version: 66.04
glider: 512
mission: 4
dive: 373
start: 11 30 113 17 27 19
data:
$ID,512
$MISSION,4
$DIVE,373
$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,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,-114716.72
$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,55
$R_STBD_OVSHOOT,18
$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
$GPS1,165954,2246.079,-15745.748,66,1.8,66,10.1
$_CALLS,4
$_XMS_NAKs,31
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-82.9
$GPS2,172625,2246.286,-15745.538,16,1.8,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.116,-0.205
$KALMAN_X,104648.1,-20.5,238.9,-80083.2,412.6
$KALMAN_Y,-47997.8,93.4,323.3,51658.9,1140.8
$MHEAD_RNG_PITCHd_Wd,140.3,19437,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.54,-126.5,0.0,0.0,0,93,0.00,0.00,-68.55,0.000,2,0.000,0.000,6,2501,2868
$GC,99,-0.54,-126.5,2.3,-1.7,8,128,9.65,1.52,-11.77,0.000,4,0.200,0.040,2522,1440,3374
$GC,140,-0.54,-126.5,12.1,-19.0,12,149,0.00,1.62,0.00,0.000,6,0.000,0.032,2516,2515,3374
$GC,429,-0.54,-126.5,77.3,-22.2,43,433,0.00,1.60,0.00,0.000,4,0.000,0.044,2508,3564,3375
$GC,538,-0.54,-126.5,97.8,-14.5,52,541,0.00,1.48,0.00,0.000,6,0.000,0.018,2513,2515,3375
$GC,811,-0.54,-126.5,142.5,-17.4,77,815,0.00,1.60,0.00,0.000,4,0.000,0.041,2507,3556,3375
$GC,885,-0.54,-126.5,156.6,-16.5,83,893,0.00,1.40,0.00,0.000,6,0.000,0.018,2512,2560,3375
$GC,1151,-0.54,-126.5,199.0,-16.4,108,1154,0.00,1.50,0.00,0.000,4,0.000,0.019,2512,1462,3376
$GC,1220,-0.54,-126.5,209.9,-13.3,110,1224,0.00,1.65,0.00,0.000,6,0.000,0.036,2506,2576,3375
$GC,1492,-0.54,-126.5,244.9,-12.5,117,1495,0.00,1.50,0.00,0.000,4,0.000,0.045,2499,3566,3376
$GC,1692,-0.54,-126.5,269.1,-11.9,121,1695,0.00,1.33,0.00,0.000,6,0.000,0.018,2503,2613,3375
$GC,1974,-0.54,-126.5,304.0,-12.0,128,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2606,3374
$GC,2218,-0.54,-126.5,333.3,-12.0,134,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2605,3373
$GC,2462,-0.54,-126.5,360.4,-11.1,140,2465,0.00,1.60,0.00,0.000,4,0.000,0.021,2512,1452,3371
$GC,2512,-0.54,-126.5,365.5,-9.8,141,2516,0.00,1.77,0.00,0.000,6,0.000,0.038,2505,2636,3371
$GC,2808,-0.54,-126.5,397.5,-11.0,148,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2636,3369
$GC,3051,-0.54,-126.5,424.3,-11.0,154,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2636,3366
$GC,3294,-0.54,-126.5,449.5,-10.2,160,3298,0.00,1.67,-0.08,0.000,4,0.000,0.038,2512,1463,3389
$GC,3374,-0.54,-126.5,457.4,-9.0,161,3378,0.00,1.77,0.00,0.000,6,0.000,0.041,2505,2637,3388
