version: 66.04
glider: 512
mission: 1
dive: 712
start: 2 14 111 13 36 43
data:
$ID,512
$MISSION,1
$DIVE,712
$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,-21378.617
$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,57
$R_STBD_OVSHOOT,46
$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
$GPS1,132500,2253.279,-15759.339,43,2.0,48,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.7
$GPS2,133550,2253.374,-15759.394,13,1.9,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.185,-0.177
$KALMAN_X,-191851.4,-0.4,263.4,211590.3,-2880.8
$KALMAN_Y,-514843.0,580.9,-292.7,649963.7,2193.9
$MHEAD_RNG_PITCHd_Wd,123.7,6647,-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,-45.28,0.000,2,0.000,0.000,28,2736,2901
$GC,69,-0.85,-146.0,3.4,-4.9,6,101,10.98,0.00,-16.95,0.000,6,0.229,0.000,2588,2736,3758
$GC,364,-0.85,-146.0,87.0,-27.2,39,368,0.00,2.15,0.00,0.000,4,0.000,0.030,2588,1301,3761
$GC,458,-0.85,-146.0,108.9,-18.9,47,462,0.00,2.25,0.00,0.000,6,0.000,0.064,2579,2673,3761
$GC,721,-0.85,-146.0,164.6,-20.0,71,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2672,3761
$GC,993,-0.85,-146.0,216.7,-18.3,91,997,0.00,2.05,0.00,0.000,4,0.000,0.031,2579,1302,3763
$GC,1016,-0.85,-146.0,221.4,-18.3,91,1021,0.12,2.30,0.00,0.000,6,0.146,0.064,2600,2712,3762
$GC,1279,-0.85,-146.0,258.1,-13.7,98,1282,0.00,2.10,0.00,0.000,4,0.000,0.032,2611,1310,3764
$GC,1342,-0.85,-146.0,265.5,-9.8,99,1346,0.00,2.30,0.00,0.000,6,0.000,0.064,2602,2715,3764
$GC,1616,-0.85,-146.0,296.6,-11.6,106,1620,0.00,2.10,0.00,0.000,4,0.000,0.032,2610,1311,3764
$GC,1634,-0.85,-146.0,298.9,-11.4,106,1638,0.00,2.28,0.00,0.000,6,0.000,0.063,2602,2706,3763
$GC,1901,-0.85,-146.0,326.4,-10.7,113,1905,0.00,2.10,0.00,0.000,4,0.000,0.032,2610,1305,3763
$GC,1936,-0.85,-146.0,330.1,-9.5,113,1940,0.00,2.28,0.00,0.000,6,0.000,0.063,2601,2704,3763
$GC,2187,-0.85,-146.0,356.9,-10.9,119,2191,0.00,2.10,0.00,0.000,4,0.000,0.031,2609,1298,3762
$GC,2234,-0.85,-146.0,361.3,-8.1,120,2239,0.00,2.28,0.00,0.000,6,0.000,0.061,2600,2701,3762
$GC,2520,-0.85,-146.0,388.6,-9.5,127,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2702,3761
$GC,2763,-0.85,-146.0,410.2,-8.7,133,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2702,3760
$GC,3009,-0.85,-146.0,431.2,-8.6,139,3012,0.00,2.10,0.00,0.000,4,0.000,0.031,2609,1302,3758
$GC,3049,-0.85,-146.0,434.9,-7.6,139,3055,0.00,2.30,0.00,0.000,6,0.000,0.062,2600,2714,3758
$GC,3302,-0.85,-146.0,457.5,-9.1,146,3306,0.00,2.12,0.00,0.000,4,0.000,0.031,2608,1308,3756
$GC,3326,-0.85,-146.0,459.9,-9.3,146,3330,0.00,2.28,0.00,0.000,6,0.000,0.064,2600,2701,3756
$GC,3595,-0.85,-146.0,483.8,-9.0,153,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2701,3754
$GC,3837,-0.85,-146.0,503.7,-8.1,159,3841,0.00,2.10,0.00,0.000,4,0.000,0.031,2608,1304,3753
$GC,3873,-0.85,-146.0,506.6,-7.7,159,3877,0.00,2.30,0.00,0.000,6,0.000,0.062,2600,2708,3753
$GC,4124,-0.85,-146.0,526.4,-8.1,165,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2709,3750
$GC,4369,-0.85,-146.0,547.7,-8.9,171,4373,0.00,2.12,0.00,0.000,4,0.000,0.032,2608,1300,3749
$GC,4392,-0.85,-146.0,550.1,-9.5,171,4397,0.00,2.28,0.00,0.000,6,0.000,0.058,2599,2705,3749
$GC,4663,-0.85,-146.0,574.2,-9.0,178,4667,0.00,2.12,0.00,0.000,4,0.000,0.032,2606,1298,3747
$GC,4686,-0.85,-146.0,576.7,-9.2,178,4690,0.00,2.28,0.00,0.000,6,0.000,0.060,2598,2699,3747
$GC,4949,-0.85,-146.0,599.8,-9.0,185,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2699,3745
