version: 66.04
glider: 512
mission: 4
dive: 47
start: 9 24 113 16 56 9
data:
$ID,512
$MISSION,4
$DIVE,47
$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,380
$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,-107403.8
$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,69
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2750
$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
$GPS1,163236,2226.503,-15745.331,26,2.0,26,10.0
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-79.9
$GPS2,165513,2226.681,-15745.248,16,1.9,16,10.0
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.230,-0.065
$KALMAN_X,2923.3,-353.5,-269.2,22997.7,4990.3
$KALMAN_Y,21182.5,71.2,136.3,-53608.3,1356.4
$MHEAD_RNG_PITCHd_Wd,244.3,85161,-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,17,-0.58,-136.3,0.0,0.0,0,85,0.00,0.00,-65.80,0.000,2,0.000,0.000,10,2580,2751
$GC,91,-0.58,-136.3,2.1,-1.6,8,119,9.27,1.58,-13.98,0.000,4,0.206,0.056,2496,3604,3308
$GC,389,-0.58,-136.3,84.3,-31.5,41,392,0.00,1.52,0.00,0.000,6,0.000,0.020,2501,2550,3309
$GC,660,-0.58,-136.3,141.8,-19.4,66,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2541,3309
$GC,927,-0.58,-136.3,191.9,-18.7,91,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2541,3310
$GC,1183,-0.58,-136.3,234.1,-16.0,101,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2541,3310
$GC,1427,-0.58,-136.3,267.9,-13.4,107,1430,0.00,1.48,0.00,0.000,4,0.000,0.021,2509,1485,3309
$GC,1602,-0.58,-136.3,291.0,-12.8,110,1611,0.00,1.60,0.00,0.000,6,0.000,0.037,2504,2546,3309
$GC,1857,-0.58,-136.3,321.6,-11.7,117,1861,0.00,1.60,0.00,0.000,4,0.000,0.043,2495,3636,3307
$GC,1921,-0.58,-136.3,330.1,-12.9,118,1925,0.00,1.58,0.00,0.000,6,0.000,0.021,2501,2534,3306
$GC,2198,-0.58,-136.3,363.7,-12.2,125,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2526,3304
$GC,2441,-0.58,-136.3,391.2,-11.1,131,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2526,3303
$GC,2685,-0.58,-136.3,420.7,-12.5,137,2689,0.00,1.42,0.00,0.000,4,0.000,0.025,2509,1507,3300
$GC,2753,-0.58,-136.3,429.5,-11.8,138,2757,0.00,1.55,0.00,0.000,6,0.000,0.038,2502,2532,3300
$GC,3026,-0.58,-136.3,464.2,-13.2,145,3030,0.00,1.45,-0.08,0.000,4,0.000,0.045,2509,1498,3322
$GC,3100,-0.58,-136.3,473.4,-11.4,146,3103,0.00,1.55,0.00,0.000,6,0.000,0.041,2503,2518,3322
$GC,3366,-0.58,-136.3,502.2,-10.9,153,3369,0.00,1.62,0.00,0.000,4,0.000,0.049,2495,3610,3319
$GC,3417,-0.58,-136.3,507.7,-10.5,154,3420,0.00,1.58,0.00,0.000,6,0.000,0.025,2501,2519,3318
$GC,3711,-0.58,-136.3,537.7,-10.0,161,3714,0.00,1.70,0.00,0.000,4,0.000,0.048,2495,3614,3316
$GC,3751,-0.58,-136.3,542.3,-10.2,161,3760,0.00,1.58,0.00,0.000,6,0.000,0.025,2501,2511,3316
$GC,4006,-0.58,-136.3,568.0,-10.3,168,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2512,3313
$GC,4249,-0.58,-136.3,593.2,-10.3,174,4253,0.00,1.42,0.00,0.000,4,0.000,0.027,2508,1505,3312
