version: 66.04
glider: 512
mission: 4
dive: 208
start: 10 25 113 20 23 8
data:
$ID,512
$MISSION,4
$DIVE,208
$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,-110565.24
$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,67
$R_STBD_OVSHOOT,52
$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
$GPS1,201253,2246.772,-15749.695,43,1.4,43,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-79.5
$GPS2,202213,2246.819,-15749.753,14,1.4,14,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.170
$KALMAN_X,97488.4,257.5,-144.4,-80016.8,-1954.8
$KALMAN_Y,98016.9,94.1,-79.0,-92957.4,2189.6
$MHEAD_RNG_PITCHd_Wd,124.3,25479,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.51,-126.5,0.0,0.0,0,83,0.00,0.00,-59.55,0.000,2,0.000,0.000,16,2532,2721
$GC,89,-0.51,-126.5,2.0,-1.6,7,127,9.48,0.00,-18.42,0.000,6,0.199,0.000,2525,2532,3443
$GC,402,-0.51,-126.5,90.2,-24.8,41,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2532,3445
$GC,667,-0.51,-126.5,148.8,-20.2,66,671,0.00,1.55,0.00,0.000,4,0.000,0.040,2518,3548,3446
$GC,718,-0.51,-126.5,159.4,-21.7,70,722,0.00,1.52,0.00,0.000,6,0.000,0.018,2518,2485,3446
$GC,988,-0.51,-126.5,208.1,-17.2,92,991,0.00,1.60,0.00,0.000,4,0.000,0.040,2510,3542,3446
$GC,1019,-0.51,-126.5,213.8,-17.3,92,1023,0.00,1.45,0.00,0.000,6,0.000,0.018,2516,2513,3446
$GC,1285,-0.51,-126.5,254.1,-15.4,99,1289,0.00,1.45,0.00,0.000,4,0.000,0.018,2521,1454,3446
$GC,1315,-0.51,-126.5,258.9,-14.2,99,1318,0.00,1.60,0.00,0.000,6,0.000,0.035,2515,2530,3446
$GC,1582,-0.51,-126.5,295.7,-14.4,106,1586,0.00,1.58,0.00,0.000,4,0.000,0.044,2507,3565,3446
$GC,1601,-0.51,-126.5,299.0,-14.3,106,1604,0.00,1.48,0.00,0.000,6,0.000,0.018,2507,2520,3446
$GC,1877,-0.51,-126.5,338.0,-14.2,113,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2512,3446
$GC,2121,-0.51,-126.5,367.8,-11.8,119,2125,0.00,1.62,0.00,0.000,4,0.000,0.042,2499,3567,3445
$GC,2156,-0.51,-126.5,372.3,-11.9,119,2159,0.00,1.45,0.00,0.000,6,0.000,0.019,2505,2539,3444
$GC,2416,-0.51,-126.5,400.2,-10.7,126,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2532,3443
$GC,2660,-0.51,-126.5,426.3,-10.8,132,2663,0.00,1.50,0.00,0.000,4,0.000,0.021,2508,1457,3441
$GC,2689,-0.51,-126.5,429.9,-11.1,132,2693,0.00,1.67,0.00,0.000,6,0.000,0.038,2502,2555,3441
$GC,2956,-0.51,-126.5,460.2,-11.6,139,2960,0.00,1.55,0.00,0.000,4,0.000,0.047,2494,3567,3439
$GC,3006,-0.51,-126.5,466.0,-10.6,140,3010,0.08,1.42,0.00,0.000,6,0.123,0.020,2529,2565,3438
$GC,3300,-0.51,-126.5,490.3,-8.0,147,3304,0.00,1.52,-0.08,0.000,4,0.000,0.038,2531,1461,3462
$GC,3386,-0.51,-126.5,497.4,-7.2,148,3395,0.00,1.67,0.00,0.000,6,0.000,0.041,2525,2550,3461
$GC,3642,-0.51,-126.5,519.7,-9.1,155,3645,0.00,1.58,0.00,0.000,4,0.000,0.051,2524,3563,3458
$GC,3673,-0.51,-126.5,523.1,-10.2,155,3676,0.00,1.45,0.00,0.000,6,0.000,0.023,2523,2559,3458
$GC,3939,-0.51,-126.5,550.3,-10.5,162,3942,0.00,1.52,0.00,0.000,4,0.000,0.022,2523,1470,3457
$GC,3980,-0.51,-126.5,554.8,-9.5,162,3989,0.00,1.62,0.00,0.000,6,0.000,0.043,2523,2520,3456
$GC,4237,-0.51,-126.5,578.5,-9.4,169,4240,0.00,1.62,0.00,0.000,4,0.000,0.053,2523,3559,3454
$GC,4323,-0.51,-126.5,585.9,-7.9,170,4330,0.00,1.45,0.00,0.000,6,0.000,0.025,2523,2554,3453
$GC,4578,-0.51,-126.5,604.6,-7.2,177,4581,0.00,1.52,0.00,0.000,4,0.000,0.023,2523,1476,3452
$GC,4602,-0.51,-126.5,606.7,-7.6,177,4606,0.00,1.67,0.00,0.000,6,0.000,0.044,2523,2552,3452
$GC,4875,-0.51,-126.5,626.3,-7.4,184,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2552,3450
