version: 66.04
glider: 512
mission: 4
dive: 65
start: 9 27 113 20 2 52
data:
$ID,512
$MISSION,4
$DIVE,65
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-107747.37
$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,62
$R_STBD_OVSHOOT,32
$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
$GPS1,193030,2234.004,-15806.361,40,1.4,40,10.0
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-77.3
$GPS2,200200,2234.157,-15806.512,14,1.3,19,10.0
$SPEED_LIMITS,0.122,0.253
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.167,0.190
$KALMAN_X,25653.9,-603.9,-168.4,-35915.2,3298.1
$KALMAN_Y,-1699.1,482.8,250.0,-17429.4,-4590.1
$MHEAD_RNG_PITCHd_Wd,308.8,70255,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.55,-155.7,0.0,0.0,0,120,0.00,0.00,-98.82,0.000,2,0.000,0.000,11,2585,2872
$GC,125,-0.55,-155.7,2.2,-1.7,12,153,9.15,1.62,-13.20,0.000,4,0.202,0.056,2500,3639,3425
$GC,399,-0.55,-155.7,75.8,-21.4,42,402,0.00,1.55,0.00,0.000,6,0.000,0.018,2503,2553,3426
$GC,671,-0.55,-155.7,135.3,-21.0,67,675,0.00,1.65,0.00,0.000,4,0.000,0.039,2497,3631,3426
$GC,756,-0.55,-155.7,152.3,-18.1,74,760,0.00,1.45,0.00,0.000,6,0.000,0.018,2502,2602,3426
$GC,1028,-0.55,-155.7,199.8,-17.3,99,1031,0.00,1.48,0.00,0.000,4,0.000,0.020,2510,1520,3426
$GC,1108,-0.55,-155.7,213.1,-14.5,101,1112,0.00,1.62,0.00,0.000,6,0.000,0.037,2504,2617,3425
$GC,1369,-0.55,-155.7,253.4,-15.9,108,1372,0.00,1.55,0.00,0.000,4,0.000,0.019,2510,1513,3424
$GC,1433,-0.55,-155.7,263.3,-13.0,109,1436,0.00,1.60,0.00,0.000,6,0.000,0.037,2504,2595,3425
$GC,1710,-0.55,-155.7,302.4,-14.5,116,1714,0.00,1.50,0.00,0.000,4,0.000,0.020,2510,1524,3423
$GC,1806,-0.55,-155.7,314.2,-11.4,118,1809,0.00,1.55,0.00,0.000,6,0.000,0.038,2504,2548,3423
$GC,2099,-0.55,-155.7,354.8,-14.2,125,2103,0.00,1.62,0.00,0.000,4,0.000,0.045,2496,3628,3420
$GC,2135,-0.55,-155.7,360.5,-14.5,125,2138,0.00,1.52,0.00,0.000,6,0.000,0.020,2502,2543,3419
$GC,2395,-0.55,-155.7,394.1,-12.6,132,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2534,3417
$GC,2638,-0.55,-155.7,422.1,-11.1,138,2642,0.00,1.65,-0.08,0.000,4,0.000,0.064,2496,3631,3438
$GC,2697,-0.55,-155.7,429.2,-11.0,139,2700,0.00,1.52,0.00,0.000,6,0.000,0.021,2503,2552,3438
$GC,2979,-0.55,-155.7,461.2,-11.5,146,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2545,3436
$GC,3223,-0.55,-155.7,489.2,-11.5,152,3226,0.00,1.42,0.00,0.000,4,0.000,0.023,2509,1523,3434
$GC,3274,-0.55,-155.7,494.6,-10.0,153,3278,0.00,1.60,0.00,0.000,6,0.000,0.042,2504,2567,3432
$GC,3569,-0.55,-155.7,526.7,-10.8,160,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2567,3429
$GC,3814,-0.55,-155.7,552.7,-10.6,166,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2567,3427
$GC,4057,-0.55,-155.7,577.4,-10.1,172,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2567,3425
$GC,4301,-0.55,-155.7,602.6,-10.4,178,4305,0.00,1.48,0.00,0.000,4,0.000,0.026,2508,1527,3422
$GC,4342,-0.55,-155.7,607.3,-9.8,178,4350,0.00,1.58,0.00,0.000,6,0.000,0.045,2502,2557,3421
