version: 66.04
glider: 512
mission: 1
dive: 709
start: 2 14 111 5 39 7
data:
$ID,512
$MISSION,1
$DIVE,709
$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,-21320.484
$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,59
$R_STBD_OVSHOOT,44
$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
$GPS1,052636,2253.926,-15800.675,15,1.1,32,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-78.4
$GPS2,053814,2254.010,-15800.685,13,2.0,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.185,-0.178
$KALMAN_X,-187297.7,269.3,230.4,204589.0,-2966.6
$KALMAN_Y,-517956.6,-869.1,80.6,655316.7,2288.1
$MHEAD_RNG_PITCHd_Wd,123.8,8896,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.25,0.000,2,0.000,0.000,25,2736,2902
$GC,69,-0.85,-146.0,3.2,-4.8,6,102,10.90,2.20,-17.08,0.000,4,0.228,0.041,2594,1308,3758
$GC,117,-0.85,-146.0,17.3,-30.2,12,125,0.00,2.28,0.00,0.000,6,0.000,0.065,2586,2669,3759
$GC,391,-0.85,-146.0,96.9,-28.3,41,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2671,3761
$GC,654,-0.85,-146.0,153.1,-18.9,66,658,0.00,2.03,0.00,0.000,4,0.000,0.031,2586,1308,3762
$GC,724,-0.85,-146.0,164.6,-12.6,72,728,0.00,2.30,0.00,0.000,6,0.000,0.068,2576,2702,3762
$GC,1004,-0.85,-146.0,216.4,-18.9,92,1008,0.00,2.08,0.00,0.000,4,0.000,0.030,2576,1299,3762
$GC,1043,-0.85,-146.0,223.8,-17.3,92,1050,0.12,2.33,0.00,0.000,6,0.142,0.067,2599,2702,3763
$GC,1294,-0.85,-146.0,256.1,-12.6,99,1298,0.00,2.08,0.00,0.000,4,0.000,0.028,2609,1297,3763
$GC,1312,-0.85,-146.0,258.2,-11.6,99,1316,0.00,2.25,0.00,0.000,6,0.000,0.059,2600,2704,3763
$GC,1586,-0.85,-146.0,288.9,-11.5,106,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2704,3763
$GC,1829,-0.85,-146.0,315.1,-10.8,112,1833,0.00,2.08,0.00,0.000,4,0.000,0.029,2609,1304,3763
$GC,1857,-0.85,-146.0,318.1,-10.4,112,1862,0.00,2.28,0.00,0.000,6,0.000,0.061,2600,2707,3763
$GC,2115,-0.85,-146.0,344.0,-10.4,119,2118,0.00,1.95,0.00,0.000,4,0.000,0.073,2591,3892,3762
$GC,2138,-0.85,-146.0,346.6,-10.5,119,2141,0.00,1.73,0.00,0.000,6,0.000,0.025,2591,2702,3762
$GC,2407,-0.85,-146.0,377.3,-11.7,126,2410,0.00,2.08,0.00,0.000,4,0.000,0.032,2591,1301,3760
$GC,2453,-0.85,-146.0,382.7,-10.9,127,2457,0.00,2.30,0.00,0.000,6,0.000,0.067,2590,2701,3760
$GC,2740,-0.85,-146.0,414.4,-11.0,134,2744,0.00,1.98,0.00,0.000,4,0.000,0.074,2581,3894,3758
$GC,2774,-0.85,-146.0,418.4,-10.5,134,2778,0.00,1.77,0.00,0.000,6,0.000,0.026,2581,2704,3758
$GC,3034,-0.85,-146.0,446.7,-11.3,141,3037,0.00,2.10,0.00,0.000,4,0.000,0.033,2580,1295,3757
$GC,3085,-0.85,-146.0,452.7,-10.4,142,3090,0.00,2.33,0.00,0.000,6,0.000,0.066,2577,2709,3757
$GC,3365,-0.85,-146.0,484.7,-11.7,149,3368,0.00,2.12,0.00,0.000,4,0.000,0.031,2577,1293,3754
$GC,3388,-0.85,-146.0,487.5,-12.2,149,3392,0.00,2.33,0.00,0.000,6,0.000,0.066,2577,2707,3754
$GC,3651,-0.85,-146.0,516.1,-11.1,156,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2708,3752
$GC,3896,-0.85,-146.0,542.0,-10.6,162,3899,0.00,2.12,0.00,0.000,4,0.000,0.033,2576,1298,3750
$GC,3924,-0.85,-146.0,545.5,-10.3,162,3928,0.00,2.33,0.00,0.000,6,0.000,0.069,2576,2699,3750
$GC,4187,-0.85,-146.0,572.3,-10.4,169,4190,0.00,2.00,0.00,0.000,4,0.000,0.080,2567,3891,3748
$GC,4215,-0.85,-146.0,575.4,-10.2,169,4219,0.12,1.77,0.00,0.000,6,0.134,0.028,2601,2688,3748
$GC,4479,-0.85,-146.0,594.8,-7.2,176,4483,0.00,2.08,0.00,0.000,4,0.000,0.035,2612,1301,3746
