version: 66.04
glider: 512
mission: 1
dive: 716
start: 2 15 111 1 59 13
data:
$ID,512
$MISSION,1
$DIVE,716
$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,-21434.32
$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,44
$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
$GPS1,015236,2251.902,-15756.408,14,1.9,25,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-79.1
$GPS2,015820,2251.944,-15756.436,11,1.5,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.254,0.035
$KALMAN_X,-198028.5,557.5,85.7,222481.4,-2732.3
$KALMAN_Y,-509982.3,-1066.2,-339.8,644142.1,2273.5
$MHEAD_RNG_PITCHd_Wd,72.0,3294,-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,-45.12,0.000,2,0.000,0.000,37,2732,2901
$GC,68,-0.85,-146.0,3.4,-5.4,6,102,11.55,1.88,-16.70,0.000,4,0.245,0.069,2580,3861,3757
$GC,143,-0.85,-146.0,27.1,-32.4,17,152,0.00,1.75,0.00,0.000,6,0.000,0.025,2586,2709,3759
$GC,417,-0.85,-146.0,103.3,-29.7,43,421,0.00,2.12,0.00,0.000,4,0.000,0.029,2597,1269,3761
$GC,488,-0.85,-146.0,119.5,-17.5,49,492,0.00,2.28,0.00,0.000,6,0.000,0.060,2588,2671,3761
$GC,753,-0.85,-146.0,174.4,-18.6,73,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2671,3762
$GC,1020,-0.85,-146.0,222.2,-17.4,90,1024,0.00,2.05,0.00,0.000,4,0.000,0.026,2596,1277,3762
$GC,1054,-0.85,-146.0,227.6,-13.9,90,1058,0.00,2.35,0.00,0.000,6,0.000,0.062,2589,2707,3763
$GC,1311,-0.85,-146.0,264.4,-14.6,97,1315,0.00,2.12,0.00,0.000,4,0.000,0.027,2598,1275,3763
$GC,1340,-0.85,-146.0,268.7,-14.8,97,1344,0.00,2.30,0.00,0.000,6,0.000,0.058,2589,2700,3763
$GC,1603,-0.85,-146.0,303.1,-13.3,104,1606,0.00,2.10,0.00,0.000,4,0.000,0.027,2598,1273,3764
$GC,1649,-0.85,-146.0,308.7,-10.2,105,1654,0.00,2.33,0.00,0.000,6,0.000,0.057,2590,2714,3764
$GC,1934,-0.85,-146.0,341.1,-11.7,112,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2715,3764
$GC,2178,-0.85,-146.0,370.3,-12.0,118,2182,0.00,2.15,0.00,0.000,4,0.000,0.027,2598,1266,3763
$GC,2207,-0.85,-146.0,373.8,-11.4,118,2211,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2708,3763
$GC,2463,-0.85,-146.0,402.6,-11.6,125,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2709,3762
$GC,2708,-0.85,-146.0,427.3,-10.0,131,2712,0.00,2.15,0.00,0.000,4,0.000,0.028,2598,1268,3761
$GC,2755,-0.85,-146.0,431.4,-7.4,132,2760,0.00,2.30,0.00,0.000,6,0.000,0.053,2589,2711,3760
$GC,3040,-0.85,-146.0,459.5,-10.0,139,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2711,3759
$GC,3284,-0.85,-146.0,483.7,-9.9,145,3288,0.00,2.15,0.00,0.000,4,0.000,0.028,2598,1274,3757
$GC,3315,-0.85,-146.0,486.6,-9.6,145,3319,0.00,2.28,0.00,0.000,6,0.000,0.053,2590,2700,3757
$GC,3572,-0.85,-146.0,512.3,-10.2,152,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2700,3755
$GC,3817,-0.85,-146.0,535.8,-9.5,158,3821,0.00,2.12,0.00,0.000,4,0.000,0.029,2598,1269,3753
$GC,3857,-0.85,-146.0,539.7,-8.1,158,3864,0.00,2.30,0.00,0.000,6,0.000,0.055,2589,2696,3753
$GC,4109,-0.85,-146.0,560.8,-8.4,165,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2696,3750
$GC,4354,-0.85,-146.0,579.5,-7.6,171,4357,0.00,2.12,0.00,0.000,4,0.000,0.028,2598,1277,3749
$GC,4383,-0.85,-146.0,581.8,-7.1,171,4387,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2707,3748
$STATE,4635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4635,begin apogee
$GC,4645,-0.32,0.0,600.7,7.6,178,4771,0.60,0.00,123.70,1.045,6,0.140,0.000,2769,2596,3160
