version: 66.04
glider: 512
mission: 4
dive: 71
start: 9 28 113 22 4 19
data:
$ID,512
$MISSION,4
$DIVE,71
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-107958.16
$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,28
$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,55
$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
$GPS1,214336,2244.571,-15809.612,45,1.6,45,10.0
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-78.5
$GPS2,220325,2244.703,-15809.741,15,1.4,15,10.0
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.207,0.133
$KALMAN_X,29562.9,-337.1,-224.6,-45551.0,2850.6
$KALMAN_Y,-10464.7,852.8,356.9,10392.6,-5251.8
$MHEAD_RNG_PITCHd_Wd,292.8,54840,-15.1,-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,-0.60,-146.0,0.0,0.0,0,86,0.00,0.00,-65.85,0.000,2,0.000,0.000,10,2592,2797
$GC,92,-0.60,-146.0,2.1,-1.8,8,119,9.18,1.62,-14.32,0.000,4,0.202,0.055,2488,3647,3388
$GC,377,-0.60,-146.0,81.9,-23.8,39,381,0.00,1.58,0.00,0.000,6,0.000,0.019,2488,2557,3389
$GC,648,-0.60,-146.0,142.2,-20.6,64,652,0.00,1.62,0.00,0.000,4,0.000,0.040,2480,3638,3389
$GC,689,-0.60,-146.0,150.8,-22.2,67,692,0.00,1.55,0.00,0.000,6,0.000,0.019,2480,2555,3389
$GC,969,-0.60,-146.0,210.0,-19.9,90,972,0.00,1.42,0.00,0.000,4,0.000,0.020,2480,1510,3390
$GC,1034,-0.60,-146.0,222.3,-16.9,91,1038,0.05,1.55,0.00,0.000,6,0.137,0.035,2499,2543,3390
$GC,1311,-0.60,-146.0,264.8,-15.1,98,1315,0.00,1.62,0.00,0.000,4,0.000,0.044,2493,3626,3389
$GC,1361,-0.60,-146.0,272.1,-14.9,99,1364,0.00,1.55,0.00,0.000,6,0.000,0.020,2499,2532,3389
$GC,1655,-0.60,-146.0,313.6,-14.0,106,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2524,3388
$GC,1900,-0.60,-146.0,347.3,-13.7,112,1904,0.00,1.38,0.00,0.000,4,0.000,0.021,2506,1522,3386
$GC,1950,-0.60,-146.0,354.4,-12.6,113,1954,0.00,1.55,0.00,0.000,6,0.000,0.038,2501,2545,3386
$GC,2244,-0.60,-146.0,392.2,-12.9,120,2248,0.00,1.62,0.00,0.000,4,0.000,0.047,2492,3642,3383
$GC,2295,-0.60,-146.0,398.5,-11.9,121,2298,0.00,1.55,0.00,0.000,6,0.000,0.021,2498,2548,3383
$GC,2589,-0.60,-146.0,433.4,-11.9,128,2592,0.00,1.40,0.00,0.000,4,0.000,0.022,2506,1528,3380
$GC,2646,-0.60,-146.0,440.5,-11.1,129,2650,0.00,1.55,0.00,0.000,6,0.000,0.040,2500,2549,3379
$GC,2930,-0.60,-146.0,473.4,-11.8,136,2933,0.00,1.62,0.00,0.000,4,0.000,0.048,2492,3641,3378
$GC,2971,-0.60,-146.0,478.9,-12.3,136,2979,0.00,1.58,0.00,0.000,6,0.000,0.022,2492,2533,3377
$GC,3225,-0.60,-146.0,508.9,-11.7,143,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2533,3374
$GC,3469,-0.60,-146.0,537.7,-11.7,149,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2533,3372
$GC,3713,-0.60,-146.0,566.8,-12.0,155,3716,0.00,1.40,0.00,0.000,4,0.000,0.024,2492,1527,3370
$GC,3770,-0.60,-146.0,573.9,-11.2,156,3773,0.00,1.52,0.00,0.000,6,0.000,0.041,2486,2528,3370
