version: 66.04
glider: 512
mission: 4
dive: 89
start: 10 2 113 2 29 3
data:
$ID,512
$MISSION,4
$DIVE,89
$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,300
$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,20
$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,390
$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,-108276.01
$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,37
$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,56
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2690
$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
$GPS1,020007,2312.126,-15802.168,32,1.4,33,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.3
$GPS2,022749,2312.279,-15802.206,11,1.4,11,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.282,-0.037
$KALMAN_X,22780.9,140.5,-137.6,-26471.7,-1708.0
$KALMAN_Y,-21556.6,375.9,113.4,73278.6,-232.6
$MHEAD_RNG_PITCHd_Wd,87.4,16234,-15.6,-10.000
$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,13,begin dive
$GC,18,-0.48,-146.0,0.0,0.0,0,123,0.00,0.00,-102.93,0.000,2,0.000,0.000,11,2598,2955
$GC,129,-0.48,-146.0,2.1,-2.0,12,149,9.38,0.00,-7.72,0.000,6,0.203,0.000,2533,2598,3287
$GC,425,-0.48,-146.0,76.2,-21.0,45,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2598,3288
$GC,690,-0.48,-146.0,121.4,-15.2,70,694,0.00,1.55,0.00,0.000,4,0.000,0.041,2528,3622,3288
$GC,763,-0.48,-146.0,132.5,-15.1,76,767,0.00,1.52,0.00,0.000,6,0.000,0.019,2532,2544,3288
$GC,1035,-0.48,-146.0,172.3,-13.9,101,1039,0.00,1.40,0.00,0.000,4,0.000,0.020,2532,1517,3288
$GC,1164,-0.48,-146.0,188.3,-10.8,112,1168,0.00,1.52,0.00,0.000,6,0.000,0.038,2526,2528,3288
$GC,1457,-0.48,-146.0,227.9,-13.4,125,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2528,3287
$GC,1701,-0.48,-146.0,258.5,-12.3,131,1705,0.00,1.67,0.00,0.000,4,0.000,0.046,2520,3635,3286
$GC,1751,-0.48,-146.0,264.4,-11.9,132,1754,0.00,1.52,0.00,0.000,6,0.000,0.020,2520,2551,3285
$GC,2046,-0.48,-146.0,299.6,-12.1,139,2049,0.00,1.40,0.00,0.000,4,0.000,0.021,2521,1529,3284
$GC,2140,-0.48,-146.0,310.7,-10.8,141,2144,0.00,1.52,0.00,0.000,6,0.000,0.038,2516,2537,3282
$GC,2435,-0.48,-146.0,344.6,-11.5,148,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2537,3280
$GC,2679,-0.48,-146.0,370.8,-10.6,154,2683,0.00,1.42,0.00,0.000,4,0.000,0.022,2522,1526,3278
$GC,2774,-0.48,-146.0,380.1,-9.6,156,2778,0.00,1.55,0.00,0.000,6,0.000,0.040,2516,2543,3277
$GC,3069,-0.48,-146.0,408.7,-9.6,163,3073,0.00,1.62,-0.08,0.000,4,0.000,0.067,2507,3630,3297
$GC,3144,-0.48,-146.0,417.2,-11.0,164,3148,0.05,1.55,0.00,0.000,6,0.109,0.021,2539,2530,3296
$GC,3410,-0.48,-146.0,439.8,-8.4,171,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2523,3294
$GC,3654,-0.48,-146.0,460.1,-8.4,177,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2523,3293
$GC,3897,-0.48,-146.0,480.2,-8.4,183,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2522,3290
$GC,4141,-0.48,-146.0,499.9,-8.0,189,4144,0.00,1.38,0.00,0.000,4,0.000,0.025,2546,1539,3288
$GC,4282,-0.48,-146.0,510.7,-7.8,192,4285,0.00,1.52,0.00,0.000,6,0.000,0.043,2541,2533,3287
$GC,4577,-0.48,-146.0,534.3,-8.2,199,4581,0.00,1.65,0.00,0.000,4,0.000,0.051,2533,3628,3284
$GC,4607,-0.48,-146.0,537.3,-8.3,199,4611,0.00,1.52,0.00,0.000,6,0.000,0.025,2533,2569,3284
$GC,4873,-0.48,-146.0,559.1,-8.3,206,4877,0.00,1.48,0.00,0.000,4,0.000,0.025,2533,1515,3282
$GC,4959,-0.48,-146.0,567.2,-9.3,207,4968,0.00,1.55,0.00,0.000,6,0.000,0.043,2526,2527,3282
