version: 66.04
glider: 512
mission: 4
dive: 61
start: 9 27 113 2 56 19
data:
$ID,512
$MISSION,4
$DIVE,61
$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,160
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-107688.79
$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,64
$R_STBD_OVSHOOT,27
$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
$GPS1,024305,2227.945,-15803.478,44,1.5,44,10.0
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-82.3
$GPS2,025525,2228.032,-15803.548,17,1.7,17,10.0
$SPEED_LIMITS,0.122,0.253
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.152,0.202
$KALMAN_X,20984.8,-561.0,-70.9,-26317.8,2932.9
$KALMAN_Y,4201.9,654.9,270.8,-34865.9,-5406.8
$MHEAD_RNG_PITCHd_Wd,313.0,79773,-14.5,-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,16,begin dive
$GC,21,-0.55,-155.7,0.0,0.0,0,98,0.00,0.00,-73.95,0.000,2,0.000,0.000,11,2571,2996
$GC,103,-0.55,-155.7,2.4,-2.3,9,130,9.32,1.62,-9.07,0.000,4,0.205,0.057,2510,3634,3426
$GC,376,-0.55,-155.7,84.6,-22.6,37,379,0.00,1.55,0.00,0.000,6,0.000,0.019,2513,2549,3428
$GC,647,-0.55,-155.7,137.3,-18.1,62,650,0.00,1.42,0.00,0.000,4,0.000,0.020,2521,1507,3428
$GC,744,-0.55,-155.7,152.9,-14.7,70,748,0.00,1.58,0.00,0.000,6,0.000,0.038,2515,2539,3429
$GC,1016,-0.55,-155.7,200.4,-16.9,95,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2540,3429
$GC,1259,-0.55,-155.7,235.5,-13.8,101,1263,0.00,1.65,0.00,0.000,4,0.000,0.046,2506,3629,3429
$GC,1362,-0.55,-155.7,250.1,-13.6,103,1366,0.00,1.55,0.00,0.000,6,0.000,0.020,2509,2534,3429
$GC,1644,-0.55,-155.7,285.8,-12.9,110,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2527,3428
$GC,1888,-0.55,-155.7,317.4,-12.7,116,1892,0.00,1.40,0.00,0.000,4,0.000,0.022,2517,1514,3427
$GC,1940,-0.55,-155.7,323.4,-9.9,117,1944,0.00,1.55,0.00,0.000,6,0.000,0.038,2511,2538,3427
$GC,2229,-0.55,-155.7,356.0,-11.7,124,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2538,3425
$GC,2474,-0.55,-155.7,384.8,-12.1,130,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2538,3423
$GC,2718,-0.55,-155.7,414.1,-11.8,136,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2539,3420
$GC,2961,-0.55,-155.7,440.6,-10.7,142,2965,0.00,1.45,0.00,0.000,4,0.000,0.025,2516,1519,3419
$GC,3002,-0.55,-155.7,445.3,-9.8,142,3011,0.00,1.58,0.00,0.000,6,0.000,0.042,2510,2550,3418
$GC,3257,-0.55,-155.7,471.7,-10.7,149,3258,0.00,0.00,-0.08,0.000,6,0.000,0.000,2511,2550,3441
$GC,3500,-0.55,-155.7,497.7,-10.7,155,3504,0.00,1.65,0.00,0.000,4,0.000,0.051,2502,3646,3439
$GC,3552,-0.55,-155.7,503.0,-10.4,156,3555,0.00,1.58,0.00,0.000,6,0.000,0.025,2508,2554,3439
$GC,3846,-0.55,-155.7,534.9,-10.9,163,3850,0.00,1.45,0.00,0.000,4,0.000,0.025,2508,1519,3437
$GC,3942,-0.55,-155.7,545.7,-10.5,165,3946,0.00,1.55,0.00,0.000,6,0.000,0.044,2502,2528,3437
$GC,4232,-0.55,-155.7,574.9,-10.0,172,4235,0.00,1.67,0.00,0.000,4,0.000,0.052,2494,3639,3434
