version: 66.04
glider: 512
mission: 4
dive: 204
start: 10 25 113 2 15 50
data:
$ID,512
$MISSION,4
$DIVE,204
$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,-110500.22
$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,63
$R_STBD_OVSHOOT,46
$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
$GPS1,020435,2250.601,-15752.530,37,0.9,42,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-81.4
$GPS2,021455,2250.608,-15752.667,12,1.9,12,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.189,-0.154
$KALMAN_X,104699.4,-51.5,270.8,-92302.8,-2295.5
$KALMAN_Y,92888.1,116.4,-150.4,-80764.5,1800.9
$MHEAD_RNG_PITCHd_Wd,119.1,33771,-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,17,-0.51,-126.5,0.0,0.0,0,106,0.00,0.00,-85.93,0.000,2,0.000,0.000,11,2514,3000
$GC,111,-0.51,-126.5,2.3,-2.0,10,140,9.38,1.58,-9.25,0.000,4,0.196,0.051,2510,3555,3446
$GC,201,-0.51,-126.5,33.5,-31.1,21,204,0.00,1.55,0.00,0.000,6,0.000,0.019,2510,2494,3447
$GC,472,-0.51,-126.5,99.7,-21.7,46,476,0.00,1.48,0.00,0.000,4,0.000,0.020,2510,1434,3448
$GC,500,-0.51,-126.5,105.6,-21.5,48,504,0.00,1.60,0.00,0.000,6,0.000,0.035,2503,2486,3448
$GC,773,-0.51,-126.5,163.4,-20.1,73,777,0.00,1.62,0.00,0.000,4,0.000,0.042,2494,3559,3448
$GC,833,-0.51,-126.5,175.8,-19.5,78,837,0.00,1.50,0.00,0.000,6,0.000,0.018,2500,2498,3448
$GC,1131,-0.51,-126.5,232.6,-18.8,94,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2492,3449
$GC,1374,-0.51,-126.5,271.4,-15.6,100,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2492,3449
$GC,1618,-0.51,-126.5,308.8,-15.3,106,1622,0.00,1.65,0.00,0.000,4,0.000,0.042,2494,3564,3448
$GC,1642,-0.51,-126.5,313.1,-14.6,106,1645,0.00,1.45,0.00,0.000,6,0.000,0.018,2500,2530,3448
$GC,1913,-0.51,-126.5,349.3,-13.2,113,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2522,3446
$GC,2157,-0.51,-126.5,380.4,-12.9,119,2161,0.00,1.48,0.00,0.000,4,0.000,0.020,2507,1458,3445
$GC,2192,-0.51,-126.5,385.6,-13.2,119,2196,0.00,1.62,0.00,0.000,6,0.000,0.038,2502,2550,3445
$GC,2453,-0.51,-126.5,418.9,-13.2,126,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2550,3443
$GC,2696,-0.51,-126.5,452.0,-13.6,132,2700,0.00,1.55,0.00,0.000,4,0.000,0.047,2494,3564,3440
$GC,2771,-0.51,-126.5,463.1,-13.7,133,2775,0.00,1.48,0.00,0.000,6,0.000,0.021,2500,2526,3440
$GC,3037,-0.51,-126.5,495.6,-11.9,140,3041,0.00,1.48,0.00,0.000,4,0.000,0.021,2507,1467,3438
$GC,3077,-0.51,-126.5,500.4,-10.2,140,3086,0.00,1.62,0.00,0.000,6,0.000,0.039,2502,2529,3437
$GC,3332,-0.51,-126.5,527.0,-10.6,147,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2529,3434
$GC,3575,-0.51,-126.5,552.1,-10.3,153,3579,0.00,1.58,0.00,0.000,4,0.000,0.048,2494,3554,3431
$GC,3594,-0.51,-126.5,554.4,-10.7,153,3598,0.00,1.50,0.00,0.000,6,0.000,0.022,2499,2514,3431
$GC,3872,-0.51,-126.5,583.3,-10.5,160,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2506,3429
$GC,4116,-0.51,-126.5,608.3,-10.1,166,4119,0.00,1.62,0.00,0.000,4,0.000,0.048,2494,3565,3427
$GC,4146,-0.51,-126.5,611.7,-10.0,166,4149,0.00,1.50,0.00,0.000,6,0.000,0.022,2499,2522,3427
$GC,4412,-0.51,-126.5,636.8,-9.5,173,4416,0.00,1.50,0.00,0.000,4,0.000,0.023,2507,1454,3424
$GC,4462,-0.51,-126.5,641.3,-7.9,174,4466,0.00,1.65,0.00,0.000,6,0.000,0.044,2502,2517,3423
