version: 66.04
glider: 512
mission: 4
dive: 91
start: 10 2 113 12 18 43
data:
$ID,512
$MISSION,4
$DIVE,91
$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,569.33203
$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,-108310.33
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$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,2500
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2720
$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
$GPS1,114523,2312.479,-15757.786,41,1.0,41,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-79.3
$GPS2,121730,2312.399,-15757.826,15,1.1,20,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,-0.148
$KALMAN_X,20041.1,125.0,59.4,-16435.8,-1833.3
$KALMAN_Y,-18638.6,-27.1,-229.8,71336.2,1294.3
$MHEAD_RNG_PITCHd_Wd,111.2,9342,-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,17,begin dive
$GC,22,-0.48,-146.0,0.0,0.0,0,123,0.00,0.00,-98.72,0.000,2,0.000,0.000,11,2476,2850
$GC,129,-0.48,-146.0,2.2,-2.1,12,156,9.35,1.62,-11.75,0.000,4,0.202,0.058,2528,3558,3316
$GC,210,-0.48,-146.0,20.1,-22.2,23,220,0.00,1.52,0.00,0.000,6,0.000,0.019,2532,2492,3317
$GC,490,-0.48,-146.0,84.3,-18.1,51,494,0.00,1.42,0.00,0.000,4,0.000,0.018,2535,1447,3316
$GC,620,-0.48,-146.0,105.0,-14.5,62,624,0.00,1.52,0.00,0.000,6,0.000,0.037,2529,2456,3317
$GC,893,-0.48,-146.0,147.1,-14.9,87,897,0.00,1.67,0.00,0.000,4,0.000,0.044,2520,3559,3317
$GC,932,-0.48,-146.0,153.2,-15.6,90,936,0.00,1.55,0.00,0.000,6,0.000,0.018,2521,2461,3317
$GC,1205,-0.48,-146.0,190.5,-13.2,115,1209,0.00,1.70,0.00,0.000,4,0.000,0.041,2514,3566,3317
$GC,1265,-0.48,-146.0,198.7,-12.6,120,1269,0.00,1.52,0.00,0.000,6,0.000,0.018,2515,2481,3316
$GC,1527,-0.48,-146.0,233.7,-13.6,127,1530,0.00,1.62,0.00,0.000,4,0.000,0.043,2509,3559,3315
$GC,1595,-0.48,-146.0,243.3,-12.8,128,1600,0.10,1.48,0.00,0.000,6,0.140,0.018,2543,2487,3315
$GC,1867,-0.48,-146.0,271.8,-10.2,135,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2481,3314
$GC,2111,-0.48,-146.0,298.6,-11.2,141,2114,0.00,1.62,0.00,0.000,4,0.000,0.045,2537,3559,3312
$GC,2146,-0.48,-146.0,302.9,-11.4,141,2150,0.00,1.42,0.00,0.000,6,0.000,0.020,2537,2540,3311
$GC,2407,-0.48,-146.0,330.7,-10.5,148,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2533,3309
$GC,2653,-0.48,-146.0,354.8,-9.7,154,2656,0.00,1.48,0.00,0.000,4,0.000,0.020,2537,1467,3306
$GC,2689,-0.48,-146.0,358.9,-9.6,154,2693,0.00,1.60,0.00,0.000,6,0.000,0.038,2529,2522,3306
$GC,2949,-0.48,-146.0,384.9,-10.2,161,2953,0.00,1.58,-0.08,0.000,4,0.000,0.067,2523,3554,3327
$GC,2978,-0.48,-146.0,388.2,-10.7,161,2981,0.00,1.42,0.00,0.000,6,0.000,0.022,2523,2547,3327
