version: 66.04
glider: 512
mission: 4
dive: 147
start: 10 13 113 15 17 56
data:
$ID,512
$MISSION,4
$DIVE,147
$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,-109449.8
$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,57
$R_STBD_OVSHOOT,32
$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
$GPS1,150700,2302.932,-15737.617,58,1.3,58,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-83.2
$GPS2,151637,2302.953,-15737.636,15,1.2,15,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,-0.118
$KALMAN_X,56672.6,530.0,164.9,-19094.2,763.0
$KALMAN_Y,31744.5,317.2,553.2,2324.9,-1229.8
$MHEAD_RNG_PITCHd_Wd,235.5,63864,-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,18,-0.45,-126.5,0.0,0.0,0,80,0.00,0.00,-59.88,0.000,2,0.000,0.000,12,2515,2679
$GC,85,-0.45,-126.5,2.3,-2.0,7,123,9.43,1.55,-17.55,0.000,4,0.199,0.041,2548,1434,3408
$GC,279,-0.45,-126.5,42.0,-21.0,31,282,0.00,1.60,0.00,0.000,6,0.000,0.038,2541,2499,3408
$GC,550,-0.45,-126.5,103.9,-20.4,56,554,0.00,1.62,0.00,0.000,4,0.000,0.044,2533,3568,3409
$GC,612,-0.45,-126.5,115.2,-16.1,61,616,0.00,1.52,0.00,0.000,6,0.000,0.018,2534,2486,3409
$GC,884,-0.45,-126.5,161.4,-16.8,86,887,0.00,1.40,0.00,0.000,4,0.000,0.020,2534,1458,3410
$GC,923,-0.45,-126.5,167.6,-15.5,89,926,0.00,1.60,0.00,0.000,6,0.000,0.036,2527,2517,3410
$GC,1211,-0.45,-126.5,213.6,-15.7,110,1215,0.00,1.58,0.00,0.000,4,0.000,0.046,2523,3556,3410
$GC,1332,-0.45,-126.5,231.9,-13.1,112,1336,0.00,1.45,0.00,0.000,6,0.000,0.019,2523,2517,3410
$GC,1598,-0.45,-126.5,267.7,-13.5,119,1601,0.00,1.45,0.00,0.000,4,0.000,0.020,2523,1458,3410
$GC,1672,-0.45,-126.5,277.1,-11.2,120,1675,0.00,1.60,0.00,0.000,6,0.000,0.039,2523,2530,3410
$GC,1939,-0.45,-126.5,306.6,-11.3,127,1942,0.00,1.55,0.00,0.000,4,0.000,0.045,2515,3559,3409
$GC,1963,-0.45,-126.5,309.9,-11.5,127,1967,0.08,1.48,0.00,0.000,6,0.107,0.020,2544,2495,3409
$GC,2234,-0.45,-126.5,334.5,-9.1,134,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2489,3408
$GC,2477,-0.45,-126.5,356.9,-9.2,140,2481,0.00,1.65,0.00,0.000,4,0.000,0.045,2538,3562,3406
$GC,2519,-0.45,-126.5,361.2,-9.2,140,2527,0.00,1.45,0.00,0.000,6,0.000,0.021,2538,2523,3406
$GC,2774,-0.45,-126.5,384.9,-9.6,147,2778,0.00,1.48,0.00,0.000,4,0.000,0.021,2538,1459,3404
$GC,2844,-0.45,-126.5,392.0,-9.8,148,2848,0.00,1.60,0.00,0.000,6,0.000,0.040,2537,2528,3403
$GC,3116,-0.45,-126.5,418.3,-9.8,155,3120,0.00,1.58,0.00,0.000,4,0.000,0.048,2529,3562,3401
$GC,3190,-0.45,-126.5,425.7,-9.4,156,3194,0.00,1.45,0.00,0.000,6,0.000,0.022,2529,2536,3400
$GC,3457,-0.45,-126.5,450.0,-9.3,163,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2528,3399
$GC,3702,-0.45,-126.5,474.7,-10.2,169,3706,0.00,1.60,-0.08,0.000,4,0.000,0.066,2523,3572,3421
$GC,3772,-0.45,-126.5,482.4,-10.3,170,3775,0.00,1.48,0.00,0.000,6,0.000,0.022,2523,2532,3421
$GC,4044,-0.45,-126.5,508.9,-9.6,177,4047,0.00,1.50,0.00,0.000,4,0.000,0.023,2523,1454,3419
$GC,4119,-0.45,-126.5,516.2,-8.9,178,4123,0.00,1.60,0.00,0.000,6,0.000,0.042,2523,2519,3418
$GC,4385,-0.45,-126.5,540.7,-9.4,185,4389,0.00,1.60,0.00,0.000,4,0.000,0.053,2523,3556,3417
$GC,4482,-0.45,-126.5,549.0,-7.9,187,4485,0.00,1.45,0.00,0.000,6,0.000,0.025,2523,2541,3416
$GC,4776,-0.45,-126.5,574.2,-8.5,194,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2533,3413
$GC,5019,-0.45,-126.5,592.9,-7.6,200,5023,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1452,3412
$GC,5071,-0.45,-126.5,596.7,-7.1,201,5075,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2537,3412
