version: 66.04
glider: 512
mission: 4
dive: 40
start: 9 23 113 12 20 1
data:
$ID,512
$MISSION,4
$DIVE,40
$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,350
$T_MISSION,650
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,566.87909
$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,-107290.69
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2698
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2550
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2710
$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
$GPS1,115029,2234.244,-15737.125,39,1.5,45,10.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-79.6
$GPS2,121905,2234.415,-15737.068,16,1.1,32,10.1
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.184,-0.152
$KALMAN_X,-8093.6,-578.6,-329.2,48274.4,5561.9
$KALMAN_Y,16633.8,-465.4,-177.2,-33885.5,3447.8
$MHEAD_RNG_PITCHd_Wd,220.3,100212,-15.7,-8.571
$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,-0.58,-136.3,0.0,0.0,0,119,0.00,0.00,-98.75,0.000,2,0.000,0.000,12,2574,2865
$GC,125,-0.58,-136.3,2.1,-1.6,12,150,9.30,1.52,-9.65,0.000,4,0.209,0.040,2509,1478,3266
$GC,400,-0.58,-136.3,66.3,-18.1,43,403,0.00,1.60,0.00,0.000,6,0.000,0.038,2502,2548,3266
$GC,671,-0.58,-136.3,119.5,-19.1,68,675,0.00,1.60,0.00,0.000,4,0.000,0.044,2494,3607,3266
$GC,768,-0.58,-136.3,138.6,-18.2,76,771,0.00,1.50,0.00,0.000,6,0.000,0.019,2500,2548,3266
$GC,1039,-0.58,-136.3,186.3,-16.3,101,1043,0.00,1.45,0.00,0.000,4,0.000,0.021,2508,1491,3266
$GC,1102,-0.58,-136.3,196.0,-13.6,106,1110,0.00,1.62,0.00,0.000,6,0.000,0.037,2502,2568,3266
$GC,1388,-0.58,-136.3,238.4,-14.8,116,1392,0.00,1.58,0.00,0.000,4,0.000,0.044,2494,3617,3265
$GC,1438,-0.58,-136.3,245.9,-15.5,117,1442,0.00,1.48,0.00,0.000,6,0.000,0.021,2499,2569,3265
$GC,1733,-0.58,-136.3,284.4,-12.8,124,1737,0.00,1.45,0.00,0.000,4,0.000,0.022,2508,1510,3265
$GC,1768,-0.58,-136.3,289.3,-11.7,124,1772,0.00,1.62,0.00,0.000,6,0.000,0.037,2502,2589,3264
$GC,2028,-0.58,-136.3,321.7,-12.9,131,2032,0.00,1.52,0.00,0.000,4,0.000,0.046,2494,3603,3262
$GC,2069,-0.58,-136.3,328.2,-15.5,131,2078,0.00,1.45,0.00,0.000,6,0.000,0.021,2499,2567,3262
$GC,2324,-0.58,-136.3,361.9,-13.4,138,2328,0.00,1.60,0.00,0.000,4,0.000,0.044,2494,3636,3259
$GC,2348,-0.58,-136.3,365.6,-12.7,138,2352,0.00,1.50,0.00,0.000,6,0.000,0.021,2499,2575,3259
$GC,2620,-0.58,-136.3,397.1,-11.7,145,2622,0.00,0.00,-0.08,0.000,6,0.000,0.000,2500,2567,3279
$GC,2865,-0.58,-136.3,424.8,-11.2,151,2869,0.00,1.48,0.00,0.000,4,0.000,0.024,2507,1510,3277
$GC,3061,-0.58,-136.3,444.9,-9.7,155,3065,0.00,1.58,0.00,0.000,6,0.000,0.041,2502,2545,3276
$GC,3343,-0.58,-136.3,472.5,-9.9,162,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2546,3272
$GC,3587,-0.58,-136.3,496.7,-10.1,168,3591,0.00,1.60,0.00,0.000,4,0.000,0.050,2493,3617,3270
$GC,3674,-0.58,-136.3,507.4,-12.2,169,3682,0.00,1.50,0.00,0.000,6,0.000,0.025,2499,2568,3269
$GC,3928,-0.58,-136.3,536.6,-11.5,176,3932,0.00,1.50,0.00,0.000,4,0.000,0.026,2507,1505,3266
