version: 66.04
glider: 512
mission: 4
dive: 370
start: 11 30 113 2 35 11
data:
$ID,512
$MISSION,4
$DIVE,370
$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,333
$T_MISSION,670
$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,23
$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,603.18286
$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,-114642.01
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,69
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2858
$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
$GPS1,020236,2250.609,-15751.248,34,1.6,34,10.1
$_CALLS,5
$_XMS_NAKs,24
$_XMS_TOUTs,2
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-75.5
$GPS2,023412,2250.760,-15751.128,13,1.4,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.151,-0.180
$KALMAN_X,103093.2,95.2,-41.2,-87906.3,433.1
$KALMAN_Y,-51244.2,354.7,42.0,63215.2,174.9
$MHEAD_RNG_PITCHd_Wd,129.9,32037,-17.2,-9.009
$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,-0.54,-126.5,0.0,0.0,0,131,0.00,0.00,-111.25,0.000,2,0.000,0.000,7,2531,3176
$GC,137,-0.54,-126.5,2.8,-2.6,13,157,9.48,1.50,-4.00,0.000,4,0.192,0.038,2528,1424,3375
$GC,218,-0.54,-126.5,28.9,-20.2,24,226,0.00,1.60,0.00,0.000,6,0.000,0.036,2522,2477,3376
$GC,486,-0.54,-126.5,86.0,-18.2,49,489,0.00,1.65,0.00,0.000,4,0.000,0.046,2514,3558,3376
$GC,595,-0.54,-126.5,105.0,-15.8,58,604,0.00,1.50,0.00,0.000,6,0.000,0.020,2515,2502,3376
$GC,862,-0.54,-126.5,146.3,-16.3,83,866,0.00,1.45,0.00,0.000,4,0.000,0.020,2517,1436,3376
$GC,892,-0.54,-126.5,151.9,-15.4,85,900,0.00,1.65,0.00,0.000,6,0.000,0.036,2511,2525,3376
$GC,1158,-0.54,-126.5,190.5,-14.1,110,1161,0.00,1.58,0.00,0.000,4,0.000,0.044,2503,3567,3376
$GC,1288,-0.54,-126.5,208.1,-12.1,117,1297,0.00,1.45,0.00,0.000,6,0.000,0.018,2509,2526,3376
$GC,1544,-0.54,-126.5,241.6,-13.7,124,1547,0.00,1.60,0.00,0.000,4,0.000,0.043,2502,3589,3375
$GC,1574,-0.54,-126.5,246.2,-12.8,124,1578,0.00,1.42,0.00,0.000,6,0.000,0.019,2507,2573,3375
$GC,1840,-0.54,-126.5,277.2,-11.9,131,1843,0.00,1.52,0.00,0.000,4,0.000,0.021,2515,1459,3375
$GC,1870,-0.54,-126.5,281.2,-12.1,131,1874,0.00,1.67,0.00,0.000,6,0.000,0.038,2509,2565,3374
$GC,2135,-0.54,-126.5,311.1,-11.1,138,2139,0.00,1.52,0.00,0.000,4,0.000,0.048,2502,3566,3372
$GC,2154,-0.54,-126.5,313.5,-10.9,138,2158,0.00,1.42,0.00,0.000,6,0.000,0.021,2507,2549,3372
$GC,2433,-0.54,-126.5,343.8,-11.3,145,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2540,3370
$GC,2676,-0.54,-126.5,372.1,-11.5,151,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2540,3368
$GC,2920,-0.54,-126.5,397.9,-10.4,157,2923,0.00,1.50,0.00,0.000,4,0.000,0.023,2515,1463,3365
$GC,2955,-0.54,-126.5,401.9,-9.7,157,2959,0.00,1.65,0.00,0.000,6,0.000,0.040,2509,2546,3365
