version: 66.04
glider: 512
mission: 4
dive: 74
start: 9 29 113 9 21 40
data:
$ID,512
$MISSION,4
$DIVE,74
$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,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,-108014.2
$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,63
$R_STBD_OVSHOOT,46
$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
$GPS1,084605,2248.225,-15810.854,51,1.6,51,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-79.6
$GPS2,092042,2248.295,-15810.997,11,1.4,16,10.0
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.160,0.187
$KALMAN_X,31633.1,-388.1,-48.1,-49892.0,2625.2
$KALMAN_Y,-13407.3,105.5,302.9,20785.3,-4894.5
$MHEAD_RNG_PITCHd_Wd,309.4,50546,-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,-0.56,-146.0,0.0,0.0,0,86,0.00,0.00,-65.80,0.000,2,0.000,0.000,10,2590,2786
$GC,91,-0.56,-146.0,2.1,-1.6,8,127,9.30,1.58,-15.77,0.000,4,0.206,0.057,2502,3624,3388
$GC,333,-0.56,-146.0,67.3,-26.3,35,342,0.00,1.52,0.00,0.000,6,0.000,0.020,2507,2570,3388
$GC,598,-0.56,-146.0,126.6,-20.1,60,602,0.00,1.60,0.00,0.000,4,0.000,0.039,2500,3642,3389
$GC,695,-0.56,-146.0,145.3,-18.6,68,699,0.00,1.52,0.00,0.000,6,0.000,0.019,2506,2567,3389
$GC,966,-0.56,-146.0,194.0,-17.2,93,970,0.00,1.42,0.00,0.000,4,0.000,0.021,2514,1522,3389
$GC,1061,-0.56,-146.0,208.2,-13.3,98,1064,0.00,1.52,0.00,0.000,6,0.000,0.035,2509,2534,3389
$GC,1355,-0.56,-146.0,246.7,-12.7,105,1358,0.00,1.62,0.00,0.000,4,0.000,0.044,2500,3638,3389
$GC,1497,-0.56,-146.0,267.7,-14.1,108,1500,0.00,1.52,0.00,0.000,6,0.000,0.019,2506,2557,3388
$GC,1786,-0.56,-146.0,307.2,-13.9,115,1790,0.00,1.42,0.00,0.000,4,0.000,0.021,2514,1512,3386
$GC,1928,-0.56,-146.0,325.3,-10.9,118,1931,0.00,1.58,0.00,0.000,6,0.000,0.038,2509,2557,3385
$GC,2216,-0.56,-146.0,360.3,-12.4,125,2220,0.00,1.62,0.00,0.000,4,0.000,0.046,2500,3635,3383
$GC,2251,-0.56,-146.0,365.2,-13.1,125,2255,0.00,1.55,0.00,0.000,6,0.000,0.020,2506,2536,3382
$GC,2511,-0.56,-146.0,396.8,-12.3,132,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2529,3379
$GC,2755,-0.56,-146.0,426.9,-12.4,138,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2528,3378
$GC,2999,-0.56,-146.0,455.7,-11.6,144,3003,0.00,1.40,-0.08,0.000,4,0.000,0.044,2508,1522,3399
$GC,3074,-0.56,-146.0,464.6,-11.2,145,3077,0.00,1.58,0.00,0.000,6,0.000,0.041,2502,2558,3399
$GC,3339,-0.56,-146.0,494.6,-11.5,152,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2558,3397
$GC,3583,-0.56,-146.0,520.4,-10.4,158,3586,0.00,1.45,0.00,0.000,4,0.000,0.023,2508,1529,3395
$GC,3612,-0.56,-146.0,523.9,-10.2,158,3616,0.00,1.55,0.00,0.000,6,0.000,0.042,2502,2546,3395
$GC,3878,-0.56,-146.0,550.4,-10.3,165,3882,0.00,1.62,0.00,0.000,4,0.000,0.050,2494,3634,3392
$GC,3930,-0.56,-146.0,556.1,-11.6,166,3933,0.00,1.55,0.00,0.000,6,0.000,0.023,2499,2553,3392
$GC,4223,-0.56,-146.0,590.7,-11.9,173,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2544,3389