$GC,3992,-0.58,-136.3,543.8,-9.9,177,3995,0.00,1.60,0.00,0.000,6,0.000,0.043,2501,2572,3266
$GC,4269,-0.58,-136.3,573.5,-11.0,184,4273,0.00,1.52,0.00,0.000,4,0.000,0.028,2507,1509,3264
$GC,4312,-0.58,-136.3,578.2,-9.5,184,4320,0.00,1.58,0.00,0.000,6,0.000,0.044,2501,2534,3263
$GC,4566,-0.58,-136.3,603.5,-10.0,191,4570,0.00,1.62,0.00,0.000,4,0.000,0.051,2493,3614,3262
$GC,4635,-0.58,-136.3,611.0,-11.0,192,4638,0.00,1.52,0.00,0.000,6,0.000,0.027,2499,2557,3261
$GC,4907,-0.58,-136.3,636.8,-9.4,199,4911,0.00,1.48,0.00,0.000,4,0.000,0.028,2506,1504,3259
$GC,4957,-0.58,-136.3,641.5,-8.5,200,4961,0.00,1.62,0.00,0.000,6,0.000,0.044,2501,2578,3259
$GC,5251,-0.58,-136.3,668.2,-9.2,207,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2578,3257
$GC,5495,-0.58,-136.3,691.3,-9.5,213,5498,0.00,1.55,0.00,0.000,4,0.000,0.028,2506,1505,3255
$GC,5570,-0.58,-136.3,698.5,-8.7,214,5574,0.00,1.60,0.00,0.000,6,0.000,0.046,2501,2561,3254
$GC,5836,-0.58,-136.3,724.8,-10.2,221,5840,0.00,1.62,0.00,0.000,4,0.000,0.055,2493,3613,3253
$GC,5910,-0.58,-136.3,733.0,-10.8,222,5914,0.00,1.52,0.00,0.000,6,0.000,0.029,2498,2565,3253
$GC,6177,-0.58,-136.3,756.9,-8.9,229,6180,0.00,1.50,0.00,0.000,4,0.000,0.030,2506,1513,3251
$GC,6227,-0.58,-136.3,761.0,-7.8,230,6230,0.00,1.62,0.00,0.000,6,0.000,0.048,2500,2581,3250
$GC,6521,-0.58,-136.3,785.2,-8.4,237,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2581,3248
$GC,6764,-0.58,-136.3,806.7,-8.9,243,6768,0.00,1.58,0.00,0.000,4,0.000,0.030,2506,1498,3247
$GC,6794,-0.58,-136.3,809.7,-9.2,243,6798,0.00,1.65,0.00,0.000,6,0.000,0.050,2500,2560,3247
$GC,7061,-0.58,-136.3,833.2,-8.9,250,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3246
$GC,7306,-0.58,-136.3,855.0,-8.9,256,7309,0.00,1.55,0.00,0.000,4,0.000,0.030,2506,1495,3245
$GC,7341,-0.58,-136.3,858.6,-8.3,256,7345,0.00,1.65,0.00,0.000,6,0.000,0.051,2499,2554,3245
$GC,7602,-0.58,-136.3,880.0,-8.2,263,7605,0.00,1.62,0.00,0.000,4,0.000,0.056,2492,3605,3244
$GC,7637,-0.58,-136.3,883.5,-10.0,263,7640,0.00,1.52,0.00,0.000,6,0.000,0.031,2498,2567,3244
$STATE,7851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7851,begin apogee
$GC,7863,-0.23,0.0,900.1,7.6,269,7982,0.38,0.00,116.43,1.256,6,0.153,0.000,2623,2211,2709
$STATE,7983,end apogee,CONTROL_FINISHED_OK
$STATE,7983,begin climb
$GC,7988,0.58,136.3,901.9,0.0,272,8126,0.73,1.85,126.88,1.204,4,0.073,0.048,2877,3288,2153
$GC,8155,0.58,136.3,875.7,24.3,275,8163,0.00,1.67,0.00,0.000,6,0.000,0.029,2884,2237,2150
$GC,8409,0.58,136.3,813.9,23.9,282,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2231,2144
$GC,8653,0.58,136.3,756.7,23.5,288,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2231,2142
$GC,8897,0.58,136.3,703.7,21.4,294,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2231,2141
$GC,9140,0.58,136.3,650.8,21.4,300,9144,0.00,1.65,0.00,0.000,4,0.000,0.048,2878,3295,2141
$GC,9159,0.58,136.3,646.1,21.1,300,9163,0.00,1.62,0.00,0.000,6,0.000,0.031,2885,2218,2140
$GC,9437,0.58,136.3,588.9,20.7,307,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2212,2140
