version: 66.04
glider: 512
mission: 4
dive: 286
start: 11 11 113 6 10 35
data:
$ID,512
$MISSION,4
$DIVE,286
$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,-112985.1
$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,60
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2888
$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
$GPS1,055200,2302.186,-15759.767,48,1.7,55,10.1
$_CALLS,1
$_XMS_NAKs,61
$_XMS_TOUTs,3
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.5
$GPS2,060937,2302.083,-15759.819,13,1.7,13,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.025,-0.234
$KALMAN_X,58533.4,142.0,-238.0,-58042.7,1611.7
$KALMAN_Y,73057.5,534.0,-676.6,-39586.8,2232.5
$MHEAD_RNG_PITCHd_Wd,163.8,57521,-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,-126.5,0.0,0.0,0,115,0.00,0.00,-94.05,0.000,2,0.000,0.000,7,2565,2796
$GC,120,-0.47,-126.5,2.5,-2.1,11,150,9.70,1.58,-12.80,0.000,4,0.199,0.038,2539,1431,3404
$GC,320,-0.47,-126.5,49.3,-20.2,34,329,0.00,1.65,0.00,0.000,6,0.000,0.040,2533,2498,3405
$GC,587,-0.47,-126.5,102.9,-17.7,59,591,0.00,1.62,0.00,0.000,4,0.000,0.045,2525,3559,3405
$GC,673,-0.47,-126.5,118.3,-15.8,66,682,0.00,1.55,0.00,0.000,6,0.000,0.019,2525,2477,3405
$GC,940,-0.47,-126.5,157.6,-14.7,91,944,0.00,1.67,0.00,0.000,4,0.000,0.043,2517,3574,3405
$GC,967,-0.47,-126.5,161.8,-14.5,93,971,0.00,1.50,0.00,0.000,6,0.000,0.019,2519,2511,3405
$GC,1269,-0.47,-126.5,206.2,-14.7,118,1273,0.00,1.60,0.00,0.000,4,0.000,0.043,2513,3564,3405
$GC,1321,-0.47,-126.5,214.4,-13.8,119,1325,0.00,1.45,0.00,0.000,6,0.000,0.019,2517,2532,3404
$GC,1609,-0.47,-126.5,252.9,-13.4,126,1613,0.00,1.48,0.00,0.000,4,0.000,0.019,2521,1448,3404
$GC,1633,-0.47,-126.5,256.3,-12.8,126,1636,0.00,1.60,0.00,0.000,6,0.000,0.037,2515,2525,3404
$GC,1906,-0.47,-126.5,290.3,-12.8,133,1910,0.00,1.58,0.00,0.000,4,0.000,0.046,2507,3559,3403
$GC,2047,-0.47,-126.5,308.6,-12.1,136,2051,0.08,1.45,0.00,0.000,6,0.113,0.020,2538,2525,3401
$GC,2340,-0.47,-126.5,338.8,-10.2,143,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2517,3400
$GC,2583,-0.47,-126.5,362.4,-9.6,149,2587,0.00,1.62,0.00,0.000,4,0.000,0.047,2533,3561,3399
$GC,2624,-0.47,-126.5,366.6,-9.6,149,2633,0.00,1.45,0.00,0.000,6,0.000,0.021,2533,2537,3398
$GC,2879,-0.47,-126.5,390.9,-9.7,156,2882,0.00,1.50,0.00,0.000,4,0.000,0.022,2532,1462,3396
$GC,2909,-0.47,-126.5,394.1,-10.3,156,2912,0.00,1.60,0.00,0.000,6,0.000,0.038,2525,2533,3396
$GC,3176,-0.47,-126.5,419.6,-9.6,163,3180,0.00,1.62,-0.08,0.000,4,0.000,0.067,2523,3562,3417
$GC,3256,-0.47,-126.5,427.3,-8.9,164,3259,0.00,1.42,0.00,0.000,6,0.000,0.022,2523,2567,3416
$GC,3516,-0.47,-126.5,451.1,-9.3,171,3519,0.00,1.55,0.00,0.000,4,0.000,0.022,2523,1460,3414
$GC,3557,-0.47,-126.5,455.5,-9.5,171,3567,0.00,1.67,0.00,0.000,6,0.000,0.041,2524,2547,3414
$GC,3813,-0.47,-126.5,479.7,-9.7,178,3816,0.00,1.58,0.00,0.000,4,0.000,0.053,2523,3554,3412
$GC,3865,-0.47,-126.5,484.9,-8.4,179,3869,0.00,1.45,0.00,0.000,6,0.000,0.024,2523,2552,3411
$GC,4154,-0.47,-126.5,509.6,-8.5,186,4158,0.00,1.52,0.00,0.000,4,0.000,0.024,2523,1461,3409
$GC,4184,-0.47,-126.5,512.6,-8.8,186,4187,0.00,1.65,0.00,0.000,6,0.000,0.041,2516,2551,3409
$GC,4451,-0.47,-126.5,536.0,-9.0,193,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2552,3407
$GC,4694,-0.47,-126.5,558.0,-9.1,199,4698,0.00,1.58,0.00,0.000,4,0.000,0.051,2508,3562,3405
$GC,4790,-0.47,-126.5,567.0,-9.4,201,4794,0.08,1.48,0.00,0.000,6,0.109,0.025,2539,2544,3404
$GC,5085,-0.47,-126.5,589.5,-7.6,208,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2536,3401
