version: 66.04
glider: 512
mission: 4
dive: 295
start: 11 13 113 6 25 5
data:
$ID,512
$MISSION,4
$DIVE,295
$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,-113183.15
$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,75
$R_STBD_OVSHOOT,28
$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
$GPS1,060830,2245.183,-15749.031,41,1.2,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-81.2
$GPS2,062407,2245.035,-15749.157,15,1.7,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,-0.090
$KALMAN_X,62040.4,-67.1,186.9,-43542.7,-1046.8
$KALMAN_Y,79085.7,-287.8,199.5,-77229.9,-221.6
$MHEAD_RNG_PITCHd_Wd,102.5,22779,-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,-68.22,0.000,2,0.000,0.000,11,2451,2932
$GC,94,-0.47,-126.5,2.6,-2.0,8,123,9.60,1.42,-9.77,0.000,4,0.196,0.038,2541,1434,3404
$GC,244,-0.47,-126.5,40.7,-21.0,26,247,0.00,1.62,0.00,0.000,6,0.000,0.041,2535,2501,3405
$GC,517,-0.47,-126.5,94.7,-17.9,51,521,0.00,1.62,0.00,0.000,4,0.000,0.047,2527,3560,3405
$GC,590,-0.47,-126.5,107.1,-15.6,57,594,0.00,1.50,0.00,0.000,6,0.000,0.019,2527,2512,3406
$GC,862,-0.47,-126.5,150.8,-15.4,82,866,0.00,1.62,0.00,0.000,4,0.000,0.043,2520,3574,3406
$GC,901,-0.47,-126.5,156.9,-16.7,85,905,0.00,1.50,0.00,0.000,6,0.000,0.019,2520,2513,3406
$GC,1173,-0.47,-126.5,198.0,-15.0,110,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2506,3406
$GC,1440,-0.47,-126.5,234.5,-13.5,118,1444,0.00,1.45,0.00,0.000,4,0.000,0.020,2520,1452,3406
$GC,1503,-0.47,-126.5,242.1,-10.6,119,1507,0.12,1.60,0.00,0.000,6,0.118,0.038,2548,2526,3406
$GC,1780,-0.47,-126.5,266.7,-8.9,126,1783,0.00,1.58,0.00,0.000,4,0.000,0.047,2542,3558,3405
$GC,1939,-0.47,-126.5,281.7,-9.2,129,1943,0.00,1.45,0.00,0.000,6,0.000,0.021,2542,2530,3405
$GC,2212,-0.47,-126.5,305.5,-8.8,136,2216,0.00,1.48,0.00,0.000,4,0.000,0.021,2542,1454,3404
$GC,2262,-0.47,-126.5,309.9,-8.3,137,2266,0.00,1.62,0.00,0.000,6,0.000,0.040,2537,2535,3403
$GC,2556,-0.47,-126.5,336.8,-9.2,144,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2535,3401
$GC,2800,-0.47,-126.5,359.3,-9.2,150,2803,0.00,1.58,0.00,0.000,4,0.000,0.048,2530,3557,3400
$GC,2829,-0.47,-126.5,362.4,-9.7,150,2833,0.00,1.45,0.00,0.000,6,0.000,0.023,2529,2544,3399
$GC,3096,-0.47,-126.5,387.1,-9.4,157,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2536,3398
$GC,3340,-0.47,-126.5,408.5,-8.7,163,3344,0.00,1.52,0.00,0.000,4,0.000,0.023,2529,1448,3396
$GC,3409,-0.47,-126.5,415.2,-9.0,164,3413,0.00,1.70,0.00,0.000,6,0.000,0.041,2523,2554,3395
$GC,3680,-0.47,-126.5,441.8,-10.1,171,3684,0.00,1.58,-0.08,0.000,4,0.000,0.068,2523,3566,3416
$GC,3744,-0.47,-126.5,449.0,-10.6,172,3748,0.00,1.45,0.00,0.000,6,0.000,0.024,2523,2561,3417
$GC,4022,-0.47,-126.5,477.5,-10.2,179,4026,0.00,1.55,0.00,0.000,4,0.000,0.024,2523,1457,3415