$GC,3635,-0.54,-126.5,481.0,-9.1,168,3638,0.00,1.70,0.00,0.000,4,0.000,0.024,2508,1463,3386
$GC,3664,-0.54,-126.5,483.9,-9.2,168,3668,0.00,1.75,0.00,0.000,6,0.000,0.042,2502,2618,3386
$GC,3932,-0.54,-126.5,506.7,-8.5,175,3936,0.00,1.45,0.00,0.000,4,0.000,0.052,2494,3558,3384
$GC,4028,-0.54,-126.5,515.0,-8.2,177,4031,0.00,1.33,0.00,0.000,6,0.000,0.025,2499,2634,3383
$GC,4323,-0.54,-126.5,541.2,-8.9,184,4326,0.00,1.62,0.00,0.000,4,0.000,0.025,2508,1454,3380
$GC,4431,-0.54,-126.5,551.0,-8.8,186,4435,0.00,1.75,0.00,0.000,6,0.000,0.044,2502,2604,3380
$GC,4709,-0.54,-126.5,576.6,-9.4,193,4713,0.00,1.60,0.00,0.000,4,0.000,0.024,2508,1467,3377
$GC,4747,-0.54,-126.5,580.4,-8.6,193,4750,0.00,1.70,0.00,0.000,6,0.000,0.044,2502,2584,3377
$GC,5007,-0.54,-126.5,604.4,-9.5,200,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2583,3375
$GC,5251,-0.54,-126.5,627.1,-9.3,206,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2583,3373
$GC,5494,-0.54,-126.5,648.9,-8.9,212,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2583,3371
$GC,5738,-0.54,-126.5,670.1,-8.7,218,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2583,3370
$GC,5982,-0.54,-126.5,690.5,-8.3,224,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2583,3369
$GC,6226,-0.54,-126.5,710.1,-7.9,230,6230,0.00,1.52,0.00,0.000,4,0.000,0.055,2494,3553,3367
$GC,6277,-0.54,-126.5,714.0,-7.2,231,6280,0.00,1.40,0.00,0.000,6,0.000,0.027,2500,2595,3367
$GC,6572,-0.54,-126.5,735.2,-7.2,238,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2587,3365
$GC,6816,-0.54,-126.5,752.9,-7.2,244,6819,0.00,1.60,0.00,0.000,4,0.000,0.027,2508,1449,3364
$GC,6874,-0.54,-126.5,757.3,-7.1,245,6878,0.00,1.75,0.00,0.000,6,0.000,0.047,2502,2564,3364
$GC,7157,-0.54,-126.5,778.5,-7.7,252,7161,0.00,1.58,0.00,0.000,4,0.000,0.056,2495,3558,3363
$GC,7198,-0.54,-126.5,782.2,-8.1,252,7208,0.00,1.40,0.00,0.000,6,0.000,0.027,2500,2594,3362
$GC,7455,-0.54,-126.5,802.4,-8.1,259,7459,0.00,1.60,0.00,0.000,4,0.000,0.027,2507,1473,3361
$GC,7485,-0.54,-126.5,805.0,-7.5,259,7488,0.00,1.70,0.00,0.000,6,0.000,0.047,2502,2574,3361
$GC,7751,-0.54,-126.5,826.0,-8.0,266,7754,0.00,1.55,0.00,0.000,4,0.000,0.056,2494,3556,3359
$GC,7825,-0.54,-126.5,832.5,-7.9,267,7829,0.00,1.38,0.00,0.000,6,0.000,0.028,2499,2615,3359
$GC,8093,-0.54,-126.5,851.0,-6.8,274,8097,0.00,1.60,0.00,0.000,4,0.000,0.027,2507,1469,3359
$GC,8129,-0.54,-126.5,853.9,-6.8,274,8133,0.00,1.73,0.00,0.000,6,0.000,0.048,2502,2584,3359
$GC,8390,-0.54,-126.5,870.1,-6.4,281,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2584,3358
