version: 66.04
glider: 512
mission: 4
dive: 130
start: 10 10 113 7 25 44
data:
$ID,512
$MISSION,4
$DIVE,130
$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,-109162.78
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2705
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,57
$R_STBD_OVSHOOT,47
$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
$GPS1,071224,2237.964,-15738.363,44,1.6,44,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-80.7
$GPS2,072431,2237.951,-15738.373,9,1.7,15,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.162,-0.222
$KALMAN_X,52083.5,-316.1,-305.2,-14430.7,1303.3
$KALMAN_Y,47859.4,-651.9,-372.2,-58171.7,1633.0
$MHEAD_RNG_PITCHd_Wd,206.0,1529,-16.3,-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,18,-0.47,-155.7,0.0,0.0,0,86,0.00,0.00,-65.62,0.000,2,0.000,0.000,10,2526,2851
$GC,91,-0.47,-155.7,2.3,-2.2,8,127,9.23,1.58,-15.05,0.000,4,0.193,0.041,2547,1436,3527
$GC,293,-0.47,-155.7,46.2,-18.6,31,296,0.00,1.60,0.00,0.000,6,0.000,0.039,2541,2497,3528
$GC,564,-0.47,-155.7,106.8,-20.9,56,568,0.00,1.62,0.00,0.000,4,0.000,0.047,2533,3560,3529
$GC,663,-0.47,-155.7,124.2,-15.7,64,672,0.00,1.52,0.00,0.000,6,0.000,0.020,2533,2496,3529
$GC,928,-0.47,-155.7,168.2,-16.8,89,932,0.00,1.65,0.00,0.000,4,0.000,0.043,2525,3564,3529
$GC,977,-0.47,-155.7,176.4,-16.1,93,981,0.00,1.48,0.00,0.000,6,0.000,0.019,2525,2517,3529
$GC,1254,-0.47,-155.7,221.2,-16.7,110,1257,0.00,1.45,0.00,0.000,4,0.000,0.019,2525,1453,3529
$GC,1289,-0.47,-155.7,226.9,-14.3,110,1292,0.00,1.62,0.00,0.000,6,0.000,0.038,2524,2541,3530
$GC,1549,-0.47,-155.7,262.5,-13.8,117,1553,0.00,1.55,0.00,0.000,4,0.000,0.048,2523,3564,3529
$GC,1608,-0.47,-155.7,270.5,-11.4,118,1611,0.00,1.40,0.00,0.000,6,0.000,0.020,2523,2565,3529
$GC,1890,-0.47,-155.7,306.0,-12.9,125,1894,0.10,1.50,0.00,0.000,4,0.130,0.019,2556,1456,3529
$GC,1940,-0.47,-155.7,311.1,-8.2,126,1944,0.00,1.70,0.00,0.000,6,0.000,0.040,2550,2570,3529
$GC,2236,-0.47,-155.7,337.0,-8.9,133,2239,0.00,1.58,0.00,0.000,4,0.000,0.021,2550,1455,3527
$GC,2293,-0.47,-155.7,342.8,-9.5,134,2297,0.00,1.70,0.00,0.000,6,0.000,0.043,2549,2565,3527
$GC,2576,-0.47,-155.7,370.0,-10.2,141,2579,0.00,1.52,0.00,0.000,4,0.000,0.049,2543,3564,3525
$GC,2628,-0.47,-155.7,374.6,-8.8,142,2631,0.00,1.42,0.00,0.000,6,0.000,0.021,2542,2551,3524
$GC,2922,-0.47,-155.7,402.8,-9.5,149,2926,0.00,1.52,0.00,0.000,4,0.000,0.022,2542,1453,3522
$GC,2997,-0.47,-155.7,409.8,-9.1,150,3000,0.00,1.67,0.00,0.000,6,0.000,0.042,2536,2565,3522
$GC,3264,-0.47,-155.7,434.0,-9.3,157,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2566,3519
$GC,3508,-0.47,-155.7,455.3,-8.7,163,3512,0.00,1.52,0.00,0.000,4,0.000,0.051,2529,3562,3517
$GC,3538,-0.47,-155.7,458.5,-9.3,163,3541,0.00,1.42,0.00,0.000,6,0.000,0.024,2529,2558,3517
$GC,3804,-0.47,-155.7,482.5,-9.2,170,3808,0.00,1.52,-0.08,0.000,4,0.000,0.042,2529,1451,3540
$GC,3835,-0.47,-155.7,485.6,-9.4,170,3839,0.00,1.70,0.00,0.000,6,0.000,0.043,2524,2576,3541
$GC,4101,-0.47,-155.7,509.3,-8.9,177,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2577,3540
$GC,4345,-0.47,-155.7,529.8,-8.3,183,4348,0.00,1.60,0.00,0.000,4,0.000,0.025,2524,1439,3538
$GC,4375,-0.47,-155.7,532.6,-8.5,183,4378,0.00,1.73,0.00,0.000,6,0.000,0.044,2524,2577,3537
$GC,4642,-0.47,-155.7,554.2,-8.4,190,4646,0.00,1.52,0.00,0.000,4,0.000,0.054,2524,3563,3535
$GC,4667,-0.47,-155.7,556.8,-9.0,190,4670,0.00,1.40,0.00,0.000,6,0.000,0.026,2524,2583,3534
