version: 66.04
glider: 512
mission: 4
dive: 167
start: 10 17 113 15 59 44
data:
$ID,512
$MISSION,4
$DIVE,167
$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,611.03235
$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,-109831.53
$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,60
$R_STBD_OVSHOOT,69
$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,0.0012000001
$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
$GPS1,153323,2246.385,-15759.709,35,1.8,35,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-84.1
$GPS2,155831,2246.597,-15759.633,33,2.0,33,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.247,-0.142
$KALMAN_X,100843.4,-9.5,-212.2,-99899.7,3338.7
$KALMAN_Y,56232.0,76.1,158.2,-51807.6,1409.8
$MHEAD_RNG_PITCHd_Wd,230.0,15682,-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,-0.53,-126.5,0.0,0.0,0,77,0.00,0.00,-57.47,0.000,2,0.000,0.000,11,2555,2635
$GC,83,-0.53,-126.5,2.0,-1.4,7,119,9.30,1.62,-21.67,0.000,4,0.199,0.038,2521,1429,3407
$GC,314,-0.53,-126.5,54.7,-24.3,35,323,0.00,1.58,0.00,0.000,6,0.000,0.037,2515,2461,3408
$GC,580,-0.53,-126.5,117.9,-20.0,60,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2461,3409
$GC,847,-0.53,-126.5,169.0,-18.1,85,850,0.00,1.65,0.00,0.000,4,0.000,0.044,2506,3572,3409
$GC,930,-0.53,-126.5,184.7,-17.7,92,933,0.00,1.58,0.00,0.000,6,0.000,0.018,2508,2461,3408
$GC,1223,-0.53,-126.5,237.1,-17.0,105,1227,0.00,1.67,0.00,0.000,4,0.000,0.041,2501,3565,3409
$GC,1293,-0.53,-126.5,250.4,-15.8,106,1297,0.00,1.52,0.00,0.000,6,0.000,0.018,2507,2474,3409
$GC,1565,-0.53,-126.5,291.4,-15.4,113,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2467,3409
$GC,1808,-0.53,-126.5,322.9,-12.6,119,1812,0.00,1.67,0.00,0.000,4,0.000,0.043,2500,3561,3408
$GC,1939,-0.53,-126.5,339.1,-12.2,121,1948,0.00,1.50,0.00,0.000,6,0.000,0.018,2507,2490,3408
$GC,2194,-0.53,-126.5,371.7,-13.1,128,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2482,3407
$GC,2437,-0.53,-126.5,402.3,-12.2,134,2441,0.00,1.62,0.00,0.000,4,0.000,0.044,2501,3560,3405
$GC,2500,-0.53,-126.5,409.8,-10.8,135,2504,0.00,1.50,0.00,0.000,6,0.000,0.020,2506,2498,3404
$GC,2778,-0.53,-126.5,438.9,-10.7,142,2782,0.00,1.62,0.00,0.000,4,0.000,0.046,2500,3564,3402
$GC,2828,-0.53,-126.5,444.7,-11.4,143,2832,0.00,1.48,0.00,0.000,6,0.000,0.020,2506,2524,3402
$GC,3121,-0.53,-126.5,477.0,-10.9,150,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2516,3398
$GC,3365,-0.53,-126.5,502.8,-10.6,156,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2516,3397
$GC,3609,-0.53,-126.5,530.2,-11.5,162,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2516,3394
$GC,3853,-0.53,-126.5,557.7,-11.4,168,3856,0.00,1.60,0.00,0.000,4,0.000,0.048,2500,3563,3392
$GC,3893,-0.53,-126.5,562.9,-11.7,168,3902,0.00,1.45,0.00,0.000,6,0.000,0.022,2505,2542,3391
$GC,4149,-0.53,-126.5,590.7,-11.0,175,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2542,3389
$GC,4393,-0.53,-126.5,615.2,-9.8,181,4396,0.00,1.52,0.00,0.000,4,0.000,0.024,2508,1465,3387
$GC,4462,-0.53,-126.5,622.0,-8.9,182,4466,0.00,1.62,0.00,0.000,6,0.000,0.041,2502,2523,3387
