version: 66.04
glider: 512
mission: 4
dive: 203
start: 10 24 113 21 51 43
data:
$ID,512
$MISSION,4
$DIVE,203
$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,-110486.79
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2691
$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,72
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2930
$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
$GPS1,213323,2251.796,-15753.298,26,1.8,43,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-84.0
$GPS2,215048,2251.902,-15753.388,10,1.1,15,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,-0.199
$KALMAN_X,106365.0,19.3,-148.9,-94851.5,-528.7
$KALMAN_Y,91360.8,65.8,264.0,-77202.2,1722.8
$MHEAD_RNG_PITCHd_Wd,134.6,36292,-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,16,begin dive
$GC,22,-0.51,-126.5,0.0,0.0,0,85,0.00,0.00,-60.75,0.000,2,0.000,0.000,10,2528,2737
$GC,91,-0.51,-126.5,2.1,-1.2,7,128,9.45,1.55,-17.75,0.000,4,0.199,0.039,2520,1443,3448
$GC,214,-0.51,-126.5,30.6,-23.9,24,223,0.00,1.62,0.00,0.000,6,0.000,0.038,2514,2493,3448
$GC,480,-0.51,-126.5,106.1,-22.1,49,484,0.00,1.60,0.00,0.000,4,0.000,0.044,2506,3563,3448
$GC,578,-0.51,-126.5,127.4,-18.8,57,586,0.00,1.50,0.00,0.000,6,0.000,0.018,2506,2513,3448
$GC,845,-0.51,-126.5,177.5,-20.0,82,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2505,3449
$GC,1136,-0.51,-126.5,226.7,-15.9,98,1139,0.00,1.45,0.00,0.000,4,0.000,0.019,2512,1453,3449
$GC,1160,-0.51,-126.5,231.3,-16.3,98,1164,0.00,1.60,0.00,0.000,6,0.000,0.036,2510,2507,3449
$GC,1431,-0.51,-126.5,272.8,-15.1,105,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2507,3449
$GC,1675,-0.51,-126.5,306.4,-13.4,111,1679,0.00,1.60,0.00,0.000,4,0.000,0.045,2502,3580,3449
$GC,1762,-0.51,-126.5,318.3,-12.0,112,1770,0.00,1.55,0.00,0.000,6,0.000,0.018,2508,2485,3448
$GC,2017,-0.51,-126.5,347.5,-11.5,119,2020,0.00,1.65,0.00,0.000,4,0.000,0.042,2501,3571,3448
$GC,2048,-0.51,-126.5,351.4,-12.5,119,2052,0.00,1.52,0.00,0.000,6,0.000,0.019,2505,2493,3447
$GC,2314,-0.51,-126.5,380.8,-11.2,126,2318,0.00,1.42,0.00,0.000,4,0.000,0.020,2508,1453,3445
$GC,2338,-0.51,-126.5,384.1,-11.6,126,2342,0.00,1.60,0.00,0.000,6,0.000,0.037,2502,2529,3445
$GC,2611,-0.51,-126.5,419.2,-13.4,133,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2529,3443
$GC,2854,-0.51,-126.5,452.1,-13.4,139,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2529,3441
$GC,3098,-0.51,-126.5,480.6,-11.4,145,3102,0.00,1.58,0.00,0.000,4,0.000,0.047,2494,3558,3439
$GC,3128,-0.51,-126.5,484.4,-11.3,145,3132,0.00,1.50,0.00,0.000,6,0.000,0.021,2500,2507,3439
$GC,3394,-0.51,-126.5,513.1,-11.0,152,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2500,3437
$GC,3638,-0.51,-126.5,540.0,-11.0,158,3641,0.00,1.62,0.00,0.000,4,0.000,0.048,2494,3562,3434
$GC,3703,-0.51,-126.5,547.9,-11.3,159,3706,0.00,1.48,0.00,0.000,6,0.000,0.022,2499,2530,3433
$GC,3981,-0.51,-126.5,579.9,-11.8,166,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2523,3430
$GC,4226,-0.51,-126.5,609.8,-12.4,172,4229,0.00,1.60,0.00,0.000,4,0.000,0.048,2494,3564,3429
$GC,4250,-0.51,-126.5,613.6,-12.7,172,4254,0.00,1.48,0.00,0.000,6,0.000,0.023,2499,2541,3429
