version: 66.04
glider: 512
mission: 4
dive: 52
start: 9 25 113 13 42 18
data:
$ID,512
$MISSION,4
$DIVE,52
$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,130
$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,586.50275
$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,-107523.86
$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,2570
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$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,2790
$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
$GPS1,130053,2222.287,-15752.832,45,1.1,63,10.0
$_CALLS,5
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-81.0
$GPS2,134124,2222.304,-15752.790,11,1.4,16,10.0
$SPEED_LIMITS,0.122,0.231
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.231,0.005
$KALMAN_X,12342.6,-744.9,-449.2,1272.9,5799.1
$KALMAN_Y,19913.9,113.7,-169.2,-60183.5,-202.0
$MHEAD_RNG_PITCHd_Wd,261.2,72688,-16.4,-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,-0.60,-126.5,0.0,0.0,0,94,0.00,0.00,-74.05,0.000,2,0.000,0.000,10,2638,2989
$GC,99,-0.60,-126.5,2.2,-1.4,9,126,9.23,1.62,-7.07,0.000,4,0.205,0.041,2502,1518,3307
$GC,363,-0.60,-126.5,73.6,-25.3,37,367,0.00,1.60,0.00,0.000,6,0.000,0.039,2496,2563,3308
$GC,634,-0.60,-126.5,130.9,-18.3,62,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2563,3309
$GC,900,-0.60,-126.5,177.4,-17.5,87,904,0.00,1.60,0.00,0.000,4,0.000,0.044,2488,3630,3309
$GC,940,-0.60,-126.5,185.4,-17.6,90,950,0.00,1.55,0.00,0.000,6,0.000,0.019,2494,2536,3309
$GC,1200,-0.60,-126.5,227.7,-16.1,103,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2528,3309
$GC,1445,-0.60,-126.5,263.5,-14.7,109,1448,0.00,1.40,0.00,0.000,4,0.000,0.021,2501,1507,3308
$GC,1502,-0.60,-126.5,272.6,-13.8,110,1506,0.00,1.58,0.00,0.000,6,0.000,0.037,2496,2554,3307
$GC,1785,-0.60,-126.5,315.4,-15.2,117,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2554,3306
$GC,2028,-0.60,-126.5,343.7,-11.3,123,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2554,3304
$GC,2272,-0.60,-126.5,373.1,-12.4,129,2276,0.00,1.45,0.00,0.000,4,0.000,0.021,2501,1518,3302
$GC,2336,-0.60,-126.5,381.0,-11.2,130,2339,0.00,1.58,0.00,0.000,6,0.000,0.040,2495,2558,3301
$GC,2613,-0.60,-126.5,412.5,-11.6,137,2616,0.00,1.62,0.00,0.000,4,0.000,0.047,2487,3631,3298
$GC,2693,-0.60,-126.5,423.1,-12.1,138,2696,0.00,1.52,0.00,0.000,6,0.000,0.022,2492,2557,3297
$GC,2954,-0.60,-126.5,455.0,-12.5,145,2958,0.00,1.45,-0.08,0.000,4,0.000,0.044,2492,1490,3320
$GC,3017,-0.60,-126.5,463.1,-11.6,146,3020,0.00,1.60,0.00,0.000,6,0.000,0.041,2486,2544,3320
$GC,3294,-0.60,-126.5,498.4,-13.2,153,3297,0.00,1.48,0.00,0.000,4,0.000,0.025,2486,1511,3316
$GC,3335,-0.60,-126.5,504.4,-13.0,153,3344,0.00,1.55,0.00,0.000,6,0.000,0.042,2480,2525,3316
$GC,3591,-0.60,-126.5,535.6,-12.2,160,3595,0.00,1.67,0.00,0.000,4,0.000,0.049,2471,3644,3314
$GC,3626,-0.60,-126.5,540.9,-12.3,160,3631,0.08,1.60,0.00,0.000,6,0.145,0.026,2497,2527,3314
$GC,3886,-0.60,-126.5,568.0,-10.5,167,3890,0.00,1.40,0.00,0.000,4,0.000,0.026,2504,1524,3311
