version: 66.04
glider: 512
mission: 4
dive: 263
start: 11 6 113 5 38 31
data:
$ID,512
$MISSION,4
$DIVE,263
$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,612.25879
$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,-111658.47
$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,66
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2895
$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
$GPS1,051435,2251.373,-15800.301,36,0.9,36,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-81.9
$GPS2,053737,2251.502,-15800.555,12,1.2,12,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.135,-0.192
$KALMAN_X,52286.3,53.2,-392.7,-52804.2,1541.4
$KALMAN_Y,52666.6,-163.9,-51.5,-38713.5,1298.2
$MHEAD_RNG_PITCHd_Wd,205.0,22400,-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,-126.5,0.0,0.0,0,97,0.00,0.00,-76.78,0.000,2,0.000,0.000,11,2548,2929
$GC,103,-0.47,-126.5,2.6,-1.7,9,131,9.50,1.58,-10.15,0.000,4,0.196,0.038,2538,1437,3412
$GC,292,-0.47,-126.5,45.8,-19.7,31,296,0.00,1.55,0.00,0.000,6,0.000,0.038,2533,2453,3412
$GC,563,-0.47,-126.5,99.7,-15.6,56,567,0.00,1.70,0.00,0.000,4,0.000,0.045,2525,3558,3413
$GC,660,-0.47,-126.5,114.8,-14.8,64,663,0.00,1.55,0.00,0.000,6,0.000,0.019,2528,2466,3413
$GC,931,-0.47,-126.5,156.8,-15.9,89,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2458,3413
$GC,1196,-0.47,-126.5,198.1,-15.2,114,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2459,3413
$GC,1461,-0.47,-126.5,235.8,-13.6,122,1465,0.00,1.67,0.00,0.000,4,0.000,0.041,2523,3567,3413
$GC,1480,-0.47,-126.5,238.6,-12.7,122,1484,0.00,1.52,0.00,0.000,6,0.000,0.019,2523,2489,3412
$GC,1757,-0.47,-126.5,272.0,-12.0,129,1760,0.00,1.42,0.00,0.000,4,0.000,0.020,2523,1443,3412
$GC,1816,-0.47,-126.5,278.7,-9.7,130,1819,0.00,1.52,0.00,0.000,6,0.000,0.036,2516,2454,3412
$GC,2098,-0.47,-126.5,312.6,-12.3,137,2102,0.00,1.65,0.00,0.000,4,0.000,0.045,2507,3555,3410
$GC,2229,-0.47,-126.5,328.8,-11.3,139,2238,0.08,1.55,0.00,0.000,6,0.120,0.020,2538,2442,3410
$GC,2485,-0.47,-126.5,348.9,-7.4,146,2488,0.00,1.73,0.00,0.000,4,0.000,0.046,2531,3566,3409
$GC,2521,-0.47,-126.5,351.8,-7.3,146,2524,0.00,1.58,0.00,0.000,6,0.000,0.019,2531,2459,3408
$GC,2781,-0.47,-126.5,377.1,-10.7,153,2784,0.00,1.70,0.00,0.000,4,0.000,0.047,2524,3560,3406
$GC,2890,-0.47,-126.5,391.5,-12.8,155,2893,0.00,1.52,0.00,0.000,6,0.000,0.020,2524,2492,3405
$GC,3167,-0.47,-126.5,424.1,-11.3,162,3169,0.00,0.00,-0.08,0.000,6,0.000,0.000,2523,2485,3425
$GC,3411,-0.47,-126.5,446.6,-8.9,168,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2485,3424
$GC,3654,-0.47,-126.5,469.1,-9.3,174,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2485,3422
$GC,3899,-0.47,-126.5,490.7,-8.7,180,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2485,3420
