version: 66.04
glider: 512
mission: 4
dive: 93
start: 10 2 113 21 54 51
data:
$ID,512
$MISSION,4
$DIVE,93
$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,576.69092
$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,-108343.98
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,49
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2750
$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
$GPS1,211406,2311.365,-15753.898,65,1.3,65,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-77.9
$GPS2,215337,2311.588,-15754.037,13,1.4,13,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.199,-0.204
$KALMAN_X,17714.8,127.4,291.3,-7869.3,-2000.3
$KALMAN_Y,-15277.9,177.0,316.9,65716.1,1059.9
$MHEAD_RNG_PITCHd_Wd,125.6,3431,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.46,-146.0,0.0,0.0,0,94,0.00,0.00,-74.07,0.000,2,0.000,0.000,11,2506,2888
$GC,100,-0.46,-146.0,2.4,-2.5,9,127,9.52,1.52,-10.65,0.000,4,0.207,0.040,2563,1418,3346
$GC,146,-0.46,-146.0,13.4,-27.6,14,155,0.00,1.65,0.00,0.000,6,0.000,0.035,2557,2501,3346
$GC,431,-0.46,-146.0,70.9,-15.4,45,434,0.00,1.60,0.00,0.000,4,0.000,0.044,2549,3578,3347
$GC,511,-0.46,-146.0,84.8,-15.1,51,519,0.00,1.55,0.00,0.000,6,0.000,0.019,2550,2487,3347
$GC,777,-0.46,-146.0,121.9,-14.1,76,780,0.00,1.42,0.00,0.000,4,0.000,0.021,2549,1448,3347
$GC,895,-0.46,-146.0,137.5,-12.7,86,899,0.00,1.60,0.00,0.000,6,0.000,0.037,2543,2508,3347
$GC,1166,-0.46,-146.0,174.4,-13.4,111,1170,0.00,1.58,0.00,0.000,4,0.000,0.044,2536,3556,3347
$GC,1305,-0.46,-146.0,192.4,-12.5,123,1309,0.08,1.45,0.00,0.000,6,0.131,0.019,2562,2517,3346
$GC,1588,-0.46,-146.0,220.5,-9.5,135,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2510,3346
$GC,1831,-0.46,-146.0,243.4,-9.3,141,1835,0.00,1.45,0.00,0.000,4,0.000,0.020,2562,1455,3345
$GC,1884,-0.46,-146.0,248.8,-9.2,142,1888,0.00,1.60,0.00,0.000,6,0.000,0.038,2557,2536,3345
$GC,2173,-0.46,-146.0,276.3,-9.8,149,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2536,3343
$GC,2416,-0.46,-146.0,301.8,-10.6,155,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2536,3341
$GC,2660,-0.46,-146.0,326.2,-10.0,161,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2536,3339
$GC,2904,-0.46,-146.0,346.4,-8.0,167,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2536,3337
$GC,3148,-0.46,-146.0,365.4,-7.9,173,3150,0.00,0.00,-0.08,0.000,6,0.000,0.000,2557,2536,3357
$GC,3391,-0.46,-146.0,384.8,-7.9,179,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2536,3356
$GC,3635,-0.46,-146.0,404.3,-7.9,185,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2536,3353
$GC,3879,-0.46,-146.0,422.3,-7.3,191,3882,0.00,1.52,0.00,0.000,4,0.000,0.023,2557,1461,3351
