version: 66.04
glider: 512
mission: 4
dive: 171
start: 10 18 113 9 51 25
data:
$ID,512
$MISSION,4
$DIVE,171
$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,-109901.68
$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,59
$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,0.00089999998
$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
$GPS1,093236,2242.676,-15805.316,33,1.8,33,10.0
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-83.5
$GPS2,095006,2242.711,-15805.326,10,1.8,15,10.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.192,-0.210
$KALMAN_X,108605.2,-419.8,-160.1,-117023.4,2827.3
$KALMAN_Y,60409.3,-413.2,-85.3,-62443.4,1585.5
$MHEAD_RNG_PITCHd_Wd,212.4,4254,-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,-0.49,-126.5,0.0,0.0,0,88,0.00,0.00,-68.65,0.000,2,0.000,0.000,21,2549,2934
$GC,94,-0.49,-126.5,2.4,-1.9,8,123,9.45,1.50,-10.00,0.000,4,0.201,0.051,2525,3540,3408
$GC,306,-0.49,-126.5,65.2,-25.2,30,310,0.00,1.52,0.00,0.000,6,0.000,0.018,2525,2474,3408
$GC,578,-0.49,-126.5,124.1,-20.0,55,582,0.00,1.62,0.00,0.000,4,0.000,0.041,2517,3547,3409
$GC,675,-0.49,-126.5,142.7,-18.7,63,678,0.00,1.48,0.00,0.000,6,0.000,0.018,2517,2499,3409
$GC,947,-0.49,-126.5,191.3,-16.8,88,951,0.00,1.42,0.00,0.000,4,0.000,0.019,2518,1456,3409
$GC,997,-0.49,-126.5,199.4,-14.8,92,1001,0.00,1.52,0.00,0.000,6,0.000,0.036,2512,2467,3409
$GC,1257,-0.49,-126.5,243.6,-16.9,99,1261,0.00,1.62,0.00,0.000,4,0.000,0.043,2504,3562,3409
$GC,1281,-0.49,-126.5,248.2,-16.4,99,1285,0.00,1.52,0.00,0.000,6,0.000,0.018,2508,2483,3409
$GC,1554,-0.49,-126.5,287.8,-14.6,106,1558,0.00,1.67,0.00,0.000,4,0.000,0.042,2501,3567,3409
$GC,1695,-0.49,-126.5,307.7,-13.0,109,1699,0.08,1.48,0.00,0.000,6,0.123,0.018,2535,2503,3409
$GC,1988,-0.49,-126.5,337.4,-9.6,116,1992,0.00,1.40,0.00,0.000,4,0.000,0.019,2536,1474,3408
$GC,2069,-0.49,-126.5,345.4,-9.6,117,2072,0.00,1.58,0.00,0.000,6,0.000,0.039,2535,2509,3408
$GC,2331,-0.49,-126.5,369.5,-9.4,124,2335,0.00,1.48,0.00,0.000,4,0.000,0.020,2536,1459,3405
$GC,2426,-0.49,-126.5,378.7,-9.7,126,2430,0.00,1.60,0.00,0.000,6,0.000,0.039,2536,2504,3405
$GC,2721,-0.49,-126.5,407.1,-9.7,133,2725,0.00,1.45,0.00,0.000,4,0.000,0.021,2536,1475,3403
$GC,2751,-0.49,-126.5,410.6,-10.3,133,2755,0.00,1.58,0.00,0.000,6,0.000,0.040,2536,2504,3403
$GC,3017,-0.49,-126.5,436.2,-10.0,140,3021,0.00,1.62,0.00,0.000,4,0.000,0.049,2529,3562,3399
$GC,3092,-0.49,-126.5,444.3,-10.3,141,3095,0.00,1.48,0.00,0.000,6,0.000,0.022,2529,2531,3399
$GC,3359,-0.49,-126.5,471.0,-10.1,148,3363,0.00,1.62,-0.08,0.000,4,0.000,0.065,2524,3556,3421
$GC,3422,-0.49,-126.5,477.5,-9.2,149,3426,0.00,1.48,0.00,0.000,6,0.000,0.022,2523,2525,3421
$GC,3700,-0.49,-126.5,503.1,-9.4,156,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2516,3418
$GC,3943,-0.49,-126.5,527.6,-10.2,162,3946,0.00,1.50,0.00,0.000,4,0.000,0.022,2523,1450,3417
$GC,3979,-0.49,-126.5,531.7,-11.1,162,3982,0.00,1.62,0.00,0.000,6,0.000,0.041,2523,2524,3416
$GC,4240,-0.49,-126.5,558.9,-10.7,169,4243,0.00,1.60,0.00,0.000,4,0.000,0.051,2524,3576,3414
$GC,4297,-0.49,-126.5,565.3,-10.1,170,4301,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2538,3414
$GC,4580,-0.49,-126.5,592.0,-9.5,177,4584,0.00,1.52,0.00,0.000,4,0.000,0.023,2523,1450,3411
$GC,4610,-0.49,-126.5,595.2,-9.6,177,4614,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2535,3412