$GC,4142,-0.47,-126.5,511.7,-8.6,186,4146,0.00,1.67,0.00,0.000,4,0.000,0.050,2523,3566,3418
$GC,4201,-0.47,-126.5,517.1,-8.2,187,4205,0.00,1.58,0.00,0.000,6,0.000,0.023,2523,2480,3418
$GC,4484,-0.47,-126.5,542.4,-9.2,194,4487,0.00,1.45,0.00,0.000,4,0.000,0.024,2523,1440,3415
$GC,4541,-0.47,-126.5,548.1,-9.2,195,4545,0.00,1.58,0.00,0.000,6,0.000,0.042,2523,2460,3415
$GC,4825,-0.47,-126.5,572.7,-8.7,202,4829,0.00,1.70,0.00,0.000,4,0.000,0.054,2523,3562,3412
$GC,4920,-0.47,-126.5,580.4,-7.4,204,4924,0.00,1.60,0.00,0.000,6,0.000,0.025,2523,2470,3412
$GC,5215,-0.47,-126.5,603.2,-7.7,211,5219,0.00,1.73,0.00,0.000,4,0.000,0.051,2515,3567,3410
$GC,5310,-0.47,-126.5,611.2,-8.3,213,5313,0.00,1.58,0.00,0.000,6,0.000,0.025,2518,2494,3409
$GC,5605,-0.47,-126.5,635.5,-8.4,220,5608,0.00,1.70,0.00,0.000,4,0.000,0.052,2512,3572,3407
$GC,5708,-0.47,-126.5,644.9,-8.6,222,5711,0.00,1.55,0.00,0.000,6,0.000,0.025,2516,2515,3406
$GC,5992,-0.47,-126.5,667.7,-8.1,229,5995,0.00,1.50,0.00,0.000,4,0.000,0.025,2521,1448,3404
$GC,6022,-0.47,-126.5,670.4,-8.1,229,6026,0.00,1.65,0.00,0.000,6,0.000,0.044,2516,2509,3404
$GC,6288,-0.47,-126.5,689.5,-7.2,236,6292,0.00,1.65,0.00,0.000,4,0.000,0.054,2507,3557,3402
$GC,6358,-0.47,-126.5,694.9,-7.5,237,6362,0.08,1.52,0.00,0.000,6,0.105,0.026,2548,2514,3402
$GC,6630,-0.47,-126.5,709.7,-5.6,244,6634,0.00,1.50,0.00,0.000,4,0.000,0.025,2548,1454,3400
$GC,6681,-0.47,-126.5,713.0,-6.4,245,6684,0.00,1.65,0.00,0.000,6,0.000,0.046,2548,2525,3400
$GC,6975,-0.47,-126.5,733.2,-7.1,252,6978,0.00,1.62,0.00,0.000,4,0.000,0.058,2543,3565,3399
$GC,7028,-0.47,-126.5,737.6,-7.6,253,7032,0.00,1.55,0.00,0.000,6,0.000,0.027,2543,2513,3399
$GC,7317,-0.47,-126.5,757.0,-6.5,260,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2504,3397
$GC,7561,-0.47,-126.5,770.4,-5.3,266,7564,0.00,1.50,0.00,0.000,4,0.000,0.026,2543,1453,3396
$GC,7585,-0.47,-126.5,771.8,-5.0,266,7589,0.00,1.67,0.00,0.000,6,0.000,0.047,2537,2519,3396
$GC,7856,-0.47,-126.5,785.0,-4.9,273,7860,0.00,1.62,0.00,0.000,4,0.000,0.058,2531,3558,3394
$GC,7898,-0.47,-126.5,787.3,-4.7,273,7907,0.00,1.52,0.00,0.000,6,0.000,0.028,2531,2517,3394
$GC,8154,-0.47,-126.5,800.4,-5.3,280,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2517,3393
$GC,8398,-0.47,-126.5,814.7,-5.9,286,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2517,3392
$GC,8642,-0.47,-126.5,829.3,-6.0,292,8645,0.00,1.67,0.00,0.000,4,0.000,0.056,2524,3554,3391
$GC,8672,-0.47,-126.5,831.5,-6.9,292,8675,0.00,1.52,0.00,0.000,6,0.000,0.028,2524,2530,3391
$GC,8938,-0.47,-126.5,847.1,-6.0,299,8942,0.00,1.55,0.00,0.000,4,0.000,0.028,2524,1447,3390
$GC,8968,-0.47,-126.5,849.1,-5.8,299,8972,0.00,1.70,0.00,0.000,6,0.000,0.048,2524,2521,3390