$GC,9682,0.58,136.3,539.9,20.1,313,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2212,2139
$GC,9926,0.58,136.3,495.3,17.9,319,9929,0.00,1.67,0.00,0.000,4,0.000,0.048,2879,3294,2138
$GC,9983,0.58,136.3,483.9,18.5,320,9987,0.00,1.60,0.00,0.000,6,0.000,0.031,2885,2228,2138
$GC,10266,0.58,136.3,432.1,18.2,327,10269,0.00,1.55,0.00,0.000,4,0.000,0.033,2892,1169,2137
$GC,10352,0.58,136.3,416.5,16.8,328,10360,0.00,1.65,0.00,0.000,6,0.000,0.045,2891,2231,2135
$GC,10606,0.58,136.3,370.3,18.6,335,10610,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3280,2136
$GC,10681,0.58,136.3,355.8,19.2,336,10684,0.00,1.55,0.00,0.000,6,0.000,0.031,2897,2244,2136
$GC,10948,0.58,136.3,306.3,18.9,343,10951,0.00,1.58,0.00,0.000,4,0.000,0.033,2906,1155,2136
$GC,10983,0.58,136.3,299.0,18.6,343,10987,0.00,1.70,0.00,0.000,6,0.000,0.043,2905,2255,2136
$GC,11243,0.58,136.3,255.8,16.1,350,11247,0.00,1.58,0.00,0.000,4,0.000,0.048,2905,3281,2136
$GC,11369,0.58,136.3,232.9,18.3,352,11373,0.00,1.50,0.00,0.000,6,0.000,0.029,2911,2270,2135
$GC,11631,0.58,136.3,187.4,17.2,362,11635,0.00,1.60,0.00,0.000,4,0.000,0.031,2920,1164,2135
$GC,11670,0.58,136.3,180.8,16.3,365,11674,0.12,1.65,0.00,0.000,6,0.148,0.041,2883,2259,2135
$GC,11945,0.58,136.3,146.0,12.4,390,11949,0.00,1.62,0.00,0.000,4,0.000,0.029,2889,1146,2135
$GC,11964,0.58,136.3,142.8,12.0,391,11970,0.00,1.65,0.00,0.000,6,0.000,0.041,2890,2226,2135
$GC,12230,0.58,136.3,106.2,14.3,416,12234,0.00,1.60,0.00,0.000,4,0.000,0.045,2889,3281,2136
$GC,12270,0.58,136.3,100.2,14.7,419,12274,0.00,1.55,0.00,0.000,6,0.000,0.026,2897,2223,2135
$GC,12543,0.58,136.3,66.4,10.7,444,12547,0.00,1.65,0.00,0.000,4,0.000,0.044,2897,3285,2136
$GC,12785,0.59,165.2,43.0,7.3,464,12814,0.00,1.50,22.23,0.611,6,0.000,0.025,2906,2238,2036
$GC,13090,0.59,165.2,14.5,10.7,502,13099,0.00,1.52,0.00,0.000,4,0.000,0.026,2912,1168,2033
$GC,13178,0.59,165.2,5.0,9.9,515,13187,0.00,1.65,0.00,0.000,6,0.000,0.036,2912,2252,2033
$STATE,13194,end climb,SURFACE_DEPTH_REACHED
$STATE,13194,begin surface coast
$FINISH,0.3,1.022748
$STATE,13227,end surface coast,CONTROL_FINISHED_OK
$STATE,13227,begin surface
$SM_CCo,13252,181.57,0.545,0,0,398,566.88
$SM_GC,1.24,0.00,0.00,181.57,0.000,0.000,0.545,31,2575,398,-8.29,0.71,566.88
$IRIDIUM_FIX,2227.67,-15741.13,181202,121225
$TT8_MAMPS,0.023777
$HUMID,2149
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.90
$XPDR_PINGS,5
$24V_AH,24.1,5.712
$10V_AH,10.7,5.668
$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,17.775,98.825,265.525,181.575,0.000,144.014,197.962,900.096,1.250,0.000,0.000,36.491,1112.671,9004.030,534.005,2688.803,1810.789,33.363,1370.658,0.000,2673.861,0.000,0.545,0.000
$DEVICE_MAMPS,208.624,55.991,1256.346,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,355.957,1716.678,1769.298,224.514,1189.944,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44660,522
$CAP_FILE_SIZE,122128,0
$CFSIZE,260165632,255832064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230913,160524,2233.300,-15738.188,41,1.3,41,10.1