version: 66.04
glider: 512
mission: 4
dive: 251
start: 11 3 113 15 31 23
data:
$ID,512
$MISSION,4
$DIVE,251
$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,-111393.34
$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,57
$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,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
$GPS1,150636,2303.999,-15739.087,43,1.0,43,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-80.0
$GPS2,153025,2303.953,-15739.207,15,1.0,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.230,-0.048
$KALMAN_X,38600.4,241.0,-202.7,-3037.0,1823.8
$KALMAN_Y,55705.9,-20.6,-66.2,-18823.2,-1665.3
$MHEAD_RNG_PITCHd_Wd,248.0,63110,-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,-126.5,0.0,0.0,0,89,0.00,0.00,-68.43,0.000,2,0.000,0.000,10,2507,2787
$GC,95,-0.47,-126.5,2.2,-1.2,8,124,9.60,1.58,-14.90,0.000,4,0.199,0.039,2539,1428,3417
$GC,346,-0.47,-126.5,55.2,-22.7,36,355,0.00,1.65,0.00,0.000,6,0.000,0.040,2534,2497,3417
$GC,613,-0.47,-126.5,110.0,-18.0,61,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2497,3418
$GC,879,-0.47,-126.5,155.5,-16.4,86,883,0.00,1.62,0.00,0.000,4,0.000,0.044,2526,3563,3418
$GC,909,-0.47,-126.5,161.0,-17.0,88,917,0.00,1.55,0.00,0.000,6,0.000,0.019,2527,2474,3418
$GC,1205,-0.47,-126.5,207.0,-15.7,113,1209,0.00,1.70,0.00,0.000,4,0.000,0.042,2520,3569,3418
$GC,1234,-0.47,-126.5,212.2,-16.3,113,1237,0.00,1.52,0.00,0.000,6,0.000,0.019,2520,2485,3418
$GC,1500,-0.47,-126.5,252.0,-15.0,120,1504,0.00,1.65,0.00,0.000,4,0.000,0.042,2512,3568,3418
$GC,1626,-0.47,-126.5,268.6,-11.2,122,1629,0.00,1.42,0.00,0.000,6,0.000,0.019,2516,2550,3417
$GC,1886,-0.47,-126.5,300.1,-12.5,129,1890,0.00,1.58,0.00,0.000,4,0.000,0.044,2509,3563,3417
$GC,1982,-0.47,-126.5,312.2,-11.6,131,1986,0.08,1.38,0.00,0.000,6,0.107,0.019,2538,2573,3417
$GC,2277,-0.47,-126.5,340.1,-9.4,138,2280,0.00,1.52,0.00,0.000,4,0.000,0.021,2539,1467,3415
$GC,2363,-0.47,-126.5,348.7,-9.5,139,2371,0.00,1.70,0.00,0.000,6,0.000,0.041,2536,2575,3415
$GC,2618,-0.47,-126.5,373.4,-9.9,146,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2576,3413
$GC,2861,-0.47,-126.5,396.8,-9.4,152,2865,0.00,1.58,0.00,0.000,4,0.000,0.021,2537,1466,3411
$GC,2919,-0.47,-126.5,402.4,-8.7,153,2923,0.00,1.67,0.00,0.000,6,0.000,0.041,2536,2556,3411
$GC,3203,-0.47,-126.5,427.9,-9.2,160,3206,0.00,1.55,0.00,0.000,4,0.000,0.050,2529,3559,3408
$GC,3238,-0.47,-126.5,431.7,-9.7,160,3242,0.00,1.42,0.00,0.000,6,0.000,0.022,2529,2565,3408
$GC,3499,-0.47,-126.5,457.7,-10.2,167,3500,0.00,0.00,-0.08,0.000,6,0.000,0.000,2529,2556,3431
$GC,3742,-0.47,-126.5,481.5,-9.5,173,3746,0.00,1.55,0.00,0.000,4,0.000,0.024,2529,1462,3428
$GC,3838,-0.47,-126.5,490.0,-8.2,175,3841,0.00,1.67,0.00,0.000,6,0.000,0.041,2524,2564,3427
$GC,4133,-0.47,-126.5,516.4,-9.0,182,4136,0.00,1.55,0.00,0.000,4,0.000,0.051,2518,3561,3425
$GC,4168,-0.47,-126.5,520.0,-9.4,182,4172,0.00,1.42,0.00,0.000,6,0.000,0.024,2518,2576,3425
$GC,4428,-0.47,-126.5,542.5,-8.6,189,4432,0.00,1.55,0.00,0.000,4,0.000,0.025,2521,1473,3423
$GC,4465,-0.47,-126.5,545.9,-8.5,189,4468,0.00,1.67,0.00,0.000,6,0.000,0.043,2515,2574,3422
$GC,4726,-0.47,-126.5,569.9,-9.5,196,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2575,3420
$GC,4969,-0.47,-126.5,594.3,-10.1,202,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2574,3418
$GC,5213,-0.47,-126.5,617.8,-9.5,208,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2574,3416
$GC,5457,-0.47,-126.5,639.1,-8.6,214,5461,0.00,1.55,0.00,0.000,4,0.000,0.054,2510,3562,3415