$GC,5366,-0.45,-126.5,618.9,-7.7,208,5370,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3588,3410
$GC,5424,-0.45,-126.5,624.5,-9.6,209,5428,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2546,3410
$GC,5708,-0.45,-126.5,649.6,-9.1,216,5711,0.00,1.52,0.00,0.000,4,0.000,0.025,2524,1462,3409
$GC,5828,-0.45,-126.5,660.7,-8.4,218,5832,0.00,1.62,0.00,0.000,6,0.000,0.045,2523,2530,3407
$GC,6094,-0.45,-126.5,682.7,-8.3,225,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2530,3406
$GC,6338,-0.45,-126.5,702.2,-8.1,231,6341,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1454,3405
$GC,6368,-0.45,-126.5,704.9,-7.7,231,6372,0.00,1.65,0.00,0.000,6,0.000,0.046,2523,2517,3405
$GC,6635,-0.45,-126.5,724.5,-7.4,238,6639,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3561,3402
$GC,6693,-0.45,-126.5,729.1,-6.7,239,6697,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2527,3402
$GC,6976,-0.45,-126.5,749.1,-7.3,246,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2519,3401
$GC,7220,-0.45,-126.5,768.4,-8.1,252,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2518,3400
$GC,7463,-0.45,-126.5,789.2,-8.6,258,7467,0.00,1.62,0.00,0.000,4,0.000,0.056,2523,3561,3399
$GC,7528,-0.45,-126.5,794.8,-8.0,259,7531,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2529,3399
$GC,7805,-0.45,-126.5,816.9,-8.1,266,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3398
$GC,8049,-0.45,-126.5,836.1,-8.0,272,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3397
$GC,8292,-0.45,-126.5,855.4,-7.9,278,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3396
$GC,8536,-0.45,-126.5,874.8,-7.9,284,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3395
$GC,8780,-0.45,-126.5,892.9,-7.3,290,8784,0.00,1.52,0.00,0.000,4,0.000,0.028,2523,1469,3394
$GC,8816,-0.45,-126.5,895.8,-7.8,290,8819,0.00,1.62,0.00,0.000,6,0.000,0.048,2523,2526,3394
$STATE,8908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8908,begin apogee
$GC,8920,-0.18,0.0,902.5,7.1,293,9032,0.35,0.00,109.82,1.266,6,0.097,0.000,2642,2225,2890
$STATE,9033,end apogee,CONTROL_FINISHED_OK
$STATE,9033,begin climb
$GC,9038,0.45,126.5,905.5,0.0,296,9170,0.52,1.70,120.40,1.206,4,0.030,0.028,2883,1167,2374
$GC,9201,0.45,126.5,891.4,18.3,299,9205,0.12,1.73,0.00,0.000,6,0.168,0.041,2847,2235,2368
$GC,9466,0.45,126.5,848.1,16.3,306,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2235,2363
$GC,9710,0.45,126.5,809.3,15.8,312,9713,0.00,1.62,0.00,0.000,4,0.000,0.048,2848,3293,2360
$GC,9796,0.45,126.5,794.1,16.7,313,9805,0.00,1.60,0.00,0.000,6,0.000,0.026,2854,2236,2360
$GC,10051,0.45,126.5,753.9,15.9,320,10055,0.00,1.67,0.00,0.000,4,0.000,0.048,2850,3281,2359
$GC,10101,0.45,126.5,745.4,17.7,321,10105,0.00,1.58,0.00,0.000,6,0.000,0.027,2856,2234,2358
$GC,10396,0.45,126.5,698.0,16.0,328,10400,0.00,1.65,0.00,0.000,4,0.000,0.048,2850,3289,2357
$GC,10420,0.45,126.5,693.3,15.8,328,10424,0.00,1.58,0.00,0.000,6,0.000,0.027,2856,2233,2357
$GC,10691,0.45,126.5,653.1,14.9,335,10694,0.00,1.55,0.00,0.000,4,0.000,0.029,2864,1166,2357
$GC,10759,0.45,126.5,643.0,13.7,336,10763,0.00,1.62,0.00,0.000,6,0.000,0.042,2863,2229,2356
$GC,11032,0.45,126.5,601.5,15.5,343,11035,0.00,1.62,0.00,0.000,4,0.000,0.050,2863,3292,2356
$GC,11082,0.45,126.5,593.4,16.1,344,11085,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2235,2355
$GC,11376,0.45,126.5,548.4,15.1,351,11379,0.00,1.55,0.00,0.000,4,0.000,0.030,2877,1164,2355
