version: 66.04
glider: 512
mission: 4
dive: 249
start: 11 3 113 4 50 47
data:
$ID,512
$MISSION,4
$DIVE,249
$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,-111342.99
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2696
$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,69
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,043453,2305.912,-15735.769,26,1.0,44,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-80.1
$GPS2,044954,2305.878,-15735.810,11,2.0,11,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.235,0.010
$KALMAN_X,35408.1,-222.0,-137.8,6355.1,2032.4
$KALMAN_Y,58949.8,235.3,-59.6,-18764.0,-2617.3
$MHEAD_RNG_PITCHd_Wd,262.2,69790,-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,18,-0.47,-126.5,0.0,0.0,0,80,0.00,0.00,-60.10,0.000,2,0.000,0.000,8,2571,2711
$GC,86,-0.47,-126.5,2.1,-1.2,7,124,9.70,1.52,-17.88,0.000,4,0.201,0.056,2529,3565,3416
$GC,357,-0.47,-126.5,66.2,-23.9,37,361,0.00,1.52,0.00,0.000,6,0.000,0.019,2531,2507,3417
$GC,628,-0.47,-126.5,123.7,-17.9,62,632,0.00,1.48,0.00,0.000,4,0.000,0.019,2531,1433,3417
$GC,736,-0.47,-126.5,141.2,-14.9,71,740,0.00,1.62,0.00,0.000,6,0.000,0.038,2525,2515,3417
$GC,1008,-0.47,-126.5,185.5,-15.3,96,1011,0.00,1.60,0.00,0.000,4,0.000,0.045,2517,3584,3418
$GC,1080,-0.47,-126.5,196.4,-14.3,102,1084,0.00,1.58,0.00,0.000,6,0.000,0.019,2517,2477,3418
$GC,1350,-0.47,-126.5,239.1,-16.3,110,1354,0.00,1.40,0.00,0.000,4,0.000,0.020,2519,1449,3418
$GC,1401,-0.47,-126.5,246.6,-13.3,111,1404,0.00,1.58,0.00,0.000,6,0.000,0.035,2514,2491,3417
$GC,1695,-0.47,-126.5,287.6,-13.8,118,1699,0.12,1.60,0.00,0.000,4,0.146,0.042,2540,3563,3418
$GC,1799,-0.47,-126.5,299.2,-10.3,120,1803,0.00,1.55,0.00,0.000,6,0.000,0.019,2540,2466,3418
$GC,2083,-0.47,-126.5,327.9,-10.1,127,2086,0.00,1.67,0.00,0.000,4,0.000,0.044,2532,3560,3417
$GC,2112,-0.47,-126.5,331.4,-10.8,127,2116,0.00,1.50,0.00,0.000,6,0.000,0.020,2532,2503,3417
$GC,2379,-0.47,-126.5,359.9,-10.9,134,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2497,3415
$GC,2622,-0.47,-126.5,383.9,-9.5,140,2625,0.00,1.45,0.00,0.000,4,0.000,0.021,2532,1452,3413
$GC,2646,-0.47,-126.5,386.6,-9.6,140,2650,0.00,1.62,0.00,0.000,6,0.000,0.038,2525,2518,3414
$GC,2917,-0.47,-126.5,412.8,-10.0,147,2921,0.00,1.60,0.00,0.000,4,0.000,0.048,2517,3579,3411
$GC,2969,-0.47,-126.5,418.2,-10.4,148,2972,0.00,1.52,0.00,0.000,6,0.000,0.022,2517,2512,3411
$GC,3263,-0.47,-126.5,449.6,-10.5,155,3266,0.00,1.62,0.00,0.000,4,0.000,0.045,2510,3567,3408
$GC,3287,-0.47,-126.5,452.6,-10.7,155,3291,0.08,1.50,0.00,0.000,6,0.104,0.021,2540,2509,3407
$GC,3558,-0.47,-126.5,474.0,-7.8,162,3560,0.00,0.00,-0.08,0.000,6,0.000,0.000,2541,2501,3431
$GC,3801,-0.47,-126.5,493.6,-8.0,168,3805,0.00,1.65,0.00,0.000,4,0.000,0.048,2535,3567,3429
$GC,3883,-0.47,-126.5,500.3,-8.4,169,3886,0.00,1.48,0.00,0.000,6,0.000,0.023,2534,2545,3428
$GC,4143,-0.47,-126.5,520.4,-7.6,176,4147,0.00,1.52,0.00,0.000,4,0.000,0.023,2534,1455,3426
$GC,4247,-0.47,-126.5,528.5,-7.5,178,4251,0.00,1.60,0.00,0.000,6,0.000,0.041,2527,2513,3425
$GC,4530,-0.47,-126.5,551.3,-8.4,185,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2513,3422
$GC,4774,-0.47,-126.5,572.4,-8.6,191,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2513,3421
$GC,5018,-0.47,-126.5,593.3,-8.4,197,5021,0.00,1.62,0.00,0.000,4,0.000,0.054,2523,3567,3419
$GC,5070,-0.47,-126.5,597.9,-8.6,198,5074,0.00,1.55,0.00,0.000,6,0.000,0.025,2523,2500,3419
$GC,5359,-0.47,-126.5,621.1,-8.0,205,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2492,3416
