version: 66.04
glider: 512
mission: 1
dive: 694
start: 2 12 111 9 18 5
data:
$ID,512
$MISSION,1
$DIVE,694
$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,-21028.994
$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,56
$R_STBD_OVSHOOT,49
$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
$GPS1,090828,2245.960,-15800.871,36,2.0,37,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.5
$GPS2,091713,2246.062,-15800.874,17,1.7,35,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.242,-0.084
$KALMAN_X,-184141.6,-187.0,-42.9,201843.4,2255.2
$KALMAN_Y,-528792.5,232.0,-133.0,650547.2,1413.6
$MHEAD_RNG_PITCHd_Wd,240.7,4024,-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,16,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.20,0.000,2,0.000,0.000,27,2733,2899
$GC,69,-0.85,-146.0,3.5,-4.7,6,102,10.82,1.88,-16.38,0.000,4,0.226,0.071,2580,3859,3759
$GC,261,-0.85,-146.0,50.1,-20.0,29,269,0.00,1.73,0.00,0.000,6,0.000,0.024,2580,2700,3761
$GC,525,-0.85,-146.0,115.5,-24.7,54,528,0.00,2.05,0.00,0.000,4,0.000,0.027,2580,1297,3762
$GC,615,-0.85,-146.0,132.7,-15.7,62,620,0.00,2.25,0.00,0.000,6,0.000,0.061,2577,2674,3762
$GC,879,-0.85,-146.0,182.7,-20.5,86,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2674,3763
$GC,1136,-0.85,-146.0,228.0,-17.2,99,1139,0.00,2.03,0.00,0.000,4,0.000,0.025,2576,1287,3764
$GC,1170,-0.85,-146.0,233.6,-15.4,99,1174,0.00,2.33,0.00,0.000,6,0.000,0.065,2576,2699,3764
$GC,1421,-0.85,-146.0,269.3,-14.5,105,1425,0.00,2.00,0.00,0.000,4,0.000,0.077,2567,3900,3764
$GC,1523,-0.85,-146.0,283.0,-11.5,107,1527,0.12,1.75,0.00,0.000,6,0.135,0.025,2600,2681,3764
$GC,1801,-0.85,-146.0,310.8,-10.1,114,1805,0.00,2.03,0.00,0.000,4,0.000,0.028,2611,1301,3764
$GC,1858,-0.85,-146.0,316.0,-8.1,115,1863,0.00,2.30,0.00,0.000,6,0.000,0.063,2606,2712,3764
$GC,2134,-0.85,-146.0,341.2,-9.2,122,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2711,3763
$GC,2376,-0.85,-146.0,363.7,-9.4,128,2380,0.00,2.08,0.00,0.000,4,0.000,0.029,2612,1311,3762
$GC,2416,-0.85,-146.0,367.8,-9.2,128,2422,0.00,2.28,0.00,0.000,6,0.000,0.064,2605,2704,3762
$GC,2667,-0.85,-146.0,392.7,-10.3,135,2671,0.00,1.98,0.00,0.000,4,0.000,0.074,2597,3896,3760
$GC,2708,-0.85,-146.0,396.9,-9.6,135,2715,0.00,1.77,0.00,0.000,6,0.000,0.026,2596,2703,3760
$GC,2959,-0.85,-146.0,421.8,-9.8,142,2963,0.00,2.08,0.00,0.000,4,0.000,0.031,2599,1301,3759
$GC,2994,-0.85,-146.0,425.1,-8.9,142,2998,0.00,2.28,0.00,0.000,6,0.000,0.064,2593,2698,3759
$GC,3247,-0.85,-146.0,448.4,-9.5,148,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2698,3757
$GC,3489,-0.85,-146.0,471.4,-9.5,154,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2698,3755
$GC,3732,-0.85,-146.0,493.8,-9.1,160,3736,0.00,2.08,0.00,0.000,4,0.000,0.030,2595,1307,3754
$GC,3767,-0.85,-146.0,497.1,-8.8,160,3772,0.00,2.30,0.00,0.000,6,0.000,0.064,2590,2710,3754
$GC,4020,-0.85,-146.0,520.2,-9.4,166,4024,0.00,1.98,0.00,0.000,4,0.000,0.076,2580,3894,3752
$GC,4051,-0.85,-146.0,523.3,-9.7,166,4054,0.00,1.77,0.00,0.000,6,0.000,0.029,2580,2689,3751
$GC,4315,-0.85,-146.0,549.0,-9.9,173,4318,0.00,2.08,0.00,0.000,4,0.000,0.032,2582,1294,3749
$GC,4344,-0.85,-146.0,552.1,-9.4,173,4348,0.00,2.33,0.00,0.000,6,0.000,0.065,2576,2709,3749
$GC,4600,-0.85,-146.0,576.7,-9.8,180,4604,0.00,2.12,0.00,0.000,4,0.000,0.031,2577,1297,3748