$GC,5215,-0.48,-146.0,589.7,-9.0,214,5218,0.00,1.67,0.00,0.000,4,0.000,0.055,2523,3630,3280
$GC,5245,-0.48,-146.0,592.8,-9.1,214,5249,0.00,1.60,0.00,0.000,6,0.000,0.025,2523,2520,3279
$GC,5511,-0.48,-146.0,616.5,-8.9,221,5515,0.00,1.75,0.00,0.000,4,0.000,0.054,2522,3626,3278
$GC,5574,-0.48,-146.0,622.4,-9.6,222,5578,0.00,1.55,0.00,0.000,6,0.000,0.025,2522,2552,3277
$GC,5853,-0.48,-146.0,646.8,-8.9,229,5856,0.00,1.45,0.00,0.000,4,0.000,0.025,2522,1519,3276
$GC,5883,-0.48,-146.0,649.8,-9.4,229,5887,0.00,1.60,0.00,0.000,6,0.000,0.045,2515,2556,3276
$GC,6148,-0.48,-146.0,673.2,-8.9,236,6152,0.00,1.62,0.00,0.000,4,0.000,0.053,2510,3628,3273
$GC,6184,-0.48,-146.0,676.8,-8.8,236,6188,0.05,1.55,0.00,0.000,6,0.104,0.025,2539,2547,3273
$GC,6444,-0.48,-146.0,695.4,-7.1,243,6448,0.00,1.42,0.00,0.000,4,0.000,0.026,2546,1532,3272
$GC,6520,-0.48,-146.0,701.0,-6.9,244,6524,0.00,1.55,0.00,0.000,6,0.000,0.045,2541,2536,3272
$GC,6786,-0.48,-146.0,719.7,-7.3,251,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2536,3270
$GC,7030,-0.48,-146.0,736.1,-6.7,257,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2537,3268
$GC,7274,-0.48,-146.0,752.5,-6.6,263,7277,0.00,1.45,0.00,0.000,4,0.000,0.026,2541,1529,3269
$GC,7309,-0.48,-146.0,755.1,-7.4,263,7313,0.00,1.55,0.00,0.000,6,0.000,0.047,2537,2525,3268
$GC,7570,-0.48,-146.0,772.0,-6.5,270,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2525,3266
$GC,7814,-0.48,-146.0,789.2,-7.1,276,7817,0.00,1.42,0.00,0.000,4,0.000,0.026,2537,1539,3265
$GC,7850,-0.48,-146.0,792.2,-7.7,276,7853,0.00,1.52,0.00,0.000,6,0.000,0.048,2537,2519,3265
$GC,8111,-0.48,-146.0,809.9,-6.9,283,8115,0.00,1.73,0.00,0.000,4,0.000,0.058,2530,3642,3264
$GC,8136,-0.48,-146.0,812.1,-7.6,283,8140,0.00,1.62,0.00,0.000,6,0.000,0.028,2530,2533,3263
$GC,8408,-0.48,-146.0,831.3,-7.1,290,8411,0.00,1.42,0.00,0.000,4,0.000,0.027,2530,1520,3263
$GC,8460,-0.48,-146.0,835.0,-6.9,291,8463,0.00,1.55,0.00,0.000,6,0.000,0.048,2523,2515,3263
$GC,8755,-0.48,-146.0,856.9,-7.3,298,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2516,3262
$GC,8998,-0.48,-146.0,874.4,-7.1,304,9002,0.00,1.45,0.00,0.000,4,0.000,0.027,2523,1507,3262
$GC,9062,-0.48,-146.0,879.3,-7.1,305,9066,0.00,1.58,0.00,0.000,6,0.000,0.048,2524,2518,3262
$GC,9339,-0.48,-146.0,898.2,-6.9,312,9343,0.00,1.73,0.00,0.000,4,0.000,0.060,2523,3637,3261
$STATE,9359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9359,begin apogee
$GC,9372,-0.19,0.0,900.4,7.5,312,9501,0.32,0.00,126.10,1.263,6,0.108,0.000,2638,2218,2690
$STATE,9502,end apogee,CONTROL_FINISHED_OK
$STATE,9502,begin climb
$GC,9507,0.48,146.0,902.4,0.0,315,9656,0.60,1.80,137.60,1.198,4,0.064,0.048,2853,3296,2093
$GC,9686,0.48,146.0,878.0,20.2,319,9690,0.00,1.67,0.00,0.000,6,0.000,0.027,2860,2208,2089
$GC,9963,0.48,146.0,823.6,20.0,326,9967,0.00,1.55,0.00,0.000,4,0.000,0.031,2868,1171,2084
$GC,10059,0.48,146.0,806.0,18.3,328,10063,0.00,1.65,0.00,0.000,6,0.000,0.044,2866,2207,2082
$GC,10352,0.48,146.0,746.5,20.4,335,10356,0.00,1.70,0.00,0.000,4,0.000,0.050,2865,3288,2081
$GC,10402,0.48,146.0,735.8,21.3,336,10406,0.00,1.62,0.00,0.000,6,0.000,0.028,2871,2185,2080
$GC,10697,0.48,146.0,675.2,20.8,343,10701,0.00,1.48,0.00,0.000,4,0.000,0.030,2879,1171,2079
$GC,10749,0.48,146.0,664.0,20.1,344,10752,0.00,1.60,0.00,0.000,6,0.000,0.044,2878,2213,2079
$GC,11037,0.48,146.0,607.8,19.5,351,11041,0.00,1.62,0.00,0.000,4,0.000,0.049,2877,3281,2079