$GC,4353,-0.58,-136.3,603.4,-8.3,176,4357,0.00,1.55,0.00,0.000,6,0.000,0.043,2503,2519,3311
$GC,4636,-0.58,-136.3,629.1,-9.2,183,4639,0.00,1.65,0.00,0.000,4,0.000,0.051,2494,3620,3308
$GC,4671,-0.58,-136.3,633.1,-10.9,183,4675,0.00,1.58,0.00,0.000,6,0.000,0.028,2501,2535,3308
$GC,4932,-0.58,-136.3,660.3,-10.8,190,4936,0.00,1.65,0.00,0.000,4,0.000,0.051,2495,3614,3306
$GC,4982,-0.58,-136.3,665.8,-11.3,191,4986,0.00,1.58,0.00,0.000,6,0.000,0.027,2501,2533,3306
$GC,5276,-0.58,-136.3,693.8,-9.2,198,5280,0.00,1.65,0.00,0.000,4,0.000,0.051,2494,3611,3303
$GC,5327,-0.58,-136.3,698.6,-9.3,199,5331,0.00,1.52,0.00,0.000,6,0.000,0.027,2501,2556,3303
$GC,5621,-0.58,-136.3,725.8,-9.1,206,5624,0.00,1.50,0.00,0.000,4,0.000,0.029,2508,1499,3301
$GC,5717,-0.58,-136.3,734.4,-8.1,208,5721,0.00,1.62,0.00,0.000,6,0.000,0.047,2502,2546,3301
$GC,6010,-0.58,-136.3,763.3,-9.9,215,6014,0.00,1.65,0.00,0.000,4,0.000,0.055,2494,3615,3300
$GC,6060,-0.58,-136.3,768.4,-10.3,216,6064,0.00,1.55,0.00,0.000,6,0.000,0.028,2500,2554,3299
$GC,6355,-0.58,-136.3,795.3,-8.9,223,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2546,3298
$GC,6600,-0.58,-136.3,813.9,-7.3,229,6604,0.00,1.50,0.00,0.000,4,0.000,0.030,2507,1498,3296
$GC,6675,-0.58,-136.3,819.3,-6.8,230,6679,0.00,1.62,0.00,0.000,6,0.000,0.049,2502,2564,3296
$GC,6941,-0.58,-136.3,837.2,-7.1,237,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2564,3295
$GC,7185,-0.58,-136.3,856.4,-8.2,243,7188,0.00,1.55,0.00,0.000,4,0.000,0.031,2508,1499,3294
$GC,7226,-0.58,-136.3,860.2,-8.0,243,7235,0.00,1.65,0.00,0.000,6,0.000,0.050,2501,2560,3293
$GC,7483,-0.58,-136.3,881.9,-8.8,250,7486,0.00,1.55,0.00,0.000,4,0.000,0.031,2505,1495,3292
$GC,7518,-0.58,-136.3,885.6,-9.2,250,7522,0.00,1.62,0.00,0.000,6,0.000,0.049,2500,2539,3292
$STATE,7692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7692,begin apogee
$GC,7704,-0.23,0.0,900.4,8.5,255,7824,0.38,0.00,117.97,1.258,6,0.116,0.000,2625,2224,2750
$STATE,7825,end apogee,CONTROL_FINISHED_OK
$STATE,7825,begin climb
$GC,7830,0.58,136.3,903.2,0.0,258,7980,0.73,0.00,130.85,1.165,6,0.064,0.000,2880,2224,2194
$GC,8207,0.58,136.3,835.1,22.1,267,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2224,2184
$GC,8451,0.58,136.3,780.0,22.7,273,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2224,2182
$GC,8694,0.58,136.3,724.7,22.9,279,8698,0.00,1.67,0.00,0.000,4,0.000,0.049,2878,3297,2181
$GC,8726,0.58,136.3,717.0,24.5,279,8729,0.00,1.60,0.00,0.000,6,0.000,0.030,2884,2223,2180
$GC,8992,0.58,136.3,657.9,21.9,286,8996,0.00,1.58,0.00,0.000,4,0.000,0.033,2892,1158,2180
$GC,9016,0.58,136.3,651.7,21.5,286,9020,0.00,1.70,0.00,0.000,6,0.000,0.044,2891,2243,2178
$GC,9288,0.58,136.3,595.0,21.4,293,9291,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3303,2178
$GC,9328,0.58,136.3,585.6,21.9,293,9337,0.00,1.62,0.00,0.000,6,0.000,0.031,2898,2226,2178