$GC,4317,-0.55,-155.7,584.1,-10.3,173,4325,0.00,1.60,0.00,0.000,6,0.000,0.026,2500,2526,3432
$GC,4571,-0.55,-155.7,608.9,-10.0,180,4575,0.00,1.40,0.00,0.000,4,0.000,0.027,2508,1533,3430
$GC,4607,-0.55,-155.7,612.9,-9.6,180,4611,0.00,1.55,0.00,0.000,6,0.000,0.045,2502,2538,3430
$GC,4868,-0.55,-155.7,639.6,-10.6,187,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2538,3428
$GC,5113,-0.55,-155.7,666.3,-11.0,193,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2538,3427
$GC,5357,-0.55,-155.7,691.3,-10.1,199,5360,0.00,1.67,0.00,0.000,4,0.000,0.054,2494,3639,3425
$GC,5431,-0.55,-155.7,699.2,-9.6,200,5435,0.00,1.60,0.00,0.000,6,0.000,0.028,2500,2524,3424
$GC,5697,-0.55,-155.7,722.5,-8.8,207,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2515,3422
$GC,5941,-0.55,-155.7,744.2,-9.0,213,5945,0.00,1.73,0.00,0.000,4,0.000,0.054,2494,3634,3421
$GC,5982,-0.55,-155.7,748.7,-10.7,213,5991,0.00,1.60,0.00,0.000,6,0.000,0.028,2500,2528,3421
$GC,6239,-0.55,-155.7,771.7,-9.1,220,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2528,3420
$GC,6482,-0.55,-155.7,795.1,-9.6,226,6486,0.00,1.42,0.00,0.000,4,0.000,0.028,2507,1534,3419
$GC,6523,-0.55,-155.7,799.8,-9.6,226,6531,0.00,1.58,0.00,0.000,6,0.000,0.048,2502,2549,3418
$GC,6777,-0.55,-155.7,824.5,-9.9,233,6781,0.00,1.67,0.00,0.000,4,0.000,0.057,2494,3626,3416
$GC,6828,-0.55,-155.7,829.4,-9.9,234,6831,0.00,1.55,0.00,0.000,6,0.000,0.030,2499,2570,3416
$GC,7122,-0.55,-155.7,858.2,-9.8,241,7126,0.00,1.50,0.00,0.000,4,0.000,0.031,2506,1515,3415
$GC,7216,-0.55,-155.7,867.6,-9.5,243,7220,0.00,1.62,0.00,0.000,6,0.000,0.048,2500,2557,3415
$GC,7512,-0.55,-155.7,895.3,-9.4,250,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2557,3414
$STATE,7586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7586,begin apogee
$GC,7598,-0.23,0.0,902.3,9.0,252,7736,0.38,0.00,135.93,1.259,6,0.109,0.000,2627,2224,2790
$STATE,7737,end apogee,CONTROL_FINISHED_OK
$STATE,7737,begin climb
$GC,7742,0.55,155.7,905.8,0.0,255,7898,0.68,1.65,143.88,1.195,4,0.058,0.030,2880,1167,2154
$GC,7966,0.55,155.7,872.7,20.5,260,7969,0.00,1.70,0.00,0.000,6,0.000,0.043,2878,2227,2149
$GC,8254,0.55,155.7,810.9,21.8,267,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2227,2144
$GC,8498,0.55,155.7,758.6,21.5,273,8501,0.00,1.62,0.00,0.000,4,0.000,0.031,2884,1132,2143
$GC,8527,0.55,155.7,751.8,20.3,273,8531,0.00,1.70,0.00,0.000,6,0.000,0.044,2878,2209,2143
$GC,8794,0.55,155.7,699.1,20.1,280,8797,0.00,1.65,0.00,0.000,4,0.000,0.049,2876,3285,2142
$GC,8844,0.55,155.7,689.1,20.0,281,8847,0.00,1.60,0.00,0.000,6,0.000,0.029,2881,2226,2140
$GC,9138,0.55,155.7,629.6,20.2,288,9141,0.00,1.58,0.00,0.000,4,0.000,0.033,2889,1155,2140
$GC,9213,0.55,155.7,614.1,19.7,289,9217,0.00,1.62,0.00,0.000,6,0.000,0.044,2889,2213,2140
$GC,9478,0.55,155.7,561.2,20.3,296,9482,0.00,1.65,0.00,0.000,4,0.000,0.050,2889,3275,2139
$GC,9536,0.55,155.7,547.7,23.7,297,9540,0.00,1.58,0.00,0.000,6,0.000,0.030,2897,2228,2138