$GC,5119,-0.51,-126.5,646.9,-8.7,190,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2552,3447
$GC,5362,-0.51,-126.5,670.2,-9.6,196,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2552,3446
$GC,5606,-0.51,-126.5,692.5,-8.9,202,5610,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1470,3444
$GC,5631,-0.51,-126.5,695.0,-8.7,202,5635,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2540,3444
$GC,5902,-0.51,-126.5,717.4,-8.4,209,5906,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3556,3442
$GC,5977,-0.51,-126.5,724.0,-8.2,210,5981,0.00,1.42,0.00,0.000,6,0.000,0.026,2523,2579,3441
$GC,6245,-0.51,-126.5,746.3,-8.5,217,6249,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1469,3441
$GC,6286,-0.51,-126.5,750.2,-8.1,217,6294,0.00,1.70,0.00,0.000,6,0.000,0.046,2523,2554,3440
$GC,6541,-0.51,-126.5,771.9,-8.6,224,6545,0.00,1.58,0.00,0.000,4,0.000,0.056,2523,3553,3440
$GC,6577,-0.51,-126.5,775.3,-9.1,224,6580,0.00,1.42,0.00,0.000,6,0.000,0.026,2523,2574,3439
$GC,6837,-0.51,-126.5,795.0,-7.4,231,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3439
$GC,7081,-0.51,-126.5,811.9,-6.9,237,7085,0.00,1.58,0.00,0.000,4,0.000,0.026,2523,1470,3437
$GC,7117,-0.51,-126.5,814.9,-7.7,237,7121,0.00,1.67,0.00,0.000,6,0.000,0.047,2523,2560,3438
$GC,7379,-0.51,-126.5,830.8,-6.1,244,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2560,3437
$GC,7622,-0.51,-126.5,844.9,-5.6,250,7626,0.00,1.58,0.00,0.000,4,0.000,0.057,2523,3556,3436
$GC,7658,-0.51,-126.5,847.1,-5.5,250,7662,0.00,1.42,0.00,0.000,6,0.000,0.028,2523,2574,3435
$GC,7919,-0.51,-126.5,860.8,-5.4,257,7923,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1468,3434
$GC,7988,-0.51,-126.5,865.0,-5.9,258,7992,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2557,3434
$GC,8261,-0.51,-126.5,880.9,-6.1,265,8265,0.00,1.58,0.00,0.000,4,0.000,0.057,2523,3553,3433
$GC,8326,-0.51,-126.5,885.4,-7.2,266,8330,0.00,1.42,0.00,0.000,6,0.000,0.027,2523,2571,3432
$STATE,8557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8558,begin apogee
$GC,8569,-0.17,0.0,900.3,6.5,272,8682,0.35,0.00,110.03,1.258,6,0.094,0.000,2642,2242,2930
$STATE,8683,end apogee,CONTROL_FINISHED_OK
$STATE,8683,begin climb
$GC,8688,0.51,126.5,903.9,0.0,275,8820,0.57,1.73,120.90,1.204,4,0.030,0.028,2891,1166,2414
$GC,8857,0.51,126.5,891.9,17.8,278,8861,0.00,1.73,0.00,0.000,6,0.000,0.041,2890,2223,2409
$GC,9117,0.51,126.5,844.2,18.7,285,9121,0.00,1.67,0.00,0.000,4,0.000,0.048,2891,3291,2403
$GC,9168,0.51,126.5,834.2,20.7,286,9172,0.15,1.62,0.00,0.000,6,0.194,0.025,2864,2202,2402
$GC,9462,0.51,126.5,785.8,16.0,293,9465,0.00,1.52,0.00,0.000,4,0.000,0.028,2870,1181,2400
$GC,9512,0.51,126.5,778.1,15.9,294,9516,0.00,1.65,0.00,0.000,6,0.000,0.041,2870,2219,2400
$GC,9806,0.51,126.5,733.8,14.7,301,9810,0.00,1.65,0.00,0.000,4,0.000,0.048,2870,3294,2399
$GC,9836,0.51,126.5,728.5,15.9,301,9840,0.00,1.60,0.00,0.000,6,0.000,0.025,2878,2218,2398
$GC,10102,0.51,126.5,689.8,14.2,308,10106,0.00,1.67,0.00,0.000,4,0.000,0.046,2878,3290,2397
$GC,10134,0.51,126.5,684.7,16.1,308,10137,0.00,1.58,0.00,0.000,6,0.000,0.025,2884,2233,2398
$GC,10399,0.51,126.5,644.2,15.1,315,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2226,2397
$GC,10643,0.51,126.5,606.4,15.4,321,10647,0.00,1.58,0.00,0.000,4,0.000,0.027,2892,1153,2397
$GC,10713,0.51,126.5,594.9,15.1,322,10717,0.00,1.67,0.00,0.000,6,0.000,0.040,2891,2248,2396
