version: 66.04
glider: 512
mission: 1
dive: 752
start: 2 19 111 9 54 11
data:
$ID,512
$MISSION,1
$DIVE,752
$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,-22176.373
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2890
$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,2690
$C_ROLL_CLIMB,2540
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3200
$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
$GPS1,094106,2254.707,-15756.191,36,1.3,36,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-80.3
$GPS2,095319,2254.731,-15756.173,14,1.5,19,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.256,0.018
$KALMAN_X,-234067.9,580.0,363.3,258669.9,-2830.9
$KALMAN_Y,-503156.8,-69.9,283.0,640849.0,-925.7
$MHEAD_RNG_PITCHd_Wd,75.9,2553,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.85,-146.0,0.0,0.0,0,68,0.00,0.00,-45.25,0.000,2,0.000,0.000,38,2702,2959
$GC,73,-0.85,-146.0,3.6,-5.8,6,106,11.07,2.15,-15.85,0.000,4,0.231,0.038,2614,1293,3798
$GC,266,-0.85,-146.0,43.6,-14.0,30,270,0.00,2.28,0.00,0.000,6,0.000,0.062,2606,2678,3800
$GC,529,-0.85,-146.0,103.8,-23.2,54,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2677,3801
$GC,784,-0.85,-146.0,150.8,-16.3,78,788,0.00,2.03,0.00,0.000,4,0.000,0.028,2614,1303,3802
$GC,835,-0.85,-146.0,157.8,-10.9,82,842,0.00,2.28,0.00,0.000,6,0.000,0.060,2606,2684,3803
$GC,1098,-0.85,-146.0,194.1,-14.2,107,1102,0.00,2.00,0.00,0.000,4,0.000,0.072,2596,3905,3803
$GC,1137,-0.85,-146.0,199.8,-13.0,110,1144,0.00,1.77,0.00,0.000,6,0.000,0.025,2603,2703,3804
$GC,1389,-0.85,-146.0,231.3,-12.9,117,1393,0.00,2.08,0.00,0.000,4,0.000,0.029,2613,1294,3803
$GC,1463,-0.85,-146.0,238.8,-8.6,118,1467,0.00,2.28,0.00,0.000,6,0.000,0.058,2605,2704,3804
$GC,1719,-0.85,-146.0,269.0,-12.3,125,1723,0.00,2.10,0.00,0.000,4,0.000,0.028,2613,1283,3804
$GC,1754,-0.85,-146.0,273.0,-10.6,125,1758,0.00,2.25,0.00,0.000,6,0.000,0.058,2605,2685,3804
$GC,2011,-0.85,-146.0,298.0,-9.6,132,2015,0.00,2.08,0.00,0.000,4,0.000,0.028,2613,1283,3803
$GC,2053,-0.85,-146.0,301.7,-8.5,132,2059,0.00,2.28,0.00,0.000,6,0.000,0.058,2606,2695,3804
$GC,2306,-0.85,-146.0,326.1,-10.0,139,2310,0.00,1.95,0.00,0.000,4,0.000,0.070,2597,3893,3803
$GC,2349,-0.85,-146.0,330.2,-9.3,139,2355,0.00,1.75,0.00,0.000,6,0.000,0.024,2600,2682,3803
$GC,2602,-0.85,-146.0,354.2,-9.6,146,2605,0.00,2.05,0.00,0.000,4,0.000,0.028,2610,1285,3802
$GC,2665,-0.85,-146.0,359.9,-8.6,147,2669,0.00,2.28,0.00,0.000,6,0.000,0.058,2601,2695,3802
$GC,2934,-0.85,-146.0,384.0,-9.0,154,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2695,3800
$GC,3177,-0.85,-146.0,405.0,-8.7,160,3181,0.00,2.08,0.00,0.000,4,0.000,0.027,2609,1293,3799
$GC,3225,-0.85,-146.0,408.8,-7.0,161,3229,0.00,2.25,0.00,0.000,6,0.000,0.056,2600,2694,3798
$GC,3511,-0.85,-146.0,434.2,-8.9,168,3515,0.00,1.98,0.00,0.000,4,0.000,0.071,2591,3893,3796
$GC,3535,-0.85,-146.0,436.6,-9.3,168,3539,0.00,1.77,0.00,0.000,6,0.000,0.024,2596,2692,3796
$GC,3804,-0.85,-146.0,459.1,-8.3,175,3808,0.00,2.08,0.00,0.000,4,0.000,0.029,2606,1287,3795
$GC,3852,-0.85,-146.0,462.6,-6.2,176,3857,0.00,2.28,0.00,0.000,6,0.000,0.057,2597,2699,3795
$GC,4138,-0.85,-146.0,486.6,-8.4,183,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2699,3792
$GC,4382,-0.85,-146.0,507.1,-8.3,189,4385,0.00,2.10,0.00,0.000,4,0.000,0.028,2604,1288,3791
$GC,4424,-0.85,-146.0,510.5,-7.6,189,4430,0.00,2.28,0.00,0.000,6,0.000,0.055,2596,2696,3791
$GC,4677,-0.85,-146.0,532.3,-8.8,196,4680,0.00,2.00,0.00,0.000,4,0.000,0.076,2587,3893,3788
$GC,4712,-0.85,-146.0,535.8,-9.9,196,4716,0.00,1.77,0.00,0.000,6,0.000,0.025,2591,2682,3788
$GC,4971,-0.85,-146.0,559.4,-9.3,203,4974,0.00,2.08,0.00,0.000,4,0.000,0.030,2601,1283,3787