$GC,9583,0.58,136.3,532.5,21.3,300,9587,0.00,1.58,0.00,0.000,4,0.000,0.033,2906,1150,2177
$GC,9619,0.58,136.3,524.8,19.2,300,9622,0.00,1.67,0.00,0.000,6,0.000,0.044,2904,2245,2177
$GC,9880,0.58,136.3,474.3,19.7,307,9883,0.00,1.60,0.00,0.000,4,0.000,0.052,2905,3275,2176
$GC,9954,0.58,136.3,458.2,19.9,308,9958,0.00,1.55,0.00,0.000,6,0.000,0.031,2911,2242,2176
$GC,10220,0.58,136.3,403.7,21.2,315,10223,0.00,1.58,0.00,0.000,4,0.000,0.032,2919,1161,2176
$GC,10360,0.58,136.3,375.7,18.9,318,10364,0.12,1.62,0.00,0.000,6,0.156,0.044,2884,2227,2175
$GC,10655,0.58,136.3,326.7,16.3,325,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2227,2175
$GC,10900,0.58,136.3,286.7,15.9,331,10903,0.00,1.62,0.00,0.000,4,0.000,0.050,2878,3298,2175
$GC,10950,0.58,136.3,278.1,17.0,332,10953,0.00,1.62,0.00,0.000,6,0.000,0.029,2884,2190,2175
$GC,11243,0.58,136.3,232.4,15.1,339,11247,0.00,1.50,0.00,0.000,4,0.000,0.031,2893,1144,2175
$GC,11308,0.58,136.3,223.4,14.0,340,11311,0.00,1.62,0.00,0.000,6,0.000,0.041,2891,2218,2175
$GC,11567,0.58,136.3,189.7,13.9,351,11571,0.00,1.62,0.00,0.000,4,0.000,0.048,2891,3299,2175
$GC,11686,0.58,136.3,172.0,15.4,361,11694,0.00,1.55,0.00,0.000,6,0.000,0.028,2898,2246,2175
$GC,11952,0.58,136.3,135.3,13.2,386,11961,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2239,2175
$GC,12219,0.58,136.3,101.6,13.9,411,12222,0.00,1.55,0.00,0.000,4,0.000,0.028,2905,1161,2175
$GC,12258,0.58,136.3,96.6,12.7,414,12261,0.00,1.70,0.00,0.000,6,0.000,0.038,2905,2283,2175
$GC,12530,0.58,151.6,71.6,7.9,439,12546,0.00,1.67,11.23,0.607,4,0.000,0.027,2911,1145,2132
$GC,12808,0.58,151.6,42.7,8.8,462,12812,0.00,1.65,0.00,0.000,6,0.000,0.037,2911,2255,2131
$GC,13106,0.58,151.6,17.4,9.0,497,13114,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2255,2131
$STATE,13263,end climb,SURFACE_DEPTH_REACHED
$STATE,13263,begin surface coast
$FINISH,0.2,1.023057
$STATE,13300,end surface coast,CONTROL_FINISHED_OK
$STATE,13300,begin surface
$SM_CCo,13325,94.03,0.541,0,0,1199,380.21
$SM_GC,1.39,0.00,0.00,94.03,0.000,0.000,0.541,39,2565,1199,-8.30,0.42,380.21
$IRIDIUM_FIX,2218.34,-15745.94,191202,161606
$TT8_MAMPS,0.023777
$HUMID,2150
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.00
$XPDR_PINGS,5
$24V_AH,24.1,6.838
$10V_AH,10.7,6.945
$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,17.700,86.625,260.050,94.025,0.000,83.254,101.641,865.141,1.250,0.000,0.000,17.028,1125.194,8892.390,429.273,2767.120,1562.510,33.356,1264.554,0.000,2764.751,0.000,0.546,0.000
$DEVICE_MAMPS,205.556,55.991,1257.880,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,360.376,1739.452,1802.048,218.701,1245.930,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44637,528
$CAP_FILE_SIZE,114513,0
$CFSIZE,260165632,255434752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,240913,204106,2225.972,-15746.662,30,0.8,30,10.0