version: 66.04
glider: 512
mission: 4
dive: 213
start: 10 26 113 19 14 49
data:
$ID,512
$MISSION,4
$DIVE,213
$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,-110641.18
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2693
$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,26
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2925
$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
$GPS1,190024,2242.362,-15745.277,42,1.4,42,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-81.0
$GPS2,191354,2242.368,-15745.412,11,1.3,11,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.206,-0.130
$KALMAN_X,86822.6,278.8,-154.9,-61946.9,-2586.0
$KALMAN_Y,101991.0,85.9,-464.0,-104775.2,1736.5
$MHEAD_RNG_PITCHd_Wd,112.2,14763,-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,-126.5,0.0,0.0,0,110,0.00,0.00,-85.38,0.000,2,0.000,0.000,11,2514,2965
$GC,115,-0.51,-126.5,2.4,-2.2,10,142,9.52,1.62,-10.05,0.000,4,0.202,0.054,2511,3574,3440
$GC,160,-0.51,-126.5,17.7,-37.5,15,169,0.00,1.58,0.00,0.000,6,0.000,0.020,2514,2485,3441
$GC,433,-0.51,-126.5,100.1,-23.4,42,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2476,3441
$GC,699,-0.51,-126.5,153.7,-19.1,67,703,0.00,1.65,0.00,0.000,4,0.000,0.040,2508,3574,3441
$GC,761,-0.51,-126.5,165.3,-18.2,72,765,0.00,1.58,0.00,0.000,6,0.000,0.020,2508,2480,3442
$GC,1049,-0.51,-126.5,216.1,-17.6,93,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2473,3441
$GC,1293,-0.51,-126.5,257.3,-16.7,99,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2473,3441
$GC,1537,-0.51,-126.5,295.0,-14.9,105,1540,0.00,1.65,0.00,0.000,4,0.000,0.043,2502,3565,3440
$GC,1618,-0.51,-126.5,307.3,-13.3,106,1621,0.00,1.52,0.00,0.000,6,0.000,0.019,2507,2477,3440
$GC,1878,-0.51,-126.5,340.2,-12.7,113,1882,0.00,1.40,0.00,0.000,4,0.000,0.020,2515,1447,3439
$GC,1902,-0.51,-126.5,343.4,-11.5,113,1906,0.00,1.60,0.00,0.000,6,0.000,0.037,2509,2504,3439
$GC,2173,-0.51,-126.5,375.5,-12.1,120,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2504,3438
$GC,2417,-0.51,-126.5,405.5,-12.3,126,2421,0.00,1.60,0.00,0.000,4,0.000,0.047,2501,3573,3435
$GC,2471,-0.51,-126.5,412.5,-11.9,127,2474,0.00,1.48,0.00,0.000,6,0.000,0.021,2507,2534,3434
$GC,2759,-0.51,-126.5,444.9,-11.1,134,2761,0.00,0.00,-0.08,0.000,6,0.000,0.000,2507,2527,3455
$GC,3003,-0.51,-126.5,471.2,-10.8,140,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2526,3454
$GC,3246,-0.51,-126.5,496.1,-10.1,146,3250,0.00,1.62,0.00,0.000,4,0.000,0.048,2501,3583,3451
$GC,3271,-0.51,-126.5,499.0,-10.7,146,3274,0.00,1.50,0.00,0.000,6,0.000,0.022,2506,2535,3451
$GC,3542,-0.51,-126.5,525.8,-10.0,153,3546,0.00,1.60,0.00,0.000,4,0.000,0.048,2500,3572,3448
$GC,3612,-0.51,-126.5,533.0,-10.1,154,3615,0.00,1.45,0.00,0.000,6,0.000,0.023,2506,2563,3448
$GC,3884,-0.51,-126.5,558.6,-9.5,161,3887,0.00,1.55,0.00,0.000,4,0.000,0.024,2508,1459,3445
$GC,3936,-0.51,-126.5,563.9,-8.6,162,3940,0.00,1.67,0.00,0.000,6,0.000,0.042,2502,2545,3444
$GC,4226,-0.51,-126.5,591.6,-9.7,169,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2545,3442
$GC,4469,-0.51,-126.5,616.1,-10.1,175,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2545,3440
