version: 66.04
glider: 512
mission: 4
dive: 162
start: 10 16 113 17 26 26
data:
$ID,512
$MISSION,4
$DIVE,162
$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,-109720.52
$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,70
$R_STBD_OVSHOOT,35
$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
$GPS1,171029,2250.932,-15753.668,39,1.0,44,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-81.8
$GPS2,172531,2251.029,-15753.548,13,1.6,13,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.211,-0.122
$KALMAN_X,90009.8,-12.9,76.5,-78965.2,2632.7
$KALMAN_Y,51556.4,-306.0,312.8,-38691.7,1129.0
$MHEAD_RNG_PITCHd_Wd,229.9,28862,-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,12,begin dive
$GC,18,-0.51,-126.5,0.0,0.0,0,88,0.00,0.00,-68.22,0.000,2,0.000,0.000,11,2513,2912
$GC,94,-0.51,-126.5,2.3,-2.1,8,122,9.43,1.52,-10.57,0.000,4,0.199,0.038,2534,1441,3408
$GC,244,-0.51,-126.5,43.9,-22.6,26,253,0.00,1.62,0.00,0.000,6,0.000,0.038,2527,2494,3409
$GC,510,-0.51,-126.5,110.4,-19.7,51,514,0.00,1.60,0.00,0.000,4,0.000,0.044,2519,3564,3409
$GC,572,-0.51,-126.5,122.8,-19.9,56,576,0.00,1.52,0.00,0.000,6,0.000,0.018,2519,2491,3409
$GC,843,-0.51,-126.5,174.3,-18.1,81,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2484,3410
$GC,1114,-0.51,-126.5,222.7,-17.5,98,1118,0.00,1.65,0.00,0.000,4,0.000,0.041,2512,3562,3410
$GC,1164,-0.51,-126.5,231.6,-17.7,99,1167,0.00,1.50,0.00,0.000,6,0.000,0.019,2515,2502,3410
$GC,1459,-0.51,-126.5,273.3,-13.2,106,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2494,3410
$GC,1703,-0.51,-126.5,306.3,-13.7,112,1707,0.00,1.65,0.00,0.000,4,0.000,0.043,2509,3567,3409
$GC,1874,-0.51,-126.5,329.5,-12.8,115,1877,0.00,1.48,0.00,0.000,6,0.000,0.019,2509,2515,3408
$GC,2134,-0.51,-126.5,364.2,-13.7,122,2137,0.00,1.62,0.00,0.000,4,0.000,0.044,2502,3563,3407
$GC,2231,-0.51,-126.5,377.7,-12.9,124,2235,0.00,1.45,0.00,0.000,6,0.000,0.021,2507,2536,3407
$GC,2520,-0.51,-126.5,413.1,-12.4,131,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2528,3404
$GC,2763,-0.51,-126.5,442.6,-11.9,137,2767,0.00,1.50,0.00,0.000,4,0.000,0.021,2508,1457,3402
$GC,2792,-0.51,-126.5,446.2,-11.0,137,2796,0.00,1.62,0.00,0.000,6,0.000,0.038,2502,2549,3402
$GC,3058,-0.51,-126.5,474.8,-10.8,144,3062,0.00,1.55,0.00,0.000,4,0.000,0.048,2494,3563,3399
$GC,3122,-0.51,-126.5,482.1,-10.2,145,3126,0.08,1.42,0.00,0.000,6,0.120,0.021,2529,2555,3398
$GC,3400,-0.51,-126.5,503.9,-7.8,152,3403,0.00,1.52,0.00,0.000,4,0.000,0.023,2529,1461,3397
$GC,3441,-0.51,-126.5,507.8,-8.4,152,3447,0.00,1.65,0.00,0.000,6,0.000,0.041,2524,2538,3396
$GC,3696,-0.51,-126.5,531.0,-9.5,159,3700,0.00,1.58,0.00,0.000,4,0.000,0.051,2524,3557,3394
$GC,3728,-0.51,-126.5,534.3,-10.2,159,3731,0.00,1.45,0.00,0.000,6,0.000,0.024,2524,2550,3393
$GC,3994,-0.51,-126.5,560.6,-10.1,166,3998,0.00,1.52,0.00,0.000,4,0.000,0.025,2524,1459,3391
$GC,4102,-0.51,-126.5,572.0,-9.7,168,4106,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2530,3390
$GC,4381,-0.51,-126.5,599.6,-10.1,175,4384,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3578,3388
$GC,4466,-0.51,-126.5,607.8,-9.2,176,4475,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2520,3387
