version: 66.04
glider: 512
mission: 4
dive: 261
start: 11 5 113 19 1 59
data:
$ID,512
$MISSION,4
$DIVE,261
$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,-111627.07
$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,98
$R_STBD_OVSHOOT,24
$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
$GPS1,184636,2254.177,-15757.755,29,1.5,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-82.0
$GPS2,190101,2254.351,-15757.799,16,1.5,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.177,-0.155
$KALMAN_X,50610.3,-156.0,-90.1,-46519.5,1527.2
$KALMAN_Y,49528.3,644.7,608.4,-31781.8,-577.4
$MHEAD_RNG_PITCHd_Wd,218.7,29230,-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,-126.5,0.0,0.0,0,98,0.00,0.00,-77.25,0.000,2,0.000,0.000,10,2519,2783
$GC,103,-0.47,-126.5,2.2,-1.3,9,133,9.60,1.67,-14.88,0.000,4,0.198,0.057,2530,3582,3417
$GC,388,-0.47,-126.5,68.7,-21.8,39,392,0.00,1.52,0.00,0.000,6,0.000,0.019,2530,2529,3417
$GC,659,-0.47,-126.5,122.5,-18.3,64,663,0.00,1.50,0.00,0.000,4,0.000,0.020,2531,1449,3418
$GC,733,-0.47,-126.5,134.1,-15.2,70,736,0.00,1.58,0.00,0.000,6,0.000,0.036,2525,2484,3419
$GC,1005,-0.47,-126.5,176.9,-15.8,95,1008,0.00,1.62,0.00,0.000,4,0.000,0.044,2517,3576,3419
$GC,1054,-0.47,-126.5,185.5,-16.4,99,1058,0.00,1.55,0.00,0.000,6,0.000,0.018,2518,2482,3418
$GC,1319,-0.47,-126.5,226.4,-15.2,112,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2475,3418
$GC,1563,-0.47,-126.5,256.7,-11.8,118,1567,0.00,1.67,0.00,0.000,4,0.000,0.041,2512,3567,3417
$GC,1693,-0.47,-126.5,273.2,-11.4,120,1702,0.00,1.50,0.00,0.000,6,0.000,0.018,2515,2492,3417
$GC,1948,-0.47,-126.5,303.5,-12.4,127,1952,0.00,1.42,0.00,0.000,4,0.000,0.021,2521,1455,3416
$GC,2067,-0.47,-126.5,316.3,-10.1,129,2071,0.00,1.55,0.00,0.000,6,0.000,0.036,2516,2484,3416
$GC,2334,-0.47,-126.5,345.2,-11.2,136,2337,0.00,1.62,0.00,0.000,4,0.000,0.045,2507,3569,3414
$GC,2384,-0.47,-126.5,351.3,-11.3,137,2388,0.08,1.52,0.00,0.000,6,0.110,0.020,2540,2487,3414
$GC,2678,-0.47,-126.5,378.7,-8.9,144,2681,0.00,1.40,0.00,0.000,4,0.000,0.020,2540,1463,3412
$GC,2731,-0.47,-126.5,383.9,-8.2,145,2735,0.00,1.55,0.00,0.000,6,0.000,0.038,2537,2483,3412
$GC,3019,-0.47,-126.5,411.2,-9.7,152,3022,0.00,1.65,0.00,0.000,4,0.000,0.049,2530,3557,3409
$GC,3093,-0.47,-126.5,418.8,-9.6,153,3097,0.00,1.50,0.00,0.000,6,0.000,0.022,2530,2511,3408
$GC,3361,-0.47,-126.5,442.0,-8.6,160,3365,0.00,1.50,-0.08,0.000,4,0.000,0.040,2530,1447,3430
$GC,3435,-0.47,-126.5,448.6,-8.0,161,3439,0.00,1.58,0.00,0.000,6,0.000,0.040,2524,2475,3430
$GC,3702,-0.47,-126.5,471.8,-8.9,168,3706,0.00,1.67,0.00,0.000,4,0.000,0.051,2523,3569,3427