$GC,3909,-0.46,-146.0,424.7,-7.2,191,3912,0.00,1.60,0.00,0.000,6,0.000,0.041,2550,2532,3351
$GC,4175,-0.46,-146.0,444.7,-7.8,198,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2532,3350
$GC,4419,-0.46,-146.0,463.9,-7.8,204,4422,0.00,1.58,0.00,0.000,4,0.000,0.051,2543,3561,3347
$GC,4470,-0.46,-146.0,467.8,-7.4,205,4473,0.00,1.45,0.00,0.000,6,0.000,0.024,2543,2547,3347
$GC,4764,-0.46,-146.0,490.7,-7.8,212,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2539,3345
$GC,5007,-0.46,-146.0,511.1,-8.5,218,5011,0.00,1.52,0.00,0.000,4,0.000,0.025,2542,1458,3343
$GC,5059,-0.46,-146.0,515.6,-9.0,219,5063,0.00,1.62,0.00,0.000,6,0.000,0.044,2537,2534,3342
$GC,5354,-0.46,-146.0,540.9,-8.4,226,5358,0.00,1.55,0.00,0.000,4,0.000,0.025,2537,1450,3340
$GC,5379,-0.46,-146.0,543.4,-8.5,226,5383,0.00,1.65,0.00,0.000,6,0.000,0.045,2537,2520,3340
$GC,5650,-0.46,-146.0,564.2,-7.8,233,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2520,3338
$GC,5894,-0.46,-146.0,582.8,-7.6,239,5896,0.10,0.00,0.00,0.000,6,0.139,0.000,2564,2521,3337
$GC,6137,-0.46,-146.0,598.1,-6.1,245,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2521,3335
$GC,6381,-0.46,-146.0,613.0,-6.1,251,6385,0.00,1.52,0.00,0.000,4,0.000,0.027,2569,1456,3335
$GC,6439,-0.46,-146.0,617.0,-6.6,252,6442,0.00,1.62,0.00,0.000,6,0.000,0.048,2564,2526,3334
$GC,6723,-0.46,-146.0,634.1,-6.2,259,6726,0.00,1.60,0.00,0.000,4,0.000,0.056,2563,3575,3332
$GC,6765,-0.46,-146.0,637.1,-6.7,259,6772,0.00,1.30,0.00,0.000,6,0.000,0.028,2563,2664,3332
$GC,7019,-0.46,-146.0,652.7,-6.1,266,7023,0.00,1.42,0.00,0.000,4,0.000,0.056,2563,3565,3330
$GC,7033,-0.46,-146.0,653.8,-6.1,266,7036,0.00,1.55,0.00,0.000,6,0.000,0.027,2563,2491,3330
$GC,7316,-0.46,-146.0,670.0,-5.6,273,7320,0.00,1.67,0.00,0.000,4,0.000,0.056,2563,3564,3328
$GC,7367,-0.46,-146.0,672.5,-4.7,274,7371,0.00,1.70,0.00,0.000,6,0.000,0.026,2563,2373,3327
$GC,7661,-0.46,-146.0,687.3,-4.9,281,7665,0.00,1.90,0.00,0.000,4,0.000,0.058,2563,3563,3326
$GC,7852,-0.46,-146.0,695.9,-3.7,285,7856,0.00,1.75,0.00,0.000,6,0.000,0.025,2563,2346,3325
$GC,8148,-0.46,-146.0,710.2,-4.8,292,8151,0.00,1.23,0.00,0.000,4,0.000,0.027,2563,1453,3324
$GC,8211,-0.46,-146.0,713.7,-5.4,293,8215,0.00,1.33,0.00,0.000,6,0.000,0.046,2563,2317,3324
$GC,8489,-0.46,-146.0,727.2,-5.0,300,8492,0.00,1.23,0.00,0.000,4,0.000,0.028,2563,1454,3323
$GC,8553,-0.46,-146.0,730.8,-5.1,301,8556,0.00,1.50,0.00,0.000,6,0.000,0.047,2563,2428,3323
$GC,8830,-0.46,-146.0,744.6,-5.1,308,8834,0.00,1.40,0.00,0.000,4,0.000,0.027,2563,1453,3322
$GC,8894,-0.46,-146.0,748.1,-5.9,309,8897,0.00,1.67,0.00,0.000,6,0.000,0.051,2563,2546,3322
$GC,9172,-0.46,-146.0,762.9,-5.5,316,9176,0.00,1.58,0.00,0.000,4,0.000,0.027,2562,1465,3320