$GC,5328,-0.47,-126.5,607.1,-7.2,214,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2536,3400
$GC,5573,-0.47,-126.5,624.2,-6.9,220,5576,0.00,1.60,0.00,0.000,4,0.000,0.054,2533,3561,3399
$GC,5623,-0.47,-126.5,627.9,-7.7,221,5627,0.00,1.50,0.00,0.000,6,0.000,0.027,2533,2539,3398
$GC,5917,-0.47,-126.5,648.8,-7.1,228,5921,0.00,1.52,0.00,0.000,4,0.000,0.025,2533,1455,3396
$GC,5969,-0.47,-126.5,652.5,-7.1,229,5973,0.00,1.65,0.00,0.000,6,0.000,0.044,2526,2530,3396
$GC,6264,-0.47,-126.5,673.4,-6.9,236,6267,0.00,1.60,0.00,0.000,4,0.000,0.055,2524,3564,3394
$GC,6349,-0.47,-126.5,679.5,-6.5,237,6359,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2537,3393
$GC,6606,-0.47,-126.5,696.2,-6.6,244,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3392
$GC,6849,-0.47,-126.5,711.7,-6.4,250,6852,0.00,1.62,0.00,0.000,4,0.000,0.057,2524,3566,3390
$GC,6907,-0.47,-126.5,715.8,-6.4,251,6910,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2566,3390
$GC,7190,-0.47,-126.5,734.9,-7.0,258,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3389
$GC,7433,-0.47,-126.5,753.5,-7.8,264,7437,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3565,3388
$GC,7463,-0.47,-126.5,756.3,-9.2,264,7466,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2554,3387
$GC,7730,-0.47,-126.5,777.8,-8.4,271,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2545,3387
$GC,7974,-0.47,-126.5,797.4,-8.0,277,7977,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3565,3385
$GC,7999,-0.47,-126.5,799.7,-7.9,277,8002,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2570,3385
$GC,8270,-0.47,-126.5,820.8,-7.9,284,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2562,3384
$GC,8514,-0.47,-126.5,840.5,-8.1,290,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2561,3383
$GC,8757,-0.47,-126.5,859.6,-7.8,296,8761,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1455,3382
$GC,8811,-0.47,-126.5,864.1,-8.4,297,8814,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2565,3382
$GC,9100,-0.47,-126.5,886.8,-8.0,304,9104,0.00,1.60,0.00,0.000,4,0.000,0.061,2523,3577,3381
$GC,9130,-0.47,-126.5,889.5,-8.0,304,9134,0.00,1.50,0.00,0.000,6,0.000,0.030,2523,2572,3381
$STATE,9269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9269,begin apogee
$GC,9281,-0.17,0.0,900.1,7.5,308,9394,0.35,0.00,109.75,1.260,6,0.094,0.000,2642,2224,2888
$STATE,9394,end apogee,CONTROL_FINISHED_OK
$STATE,9394,begin climb
$GC,9400,0.47,126.5,904.1,0.0,311,9558,0.57,0.00,128.55,1.161,6,0.033,0.000,2874,2223,2371
$GC,9804,0.47,126.5,853.4,17.3,321,9808,0.00,1.58,0.00,0.000,4,0.000,0.029,2881,1184,2363
$GC,9845,0.47,126.5,845.6,17.9,321,9854,0.08,1.62,0.00,0.000,6,0.154,0.041,2853,2201,2362
$GC,10101,0.47,126.5,805.1,16.1,328,10104,0.00,1.70,0.00,0.000,4,0.000,0.052,2850,3288,2359
$GC,10208,0.47,126.5,786.9,16.0,330,10212,0.00,1.58,0.00,0.000,6,0.000,0.028,2856,2245,2358
$GC,10487,0.47,126.5,745.2,15.1,337,10490,0.00,1.65,0.00,0.000,4,0.000,0.050,2851,3287,2357
$GC,10572,0.47,126.5,731.0,15.7,338,10580,0.00,1.52,0.00,0.000,6,0.000,0.028,2855,2273,2357
$GC,10827,0.47,126.5,695.1,14.2,345,10830,0.00,1.62,0.00,0.000,4,0.000,0.050,2850,3279,2356
$GC,10851,0.47,126.5,691.2,14.2,345,10854,0.00,1.48,0.00,0.000,6,0.000,0.028,2855,2289,2356
$GC,11124,0.47,126.5,654.0,13.7,352,11128,0.00,1.60,0.00,0.000,4,0.000,0.050,2850,3280,2356
$GC,11165,0.47,126.5,647.5,14.2,352,11173,0.00,1.42,0.00,0.000,6,0.000,0.028,2855,2324,2356
$GC,11419,0.47,126.5,613.7,13.2,359,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2318,2355