$GC,4058,-0.47,-126.5,481.5,-9.8,179,4061,0.00,1.67,0.00,0.000,6,0.000,0.043,2523,2564,3415
$GC,4318,-0.47,-126.5,505.0,-8.9,186,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2563,3412
$GC,4563,-0.47,-126.5,525.4,-8.4,192,4566,0.00,1.55,0.00,0.000,4,0.000,0.054,2523,3552,3411
$GC,4622,-0.47,-126.5,530.4,-7.9,193,4625,0.00,1.38,0.00,0.000,6,0.000,0.025,2523,2602,3411
$GC,4905,-0.47,-126.5,553.7,-8.4,200,4908,0.00,1.60,0.00,0.000,4,0.000,0.026,2523,1451,3409
$GC,4963,-0.47,-126.5,559.1,-8.2,201,4966,0.00,1.80,0.00,0.000,6,0.000,0.046,2523,2603,3409
$GC,5247,-0.47,-126.5,582.5,-8.3,208,5251,0.00,1.62,0.00,0.000,4,0.000,0.025,2523,1458,3407
$GC,5297,-0.47,-126.5,586.9,-7.9,209,5301,0.00,1.75,0.00,0.000,6,0.000,0.045,2523,2577,3407
$GC,5592,-0.47,-126.5,609.8,-7.8,216,5595,0.00,1.55,0.00,0.000,4,0.000,0.055,2518,3559,3404
$GC,5622,-0.47,-126.5,612.5,-8.0,216,5625,0.00,1.42,0.00,0.000,6,0.000,0.028,2518,2587,3403
$GC,5890,-0.47,-126.5,634.1,-8.3,223,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2578,3402
$GC,6133,-0.47,-126.5,654.2,-8.3,229,6137,0.00,1.60,0.00,0.000,4,0.000,0.027,2520,1460,3400
$GC,6197,-0.47,-126.5,659.7,-8.6,230,6200,0.00,1.70,0.00,0.000,6,0.000,0.044,2514,2571,3400
$GC,6474,-0.47,-126.5,681.2,-7.9,237,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2572,3399
$GC,6718,-0.47,-126.5,701.7,-8.6,243,6721,0.00,1.55,0.00,0.000,4,0.000,0.057,2510,3550,3398
$GC,6759,-0.47,-126.5,705.9,-9.1,243,6767,0.08,1.40,0.00,0.000,6,0.096,0.029,2540,2584,3398
$GC,7016,-0.47,-126.5,723.5,-6.8,250,7020,0.00,1.60,0.00,0.000,4,0.000,0.028,2544,1467,3397
$GC,7066,-0.47,-126.5,727.2,-7.5,251,7070,0.00,1.70,0.00,0.000,6,0.000,0.047,2538,2568,3396
$GC,7361,-0.47,-126.5,746.5,-6.4,258,7364,0.00,1.58,0.00,0.000,4,0.000,0.059,2536,3554,3394
$GC,7413,-0.47,-126.5,749.9,-7.1,259,7416,0.00,1.42,0.00,0.000,6,0.000,0.029,2535,2586,3394
$GC,7707,-0.47,-126.5,767.8,-6.0,266,7711,0.00,1.60,0.00,0.000,4,0.000,0.028,2536,1444,3393
$GC,7739,-0.47,-126.5,769.7,-5.6,266,7743,0.00,1.77,0.00,0.000,6,0.000,0.048,2528,2591,3393
$GC,8005,-0.47,-126.5,785.3,-5.9,273,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2591,3392
$GC,8249,-0.47,-126.5,799.7,-5.9,279,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2591,3391
$GC,8492,-0.47,-126.5,815.0,-6.3,285,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2591,3390
$GC,8736,-0.47,-126.5,830.0,-6.1,291,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2591,3390
$GC,8980,-0.47,-126.5,844.2,-5.8,297,8984,0.00,1.62,0.00,0.000,4,0.000,0.029,2528,1465,3389
$GC,9011,-0.47,-126.5,846.1,-6.0,297,9014,0.00,1.75,0.00,0.000,6,0.000,0.050,2524,2570,3389
$GC,9278,-0.47,-126.5,860.8,-5.5,304,9279,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2569,3388