$GC,9820,0.55,155.7,490.6,20.2,304,9823,0.00,1.65,0.00,0.000,4,0.000,0.050,2892,3288,2138
$GC,9838,0.55,155.7,486.3,19.0,304,9842,0.00,1.58,0.00,0.000,6,0.000,0.029,2898,2234,2138
$GC,10115,0.55,155.7,435.6,18.6,311,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2228,2138
$GC,10358,0.55,155.7,391.3,17.8,317,10362,0.00,1.55,0.00,0.000,4,0.000,0.031,2906,1160,2138
$GC,10427,0.55,155.7,378.5,17.2,318,10432,0.12,1.70,0.00,0.000,6,0.147,0.044,2871,2275,2137
$GC,10700,0.55,155.7,335.0,15.7,325,10701,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2275,2137
$GC,10945,0.55,155.7,298.5,14.6,331,10948,0.00,1.65,0.00,0.000,4,0.000,0.031,2877,1141,2137
$GC,10969,0.55,155.7,294.2,14.4,331,10972,0.00,1.73,0.00,0.000,6,0.000,0.044,2878,2273,2137
$GC,11240,0.55,155.7,253.1,15.6,338,11244,0.00,1.55,0.00,0.000,4,0.000,0.049,2877,3279,2137
$GC,11280,0.55,155.7,246.4,16.0,338,11289,0.00,1.50,0.00,0.000,6,0.000,0.029,2884,2267,2137
$GC,11535,0.55,155.7,209.9,14.4,345,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2261,2137
$GC,11786,0.55,155.7,178.0,11.8,363,11794,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2261,2137
$GC,12052,0.55,155.7,143.3,13.2,388,12055,0.00,1.60,0.00,0.000,4,0.000,0.045,2884,3290,2137
$GC,12104,0.55,155.7,135.6,14.1,392,12113,0.00,1.48,0.00,0.000,6,0.000,0.025,2891,2278,2137
$GC,12371,0.55,155.7,102.6,11.7,417,12375,0.00,1.60,0.00,0.000,4,0.000,0.028,2899,1165,2137
$GC,12514,0.55,155.7,86.6,12.0,429,12517,0.00,1.75,0.00,0.000,6,0.000,0.041,2898,2305,2137
$GC,12786,0.55,155.7,56.2,10.9,454,12795,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2305,2138
$GC,13054,0.57,215.7,39.4,6.3,479,13110,0.00,1.70,46.92,0.600,4,0.000,0.025,2907,1150,1910
$GC,13153,0.57,225.4,31.9,8.2,486,13168,0.00,1.75,9.30,0.535,6,0.000,0.035,2906,2305,1870
$STATE,13415,end climb,SURFACE_DEPTH_REACHED
$STATE,13415,begin surface coast
$FINISH,0.3,1.019525
$STATE,13448,end surface coast,CONTROL_FINISHED_OK
$STATE,13448,begin surface
$SM_CCo,13473,61.70,0.548,0,0,1240,380.21
$SM_GC,1.03,0.00,0.00,61.70,0.000,0.000,0.548,33,2589,1240,-8.31,0.51,380.21
$IRIDIUM_FIX,2220.67,-15802.82,211202,222205
$TT8_MAMPS,0.023777
$HUMID,2205
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,6
$24V_AH,24.1,9.175
$10V_AH,10.7,9.500
$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,17.775,83.775,336.025,61.700,0.000,30.692,42.236,489.572,1.500,0.000,0.000,17.584,1119.329,8950.791,439.977,2691.058,1071.390,33.358,1271.832,0.000,2697.856,0.000,0.545,0.000
$DEVICE_MAMPS,204.789,56.758,1258.647,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,363.416,1755.927,1815.459,228.867,1223.193,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47725,533
$CAP_FILE_SIZE,104320,0
$CFSIZE,260165632,254627840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270913,064329,2229.065,-15804.380,41,1.4,46,10.0