version: 66.04
glider: 512
mission: 4
dive: 250
start: 11 3 113 10 20 27
data:
$ID,512
$MISSION,4
$DIVE,250
$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,-111376.66
$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,56
$R_STBD_OVSHOOT,34
$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
$GPS1,094606,2305.286,-15737.233,63,1.8,63,10.1
$_CALLS,4
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.8
$GPS2,101935,2305.050,-15737.237,16,1.3,32,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.235,-0.009
$KALMAN_X,37107.7,34.4,171.6,1650.5,1528.2
$KALMAN_Y,57210.1,-56.1,286.5,-18613.5,-2755.5
$MHEAD_RNG_PITCHd_Wd,257.8,66956,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.47,-126.5,0.0,0.0,0,80,0.00,0.00,-59.75,0.000,2,0.000,0.000,8,2526,2711
$GC,86,-0.47,-126.5,2.0,-0.9,7,124,9.60,1.60,-17.67,0.000,4,0.199,0.056,2525,3564,3418
$GC,392,-0.47,-126.5,76.4,-24.8,39,396,0.00,1.55,0.00,0.000,6,0.000,0.019,2525,2492,3418
$GC,664,-0.47,-126.5,129.0,-19.5,64,668,0.00,1.45,0.00,0.000,4,0.000,0.021,2528,1442,3418
$GC,703,-0.47,-126.5,136.0,-17.3,67,707,0.00,1.58,0.00,0.000,6,0.000,0.035,2523,2482,3419
$GC,975,-0.47,-126.5,181.8,-16.3,92,978,0.00,1.62,0.00,0.000,4,0.000,0.044,2515,3574,3419
$GC,1048,-0.47,-126.5,193.3,-15.4,98,1051,0.00,1.58,0.00,0.000,6,0.000,0.019,2516,2471,3419
$GC,1339,-0.47,-126.5,239.1,-15.7,108,1343,0.00,1.40,0.00,0.000,4,0.000,0.019,2522,1443,3418
$GC,1358,-0.47,-126.5,242.3,-15.2,108,1362,0.00,1.58,0.00,0.000,6,0.000,0.035,2516,2491,3418
$GC,1637,-0.47,-126.5,279.0,-13.5,115,1640,0.00,1.62,0.00,0.000,4,0.000,0.044,2507,3564,3417
$GC,1802,-0.47,-126.5,299.8,-12.5,118,1806,0.05,1.52,0.00,0.000,6,0.126,0.019,2541,2474,3417
$GC,2067,-0.47,-126.5,325.3,-9.5,125,2071,0.00,1.38,0.00,0.000,4,0.000,0.020,2541,1464,3416
$GC,2125,-0.47,-126.5,331.1,-9.2,126,2129,0.00,1.55,0.00,0.000,6,0.000,0.037,2537,2487,3416
$GC,2409,-0.47,-126.5,359.7,-10.0,133,2412,0.00,1.62,0.00,0.000,4,0.000,0.048,2529,3570,3414
$GC,2472,-0.47,-126.5,366.4,-9.3,134,2476,0.00,1.55,0.00,0.000,6,0.000,0.021,2528,2477,3413
$GC,2749,-0.47,-126.5,393.6,-10.0,141,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2470,3411
$GC,2993,-0.47,-126.5,416.9,-9.7,147,2996,0.00,1.67,0.00,0.000,4,0.000,0.046,2523,3562,3409
$GC,3044,-0.47,-126.5,421.6,-9.0,148,3048,0.00,1.55,0.00,0.000,6,0.000,0.022,2523,2482,3408
$GC,3338,-0.47,-126.5,449.5,-9.5,155,3342,0.00,1.70,-0.08,0.000,4,0.000,0.064,2523,3564,3430
$GC,3388,-0.47,-126.5,454.2,-9.5,156,3392,0.00,1.52,0.00,0.000,6,0.000,0.022,2523,2503,3430
$GC,3682,-0.47,-126.5,483.3,-9.9,163,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2496,3427
$GC,3926,-0.47,-126.5,506.5,-9.5,169,3930,0.00,1.48,0.00,0.000,4,0.000,0.024,2523,1443,3424
$GC,3989,-0.47,-126.5,512.9,-9.3,170,3993,0.00,1.62,0.00,0.000,6,0.000,0.042,2523,2498,3424
$GC,4266,-0.47,-126.5,539.9,-10.1,177,4270,0.00,1.62,0.00,0.000,4,0.000,0.053,2523,3560,3421
$GC,4325,-0.47,-126.5,546.2,-9.5,178,4328,0.00,1.52,0.00,0.000,6,0.000,0.024,2523,2506,3420
$GC,4607,-0.47,-126.5,573.8,-9.8,185,4611,0.00,1.48,0.00,0.000,4,0.000,0.024,2523,1451,3419
$GC,4658,-0.47,-126.5,578.7,-8.9,186,4662,0.00,1.62,0.00,0.000,6,0.000,0.042,2516,2499,3418
$GC,4953,-0.47,-126.5,607.3,-9.6,193,4956,0.00,1.62,0.00,0.000,4,0.000,0.052,2508,3561,3415
$GC,5004,-0.47,-126.5,612.7,-9.9,194,5009,0.08,1.55,0.00,0.000,6,0.106,0.025,2540,2492,3415
$GC,5293,-0.47,-126.5,632.5,-6.8,201,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2486,3413