$GC,3244,-0.48,-146.0,415.3,-10.3,168,3247,0.00,1.52,0.00,0.000,4,0.000,0.022,2523,1454,3324
$GC,3295,-0.48,-146.0,420.5,-10.3,169,3298,0.00,1.62,0.00,0.000,6,0.000,0.041,2523,2537,3324
$GC,3588,-0.48,-146.0,450.8,-10.3,176,3592,0.00,1.52,0.00,0.000,4,0.000,0.022,2523,1460,3321
$GC,3674,-0.48,-146.0,459.7,-9.2,177,3683,0.00,1.60,0.00,0.000,6,0.000,0.041,2516,2509,3321
$GC,3930,-0.48,-146.0,485.8,-10.5,184,3934,0.00,1.60,0.00,0.000,4,0.000,0.050,2508,3577,3318
$GC,4010,-0.48,-146.0,494.9,-10.4,185,4014,0.08,1.50,0.00,0.000,6,0.129,0.023,2547,2521,3317
$GC,4270,-0.48,-146.0,515.4,-7.8,192,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2520,3315
$GC,4514,-0.48,-146.0,534.5,-7.8,198,4517,0.00,1.48,0.00,0.000,4,0.000,0.024,2548,1468,3313
$GC,4565,-0.48,-146.0,538.4,-7.4,199,4569,0.00,1.62,0.00,0.000,6,0.000,0.043,2542,2547,3313
$GC,4859,-0.48,-146.0,562.1,-8.1,206,4863,0.00,1.55,0.00,0.000,4,0.000,0.052,2534,3557,3310
$GC,4900,-0.48,-146.0,565.6,-7.9,206,4908,0.00,1.48,0.00,0.000,6,0.000,0.025,2534,2520,3310
$GC,5155,-0.48,-146.0,585.9,-8.0,213,5159,0.00,1.60,0.00,0.000,4,0.000,0.051,2526,3567,3308
$GC,5180,-0.48,-146.0,588.2,-8.3,213,5184,0.00,1.48,0.00,0.000,6,0.000,0.025,2526,2539,3308
$GC,5453,-0.48,-146.0,609.7,-7.9,220,5456,0.00,1.52,0.00,0.000,4,0.000,0.025,2526,1451,3306
$GC,5555,-0.48,-146.0,618.1,-7.3,222,5558,0.00,1.62,0.00,0.000,6,0.000,0.045,2524,2521,3305
$GC,5839,-0.48,-146.0,641.5,-8.5,229,5842,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3572,3303
$GC,5876,-0.48,-146.0,644.9,-9.0,229,5880,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2532,3302
$GC,6137,-0.48,-146.0,668.3,-9.1,236,6140,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1451,3301
$GC,6200,-0.48,-146.0,674.7,-9.3,237,6203,0.00,1.65,0.00,0.000,6,0.000,0.047,2523,2535,3301
$GC,6478,-0.48,-146.0,699.5,-9.0,244,6482,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3582,3300
$GC,6548,-0.48,-146.0,706.0,-8.9,245,6551,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2530,3299
$GC,6820,-0.48,-146.0,728.0,-8.1,252,6823,0.00,1.50,0.00,0.000,4,0.000,0.027,2523,1463,3298
$GC,6871,-0.48,-146.0,732.0,-7.7,253,6874,0.00,1.62,0.00,0.000,6,0.000,0.047,2523,2527,3298
$GC,7165,-0.48,-146.0,754.1,-7.3,260,7169,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1451,3296
$GC,7200,-0.48,-146.0,756.9,-7.4,260,7204,0.00,1.60,0.00,0.000,6,0.000,0.048,2522,2499,3296
$GC,7461,-0.48,-146.0,774.7,-6.9,267,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2499,3294
$GC,7705,-0.48,-146.0,791.5,-6.8,273,7708,0.00,1.62,0.00,0.000,4,0.000,0.057,2515,3563,3293
$GC,7741,-0.48,-146.0,794.5,-8.0,273,7744,0.00,1.52,0.00,0.000,6,0.000,0.027,2515,2511,3292