$GC,9521,-0.47,-126.5,874.2,-5.5,310,9525,0.00,1.58,0.00,0.000,4,0.000,0.062,2524,3546,3387
$GC,9546,-0.47,-126.5,875.9,-5.9,310,9550,0.00,1.42,0.00,0.000,6,0.000,0.030,2524,2588,3387
$GC,9818,-0.47,-126.5,891.0,-5.7,317,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2580,3387
$STATE,9974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9974,begin apogee
$GC,9986,-0.17,0.0,901.1,6.2,321,10101,0.35,0.00,112.00,1.256,6,0.091,0.000,2643,2227,2888
$STATE,10101,end apogee,CONTROL_FINISHED_OK
$STATE,10102,begin climb
$GC,10107,0.47,126.5,904.7,0.0,324,10260,0.55,0.00,129.10,1.160,6,0.032,0.000,2874,2226,2372
$GC,10484,0.47,126.5,861.4,16.5,333,10488,0.00,1.70,0.00,0.000,4,0.000,0.050,2874,3280,2362
$GC,10571,0.47,126.5,845.6,17.4,334,10579,0.10,1.60,0.00,0.000,6,0.184,0.028,2854,2239,2360
$GC,10826,0.47,126.5,810.1,13.9,341,10829,0.00,1.60,0.00,0.000,4,0.000,0.031,2860,1164,2359
$GC,10857,0.47,126.5,805.6,13.6,341,10861,0.00,1.67,0.00,0.000,6,0.000,0.044,2860,2240,2358
$GC,11123,0.47,126.5,768.3,14.6,348,11127,0.00,1.65,0.00,0.000,4,0.000,0.051,2860,3278,2357
$GC,11183,0.47,126.5,758.7,15.6,349,11187,0.00,1.58,0.00,0.000,6,0.000,0.028,2867,2225,2356
$GC,11466,0.47,126.5,716.0,15.3,356,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2218,2355
$GC,11709,0.47,126.5,679.6,15.0,362,11713,0.00,1.70,0.00,0.000,4,0.000,0.050,2863,3279,2355
$GC,11728,0.47,126.5,676.2,15.4,362,11731,0.00,1.58,0.00,0.000,6,0.000,0.027,2868,2220,2354
$GC,12005,0.47,126.5,635.6,14.8,369,12006,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2214,2354
$GC,12249,0.47,126.5,599.0,15.1,375,12253,0.00,1.67,0.00,0.000,4,0.000,0.049,2863,3279,2354
$GC,12319,0.47,126.5,587.2,15.9,376,12322,0.00,1.55,0.00,0.000,6,0.000,0.028,2868,2239,2353
$GC,12591,0.47,126.5,548.0,14.3,383,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2233,2353
$GC,12834,0.47,126.5,517.5,11.8,389,12838,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3288,2353
$GC,12982,0.47,126.5,499.2,11.7,392,12986,0.00,1.55,0.00,0.000,6,0.000,0.028,2869,2247,2352
$GC,13265,0.47,126.5,469.3,10.6,399,13268,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3295,2352
$GC,13296,0.47,126.5,465.7,11.4,399,13300,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2246,2352
$GC,13564,0.47,126.5,438.3,10.4,406,13567,0.00,1.58,0.00,0.000,4,0.000,0.028,2877,1156,2352
$GC,13593,0.47,126.5,434.8,9.9,406,13597,0.00,1.67,0.00,0.000,6,0.000,0.041,2876,2229,2352
$GC,13859,0.47,126.5,407.0,10.8,413,13863,0.00,1.65,0.00,0.000,4,0.000,0.051,2876,3278,2351
$GC,13934,0.47,126.5,398.6,10.6,414,13938,0.08,1.50,0.00,0.000,6,0.176,0.026,2848,2266,2351
$GC,14201,0.47,126.5,372.9,9.4,421,14205,0.00,1.60,0.00,0.000,4,0.000,0.028,2853,1160,2351
