version: 66.04
glider: 512
mission: 1
dive: 693
start: 2 12 111 6 23 25
data:
$ID,512
$MISSION,1
$DIVE,693
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,740
$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,208
$T_MISSION,400
$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,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51933
$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,350
$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,-20993.123
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2875
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2625
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3160
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,1
$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,0.0043268236
$SEABIRD_T_H,0.00062176253
$SEABIRD_T_I,2.2895147e-05
$SEABIRD_T_J,2.4135268e-06
$SEABIRD_C_G,-9.7990599
$SEABIRD_C_H,1.0853468
$SEABIRD_C_I,-0.0020291714
$SEABIRD_C_J,0.00023101864
$GPS1,060154,2245.928,-15759.940,43,1.2,61,10.1
$_CALLS,4
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.6
$GPS2,062232,2246.041,-15759.972,16,1.8,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.243,-0.081
$KALMAN_X,-185326.1,-469.4,1.6,204818.5,2633.7
$KALMAN_Y,-529883.9,-50.9,200.7,651549.7,1143.9
$MHEAD_RNG_PITCHd_Wd,241.5,5468,-16.9,-9.615
$D_GRID,600
$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,17,-0.85,-146.0,0.0,0.0,0,72,0.00,0.00,-52.83,0.000,2,0.000,0.000,27,2719,3155
$GC,77,-0.85,-146.0,3.8,-4.9,7,109,10.75,1.92,-10.93,0.000,4,0.223,0.077,2579,3866,3760
$GC,297,-0.85,-146.0,61.5,-19.7,31,301,0.00,1.75,0.00,0.000,6,0.000,0.025,2578,2690,3761
$GC,565,-0.85,-146.0,131.1,-26.8,56,569,0.00,2.05,0.00,0.000,4,0.000,0.025,2578,1279,3762
$GC,616,-0.85,-146.0,141.3,-16.6,60,624,0.08,2.35,0.00,0.000,6,0.136,0.071,2593,2675,3763
$GC,881,-0.85,-146.0,186.5,-17.9,85,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2676,3763
$GC,1166,-0.85,-146.0,234.9,-16.7,98,1169,0.00,2.05,0.00,0.000,4,0.000,0.028,2598,1286,3764
$GC,1189,-0.85,-146.0,238.8,-16.5,98,1193,0.00,2.33,0.00,0.000,6,0.000,0.067,2589,2704,3764
$GC,1451,-0.85,-146.0,277.0,-14.1,105,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2704,3764
$GC,1697,-0.85,-146.0,310.5,-13.7,111,1701,0.00,1.95,0.00,0.000,4,0.000,0.072,2580,3887,3763
$GC,1731,-0.85,-146.0,315.2,-12.1,111,1735,0.00,1.77,0.00,0.000,6,0.000,0.026,2580,2688,3763
$GC,1988,-0.85,-146.0,347.0,-12.5,118,1992,0.00,2.03,0.00,0.000,4,0.000,0.028,2581,1303,3762
$GC,2023,-0.85,-146.0,351.1,-11.5,118,2027,0.00,2.30,0.00,0.000,6,0.000,0.068,2576,2698,3762
$GC,2274,-0.85,-146.0,381.9,-12.7,124,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2698,3761
$GC,2517,-0.85,-146.0,412.0,-12.2,130,2521,0.00,2.00,0.00,0.000,4,0.000,0.081,2567,3890,3759
$GC,2574,-0.85,-146.0,418.6,-10.6,131,2579,0.12,1.75,0.00,0.000,6,0.136,0.025,2601,2686,3759
$GC,2854,-0.85,-146.0,444.7,-9.3,138,2858,0.00,2.05,0.00,0.000,4,0.000,0.030,2611,1297,3758
$GC,2906,-0.85,-146.0,449.5,-7.8,139,2910,0.00,2.25,0.00,0.000,6,0.000,0.055,2603,2708,3757
$GC,3187,-0.85,-146.0,472.8,-8.2,146,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2707,3754
$GC,3429,-0.85,-146.0,491.9,-7.8,152,3432,0.00,2.10,0.00,0.000,4,0.000,0.031,2611,1305,3752
$GC,3463,-0.85,-146.0,494.8,-8.0,152,3467,0.00,2.25,0.00,0.000,6,0.000,0.056,2602,2705,3752
$GC,3715,-0.85,-146.0,515.1,-8.2,158,3718,0.00,2.10,0.00,0.000,4,0.000,0.031,2610,1298,3750
$GC,3738,-0.85,-146.0,517.3,-8.8,158,3742,0.00,2.28,0.00,0.000,6,0.000,0.061,2601,2695,3750