$GC,5493,-0.47,-126.5,642.6,-8.4,214,5497,0.08,1.42,0.00,0.000,6,0.104,0.025,2540,2583,3414
$GC,5754,-0.47,-126.5,658.7,-6.2,221,5758,0.00,1.58,0.00,0.000,4,0.000,0.025,2542,1468,3412
$GC,5812,-0.47,-126.5,662.6,-6.0,222,5815,0.00,1.70,0.00,0.000,6,0.000,0.044,2537,2557,3413
$GC,6096,-0.47,-126.5,680.9,-6.6,229,6100,0.00,1.58,0.00,0.000,4,0.000,0.054,2532,3559,3411
$GC,6176,-0.47,-126.5,686.5,-6.2,230,6180,0.00,1.42,0.00,0.000,6,0.000,0.027,2532,2583,3411
$GC,6437,-0.47,-126.5,704.2,-7.0,237,6440,0.00,1.58,0.00,0.000,4,0.000,0.025,2532,1472,3409
$GC,6498,-0.47,-126.5,709.2,-8.4,238,6501,0.00,1.67,0.00,0.000,6,0.000,0.045,2525,2563,3409
$GC,6780,-0.47,-126.5,734.1,-9.2,245,6784,0.00,1.58,0.00,0.000,4,0.000,0.057,2524,3556,3407
$GC,6821,-0.47,-126.5,738.6,-9.7,245,6829,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2564,3407
$GC,7075,-0.47,-126.5,762.5,-9.5,252,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2563,3406
$GC,7318,-0.47,-126.5,785.5,-9.4,258,7322,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1471,3404
$GC,7395,-0.47,-126.5,792.7,-8.8,259,7398,0.00,1.70,0.00,0.000,6,0.000,0.047,2523,2569,3404
$GC,7661,-0.47,-126.5,814.5,-8.2,266,7665,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3558,3403
$GC,7703,-0.47,-126.5,818.1,-7.9,266,7711,0.00,1.42,0.00,0.000,6,0.000,0.028,2523,2584,3402
$GC,7958,-0.47,-126.5,836.4,-7.2,273,7961,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1451,3401
$GC,8016,-0.47,-126.5,840.8,-6.3,274,8020,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2562,3401
$GC,8300,-0.47,-126.5,859.7,-6.9,281,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2563,3400
$GC,8543,-0.47,-126.5,877.5,-7.5,287,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2562,3400
$GC,8787,-0.47,-126.5,897.0,-8.1,293,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2562,3400
$STATE,8822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8822,begin apogee
$GC,8834,-0.17,0.0,900.1,8.0,294,8946,0.35,0.00,109.62,1.260,6,0.095,0.000,2642,2238,2900
$STATE,8947,end apogee,CONTROL_FINISHED_OK
$STATE,8947,begin climb
$GC,8952,0.47,126.5,905.0,0.0,297,9107,0.55,1.70,126.60,1.161,4,0.030,0.028,2888,1173,2383
$GC,9142,0.47,126.5,892.7,15.8,301,9146,0.15,1.73,0.00,0.000,6,0.160,0.040,2852,2234,2379
$GC,9425,0.47,126.5,851.3,14.7,308,9428,0.00,1.65,0.00,0.000,4,0.000,0.049,2850,3286,2373
$GC,9443,0.47,126.5,847.8,15.0,308,9447,0.00,1.60,0.00,0.000,6,0.000,0.026,2856,2236,2372
$GC,9719,0.47,126.5,805.8,15.5,315,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2230,2370
$GC,9963,0.47,126.5,769.4,14.8,321,9967,0.00,1.67,0.00,0.000,4,0.000,0.048,2850,3290,2369
$GC,9995,0.47,126.5,764.4,15.2,321,9998,0.00,1.58,0.00,0.000,6,0.000,0.027,2856,2243,2369
$GC,10262,0.47,126.5,726.1,14.3,328,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2237,2368
$GC,10506,0.47,126.5,691.8,14.1,334,10509,0.00,1.65,0.00,0.000,4,0.000,0.048,2850,3286,2368
$GC,10575,0.47,126.5,681.0,14.0,335,10578,0.00,1.55,0.00,0.000,6,0.000,0.027,2856,2248,2367
$GC,10847,0.47,126.5,644.7,13.1,342,10848,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2241,2367
$GC,11090,0.47,126.5,612.8,13.3,348,11093,0.00,1.65,0.00,0.000,4,0.000,0.049,2850,3290,2366
$GC,11176,0.47,126.5,600.5,14.7,349,11184,0.00,1.55,0.00,0.000,6,0.000,0.027,2856,2249,2365
$GC,11431,0.47,126.5,567.3,13.2,356,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2243,2365