$GC,8634,-0.54,-126.5,885.6,-6.4,287,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2584,3357
$STATE,8872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8872,begin apogee
$GC,8883,-0.20,0.0,902.0,6.8,293,9000,0.40,0.00,113.60,1.259,6,0.103,0.000,2637,2224,2858
$STATE,9001,end apogee,CONTROL_FINISHED_OK
$STATE,9001,begin climb
$GC,9006,0.54,126.5,904.6,0.0,296,9231,0.65,1.65,147.23,1.042,4,0.038,0.028,2893,1174,2342
$GC,9267,0.54,126.5,877.3,16.3,301,9275,0.00,1.70,0.00,0.000,6,0.000,0.041,2891,2213,2338
$GC,9521,0.54,126.5,832.6,17.7,308,9525,0.00,1.70,0.00,0.000,4,0.000,0.051,2891,3283,2334
$GC,9557,0.54,126.5,825.4,18.5,308,9560,0.00,1.58,0.00,0.000,6,0.000,0.027,2897,2233,2333
$GC,9817,0.54,126.5,779.9,17.5,315,9821,0.00,1.67,0.00,0.000,4,0.000,0.049,2892,3292,2332
$GC,9868,0.54,126.5,771.0,17.8,316,9872,0.00,1.58,0.00,0.000,6,0.000,0.027,2897,2238,2332
$GC,10162,0.54,126.5,721.1,16.8,323,10166,0.00,1.58,0.00,0.000,4,0.000,0.028,2905,1159,2330
$GC,10187,0.54,126.5,716.3,17.2,323,10191,0.08,1.70,0.00,0.000,6,0.155,0.042,2881,2244,2330
$GC,10458,0.54,126.5,674.7,15.1,330,10461,0.00,1.62,0.00,0.000,4,0.000,0.051,2877,3296,2329
$GC,10545,0.54,126.5,660.8,15.1,331,10553,0.00,1.55,0.00,0.000,6,0.000,0.027,2883,2256,2329
$GC,10800,0.54,126.5,623.8,14.5,338,10803,0.00,1.60,0.00,0.000,4,0.000,0.028,2891,1158,2328
$GC,10818,0.54,126.5,620.3,14.6,338,10822,0.00,1.73,0.00,0.000,6,0.000,0.044,2891,2258,2328
$GC,11095,0.54,126.5,579.0,15.0,345,11099,0.00,1.60,0.00,0.000,4,0.000,0.051,2891,3279,2328
$GC,11125,0.54,126.5,574.2,15.1,345,11128,0.00,1.50,0.00,0.000,6,0.000,0.026,2897,2263,2327
$GC,11392,0.54,126.5,535.6,14.9,352,11396,0.00,1.60,0.00,0.000,4,0.000,0.029,2905,1160,2327
$GC,11457,0.54,126.5,526.0,14.8,353,11460,0.00,1.73,0.00,0.000,6,0.000,0.042,2905,2281,2327
$GC,11734,0.54,126.5,485.7,14.2,360,11737,0.00,1.58,0.00,0.000,4,0.000,0.051,2905,3287,2327
$GC,11860,0.54,126.5,466.3,15.0,362,11864,0.10,1.45,0.00,0.000,6,0.176,0.026,2882,2308,2326
$GC,12120,0.54,126.5,432.1,13.3,369,12124,0.00,1.55,0.00,0.000,4,0.000,0.048,2877,3279,2326
$GC,12138,0.54,126.5,429.4,13.1,369,12142,0.00,1.42,0.00,0.000,6,0.000,0.026,2883,2308,2326
$GC,12417,0.54,126.5,397.0,11.6,376,12420,0.00,1.67,0.00,0.000,4,0.000,0.028,2891,1156,2326
$GC,12492,0.54,126.5,387.9,11.6,377,12495,0.00,1.80,0.00,0.000,6,0.000,0.044,2891,2322,2325
$GC,12757,0.54,126.5,357.5,11.7,384,12761,0.00,1.50,0.00,0.000,4,0.000,0.051,2890,3279,2325
$GC,12782,0.54,126.5,354.2,11.8,384,12785,0.00,1.48,0.00,0.000,6,0.000,0.025,2897,2278,2325