$GC,9285,-0.46,-146.0,769.4,-5.7,318,9289,0.00,1.80,0.00,0.000,6,0.000,0.051,2563,2634,3320
$GC,9558,-0.46,-146.0,784.4,-5.7,325,9562,0.00,1.45,0.00,0.000,4,0.000,0.059,2563,3565,3319
$GC,9572,-0.46,-146.0,785.2,-5.6,325,9575,0.00,1.27,0.00,0.000,6,0.000,0.028,2563,2680,3319
$GC,9855,-0.46,-146.0,799.0,-4.8,332,9858,0.00,1.73,0.00,0.000,4,0.000,0.028,2563,1463,3318
$GC,9995,-0.46,-146.0,805.9,-4.4,335,9999,0.00,1.70,0.00,0.000,6,0.000,0.051,2562,2547,3318
$GC,10289,-0.46,-146.0,819.5,-4.8,342,10293,0.00,1.58,0.00,0.000,4,0.000,0.028,2563,1468,3317
$GC,10437,-0.46,-146.0,826.4,-4.5,345,10441,0.00,1.75,0.00,0.000,6,0.000,0.050,2563,2612,3317
$GC,10721,-0.46,-146.0,838.9,-4.7,352,10725,0.00,1.48,0.00,0.000,4,0.000,0.059,2563,3557,3316
$GC,10981,-0.46,-146.0,853.2,-6.5,357,10984,0.00,1.33,0.00,0.000,6,0.000,0.029,2564,2642,3315
$GC,11242,-0.46,-146.0,867.9,-5.7,364,11246,0.00,1.48,0.00,0.000,4,0.000,0.061,2565,3562,3315
$GC,11337,-0.46,-146.0,873.8,-6.1,366,11341,0.00,1.38,0.00,0.000,6,0.000,0.028,2569,2614,3314
$GC,11632,-0.46,-146.0,891.9,-6.3,373,11635,0.00,1.62,0.00,0.000,4,0.000,0.030,2570,1468,3314
$STATE,11751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11751,begin apogee
$GC,11763,-0.18,0.0,900.1,6.7,375,11897,0.20,0.00,123.82,1.276,6,0.054,0.000,2677,2228,2749
$STATE,11898,end apogee,CONTROL_FINISHED_OK
$STATE,11898,begin climb
$GC,11903,0.46,146.0,905.3,0.0,379,12057,0.47,1.80,136.25,1.202,4,0.031,0.049,2878,3286,2154
$GC,12114,0.46,146.0,873.1,22.2,383,12117,0.00,1.60,0.00,0.000,6,0.000,0.027,2884,2243,2149
$GC,12374,0.46,146.0,814.8,22.6,390,12378,0.00,1.62,0.00,0.000,4,0.000,0.030,2892,1138,2145
$GC,12425,0.46,146.0,803.5,21.3,391,12429,0.00,1.67,0.00,0.000,6,0.000,0.044,2891,2203,2143
$GC,12719,0.46,146.0,737.5,22.6,398,12722,0.00,1.70,0.00,0.000,4,0.000,0.051,2891,3280,2142
$GC,12769,0.46,146.0,725.9,22.5,399,12773,0.12,1.60,0.00,0.000,6,0.187,0.028,2869,2229,2142
$GC,13063,0.46,146.0,668.6,19.3,406,13067,0.00,1.58,0.00,0.000,4,0.000,0.031,2876,1161,2141
$GC,13126,0.46,146.0,656.6,16.7,407,13130,0.00,1.67,0.00,0.000,6,0.000,0.044,2875,2223,2140
$GC,13403,0.46,146.0,606.2,18.5,414,13406,0.00,1.62,0.00,0.000,4,0.000,0.051,2875,3280,2140
$GC,13461,0.46,146.0,594.4,19.2,415,13465,0.00,1.58,0.00,0.000,6,0.000,0.028,2882,2229,2139
$GC,13744,0.46,146.0,540.4,18.9,422,13747,0.00,1.58,0.00,0.000,4,0.000,0.031,2889,1156,2139
$GC,13829,0.46,146.0,524.9,15.6,423,13839,0.05,1.67,0.00,0.000,6,0.163,0.044,2873,2230,2138
$GC,14085,0.46,146.0,480.2,18.0,430,14088,0.00,1.60,0.00,0.000,4,0.000,0.030,2879,1161,2138
$GC,14120,0.46,146.0,473.5,17.2,430,14124,0.00,1.65,0.00,0.000,6,0.000,0.044,2878,2218,2138