$GC,4713,-0.51,-126.5,639.8,-9.7,181,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2545,3439
$GC,4957,-0.51,-126.5,663.2,-9.5,187,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2545,3438
$GC,5200,-0.51,-126.5,686.7,-9.7,193,5204,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3557,3436
$GC,5250,-0.51,-126.5,691.9,-10.0,194,5253,0.00,1.48,0.00,0.000,6,0.000,0.026,2499,2551,3435
$GC,5544,-0.51,-126.5,720.8,-9.9,201,5548,0.00,1.55,0.00,0.000,4,0.000,0.026,2508,1458,3433
$GC,5574,-0.51,-126.5,724.0,-9.8,201,5578,0.00,1.65,0.00,0.000,6,0.000,0.044,2502,2538,3432
$GC,5842,-0.51,-126.5,748.8,-9.4,208,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2538,3430
$GC,6085,-0.51,-126.5,772.0,-9.6,214,6089,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3578,3430
$GC,6135,-0.51,-126.5,776.9,-9.7,215,6139,0.00,1.55,0.00,0.000,6,0.000,0.027,2499,2528,3429
$GC,6430,-0.51,-126.5,804.4,-9.3,222,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2521,3428
$GC,6673,-0.51,-126.5,826.4,-8.9,228,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2521,3427
$GC,6917,-0.51,-126.5,847.5,-8.7,234,6921,0.00,1.65,0.00,0.000,4,0.000,0.054,2494,3574,3425
$GC,6976,-0.51,-126.5,853.2,-9.3,235,6980,0.00,1.55,0.00,0.000,6,0.000,0.027,2499,2517,3425
$GC,7259,-0.51,-126.5,877.1,-8.6,242,7263,0.00,1.52,0.00,0.000,4,0.000,0.026,2507,1447,3423
$GC,7301,-0.51,-126.5,880.7,-7.7,242,7309,0.00,1.67,0.00,0.000,6,0.000,0.046,2501,2514,3423
$STATE,7550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7550,begin apogee
$GC,7562,-0.17,0.0,902.3,8.7,249,7673,0.40,0.00,108.35,1.254,6,0.104,0.000,2636,2202,2925
$STATE,7674,end apogee,CONTROL_FINISHED_OK
$STATE,7674,begin climb
$GC,7679,0.51,126.5,906.1,0.0,252,7812,0.57,1.65,120.62,1.199,4,0.041,0.028,2886,1179,2409
$GC,7843,0.51,126.5,894.7,16.9,255,7847,0.00,1.70,0.00,0.000,6,0.000,0.040,2886,2226,2404
$GC,8110,0.51,126.5,846.1,18.4,262,8114,0.00,1.60,0.00,0.000,4,0.000,0.028,2893,1175,2399
$GC,8128,0.51,126.5,842.1,18.1,262,8132,0.12,1.60,0.00,0.000,6,0.171,0.041,2861,2200,2398
$GC,8404,0.51,126.5,798.9,15.8,269,8408,0.00,1.70,0.00,0.000,4,0.000,0.049,2861,3278,2396
$GC,8500,0.51,126.5,782.7,16.6,271,8504,0.00,1.58,0.00,0.000,6,0.000,0.028,2867,2231,2395
$GC,8794,0.51,126.5,734.5,16.2,278,8798,0.00,1.67,0.00,0.000,4,0.000,0.048,2863,3277,2395
$GC,8846,0.51,126.5,725.1,16.8,279,8849,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2228,2394
$GC,9135,0.51,126.5,677.2,16.4,286,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2222,2393
$GC,9379,0.51,126.5,638.4,15.8,292,9382,0.00,1.67,0.00,0.000,4,0.000,0.050,2863,3289,2393
$GC,9421,0.51,126.5,631.0,16.9,292,9429,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2247,2392
$GC,9676,0.51,126.5,592.6,15.0,299,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2241,2392
$GC,9919,0.51,126.5,558.1,13.9,305,9923,0.00,1.58,0.00,0.000,4,0.000,0.029,2877,1173,2391
$GC,9988,0.51,126.5,549.3,12.6,306,9992,0.00,1.65,0.00,0.000,6,0.000,0.042,2877,2250,2391
$GC,10261,0.51,126.5,514.2,13.3,313,10262,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2250,2390
$GC,10504,0.51,126.5,482.9,12.5,319,10507,0.00,1.60,0.00,0.000,4,0.000,0.049,2876,3278,2389