$GC,3916,-0.60,-126.5,571.5,-10.4,167,3919,0.00,1.52,0.00,0.000,6,0.000,0.043,2499,2523,3312
$GC,4181,-0.60,-126.5,599.2,-10.7,174,4185,0.00,1.67,0.00,0.000,4,0.000,0.051,2490,3637,3309
$GC,4245,-0.60,-126.5,607.3,-11.7,175,4249,0.00,1.60,0.00,0.000,6,0.000,0.026,2497,2510,3308
$GC,4522,-0.60,-126.5,637.0,-10.7,182,4526,0.00,1.75,0.00,0.000,4,0.000,0.049,2491,3630,3305
$GC,4591,-0.60,-126.5,644.6,-10.7,183,4595,0.00,1.58,0.00,0.000,6,0.000,0.026,2496,2540,3304
$GC,4863,-0.60,-126.5,669.1,-8.7,190,4867,0.00,1.42,0.00,0.000,4,0.000,0.028,2504,1524,3303
$GC,4914,-0.60,-126.5,673.1,-7.4,191,4917,0.00,1.52,0.00,0.000,6,0.000,0.045,2498,2514,3302
$GC,5208,-0.60,-126.5,699.2,-9.2,198,5211,0.00,1.70,0.00,0.000,4,0.000,0.054,2490,3638,3300
$GC,5303,-0.60,-126.5,709.7,-10.3,200,5307,0.00,1.62,0.00,0.000,6,0.000,0.028,2496,2511,3300
$GC,5597,-0.60,-126.5,742.3,-11.2,207,5601,0.00,1.40,0.00,0.000,4,0.000,0.028,2503,1515,3298
$GC,5633,-0.60,-126.5,746.6,-10.8,207,5636,0.00,1.55,0.00,0.000,6,0.000,0.046,2498,2520,3297
$GC,5894,-0.60,-126.5,773.3,-10.3,214,5898,0.00,1.70,0.00,0.000,4,0.000,0.056,2489,3639,3296
$GC,5963,-0.60,-126.5,781.3,-11.5,215,5966,0.00,1.60,0.00,0.000,6,0.000,0.028,2496,2523,3295
$GC,6234,-0.60,-126.5,807.5,-9.6,222,6238,0.00,1.73,0.00,0.000,4,0.000,0.054,2489,3636,3293
$GC,6293,-0.60,-126.5,813.8,-9.7,223,6296,0.00,1.60,0.00,0.000,6,0.000,0.028,2495,2520,3293
$GC,6575,-0.60,-126.5,838.1,-8.4,230,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2512,3292
$GC,6819,-0.60,-126.5,856.4,-7.4,236,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2512,3291
$GC,7063,-0.60,-126.5,873.6,-6.9,242,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2512,3289
$GC,7306,-0.60,-126.5,891.6,-7.7,248,7310,0.00,1.42,0.00,0.000,4,0.000,0.031,2502,1515,3288
$GC,7347,-0.60,-126.5,895.2,-8.7,248,7356,0.00,1.60,0.00,0.000,6,0.000,0.048,2497,2546,3288
$STATE,7434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7434,begin apogee
$GC,7445,-0.23,0.0,902.6,8.4,251,7557,0.38,0.00,107.72,1.266,6,0.117,0.000,2622,2219,2790
$STATE,7558,end apogee,CONTROL_FINISHED_OK
$STATE,7558,begin climb
$GC,7563,0.60,126.5,906.1,0.0,254,7693,0.75,0.00,118.00,1.200,6,0.064,0.000,2887,2218,2274
$GC,7943,0.60,126.5,840.5,21.6,263,7947,0.00,1.60,0.00,0.000,4,0.000,0.032,2894,1165,2265
$GC,7973,0.60,126.5,832.8,21.0,263,7977,0.00,1.65,0.00,0.000,6,0.000,0.044,2892,2219,2264
$GC,8239,0.60,126.5,778.3,20.9,270,8242,0.00,1.65,0.00,0.000,4,0.000,0.051,2891,3287,2262
$GC,8257,0.60,126.5,773.6,21.3,270,8261,0.00,1.62,0.00,0.000,6,0.000,0.030,2898,2216,2262
$GC,8535,0.60,126.5,712.7,22.0,277,8539,0.00,1.55,0.00,0.000,4,0.000,0.032,2906,1159,2261
$GC,8565,0.60,126.5,705.4,22.7,277,8569,0.00,1.65,0.00,0.000,6,0.000,0.044,2905,2208,2261
$GC,8830,0.60,126.5,647.2,22.3,284,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2208,2260
$GC,9074,0.60,126.5,595.8,20.8,290,9078,0.00,1.67,0.00,0.000,4,0.000,0.050,2905,3286,2259
$GC,9148,0.60,126.5,579.8,21.2,291,9151,0.00,1.60,0.00,0.000,6,0.000,0.030,2911,2196,2259