$GC,9234,-0.47,-126.5,865.0,-6.1,306,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2521,3389
$GC,9477,-0.47,-126.5,880.4,-6.3,312,9481,0.00,1.65,0.00,0.000,4,0.000,0.060,2524,3566,3389
$GC,9518,-0.47,-126.5,883.5,-6.9,312,9527,0.00,1.55,0.00,0.000,6,0.000,0.028,2523,2520,3388
$STATE,9769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9769,begin apogee
$GC,9781,-0.17,0.0,901.0,7.0,319,9893,0.35,0.00,108.60,1.272,6,0.095,0.000,2642,2211,2895
$STATE,9893,end apogee,CONTROL_FINISHED_OK
$STATE,9893,begin climb
$GC,9898,0.47,126.5,905.2,0.0,322,10053,0.55,1.65,126.90,1.169,4,0.031,0.027,2884,1191,2378
$GC,10099,0.47,126.5,891.3,15.0,326,10103,0.15,1.70,0.00,0.000,6,0.164,0.040,2849,2236,2373
$GC,10369,0.47,126.5,852.5,14.2,333,10371,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2236,2367
$GC,10613,0.47,126.5,817.8,14.3,339,10616,0.00,1.65,0.00,0.000,4,0.000,0.049,2848,3294,2365
$GC,10648,0.47,126.5,812.3,15.0,339,10652,0.00,1.60,0.00,0.000,6,0.000,0.027,2854,2215,2365
$GC,10910,0.47,126.5,776.3,14.0,346,10913,0.00,1.55,0.00,0.000,4,0.000,0.029,2860,1163,2363
$GC,10934,0.47,126.5,772.0,15.4,346,10938,0.00,1.65,0.00,0.000,6,0.000,0.042,2860,2208,2363
$GC,11205,0.47,126.5,732.7,14.7,353,11209,0.00,1.70,0.00,0.000,4,0.000,0.049,2860,3286,2362
$GC,11268,0.47,126.5,722.3,16.1,354,11271,0.00,1.60,0.00,0.000,6,0.000,0.027,2868,2201,2362
$GC,11546,0.47,126.5,680.8,15.3,361,11549,0.00,1.73,0.00,0.000,4,0.000,0.049,2863,3288,2362
$GC,11596,0.47,126.5,672.7,15.1,362,11599,0.00,1.55,0.00,0.000,6,0.000,0.027,2868,2255,2361
$GC,11889,0.47,126.5,632.2,13.7,369,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2249,2361
$GC,12134,0.47,126.5,599.2,13.5,375,12137,0.00,1.65,0.00,0.000,4,0.000,0.050,2864,3296,2361
$GC,12175,0.47,126.5,592.7,14.7,375,12184,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2272,2361
$GC,12430,0.47,126.5,555.6,15.1,382,12431,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2266,2361
$GC,12674,0.47,126.5,521.7,13.5,388,12677,0.00,1.62,0.00,0.000,4,0.000,0.050,2864,3298,2361
$GC,12737,0.47,126.5,511.7,15.3,389,12741,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2261,2360
$GC,13014,0.47,126.5,472.8,14.2,396,13017,0.00,1.60,0.00,0.000,4,0.000,0.029,2874,1165,2360
$GC,13095,0.47,126.5,461.7,12.7,397,13098,0.00,1.70,0.00,0.000,6,0.000,0.042,2875,2270,2359
$GC,13355,0.47,126.5,425.8,13.7,404,13359,0.00,1.60,0.00,0.000,4,0.000,0.051,2874,3284,2359
$GC,13379,0.47,126.5,422.0,13.4,404,13384,0.10,1.52,0.00,0.000,6,0.165,0.028,2851,2266,2359
$GC,13650,0.47,126.5,391.9,10.6,411,13651,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2259,2358
$GC,13894,0.47,138.5,371.1,8.4,417,13908,0.00,1.65,8.32,0.829,4,0.000,0.028,2858,1141,2330