$GC,4878,-0.49,-126.5,618.8,-8.9,184,4881,0.00,1.60,0.00,0.000,4,0.000,0.053,2523,3583,3410
$GC,4914,-0.49,-126.5,622.4,-9.4,184,4917,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2532,3409
$GC,5174,-0.49,-126.5,643.4,-8.1,191,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2525,3408
$GC,5418,-0.49,-126.5,662.3,-7.7,197,5422,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1451,3406
$GC,5504,-0.49,-126.5,669.0,-7.7,198,5513,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2513,3405
$GC,5760,-0.49,-126.5,688.0,-7.6,205,5763,0.00,1.62,0.00,0.000,4,0.000,0.054,2523,3571,3404
$GC,5818,-0.49,-126.5,693.0,-7.6,206,5821,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2519,3403
$GC,6100,-0.49,-126.5,715.2,-8.1,213,6104,0.00,1.50,0.00,0.000,4,0.000,0.024,2523,1454,3401
$GC,6136,-0.49,-126.5,718.5,-8.7,213,6140,0.00,1.65,0.00,0.000,6,0.000,0.046,2523,2534,3401
$GC,6398,-0.49,-126.5,738.8,-8.0,220,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2535,3400
$GC,6641,-0.49,-126.5,758.2,-8.0,226,6645,0.00,1.60,0.00,0.000,4,0.000,0.054,2518,3577,3399
$GC,6699,-0.49,-126.5,763.2,-7.7,227,6703,0.00,1.52,0.00,0.000,6,0.000,0.026,2518,2526,3400
$GC,6981,-0.49,-126.5,785.5,-7.9,234,6985,0.00,1.62,0.00,0.000,4,0.000,0.054,2510,3562,3398
$GC,7040,-0.49,-126.5,790.6,-7.9,235,7044,0.00,1.48,0.00,0.000,6,0.000,0.025,2510,2547,3397
$GC,7323,-0.49,-126.5,812.8,-7.9,242,7327,0.00,1.55,0.00,0.000,4,0.000,0.027,2510,1455,3396
$GC,7353,-0.49,-126.5,815.5,-8.6,242,7357,0.00,1.70,0.00,0.000,6,0.000,0.048,2509,2542,3396
$GC,7620,-0.49,-126.5,836.8,-8.1,249,7623,0.00,1.60,0.00,0.000,4,0.000,0.056,2507,3580,3395
$GC,7655,-0.49,-126.5,840.1,-9.4,249,7659,0.00,1.50,0.00,0.000,6,0.000,0.026,2508,2547,3394
$GC,7917,-0.49,-126.5,861.2,-8.2,256,7920,0.00,1.55,0.00,0.000,4,0.000,0.027,2508,1464,3393
$GC,7988,-0.49,-126.5,867.3,-8.5,257,7992,0.12,1.65,0.00,0.000,6,0.127,0.044,2539,2545,3394
$GC,8259,-0.49,-126.5,882.9,-5.6,264,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2545,3393
$GC,8503,-0.49,-126.5,895.8,-5.3,270,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2545,3392
$STATE,8579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8579,begin apogee
$GC,8591,-0.17,0.0,900.2,5.2,272,8702,0.30,0.00,109.38,1.263,6,0.090,0.000,2644,2230,2890
$STATE,8703,end apogee,CONTROL_FINISHED_OK
$STATE,8703,begin climb
$GC,8708,0.49,126.5,903.0,0.0,275,8852,0.55,0.00,124.85,1.174,6,0.029,0.000,2885,2231,2374
$GC,9081,0.49,126.5,850.3,19.3,284,9085,0.00,1.60,0.00,0.000,4,0.000,0.027,2892,1172,2364
$GC,9105,0.49,126.5,845.3,18.6,284,9109,0.12,1.65,0.00,0.000,6,0.173,0.039,2861,2227,2363
$GC,9376,0.49,126.5,801.2,16.5,291,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2226,2361
$GC,9619,0.49,126.5,762.0,15.9,297,9623,0.00,1.62,0.00,0.000,4,0.000,0.048,2861,3280,2360
$GC,9689,0.49,126.5,749.9,17.5,298,9692,0.00,1.58,0.00,0.000,6,0.000,0.027,2868,2230,2360
$GC,9960,0.49,126.5,705.2,16.6,305,9964,0.00,1.58,0.00,0.000,4,0.000,0.031,2873,1159,2359
$GC,9979,0.49,126.5,701.5,16.4,305,9983,0.00,1.65,0.00,0.000,6,0.000,0.042,2873,2210,2358
$GC,10256,0.49,126.5,653.2,18.1,312,10259,0.00,1.65,0.00,0.000,4,0.000,0.047,2873,3296,2357
$GC,10365,0.49,126.5,631.6,19.3,314,10368,0.00,1.55,0.00,0.000,6,0.000,0.025,2881,2248,2356
$GC,10642,0.49,126.5,583.9,17.2,321,10645,0.00,1.58,0.00,0.000,4,0.000,0.028,2889,1164,2356