$GC,10534,0.51,126.5,478.5,13.1,319,10538,0.00,1.58,0.00,0.000,6,0.000,0.027,2882,2219,2390
$GC,10800,0.51,126.5,444.6,12.9,326,10803,0.00,1.67,0.00,0.000,4,0.000,0.048,2878,3292,2390
$GC,10869,0.51,126.5,434.3,13.4,327,10872,0.00,1.58,0.00,0.000,6,0.000,0.026,2884,2228,2389
$GC,11141,0.51,126.5,395.5,14.4,334,11145,0.00,1.65,0.00,0.000,4,0.000,0.049,2885,3280,2389
$GC,11206,0.51,126.5,385.3,15.0,335,11210,0.10,1.50,0.00,0.000,6,0.176,0.026,2861,2268,2389
$GC,11482,0.51,126.5,354.1,10.9,342,11486,0.00,1.60,0.00,0.000,4,0.000,0.028,2868,1162,2389
$GC,11586,0.52,145.8,344.5,9.0,344,11605,0.00,1.65,14.45,0.859,6,0.000,0.041,2868,2241,2331
$GC,11867,0.53,171.9,319.5,8.6,351,11893,0.00,0.00,23.83,0.850,6,0.000,0.000,2868,2241,2225
$GC,12110,0.53,171.9,294.0,10.8,357,12114,0.00,1.60,0.00,0.000,4,0.000,0.049,2863,3281,2219
$GC,12186,0.53,171.9,283.9,13.2,358,12190,0.00,1.60,0.00,0.000,6,0.000,0.025,2869,2196,2219
$GC,12452,0.53,171.9,249.0,13.4,365,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2190,2218
$GC,12696,0.53,171.9,219.1,12.1,371,12697,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2189,2218
$GC,12942,0.55,214.3,196.6,7.7,380,12982,0.00,1.55,36.03,0.749,4,0.000,0.027,2873,1159,2050
$GC,13055,0.55,214.3,186.2,10.3,389,13059,0.00,1.65,0.00,0.000,6,0.000,0.039,2873,2199,2046
$GC,13326,0.55,214.3,152.4,13.2,414,13330,0.00,1.67,0.00,0.000,4,0.000,0.046,2873,3280,2045
$GC,13458,0.55,214.3,132.9,14.1,425,13466,0.00,1.58,0.00,0.000,6,0.000,0.022,2881,2212,2045
$GC,13723,0.55,214.3,101.4,10.2,450,13727,0.00,1.67,0.00,0.000,4,0.000,0.041,2875,3285,2045
$GC,13763,0.55,214.3,97.4,10.5,453,13767,0.00,1.52,0.00,0.000,6,0.000,0.022,2882,2242,2045
$GC,14040,0.56,251.9,71.9,8.0,478,14082,0.00,1.58,31.15,0.620,4,0.000,0.025,2886,1167,1897
$GC,14148,0.57,267.7,62.2,9.2,486,14166,0.00,1.62,14.10,0.581,6,0.000,0.035,2886,2237,1833
$GC,14438,0.58,308.4,38.9,7.8,512,14481,0.00,1.62,33.60,0.579,4,0.000,0.041,2886,3282,1667
$GC,14501,0.59,322.8,33.0,9.2,516,14524,0.00,1.52,12.80,0.542,6,0.000,0.020,2893,2240,1609
$STATE,14774,end climb,SURFACE_DEPTH_REACHED
$STATE,14775,begin surface coast
$FINISH,0.7,1.022929
$STATE,14801,end surface coast,CONTROL_FINISHED_OK
$STATE,14801,begin surface
$SM_CCo,14827,28.27,0.535,0,0,1334,390.02
$SM_GC,1.16,0.00,0.00,28.27,0.000,0.000,0.535,40,2521,1334,-8.29,0.62,390.02
$IRIDIUM_FIX,2234.68,-15743.29,200103,191914
$TT8_MAMPS,0.023777
$HUMID,2242
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.80
$XPDR_PINGS,5
$24V_AH,23.8,34.739
$10V_AH,10.7,40.286
$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,18.025,93.275,394.925,28.275,0.000,58.015,72.425,428.168,1.250,0.000,0.000,11.202,1168.101,10096.619,445.709,2809.297,1142.097,33.372,1337.171,0.000,2812.155,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,54.457,1254.045,535.366,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,382.171,1846.971,1905.701,1089.711,1231.474,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47939,561
$CAP_FILE_SIZE,116283,0
$CFSIZE,260165632,244658176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261013,232359,2241.789,-15744.184,41,1.1,46,10.1