$GC,4938,-0.47,-155.7,580.8,-9.1,197,4942,0.00,1.58,0.00,0.000,4,0.000,0.025,2524,1461,3533
$GC,5002,-0.47,-155.7,587.0,-9.0,198,5005,0.00,1.67,0.00,0.000,6,0.000,0.045,2523,2565,3532
$GC,5280,-0.47,-155.7,612.5,-9.4,205,5284,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1468,3530
$GC,5338,-0.47,-155.7,618.4,-9.3,206,5342,0.00,1.67,0.00,0.000,6,0.000,0.045,2523,2552,3530
$GC,5621,-0.47,-155.7,643.8,-9.2,213,5625,0.00,1.55,0.00,0.000,4,0.000,0.054,2523,3552,3528
$GC,5662,-0.47,-155.7,647.6,-8.0,213,5672,0.00,1.42,0.00,0.000,6,0.000,0.026,2523,2545,3528
$GC,5919,-0.47,-155.7,668.3,-8.2,220,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2546,3526
$GC,6163,-0.47,-155.7,687.4,-7.7,226,6166,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1484,3524
$GC,6199,-0.47,-155.7,690.6,-8.0,226,6203,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2576,3524
$GC,6459,-0.47,-155.7,709.2,-7.3,233,6463,0.00,1.52,0.00,0.000,4,0.000,0.056,2523,3556,3524
$GC,6512,-0.47,-155.7,713.0,-6.9,234,6515,0.00,1.38,0.00,0.000,6,0.000,0.028,2523,2607,3523
$GC,6801,-0.47,-155.7,733.5,-7.2,241,6805,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1477,3521
$GC,6851,-0.47,-155.7,737.3,-6.8,242,6855,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2584,3521
$GC,7146,-0.47,-155.7,758.0,-7.0,249,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2585,3519
$GC,7389,-0.47,-155.7,775.0,-7.0,255,7393,0.00,1.60,0.00,0.000,4,0.000,0.027,2522,1460,3519
$GC,7425,-0.47,-155.7,777.9,-7.7,255,7429,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2584,3519
$GC,7687,-0.47,-155.7,795.7,-7.1,262,7691,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1463,3517
$GC,7723,-0.47,-155.7,798.6,-7.4,262,7727,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2551,3517
$GC,7984,-0.47,-155.7,816.9,-7.3,269,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2551,3516
$GC,8227,-0.47,-155.7,835.4,-7.6,275,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2551,3514
$GC,8471,-0.47,-155.7,854.0,-7.7,281,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2551,3514
$GC,8714,-0.47,-155.7,871.5,-7.2,287,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2551,3513
$GC,8958,-0.47,-155.7,887.8,-6.5,293,8962,0.00,1.58,0.00,0.000,4,0.000,0.059,2523,3551,3512
$GC,8994,-0.47,-155.7,890.5,-6.5,293,8997,0.00,1.42,0.00,0.000,6,0.000,0.030,2523,2576,3512
$STATE,9169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9169,begin apogee
$GC,9180,-0.17,0.0,901.4,6.3,298,9318,0.38,0.00,134.65,1.264,6,0.090,0.000,2653,2237,2890
$STATE,9319,end apogee,CONTROL_FINISHED_OK
$STATE,9319,begin climb
$GC,9324,0.47,155.7,904.9,0.0,301,9493,0.52,1.80,147.48,1.190,4,0.036,0.048,2879,3284,2254
$GC,9607,0.47,155.7,863.9,22.0,307,9610,0.00,1.62,0.00,0.000,6,0.000,0.028,2885,2230,2247
$GC,9884,0.47,155.7,803.6,22.0,314,9887,0.00,1.60,0.00,0.000,4,0.000,0.030,2893,1156,2243
$GC,9958,0.47,155.7,787.7,18.8,315,9962,0.12,1.67,0.00,0.000,6,0.167,0.042,2861,2231,2242
$GC,10224,0.47,155.7,738.1,18.8,322,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2231,2241
$GC,10467,0.47,155.7,693.1,18.5,328,10471,0.00,1.62,0.00,0.000,4,0.000,0.050,2860,3288,2240
$GC,10525,0.47,155.7,681.7,18.1,329,10529,0.00,1.62,0.00,0.000,6,0.000,0.028,2866,2205,2240
$GC,10807,0.47,155.7,630.1,18.3,336,10811,0.00,1.73,0.00,0.000,4,0.000,0.050,2864,3280,2239
$GC,10859,0.47,155.7,621.3,17.8,337,10862,0.00,1.58,0.00,0.000,6,0.000,0.029,2869,2233,2239