$GC,4758,-0.51,-126.5,668.7,-9.4,181,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2518,3421
$GC,5001,-0.51,-126.5,692.0,-9.8,187,5005,0.00,1.60,0.00,0.000,4,0.000,0.052,2494,3566,3420
$GC,5026,-0.51,-126.5,694.9,-9.9,187,5030,0.00,1.52,0.00,0.000,6,0.000,0.024,2499,2517,3419
$GC,5297,-0.51,-126.5,720.9,-9.6,194,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2509,3418
$GC,5541,-0.51,-126.5,744.1,-9.6,200,5545,0.00,1.65,0.00,0.000,4,0.000,0.052,2493,3553,3416
$GC,5599,-0.51,-126.5,750.1,-9.6,201,5602,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2517,3415
$GC,5883,-0.51,-126.5,776.5,-9.3,208,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2511,3414
$GC,6126,-0.51,-126.5,799.9,-9.7,214,6130,0.00,1.65,0.00,0.000,4,0.000,0.053,2493,3569,3412
$GC,6197,-0.51,-126.5,807.3,-9.9,215,6200,0.00,1.52,0.00,0.000,6,0.000,0.024,2499,2521,3412
$GC,6468,-0.51,-126.5,833.2,-9.5,222,6472,0.00,1.50,0.00,0.000,4,0.000,0.026,2507,1456,3411
$GC,6504,-0.51,-126.5,836.9,-9.3,222,6508,0.00,1.65,0.00,0.000,6,0.000,0.045,2501,2536,3411
$GC,6766,-0.51,-126.5,860.8,-9.2,229,6770,0.00,1.60,0.00,0.000,4,0.000,0.053,2493,3556,3410
$GC,6816,-0.51,-126.5,865.6,-8.9,230,6820,0.00,1.50,0.00,0.000,6,0.000,0.026,2499,2531,3410
$GC,7111,-0.51,-126.5,892.5,-9.1,237,7114,0.00,1.62,0.00,0.000,4,0.000,0.052,2493,3565,3407
$GC,7146,-0.51,-126.5,896.2,-10.2,237,7150,0.00,1.50,0.00,0.000,6,0.000,0.025,2499,2535,3407
$STATE,7198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7198,begin apogee
$GC,7210,-0.17,0.0,901.0,9.0,239,7319,0.40,0.00,103.70,1.253,6,0.106,0.000,2635,2209,2931
$STATE,7320,end apogee,CONTROL_FINISHED_OK
$STATE,7320,begin climb
$GC,7325,0.51,126.5,905.0,0.0,242,7459,0.57,1.65,121.32,1.197,4,0.031,0.026,2891,1176,2412
$GC,7505,0.51,126.5,891.1,16.9,246,7510,0.15,1.70,0.00,0.000,6,0.180,0.038,2857,2238,2408
$GC,7800,0.51,126.5,844.2,15.8,253,7804,0.00,1.62,0.00,0.000,4,0.000,0.045,2850,3284,2402
$GC,7897,0.51,126.5,826.9,16.3,255,7900,0.00,1.55,0.00,0.000,6,0.000,0.025,2856,2254,2400
$GC,8186,0.51,126.5,783.4,14.9,262,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2249,2399
$GC,8429,0.51,126.5,745.9,15.6,268,8433,0.00,1.62,0.00,0.000,4,0.000,0.047,2850,3289,2398
$GC,8487,0.51,126.5,736.0,15.7,269,8491,0.00,1.55,0.00,0.000,6,0.000,0.025,2856,2253,2397
$GC,8769,0.51,126.5,691.5,16.1,276,8773,0.00,1.60,0.00,0.000,4,0.000,0.028,2864,1156,2397
$GC,8822,0.51,126.5,683.3,14.6,277,8826,0.00,1.70,0.00,0.000,6,0.000,0.041,2863,2244,2397
$GC,9110,0.51,126.5,639.0,15.4,284,9114,0.00,1.62,0.00,0.000,4,0.000,0.028,2869,1163,2396
$GC,9167,0.51,126.5,630.5,13.4,285,9171,0.00,1.62,0.00,0.000,6,0.000,0.041,2864,2226,2396
$GC,9451,0.51,126.5,593.8,12.7,292,9455,0.00,1.62,0.00,0.000,4,0.000,0.048,2863,3289,2395
$GC,9537,0.51,126.5,581.8,13.5,293,9545,0.00,1.58,0.00,0.000,6,0.000,0.025,2869,2232,2395
$GC,9791,0.51,126.5,548.7,13.2,300,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2226,2394
$GC,10035,0.51,126.5,514.9,13.9,306,10038,0.00,1.55,0.00,0.000,4,0.000,0.028,2877,1159,2394
$GC,10086,0.51,126.5,507.7,14.5,307,10090,0.00,1.67,0.00,0.000,6,0.000,0.041,2877,2253,2394