$GC,4053,-0.60,-146.0,609.3,-12.8,163,4057,0.00,1.67,0.00,0.000,4,0.000,0.051,2480,3641,3367
$GC,4133,-0.60,-146.0,620.4,-13.2,164,4137,0.00,1.58,0.00,0.000,6,0.000,0.025,2480,2546,3367
$GC,4393,-0.60,-146.0,652.7,-12.3,171,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2539,3364
$GC,4637,-0.60,-146.0,682.1,-12.1,177,4640,0.00,1.67,0.00,0.000,4,0.000,0.051,2472,3638,3362
$GC,4695,-0.60,-146.0,690.0,-12.3,178,4699,0.12,1.60,0.00,0.000,6,0.193,0.025,2505,2505,3361
$GC,4978,-0.60,-146.0,719.6,-10.6,185,4982,0.00,1.38,0.00,0.000,4,0.000,0.026,2508,1521,3359
$GC,5007,-0.60,-146.0,723.2,-11.1,185,5011,0.00,1.55,0.00,0.000,6,0.000,0.045,2502,2528,3359
$GC,5273,-0.60,-146.0,750.9,-10.6,192,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2528,3357
$GC,5517,-0.60,-146.0,774.6,-9.8,198,5520,0.00,1.67,0.00,0.000,4,0.000,0.054,2494,3635,3356
$GC,5620,-0.60,-146.0,785.2,-10.7,200,5624,0.00,1.58,0.00,0.000,6,0.000,0.026,2500,2551,3355
$GC,5903,-0.60,-146.0,810.9,-9.2,207,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2542,3353
$GC,6146,-0.60,-146.0,832.6,-8.8,213,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2542,3352
$GC,6390,-0.60,-146.0,853.1,-8.3,219,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2541,3351
$GC,6634,-0.60,-146.0,872.7,-7.9,225,6637,0.00,1.67,0.00,0.000,4,0.000,0.053,2494,3634,3350
$GC,6698,-0.60,-146.0,878.4,-8.6,226,6701,0.00,1.58,0.00,0.000,6,0.000,0.027,2500,2551,3350
$GC,6975,-0.60,-146.0,899.5,-7.8,233,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2543,3349
$STATE,7010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7010,begin apogee
$GC,7022,-0.25,0.0,902.7,7.8,234,7146,0.35,0.00,121.60,1.258,6,0.115,0.000,2619,2198,2790
$STATE,7147,end apogee,CONTROL_FINISHED_OK
$STATE,7147,begin climb
$GC,7152,0.60,146.0,905.5,0.0,237,7297,0.80,0.00,136.98,1.196,6,0.071,0.000,2892,2198,2194
$GC,7540,0.60,146.0,832.2,22.8,247,7544,0.00,1.73,0.00,0.000,4,0.000,0.048,2891,3290,2184
$GC,7577,0.60,146.0,823.0,23.2,247,7581,0.00,1.58,0.00,0.000,6,0.000,0.027,2898,2256,2183
$GC,7837,0.60,146.0,763.3,23.2,254,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2248,2182
$GC,8081,0.60,146.0,708.4,22.5,260,8085,0.00,1.60,0.00,0.000,4,0.000,0.030,2906,1162,2181
$GC,8111,0.60,146.0,701.2,22.7,260,8114,0.00,1.67,0.00,0.000,6,0.000,0.042,2905,2253,2180
$GC,8377,0.60,146.0,642.2,22.6,267,8380,0.00,1.60,0.00,0.000,4,0.000,0.048,2904,3283,2180
$GC,8417,0.60,146.0,631.6,24.0,267,8427,0.00,1.52,0.00,0.000,6,0.000,0.027,2911,2255,2179
$GC,8674,0.60,146.0,574.9,22.5,274,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2249,2178
$GC,8918,0.60,146.0,519.9,22.4,280,8921,0.00,1.58,0.00,0.000,4,0.000,0.029,2920,1174,2178
$GC,8961,0.60,146.0,509.9,20.0,280,8968,0.00,1.65,0.00,0.000,6,0.000,0.041,2918,2240,2178
$GC,9215,0.60,146.0,455.7,21.2,287,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2240,2178