$GC,4521,-0.51,-126.5,646.7,-12.2,179,4525,0.00,1.52,0.00,0.000,4,0.000,0.023,2507,1456,3427
$GC,4571,-0.51,-126.5,652.7,-10.9,180,4575,0.00,1.62,0.00,0.000,6,0.000,0.041,2502,2525,3426
$GC,4866,-0.51,-126.5,685.9,-11.0,187,4870,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3575,3423
$GC,4935,-0.51,-126.5,693.6,-11.2,188,4939,0.00,1.52,0.00,0.000,6,0.000,0.024,2500,2519,3422
$GC,5207,-0.51,-126.5,718.6,-9.1,195,5210,0.00,1.50,0.00,0.000,4,0.000,0.025,2507,1453,3420
$GC,5248,-0.51,-126.5,722.5,-7.8,195,5258,0.00,1.65,0.00,0.000,6,0.000,0.044,2502,2517,3420
$GC,5504,-0.51,-126.5,744.4,-8.8,202,5508,0.00,1.62,0.00,0.000,4,0.000,0.053,2494,3559,3419
$GC,5563,-0.51,-126.5,750.1,-9.1,203,5566,0.00,1.50,0.00,0.000,6,0.000,0.025,2499,2526,3418
$GC,5846,-0.51,-126.5,773.9,-8.3,210,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2519,3416
$GC,6090,-0.51,-126.5,793.0,-7.7,216,6093,0.00,1.52,0.00,0.000,4,0.000,0.026,2507,1452,3415
$GC,6120,-0.51,-126.5,795.8,-8.0,216,6124,0.00,1.65,0.00,0.000,6,0.000,0.044,2502,2513,3415
$GC,6387,-0.51,-126.5,816.3,-8.0,223,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2513,3413
$GC,6631,-0.51,-126.5,836.4,-8.2,229,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2513,3412
$GC,6874,-0.51,-126.5,857.5,-8.8,235,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2513,3411
$GC,7118,-0.51,-126.5,879.3,-9.0,241,7122,0.00,1.62,0.00,0.000,4,0.000,0.054,2494,3566,3410
$GC,7237,-0.51,-126.5,890.8,-9.3,243,7241,0.00,1.55,0.00,0.000,6,0.000,0.025,2499,2506,3410
$STATE,7377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7377,begin apogee
$GC,7389,-0.17,0.0,903.0,8.5,247,7500,0.43,0.00,103.55,1.261,6,0.136,0.000,2640,2213,2930
$STATE,7501,end apogee,CONTROL_FINISHED_OK
$STATE,7501,begin climb
$GC,7506,0.51,126.5,906.4,0.0,250,7637,0.57,0.00,119.88,1.206,6,0.028,0.000,2887,2213,2413
$GC,7889,0.51,126.5,853.8,19.0,259,7893,0.12,1.70,0.00,0.000,4,0.194,0.046,2859,3282,2404
$GC,7968,0.51,126.5,837.1,18.2,260,7972,0.00,1.50,0.00,0.000,6,0.000,0.025,2865,2289,2402
$GC,8228,0.51,126.5,792.6,17.2,267,8232,0.00,1.62,0.00,0.000,4,0.000,0.028,2873,1182,2401
$GC,8332,0.51,126.5,774.6,17.1,269,8335,0.00,1.67,0.00,0.000,6,0.000,0.041,2872,2268,2400
$GC,8614,0.51,126.5,725.5,17.5,276,8618,0.00,1.60,0.00,0.000,4,0.000,0.048,2873,3287,2398
$GC,8695,0.51,126.5,710.0,18.5,277,8698,0.00,1.50,0.00,0.000,6,0.000,0.025,2880,2282,2397
$GC,8955,0.51,126.5,663.0,18.2,284,8959,0.00,1.60,0.00,0.000,4,0.000,0.028,2888,1185,2397
$GC,9086,0.51,126.5,641.1,16.8,286,9095,0.10,1.67,0.00,0.000,6,0.165,0.041,2858,2257,2397
$GC,9341,0.51,126.5,605.1,13.7,293,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2256,2396
$GC,9584,0.51,126.5,574.2,12.4,299,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2257,2395
$GC,9828,0.51,126.5,546.1,11.6,305,9831,0.00,1.60,0.00,0.000,4,0.000,0.047,2859,3284,2395
$GC,9913,0.51,126.5,535.4,12.6,306,9922,0.00,1.55,0.00,0.000,6,0.000,0.025,2865,2226,2395
$GC,10169,0.51,126.5,504.8,12.3,313,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2226,2394
$GC,10412,0.51,126.5,472.8,13.2,319,10416,0.00,1.65,0.00,0.000,4,0.000,0.048,2864,3290,2394