$GC,13054,0.54,126.5,321.4,12.4,391,13058,0.00,1.62,0.00,0.000,4,0.000,0.028,2902,1142,2325
$GC,13123,0.54,126.5,312.8,10.8,392,13127,0.00,1.77,0.00,0.000,6,0.000,0.042,2902,2278,2325
$GC,13395,0.54,126.5,282.1,11.2,399,13398,0.00,1.62,0.00,0.000,4,0.000,0.027,2910,1156,2325
$GC,13459,0.54,126.5,274.2,11.4,400,13463,0.00,1.65,0.00,0.000,6,0.000,0.040,2905,2239,2325
$GC,13737,0.54,126.5,245.0,9.9,407,13740,0.00,1.62,0.00,0.000,4,0.000,0.049,2905,3300,2325
$GC,13851,0.54,126.5,231.7,9.9,409,13855,0.08,1.55,0.00,0.000,6,0.150,0.024,2878,2245,2325
$GC,14123,0.55,150.6,210.8,7.9,416,14158,0.00,0.00,22.38,0.713,6,0.000,0.000,2878,2240,2243
$GC,14413,0.55,150.6,184.5,9.1,435,14416,0.00,1.62,0.00,0.000,4,0.000,0.047,2876,3285,2240
$GC,14564,0.55,157.6,170.9,8.7,448,14578,0.00,1.52,7.47,0.643,6,0.000,0.024,2882,2239,2215
$GC,14843,0.56,173.5,147.3,8.2,473,14870,0.00,1.58,15.48,0.677,4,0.000,0.026,2885,1176,2149
$GC,15027,0.56,173.5,129.2,9.8,488,15031,0.00,1.67,0.00,0.000,6,0.000,0.038,2886,2250,2147
$GC,15299,0.57,207.5,105.3,7.4,513,15339,0.00,1.62,30.25,0.650,4,0.000,0.045,2886,3284,2010
$GC,15448,0.57,207.5,89.9,10.6,525,15452,0.00,1.52,0.00,0.000,6,0.000,0.023,2886,2254,2009
$GC,15726,0.59,256.1,69.2,6.7,550,15775,0.00,0.00,40.67,0.612,6,0.000,0.000,2886,2247,1814
$GC,16032,0.59,256.1,42.2,9.7,579,16036,0.00,1.60,0.00,0.000,4,0.000,0.041,2886,3293,1811
$GC,16124,0.59,256.1,33.5,9.7,586,16128,0.00,1.52,0.00,0.000,6,0.000,0.021,2886,2247,1810
$STATE,16426,end climb,SURFACE_DEPTH_REACHED
$STATE,16426,begin surface coast
$FINISH,0.4,1.010176
$STATE,16452,end surface coast,CONTROL_FINISHED_OK
$STATE,16452,begin surface
$SM_CCo,16478,54.53,0.539,0,0,1267,390.02
$SM_GC,1.51,0.00,0.00,54.53,0.000,0.000,0.539,33,2538,1267,-8.33,1.07,390.02
$IRIDIUM_FIX,2237.01,-15747.62,240203,171711
$TT8_MAMPS,0.023777
$HUMID,2245
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,7
$24V_AH,23.4,62.558
$10V_AH,10.5,77.179
$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,18.150,115.700,377.075,54.525,0.000,112.003,157.768,921.812,1.750,0.000,0.000,16.215,1349.013,11054.711,509.029,3339.153,1865.060,33.375,1561.228,0.000,3332.164,0.000,0.546,0.000
$DEVICE_MAMPS,200.187,55.991,1258.647,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,433.492,2091.965,2166.751,1468.753,1426.291,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54088,635
$CAP_FILE_SIZE,142119,0
$CFSIZE,260165632,233299968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,301113,220444,2244.286,-15743.663,43,2.1,62,10.1