$GC,11152,0.47,155.7,571.3,16.3,344,11156,0.00,1.58,0.00,0.000,4,0.000,0.031,2877,1150,2238
$GC,11278,0.47,155.7,551.2,15.8,346,11282,0.00,1.62,0.00,0.000,6,0.000,0.043,2877,2209,2237
$GC,11538,0.47,155.7,508.6,16.7,353,11542,0.00,1.67,0.00,0.000,4,0.000,0.049,2877,3287,2238
$GC,11567,0.47,155.7,503.0,17.2,353,11571,0.00,1.60,0.00,0.000,6,0.000,0.028,2884,2196,2237
$GC,11833,0.47,155.7,459.0,16.7,360,11837,0.00,1.70,0.00,0.000,4,0.000,0.048,2884,3286,2237
$GC,11864,0.47,155.7,452.8,19.2,360,11869,0.12,1.60,0.00,0.000,6,0.182,0.028,2861,2190,2237
$GC,12131,0.47,155.7,414.3,14.1,367,12135,0.00,1.70,0.00,0.000,4,0.000,0.047,2861,3283,2237
$GC,12161,0.47,155.7,409.3,16.2,367,12165,0.00,1.58,0.00,0.000,6,0.000,0.028,2867,2225,2237
$GC,12427,0.47,155.7,371.6,14.8,374,12430,0.00,1.55,0.00,0.000,4,0.000,0.030,2873,1162,2237
$GC,12445,0.47,155.7,368.1,15.4,374,12449,0.00,1.67,0.00,0.000,6,0.000,0.042,2873,2239,2237
$GC,12722,0.47,155.7,326.4,15.0,381,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2239,2237
$GC,12966,0.47,155.7,294.7,12.3,387,12967,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2239,2237
$GC,13210,0.47,155.7,262.8,12.7,393,13213,0.00,1.62,0.00,0.000,4,0.000,0.048,2872,3309,2237
$GC,13471,0.47,155.7,230.1,11.3,398,13474,0.00,1.60,0.00,0.000,6,0.000,0.025,2881,2198,2237
$GC,13731,0.47,155.7,203.9,10.5,405,13734,0.00,1.70,0.00,0.000,4,0.000,0.045,2876,3280,2237
$GC,13771,0.47,155.7,198.7,11.4,405,13781,0.00,1.52,0.00,0.000,6,0.000,0.025,2882,2231,2237
$GC,14037,0.47,155.7,169.4,11.3,430,14041,0.00,1.52,0.00,0.000,4,0.000,0.026,2889,1171,2237
$GC,14066,0.47,155.7,165.7,11.9,432,14076,0.08,1.62,0.00,0.000,6,0.143,0.038,2864,2239,2237
$GC,14337,0.48,170.4,140.6,9.4,457,14356,0.00,0.00,10.62,0.650,6,0.000,0.000,2865,2238,2195
$GC,14613,0.49,213.2,116.6,8.3,483,14657,0.00,1.65,37.35,0.661,4,0.000,0.041,2864,3286,2018
$GC,14703,0.50,220.5,108.3,9.7,490,14718,0.00,1.55,7.32,0.567,6,0.000,0.022,2869,2245,1990
$GC,14979,0.50,220.5,80.2,10.3,515,14983,0.00,1.55,0.00,0.000,4,0.000,0.025,2872,1167,1986
$GC,15055,0.53,299.1,74.1,6.8,521,15124,0.00,1.67,63.33,0.620,6,0.000,0.036,2872,2278,1669
$GC,15381,0.55,346.9,46.1,8.1,550,15425,0.00,0.00,38.00,0.582,6,0.000,0.000,2872,2279,1475
$GC,15702,0.58,421.4,19.9,7.0,587,15773,0.00,1.73,58.97,0.558,4,0.000,0.025,2872,1163,1170
$GC,15804,0.60,492.6,13.4,7.1,599,15866,0.00,1.73,56.20,0.545,6,0.000,0.032,2872,2271,880
$STATE,15940,end climb,SURFACE_DEPTH_REACHED
$STATE,15940,begin surface coast
$FINISH,0.4,1.011388
$STATE,15977,end surface coast,CONTROL_FINISHED_OK
$STATE,15977,begin surface
$SM_CCo,16063,0.00,0.000,0,0,875,494.27
$SM_GC,1.27,7.30,0.00,0.00,0.025,0.000,0.000,30,2541,875,-8.25,1.16,494.27
$IRIDIUM_FIX,2230.01,-15735.92,040103,070701
$TT8_MAMPS,0.023777
$HUMID,2164
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,26.60
$XPDR_PINGS,6
$24V_AH,23.9,21.986
$10V_AH,10.6,23.197
$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,17.850,118.825,553.925,0.000,0.000,58.902,78.901,343.569,1.500,0.000,0.000,19.685,1321.175,10649.392,500.558,3224.055,1109.026,33.371,1588.945,0.000,3214.927,0.000,0.545,0.000
$DEVICE_MAMPS,192.517,59.059,1264.016,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,422.569,2052.438,2118.346,1367.221,1411.821,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51156,623
$CAP_FILE_SIZE,131590,0
$CFSIZE,260165632,250138624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,101013,115454,2236.456,-15739.224,44,1.0,44,10.1