$GC,9414,0.60,126.5,529.0,18.9,298,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2190,2258
$GC,9659,0.60,126.5,479.4,20.1,304,9663,0.00,1.70,0.00,0.000,4,0.000,0.050,2912,3290,2258
$GC,9709,0.60,126.5,468.6,21.6,305,9713,0.00,1.62,0.00,0.000,6,0.000,0.029,2920,2180,2258
$GC,10003,0.60,126.5,411.3,18.8,312,10006,0.00,1.48,0.00,0.000,4,0.000,0.032,2928,1167,2257
$GC,10038,0.60,126.5,404.2,18.6,312,10043,0.15,1.60,0.00,0.000,6,0.163,0.044,2890,2220,2257
$GC,10299,0.60,126.5,361.0,16.5,319,10303,0.00,1.62,0.00,0.000,4,0.000,0.050,2889,3292,2256
$GC,10349,0.60,126.5,352.2,18.0,320,10353,0.00,1.62,0.00,0.000,6,0.000,0.030,2896,2182,2256
$GC,10643,0.60,126.5,304.5,15.9,327,10647,0.00,1.48,0.00,0.000,4,0.000,0.032,2903,1167,2256
$GC,10719,0.60,126.5,293.2,13.4,328,10722,0.00,1.58,0.00,0.000,6,0.000,0.044,2904,2186,2256
$GC,10984,0.60,126.5,256.2,14.3,335,10985,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2185,2255
$GC,11228,0.60,126.5,217.2,15.4,341,11231,0.00,1.65,0.00,0.000,4,0.000,0.048,2903,3283,2255
$GC,11246,0.60,126.5,214.2,13.9,341,11250,0.00,1.60,0.00,0.000,6,0.000,0.028,2911,2177,2256
$GC,11510,0.60,126.5,180.8,13.6,358,11514,0.00,1.70,0.00,0.000,4,0.000,0.047,2912,3284,2255
$GC,11616,0.60,126.5,165.2,14.6,367,11620,0.00,1.60,0.00,0.000,6,0.000,0.028,2915,2207,2255
$GC,11887,0.60,126.5,133.4,10.9,392,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2201,2255
$GC,12154,0.60,126.5,104.6,9.2,417,12158,0.00,1.50,0.00,0.000,4,0.000,0.027,2922,1147,2256
$GC,12230,0.60,126.5,96.3,12.4,423,12238,0.00,1.58,0.00,0.000,6,0.000,0.039,2918,2181,2256
$GC,12497,0.61,160.2,69.5,7.0,448,12529,0.00,1.73,26.27,0.624,4,0.000,0.043,2918,3298,2135
$GC,12601,0.62,171.2,61.9,8.1,456,12616,0.00,1.62,10.40,0.574,6,0.000,0.024,2925,2161,2092
$GC,12878,0.62,171.2,38.5,9.9,481,12881,0.00,1.70,0.00,0.000,4,0.000,0.041,2925,3285,2089
$GC,12909,0.62,171.2,33.2,13.9,483,12918,0.10,1.62,0.00,0.000,6,0.160,0.024,2898,2175,2089
$STATE,13186,end climb,SURFACE_DEPTH_REACHED
$STATE,13186,begin surface coast
$FINISH,0.4,1.014966
$STATE,13219,end surface coast,CONTROL_FINISHED_OK
$STATE,13219,begin surface
$SM_CCo,13244,188.60,0.538,0,0,399,586.50
$SM_GC,1.22,0.00,0.00,188.60,0.000,0.000,0.538,21,2587,399,-8.32,0.48,586.50
$IRIDIUM_FIX,2213.68,-15803.69,201202,131321
$TT8_MAMPS,0.023777
$HUMID,2117
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.90
$XPDR_PINGS,5
$24V_AH,24.2,7.704
$10V_AH,10.7,7.859
$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,17.875,96.375,262.400,188.600,0.000,143.086,197.454,1626.108,1.250,0.000,0.000,16.119,1126.630,8999.729,510.504,2691.072,2536.559,33.358,1342.839,0.000,2694.077,0.000,0.545,0.000
$DEVICE_MAMPS,204.789,55.991,1266.317,538.434,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,362.380,1749.330,1802.482,217.056,1202.484,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44731,531
$CAP_FILE_SIZE,128694,0
$CFSIZE,260165632,255127552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250913,172736,2221.859,-15754.312,37,1.3,37,10.0