$GC,4531,-0.85,-146.0,598.4,-6.2,177,4535,0.00,2.33,0.00,0.000,6,0.000,0.066,2606,2711,3746
$STATE,4555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4555,begin apogee
$GC,4565,-0.32,0.0,600.3,6.2,177,4692,0.47,0.00,123.75,1.093,6,0.104,0.000,2767,2621,3160
$STATE,4693,end apogee,CONTROL_FINISHED_OK
$STATE,4693,begin climb
$GC,4698,0.85,146.0,606.2,0.0,181,4834,1.05,2.20,128.45,1.028,4,0.055,0.061,3153,3898,2563
$GC,5002,0.85,146.0,589.1,18.8,188,5007,0.00,1.95,0.00,0.000,6,0.000,0.029,3160,2633,2557
$GC,5293,0.85,146.0,543.9,14.6,195,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2627,2553
$GC,5539,0.85,146.0,508.2,14.7,201,5543,0.00,2.08,0.00,0.000,4,0.000,0.057,3161,3905,2551
$GC,5590,0.85,146.0,500.2,15.3,202,5594,0.00,1.92,0.00,0.000,6,0.000,0.029,3170,2612,2550
$GC,5876,0.85,146.0,464.6,12.1,209,5879,0.00,2.08,0.00,0.000,4,0.000,0.031,3181,1219,2548
$GC,6134,0.85,146.0,435.2,10.9,214,6138,0.00,2.25,0.00,0.000,6,0.000,0.050,3176,2638,2547
$GC,6386,0.85,146.0,408.9,10.3,220,6389,0.00,2.12,0.00,0.000,4,0.000,0.030,3185,1214,2545
$GC,6409,0.86,149.8,406.5,9.4,220,6413,0.00,2.22,0.00,0.000,6,0.000,0.048,3177,2627,2545
$GC,6673,0.86,149.8,380.2,10.1,227,6677,0.00,2.12,0.00,0.000,4,0.000,0.029,3185,1203,2544
$GC,6876,0.87,159.9,360.6,9.2,231,6891,0.00,2.22,10.00,0.844,6,0.000,0.046,3177,2625,2508
$GC,7142,0.87,159.9,331.5,10.8,238,7146,0.00,2.03,0.00,0.000,4,0.000,0.057,3176,3897,2506
$GC,7250,0.87,159.9,319.8,10.0,240,7253,0.00,1.90,0.00,0.000,6,0.000,0.028,3184,2614,2505
$GC,7524,0.87,159.9,293.0,10.1,247,7527,0.00,2.08,0.00,0.000,4,0.000,0.029,3194,1202,2505
$GC,7671,0.91,194.5,279.8,8.1,250,7707,0.00,2.22,31.75,0.870,6,0.000,0.045,3192,2626,2367
$GC,7989,0.91,194.5,228.0,17.7,258,7993,0.00,2.03,0.00,0.000,4,0.000,0.053,3192,3905,2361
$GC,8253,0.91,194.5,186.4,15.8,269,8257,0.00,1.90,0.00,0.000,6,0.000,0.027,3199,2621,2360
$GC,8524,0.91,194.5,148.3,12.8,294,8532,0.15,0.00,0.00,0.000,6,0.249,0.000,3171,2614,2359
$GC,8789,1.00,263.0,121.7,6.6,319,8853,0.00,2.08,59.15,0.737,4,0.000,0.048,3164,3901,2086
$GC,9020,1.00,263.0,81.7,21.6,339,9024,0.00,1.90,0.00,0.000,6,0.000,0.025,3170,2623,2082
$GC,9290,1.00,263.0,28.6,20.5,364,9299,0.00,2.10,0.00,0.000,4,0.000,0.027,3181,1216,2079
$GC,9357,1.00,263.0,15.0,20.2,375,9365,0.00,2.22,0.00,0.000,6,0.000,0.041,3178,2629,2078
$STATE,9413,end climb,SURFACE_DEPTH_REACHED
$STATE,9413,begin surface coast
$FINISH,0.2,1.023743
$STATE,9425,end surface coast,CONTROL_FINISHED_OK
$STATE,9425,begin surface
$SM_CCo,9448,46.58,0.620,0,0,1732,350.04
$SM_GC,1.83,0.00,0.00,46.58,0.000,0.000,0.620,40,2740,1732,-8.86,1.13,350.04
$IRIDIUM_FIX,2246.36,-15805.83,100500,020227
$TT8_MAMPS,0.023777
$HUMID,1867
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,94.005
$10V_AH,10.7,52.751
$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,21.050,97.000,353.100,46.575,0.000,30.644,60.240,462.807,0.000,0.000,0.000,13.638,860.248,6480.643,428.220,1548.578,879.999,33.362,1121.223,0.000,1532.811,0.000,0.545,0.000
$DEVICE_MAMPS,249.275,79.768,1092.975,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,261.630,562.178,579.147,116.073,483.129,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31799,387
$CAP_FILE_SIZE,85257,0
$CFSIZE,260165632,233771008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,140211,081906,2253.576,-15800.348,49,0.9,61,10.1