$GC,4734,-0.53,-126.5,646.0,-9.0,189,4737,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3579,3384
$GC,4769,-0.53,-126.5,650.0,-10.7,189,4773,0.00,1.52,0.00,0.000,6,0.000,0.024,2500,2523,3384
$GC,5031,-0.53,-126.5,675.1,-9.9,196,5035,0.00,1.50,0.00,0.000,4,0.000,0.025,2508,1458,3382
$GC,5067,-0.53,-126.5,679.1,-8.8,196,5071,0.00,1.60,0.00,0.000,6,0.000,0.043,2502,2520,3381
$GC,5328,-0.53,-126.5,705.6,-10.3,203,5331,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3574,3379
$GC,5385,-0.53,-126.5,712.2,-11.0,204,5389,0.00,1.52,0.00,0.000,6,0.000,0.025,2501,2523,3379
$GC,5669,-0.53,-126.5,737.7,-8.8,211,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2516,3378
$GC,5912,-0.53,-126.5,757.4,-8.0,217,5916,0.00,1.52,0.00,0.000,4,0.000,0.026,2508,1443,3376
$GC,5948,-0.53,-126.5,760.4,-7.2,217,5952,0.00,1.67,0.00,0.000,6,0.000,0.043,2502,2525,3375
$GC,6209,-0.53,-126.5,779.3,-7.4,224,6212,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3573,3373
$GC,6283,-0.53,-126.5,785.9,-9.0,225,6287,0.00,1.52,0.00,0.000,6,0.000,0.025,2500,2519,3373
$GC,6551,-0.53,-126.5,808.2,-8.8,232,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2511,3371
$GC,6794,-0.53,-126.5,831.1,-9.5,238,6797,0.00,1.50,0.00,0.000,4,0.000,0.026,2508,1453,3370
$GC,6846,-0.53,-126.5,836.5,-8.9,239,6850,0.00,1.65,0.00,0.000,6,0.000,0.046,2502,2534,3370
$GC,7134,-0.53,-126.5,863.7,-9.6,246,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2534,3370
$GC,7379,-0.53,-126.5,887.2,-9.7,252,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2534,3369
$STATE,7536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7536,begin apogee
$GC,7548,-0.17,0.0,902.8,9.5,256,7659,0.43,0.00,103.28,1.267,6,0.107,0.000,2644,2220,2890
$STATE,7660,end apogee,CONTROL_FINISHED_OK
$STATE,7660,begin climb
$GC,7665,0.53,126.5,906.5,0.0,259,7810,0.57,1.60,123.78,1.174,4,0.028,0.026,2897,1192,2374
$GC,7872,0.53,126.5,883.8,19.2,263,7876,0.00,1.65,0.00,0.000,6,0.000,0.039,2892,2227,2368
$GC,8132,0.53,126.5,830.3,20.9,270,8136,0.00,1.65,0.00,0.000,4,0.000,0.046,2891,3293,2364
$GC,8173,0.53,126.5,820.6,22.9,270,8183,0.00,1.58,0.00,0.000,6,0.000,0.025,2897,2246,2362
$GC,8430,0.53,126.5,765.6,22.0,277,8433,0.00,1.65,0.00,0.000,4,0.000,0.046,2892,3278,2361
$GC,8481,0.53,126.5,753.0,22.4,278,8485,0.00,1.52,0.00,0.000,6,0.000,0.025,2897,2256,2361
$GC,8770,0.53,126.5,694.4,20.4,285,8773,0.00,1.60,0.00,0.000,4,0.000,0.027,2906,1154,2360
$GC,8788,0.53,126.5,690.2,19.4,285,8793,0.10,1.73,0.00,0.000,6,0.166,0.039,2874,2266,2360
$GC,9066,0.53,126.5,643.7,16.9,292,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2266,2358
$GC,9309,0.53,126.5,604.6,16.0,298,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2266,2357
$GC,9553,0.53,126.5,567.9,14.8,304,9557,0.00,1.62,0.00,0.000,4,0.000,0.028,2881,1151,2357
$GC,9577,0.53,126.5,563.5,15.9,304,9581,0.00,1.67,0.00,0.000,6,0.000,0.040,2878,2251,2356
$GC,9849,0.53,126.5,521.5,15.8,311,9852,0.00,1.60,0.00,0.000,4,0.000,0.048,2876,3280,2356
$GC,9899,0.53,126.5,513.0,17.5,312,9903,0.00,1.50,0.00,0.000,6,0.000,0.025,2882,2268,2356