$GC,10985,0.51,126.5,553.9,15.4,329,10989,0.00,1.60,0.00,0.000,4,0.000,0.048,2891,3273,2396
$GC,11144,0.51,126.5,526.0,17.6,332,11148,0.10,1.48,0.00,0.000,6,0.181,0.025,2858,2281,2396
$GC,11416,0.51,126.5,490.4,12.7,339,11419,0.00,1.62,0.00,0.000,4,0.000,0.028,2865,1145,2396
$GC,11511,0.51,126.5,479.7,11.1,341,11515,0.00,1.70,0.00,0.000,6,0.000,0.040,2864,2254,2395
$GC,11806,0.51,126.5,447.0,10.8,348,11807,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2254,2395
$GC,12049,0.51,126.5,421.4,10.5,354,12053,0.00,1.60,0.00,0.000,4,0.000,0.048,2863,3286,2395
$GC,12158,0.51,126.5,408.1,11.8,356,12161,0.00,1.55,0.00,0.000,6,0.000,0.025,2869,2239,2395
$GC,12435,0.51,126.5,376.8,11.5,363,12439,0.00,1.55,0.00,0.000,4,0.000,0.027,2877,1158,2395
$GC,12505,0.51,126.5,369.2,10.3,364,12509,0.00,1.67,0.00,0.000,6,0.000,0.040,2876,2257,2394
$GC,12776,0.51,126.5,338.1,12.0,371,12780,0.00,1.58,0.00,0.000,4,0.000,0.046,2875,3276,2394
$GC,13020,0.51,126.5,310.3,11.0,376,13024,0.00,1.45,0.00,0.000,6,0.000,0.025,2881,2285,2394
$GC,13298,0.51,127.8,282.6,9.9,383,13301,0.00,1.62,0.00,0.000,4,0.000,0.026,2889,1142,2394
$GC,13548,0.52,153.2,258.5,8.7,388,13574,0.00,1.77,21.08,0.804,6,0.000,0.038,2889,2310,2304
$GC,13865,0.52,153.2,224.3,11.2,396,13868,0.00,1.67,0.00,0.000,4,0.000,0.024,2897,1149,2300
$GC,13968,0.53,168.2,214.0,9.2,398,13987,0.00,1.73,13.98,0.739,6,0.000,0.036,2891,2284,2244
$GC,14244,0.53,171.0,186.0,9.9,413,14258,0.00,1.55,3.55,0.465,4,0.000,0.044,2891,3283,2232
$GC,14342,0.53,171.0,175.5,10.9,421,14346,0.00,1.52,0.00,0.000,6,0.000,0.022,2897,2245,2232
$GC,14614,0.53,171.0,144.1,11.0,446,14622,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2239,2232
$GC,14880,0.53,171.0,113.4,12.3,471,14884,0.00,1.55,0.00,0.000,4,0.000,0.024,2902,1160,2232
$GC,14897,0.53,171.0,111.2,12.4,472,14901,0.12,1.67,0.00,0.000,6,0.145,0.035,2871,2272,2232
$GC,15175,0.54,190.6,84.5,9.0,497,15203,0.00,1.55,18.02,0.618,4,0.000,0.041,2870,3286,2153
$GC,15211,0.55,210.3,80.5,9.0,499,15234,0.00,1.50,18.42,0.605,6,0.000,0.021,2872,2257,2071
$GC,15495,0.58,284.1,58.6,6.1,525,15565,0.00,1.60,60.05,0.602,4,0.000,0.023,2872,1177,1768
$GC,15619,0.61,371.4,50.3,5.4,534,15693,0.00,1.65,69.43,0.588,6,0.000,0.033,2872,2256,1414
$GC,15954,0.64,440.0,30.7,6.3,563,16015,0.00,1.58,54.45,0.565,4,0.000,0.039,2872,3291,1134
$GC,16034,0.67,520.9,25.8,5.7,571,16104,0.08,1.58,64.12,0.552,6,0.079,0.020,2926,2227,805
$STATE,16208,end climb,SURFACE_DEPTH_REACHED
$STATE,16208,begin surface coast
$FINISH,0.5,1.023008
$STATE,16228,end surface coast,CONTROL_FINISHED_OK
$STATE,16228,begin surface
$SM_CCo,16314,0.00,0.000,0,0,799,522.73
$SM_GC,1.35,7.47,0.00,0.00,0.024,0.000,0.000,39,2556,799,-8.24,1.58,522.73
$IRIDIUM_FIX,2239.35,-15751.94,190103,161651
$TT8_MAMPS,0.02301
$HUMID,2189
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,26.10
$XPDR_PINGS,5
$24V_AH,23.7,34.021
$10V_AH,10.7,39.288
$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,18.400,121.025,554.025,0.000,0.000,31.367,36.301,311.560,1.250,0.000,0.000,14.707,1287.430,10867.136,489.164,3202.469,1020.692,33.369,1606.852,0.000,3196.450,0.000,0.544,0.000
$DEVICE_MAMPS,198.653,56.758,1257.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,405.559,1968.346,2036.708,1245.215,1321.711,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51155,598
$CAP_FILE_SIZE,131146,0
$CFSIZE,260165632,244957184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261013,005629,2245.823,-15748.697,38,1.1,43,10.1