,7.9,276,8683,0.35,0.00,132.23,1.269,6,0.094,0.000,2645,2232,2890
$STATE,8684,end apogee,CONTROL_FINISHED_OK
$STATE,8684,begin climb
$GC,8689,0.46,155.7,907.6,0.0,279,8844,0.52,1.77,144.18,1.208,4,0.030,0.045,2878,3296,2254
$GC,8946,0.46,155.7,875.3,20.4,284,8954,0.10,1.67,0.00,0.000,6,0.179,0.027,2856,2225,2246
$GC,9201,0.46,155.7,830.0,17.7,291,9205,0.00,1.60,0.00,0.000,4,0.000,0.031,2860,1136,2243
$GC,9233,0.46,155.7,824.3,17.9,291,9236,0.00,1.70,0.00,0.000,6,0.000,0.042,2860,2225,2242
$GC,9499,0.46,155.7,778.7,17.1,298,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2225,2241
$GC,9744,0.46,155.7,737.7,16.5,304,9748,0.00,1.65,0.00,0.000,4,0.000,0.050,2860,3295,2240
$GC,9794,0.46,155.7,728.3,18.6,305,9798,0.00,1.62,0.00,0.000,6,0.000,0.027,2867,2199,2240
$GC,10088,0.46,155.7,676.4,17.9,312,10092,0.00,1.52,0.00,0.000,4,0.000,0.031,2873,1160,2239
$GC,10129,0.46,155.7,668.5,17.8,312,10138,0.00,1.65,0.00,0.000,6,0.000,0.043,2873,2215,2238
$GC,10386,0.46,155.7,623.4,17.8,319,10389,0.00,1.65,0.00,0.000,4,0.000,0.050,2873,3293,2238
$GC,10505,0.46,155.7,599.0,19.9,321,10509,0.08,1.55,0.00,0.000,6,0.145,0.028,2848,2247,2238
$GC,10771,0.46,155.7,555.0,16.5,328,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2241,2238
$GC,11016,0.46,155.7,515.3,16.0,334,11020,0.00,1.58,0.00,0.000,4,0.000,0.029,2854,1163,2238
$GC,11135,0.46,155.7,497.8,13.1,336,11138,0.00,1.67,0.00,0.000,6,0.000,0.043,2854,2259,2236
$GC,11402,0.46,155.7,459.4,14.6,343,11405,0.00,1.58,0.00,0.000,4,0.000,0.048,2854,3278,2237
$GC,11481,0.46,155.7,446.5,15.5,344,11485,0.00,1.48,0.00,0.000,6,0.000,0.028,2861,2296,2236
$GC,11742,0.46,155.7,409.2,14.7,351,11745,0.00,1.62,0.00,0.000,4,0.000,0.031,2860,1166,2236
$GC,11823,0.46,155.7,398.6,11.4,352,11826,0.00,1.73,0.00,0.000,6,0.000,0.043,2860,2296,2236
$GC,12083,0.46,155.7,365.7,12.6,359,12087,0.00,1.52,0.00,0.000,4,0.000,0.050,2860,3279,2235
$GC,12112,0.46,155.7,361.3,13.4,359,12116,0.00,1.50,0.00,0.000,6,0.000,0.027,2868,2262,2236
$GC,12379,0.46,155.7,326.3,13.4,366,12382,0.00,1.60,0.00,0.000,4,0.000,0.029,2873,1163,2236
$GC,12465,0.46,155.7,314.0,13.2,367,12474,0.00,1.70,0.00,0.000,6,0.000,0.042,2873,2261,2236
$GC,12719,0.46,155.7,279.1,14.2,374,12723,0.00,1.58,0.00,0.000,4,0.000,0.048,2872,3281,2235
$GC,12830,0.46,155.7,262.7,14.5,376,12835,0.08,1.55,0.00,0.000,6,0.138,0.026,2847,2228,2236
$GC,13107,0.48,193.5,236.7,8.6,383,13144,0.00,0.00,29.92,0.798,6,0.000,0.000,2847,2220,2099
$GC,13391,0.48,194.4,208.4,10.0,390,13395,0.00,1.55,0.00,0.000,4,0.000,0.028,2847,1167,2095
$GC,13422,0.48,200.9,204.9,9.8,390,13432,0.00,1.67,6.93,0.665,6,0.000,0.040,2847,2244,2071
$GC,13695,0.48,200.9,175.9,10.8,411,13698,0.00,1.60,0.00,0.000,4,0.000,0.045,2847,3305,2070
$GC,13747,0.48,200.9,169.7,12.7,415,13751,0.00,1.58,0.00,0.000,6,0.000,0.025,2847,2245,2069
$GC,14023,0.49,224.0,141.7,9.1,440,14049,0.00,1.55,20.25,0.682,4,0.000,0.026,2847,1156,1978
$GC,14123,0.50,253.2,132.0,8.9,448,14154,0.00,1.65,25.80,0.668,6,0.000,0.037,2847,2218,1855
$GC,14421,0.52,290.3,105.6,8.6,475,14461,0.00,1.67,30.65,0.643,4,0.000,0.042,2847,3285,1705
$GC,14524,0.53,321.9,96.0,8.8,483,14555,0.00,1.60,26.38,0.627,6,0.000,0.022,2847,2186,1576
$GC,14825,0.56,408.5,73.1,6.7,510,14900,0.00,0.00,68.90,0.608,6,0.000,0.000,2847,2186,1222
$GC,15158,0.56,408.5,49.6,10.5,540,15161,0.00,1.48,0.00,0.000,4,0.000,0.024,2847,1164,1218
$GC,15445,0.56,408.5,16.9,11.3,571,15454,0.00,1.65,0.00,0.000,6,0.000,0.031,2847,2255,1217
$STATE,15572,end climb,SURFACE_DEPTH_REACHED
$STATE,15572,begin surface coast
$FINISH,0.5,1.010045
$STATE,15615,end surface coast,CONTROL_FINISHED_OK
$STATE,15615,begin surface
$SM_CCo,15700,0.00,0.000,0,0,1216,410.63
$SM_GC,1.28,7.10,0.00,0.00,0.023,0.000,0.000,28,2558,1216,-8.24,1.75,410.63
$IRIDIUM_FIX,2234.68,-15745.45,020103,191910
$TT8_MAMPS,0.023777
$HUMID,2213
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.60
$XPDR_PINGS,4
$24V_AH,24.0,20.642
$10V_AH,10.7,21.638
$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,17.750,98.825,485.225,0.000,0.000,50.912,71.161,515.480,1.000,0.000,0.000,61.986,1272.108,10613.085,477.628,3033.145,1254.757,33.381,1432.179,0.000,3008.874,0.000,0.545,0.000
$DEVICE_MAMPS,205.556,67.496,1269.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,406.411,1963.453,2031.505,287.808,1305.793,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50997,597
$CAP_FILE_SIZE,124848,0
$CFSIZE,260165632,250646528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,091013,002035,2244.414,-15742.545,46,1.2,53,10.1