$GC,13957,0.48,146.4,365.2,8.6,418,13971,0.00,1.73,8.95,0.831,6,0.000,0.041,2857,2261,2298
$GC,14232,0.48,146.4,335.5,11.1,425,14236,0.00,1.60,0.00,0.000,4,0.000,0.048,2858,3303,2294
$GC,14352,0.48,146.4,320.6,11.5,427,14355,0.00,1.58,0.00,0.000,6,0.000,0.027,2865,2249,2294
$GC,14618,0.48,146.4,294.8,9.4,434,14619,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2243,2293
$GC,14861,0.48,146.4,269.0,11.0,440,14862,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2243,2294
$GC,15105,0.48,146.4,242.7,10.4,446,15106,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2243,2293
$GC,15349,0.50,205.8,225.1,6.2,452,15411,0.00,1.58,52.72,0.760,4,0.000,0.026,2872,1171,2056
$GC,15471,0.50,205.8,214.8,9.7,454,15474,0.00,1.70,0.00,0.000,6,0.000,0.038,2873,2266,2052
$GC,15736,0.50,205.8,183.0,13.1,470,15740,0.00,1.60,0.00,0.000,4,0.000,0.045,2873,3286,2050
$GC,15765,0.50,205.8,179.3,14.3,472,15769,0.00,1.52,0.00,0.000,6,0.000,0.024,2880,2264,2049
$GC,16038,0.50,205.8,139.9,12.5,497,16045,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2257,2049
$GC,16303,0.50,205.8,111.8,9.8,522,16311,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2257,2049
$GC,16570,0.50,205.8,85.6,9.9,547,16574,0.00,1.60,0.00,0.000,4,0.000,0.041,2878,3280,2049
$GC,16741,0.50,205.8,70.5,9.4,561,16745,0.00,1.45,0.00,0.000,6,0.000,0.022,2883,2282,2050
$GC,17014,0.53,264.5,54.3,6.2,586,17069,0.00,1.62,47.95,0.597,4,0.000,0.023,2886,1136,1816
$GC,17122,0.54,300.2,46.4,7.3,594,17164,0.00,1.80,29.98,0.579,6,0.000,0.035,2886,2313,1670
$GC,17443,0.54,313.7,18.2,8.4,631,17460,0.00,0.00,11.98,0.528,6,0.000,0.000,2886,2312,1615
$STATE,17603,end climb,SURFACE_DEPTH_REACHED
$STATE,17603,begin surface coast
$FINISH,0.3,1.015090
$STATE,17652,end surface coast,CONTROL_FINISHED_OK
$STATE,17652,begin surface
$SM_CCo,17678,140.48,0.535,0,0,398,612.26
$SM_GC,1.24,0.00,0.00,140.48,0.000,0.000,0.535,40,2538,398,-8.28,1.07,612.26
$IRIDIUM_FIX,2312.13,-15726.60,310103,050535
$TT8_MAMPS,0.023777
$HUMID,2141
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,26.30
$XPDR_PINGS,3
$24V_AH,23.5,43.443
$10V_AH,10.6,51.402
$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,18.075,116.275,395.400,140.475,0.000,145.268,185.361,595.819,0.750,0.000,0.000,12.652,1399.120,12178.171,578.731,3437.496,1600.644,33.381,1659.631,0.000,3419.560,0.000,0.545,0.000
$DEVICE_MAMPS,196.352,59.826,1272.453,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,452.545,2181.056,2251.999,1554.828,1488.025,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54228,663
$CAP_FILE_SIZE,141844,0
$CFSIZE,260165632,241188864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,061113,103705,2250.099,-15801.530,40,1.2,46,10.1