$GC,4596,-0.55,-155.7,633.0,-10.4,185,4600,0.00,1.62,0.00,0.000,4,0.000,0.051,2494,3624,3420
$GC,4646,-0.55,-155.7,638.1,-10.5,186,4650,0.00,1.52,0.00,0.000,6,0.000,0.026,2500,2567,3419
$GC,4941,-0.55,-155.7,667.1,-10.0,193,4945,0.00,1.62,0.00,0.000,4,0.000,0.051,2494,3629,3417
$GC,4982,-0.55,-155.7,671.8,-11.0,193,4990,0.00,1.52,0.00,0.000,6,0.000,0.025,2500,2559,3416
$GC,5237,-0.55,-155.7,695.3,-9.2,200,5240,0.00,1.45,0.00,0.000,4,0.000,0.027,2507,1528,3415
$GC,5311,-0.55,-155.7,702.2,-8.7,201,5314,0.00,1.58,0.00,0.000,6,0.000,0.046,2502,2554,3414
$GC,5577,-0.55,-155.7,727.1,-9.7,208,5581,0.00,1.62,0.00,0.000,4,0.000,0.052,2493,3635,3412
$GC,5627,-0.55,-155.7,732.2,-10.0,209,5631,0.00,1.55,0.00,0.000,6,0.000,0.025,2493,2563,3411
$GC,5921,-0.55,-155.7,761.7,-10.0,216,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2554,3411
$GC,6165,-0.55,-155.7,786.5,-10.3,222,6168,0.00,1.45,0.00,0.000,4,0.000,0.027,2493,1531,3409
$GC,6206,-0.55,-155.7,791.2,-10.1,222,6215,0.10,1.58,0.00,0.000,6,0.119,0.046,2522,2554,3408
$GC,6463,-0.55,-155.7,811.6,-8.0,229,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2554,3408
$GC,6706,-0.55,-155.7,830.3,-7.6,235,6710,0.00,1.48,0.00,0.000,4,0.000,0.028,2523,1526,3406
$GC,6749,-0.55,-155.7,833.7,-6.9,235,6757,0.00,1.62,0.00,0.000,6,0.000,0.048,2523,2572,3405
$GC,7004,-0.55,-155.7,849.2,-5.9,242,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2572,3404
$GC,7248,-0.55,-155.7,862.6,-5.4,248,7252,0.00,1.52,0.00,0.000,4,0.000,0.028,2523,1516,3403
$GC,7283,-0.55,-155.7,864.9,-5.8,248,7287,0.00,1.60,0.00,0.000,6,0.000,0.048,2522,2567,3403
$GC,7544,-0.55,-155.7,879.3,-5.7,255,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2568,3401
$GC,7787,-0.55,-155.7,893.0,-5.7,261,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2568,3401
$STATE,7904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7904,begin apogee
$GC,7915,-0.23,0.0,900.2,5.8,264,8050,0.30,0.00,132.55,1.259,6,0.102,0.000,2626,2217,2789
$STATE,8051,end apogee,CONTROL_FINISHED_OK
$STATE,8051,begin climb
$GC,8056,0.55,155.7,902.0,0.0,267,8211,0.68,1.62,143.35,1.197,4,0.060,0.029,2879,1174,2154
$GC,8263,0.55,155.7,870.7,20.7,271,8266,0.00,1.70,0.00,0.000,6,0.000,0.043,2878,2226,2149
$GC,8528,0.55,155.7,811.6,22.6,278,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2226,2145
$GC,8772,0.55,155.7,758.3,21.7,284,8776,0.00,1.60,0.00,0.000,4,0.000,0.031,2884,1179,2143
$GC,8807,0.55,155.7,750.0,20.8,284,8811,0.00,1.60,0.00,0.000,6,0.000,0.043,2878,2217,2143
$GC,9068,0.55,155.7,695.3,21.2,291,9071,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3279,2141
$GC,9109,0.55,155.7,685.5,22.5,291,9118,0.00,1.58,0.00,0.000,6,0.000,0.028,2881,2234,2141
$GC,9366,0.55,155.7,634.4,20.0,298,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2227,2140
$GC,9609,0.55,155.7,587.2,19.4,304,9612,0.00,1.58,0.00,0.000,4,0.000,0.031,2889,1151,2139