$GC,5603,-0.47,-126.5,640.1,-7.8,211,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2492,3415
$GC,5847,-0.47,-126.5,658.9,-7.7,217,5850,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3557,3413
$GC,5897,-0.47,-126.5,663.0,-7.7,218,5901,0.00,1.55,0.00,0.000,6,0.000,0.027,2523,2506,3413
$GC,6191,-0.47,-126.5,684.8,-7.3,225,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2500,3412
$GC,6435,-0.47,-126.5,702.1,-7.1,231,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2500,3411
$GC,6679,-0.47,-126.5,720.2,-7.3,237,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2500,3409
$GC,6922,-0.47,-126.5,739.0,-7.8,243,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2500,3408
$GC,7166,-0.47,-126.5,758.9,-8.2,249,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2499,3407
$GC,7410,-0.47,-126.5,779.0,-8.3,255,7413,0.00,1.67,0.00,0.000,4,0.000,0.058,2523,3555,3406
$GC,7451,-0.47,-126.5,782.5,-8.1,255,7461,0.00,1.55,0.00,0.000,6,0.000,0.028,2523,2502,3405
$GC,7707,-0.47,-126.5,801.1,-7.3,262,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2501,3404
$GC,7951,-0.47,-126.5,817.7,-6.8,268,7954,0.00,1.67,0.00,0.000,4,0.000,0.057,2523,3554,3403
$GC,7993,-0.47,-126.5,821.0,-7.0,268,8001,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2521,3403
$GC,8247,-0.47,-126.5,838.0,-6.7,275,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3402
$GC,8491,-0.47,-126.5,854.8,-6.8,281,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3401
$GC,8735,-0.47,-126.5,871.6,-7.0,287,8739,0.00,1.67,0.00,0.000,4,0.000,0.058,2523,3552,3400
$GC,8776,-0.47,-126.5,874.5,-7.1,287,8785,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2517,3401
$GC,9031,-0.47,-126.5,890.8,-6.4,294,9035,0.00,1.52,0.00,0.000,4,0.000,0.028,2523,1459,3400
$GC,9066,-0.47,-126.5,893.3,-6.2,294,9070,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2535,3400
$STATE,9200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9200,begin apogee
$GC,9212,-0.17,0.0,901.6,6.2,298,9326,0.35,0.00,110.57,1.259,6,0.094,0.000,2642,2212,2900
$STATE,9326,end apogee,CONTROL_FINISHED_OK
$STATE,9326,begin climb
$GC,9332,0.47,126.5,903.9,0.0,301,9464,0.55,1.70,121.47,1.204,4,0.030,0.028,2886,1177,2384
$GC,9540,0.47,126.5,882.4,16.6,305,9544,0.15,1.70,0.00,0.000,6,0.156,0.041,2850,2226,2377
$GC,9805,0.47,126.5,840.9,15.5,312,9809,0.00,1.67,0.00,0.000,4,0.000,0.051,2850,3288,2372
$GC,9880,0.47,126.5,828.5,15.9,313,9884,0.00,1.58,0.00,0.000,6,0.000,0.027,2856,2251,2371
$GC,10146,0.47,126.5,788.4,15.1,320,10150,0.00,1.65,0.00,0.000,4,0.000,0.050,2856,3281,2370
$GC,10196,0.47,126.5,780.3,17.3,321,10200,0.00,1.55,0.00,0.000,6,0.000,0.028,2863,2262,2369
$GC,10491,0.47,126.5,734.1,15.7,328,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2255,2368
$GC,10735,0.47,126.5,695.8,15.6,334,10736,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2255,2368
$GC,10979,0.47,126.5,658.8,15.0,340,10982,0.00,1.62,0.00,0.000,4,0.000,0.049,2863,3288,2367
$GC,11003,0.47,126.5,654.6,14.5,340,11007,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2250,2367
$GC,11274,0.47,126.5,615.6,14.4,347,11277,0.00,1.67,0.00,0.000,4,0.000,0.049,2864,3287,2367
$GC,11298,0.47,126.5,611.4,15.2,347,11301,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2267,2366
$GC,11570,0.47,126.5,575.2,13.5,354,11573,0.00,1.60,0.00,0.000,4,0.000,0.029,2877,1168,2366
$GC,11621,0.47,126.5,568.4,12.9,355,11624,0.00,1.73,0.00,0.000,6,0.000,0.042,2876,2285,2366
$GC,11915,0.47,126.5,525.6,14.8,362,11918,0.00,1.65,0.00,0.000,4,0.000,0.028,2882,1151,2365