$GC,3789,-0.47,-126.5,480.1,-8.5,169,3797,0.00,1.58,0.00,0.000,6,0.000,0.023,2523,2472,3426
$GC,4044,-0.47,-126.5,502.5,-9.0,176,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2471,3424
$GC,4287,-0.47,-126.5,524.3,-9.1,182,4291,0.00,1.70,0.00,0.000,4,0.000,0.049,2515,3571,3422
$GC,4362,-0.47,-126.5,531.1,-8.3,183,4366,0.00,1.55,0.00,0.000,6,0.000,0.023,2517,2496,3421
$GC,4630,-0.47,-126.5,553.6,-8.5,190,4633,0.00,1.45,0.00,0.000,4,0.000,0.024,2521,1453,3419
$GC,4680,-0.47,-126.5,557.9,-7.7,191,4683,0.00,1.62,0.00,0.000,6,0.000,0.042,2515,2521,3419
$GC,4974,-0.47,-126.5,584.4,-9.3,198,4977,0.00,1.60,0.00,0.000,4,0.000,0.052,2507,3565,3417
$GC,5015,-0.47,-126.5,588.8,-9.4,198,5023,0.08,1.52,0.00,0.000,6,0.105,0.025,2540,2510,3416
$GC,5271,-0.47,-126.5,607.2,-7.1,205,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2508,3415
$GC,5515,-0.47,-126.5,626.1,-7.9,211,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2508,3413
$GC,5758,-0.47,-126.5,647.5,-8.9,217,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2508,3412
$GC,6001,-0.47,-126.5,670.0,-9.1,223,6005,0.00,1.65,0.00,0.000,4,0.000,0.053,2537,3561,3410
$GC,6076,-0.47,-126.5,676.6,-8.2,224,6080,0.00,1.52,0.00,0.000,6,0.000,0.027,2536,2521,3410
$GC,6342,-0.47,-126.5,694.9,-6.6,231,6346,0.00,1.50,0.00,0.000,4,0.000,0.025,2536,1457,3408
$GC,6403,-0.47,-126.5,699.0,-6.4,232,6407,0.00,1.65,0.00,0.000,6,0.000,0.047,2536,2527,3408
$GC,6686,-0.47,-126.5,714.8,-5.6,239,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2527,3406
$GC,6930,-0.47,-126.5,729.8,-6.5,245,6934,0.00,1.65,0.00,0.000,4,0.000,0.058,2537,3565,3405
$GC,6982,-0.47,-126.5,733.9,-6.9,246,6986,0.00,1.52,0.00,0.000,6,0.000,0.027,2537,2524,3404
$GC,7272,-0.47,-126.5,755.0,-7.4,253,7275,0.00,1.52,0.00,0.000,4,0.000,0.026,2536,1451,3403
$GC,7308,-0.47,-126.5,758.0,-7.6,253,7312,0.00,1.73,0.00,0.000,6,0.000,0.048,2536,2541,3403
$GC,7569,-0.47,-126.5,776.0,-6.9,260,7572,0.00,1.60,0.00,0.000,4,0.000,0.058,2536,3566,3401
$GC,7604,-0.47,-126.5,778.7,-6.6,260,7608,0.00,1.50,0.00,0.000,6,0.000,0.027,2536,2544,3401
$GC,7865,-0.47,-126.5,794.5,-6.1,267,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2535,3400
$GC,8108,-0.47,-126.5,811.1,-7.0,273,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2535,3400
$GC,8353,-0.47,-126.5,829.5,-7.6,279,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2535,3399
$GC,8596,-0.47,-126.5,848.1,-7.7,285,8600,0.00,1.62,0.00,0.000,4,0.000,0.058,2536,3561,3398
$GC,8628,-0.47,-126.5,850.6,-7.8,285,8631,0.00,1.50,0.00,0.000,6,0.000,0.028,2536,2544,3399
$GC,8895,-0.47,-126.5,869.6,-7.0,292,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2535,3397