$GC,14264,0.47,126.5,366.3,9.2,422,14268,0.00,1.75,0.00,0.000,6,0.000,0.042,2854,2299,2350
$GC,14542,0.47,126.5,338.8,9.9,429,14545,0.00,1.55,0.00,0.000,4,0.000,0.050,2854,3287,2350
$GC,14797,0.47,126.5,311.2,10.2,434,14801,0.00,1.45,0.00,0.000,6,0.000,0.026,2860,2311,2351
$GC,15063,0.47,127.5,287.0,9.0,441,15067,0.00,1.65,0.00,0.000,4,0.000,0.027,2868,1166,2350
$GC,15233,0.49,181.8,273.9,6.4,444,15295,0.00,1.70,47.42,0.795,6,0.000,0.040,2865,2285,2147
$GC,15541,0.49,181.8,246.1,9.5,452,15545,0.00,1.55,0.00,0.000,4,0.000,0.047,2863,3276,2142
$GC,15775,0.49,181.8,220.6,11.1,457,15778,0.00,1.42,0.00,0.000,6,0.000,0.024,2868,2311,2141
$GC,16033,0.49,181.8,194.9,10.0,464,16036,0.00,1.62,0.00,0.000,4,0.000,0.026,2873,1168,2141
$GC,16075,0.49,181.8,190.6,9.4,467,16083,0.00,1.83,0.00,0.000,6,0.000,0.038,2873,2344,2140
$GC,16340,0.49,181.8,162.8,11.0,492,16344,0.00,1.73,0.00,0.000,4,0.000,0.025,2881,1152,2140
$GC,16369,0.49,181.8,159.8,10.1,494,16373,0.00,1.75,0.00,0.000,6,0.000,0.037,2878,2303,2140
$GC,16642,0.49,181.8,128.7,12.0,519,16649,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2303,2140
$GC,16908,0.49,181.8,100.9,9.4,544,16911,0.00,1.50,0.00,0.000,4,0.000,0.043,2877,3285,2140
$GC,17028,0.49,181.8,89.6,10.6,554,17032,0.00,1.50,0.00,0.000,6,0.000,0.022,2883,2253,2141
$GC,17305,0.51,233.2,68.4,6.5,579,17361,0.00,1.60,43.72,0.611,4,0.000,0.025,2886,1172,1935
$GC,17498,0.55,330.3,56.4,4.3,594,17582,0.00,1.67,78.30,0.595,6,0.000,0.035,2885,2280,1540
$GC,17841,0.55,330.3,27.8,9.9,625,17850,0.00,1.55,0.00,0.000,4,0.000,0.042,2886,3283,1534
$GC,17887,0.55,330.3,23.0,10.2,631,17896,0.00,1.48,0.00,0.000,6,0.000,0.021,2886,2273,1534
$STATE,18117,end climb,SURFACE_DEPTH_REACHED
$STATE,18117,begin surface coast
$FINISH,0.5,1.014676
$STATE,18168,end surface coast,CONTROL_FINISHED_OK
$STATE,18168,begin surface
$SM_CCo,18194,25.35,0.531,0,0,1297,390.02
$SM_GC,1.30,0.00,0.00,25.35,0.000,0.000,0.531,32,2535,1297,-8.32,0.99,390.02
$IRIDIUM_FIX,2234.68,-15750.66,070203,060621
$TT8_MAMPS,0.023777
$HUMID,2224
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.90
$XPDR_PINGS,4
$24V_AH,23.4,49.211
$10V_AH,10.6,58.856
$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,18.175,124.800,410.550,25.350,0.000,48.435,73.753,543.356,1.000,0.000,0.000,15.641,1451.044,12230.141,469.552,3588.721,1411.793,33.414,1604.471,0.000,3604.741,0.000,0.545,0.000
$DEVICE_MAMPS,196.352,68.263,1256.346,530.764,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,460.726,2221.816,2317.760,1498.034,1508.779,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57307,675
$CAP_FILE_SIZE,144569,0
$CFSIZE,260165632,238911488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,131113,113006,2243.736,-15747.736,33,1.2,33,10.1