$STATE,4986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4986,begin apogee
$GC,4996,-0.32,0.0,603.4,9.0,186,5123,0.55,0.00,123.57,1.072,6,0.115,0.000,2773,2624,3160
$STATE,5123,end apogee,CONTROL_FINISHED_OK
$STATE,5123,begin climb
$GC,5127,0.85,146.0,610.4,0.0,189,5265,1.08,2.25,129.23,1.047,4,0.073,0.037,3162,1244,2564
$GC,5360,0.85,146.0,610.0,15.2,194,5364,0.00,2.25,0.00,0.000,6,0.000,0.054,3162,2629,2557
$GC,5630,0.85,146.0,566.4,16.2,201,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2629,2554
$GC,5871,0.85,146.0,532.0,13.9,207,5875,0.00,2.05,0.00,0.000,4,0.000,0.060,3162,3905,2551
$GC,6130,0.85,146.0,495.5,14.3,212,6134,0.00,1.90,0.00,0.000,6,0.000,0.032,3170,2646,2549
$GC,6387,0.85,146.0,462.7,12.5,219,6390,0.00,2.03,0.00,0.000,4,0.000,0.054,3163,3902,2548
$GC,6517,0.85,146.0,446.5,12.2,221,6523,0.00,1.92,0.00,0.000,6,0.000,0.031,3171,2616,2547
$GC,6771,0.85,146.0,418.9,10.7,228,6774,0.00,2.10,0.00,0.000,4,0.000,0.056,3164,3909,2546
$GC,6799,0.85,146.0,415.7,10.1,228,6803,0.00,1.95,0.00,0.000,6,0.000,0.029,3172,2601,2546
$GC,7062,0.86,149.7,390.5,9.4,235,7066,0.00,2.10,0.00,0.000,4,0.000,0.052,3164,3910,2545
$GC,7282,0.88,165.6,368.8,8.9,239,7311,0.00,1.92,17.38,0.800,6,0.000,0.028,3173,2610,2483
$GC,7576,0.88,165.6,336.3,12.1,247,7580,0.00,2.10,0.00,0.000,4,0.000,0.035,3182,1219,2480
$GC,7835,0.88,165.6,308.4,10.6,252,7839,0.00,2.25,0.00,0.000,6,0.000,0.048,3176,2636,2479
$GC,8092,0.91,190.2,285.4,8.5,259,8126,0.00,2.05,24.62,0.788,4,0.000,0.058,3176,3901,2383
$GC,8134,0.91,190.2,281.6,10.4,260,8138,0.00,1.92,0.00,0.000,6,0.000,0.029,3184,2625,2382
$GC,8425,0.91,190.2,241.2,13.4,267,8428,0.00,2.10,0.00,0.000,4,0.000,0.031,3194,1219,2379
$GC,8442,0.91,190.2,238.7,13.8,267,8446,0.00,2.22,0.00,0.000,6,0.000,0.046,3192,2631,2379
$GC,8709,0.91,190.2,202.9,13.3,274,8713,0.00,2.12,0.00,0.000,4,0.000,0.029,3200,1198,2378
$GC,8761,0.91,190.2,196.4,12.4,275,8768,0.10,2.30,0.00,0.000,6,0.213,0.049,3176,2620,2378
$GC,9027,0.91,190.2,162.8,12.7,300,9031,0.00,2.03,0.00,0.000,4,0.000,0.056,3176,3898,2378
$GC,9211,0.91,190.2,141.3,11.4,316,9215,0.00,1.88,0.00,0.000,6,0.000,0.026,3184,2612,2377
$GC,9482,1.05,302.0,117.8,4.6,341,9586,0.00,2.12,94.90,0.705,4,0.000,0.047,3176,3897,1926
$GC,9716,1.05,302.0,69.3,27.2,361,9720,0.00,1.92,0.00,0.000,6,0.000,0.026,3184,2622,1923
$STATE,9963,end climb,SURFACE_DEPTH_REACHED
$STATE,9963,begin surface coast
$FINISH,0.3,1.003129
$STATE,9975,end surface coast,CONTROL_FINISHED_OK
$STATE,9975,begin surface
$SM_CCo,9998,23.92,0.592,0,0,1732,350.04
$SM_GC,0.99,0.00,0.00,23.92,0.000,0.000,0.592,45,2759,1732,-8.85,1.70,350.04
$IRIDIUM_FIX,2246.36,-15836.25,100500,101003
$TT8_MAMPS,0.024544
$HUMID,1884
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,23.5,94.451
$10V_AH,10.7,52.992
$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,21.100,94.000,389.700,23.925,0.000,31.314,33.421,447.060,0.500,0.000,0.000,13.298,868.795,7000.226,433.426,1526.798,847.268,33.372,1125.265,0.000,1511.703,0.000,0.543,0.000
$DEVICE_MAMPS,229.333,66.729,1072.266,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,267.104,553.204,568.533,111.779,458.782,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31922,395
$CAP_FILE_SIZE,87124,0
$CFSIZE,260165632,233644032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,2,0
$GPS,140211,162507,2252.858,-15758.706,37,1.5,37,10.1