$GC,10194,0.53,126.5,467.3,15.4,319,10197,0.00,1.60,0.00,0.000,4,0.000,0.028,2889,1165,2355
$GC,10244,0.53,126.5,459.9,15.1,320,10247,0.00,1.67,0.00,0.000,6,0.000,0.041,2889,2260,2355
$GC,10538,0.53,126.5,415.0,15.6,327,10541,0.00,1.58,0.00,0.000,4,0.000,0.047,2889,3282,2355
$GC,10624,0.53,126.5,401.0,16.1,328,10632,0.00,1.48,0.00,0.000,6,0.000,0.025,2896,2285,2354
$GC,10879,0.53,126.5,363.3,15.1,335,10883,0.00,1.58,0.00,0.000,4,0.000,0.044,2891,3288,2354
$GC,10964,0.53,126.5,349.7,15.9,336,10972,0.00,1.42,0.00,0.000,6,0.000,0.025,2897,2313,2354
$GC,11220,0.53,126.5,316.0,12.7,343,11223,0.00,1.65,0.00,0.000,4,0.000,0.027,2906,1147,2354
$GC,11379,0.53,126.5,296.4,12.3,346,11383,0.12,1.67,0.00,0.000,6,0.170,0.038,2872,2259,2354
$GC,11650,0.56,148.3,269.6,9.2,353,11679,0.00,1.58,18.45,0.757,4,0.000,0.044,2872,3273,2285
$GC,11935,0.56,148.3,242.1,10.6,359,11939,0.00,1.42,0.00,0.000,6,0.000,0.024,2878,2300,2283
$GC,12212,0.56,148.3,213.7,11.1,366,12216,0.00,1.52,0.00,0.000,4,0.000,0.044,2877,3275,2281
$GC,12308,0.56,148.3,202.5,11.3,368,12312,0.00,1.35,0.00,0.000,6,0.000,0.022,2883,2346,2282
$GC,12587,0.56,148.3,174.1,10.8,390,12590,0.00,1.67,0.00,0.000,4,0.000,0.025,2891,1155,2282
$GC,12628,0.56,148.3,168.2,11.7,393,12637,0.00,1.85,0.00,0.000,6,0.000,0.037,2891,2362,2281
$GC,12893,0.56,148.3,136.3,12.0,418,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2362,2282
$GC,13160,0.56,148.3,106.8,11.8,443,13163,0.00,1.73,0.00,0.000,4,0.000,0.023,2898,1155,2281
$GC,13178,0.56,148.3,104.2,11.4,444,13187,0.00,1.88,0.00,0.000,6,0.000,0.037,2898,2382,2282
$GC,13444,0.56,150.6,75.7,9.9,469,13448,0.00,1.75,0.00,0.000,4,0.000,0.024,2902,1161,2282
$GC,13621,0.73,289.4,63.8,4.8,483,13745,0.00,1.80,113.30,0.617,6,0.000,0.035,2902,2347,1709
$GC,14006,0.73,289.4,24.3,11.9,519,14015,0.00,1.75,0.00,0.000,4,0.000,0.025,2904,1162,1703
$GC,14046,0.73,289.4,19.6,11.7,524,14055,0.00,1.80,0.00,0.000,6,0.000,0.035,2904,2329,1702
$STATE,14185,end climb,SURFACE_DEPTH_REACHED
$STATE,14185,begin surface coast
$FINISH,0.3,1.017361
$STATE,14216,end surface coast,CONTROL_FINISHED_OK
$STATE,14216,begin surface
$SM_CCo,14241,151.05,0.545,0,0,397,611.03
$SM_GC,1.26,0.00,0.00,151.05,0.000,0.000,0.545,28,2572,397,-8.31,2.04,611.03
$IRIDIUM_FIX,2239.35,-15757.16,110103,151530
$TT8_MAMPS,0.023777
$HUMID,2149
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.20
$XPDR_PINGS,2
$24V_AH,24.0,27.870
$10V_AH,10.7,30.863
$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,17.850,96.825,358.800,151.050,0.000,144.135,176.170,724.782,0.500,0.000,0.000,34.018,1181.210,9655.938,552.518,2903.148,1626.467,33.377,1491.718,0.000,2883.527,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,53.690,1267.084,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,374.027,1810.025,1874.301,800.606,1234.842,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47645,550
$CAP_FILE_SIZE,122924,0
$CFSIZE,260165632,247648256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,171013,200106,2246.061,-15800.787,40,1.0,40,10.1