$GC,9644,0.55,155.7,579.7,19.2,304,9648,0.00,1.70,0.00,0.000,6,0.000,0.043,2889,2247,2139
$GC,9904,0.55,155.7,529.8,19.5,311,9908,0.00,1.60,0.00,0.000,4,0.000,0.050,2889,3282,2139
$GC,9954,0.55,155.7,519.7,21.4,312,9957,0.00,1.55,0.00,0.000,6,0.000,0.028,2897,2246,2138
$GC,10249,0.55,155.7,460.6,20.0,319,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2239,2138
$GC,10493,0.55,155.7,412.9,19.7,325,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2240,2138
$GC,10737,0.55,155.7,367.0,18.8,331,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2239,2138
$GC,10981,0.55,155.7,320.5,19.0,337,10985,0.00,1.58,0.00,0.000,4,0.000,0.031,2905,1151,2138
$GC,11033,0.55,155.7,309.9,17.4,338,11037,0.12,1.67,0.00,0.000,6,0.140,0.041,2869,2263,2137
$GC,11321,0.55,155.7,267.5,14.4,345,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2263,2137
$GC,11565,0.55,155.7,232.8,14.1,351,11568,0.00,1.62,0.00,0.000,4,0.000,0.029,2873,1142,2137
$GC,11660,0.55,155.7,220.6,11.6,353,11664,0.00,1.65,0.00,0.000,6,0.000,0.042,2873,2232,2137
$GC,11928,0.55,155.7,185.4,13.0,366,11932,0.00,1.58,0.00,0.000,4,0.000,0.027,2880,1164,2137
$GC,11945,0.55,155.7,183.1,13.3,367,11948,0.00,1.60,0.00,0.000,6,0.000,0.041,2878,2205,2137
$GC,12217,0.55,155.7,149.4,11.8,392,12220,0.00,1.62,0.00,0.000,4,0.000,0.047,2877,3276,2137
$GC,12361,0.55,155.7,131.1,11.2,404,12370,0.00,1.55,0.00,0.000,6,0.000,0.026,2883,2215,2136
$GC,12627,0.55,155.7,100.2,11.8,429,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2208,2137
$GC,12894,0.55,155.7,72.3,9.3,454,12898,0.00,1.60,0.00,0.000,4,0.000,0.043,2884,3286,2137
$GC,12936,0.55,155.7,67.9,10.2,457,12940,0.00,1.58,0.00,0.000,6,0.000,0.022,2891,2194,2137
$GC,13213,0.57,214.5,45.0,6.4,482,13269,0.00,1.50,45.85,0.607,4,0.000,0.024,2899,1151,1913
$GC,13323,0.58,233.3,36.0,7.9,490,13351,0.00,1.60,16.15,0.570,6,0.000,0.035,2899,2214,1836
$STATE,13631,end climb,SURFACE_DEPTH_REACHED
$STATE,13631,begin surface coast
$FINISH,0.2,0.998419
$STATE,13657,end surface coast,CONTROL_FINISHED_OK
$STATE,13657,begin surface
$SM_CCo,13682,158.10,0.544,0,0,398,586.50
$SM_GC,1.11,0.00,0.00,158.10,0.000,0.000,0.544,24,2590,398,-8.31,0.57,586.50
$IRIDIUM_FIX,2223.01,-15804.98,221202,202059
$TT8_MAMPS,0.023777
$HUMID,2145
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.50
$XPDR_PINGS,5
$24V_AH,24.1,9.945
$10V_AH,10.7,10.251
$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,17.650,86.050,337.900,158.100,0.000,157.311,203.159,956.010,1.250,0.000,0.000,20.015,1127.114,9369.407,549.356,2690.510,1954.457,33.362,1388.564,0.000,2695.094,0.000,0.545,0.000
$DEVICE_MAMPS,201.721,63.661,1259.414,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,368.095,1778.995,1836.465,230.633,1232.985,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47742,540
$CAP_FILE_SIZE,124758,0
$CFSIZE,260165632,254324736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270913,235500,2235.537,-15807.631,39,1.4,39,10.0