$GC,5006,-0.85,-146.0,563.1,-9.3,203,5010,0.00,2.30,0.00,0.000,6,0.000,0.058,2592,2701,3787
$GC,5263,-0.85,-146.0,587.0,-9.3,210,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2701,3785
$STATE,5422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5423,begin apogee
$GC,5433,-0.32,0.0,601.5,8.9,214,5559,0.60,0.00,123.05,1.053,6,0.121,0.000,2779,2556,3200
$STATE,5559,end apogee,CONTROL_FINISHED_OK
$STATE,5560,begin climb
$GC,5564,0.85,146.0,608.3,0.0,217,5700,1.10,2.30,128.30,1.028,4,0.082,0.060,3150,3898,2603
$GC,5964,0.85,146.0,585.4,16.7,226,5968,0.00,2.08,0.00,0.000,6,0.000,0.031,3158,2534,2595
$GC,6254,0.85,146.0,548.5,11.9,233,6258,0.00,2.20,0.00,0.000,4,0.000,0.053,3151,3899,2591
$GC,6513,0.85,146.0,519.0,11.1,238,6517,0.00,2.05,0.00,0.000,6,0.000,0.028,3158,2534,2590
$GC,6770,0.85,146.0,492.2,10.6,245,6774,0.00,2.20,0.00,0.000,4,0.000,0.051,3151,3899,2588
$GC,7030,0.85,146.0,463.7,10.3,250,7034,0.00,2.05,0.00,0.000,6,0.000,0.027,3159,2529,2587
$GC,7287,0.89,171.9,441.5,8.5,257,7313,0.00,2.25,21.15,0.937,4,0.000,0.052,3151,3906,2499
$GC,7494,0.89,171.9,414.4,15.1,261,7498,0.00,2.08,0.00,0.000,6,0.000,0.027,3159,2529,2496
$GC,7751,0.89,171.9,381.1,12.7,268,7754,0.00,2.20,0.00,0.000,4,0.000,0.051,3151,3899,2492
$GC,7768,0.89,171.9,378.8,12.4,268,7772,0.00,2.05,0.00,0.000,6,0.000,0.026,3159,2528,2493
$GC,8043,0.89,171.9,348.9,10.3,275,8046,0.00,2.08,0.00,0.000,4,0.000,0.031,3170,1128,2492
$GC,8302,0.89,172.6,324.3,9.6,280,8306,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2545,2491
$GC,8555,0.91,187.5,301.3,9.0,286,8571,0.00,0.00,14.32,0.829,6,0.000,0.000,3162,2545,2434
$GC,8797,0.91,187.5,272.2,13.4,292,8800,0.00,2.15,0.00,0.000,4,0.000,0.031,3171,1125,2431
$GC,8848,0.91,187.5,265.7,13.0,293,8852,0.00,2.22,0.00,0.000,6,0.000,0.043,3162,2547,2431
$GC,9127,0.91,187.5,236.9,10.2,300,9130,0.00,2.15,0.00,0.000,4,0.000,0.030,3171,1116,2430
$GC,9386,0.92,196.0,212.1,9.2,305,9399,0.00,2.25,8.68,0.708,6,0.000,0.048,3163,2535,2400
$GC,9651,0.92,196.0,185.1,10.6,321,9654,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1127,2398
$GC,9733,0.96,233.2,178.0,8.0,328,9774,0.12,2.22,33.78,0.749,6,0.118,0.042,3199,2553,2248
$GC,10038,0.96,233.2,128.6,17.0,356,10042,0.00,2.12,0.00,0.000,4,0.000,0.052,3191,3896,2243
$GC,10078,0.96,233.2,122.0,16.1,359,10085,0.00,2.05,0.00,0.000,6,0.000,0.024,3200,2531,2242
$GC,10341,0.96,233.2,84.3,10.7,384,10345,0.00,2.17,0.00,0.000,4,0.000,0.048,3200,3896,2242
$GC,10596,0.96,233.2,49.7,15.4,407,10600,0.00,2.00,0.00,0.000,6,0.000,0.023,3210,2524,2242
$GC,10863,0.96,233.2,6.1,17.2,444,10871,0.00,2.17,0.00,0.000,4,0.000,0.041,3205,3897,2242
$STATE,10882,end climb,SURFACE_DEPTH_REACHED
$STATE,10883,begin surface coast
$FINISH,0.3,1.023809
$STATE,10900,end surface coast,CONTROL_FINISHED_OK
$STATE,10900,begin surface
$SM_CCo,10925,69.15,0.595,0,0,1773,350.04
$SM_GC,2.47,0.00,0.00,69.15,0.000,0.000,0.595,43,2659,1773,-8.90,-0.88,350.04
$IRIDIUM_FIX,2248.70,-15756.28,150500,090903
$TT8_MAMPS,0.023777
$HUMID,1826
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.5,99.428
$10V_AH,10.6,56.546
$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,21.375,109.925,329.275,69.150,0.000,53.557,73.051,394.049,0.000,0.000,0.000,19.523,1002.475,7519.308,449.832,1851.239,907.150,33.367,1227.870,0.000,1825.991,0.000,0.543,0.000
$DEVICE_MAMPS,230.867,75.933,1053.091,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,305.007,654.356,673.301,140.727,580.440,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35166,450
$CAP_FILE_SIZE,97462,0
$CFSIZE,260165632,231874560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,1
$GPS,190211,125854,2254.132,-15755.528,27,1.2,44,10.1