$GC,5536,-0.47,-126.5,648.3,-6.5,207,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2486,3412
$GC,5780,-0.47,-126.5,665.1,-7.0,213,5784,0.00,1.45,0.00,0.000,4,0.000,0.025,2542,1460,3410
$GC,5811,-0.47,-126.5,667.6,-7.5,213,5815,0.00,1.60,0.00,0.000,6,0.000,0.044,2536,2488,3410
$GC,6078,-0.47,-126.5,686.9,-7.4,220,6082,0.00,1.67,0.00,0.000,4,0.000,0.055,2533,3568,3409
$GC,6136,-0.47,-126.5,691.6,-7.5,221,6140,0.00,1.55,0.00,0.000,6,0.000,0.026,2533,2511,3408
$GC,6418,-0.47,-126.5,711.0,-6.9,228,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2504,3407
$GC,6662,-0.47,-126.5,726.6,-6.3,234,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2504,3405
$GC,6906,-0.47,-126.5,742.1,-6.4,240,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2503,3404
$GC,7149,-0.47,-126.5,758.6,-6.8,246,7153,0.00,1.67,0.00,0.000,4,0.000,0.053,2525,3569,3403
$GC,7191,-0.47,-126.5,761.8,-8.0,246,7200,0.00,1.55,0.00,0.000,6,0.000,0.027,2525,2508,3402
$GC,7447,-0.47,-126.5,780.2,-7.3,253,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2507,3401
$GC,7691,-0.47,-126.5,798.9,-7.7,259,7694,0.00,1.67,0.00,0.000,4,0.000,0.057,2524,3567,3400
$GC,7749,-0.47,-126.5,803.9,-7.7,260,7753,0.00,1.55,0.00,0.000,6,0.000,0.027,2524,2517,3400
$GC,8032,-0.47,-126.5,825.2,-7.6,267,8035,0.00,1.52,0.00,0.000,4,0.000,0.026,2522,1447,3399
$GC,8083,-0.47,-126.5,828.9,-6.7,268,8087,0.00,1.67,0.00,0.000,6,0.000,0.047,2523,2525,3399
$GC,8378,-0.47,-126.5,850.5,-7.2,275,8381,0.00,1.62,0.00,0.000,4,0.000,0.059,2523,3562,3399
$GC,8442,-0.47,-126.5,855.1,-6.6,276,8446,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2528,3398
$GC,8721,-0.47,-126.5,873.3,-6.4,283,8725,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1444,3397
$GC,8771,-0.47,-126.5,876.6,-6.2,284,8775,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2529,3397
$GC,9065,-0.47,-126.5,895.5,-6.4,291,9069,0.00,1.65,0.00,0.000,4,0.000,0.060,2523,3558,3396
$GC,9107,-0.47,-126.5,898.5,-7.2,291,9117,0.00,1.55,0.00,0.000,6,0.000,0.028,2523,2507,3396
$STATE,9153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9153,begin apogee
$GC,9165,-0.17,0.0,901.4,6.1,293,9277,0.35,0.00,109.20,1.260,6,0.094,0.000,2643,2216,2899
$STATE,9278,end apogee,CONTROL_FINISHED_OK
$STATE,9278,begin climb
$GC,9283,0.47,126.5,904.6,0.0,296,9436,0.57,1.62,126.90,1.163,4,0.029,0.027,2891,1171,2384
$GC,9482,0.47,126.5,888.2,17.5,299,9489,0.12,1.75,0.00,0.000,6,0.147,0.041,2854,2229,2378
$GC,9736,0.47,126.5,846.4,16.2,306,9740,0.00,1.67,0.00,0.000,4,0.000,0.050,2850,3292,2374
$GC,9812,0.47,126.5,832.7,17.7,307,9815,0.00,1.60,0.00,0.000,6,0.000,0.027,2856,2222,2372
$GC,10078,0.47,126.5,788.0,17.3,314,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2216,2370
$GC,10321,0.47,126.5,747.8,16.3,320,10325,0.00,1.70,0.00,0.000,4,0.000,0.049,2856,3292,2369
$GC,10371,0.47,126.5,739.1,17.5,321,10375,0.00,1.58,0.00,0.000,6,0.000,0.027,2864,2245,2369
$GC,10666,0.47,126.5,691.5,16.0,328,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2239,2368
$GC,10909,0.47,126.5,654.6,15.0,334,10913,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3289,2368
$GC,10995,0.47,126.5,641.0,14.9,335,11003,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2250,2367
$GC,11249,0.47,126.5,604.3,14.7,342,11253,0.00,1.60,0.00,0.000,4,0.000,0.030,2877,1156,2367
$GC,11300,0.47,126.5,597.2,14.6,343,11304,0.00,1.70,0.00,0.000,6,0.000,0.044,2877,2251,2366
$GC,11594,0.47,126.5,554.2,14.6,350,11596,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2251,2366
