version: 66.04
glider: 512
mission: 4
dive: 159
start: 10 16 113 4 4 41
data:
$ID,512
$MISSION,4
$DIVE,159
$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,25
$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,-109670.33
$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,41
$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,52
$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
$GPS1,033029,2252.845,-15750.957,37,0.9,42,10.1
$_CALLS,4
$_XMS_NAKs,40
$_XMS_TOUTs,5
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-81.9
$GPS2,040348,2253.107,-15750.813,14,1.2,19,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.219,-0.107
$KALMAN_X,84084.2,-310.8,-77.1,-67920.9,3007.8
$KALMAN_Y,48085.0,55.5,328.9,-31755.0,1084.7
$MHEAD_RNG_PITCHd_Wd,233.9,34910,-18.9,-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,13,begin dive
$GC,18,-0.51,-126.5,0.0,0.0,0,102,0.00,0.00,-82.07,0.000,2,0.000,0.000,11,2532,2893
$GC,108,-0.51,-126.5,2.2,-1.8,10,135,9.38,1.55,-11.70,0.000,4,0.204,0.036,2526,1402,3407
$GC,303,-0.51,-126.5,49.7,-20.9,33,307,0.00,1.62,0.00,0.000,6,0.000,0.040,2520,2482,3407
$GC,574,-0.51,-126.5,111.5,-18.9,58,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2482,3408
$GC,840,-0.51,-126.5,161.7,-18.8,83,844,0.00,1.62,0.00,0.000,4,0.000,0.044,2512,3558,3408
$GC,903,-0.51,-126.5,174.1,-18.4,88,911,0.00,1.55,0.00,0.000,6,0.000,0.019,2513,2465,3408
$GC,1174,-0.51,-126.5,223.2,-18.4,105,1178,0.00,1.70,0.00,0.000,4,0.000,0.041,2506,3570,3407
$GC,1214,-0.51,-126.5,231.2,-17.9,105,1224,0.00,1.50,0.00,0.000,6,0.000,0.019,2506,2509,3407
$GC,1470,-0.51,-126.5,271.9,-16.3,112,1473,0.00,1.62,0.00,0.000,4,0.000,0.042,2500,3584,3406
$GC,1729,-0.51,-126.5,308.0,-13.9,117,1733,0.00,1.45,0.00,0.000,6,0.000,0.019,2505,2545,3405
$GC,1990,-0.51,-126.5,341.3,-12.7,124,1994,0.00,1.48,0.00,0.000,4,0.000,0.021,2513,1464,3404
$GC,2103,-0.51,-126.5,354.5,-11.2,126,2107,0.00,1.62,0.00,0.000,6,0.000,0.039,2509,2558,3403
$GC,2376,-0.51,-126.5,388.1,-12.7,133,2379,0.00,1.52,0.00,0.000,4,0.000,0.047,2501,3564,3400
$GC,2426,-0.51,-126.5,395.0,-13.4,134,2429,0.00,1.42,0.00,0.000,6,0.000,0.021,2506,2553,3400
$GC,2719,-0.51,-126.5,434.6,-13.5,141,2721,0.00,0.00,-0.08,0.000,6,0.000,0.000,2507,2544,3421
$GC,2963,-0.51,-126.5,465.2,-12.3,147,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2543,3418
$GC,3207,-0.51,-126.5,492.7,-11.2,153,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2544,3416
$GC,3451,-0.51,-126.5,520.1,-11.3,159,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2544,3413
$GC,3694,-0.51,-126.5,547.5,-11.2,165,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2543,3411
$GC,3938,-0.51,-126.5,574.6,-11.0,171,3942,0.00,1.50,0.00,0.000,4,0.000,0.025,2508,1478,3409
$GC,3968,-0.51,-126.5,578.3,-11.2,171,3972,0.00,1.62,0.00,0.000,6,0.000,0.042,2502,2537,3409
$GC,4235,-0.51,-126.5,607.7,-11.4,178,4238,0.00,1.58,0.00,0.000,4,0.000,0.051,2494,3559,3407
$GC,4342,-0.51,-126.5,620.5,-11.1,180,4346,0.08,1.42,0.00,0.000,6,0.117,0.024,2530,2563,3405
$GC,4620,-0.51,-126.5,644.5,-8.6,187,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2554,3403