$GC,9459,0.60,146.0,403.6,21.2,293,9463,0.00,1.60,0.00,0.000,4,0.000,0.029,2924,1164,2177
$GC,9488,0.60,146.0,396.0,23.4,293,9492,0.12,1.62,0.00,0.000,6,0.154,0.043,2893,2233,2177
$GC,9754,0.60,146.0,348.9,17.5,300,9758,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3308,2177
$GC,9795,0.60,146.0,340.8,18.6,300,9805,0.00,1.60,0.00,0.000,6,0.000,0.028,2898,2230,2175
$GC,10052,0.60,146.0,298.1,16.9,307,10056,0.00,1.55,0.00,0.000,4,0.000,0.029,2902,1161,2175
$GC,10070,0.60,146.0,294.3,16.6,307,10074,0.00,1.62,0.00,0.000,6,0.000,0.041,2902,2237,2175
$GC,10347,0.60,146.0,247.6,17.5,314,10351,0.00,1.60,0.00,0.000,4,0.000,0.046,2902,3283,2175
$GC,10398,0.60,146.0,238.4,18.7,315,10401,0.00,1.52,0.00,0.000,6,0.000,0.025,2910,2241,2175
$GC,10663,0.60,146.0,196.5,16.0,322,10666,0.00,1.62,0.00,0.000,4,0.000,0.044,2911,3305,2176
$GC,10724,0.60,146.0,186.6,15.1,327,10728,0.00,1.52,0.00,0.000,6,0.000,0.026,2915,2274,2175
$GC,10996,0.60,146.0,149.3,13.8,352,11000,0.00,1.58,0.00,0.000,4,0.000,0.027,2923,1170,2176
$GC,11037,0.60,146.0,143.6,13.0,355,11040,0.00,1.67,0.00,0.000,6,0.000,0.038,2918,2291,2176
$GC,11309,0.60,146.0,102.9,16.0,380,11312,0.00,1.62,0.00,0.000,4,0.000,0.025,2924,1144,2176
$GC,11326,0.60,146.0,100.3,15.6,381,11331,0.08,1.75,0.00,0.000,6,0.139,0.040,2898,2292,2176
$GC,11603,0.60,146.0,69.8,10.4,406,11606,0.00,1.50,0.00,0.000,4,0.000,0.044,2892,3281,2176
$GC,11679,0.60,146.0,60.8,10.5,412,11682,0.00,1.38,0.00,0.000,6,0.000,0.023,2897,2317,2176
$GC,11952,0.61,188.8,44.3,6.9,437,11991,0.00,0.00,33.22,0.607,6,0.000,0.000,2897,2311,2021
$GC,12268,0.61,188.8,14.8,8.9,477,12277,0.00,1.65,0.00,0.000,4,0.000,0.026,2899,1167,2017
$GC,12320,0.62,205.4,10.8,7.9,484,12339,0.00,1.77,14.85,0.549,6,0.000,0.036,2900,2331,1951
$STATE,12395,end climb,SURFACE_DEPTH_REACHED
$STATE,12395,begin surface coast
$FINISH,0.2,1.011413
$STATE,12428,end surface coast,CONTROL_FINISHED_OK
$STATE,12428,begin surface
$SM_CCo,12453,72.72,0.551,0,0,1239,380.21
$SM_GC,1.30,0.00,0.00,72.72,0.000,0.000,0.551,31,2597,1239,-8.32,0.79,380.21
$IRIDIUM_FIX,2237.01,-15807.58,231202,222211
$TT8_MAMPS,0.023777
$HUMID,2197
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,7
$24V_AH,24.1,11.229
$10V_AH,10.6,11.370
$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,17.925,86.200,306.650,72.725,0.000,85.712,112.121,674.054,1.750,0.000,0.000,15.462,1052.745,8367.214,445.339,2444.779,1405.581,33.365,1177.819,0.000,2468.917,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,55.224,1257.880,550.706,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,340.947,1647.219,1702.124,219.541,1174.207,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44619,500
$CAP_FILE_SIZE,105375,0
$CFSIZE,260165632,254033920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290913,013436,2245.655,-15810.948,42,1.3,42,10.0