$GC,11663,0.47,126.5,582.7,12.6,365,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2318,2355
$GC,11906,0.47,126.5,553.9,11.6,371,11910,0.00,1.55,0.00,0.000,4,0.000,0.051,2850,3283,2354
$GC,11981,0.47,126.5,545.0,11.5,372,11984,0.00,1.40,0.00,0.000,6,0.000,0.028,2856,2340,2353
$GC,12248,0.47,126.5,516.8,10.8,379,12252,0.00,1.73,0.00,0.000,4,0.000,0.030,2864,1164,2354
$GC,12356,0.47,126.5,505.0,11.1,381,12359,0.00,1.80,0.00,0.000,6,0.000,0.044,2863,2328,2353
$GC,12634,0.47,126.5,471.9,12.1,388,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2328,2353
$GC,12877,0.47,126.5,440.9,12.6,394,12881,0.00,1.50,0.00,0.000,4,0.000,0.050,2863,3285,2352
$GC,12972,0.47,126.5,428.4,14.0,396,12976,0.00,1.42,0.00,0.000,6,0.000,0.028,2868,2330,2352
$GC,13267,0.47,126.5,392.1,12.0,403,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2324,2352
$GC,13510,0.47,126.5,364.4,11.0,409,13514,0.00,1.67,0.00,0.000,4,0.000,0.029,2873,1161,2351
$GC,13629,0.48,145.5,352.9,8.1,411,13657,0.00,1.83,17.08,0.790,6,0.000,0.043,2873,2345,2293
$GC,13941,0.48,145.5,323.6,9.8,419,13942,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2345,2290
$GC,14184,0.48,145.5,295.7,11.5,425,14188,0.00,1.45,0.00,0.000,4,0.000,0.048,2873,3277,2290
$GC,14337,0.48,145.5,275.3,14.0,428,14341,0.00,1.40,0.00,0.000,6,0.000,0.025,2879,2328,2289
$GC,14614,0.48,145.5,245.6,10.4,435,14618,0.00,1.50,0.00,0.000,4,0.000,0.045,2876,3275,2289
$GC,14757,0.48,145.5,228.7,10.0,438,14761,0.08,1.33,0.00,0.000,6,0.173,0.025,2857,2379,2289
$GC,15046,0.49,173.8,206.4,7.6,445,15089,0.00,1.83,27.23,0.713,4,0.000,0.027,2860,1160,2177
$GC,15120,0.50,205.5,200.1,7.5,446,15153,0.00,1.90,28.30,0.730,6,0.000,0.041,2860,2388,2050
$GC,15414,0.50,205.5,170.4,10.8,472,15417,0.00,1.83,0.00,0.000,4,0.000,0.027,2860,1156,2044
$GC,15444,0.50,205.5,166.3,10.1,474,15453,0.00,1.88,0.00,0.000,6,0.000,0.039,2860,2352,2043
$GC,15711,0.50,205.5,137.0,11.9,499,15718,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2351,2043
$GC,15977,0.50,205.5,108.8,10.7,524,15980,0.00,1.75,0.00,0.000,4,0.000,0.025,2860,1149,2043
$GC,16073,0.51,221.5,99.9,8.2,532,16092,0.00,1.83,14.02,0.614,6,0.000,0.036,2860,2350,1985
$GC,16365,0.55,320.7,80.2,4.2,558,16452,0.00,1.83,80.65,0.617,4,0.000,0.024,2860,1164,1579
$GC,16488,0.59,438.3,75.5,3.4,567,16589,0.00,1.85,94.07,0.602,6,0.000,0.034,2860,2364,1099
$GC,16857,0.59,438.3,34.4,13.4,599,16861,0.00,1.77,0.00,0.000,4,0.000,0.024,2860,1156,1096
$GC,16991,0.59,438.3,17.1,12.9,616,17000,0.00,1.77,0.00,0.000,6,0.000,0.031,2860,2323,1095
$STATE,17100,end climb,SURFACE_DEPTH_REACHED
$STATE,17100,begin surface coast
$FINISH,0.6,0.998792
$STATE,17127,end surface coast,CONTROL_FINISHED_OK
$STATE,17127,begin surface
$SM_CCo,17212,0.00,0.000,0,0,1088,441.53
$SM_GC,1.43,7.22,0.00,0.00,0.025,0.000,0.000,52,2531,1088,-8.21,0.88,441.53
$IRIDIUM_FIX,2216.01,-15753.30,050203,000056
$TT8_MAMPS,0.023777
$HUMID,2265
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.60
$XPDR_PINGS,5
$24V_AH,23.4,47.630
$10V_AH,10.6,56.719
$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,18.150,118.800,499.650,0.000,0.000,25.427,37.127,799.383,1.250,0.000,0.000,13.736,1346.018,11514.307,525.561,3358.893,1514.811,33.379,1656.403,0.000,3353.180,0.000,0.545,0.000
$DEVICE_MAMPS,199.420,66.729,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,432.938,2096.865,2171.275,1388.735,1374.354,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54177,637
$CAP_FILE_SIZE,142418,0
$CFSIZE,260165632,239566848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,111113,105853,2300.221,-15759.187,25,1.4,42,10.1