$GC,11838,0.47,126.5,519.8,14.2,356,11839,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2251,2365
$GC,12082,0.47,126.5,486.1,14.0,362,12085,0.00,1.62,0.00,0.000,4,0.000,0.051,2876,3304,2365
$GC,12132,0.47,126.5,478.9,14.4,363,12136,0.10,1.58,0.00,0.000,6,0.165,0.028,2852,2254,2365
$GC,12426,0.47,126.5,446.5,10.4,370,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2249,2365
$GC,12670,0.47,126.5,421.1,10.6,376,12673,0.00,1.62,0.00,0.000,4,0.000,0.049,2852,3284,2365
$GC,12705,0.47,126.5,416.5,12.1,376,12709,0.00,1.50,0.00,0.000,6,0.000,0.027,2858,2274,2364
$GC,12966,0.47,126.5,386.7,11.7,383,12969,0.00,1.60,0.00,0.000,4,0.000,0.050,2859,3298,2364
$GC,12997,0.47,126.5,382.6,13.0,383,13000,0.00,1.48,0.00,0.000,6,0.000,0.026,2866,2304,2365
$GC,13263,0.47,126.5,353.1,10.7,390,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2296,2364
$GC,13506,0.47,126.5,328.4,10.0,396,13510,0.00,1.65,0.00,0.000,4,0.000,0.028,2873,1158,2364
$GC,13536,0.48,143.9,325.5,8.2,396,13561,0.00,1.83,15.20,0.757,6,0.000,0.043,2873,2343,2313
$GC,13844,0.48,143.9,293.9,10.7,404,13848,0.00,1.75,0.00,0.000,4,0.000,0.027,2881,1160,2311
$GC,13885,0.48,143.9,289.7,9.4,404,13893,0.00,1.83,0.00,0.000,6,0.000,0.043,2876,2320,2310
$GC,14140,0.48,143.9,263.8,10.4,411,14143,0.00,1.50,0.00,0.000,4,0.000,0.049,2876,3279,2310
$GC,14280,0.48,143.9,246.8,11.7,414,14284,0.08,1.38,0.00,0.000,6,0.153,0.026,2856,2356,2310
$GC,14575,0.49,184.0,224.2,7.1,421,14619,0.00,1.50,34.95,0.779,4,0.000,0.043,2856,3286,2149
$GC,14729,0.49,184.0,210.1,10.4,424,14732,0.00,1.35,0.00,0.000,6,0.000,0.025,2860,2381,2146
$GC,14998,0.49,184.0,183.5,9.9,441,15002,0.00,1.75,0.00,0.000,4,0.000,0.027,2860,1168,2145
$GC,15106,0.50,198.0,173.9,8.3,450,15129,0.00,1.90,13.00,0.687,6,0.000,0.039,2860,2379,2092
$GC,15391,0.50,198.0,146.0,10.2,476,15400,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2379,2090
$GC,15658,0.50,198.0,118.8,9.8,501,15665,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2379,2090
$GC,15923,0.50,198.0,94.6,10.0,526,15927,0.00,1.80,0.00,0.000,4,0.000,0.025,2860,1161,2090
$GC,16033,0.51,215.1,84.8,8.2,535,16055,0.00,1.85,15.98,0.610,6,0.000,0.038,2860,2359,2022
$GC,16316,0.54,312.9,67.0,4.3,561,16400,0.00,1.85,79.05,0.608,4,0.000,0.024,2860,1161,1623
$GC,16432,0.59,428.5,62.6,3.5,569,16529,0.00,1.85,91.70,0.592,6,0.000,0.035,2860,2336,1153
$GC,16797,0.59,428.5,23.2,12.8,604,16805,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2336,1148
$STATE,16961,end climb,SURFACE_DEPTH_REACHED
$STATE,16961,begin surface coast
$FINISH,0.4,0.999018
$STATE,16998,end surface coast,CONTROL_FINISHED_OK
$STATE,16998,begin surface
$SM_CCo,17083,0.00,0.000,0,0,1145,430.49
$SM_GC,1.49,7.18,0.00,0.00,0.024,0.000,0.000,33,2499,1145,-8.23,-0.03,430.49
$IRIDIUM_FIX,2251.04,-15735.41,280103,101003
$TT8_MAMPS,0.023777
$HUMID,2269
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.20
$XPDR_PINGS,4
$24V_AH,23.6,41.248
$10V_AH,10.7,48.425
$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,18.125,116.350,485.975,0.000,0.000,112.329,160.008,1321.251,1.000,0.000,0.000,33.037,1346.484,11609.390,493.341,3360.425,2267.646,33.373,1585.295,0.000,3335.842,0.000,0.546,0.000
$DEVICE_MAMPS,199.420,63.661,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,432.177,2090.392,2161.722,1423.678,1387.503,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54095,635
$CAP_FILE_SIZE,150825,0
$CFSIZE,260165632,242098176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,031113,150636,2303.999,-15739.087,43,1.0,43,10.1