$GC,10380,0.51,126.5,464.2,14.7,314,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2253,2394
$GC,10623,0.51,126.5,428.2,14.7,320,10627,0.00,1.60,0.00,0.000,4,0.000,0.048,2876,3281,2393
$GC,10692,0.51,126.5,417.0,15.0,321,10696,0.00,1.50,0.00,0.000,6,0.000,0.025,2882,2263,2393
$GC,10965,0.51,126.5,377.9,14.5,328,10966,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2258,2393
$GC,11208,0.51,126.5,348.5,11.2,334,11212,0.00,1.60,0.00,0.000,4,0.000,0.027,2890,1155,2393
$GC,11283,0.51,132.7,341.2,9.7,335,11287,0.12,1.73,0.00,0.000,6,0.171,0.039,2860,2289,2392
$GC,11549,0.53,177.8,320.3,7.6,342,11592,0.00,0.00,41.28,0.868,6,0.000,0.000,2860,2288,2205
$GC,11833,0.53,177.8,289.6,11.5,349,11837,0.00,1.67,0.00,0.000,4,0.000,0.025,2866,1177,2199
$GC,11883,0.53,177.8,283.9,11.1,350,11887,0.00,1.70,0.00,0.000,6,0.000,0.038,2866,2279,2197
$GC,12178,0.53,177.8,247.5,12.9,357,12181,0.00,1.55,0.00,0.000,4,0.000,0.044,2863,3282,2197
$GC,12242,0.53,177.8,239.1,12.1,358,12245,0.00,1.45,0.00,0.000,6,0.000,0.023,2869,2297,2196
$GC,12519,0.53,177.8,209.2,10.2,365,12522,0.00,1.62,0.00,0.000,4,0.000,0.027,2873,1164,2196
$GC,12659,0.55,213.7,197.7,8.1,368,12699,0.00,1.73,29.90,0.746,6,0.000,0.038,2873,2294,2058
$GC,12957,0.55,213.7,163.2,12.9,395,12960,0.00,1.65,0.00,0.000,4,0.000,0.024,2881,1157,2055
$GC,13007,0.55,213.7,157.3,10.9,399,13011,0.00,1.75,0.00,0.000,6,0.000,0.036,2876,2281,2054
$GC,13278,0.55,213.7,125.2,11.7,424,13282,0.00,1.52,0.00,0.000,4,0.000,0.041,2875,3279,2054
$GC,13319,0.55,213.7,120.4,11.6,427,13322,0.00,1.45,0.00,0.000,6,0.000,0.021,2882,2279,2054
$GC,13591,0.55,219.4,92.2,9.7,452,13606,0.00,1.55,5.70,0.528,4,0.000,0.038,2877,3280,2036
$GC,13671,0.55,219.4,83.5,11.5,458,13680,0.00,1.35,0.00,0.000,6,0.000,0.021,2883,2340,2036
$GC,13938,0.56,249.7,60.0,8.4,483,13970,0.00,1.73,26.60,0.599,4,0.000,0.025,2885,1164,1911
$GC,14066,0.58,302.6,49.6,7.2,493,14121,0.00,1.80,43.42,0.588,6,0.000,0.035,2886,2349,1695
$GC,14397,0.58,307.4,19.3,9.7,529,14407,0.00,1.80,4.90,0.435,4,0.000,0.022,2886,1149,1676
$GC,14450,0.59,322.7,14.4,9.2,536,14469,0.00,1.80,13.73,0.529,6,0.000,0.033,2885,2319,1614
$STATE,14569,end climb,SURFACE_DEPTH_REACHED
$STATE,14569,begin surface coast
$FINISH,0.4,1.023031
$STATE,14606,end surface coast,CONTROL_FINISHED_OK
$STATE,14606,begin surface
$SM_CCo,14631,28.10,0.530,0,0,1339,390.02
$SM_GC,1.39,0.00,0.00,28.10,0.000,0.000,0.530,43,2553,1339,-8.27,1.50,390.02
$IRIDIUM_FIX,2241.69,-15754.11,180103,212144
$TT8_MAMPS,0.023777
$HUMID,2209
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.10
$XPDR_PINGS,2
$24V_AH,23.8,33.409
$10V_AH,10.6,38.475
$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,17.825,105.700,390.550,28.100,0.000,29.161,35.063,373.726,0.500,0.000,0.000,12.797,1185.487,9750.300,443.623,2885.124,1011.613,33.370,1368.192,0.000,2874.959,0.000,0.545,0.000
$DEVICE_MAMPS,196.352,52.923,1253.278,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,380.580,1839.644,1907.203,1233.895,1282.583,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47897,559
$CAP_FILE_SIZE,117060,0
$CFSIZE,260165632,245235712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251013,062136,2249.427,-15751.845,38,1.0,38,10.1