$STATE,4772,end apogee,CONTROL_FINISHED_OK
$STATE,4772,begin climb
$GC,4777,0.85,146.0,606.7,0.0,181,4913,1.08,2.20,128.88,1.016,4,0.071,0.028,3158,1209,2564
$GC,5175,0.85,146.0,585.7,13.7,190,5179,0.00,2.25,0.00,0.000,6,0.000,0.045,3150,2632,2556
$GC,5460,0.85,146.0,546.3,13.3,197,5464,0.00,2.15,0.00,0.000,4,0.000,0.030,3159,1194,2552
$GC,5719,0.85,146.0,514.0,12.3,202,5723,0.00,2.25,0.00,0.000,6,0.000,0.047,3159,2630,2551
$GC,5975,0.85,146.0,483.2,11.6,209,5979,0.00,2.12,0.00,0.000,4,0.000,0.029,3168,1187,2549
$GC,5993,0.85,146.0,481.0,12.5,209,5997,0.00,2.28,0.00,0.000,6,0.000,0.045,3163,2628,2548
$GC,6262,0.85,146.0,449.5,11.7,216,6266,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1201,2547
$GC,6274,0.85,146.0,447.8,12.1,216,6278,0.00,2.22,0.00,0.000,6,0.000,0.047,3172,2625,2547
$GC,6553,0.85,146.0,417.4,10.4,223,6556,0.00,2.12,0.00,0.000,4,0.000,0.028,3181,1184,2546
$GC,6705,0.85,146.0,401.7,10.0,226,6709,0.00,2.28,0.00,0.000,6,0.000,0.044,3176,2635,2546
$GC,6974,0.87,159.4,376.8,9.0,233,6988,0.00,2.03,9.77,0.828,4,0.000,0.056,3176,3899,2510
$GC,7245,0.87,159.4,343.6,12.0,239,7249,0.00,1.92,0.00,0.000,6,0.000,0.028,3184,2598,2508
$GC,7537,0.87,159.4,313.0,9.8,246,7541,0.00,2.10,0.00,0.000,4,0.000,0.052,3176,3903,2507
$GC,7796,0.94,211.4,291.4,7.3,251,7849,0.00,1.90,46.83,0.841,6,0.000,0.028,3185,2614,2298
$GC,8094,0.94,211.4,236.3,20.4,259,8097,0.00,2.05,0.00,0.000,4,0.000,0.051,3177,3896,2291
$GC,8111,0.94,211.4,232.7,19.6,259,8115,0.00,1.92,0.00,0.000,6,0.000,0.027,3184,2629,2290
$GC,8368,0.94,211.4,185.4,17.6,270,8371,0.00,2.03,0.00,0.000,4,0.000,0.048,3177,3909,2289
$GC,8403,0.94,211.4,178.8,19.2,273,8407,0.00,1.90,0.00,0.000,6,0.000,0.025,3185,2621,2288
$GC,8672,0.94,211.4,133.3,17.3,298,8676,0.00,2.08,0.00,0.000,4,0.000,0.027,3196,1194,2288
$GC,8742,0.94,211.4,124.5,10.6,304,8746,0.00,2.22,0.00,0.000,6,0.000,0.042,3192,2626,2288
$GC,9006,0.98,245.9,101.9,8.1,328,9044,0.00,2.05,29.12,0.671,4,0.000,0.051,3192,3894,2158
$GC,9185,0.98,245.9,74.3,20.2,343,9188,0.00,1.88,0.00,0.000,6,0.000,0.025,3199,2627,2157
$GC,9449,0.98,245.9,21.3,21.1,371,9457,0.00,2.05,0.00,0.000,4,0.000,0.048,3200,3896,2156
$GC,9478,0.98,245.9,14.8,21.8,375,9487,0.00,1.90,0.00,0.000,6,0.000,0.023,3211,2616,2155
$STATE,9534,end climb,SURFACE_DEPTH_REACHED
$STATE,9535,begin surface coast
$FINISH,0.5,1.023728
$STATE,9547,end surface coast,CONTROL_FINISHED_OK
$STATE,9547,begin surface
$SM_CCo,9571,56.85,0.588,0,0,1732,350.04
$SM_GC,2.44,0.00,0.00,56.85,0.000,0.000,0.588,45,2727,1732,-8.84,0.76,350.04
$IRIDIUM_FIX,2241.69,-15756.28,100500,232303
$TT8_MAMPS,0.023777
$HUMID,1843
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.5,94.996
$10V_AH,10.7,53.360
$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,22.125,93.775,338.300,56.850,0.000,25.874,37.283,139.695,0.250,0.000,0.000,11.519,847.459,6634.467,432.681,1524.130,536.828,33.368,1107.430,0.000,1519.964,0.000,0.543,0.000
$DEVICE_MAMPS,245.440,70.564,1045.421,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,261.858,550.939,569.385,117.471,479.655,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32026,387
$CAP_FILE_SIZE,79734,0
$CFSIZE,260165632,233472000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,150211,044107,2251.885,-15755.546,41,0.9,41,10.1