$GC,4624,-0.85,-146.0,579.3,-11.0,180,4628,0.00,2.30,0.00,0.000,6,0.000,0.061,2577,2702,3748
$STATE,4843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4843,begin apogee
$GC,4852,-0.32,0.0,603.3,11.1,186,4979,0.60,0.00,123.43,1.055,6,0.118,0.000,2766,2627,3160
$STATE,4979,end apogee,CONTROL_FINISHED_OK
$STATE,4979,begin climb
$GC,4983,0.85,146.0,611.2,0.0,189,5121,1.08,2.30,128.55,1.030,4,0.067,0.035,3158,1224,2562
$GC,5380,0.85,146.0,588.9,16.2,198,5384,0.00,2.25,0.00,0.000,6,0.000,0.052,3157,2633,2556
$GC,5665,0.85,146.0,543.6,15.7,205,5669,0.00,2.12,0.00,0.000,4,0.000,0.035,3165,1230,2551
$GC,5923,0.85,146.0,508.4,12.7,210,5927,0.00,2.22,0.00,0.000,6,0.000,0.054,3163,2620,2551
$GC,6176,0.85,146.0,478.5,11.6,216,6180,0.00,2.10,0.00,0.000,4,0.000,0.034,3171,1232,2548
$GC,6434,0.85,146.0,452.4,10.8,221,6439,0.00,2.22,0.00,0.000,6,0.000,0.052,3163,2629,2547
$GC,6686,0.85,146.0,424.3,11.1,227,6690,0.00,2.12,0.00,0.000,4,0.000,0.034,3171,1217,2545
$GC,6945,0.85,146.0,394.4,10.0,232,6949,0.00,2.22,0.00,0.000,6,0.000,0.048,3163,2628,2545
$GC,7198,0.87,159.7,370.6,9.0,238,7212,0.00,2.05,9.85,0.839,4,0.000,0.058,3162,3900,2508
$GC,7315,0.87,159.7,356.2,13.1,240,7319,0.00,1.90,0.00,0.000,6,0.000,0.028,3171,2622,2507
$GC,7579,0.87,159.7,325.5,12.0,247,7583,0.00,2.10,0.00,0.000,4,0.000,0.033,3181,1218,2506
$GC,7838,0.87,159.7,299.4,9.8,252,7842,0.00,2.25,0.00,0.000,6,0.000,0.048,3176,2634,2506
$GC,8095,0.93,207.7,278.6,7.5,259,8145,0.00,2.22,43.15,0.848,4,0.000,0.031,3185,1224,2313
$GC,8209,0.93,207.7,264.2,17.8,261,8213,0.00,2.28,0.00,0.000,6,0.000,0.049,3179,2629,2309
$GC,8465,0.93,207.7,216.4,18.8,268,8469,0.00,2.03,0.00,0.000,4,0.000,0.056,3175,3900,2306
$GC,8636,0.93,207.7,185.3,15.8,277,8640,0.00,1.90,0.00,0.000,6,0.000,0.028,3184,2612,2305
$GC,8905,0.93,207.7,144.0,15.5,302,8909,0.00,2.08,0.00,0.000,4,0.000,0.028,3194,1201,2304
$GC,9166,0.93,207.7,109.4,9.9,325,9170,0.00,2.25,0.00,0.000,6,0.000,0.044,3192,2633,2304
$GC,9431,0.94,218.6,83.6,9.1,349,9447,0.00,2.15,9.68,0.621,4,0.000,0.028,3200,1218,2268
$GC,9696,0.95,220.3,57.5,9.5,373,9700,0.00,2.20,0.00,0.000,6,0.000,0.044,3200,2630,2267
$GC,9961,0.95,220.3,26.1,14.1,399,9969,0.00,2.10,0.00,0.000,4,0.000,0.026,3211,1217,2267
$STATE,10118,end climb,SURFACE_DEPTH_REACHED
$STATE,10121,begin surface coast
$FINISH,0.4,1.023789
$STATE,10144,end surface coast,CONTROL_FINISHED_OK
$STATE,10144,begin surface
$SM_CCo,10169,78.15,0.593,0,0,1732,350.04
$SM_GC,2.23,0.00,0.00,78.15,0.000,0.000,0.593,38,2703,1732,-8.86,0.08,350.04
$IRIDIUM_FIX,2237.01,-15800.20,080500,060631
$TT8_MAMPS,0.023777
$HUMID,1795
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,23.5,91.890
$10V_AH,10.7,51.380
$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,21.350,97.350,314.650,78.150,0.000,29.672,33.616,299.529,0.250,0.000,0.000,35.245,960.809,6814.605,439.528,1862.199,697.439,33.370,1190.138,0.000,1826.452,0.000,0.543,0.000
$DEVICE_MAMPS,226.265,76.700,1054.625,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,293.172,656.589,679.242,152.071,625.610,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35163,432
$CAP_FILE_SIZE,89284,0
$CFSIZE,260165632,234426368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,120211,121007,2246.161,-15801.635,31,1.5,31,10.1