$GC,3215,-0.54,-126.5,425.2,-9.2,164,3219,0.00,1.58,-0.08,0.000,4,0.000,0.067,2501,3572,3387
$GC,3240,-0.54,-126.5,428.2,-10.2,164,3243,0.00,1.45,0.00,0.000,6,0.000,0.022,2507,2561,3386
$GC,3511,-0.54,-126.5,456.1,-10.8,171,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2552,3385
$GC,3755,-0.54,-126.5,482.0,-10.5,177,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2552,3382
$GC,3999,-0.54,-126.5,506.5,-10.1,183,4002,0.00,1.52,0.00,0.000,4,0.000,0.024,2515,1467,3380
$GC,4017,-0.54,-126.5,508.8,-10.1,183,4021,0.00,1.67,0.00,0.000,6,0.000,0.042,2510,2552,3379
$GC,4295,-0.54,-126.5,535.1,-9.5,190,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2551,3378
$GC,4539,-0.54,-126.5,557.0,-8.8,196,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2552,3376
$GC,4783,-0.54,-126.5,577.0,-8.2,202,4787,0.00,1.58,0.00,0.000,4,0.000,0.055,2510,3558,3373
$GC,4819,-0.54,-126.5,580.3,-8.0,202,4823,0.00,1.42,0.00,0.000,6,0.000,0.026,2510,2570,3373
$GC,5079,-0.54,-126.5,603.3,-9.2,209,5083,0.00,1.55,0.00,0.000,4,0.000,0.026,2510,1476,3371
$GC,5129,-0.54,-126.5,608.1,-9.6,210,5133,0.00,1.65,0.00,0.000,6,0.000,0.046,2503,2532,3371
$GC,5425,-0.54,-126.5,635.7,-9.4,217,5428,0.00,1.60,0.00,0.000,4,0.000,0.054,2495,3576,3370
$GC,5456,-0.54,-126.5,638.9,-9.4,217,5460,0.00,1.48,0.00,0.000,6,0.000,0.025,2500,2569,3369
$GC,5722,-0.54,-126.5,662.0,-8.6,224,5726,0.00,1.55,0.00,0.000,4,0.000,0.027,2508,1476,3367
$GC,5758,-0.54,-126.5,665.4,-8.4,224,5761,0.00,1.65,0.00,0.000,6,0.000,0.044,2502,2558,3367
$GC,6019,-0.54,-126.5,685.7,-7.8,231,6022,0.00,1.58,0.00,0.000,4,0.000,0.054,2495,3559,3365
$GC,6055,-0.54,-126.5,688.6,-7.4,231,6058,0.00,1.42,0.00,0.000,6,0.000,0.027,2500,2582,3364
$GC,6316,-0.54,-126.5,707.9,-7.5,238,6320,0.00,1.58,0.00,0.000,4,0.000,0.027,2508,1476,3364
$GC,6367,-0.54,-126.5,711.7,-6.6,239,6370,0.00,1.67,0.00,0.000,6,0.000,0.046,2503,2566,3363
$GC,6661,-0.54,-126.5,733.2,-7.4,246,6665,0.00,1.58,0.00,0.000,4,0.000,0.057,2495,3562,3361
$GC,6691,-0.54,-126.5,735.7,-8.0,246,6695,0.00,1.45,0.00,0.000,6,0.000,0.028,2499,2577,3361
$GC,6959,-0.54,-126.5,755.6,-7.6,253,6962,0.00,1.58,0.00,0.000,4,0.000,0.054,2495,3555,3359
$GC,6995,-0.54,-126.5,758.9,-8.4,253,6999,0.00,1.40,0.00,0.000,6,0.000,0.028,2500,2597,3359
$GC,7255,-0.54,-126.5,778.8,-7.8,260,7259,0.00,1.60,0.00,0.000,4,0.000,0.028,2508,1476,3358
$GC,7313,-0.54,-126.5,783.4,-7.2,261,7317,0.00,1.67,0.00,0.000,6,0.000,0.046,2502,2567,3358
$GC,7598,-0.54,-126.5,804.3,-7.4,268,7602,0.00,1.58,0.00,0.000,4,0.000,0.059,2495,3558,3357
$GC,7648,-0.54,-126.5,808.2,-7.6,269,7652,0.00,1.45,0.00,0.000,6,0.000,0.028,2500,2577,3357
$GC,7942,-0.54,-126.5,830.8,-7.8,276,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2568,3355
