version: 66.04
glider: 512
mission: 4
dive: 146
start: 10 13 113 10 31 38
data:
$ID,512
$MISSION,4
$DIVE,146
$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,130
$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,-109433.26
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2697
$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,88
$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
$GPS1,101235,2304.067,-15736.414,40,0.9,45,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-83.9
$GPS2,103019,2303.987,-15736.484,14,1.0,14,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.225,-0.175
$KALMAN_X,54696.0,378.7,210.7,-15049.6,330.1
$KALMAN_Y,31418.2,61.9,-102.5,5477.1,-52.7
$MHEAD_RNG_PITCHd_Wd,222.0,66603,-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,-0.45,-126.5,0.0,0.0,0,85,0.00,0.00,-65.72,0.000,2,0.000,0.000,11,2528,2546
$GC,91,-0.45,-126.5,2.1,-1.5,8,128,9.30,1.55,-23.05,0.000,4,0.196,0.041,2540,1464,3407
$GC,331,-0.45,-126.5,50.4,-21.8,37,335,0.00,1.55,0.00,0.000,6,0.000,0.038,2534,2476,3407
$GC,602,-0.45,-126.5,108.8,-17.4,62,606,0.00,1.65,0.00,0.000,4,0.000,0.044,2526,3580,3408
$GC,643,-0.45,-126.5,115.8,-17.6,65,646,0.00,1.52,0.00,0.000,6,0.000,0.018,2530,2506,3408
$GC,914,-0.45,-126.5,161.8,-17.7,90,918,0.00,1.45,0.00,0.000,4,0.000,0.019,2530,1447,3408
$GC,1008,-0.45,-126.5,175.5,-13.1,98,1012,0.00,1.58,0.00,0.000,6,0.000,0.037,2524,2486,3408
$GC,1287,-0.45,-126.5,219.4,-16.0,115,1290,0.00,1.62,0.00,0.000,4,0.000,0.048,2520,3576,3408
$GC,1411,-0.45,-126.5,237.6,-13.0,117,1415,0.00,1.52,0.00,0.000,6,0.000,0.020,2520,2488,3408
$GC,1672,-0.45,-126.5,272.2,-13.1,124,1676,0.10,1.40,0.00,0.000,4,0.129,0.019,2547,1461,3407
$GC,1758,-0.45,-126.5,282.2,-9.2,125,1766,0.00,1.55,0.00,0.000,6,0.000,0.038,2541,2485,3407
$GC,2013,-0.45,-126.5,309.3,-10.7,132,2016,0.00,1.60,0.00,0.000,4,0.000,0.046,2533,3563,3406
$GC,2110,-0.45,-126.5,320.0,-10.1,134,2114,0.00,1.48,0.00,0.000,6,0.000,0.020,2534,2515,3405
$GC,2399,-0.45,-126.5,351.5,-11.2,141,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2508,3403
$GC,2643,-0.45,-126.5,378.3,-10.8,147,2646,0.00,1.60,0.00,0.000,4,0.000,0.045,2526,3569,3401
$GC,2684,-0.45,-126.5,383.2,-10.5,147,2693,0.00,1.48,0.00,0.000,6,0.000,0.020,2526,2515,3401
$GC,2940,-0.45,-126.5,410.0,-10.5,154,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2515,3399
$GC,3184,-0.45,-126.5,434.2,-9.8,160,3186,0.00,0.00,-0.08,0.000,6,0.000,0.000,2526,2515,3421
$GC,3428,-0.45,-126.5,458.8,-10.3,166,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2514,3419
$GC,3671,-0.45,-126.5,485.1,-10.9,172,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2514,3417
$GC,3915,-0.45,-126.5,511.3,-10.7,178,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2514,3414
$GC,4159,-0.45,-126.5,536.3,-10.3,184,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2514,3413
$GC,4403,-0.45,-126.5,560.8,-10.0,190,4406,0.00,1.60,0.00,0.000,4,0.000,0.051,2524,3557,3410
$GC,4445,-0.45,-126.5,565.6,-10.1,190,4453,0.00,1.45,0.00,0.000,6,0.000,0.025,2523,2535,3410
$GC,4700,-0.45,-126.5,591.5,-10.3,197,4703,0.00,1.50,0.00,0.000,4,0.000,0.023,2524,1467,3409
$GC,4752,-0.45,-126.5,596.8,-10.0,198,4755,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2539,3408
$GC,5047,-0.45,-126.5,624.7,-9.2,205,5050,0.00,1.58,0.00,0.000,4,0.000,0.053,2523,3558,3406