$GC,4467,-0.56,-146.0,619.6,-11.8,179,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2544,3387
$GC,4710,-0.56,-146.0,646.7,-11.0,185,4714,0.00,1.42,0.00,0.000,4,0.000,0.025,2507,1525,3385
$GC,4740,-0.56,-146.0,650.2,-10.9,185,4744,0.00,1.58,0.00,0.000,6,0.000,0.044,2502,2554,3385
$GC,5006,-0.56,-146.0,677.8,-10.5,192,5010,0.00,1.62,0.00,0.000,4,0.000,0.051,2493,3636,3383
$GC,5042,-0.56,-146.0,682.2,-11.7,192,5046,0.00,1.58,0.00,0.000,6,0.000,0.025,2493,2548,3383
$GC,5303,-0.56,-146.0,710.1,-10.8,199,5306,0.00,1.45,0.00,0.000,4,0.000,0.026,2493,1510,3380
$GC,5360,-0.56,-146.0,716.6,-10.6,200,5365,0.08,1.58,0.00,0.000,6,0.131,0.044,2513,2539,3380
$GC,5643,-0.56,-146.0,741.4,-8.7,207,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2539,3379
$GC,5887,-0.56,-146.0,761.2,-8.1,213,5890,0.00,1.65,0.00,0.000,4,0.000,0.054,2506,3629,3377
$GC,5938,-0.56,-146.0,765.5,-8.6,214,5942,0.00,1.58,0.00,0.000,6,0.000,0.027,2507,2540,3376
$GC,6232,-0.56,-146.0,791.2,-8.7,221,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2533,3375
$GC,6476,-0.56,-146.0,812.6,-8.8,227,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2533,3373
$GC,6719,-0.56,-146.0,833.2,-8.4,233,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2534,3372
$GC,6963,-0.56,-146.0,852.5,-7.8,239,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2533,3371
$GC,7207,-0.56,-146.0,871.5,-7.9,245,7211,0.00,1.73,0.00,0.000,4,0.000,0.054,2500,3632,3370
$GC,7242,-0.56,-146.0,874.7,-8.6,245,7246,0.00,1.55,0.00,0.000,6,0.000,0.027,2506,2564,3370
$GC,7503,-0.56,-146.0,895.0,-7.9,252,7506,0.00,1.48,0.00,0.000,4,0.000,0.027,2508,1515,3370
$GC,7544,-0.56,-146.0,898.8,-7.9,252,7553,0.00,1.62,0.00,0.000,6,0.000,0.048,2502,2566,3369
$STATE,7590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7590,begin apogee
$GC,7602,-0.23,0.0,902.6,8.0,254,7730,0.35,0.00,125.47,1.269,6,0.110,0.000,2620,2211,2790
$STATE,7731,end apogee,CONTROL_FINISHED_OK
$STATE,7731,begin climb
$GC,7736,0.56,146.0,905.5,0.0,257,7884,0.73,1.65,135.45,1.208,4,0.066,0.028,2885,1174,2193
$GC,7930,0.56,146.0,877.5,20.2,261,7933,0.00,1.67,0.00,0.000,6,0.000,0.039,2879,2228,2188
$GC,8208,0.56,146.0,818.0,22.0,268,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2228,2183
$GC,8452,0.56,146.0,764.6,21.9,274,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2228,2181
$GC,8696,0.56,146.0,713.2,21.1,280,8700,0.00,1.62,0.00,0.000,4,0.000,0.048,2878,3296,2180
$GC,8726,0.56,146.0,705.6,23.2,280,8730,0.00,1.60,0.00,0.000,6,0.000,0.027,2884,2226,2180
$GC,8992,0.56,146.0,652.1,20.0,287,8995,0.00,1.55,0.00,0.000,4,0.000,0.029,2892,1158,2179
$GC,9010,0.56,146.0,647.8,19.7,287,9014,0.00,1.65,0.00,0.000,6,0.000,0.041,2891,2242,2179
$GC,9287,0.56,146.0,593.3,19.6,294,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2243,2178
$GC,9531,0.56,146.0,545.2,19.7,300,9534,0.00,1.60,0.00,0.000,4,0.000,0.050,2891,3278,2177