$GC,8187,-0.54,-126.5,850.2,-8.0,282,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2568,3354
$GC,8430,-0.54,-126.5,869.2,-7.7,288,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2568,3353
$GC,8674,-0.54,-126.5,887.4,-7.4,294,8677,0.00,1.58,0.00,0.000,4,0.000,0.028,2508,1476,3353
$GC,8725,-0.54,-126.5,891.3,-7.4,295,8729,0.00,1.70,0.00,0.000,6,0.000,0.048,2502,2571,3353
$STATE,8852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8852,begin apogee
$GC,8864,-0.20,0.0,901.1,7.6,298,8980,0.40,0.00,112.80,1.254,6,0.102,0.000,2638,2232,2858
$STATE,8981,end apogee,CONTROL_FINISHED_OK
$STATE,8981,begin climb
$GC,8986,0.54,126.5,904.5,0.0,301,9137,0.62,1.65,129.02,1.164,4,0.037,0.027,2890,1175,2341
$GC,9208,0.54,126.5,882.4,17.0,306,9212,0.00,1.73,0.00,0.000,6,0.000,0.042,2891,2223,2334
$GC,9503,0.54,126.5,828.4,18.5,313,9506,0.00,1.67,0.00,0.000,4,0.000,0.051,2891,3297,2331
$GC,9538,0.54,126.5,821.0,19.5,313,9542,0.00,1.60,0.00,0.000,6,0.000,0.027,2897,2209,2329
$GC,9799,0.54,126.5,774.6,17.8,320,9803,0.00,1.73,0.00,0.000,4,0.000,0.049,2892,3281,2328
$GC,9851,0.54,126.5,764.4,18.8,321,9854,0.00,1.55,0.00,0.000,6,0.000,0.027,2897,2238,2328
$GC,10140,0.54,126.5,717.1,16.2,328,10144,0.00,1.65,0.00,0.000,4,0.000,0.048,2892,3287,2327
$GC,10190,0.54,126.5,708.1,18.1,329,10194,0.00,1.50,0.00,0.000,6,0.000,0.028,2897,2284,2326
$GC,10484,0.54,126.5,660.7,16.1,336,10488,0.00,1.62,0.00,0.000,4,0.000,0.028,2905,1143,2325
$GC,10520,0.54,126.5,655.0,14.1,336,10523,0.00,1.75,0.00,0.000,6,0.000,0.042,2905,2279,2326
$GC,10781,0.54,126.5,613.8,16.1,343,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2279,2325
$GC,11025,0.54,126.5,573.5,16.5,349,11028,0.00,1.62,0.00,0.000,4,0.000,0.028,2910,1174,2325
$GC,11067,0.54,126.5,565.8,16.9,349,11076,0.08,1.70,0.00,0.000,6,0.159,0.041,2882,2264,2324
$GC,11322,0.54,126.5,528.7,14.4,356,11326,0.00,1.60,0.00,0.000,4,0.000,0.051,2876,3281,2324
$GC,11448,0.54,126.5,510.9,13.9,358,11452,0.00,1.42,0.00,0.000,6,0.000,0.027,2881,2315,2323
$GC,11708,0.54,126.5,478.1,12.7,365,11712,0.00,1.67,0.00,0.000,4,0.000,0.029,2889,1169,2323
$GC,11765,0.54,126.5,470.4,13.0,366,11769,0.00,1.77,0.00,0.000,6,0.000,0.044,2889,2319,2323
$GC,12049,0.54,126.5,432.4,13.7,373,12052,0.00,1.50,0.00,0.000,4,0.000,0.051,2889,3278,2322
$GC,12085,0.54,126.5,426.5,15.4,373,12088,0.00,1.42,0.00,0.000,6,0.000,0.026,2895,2310,2322
$GC,12345,0.54,126.5,390.5,13.8,380,12348,0.00,1.65,0.00,0.000,4,0.000,0.028,2904,1153,2322
$GC,12395,0.54,126.5,384.2,12.1,381,12399,0.00,1.80,0.00,0.000,6,0.000,0.043,2904,2298,2322
$GC,12690,0.54,126.5,347.8,12.4,388,12694,0.00,1.65,0.00,0.000,4,0.000,0.028,2911,1155,2322