$GC,5099,-0.45,-126.5,629.7,-8.3,206,5103,0.00,1.45,0.00,0.000,6,0.000,0.025,2523,2544,3405
$GC,5387,-0.45,-126.5,653.2,-8.3,213,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3403
$GC,5631,-0.45,-126.5,672.6,-8.0,219,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2537,3401
$GC,5875,-0.45,-126.5,692.7,-8.2,225,5878,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1462,3400
$GC,5916,-0.45,-126.5,696.4,-8.1,225,5925,0.00,1.65,0.00,0.000,6,0.000,0.046,2523,2526,3400
$GC,6173,-0.45,-126.5,716.9,-8.2,232,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2526,3399
$GC,6417,-0.45,-126.5,735.2,-7.4,238,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2527,3398
$GC,6661,-0.45,-126.5,752.8,-7.2,244,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2527,3396
$GC,6905,-0.45,-126.5,770.9,-7.4,250,6908,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3571,3395
$GC,6955,-0.45,-126.5,774.7,-7.3,251,6958,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2539,3394
$GC,7249,-0.45,-126.5,797.0,-7.6,258,7252,0.00,1.60,0.00,0.000,4,0.000,0.055,2523,3561,3393
$GC,7281,-0.45,-126.5,799.7,-8.1,258,7284,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2547,3393
$GC,7548,-0.45,-126.5,820.6,-8.1,265,7551,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1454,3392
$GC,7598,-0.45,-126.5,825.0,-8.4,266,7602,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2561,3391
$GC,7892,-0.45,-126.5,847.6,-7.6,273,7896,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3563,3390
$GC,7944,-0.45,-126.5,851.1,-6.0,274,7948,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2536,3390
$GC,8238,-0.45,-126.5,871.4,-6.6,281,8242,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1465,3389
$GC,8301,-0.45,-126.5,876.2,-7.4,282,8305,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2538,3389
$GC,8580,-0.45,-126.5,893.9,-6.5,289,8583,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3573,3388
$GC,8617,-0.45,-126.5,896.5,-6.6,289,8621,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2544,3388
$STATE,8711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8711,begin apogee
$GC,8723,-0.18,0.0,902.3,6.1,292,8834,0.35,0.00,108.28,1.267,6,0.096,0.000,2642,2212,2890
$STATE,8835,end apogee,CONTROL_FINISHED_OK
$STATE,8835,begin climb
$GC,8840,0.45,126.5,904.7,0.0,295,8995,0.55,0.00,125.80,1.165,6,0.051,0.000,2878,2212,2374
$GC,9241,0.45,126.5,845.2,19.7,305,9243,0.15,0.00,0.00,0.000,6,0.185,0.000,2843,2212,2365
$GC,9485,0.45,126.5,805.6,15.8,311,9488,0.00,1.70,0.00,0.000,4,0.000,0.048,2843,3292,2362
$GC,9537,0.45,126.5,796.5,17.5,312,9541,0.00,1.60,0.00,0.000,6,0.000,0.027,2847,2208,2362
$GC,9826,0.45,126.5,751.4,15.8,319,9830,0.00,1.70,0.00,0.000,4,0.000,0.048,2846,3292,2360
$GC,9889,0.45,126.5,739.9,17.0,320,9893,0.00,1.60,0.00,0.000,6,0.000,0.026,2855,2220,2360
$GC,10166,0.45,126.5,695.0,16.2,327,10170,0.00,1.55,0.00,0.000,4,0.000,0.029,2857,1160,2359
$GC,10217,0.45,126.5,687.4,14.6,328,10221,0.00,1.65,0.00,0.000,6,0.000,0.042,2857,2234,2358
$GC,10511,0.45,126.5,642.5,15.1,335,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2235,2358
$GC,10754,0.45,126.5,606.2,14.9,341,10758,0.00,1.62,0.00,0.000,4,0.000,0.050,2857,3278,2357
$GC,10851,0.45,126.5,591.3,16.3,343,10854,0.00,1.58,0.00,0.000,6,0.000,0.027,2864,2217,2357
$GC,11144,0.45,126.5,548.5,14.5,350,11148,0.00,1.70,0.00,0.000,4,0.000,0.048,2863,3284,2357