$GC,8002,-0.48,-146.0,814.1,-7.7,280,8006,0.00,1.50,0.00,0.000,4,0.000,0.027,2515,1443,3293
$GC,8027,-0.48,-146.0,816.5,-8.2,280,8031,0.08,1.65,0.00,0.000,6,0.127,0.047,2538,2503,3292
$GC,8298,-0.48,-146.0,833.7,-6.4,287,8302,0.00,1.62,0.00,0.000,4,0.000,0.058,2532,3564,3291
$GC,8323,-0.48,-146.0,835.5,-6.4,287,8326,0.00,1.55,0.00,0.000,6,0.000,0.027,2532,2501,3291
$GC,8595,-0.48,-146.0,853.8,-6.8,294,8598,0.00,1.48,0.00,0.000,4,0.000,0.028,2532,1460,3290
$GC,8636,-0.48,-146.0,857.0,-6.5,294,8645,0.00,1.62,0.00,0.000,6,0.000,0.049,2525,2500,3290
$GC,8894,-0.48,-146.0,875.0,-7.2,301,8897,0.00,1.65,0.00,0.000,4,0.000,0.059,2524,3571,3289
$GC,8918,-0.48,-146.0,877.1,-7.1,301,8922,0.00,1.58,0.00,0.000,6,0.000,0.028,2524,2492,3288
$GC,9189,-0.48,-146.0,896.5,-7.0,308,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2484,3288
$STATE,9266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9267,begin apogee
$GC,9278,-0.19,0.0,902.3,7.1,310,9405,0.35,0.00,124.53,1.272,6,0.108,0.000,2640,2205,2720
$STATE,9406,end apogee,CONTROL_FINISHED_OK
$STATE,9406,begin climb
$GC,9411,0.48,146.0,904.7,0.0,313,9555,0.57,0.00,135.07,1.206,6,0.056,0.000,2856,2205,2124
$GC,9785,0.48,146.0,844.3,19.4,322,9788,0.00,1.73,0.00,0.000,4,0.000,0.048,2856,3294,2114
$GC,9822,0.48,146.0,836.5,19.6,322,9825,0.00,1.60,0.00,0.000,6,0.000,0.027,2863,2229,2114
$GC,10082,0.48,146.0,784.8,19.8,329,10086,0.00,1.60,0.00,0.000,4,0.000,0.029,2871,1149,2112
$GC,10156,0.48,146.0,770.4,17.5,330,10160,0.00,1.65,0.00,0.000,6,0.000,0.043,2871,2216,2111
$GC,10423,0.48,146.0,719.9,19.2,337,10424,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2215,2110
$GC,10668,0.48,146.0,674.8,18.6,343,10672,0.00,1.65,0.00,0.000,4,0.000,0.050,2872,3293,2110
$GC,10731,0.48,146.0,661.9,18.4,344,10735,0.00,1.58,0.00,0.000,6,0.000,0.028,2878,2238,2109
$GC,11008,0.48,146.0,609.8,18.8,351,11011,0.00,1.58,0.00,0.000,4,0.000,0.030,2886,1162,2108
$GC,11094,0.48,146.0,594.1,17.6,352,11103,0.08,1.67,0.00,0.000,6,0.139,0.044,2861,2233,2108
$GC,11349,0.48,146.0,552.2,16.7,359,11353,0.00,1.62,0.00,0.000,4,0.000,0.051,2861,3279,2108
$GC,11423,0.48,146.0,538.4,17.6,360,11427,0.00,1.50,0.00,0.000,6,0.000,0.028,2866,2265,2108
$GC,11690,0.48,146.0,491.2,18.0,367,11691,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2258,2107
$GC,11935,0.48,146.0,450.2,16.6,373,11939,0.00,1.60,0.00,0.000,4,0.000,0.048,2863,3277,2108
$GC,11985,0.48,146.0,441.5,16.1,374,11988,0.00,1.48,0.00,0.000,6,0.000,0.027,2868,2283,2107
$GC,12279,0.48,146.0,395.7,15.7,381,12282,0.00,1.62,0.00,0.000,4,0.000,0.030,2872,1148,2107