$GC,4007,-0.85,-146.0,540.0,-8.6,165,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2695,3748
$GC,4251,-0.85,-146.0,560.5,-8.3,171,4255,0.00,2.08,0.00,0.000,4,0.000,0.031,2610,1305,3747
$GC,4292,-0.85,-146.0,563.8,-7.3,171,4298,0.00,2.28,0.00,0.000,6,0.000,0.061,2601,2702,3746
$GC,4543,-0.85,-146.0,582.9,-7.6,178,4547,0.00,1.98,0.00,0.000,4,0.000,0.075,2592,3889,3744
$GC,4568,-0.85,-146.0,585.0,-8.5,178,4572,0.00,1.75,0.00,0.000,6,0.000,0.029,2597,2707,3743
$STATE,4793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4793,begin apogee
$GC,4803,-0.32,0.0,602.9,7.9,184,4928,0.55,0.00,122.50,1.057,6,0.117,0.000,2773,2621,3160
$STATE,4929,end apogee,CONTROL_FINISHED_OK
$STATE,4929,begin climb
$GC,4933,0.85,146.0,609.7,0.0,187,5070,1.10,2.25,128.35,1.025,4,0.091,0.035,3154,1233,2564
$GC,5330,0.85,146.0,585.6,15.1,196,5334,0.00,2.22,0.00,0.000,6,0.000,0.051,3145,2626,2555
$GC,5616,0.85,146.0,540.3,15.6,203,5620,0.00,2.12,0.00,0.000,4,0.000,0.035,3154,1230,2552
$GC,5875,0.85,146.0,503.8,13.4,208,5879,0.00,2.25,0.00,0.000,6,0.000,0.053,3146,2635,2550
$GC,6131,0.85,146.0,471.2,12.5,215,6135,0.00,2.15,0.00,0.000,4,0.000,0.035,3154,1219,2548
$GC,6390,0.86,149.2,445.9,9.5,220,6394,0.00,2.25,0.00,0.000,6,0.000,0.051,3145,2631,2547
$GC,6643,0.86,151.7,422.1,9.5,226,6647,0.00,2.12,0.00,0.000,4,0.000,0.035,3154,1230,2546
$GC,6901,0.86,151.7,395.5,10.4,231,6905,0.00,2.25,0.00,0.000,6,0.000,0.054,3146,2632,2545
$GC,7153,0.86,151.7,369.9,10.0,237,7156,0.00,2.12,0.00,0.000,4,0.000,0.034,3154,1227,2544
$GC,7412,0.92,200.2,349.3,7.5,242,7464,0.00,2.25,45.65,0.898,6,0.000,0.053,3146,2634,2343
$GC,7709,0.92,200.2,300.4,18.6,250,7712,0.00,2.15,0.00,0.000,4,0.000,0.032,3154,1216,2336
$GC,7822,0.92,200.2,282.2,15.7,252,7826,0.00,2.28,0.00,0.000,6,0.000,0.049,3146,2633,2335
$GC,8084,0.92,200.2,240.3,16.0,259,8088,0.00,2.03,0.00,0.000,4,0.000,0.058,3137,3897,2332
$GC,8343,0.92,200.2,194.2,17.8,264,8346,0.00,1.88,0.00,0.000,6,0.000,0.028,3145,2621,2332
$GC,8613,0.92,200.2,157.3,14.6,289,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2615,2331
$GC,8877,0.92,200.2,124.5,11.7,314,8880,0.00,2.05,0.00,0.000,4,0.000,0.027,3156,1200,2331
$GC,9138,0.94,215.6,98.9,8.9,337,9156,0.00,2.22,12.77,0.650,6,0.000,0.042,3150,2634,2281
$GC,9419,1.01,272.2,71.4,7.1,362,9476,0.15,2.20,49.65,0.655,4,0.101,0.028,3211,1220,2048
$GC,9684,1.01,272.2,19.9,24.7,388,9692,0.00,2.25,0.00,0.000,6,0.000,0.043,3205,2622,2044
$STATE,9745,end climb,SURFACE_DEPTH_REACHED
$STATE,9745,begin surface coast
$FINISH,0.5,1.023920
$STATE,9757,end surface coast,CONTROL_FINISHED_OK
$STATE,9758,begin surface
$SM_CCo,9781,41.17,0.594,0,0,1732,350.04
$SM_GC,2.15,0.00,0.00,41.17,0.000,0.000,0.594,39,2725,1732,-8.86,0.71,350.04
$IRIDIUM_FIX,2237.01,-15758.03,080500,060622
$TT8_MAMPS,0.02301
$HUMID,1846
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.5,91.767
$10V_AH,10.7,51.282
$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,21.200,84.600,358.925,41.175,0.000,108.056,155.891,628.358,0.000,0.000,0.000,16.387,895.252,6791.978,426.382,1718.165,1233.047,33.369,1166.847,0.000,1695.807,0.000,0.544,0.000
$DEVICE_MAMPS,223.197,81.302,1056.926,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,271.242,591.453,607.464,123.154,514.416,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32024,401
$CAP_FILE_SIZE,95370,0
$CFSIZE,260165632,234467328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,120211,090828,2245.960,-15800.871,36,2.0,37,10.1