$GC,12726,0.54,126.5,342.9,12.0,388,12730,0.12,1.75,0.00,0.000,6,0.153,0.043,2880,2291,2322
$GC,12985,0.54,126.5,314.6,10.9,395,12989,0.00,1.55,0.00,0.000,4,0.000,0.051,2876,3285,2322
$GC,13095,0.54,126.5,302.0,11.8,397,13099,0.00,1.48,0.00,0.000,6,0.000,0.026,2881,2281,2322
$GC,13372,0.55,143.9,276.9,8.2,404,13397,0.00,1.60,15.73,0.723,4,0.000,0.027,2889,1162,2270
$GC,13467,0.56,170.5,269.2,7.7,406,13501,0.00,1.75,24.60,0.809,6,0.000,0.041,2889,2301,2163
$GC,13747,0.56,170.5,239.9,11.2,413,13751,0.00,1.52,0.00,0.000,4,0.000,0.048,2889,3281,2157
$GC,13873,0.56,170.5,223.5,12.5,415,13876,0.00,1.35,0.00,0.000,6,0.000,0.025,2895,2356,2157
$GC,14135,0.56,170.5,191.9,11.9,425,14142,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2350,2157
$GC,14401,0.56,170.5,165.5,9.5,450,14405,0.00,1.45,0.00,0.000,4,0.000,0.044,2891,3279,2157
$GC,14462,0.56,170.5,159.1,10.2,455,14466,0.00,1.33,0.00,0.000,6,0.000,0.023,2896,2361,2157
$GC,14734,0.56,170.5,132.3,9.9,480,14742,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2355,2157
$GC,15000,0.56,170.5,105.3,9.7,505,15004,0.00,1.70,0.00,0.000,4,0.000,0.027,2899,1161,2157
$GC,15108,0.56,170.9,95.0,9.0,514,15112,0.00,1.88,0.00,0.000,6,0.000,0.038,2899,2371,2156
$GC,15381,0.56,173.9,70.1,8.9,539,15385,0.00,1.38,0.00,0.000,4,0.000,0.043,2899,3284,2156
$GC,15410,0.56,173.9,67.3,9.4,541,15413,0.00,1.33,0.00,0.000,6,0.000,0.021,2899,2356,2157
$GC,15683,0.57,205.5,47.0,7.5,566,15722,0.00,0.00,30.77,0.593,6,0.000,0.000,2899,2350,2018
$GC,15999,0.57,205.5,17.4,10.9,603,16008,0.00,1.70,0.00,0.000,4,0.000,0.023,2902,1166,2016
$GC,16045,0.57,205.5,12.4,10.7,609,16054,0.00,1.85,0.00,0.000,6,0.000,0.031,2902,2388,2015
$STATE,16172,end climb,SURFACE_DEPTH_REACHED
$STATE,16172,begin surface coast
$FINISH,0.5,1.023612
$STATE,16210,end surface coast,CONTROL_FINISHED_OK
$STATE,16210,begin surface
$SM_CCo,16235,180.00,0.542,0,0,398,603.18
$SM_GC,1.25,0.00,0.00,180.00,0.000,0.000,0.542,22,2542,398,-8.34,1.36,603.18
$IRIDIUM_FIX,2241.69,-15751.94,240203,020222
$TT8_MAMPS,0.023777
$HUMID,2197
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.30
$XPDR_PINGS,6
$24V_AH,23.2,62.037
$10V_AH,10.6,76.513
$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,18.000,123.750,312.925,180.000,0.000,141.238,182.717,1093.133,1.500,0.000,0.000,17.070,1337.296,11014.922,578.232,3263.117,2116.670,33.399,1598.438,0.000,3250.596,0.000,0.545,0.000
$DEVICE_MAMPS,191.750,66.729,1254.045,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,432.672,2086.908,2161.961,1506.146,1447.791,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54119,634
$CAP_FILE_SIZE,147762,0
$CFSIZE,260165632,233484288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,301113,071024,2249.041,-15749.064,48,1.7,48,10.1