$GC,9555,0.56,146.0,539.6,20.3,300,9559,0.00,1.55,0.00,0.000,6,0.000,0.028,2897,2232,2177
$GC,9827,0.56,146.0,485.3,20.1,307,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2225,2178
$GC,10072,0.56,146.0,436.8,20.0,313,10075,0.00,1.55,0.00,0.000,4,0.000,0.030,2905,1155,2177
$GC,10122,0.56,146.0,427.1,17.8,314,10125,0.00,1.65,0.00,0.000,6,0.000,0.041,2905,2243,2176
$GC,10416,0.56,146.0,372.6,18.6,321,10417,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2244,2176
$GC,10659,0.56,146.0,328.4,18.1,327,10663,0.00,1.60,0.00,0.000,4,0.000,0.049,2905,3283,2176
$GC,10710,0.56,146.0,318.9,20.0,328,10714,0.08,1.55,0.00,0.000,6,0.170,0.027,2878,2235,2176
$GC,11003,0.56,146.0,275.4,14.4,335,11007,0.00,1.55,0.00,0.000,4,0.000,0.029,2884,1147,2176
$GC,11060,0.56,146.0,268.3,11.6,336,11064,0.00,1.62,0.00,0.000,6,0.000,0.041,2884,2224,2175
$GC,11344,0.56,146.0,229.1,14.9,343,11347,0.00,1.62,0.00,0.000,4,0.000,0.048,2877,3309,2175
$GC,11541,0.56,146.0,197.2,15.1,348,11544,0.00,1.55,0.00,0.000,6,0.000,0.025,2884,2245,2175
$GC,11813,0.56,146.0,164.4,10.7,373,11816,0.00,1.55,0.00,0.000,4,0.000,0.028,2891,1160,2175
$GC,11990,0.56,146.0,145.9,11.0,388,11994,0.00,1.60,0.00,0.000,6,0.000,0.038,2891,2233,2175
$GC,12263,0.56,146.0,111.4,12.6,413,12267,0.00,1.58,0.00,0.000,4,0.000,0.044,2891,3279,2175
$GC,12337,0.56,146.0,101.5,13.0,419,12341,0.00,1.50,0.00,0.000,6,0.000,0.024,2897,2239,2176
$GC,12613,0.57,173.8,75.0,7.5,444,12640,0.00,1.55,21.35,0.638,4,0.000,0.026,2900,1160,2081
$GC,12655,0.59,205.4,71.3,7.3,447,12692,0.00,1.70,26.90,0.629,6,0.000,0.037,2900,2267,1951
$GC,12949,0.59,205.4,41.7,11.4,474,12952,0.00,1.55,0.00,0.000,4,0.000,0.041,2900,3289,1947
$GC,13037,0.59,205.4,33.1,9.7,481,13040,0.00,1.50,0.00,0.000,6,0.000,0.021,2908,2260,1946
$STATE,13300,end climb,SURFACE_DEPTH_REACHED
$STATE,13301,begin surface coast
$FINISH,0.3,1.021297
$STATE,13327,end surface coast,CONTROL_FINISHED_OK
$STATE,13327,begin surface
$SM_CCo,13352,172.20,0.548,0,0,398,586.50
$SM_GC,1.19,0.00,0.00,172.20,0.000,0.000,0.548,26,2594,398,-8.31,0.68,586.50
$IRIDIUM_FIX,2239.35,-15807.58,241202,090925
$TT8_MAMPS,0.023777
$HUMID,2157
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.30
$XPDR_PINGS,8
$24V_AH,24.1,11.780
$10V_AH,10.7,11.878
$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,17.800,85.625,309.175,172.200,0.000,137.904,212.489,1261.241,2.000,0.000,0.000,16.753,1114.016,9112.968,515.927,2681.572,2182.783,33.366,1337.125,0.000,2685.850,0.000,0.545,0.000
$DEVICE_MAMPS,205.556,56.758,1269.385,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,358.153,1726.280,1779.764,210.711,1165.724,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44678,524
$CAP_FILE_SIZE,124970,0
$CFSIZE,260165632,253833216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290913,130835,2249.544,-15812.208,41,1.3,41,10.1