$GC,9139,-0.47,-126.5,884.8,-6.2,298,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2535,3397
$GC,9382,-0.47,-126.5,898.9,-5.8,304,9386,0.00,1.65,0.00,0.000,4,0.000,0.058,2536,3571,3396
$STATE,9396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9396,begin apogee
$GC,9409,-0.17,0.0,900.3,5.5,304,9521,0.30,0.00,108.78,1.262,6,0.094,0.000,2643,2205,2900
$STATE,9522,end apogee,CONTROL_FINISHED_OK
$STATE,9522,begin climb
$GC,9527,0.47,126.5,903.3,0.0,307,9682,0.52,1.65,126.80,1.164,4,0.031,0.027,2881,1175,2383
$GC,9753,0.47,126.5,884.1,17.5,312,9757,0.08,1.73,0.00,0.000,6,0.163,0.041,2855,2227,2377
$GC,10047,0.47,126.5,839.9,14.9,319,10051,0.00,1.65,0.00,0.000,4,0.000,0.049,2850,3280,2373
$GC,10133,0.47,126.5,826.3,14.5,320,10141,0.00,1.58,0.00,0.000,6,0.000,0.028,2856,2244,2371
$GC,10387,0.47,126.5,790.5,14.0,327,10391,0.00,1.67,0.00,0.000,4,0.000,0.048,2850,3278,2370
$GC,10438,0.47,126.5,783.4,15.3,328,10442,0.00,1.52,0.00,0.000,6,0.000,0.026,2855,2264,2370
$GC,10732,0.47,126.5,741.6,14.5,335,10736,0.00,1.60,0.00,0.000,4,0.000,0.028,2864,1169,2369
$GC,10782,0.47,126.5,734.3,14.9,336,10785,0.00,1.73,0.00,0.000,6,0.000,0.041,2863,2286,2368
$GC,11077,0.47,126.5,689.8,15.4,343,11078,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2285,2367
$GC,11320,0.47,126.5,652.6,15.2,349,11324,0.00,1.58,0.00,0.000,4,0.000,0.050,2863,3286,2367
$GC,11395,0.47,126.5,639.2,17.9,350,11398,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2269,2367
$GC,11660,0.47,126.5,598.1,15.5,357,11664,0.00,1.62,0.00,0.000,4,0.000,0.030,2873,1163,2366
$GC,11696,0.47,126.5,592.6,13.5,357,11699,0.00,1.73,0.00,0.000,6,0.000,0.041,2873,2284,2366
$GC,11957,0.47,126.5,555.0,14.5,364,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2284,2365
$GC,12201,0.47,126.5,522.7,12.6,370,12205,0.00,1.67,0.00,0.000,4,0.000,0.028,2881,1155,2365
$GC,12242,0.47,126.5,517.8,10.0,370,12251,0.00,1.77,0.00,0.000,6,0.000,0.041,2876,2290,2365
$GC,12497,0.47,126.5,489.6,11.4,377,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2290,2365
$GC,12740,0.47,126.5,457.4,13.4,383,12741,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2290,2365
$GC,12984,0.47,126.5,428.3,11.5,389,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2290,2364
$GC,13228,0.47,126.5,398.1,12.7,395,13229,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2290,2364
$GC,13472,0.47,126.5,366.3,13.0,401,13476,0.00,1.55,0.00,0.000,4,0.000,0.050,2876,3281,2364
$GC,13546,0.47,126.5,356.0,14.2,402,13550,0.08,1.52,0.00,0.000,6,0.165,0.027,2849,2255,2364
$GC,13813,0.47,126.5,330.8,9.0,409,13817,0.00,1.58,0.00,0.000,4,0.000,0.028,2855,1166,2364