$GC,11406,0.45,126.5,544.0,13.3,351,11410,0.10,1.67,0.00,0.000,6,0.149,0.043,2845,2240,2354
$GC,11672,0.45,126.5,512.8,11.3,358,11675,0.00,1.62,0.00,0.000,4,0.000,0.049,2845,3308,2354
$GC,11779,0.45,126.5,498.7,13.4,360,11783,0.00,1.58,0.00,0.000,6,0.000,0.028,2847,2258,2354
$GC,12058,0.45,126.5,465.4,11.9,367,12061,0.00,1.62,0.00,0.000,4,0.000,0.050,2847,3296,2354
$GC,12082,0.45,126.5,461.9,12.1,367,12086,0.00,1.55,0.00,0.000,6,0.000,0.025,2854,2237,2353
$GC,12353,0.45,126.5,428.7,11.9,374,12356,0.00,1.62,0.00,0.000,4,0.000,0.048,2853,3281,2354
$GC,12404,0.45,126.5,422.7,11.8,375,12408,0.00,1.50,0.00,0.000,6,0.000,0.027,2859,2267,2354
$GC,12699,0.45,126.5,387.3,12.1,382,12701,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2261,2353
$GC,12944,0.45,126.5,357.6,12.1,388,12947,0.00,1.60,0.00,0.000,4,0.000,0.028,2867,1156,2353
$GC,12974,0.45,126.5,353.6,11.6,388,12977,0.00,1.70,0.00,0.000,6,0.000,0.041,2866,2252,2353
$GC,13239,0.45,126.5,324.0,11.3,395,13243,0.00,1.60,0.00,0.000,4,0.000,0.049,2863,3289,2353
$GC,13355,0.45,126.5,309.6,11.3,397,13359,0.00,1.48,0.00,0.000,6,0.000,0.025,2869,2283,2353
$GC,13627,0.45,126.5,278.3,11.4,404,13631,0.00,1.60,0.00,0.000,4,0.000,0.028,2877,1165,2353
$GC,13707,0.47,177.4,270.3,8.1,405,13754,0.00,1.67,40.55,0.834,6,0.000,0.041,2877,2273,2165
$GC,14009,0.47,177.4,232.6,13.8,413,14013,0.00,1.65,0.00,0.000,4,0.000,0.027,2884,1158,2160
$GC,14089,0.47,177.4,221.2,13.0,414,14093,0.12,1.73,0.00,0.000,6,0.153,0.040,2851,2283,2158
$GC,14353,0.48,206.9,195.0,8.9,424,14383,0.00,1.58,24.80,0.749,4,0.000,0.044,2851,3282,2046
$GC,14429,0.48,206.9,186.7,12.5,430,14432,0.00,1.52,0.00,0.000,6,0.000,0.024,2856,2270,2043
$GC,14700,0.48,206.9,155.8,11.3,455,14704,0.00,1.60,0.00,0.000,4,0.000,0.027,2859,1143,2042
$GC,14751,0.48,211.4,150.5,9.8,459,14766,0.00,1.67,4.55,0.530,6,0.000,0.038,2859,2242,2029
$GC,15025,0.48,211.4,121.4,10.5,484,15029,0.00,1.60,0.00,0.000,4,0.000,0.044,2858,3282,2028
$GC,15089,0.48,211.4,113.6,11.7,489,15093,0.00,1.55,0.00,0.000,6,0.000,0.023,2860,2231,2028
$GC,15364,0.52,294.0,89.4,6.9,514,15435,0.00,0.00,68.10,0.640,6,0.000,0.000,2859,2225,1690
$GC,15696,0.56,410.4,64.7,5.6,545,15794,0.00,1.67,91.40,0.605,4,0.000,0.041,2860,3284,1216
$GC,15824,0.61,530.5,57.3,5.5,554,15925,0.00,1.55,94.68,0.585,6,0.000,0.020,2859,2233,726
$GC,16204,0.61,530.5,17.0,10.4,595,16213,0.10,1.65,0.00,0.000,4,0.157,0.043,2888,3275,721
$STATE,16332,end climb,SURFACE_DEPTH_REACHED
$STATE,16332,begin surface coast
$FINISH,1.3,1.022675
$STATE,16350,end surface coast,CONTROL_FINISHED_OK
$STATE,16350,begin surface
$SM_CCo,16436,0.00,0.000,0,0,720,532.29
$SM_GC,1.28,7.22,0.00,0.00,0.021,0.000,0.000,36,2474,720,-8.22,-0.74,532.29
$IRIDIUM_FIX,2253.38,-15734.52,070103,101015
$TT8_MAMPS,0.02301
$HUMID,2211
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.60
$XPDR_PINGS,4
$24V_AH,24.0,24.654
$10V_AH,10.6,26.693
$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,18.050,120.025,554.300,0.000,0.000,31.160,35.603,317.485,1.000,0.000,0.000,15.913,1343.026,10917.056,488.043,3251.077,1028.771,33.373,1581.345,0.000,3258.155,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,65.962,1265.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,419.704,2032.682,2114.486,643.022,1372.831,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54066,617
$CAP_FILE_SIZE,131990,0
$CFSIZE,260165632,248995840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131013,195306,2301.881,-15739.215,31,1.0,31,10.1