$GC,4721,-0.51,-126.5,629.0,-8.4,183,4725,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1458,3386
$GC,4819,-0.51,-126.5,636.7,-7.8,185,4822,0.00,1.62,0.00,0.000,6,0.000,0.045,2523,2523,3385
$GC,5113,-0.51,-126.5,659.3,-7.5,192,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3382
$GC,5357,-0.51,-126.5,677.4,-7.4,198,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3380
$GC,5600,-0.51,-126.5,695.3,-7.3,204,5604,0.00,1.60,0.00,0.000,4,0.000,0.057,2523,3563,3379
$GC,5642,-0.51,-126.5,698.6,-7.3,204,5651,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2508,3378
$GC,5898,-0.51,-126.5,716.9,-7.3,211,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2508,3377
$GC,6141,-0.51,-126.5,735.2,-7.7,217,6145,0.00,1.65,0.00,0.000,4,0.000,0.056,2523,3566,3375
$GC,6216,-0.51,-126.5,741.5,-7.8,218,6220,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2520,3374
$GC,6482,-0.51,-126.5,762.2,-7.9,225,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2511,3373
$GC,6726,-0.51,-126.5,781.2,-7.8,231,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2511,3372
$GC,6970,-0.51,-126.5,799.2,-7.4,237,6973,0.00,1.65,0.00,0.000,4,0.000,0.057,2518,3566,3371
$GC,7021,-0.51,-126.5,803.0,-7.1,238,7024,0.00,1.52,0.00,0.000,6,0.000,0.027,2518,2525,3370
$GC,7315,-0.51,-126.5,825.4,-7.7,245,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2517,3370
$GC,7559,-0.51,-126.5,844.4,-7.8,251,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2517,3369
$GC,7803,-0.51,-126.5,863.3,-7.6,257,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2517,3368
$GC,8046,-0.51,-126.5,882.4,-7.8,263,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2517,3367
$STATE,8285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8285,begin apogee
$GC,8296,-0.17,0.0,900.6,7.4,269,8407,0.38,0.00,103.30,1.269,6,0.100,0.000,2646,2213,2890
$STATE,8408,end apogee,CONTROL_FINISHED_OK
$STATE,8408,begin climb
$GC,8413,0.51,126.5,903.3,0.0,272,8568,0.57,1.65,126.47,1.164,4,0.047,0.028,2896,1179,2373
$GC,8618,0.51,126.5,881.9,19.5,276,8622,0.00,1.70,0.00,0.000,6,0.000,0.041,2891,2235,2368
$GC,8885,0.51,126.5,828.7,20.4,283,8889,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3293,2362
$GC,8909,0.51,126.5,822.7,21.5,283,8914,0.10,1.60,0.00,0.000,6,0.180,0.026,2869,2243,2361
$GC,9181,0.51,126.5,775.7,17.1,290,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2236,2361
$GC,9424,0.51,126.5,734.3,17.1,296,9428,0.00,1.67,0.00,0.000,4,0.000,0.048,2865,3285,2359
$GC,9482,0.51,126.5,723.7,18.2,297,9485,0.00,1.58,0.00,0.000,6,0.000,0.028,2871,2236,2358
$GC,9766,0.51,126.5,676.2,16.7,304,9769,0.00,1.65,0.00,0.000,4,0.000,0.049,2871,3290,2357
$GC,9801,0.51,126.5,669.0,19.3,304,9805,0.00,1.58,0.00,0.000,6,0.000,0.027,2878,2232,2357
$GC,10061,0.51,126.5,625.2,16.8,311,10065,0.00,1.55,0.00,0.000,4,0.000,0.030,2886,1175,2356
$GC,10164,0.51,126.5,609.0,15.6,313,10168,0.00,1.60,0.00,0.000,6,0.000,0.041,2886,2221,2356
$GC,10447,0.51,126.5,564.2,15.8,320,10450,0.00,1.62,0.00,0.000,4,0.000,0.051,2886,3284,2356
$GC,10478,0.51,126.5,558.8,16.7,320,10483,0.12,1.60,0.00,0.000,6,0.179,0.027,2864,2189,2355
$GC,10744,0.51,126.5,518.5,15.4,327,10748,0.00,1.50,0.00,0.000,4,0.000,0.028,2870,1172,2355