$GC,11101,0.48,146.0,593.8,21.1,352,11106,0.12,1.60,0.00,0.000,6,0.173,0.028,2853,2191,2077
$GC,11378,0.48,146.0,546.1,17.2,359,11382,0.00,1.50,0.00,0.000,4,0.000,0.031,2859,1164,2078
$GC,11441,0.48,146.0,535.7,15.3,360,11444,0.00,1.58,0.00,0.000,6,0.000,0.044,2859,2171,2077
$GC,11719,0.48,146.0,490.1,16.7,367,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2171,2077
$GC,11964,0.48,146.0,451.1,15.9,373,11967,0.00,1.70,0.00,0.000,4,0.000,0.048,2859,3291,2077
$GC,12049,0.48,146.0,437.2,16.4,374,12057,0.00,1.70,0.00,0.000,6,0.000,0.027,2867,2144,2076
$GC,12304,0.48,146.0,397.8,15.9,381,12307,0.00,1.77,0.00,0.000,4,0.000,0.048,2863,3290,2076
$GC,12357,0.48,146.0,389.0,15.7,382,12360,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2189,2076
$GC,12645,0.48,146.0,344.2,15.6,389,12648,0.00,1.50,0.00,0.000,4,0.000,0.031,2873,1159,2076
$GC,12730,0.48,146.0,331.6,13.2,390,12739,0.00,1.58,0.00,0.000,6,0.000,0.042,2873,2176,2075
$GC,12986,0.48,146.0,292.6,15.5,397,12989,0.00,1.67,0.00,0.000,4,0.000,0.048,2873,3287,2075
$GC,13043,0.48,146.0,282.8,17.0,398,13047,0.00,1.65,0.00,0.000,6,0.000,0.026,2881,2170,2076
$GC,13326,0.48,146.0,239.6,15.1,405,13329,0.00,1.45,0.00,0.000,4,0.000,0.028,2888,1158,2075
$GC,13390,0.48,146.0,230.6,12.6,406,13394,0.12,1.58,0.00,0.000,6,0.130,0.041,2853,2179,2075
$GC,13666,0.48,146.0,199.4,11.3,413,13670,0.00,1.70,0.00,0.000,4,0.000,0.050,2853,3282,2075
$GC,13818,0.48,146.0,180.0,11.1,426,13827,0.00,1.62,0.00,0.000,6,0.000,0.025,2856,2174,2075
$GC,14084,0.48,146.0,150.2,10.9,451,14087,0.00,1.45,0.00,0.000,4,0.000,0.028,2860,1165,2076
$GC,14191,0.49,162.0,139.4,9.4,460,14207,0.00,1.50,11.90,0.675,6,0.000,0.040,2860,2147,2029
$GC,14468,0.49,162.0,111.6,10.0,485,14472,0.00,1.70,0.00,0.000,4,0.000,0.044,2860,3286,2028
$GC,14552,0.49,162.0,102.3,11.3,492,14556,0.00,1.67,0.00,0.000,6,0.000,0.023,2860,2148,2028
$GC,14826,0.51,210.4,77.4,8.2,517,14871,0.00,1.80,40.47,0.636,4,0.000,0.041,2860,3285,1831
$GC,14932,0.53,271.8,67.9,7.7,525,14987,0.00,1.60,49.50,0.620,6,0.000,0.021,2860,2169,1580
$GC,15244,0.55,329.2,44.4,7.8,553,15300,0.00,1.50,45.05,0.591,4,0.000,0.025,2860,1167,1346
$GC,15319,0.59,414.7,39.1,6.8,558,15392,0.00,1.62,67.68,0.583,6,0.000,0.032,2860,2229,998
$GC,15679,0.59,414.7,8.5,11.8,604,15688,0.00,1.58,0.00,0.000,4,0.000,0.022,2860,1161,994
$STATE,15720,end climb,SURFACE_DEPTH_REACHED
$STATE,15720,begin surface coast
$FINISH,0.3,1.002307
$STATE,15752,end surface coast,CONTROL_FINISHED_OK
$STATE,15752,begin surface
$SM_CCo,15840,0.00,0.000,0,0,990,417.00
$SM_GC,1.24,7.22,0.00,0.00,0.028,0.000,0.000,41,2582,990,-8.24,0.34,417.00
$IRIDIUM_FIX,2302.75,-15801.03,271202,020214
$TT8_MAMPS,0.023777
$HUMID,2196
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,26.10
$XPDR_PINGS,7
$24V_AH,24.1,14.415
$10V_AH,10.7,14.756
$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,17.875,117.825,478.300,0.000,0.000,92.283,138.827,1109.292,1.750,0.000,0.000,11.770,1329.815,10521.579,482.249,3207.618,1972.478,33.361,1545.640,0.000,3220.653,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,66.729,1263.249,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,419.012,2026.114,2094.417,546.799,1373.361,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54119,615
$CAP_FILE_SIZE,139877,0
$CFSIZE,260165632,252907520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021013,065436,2312.837,-15759.976,50,1.2,50,10.1