$GC,11202,0.45,126.5,539.2,15.4,351,11205,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2237,2357
$GC,11486,0.45,126.5,498.6,14.4,358,11489,0.00,1.62,0.00,0.000,4,0.000,0.046,2863,3284,2356
$GC,11510,0.45,126.5,494.4,14.6,358,11514,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2237,2356
$GC,11781,0.45,126.5,458.3,13.2,365,11785,0.00,1.65,0.00,0.000,4,0.000,0.048,2870,3275,2356
$GC,11861,0.45,126.5,446.9,13.3,366,11865,0.08,1.50,0.00,0.000,6,0.196,0.025,2845,2258,2356
$GC,12122,0.45,126.5,416.9,11.6,373,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2251,2356
$GC,12366,0.45,126.5,387.4,12.0,379,12367,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2251,2356
$GC,12609,0.45,126.5,360.2,11.0,385,12610,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2251,2355
$GC,12853,0.46,138.6,336.3,9.5,391,12867,0.00,1.62,8.77,0.811,4,0.000,0.046,2846,3281,2324
$GC,12949,0.46,138.6,325.0,10.7,393,12952,0.00,1.50,0.00,0.000,6,0.000,0.027,2847,2273,2323
$GC,13238,0.46,138.6,294.8,10.3,400,13239,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2267,2322
$GC,13482,0.47,172.8,272.0,8.7,406,13516,0.00,1.60,30.27,0.826,4,0.000,0.029,2847,1172,2183
$GC,13573,0.47,180.6,263.3,9.7,408,13586,0.00,1.65,7.85,0.714,6,0.000,0.039,2847,2220,2152
$GC,13866,0.47,180.6,233.0,10.4,415,13869,0.00,1.62,0.00,0.000,4,0.000,0.047,2847,3284,2148
$GC,13941,0.47,180.6,223.4,11.7,416,13944,0.00,1.58,0.00,0.000,6,0.000,0.025,2847,2231,2147
$GC,14198,0.47,180.6,196.4,10.7,425,14201,0.00,1.65,0.00,0.000,4,0.000,0.044,2847,3298,2147
$GC,14260,0.47,180.6,189.5,10.4,430,14264,0.00,1.55,0.00,0.000,6,0.000,0.024,2847,2248,2147
$GC,14536,0.49,218.8,163.5,8.6,455,14572,0.00,1.62,32.00,0.715,4,0.000,0.027,2847,1161,1997
$GC,14603,0.50,258.1,156.9,8.5,460,14641,0.00,1.70,33.30,0.697,6,0.000,0.038,2847,2250,1836
$GC,14909,0.50,260.7,126.0,9.9,488,14917,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2250,1831
$GC,15176,0.52,303.8,99.2,8.4,513,15219,0.00,0.00,36.97,0.641,6,0.000,0.000,2847,2250,1651
$GC,15482,0.56,401.6,75.0,6.3,541,15567,0.00,0.00,77.68,0.615,6,0.000,0.000,2847,2250,1251
$GC,15829,0.56,402.2,52.0,10.0,573,15838,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2251,1247
$GC,16108,0.56,402.2,22.7,10.8,603,16117,0.00,1.60,0.00,0.000,4,0.000,0.023,2847,1153,1246
$STATE,16302,end climb,SURFACE_DEPTH_REACHED
$STATE,16302,begin surface coast
$FINISH,0.5,0.997233
$STATE,16334,end surface coast,CONTROL_FINISHED_OK
$STATE,16334,begin surface
$SM_CCo,16421,0.00,0.000,0,0,1244,403.76
$SM_GC,1.29,7.07,0.00,0.00,0.023,0.000,0.000,29,2510,1244,-8.23,0.28,403.76
$IRIDIUM_FIX,2253.38,-15734.52,070103,101025
$TT8_MAMPS,0.023777
$HUMID,2189
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.60
$XPDR_PINGS,5
$24V_AH,24.0,24.493
$10V_AH,10.7,26.487
$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,17.600,95.475,460.925,0.000,0.000,57.580,73.464,670.573,1.250,0.000,0.000,14.936,1341.045,11044.799,487.608,3198.147,1427.820,33.379,1473.930,0.000,3212.036,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,58.292,1267.084,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,434.220,2101.865,2184.144,1030.529,1463.623,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54057,638
$CAP_FILE_SIZE,127514,0
$CFSIZE,260165632,249065472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,131013,150700,2302.932,-15737.617,58,1.3,58,10.1