$GC,4865,-0.51,-126.5,665.9,-8.8,193,4868,0.00,1.58,0.00,0.000,4,0.000,0.051,2525,3559,3401
$GC,4915,-0.51,-126.5,670.4,-8.5,194,4918,0.00,1.42,0.00,0.000,6,0.000,0.025,2525,2573,3400
$GC,5209,-0.51,-126.5,694.7,-7.9,201,5213,0.00,1.55,0.00,0.000,4,0.000,0.025,2525,1472,3399
$GC,5261,-0.51,-126.5,698.5,-7.3,202,5264,0.00,1.67,0.00,0.000,6,0.000,0.047,2524,2565,3398
$GC,5555,-0.51,-126.5,719.9,-7.3,209,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2566,3396
$GC,5799,-0.51,-126.5,738.5,-7.7,215,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2566,3394
$GC,6042,-0.51,-126.5,758.1,-8.1,221,6045,0.00,1.58,0.00,0.000,4,0.000,0.026,2524,1480,3392
$GC,6094,-0.51,-126.5,762.0,-7.3,222,6097,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2552,3392
$GC,6389,-0.51,-126.5,784.4,-7.6,229,6392,0.00,1.58,0.00,0.000,4,0.000,0.057,2523,3557,3390
$GC,6447,-0.51,-126.5,789.0,-7.4,230,6451,0.00,1.45,0.00,0.000,6,0.000,0.027,2524,2563,3390
$GC,6730,-0.51,-126.5,809.2,-7.2,237,6734,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3579,3389
$GC,6771,-0.51,-126.5,812.5,-7.2,237,6781,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2581,3388
$GC,7029,-0.51,-126.5,830.9,-7.5,244,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2581,3387
$GC,7272,-0.51,-126.5,849.9,-7.9,250,7276,0.00,1.58,0.00,0.000,4,0.000,0.026,2523,1480,3386
$GC,7341,-0.51,-126.5,856.1,-8.0,251,7345,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2580,3386
$GC,7613,-0.51,-126.5,877.6,-8.1,258,7617,0.00,1.60,0.00,0.000,4,0.000,0.026,2523,1458,3385
$GC,7649,-0.51,-126.5,880.7,-7.5,258,7653,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2576,3385
$STATE,7906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7906,begin apogee
$GC,7918,-0.17,0.0,900.7,7.7,265,8029,0.35,0.00,107.70,1.262,6,0.097,0.000,2642,2237,2890
$STATE,8029,end apogee,CONTROL_FINISHED_OK
$STATE,8029,begin climb
$GC,8035,0.51,126.5,904.2,0.0,268,8189,0.57,1.70,126.03,1.157,4,0.048,0.028,2891,1180,2373
$GC,8215,0.51,126.5,888.1,18.6,272,8219,0.00,1.73,0.00,0.000,6,0.000,0.041,2890,2222,2369
$GC,8509,0.51,126.5,828.0,20.2,279,8513,0.00,1.60,0.00,0.000,4,0.000,0.028,2897,1174,2362
$GC,8533,0.51,126.5,822.2,21.5,279,8537,0.00,1.62,0.00,0.000,6,0.000,0.041,2892,2218,2362
$GC,8806,0.51,126.5,769.2,19.4,286,8809,0.00,1.65,0.00,0.000,4,0.000,0.051,2891,3289,2360
$GC,8856,0.51,126.5,758.6,21.8,287,8860,0.15,1.62,0.00,0.000,6,0.191,0.027,2863,2190,2360
$GC,9149,0.51,126.5,709.0,16.2,294,9153,0.00,1.50,0.00,0.000,4,0.000,0.028,2869,1165,2358
$GC,9225,0.51,126.5,696.6,15.6,295,9228,0.00,1.60,0.00,0.000,6,0.000,0.042,2867,2205,2357
$GC,9490,0.51,126.5,655.8,15.4,302,9494,0.00,1.67,0.00,0.000,4,0.000,0.050,2864,3277,2357
$GC,9540,0.51,126.5,647.7,17.0,303,9544,0.00,1.62,0.00,0.000,6,0.000,0.028,2870,2176,2356
$GC,9835,0.51,126.5,603.7,14.4,310,9839,0.00,1.75,0.00,0.000,4,0.000,0.050,2870,3289,2356
$GC,9860,0.51,126.5,599.2,15.7,310,9863,0.00,1.62,0.00,0.000,6,0.000,0.027,2878,2195,2356
$GC,10131,0.51,126.5,556.6,15.9,317,10134,0.00,1.70,0.00,0.000,4,0.000,0.048,2878,3288,2356
$GC,10275,0.51,126.5,531.1,17.9,320,10278,0.00,1.55,0.00,0.000,6,0.000,0.027,2884,2246,2355