$GC,14380,0.46,146.0,430.7,16.8,437,14384,0.00,1.65,0.00,0.000,4,0.000,0.050,2878,3281,2138
$GC,14449,0.46,146.0,417.7,18.3,438,14453,0.00,1.52,0.00,0.000,6,0.000,0.028,2884,2257,2138
$GC,14721,0.46,146.0,369.8,17.9,445,14725,0.00,1.60,0.00,0.000,4,0.000,0.030,2892,1157,2137
$GC,14771,0.46,146.0,361.1,16.3,446,14775,0.00,1.67,0.00,0.000,6,0.000,0.042,2891,2252,2137
$GC,15065,0.46,146.0,309.5,17.7,453,15069,0.00,1.58,0.00,0.000,4,0.000,0.048,2891,3276,2137
$GC,15089,0.46,146.0,304.4,18.5,453,15094,0.10,1.50,0.00,0.000,6,0.166,0.026,2867,2256,2137
$GC,15362,0.46,146.0,264.4,14.4,460,15365,0.00,1.58,0.00,0.000,4,0.000,0.029,2873,1172,2137
$GC,15411,0.46,146.0,257.4,13.0,461,15415,0.00,1.65,0.00,0.000,6,0.000,0.040,2873,2262,2137
$GC,15706,0.46,146.0,217.5,13.3,468,15709,0.00,1.58,0.00,0.000,4,0.000,0.047,2873,3286,2137
$GC,15770,0.46,146.0,208.1,12.4,469,15773,0.00,1.52,0.00,0.000,6,0.000,0.025,2880,2243,2137
$GC,16035,0.46,146.0,174.1,12.1,489,16038,0.00,1.62,0.00,0.000,4,0.000,0.044,2876,3300,2137
$GC,16107,0.46,146.0,164.7,12.9,495,16111,0.00,1.52,0.00,0.000,6,0.000,0.025,2882,2254,2137
$GC,16379,0.46,146.0,132.3,12.3,520,16387,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2248,2138
$GC,16645,0.46,146.0,97.9,11.9,545,16649,0.00,1.55,0.00,0.000,4,0.000,0.027,2886,1173,2137
$GC,16788,0.48,192.1,83.7,8.3,557,16830,0.00,1.67,36.58,0.655,6,0.000,0.037,2886,2276,1965
$GC,17099,0.48,192.1,48.5,11.2,585,17102,0.00,1.52,0.00,0.000,4,0.000,0.043,2886,3275,1961
$GC,17187,0.48,192.1,40.2,10.3,592,17190,0.00,1.35,0.00,0.000,6,0.000,0.021,2893,2339,1960
$GC,17483,0.48,192.1,10.3,10.7,631,17492,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2333,1960
$STATE,17548,end climb,SURFACE_DEPTH_REACHED
$STATE,17548,begin surface coast
$FINISH,0.3,1.011629
$STATE,17581,end surface coast,CONTROL_FINISHED_OK
$STATE,17581,begin surface
$SM_CCo,17606,170.23,0.549,0,0,398,576.69
$SM_GC,1.04,0.00,0.00,170.23,0.000,0.000,0.549,27,2548,398,-8.35,1.33,576.69
$IRIDIUM_FIX,2300.41,-15753.64,271202,212131
$TT8_MAMPS,0.023777
$HUMID,2134
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,24.0,15.219
$10V_AH,10.6,15.599
$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,17.900,121.950,296.650,170.225,0.000,143.006,180.924,1579.964,0.500,0.000,0.000,14.093,1458.619,12084.993,535.730,3501.211,2583.961,33.371,1627.072,0.000,3503.729,0.000,0.544,0.000
$DEVICE_MAMPS,207.090,60.593,1275.521,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,442.450,2128.173,2195.641,321.655,1384.351,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57230,646
$CAP_FILE_SIZE,165155,0
$CFSIZE,260165632,252588032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,031013,025236,2310.791,-15752.842,40,1.1,40,10.1