$GC,10677,0.49,126.5,577.7,15.4,321,10682,0.12,1.65,0.00,0.000,6,0.171,0.041,2859,2244,2356
$GC,10939,0.49,126.5,541.7,13.9,328,10943,0.00,1.60,0.00,0.000,4,0.000,0.048,2859,3274,2355
$GC,10958,0.49,126.5,538.3,13.8,328,10961,0.00,1.52,0.00,0.000,6,0.000,0.025,2865,2243,2355
$GC,11235,0.49,126.5,497.7,14.8,335,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2235,2355
$GC,11478,0.49,126.5,463.4,13.8,341,11482,0.00,1.62,0.00,0.000,4,0.000,0.046,2863,3286,2355
$GC,11510,0.49,126.5,459.2,12.8,341,11513,0.00,1.55,0.00,0.000,6,0.000,0.025,2869,2238,2354
$GC,11776,0.49,126.5,425.9,12.7,348,11779,0.00,1.65,0.00,0.000,4,0.000,0.048,2869,3278,2354
$GC,11836,0.49,126.5,416.7,15.5,349,11839,0.00,1.50,0.00,0.000,6,0.000,0.025,2877,2257,2354
$GC,12118,0.49,126.5,379.9,12.6,356,12122,0.00,1.58,0.00,0.000,4,0.000,0.027,2885,1160,2354
$GC,12312,0.51,148.6,358.9,9.2,360,12333,0.00,1.62,17.05,0.887,6,0.000,0.040,2885,2229,2284
$GC,12589,0.51,148.6,324.6,13.6,367,12593,0.00,1.62,0.00,0.000,4,0.000,0.048,2885,3277,2280
$GC,12639,0.51,148.6,317.2,15.1,368,12643,0.08,1.52,0.00,0.000,6,0.166,0.024,2857,2248,2280
$GC,12933,0.55,184.1,289.1,8.7,375,12968,0.00,1.62,30.73,0.837,4,0.000,0.044,2858,3277,2139
$GC,13165,0.55,184.1,260.3,11.9,379,13168,0.00,1.45,0.00,0.000,6,0.000,0.024,2860,2310,2135
$GC,13447,0.55,184.1,229.0,11.3,386,13451,0.00,1.67,0.00,0.000,4,0.000,0.027,2860,1162,2134
$GC,13504,0.57,208.4,223.0,9.1,387,13530,0.00,1.70,21.25,0.762,6,0.000,0.038,2860,2277,2040
$GC,13781,0.57,208.4,192.4,12.7,396,13785,0.00,1.62,0.00,0.000,4,0.000,0.025,2860,1160,2035
$GC,13801,0.57,208.4,189.3,13.1,397,13808,0.00,1.73,0.00,0.000,6,0.000,0.037,2860,2272,2035
$GC,14066,0.57,208.4,155.3,12.5,422,14073,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2272,2035
$GC,14334,0.60,241.1,127.0,8.8,447,14365,0.00,1.60,27.77,0.666,4,0.000,0.041,2860,3293,1906
$GC,14419,0.60,241.1,117.5,11.9,453,14427,0.00,1.52,0.00,0.000,6,0.000,0.021,2860,2277,1904
$GC,14685,0.61,258.5,89.0,9.3,478,14704,0.10,0.00,15.80,0.612,6,0.061,0.000,2910,2268,1835
$GC,14967,0.61,258.5,55.5,10.4,504,14971,0.00,1.60,0.00,0.000,4,0.000,0.023,2918,1133,1831
$GC,14996,0.61,258.5,51.6,11.0,506,15000,0.00,1.75,0.00,0.000,6,0.000,0.034,2917,2298,1830
$GC,15288,0.61,258.5,16.3,12.9,538,15297,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2298,1830
$STATE,15384,end climb,SURFACE_DEPTH_REACHED
$STATE,15385,begin surface coast
$FINISH,0.3,1.008535
$STATE,15411,end surface coast,CONTROL_FINISHED_OK
$STATE,15411,begin surface
$SM_CCo,15437,54.17,0.548,0,0,1299,390.02
$SM_GC,1.16,0.00,0.00,54.17,0.000,0.000,0.548,35,2539,1299,-8.31,1.07,390.02
$IRIDIUM_FIX,2234.68,-15805.41,120103,090951
$TT8_MAMPS,0.023777
$HUMID,2189
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,23.9,28.449
$10V_AH,10.7,31.630
$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,18.200,117.350,346.825,54.175,0.000,79.655,113.194,545.106,0.250,0.000,0.000,15.318,1276.793,10464.750,452.260,3018.350,1351.395,33.368,1413.443,0.000,3007.941,0.000,0.544,0.000
$DEVICE_MAMPS,200.954,65.195,1263.249,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,380.750,1834.974,1911.694,1231.259,1217.923,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47713,557
$CAP_FILE_SIZE,132247,0
$CFSIZE,260165632,247410688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,181013,141106,2241.480,-15806.667,41,0.8,41,10.0