$GC,10563,0.51,126.5,485.1,15.8,327,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2240,2354
$GC,10807,0.51,126.5,448.6,14.8,333,10810,0.00,1.58,0.00,0.000,4,0.000,0.029,2892,1155,2354
$GC,10831,0.51,126.5,444.9,13.3,333,10835,0.00,1.70,0.00,0.000,6,0.000,0.043,2891,2247,2353
$GC,11103,0.51,126.5,407.2,13.8,340,11105,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2247,2353
$GC,11348,0.51,126.5,373.3,13.9,346,11351,0.00,1.60,0.00,0.000,4,0.000,0.049,2891,3279,2353
$GC,11537,0.51,126.5,344.5,15.7,350,11541,0.08,1.58,0.00,0.000,6,0.151,0.027,2863,2222,2353
$GC,11830,0.51,126.5,308.0,11.3,357,11834,0.00,1.52,0.00,0.000,4,0.000,0.028,2870,1165,2353
$GC,11900,0.52,152.0,301.1,8.6,358,11925,0.00,1.62,19.58,0.851,6,0.000,0.041,2869,2235,2270
$GC,12170,0.52,152.0,273.4,10.5,365,12174,0.00,1.62,0.00,0.000,4,0.000,0.048,2864,3283,2265
$GC,12379,0.52,152.0,249.1,10.8,369,12383,0.00,1.45,0.00,0.000,6,0.000,0.025,2869,2302,2265
$GC,12646,0.52,152.0,218.9,11.8,376,12650,0.00,1.55,0.00,0.000,4,0.000,0.046,2864,3285,2264
$GC,12811,0.52,152.0,199.0,11.1,379,12814,0.00,1.35,0.00,0.000,6,0.000,0.024,2868,2355,2264
$GC,13079,0.53,177.9,173.5,8.6,403,13106,0.00,1.50,22.50,0.723,4,0.000,0.043,2864,3288,2163
$GC,13193,0.53,178.5,161.6,10.0,412,13201,0.00,1.30,0.00,0.000,6,0.000,0.022,2868,2392,2161
$GC,13459,0.53,178.5,132.5,11.7,437,13463,0.00,1.75,0.00,0.000,4,0.000,0.026,2873,1162,2160
$GC,13535,0.53,178.5,123.6,10.4,443,13543,0.00,1.88,0.00,0.000,6,0.000,0.038,2873,2373,2159
$GC,13801,0.53,178.5,93.9,11.7,468,13805,0.00,1.75,0.00,0.000,4,0.000,0.025,2873,1162,2159
$GC,13877,0.54,200.9,86.0,8.8,474,13902,0.00,1.83,20.17,0.630,6,0.000,0.037,2873,2355,2070
$GC,14174,0.56,246.5,58.7,7.6,501,14217,0.00,1.77,37.05,0.610,4,0.000,0.022,2873,1155,1885
$GC,14247,0.59,316.9,53.4,6.3,506,14309,0.00,1.85,56.65,0.600,6,0.000,0.036,2873,2362,1596
$GC,14570,0.60,350.3,29.5,8.2,534,14606,0.00,1.80,26.85,0.568,4,0.000,0.025,2873,1169,1459
$GC,14649,0.62,406.9,23.0,7.0,544,14702,0.00,1.83,45.28,0.563,6,0.000,0.036,2873,2343,1229
$STATE,14978,end climb,SURFACE_DEPTH_REACHED
$STATE,14978,begin surface coast
$FINISH,0.4,0.998863
$STATE,15064,end surface coast,CONTROL_FINISHED_OK
$STATE,15064,begin surface
$SM_CCo,15149,0.00,0.000,0,0,1222,409.15
$SM_GC,1.51,7.22,0.00,0.00,0.029,0.000,0.000,44,2538,1222,-8.21,1.07,409.15
$IRIDIUM_FIX,2244.02,-15748.90,100103,030312
$TT8_MAMPS,0.023777
$HUMID,2212
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.50
$XPDR_PINGS,9
$24V_AH,24.0,26.717
$10V_AH,10.7,29.296
$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,17.825,103.425,461.800,0.000,0.000,124.301,147.107,1338.646,2.250,0.000,0.000,19.641,1272.454,9960.616,446.380,3239.173,2219.049,33.378,1500.121,0.000,3233.064,0.000,0.547,0.000
$DEVICE_MAMPS,204.022,56.758,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,412.210,1999.768,2062.476,980.394,1432.613,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50928,607
$CAP_FILE_SIZE,140211,0
$CFSIZE,260165632,248156160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,161013,081836,2252.503,-15751.886,43,1.4,43,10.1