$GC,10768,0.51,126.5,514.6,14.9,327,10771,0.00,1.60,0.00,0.000,6,0.000,0.041,2870,2221,2355
$GC,11040,0.51,126.5,473.2,15.3,334,11044,0.00,1.65,0.00,0.000,4,0.000,0.051,2870,3276,2354
$GC,11065,0.51,126.5,468.8,15.2,334,11068,0.00,1.58,0.00,0.000,6,0.000,0.028,2877,2219,2354
$GC,11336,0.51,126.5,429.6,14.3,341,11340,0.00,1.67,0.00,0.000,4,0.000,0.049,2878,3291,2354
$GC,11422,0.51,126.5,416.9,13.8,342,11431,0.00,1.55,0.00,0.000,6,0.000,0.025,2884,2244,2353
$GC,11677,0.51,126.5,383.6,12.7,349,11681,0.00,1.58,0.00,0.000,4,0.000,0.028,2892,1159,2353
$GC,11729,0.51,126.5,376.6,12.8,350,11733,0.00,1.67,0.00,0.000,6,0.000,0.042,2891,2257,2353
$GC,12017,0.51,126.5,340.0,12.8,357,12020,0.00,1.60,0.00,0.000,4,0.000,0.049,2891,3286,2353
$GC,12148,0.51,126.5,321.3,13.5,359,12157,0.10,1.55,0.00,0.000,6,0.166,0.025,2867,2237,2353
$GC,12403,0.51,126.5,293.9,10.4,366,12407,0.00,1.55,0.00,0.000,4,0.000,0.027,2873,1179,2353
$GC,12518,0.53,161.2,283.6,8.2,368,12549,0.00,1.60,26.60,0.848,6,0.000,0.039,2873,2238,2235
$GC,12835,0.53,161.2,249.9,11.1,376,12838,0.00,1.60,0.00,0.000,4,0.000,0.025,2880,1141,2229
$GC,13094,0.53,161.2,221.5,10.6,381,13097,0.00,1.80,0.00,0.000,6,0.000,0.041,2878,2310,2228
$GC,13357,0.53,161.2,193.2,11.4,391,13365,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2310,2228
$GC,13623,0.53,161.2,162.1,12.1,416,13630,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2310,2228
$GC,13890,0.53,161.2,129.1,11.6,441,13894,0.00,1.67,0.00,0.000,4,0.000,0.025,2885,1158,2228
$GC,13918,0.53,161.2,126.1,11.0,443,13921,0.00,1.83,0.00,0.000,6,0.000,0.039,2884,2339,2229
$GC,14189,0.53,161.2,94.9,10.3,468,14193,0.00,1.73,0.00,0.000,4,0.000,0.025,2891,1161,2229
$GC,14263,0.53,161.2,87.4,10.5,474,14267,0.00,1.77,0.00,0.000,6,0.000,0.038,2891,2337,2230
$GC,14536,0.56,244.5,65.4,5.6,499,14612,0.00,1.77,67.88,0.625,4,0.000,0.023,2897,1159,1893
$GC,14631,0.58,293.0,59.2,7.4,506,14682,0.00,1.83,39.45,0.602,6,0.000,0.038,2898,2319,1695
$GC,14940,0.58,293.0,28.4,11.5,535,14949,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2319,1690
$STATE,15163,end climb,SURFACE_DEPTH_REACHED
$STATE,15163,begin surface coast
$FINISH,0.4,1.022774
$STATE,15196,end surface coast,CONTROL_FINISHED_OK
$STATE,15196,begin surface
$SM_CCo,15221,41.30,0.548,0,0,1299,390.02
$SM_GC,1.70,0.00,0.00,41.30,0.000,0.000,0.548,41,2528,1299,-8.29,0.79,390.02
$IRIDIUM_FIX,2241.69,-15759.32,100103,171736
$TT8_MAMPS,0.023777
$HUMID,2236
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.50
$XPDR_PINGS,4
$24V_AH,24.0,27.126
$10V_AH,10.7,29.895
$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,18.100,99.975,363.700,41.300,0.000,73.141,215.523,302.393,1.000,0.000,0.000,13.861,1224.848,10286.718,443.088,3033.463,1172.981,33.372,1422.359,0.000,3032.239,0.000,0.546,0.000
$DEVICE_MAMPS,199.420,56.758,1268.618,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,391.596,1890.818,1954.007,1301.488,1275.173,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47668,575
$CAP_FILE_SIZE,121148,0
$CFSIZE,260165632,247984128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,161013,214223,2249.944,-15754.605,29,1.5,46,10.1