$GC,11989,0.47,126.5,514.7,13.5,363,11992,0.00,1.73,0.00,0.000,6,0.000,0.041,2876,2274,2365
$GC,12256,0.47,126.5,479.4,13.1,370,12259,0.00,1.60,0.00,0.000,4,0.000,0.051,2876,3290,2365
$GC,12325,0.47,126.5,470.0,12.7,371,12329,0.10,1.52,0.00,0.000,6,0.161,0.026,2851,2265,2364
$GC,12595,0.47,126.5,439.0,11.2,378,12596,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2258,2364
$GC,12839,0.47,126.5,411.9,11.0,384,12840,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2257,2364
$GC,13083,0.47,126.5,386.6,10.3,390,13086,0.00,1.62,0.00,0.000,4,0.000,0.048,2851,3298,2364
$GC,13178,0.47,126.5,376.0,11.3,392,13182,0.00,1.52,0.00,0.000,6,0.000,0.026,2857,2274,2363
$GC,13473,0.47,126.5,345.1,10.2,399,13476,0.00,1.62,0.00,0.000,4,0.000,0.050,2858,3301,2363
$GC,13504,0.47,126.5,341.3,12.1,399,13507,0.00,1.48,0.00,0.000,6,0.000,0.026,2865,2305,2363
$GC,13771,0.47,126.5,313.8,9.8,406,13774,0.00,1.58,0.00,0.000,4,0.000,0.048,2864,3285,2363
$GC,13812,0.47,126.5,309.5,9.7,406,13819,0.00,1.45,0.00,0.000,6,0.000,0.025,2869,2305,2363
$GC,14066,0.47,126.5,285.8,9.2,413,14070,0.00,1.58,0.00,0.000,4,0.000,0.048,2863,3286,2363
$GC,14208,0.47,126.5,272.3,9.8,416,14212,0.00,1.38,0.00,0.000,6,0.000,0.025,2868,2350,2363
$GC,14502,0.48,145.4,249.1,8.1,423,14528,0.00,1.48,16.35,0.703,4,0.000,0.045,2863,3297,2306
$GC,14688,0.48,145.4,233.2,10.1,427,14692,0.00,1.30,0.00,0.000,6,0.000,0.024,2868,2410,2305
$GC,14971,0.48,150.5,208.5,8.8,434,14982,0.00,1.77,6.38,0.642,4,0.000,0.026,2873,1161,2285
$GC,15061,0.48,150.5,200.8,9.2,436,15065,0.00,1.92,0.00,0.000,6,0.000,0.041,2873,2411,2284
$GC,15340,0.48,150.5,173.4,10.0,458,15344,0.00,1.83,0.00,0.000,4,0.000,0.025,2882,1147,2284
$GC,15423,0.48,150.5,165.1,9.1,465,15427,0.00,1.88,0.00,0.000,6,0.000,0.038,2875,2382,2284
$GC,15694,0.48,155.1,139.5,8.8,490,15704,0.00,0.00,5.80,0.560,6,0.000,0.000,2876,2383,2267
$GC,15962,0.49,169.9,116.4,8.3,515,15979,0.00,1.38,14.10,0.628,4,0.000,0.042,2876,3301,2208
$GC,16008,0.49,169.9,112.2,9.6,518,16012,0.00,1.40,0.00,0.000,6,0.000,0.023,2881,2344,2207
$GC,16280,0.49,177.4,88.0,8.6,543,16295,0.00,1.67,8.20,0.565,4,0.000,0.024,2886,1156,2176
$GC,16465,0.50,206.0,73.5,7.6,558,16494,0.00,1.80,25.17,0.603,6,0.000,0.037,2886,2343,2060
$GC,16756,0.53,282.3,56.3,5.3,584,16822,0.00,1.75,62.30,0.590,4,0.000,0.021,2887,1162,1747
$GC,16849,0.56,340.1,49.8,6.2,592,16900,0.00,1.83,46.28,0.574,6,0.000,0.036,2886,2317,1512
$GC,17175,0.56,340.1,20.9,9.6,628,17183,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2317,1507
$STATE,17441,end climb,SURFACE_DEPTH_REACHED
$STATE,17441,begin surface coast
$FINISH,0.4,1.018508
$STATE,17559,end surface coast,CONTROL_FINISHED_OK
$STATE,17559,begin surface
$SM_CCo,17585,21.55,0.520,0,0,1310,390.02
$SM_GC,1.80,0.00,0.00,21.55,0.000,0.000,0.520,35,2536,1310,-8.31,0.99,390.02
$IRIDIUM_FIX,2302.75,-15737.96,280103,040432
$TT8_MAMPS,0.023777
$HUMID,2190
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,27.00
$XPDR_PINGS,6
$24V_AH,23.5,41.030
$10V_AH,10.7,48.194
$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,18.375,112.450,416.625,21.550,0.000,49.792,70.251,523.439,1.500,0.000,0.000,16.187,1439.381,11768.989,435.528,3546.779,1312.118,33.370,1518.925,0.000,3539.621,0.000,0.546,0.000
$DEVICE_MAMPS,200.954,57.525,1258.647,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,469.802,2269.844,2337.244,1669.143,1581.786,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57213,689
$CAP_FILE_SIZE,141069,0
$CFSIZE,260165632,242176000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,031113,094606,2305.286,-15737.233,63,1.8,63,10.1