$GC,12382,0.48,146.0,380.0,14.4,383,12386,0.00,1.75,0.00,0.000,6,0.000,0.043,2873,2297,2107
$GC,12665,0.48,146.0,335.9,15.8,390,12669,0.00,1.52,0.00,0.000,4,0.000,0.049,2873,3285,2107
$GC,12683,0.48,146.0,332.2,15.7,390,12687,0.00,1.48,0.00,0.000,6,0.000,0.026,2880,2285,2107
$GC,12962,0.48,146.0,286.5,16.8,397,12965,0.00,1.62,0.00,0.000,4,0.000,0.029,2888,1141,2107
$GC,13014,0.48,146.0,277.8,15.2,398,13018,0.08,1.77,0.00,0.000,6,0.127,0.043,2861,2291,2107
$GC,13301,0.48,146.0,240.2,12.7,405,13305,0.00,1.52,0.00,0.000,4,0.000,0.048,2860,3280,2107
$GC,13388,0.48,146.0,228.2,13.3,406,13396,0.00,1.48,0.00,0.000,6,0.000,0.026,2866,2272,2107
$GC,13643,0.48,146.0,197.3,12.1,413,13647,0.00,1.60,0.00,0.000,4,0.000,0.028,2873,1172,2107
$GC,13693,0.48,146.0,190.8,11.3,417,13697,0.00,1.73,0.00,0.000,6,0.000,0.041,2873,2290,2107
$GC,13965,0.48,146.0,155.7,13.5,442,13969,0.00,1.52,0.00,0.000,4,0.000,0.048,2872,3284,2107
$GC,14073,0.48,146.0,139.9,15.4,451,14076,0.00,1.40,0.00,0.000,6,0.000,0.024,2880,2319,2107
$GC,14344,0.48,146.0,106.1,11.8,476,14348,0.00,1.62,0.00,0.000,4,0.000,0.027,2886,1161,2107
$GC,14421,0.48,146.0,97.5,10.0,482,14431,0.10,1.77,0.00,0.000,6,0.118,0.039,2851,2324,2107
$GC,14692,0.51,228.8,77.2,6.9,507,14762,0.00,1.77,64.88,0.640,4,0.000,0.025,2856,1155,1786
$GC,14782,0.55,311.8,70.6,6.9,513,14852,0.00,1.83,65.40,0.622,6,0.000,0.038,2856,2339,1448
$GC,15109,0.59,410.8,48.8,6.3,542,15193,0.00,1.75,77.30,0.592,4,0.000,0.023,2856,1162,1044
$GC,15304,0.59,430.1,37.0,9.3,557,15332,0.10,1.77,16.30,0.554,6,0.081,0.035,2897,2318,964
$STATE,15588,end climb,SURFACE_DEPTH_REACHED
$STATE,15588,begin surface coast
$FINISH,0.3,1.007570
$STATE,15621,end surface coast,CONTROL_FINISHED_OK
$STATE,15621,begin surface
$SM_CCo,15646,66.25,0.538,0,0,398,569.33
$SM_GC,1.15,0.00,0.00,66.25,0.000,0.000,0.538,30,2517,398,-8.33,0.48,569.33
$IRIDIUM_FIX,2305.10,-15755.81,271202,121257
$TT8_MAMPS,0.023777
$HUMID,2185
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.60
$XPDR_PINGS,3
$24V_AH,24.1,14.829
$10V_AH,10.6,15.174
$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,18.150,127.400,483.475,66.250,0.000,144.414,197.142,1111.038,0.750,0.000,0.000,20.296,1317.481,10518.022,559.162,3117.484,2142.125,33.369,1609.422,0.000,3138.617,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,66.729,1271.686,538.434,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,410.919,1989.848,2064.375,255.232,1358.700,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50965,604
$CAP_FILE_SIZE,145892,0
$CFSIZE,260165632,252755968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021013,164206,2311.786,-15756.030,42,1.7,42,10.1