$GC,10448,0.51,126.5,467.4,14.2,319,10452,0.00,1.52,0.00,0.000,6,0.000,0.025,2869,2251,2394
$GC,10708,0.51,126.5,432.9,13.4,326,10712,0.00,1.62,0.00,0.000,4,0.000,0.048,2870,3291,2394
$GC,10828,0.51,126.5,416.4,12.5,328,10832,0.00,1.45,0.00,0.000,6,0.000,0.025,2877,2298,2394
$GC,11094,0.51,126.5,385.9,11.5,335,11098,0.00,1.62,0.00,0.000,4,0.000,0.028,2885,1159,2394
$GC,11285,0.51,126.5,365.1,10.7,339,11289,0.00,1.70,0.00,0.000,6,0.000,0.041,2884,2278,2393
$GC,11574,0.51,126.5,329.8,12.6,346,11578,0.00,1.55,0.00,0.000,4,0.000,0.047,2878,3280,2393
$GC,11669,0.51,126.5,318.4,12.4,348,11672,0.00,1.48,0.00,0.000,6,0.000,0.025,2883,2279,2393
$GC,11964,0.52,134.3,288.9,9.6,355,11973,0.00,1.60,4.47,0.624,4,0.000,0.047,2884,3286,2382
$GC,12088,0.52,148.6,276.4,9.2,357,12105,0.00,1.40,14.23,0.800,6,0.000,0.023,2891,2325,2324
$GC,12395,0.52,148.6,243.3,11.6,365,12400,0.12,1.70,0.00,0.000,4,0.173,0.025,2860,1164,2321
$GC,12453,0.52,157.9,237.4,9.5,366,12467,0.00,1.75,9.38,0.729,6,0.000,0.039,2860,2313,2286
$GC,12735,0.52,157.9,208.8,10.2,373,12738,0.00,1.67,0.00,0.000,4,0.000,0.024,2868,1165,2283
$GC,12957,0.55,228.5,191.4,6.2,383,13021,0.00,1.67,59.50,0.740,6,0.000,0.038,2863,2250,1998
$GC,13287,0.55,228.5,157.7,12.5,413,13291,0.00,1.60,0.00,0.000,4,0.000,0.042,2863,3277,1990
$GC,13340,0.55,228.5,149.9,15.1,417,13349,0.00,1.50,0.00,0.000,6,0.000,0.021,2868,2269,1989
$GC,13605,0.55,228.5,112.1,12.1,442,13609,0.00,1.62,0.00,0.000,4,0.000,0.025,2873,1135,1989
$GC,13648,0.55,228.5,107.0,10.7,445,13656,0.00,1.75,0.00,0.000,6,0.000,0.038,2872,2262,1988
$GC,13914,0.55,228.5,80.5,10.5,470,13917,0.00,1.58,0.00,0.000,4,0.000,0.041,2873,3291,1988
$GC,13956,0.55,228.5,76.0,11.6,473,13959,0.00,1.48,0.00,0.000,6,0.000,0.021,2873,2281,1988
$GC,14229,0.57,277.0,54.6,7.4,498,14272,0.00,1.67,39.15,0.602,4,0.000,0.024,2873,1152,1799
$GC,14373,0.61,362.2,45.7,5.5,509,14446,0.00,1.65,67.95,0.586,6,0.000,0.033,2873,2247,1453
$GC,14718,0.63,422.4,25.0,6.8,544,14772,0.00,1.58,48.03,0.561,4,0.000,0.039,2873,3287,1207
$GC,14797,0.66,493.7,19.6,6.2,553,14859,0.00,1.60,56.67,0.549,6,0.000,0.020,2873,2211,916
$STATE,14971,end climb,SURFACE_DEPTH_REACHED
$STATE,14975,begin surface coast
$FINISH,0.5,0.997701
$STATE,15002,end surface coast,CONTROL_FINISHED_OK
$STATE,15002,begin surface
$SM_CCo,15087,0.00,0.000,0,0,911,495.50
$SM_GC,1.36,7.30,0.00,0.00,0.022,0.000,0.000,37,2518,911,-8.21,0.54,495.50
$IRIDIUM_FIX,2241.69,-15751.94,180103,212145
$TT8_MAMPS,0.02301
$HUMID,2195
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,26.20
$XPDR_PINGS,5
$24V_AH,23.8,33.270
$10V_AH,10.6,38.284
$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,18.100,102.050,522.800,0.000,0.000,92.124,117.750,511.555,1.250,0.000,0.000,15.940,1218.925,10030.812,462.210,3077.090,1335.579,33.370,1514.494,0.000,3073.542,0.000,0.547,0.000
$DEVICE_MAMPS,199.420,54.457,1260.948,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,394.411,1917.390,1980.609,1377.250,1341.748,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47778,582
$CAP_FILE_SIZE,126822,0
$CFSIZE,260165632,245288960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251013,020435,2250.601,-15752.530,37,0.9,42,10.1