$GC,13882,0.48,152.6,324.5,7.8,410,13909,0.00,1.70,20.95,0.859,6,0.000,0.041,2855,2278,2276
$GC,14199,0.48,152.6,295.1,9.5,418,14202,0.00,1.65,0.00,0.000,4,0.000,0.028,2860,1148,2272
$GC,14293,0.49,173.7,286.5,8.0,420,14318,0.00,1.73,18.85,0.818,6,0.000,0.040,2860,2248,2192
$GC,14586,0.49,173.7,254.7,11.1,427,14587,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2248,2187
$GC,14830,0.49,179.9,232.0,8.7,433,14840,0.00,1.65,6.45,0.671,4,0.000,0.047,2860,3291,2166
$GC,14987,0.49,179.9,216.3,10.6,436,14991,0.00,1.60,0.00,0.000,6,0.000,0.025,2867,2190,2164
$GC,15253,0.49,179.9,189.7,10.7,448,15256,0.00,1.48,0.00,0.000,4,0.000,0.025,2873,1165,2164
$GC,15305,0.49,179.9,183.9,10.0,452,15313,0.00,1.60,0.00,0.000,6,0.000,0.037,2873,2199,2163
$GC,15571,0.49,179.9,157.0,10.9,477,15574,0.00,1.52,0.00,0.000,4,0.000,0.025,2880,1151,2163
$GC,15589,0.49,179.9,155.1,11.0,478,15593,0.00,1.60,0.00,0.000,6,0.000,0.035,2876,2188,2163
$GC,15861,0.49,179.9,123.1,12.1,503,15865,0.00,1.67,0.00,0.000,4,0.000,0.044,2875,3276,2163
$GC,16026,0.49,179.9,104.0,10.8,517,16030,0.00,1.55,0.00,0.000,6,0.000,0.022,2881,2212,2163
$GC,16297,0.49,179.9,79.6,9.4,542,16301,0.00,1.48,0.00,0.000,4,0.000,0.024,2886,1171,2164
$GC,16388,0.49,185.9,71.0,8.7,549,16400,0.08,1.58,6.82,0.535,6,0.255,0.035,2860,2208,2142
$GC,16667,0.54,290.2,53.4,4.0,575,16764,0.00,1.70,85.00,0.595,4,0.000,0.040,2860,3275,1715
$GC,16796,0.56,340.4,46.6,6.6,584,16848,0.00,1.52,40.53,0.576,6,0.000,0.019,2860,2236,1510
$GC,17104,0.59,435.7,30.4,4.4,612,17183,0.00,0.00,75.68,0.562,6,0.000,0.000,2860,2235,1122
$STATE,17410,end climb,SURFACE_DEPTH_REACHED
$STATE,17410,begin surface coast
$FINISH,0.5,1.003305
$STATE,17443,end surface coast,CONTROL_FINISHED_OK
$STATE,17443,begin surface
$SM_CCo,17528,0.00,0.000,0,0,1116,437.61
$SM_GC,1.44,7.22,0.00,0.00,0.025,0.000,0.000,48,2532,1116,-8.21,0.90,437.61
$IRIDIUM_FIX,2239.35,-15757.16,300103,181827
$TT8_MAMPS,0.023777
$HUMID,2207
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.30
$XPDR_PINGS,10
$24V_AH,23.5,43.101
$10V_AH,10.6,50.940
$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,18.025,115.425,489.850,0.000,0.000,54.893,78.484,467.105,2.500,0.000,0.000,16.530,1386.371,11805.874,464.941,3463.505,1263.824,33.378,1594.938,0.000,3446.924,0.000,0.545,0.000
$DEVICE_MAMPS,255.411,58.292,1262.482,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,449.702,2174.092,2246.173,1549.042,1497.822,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54247,661
$CAP_FILE_SIZE,139129,0
$CFSIZE,260165632,241336320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,051113,235535,2253.172,-15758.799,38,1.2,44,10.1