$GC,11675,0.47,126.5,538.0,12.0,362,11678,0.00,1.65,0.00,0.000,4,0.000,0.050,2856,3292,2365
$GC,11725,0.47,126.5,531.7,12.0,363,11729,0.00,1.55,0.00,0.000,6,0.000,0.027,2864,2252,2364
$GC,12020,0.47,126.5,495.7,12.1,370,12023,0.00,1.62,0.00,0.000,4,0.000,0.050,2863,3280,2364
$GC,12038,0.47,126.5,493.0,12.2,370,12042,0.00,1.52,0.00,0.000,6,0.000,0.028,2868,2258,2364
$GC,12315,0.47,126.5,458.6,12.8,377,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2251,2363
$GC,12558,0.47,126.5,428.8,12.0,383,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2251,2363
$GC,12802,0.47,126.5,399.6,12.1,389,12803,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2251,2363
$GC,13045,0.47,126.5,369.8,12.1,395,13049,0.00,1.60,0.00,0.000,4,0.000,0.028,2877,1153,2363
$GC,13126,0.47,126.5,360.2,11.0,396,13130,0.00,1.73,0.00,0.000,6,0.000,0.041,2876,2258,2364
$GC,13387,0.47,126.5,333.4,10.3,403,13391,0.00,1.60,0.00,0.000,4,0.000,0.048,2876,3287,2363
$GC,13511,0.47,126.5,318.9,12.5,405,13515,0.08,1.50,0.00,0.000,6,0.171,0.025,2848,2274,2363
$GC,13773,0.48,149.2,297.7,7.9,412,13802,0.00,0.00,19.60,0.769,6,0.000,0.000,2848,2274,2290
$GC,14064,0.48,149.2,270.9,9.3,419,14067,0.00,1.60,0.00,0.000,4,0.000,0.046,2848,3297,2288
$GC,14280,0.49,182.6,251.2,7.4,423,14314,0.00,1.52,29.52,0.794,6,0.000,0.025,2848,2268,2155
$GC,14580,0.50,189.2,226.7,8.7,431,14591,0.00,1.65,6.57,0.657,4,0.000,0.046,2848,3286,2127
$GC,14672,0.50,189.2,217.5,9.8,433,14676,0.00,1.45,0.00,0.000,6,0.000,0.025,2848,2315,2127
$GC,14931,0.50,202.8,195.9,8.4,440,14946,0.00,0.00,13.30,0.705,6,0.000,0.000,2848,2310,2072
$GC,15201,0.50,202.8,170.9,9.2,465,15210,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2310,2070
$GC,15468,0.50,202.8,145.1,10.0,490,15471,0.00,1.62,0.00,0.000,4,0.000,0.025,2848,1166,2070
$GC,15554,0.51,230.4,137.9,7.7,497,15584,0.00,1.75,24.55,0.666,6,0.000,0.037,2848,2300,1959
$GC,15853,0.52,253.1,112.8,7.9,524,15880,0.00,1.52,19.30,0.630,4,0.000,0.041,2848,3287,1868
$GC,15921,0.53,272.9,107.1,8.1,529,15947,0.00,1.45,17.58,0.617,6,0.000,0.021,2848,2304,1789
$GC,16210,0.55,333.8,88.1,6.1,555,16265,0.00,1.73,50.00,0.617,4,0.000,0.024,2848,1159,1538
$GC,16305,0.59,423.4,82.4,4.7,562,16389,0.12,1.77,72.78,0.604,6,0.091,0.034,2905,2316,1171
$GC,16646,0.59,423.4,40.0,13.4,592,16649,0.00,1.67,0.00,0.000,4,0.000,0.023,2912,1173,1168
$GC,16689,0.59,423.4,33.4,14.6,595,16698,0.00,1.75,0.00,0.000,6,0.000,0.033,2911,2305,1168
$STATE,16912,end climb,SURFACE_DEPTH_REACHED
$STATE,16912,begin surface coast
$FINISH,0.4,1.010542
$STATE,16939,end surface coast,CONTROL_FINISHED_OK
$STATE,16939,begin surface
$SM_CCo,17025,0.00,0.000,0,0,1164,425.83
$SM_GC,1.55,7.35,0.00,0.00,0.028,0.000,0.000,42,2528,1164,-8.22,0.79,425.83
$IRIDIUM_FIX,2253.38,-15739.74,280103,151513
$TT8_MAMPS,0.023777
$HUMID,2254
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.70
$XPDR_PINGS,6
$24V_AH,23.6,41.438
$10V_AH,10.7,48.646
$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,18.350,109.000,489.425,0.000,0.000,92.901,116.035,890.573,1.500,0.000,0.000,16.057,1328.027,11567.604,486.674,3275.048,1788.830,33.367,1563.812,0.000,3287.182,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,58.292,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,429.903,2080.471,2160.087,1341.008,1325.122,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54116,632
$CAP_FILE_SIZE,141584,0
$CFSIZE,260165632,242036736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,031113,201653,2303.099,-15740.820,61,1.3,61,10.1