version: 66.04
glider: 512
mission: 1
dive: 904
start: 3 8 111 22 12 7
data:
$ID,512
$MISSION,1
$DIVE,904
$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,-25450.508
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2880
$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,2640
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3040
$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
$GPS1,220037,2247.256,-15756.372,31,1.5,32,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.9
$GPS2,221114,2247.232,-15756.410,12,1.5,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.216,-0.137
$KALMAN_X,-373905.6,638.5,255.8,398144.8,-521.6
$KALMAN_Y,-649794.6,-470.8,275.7,774006.4,1591.6
$MHEAD_RNG_PITCHd_Wd,227.5,11261,-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,13,begin dive
$GC,18,-0.85,-146.0,0.0,0.0,0,73,0.00,0.00,-52.72,0.000,2,0.000,0.000,44,2652,2996
$GC,79,-0.85,-146.0,3.3,-4.9,7,111,11.15,2.05,-12.27,0.000,4,0.235,0.073,2585,3879,3635
$GC,347,-0.85,-146.0,67.7,-20.0,37,351,0.00,1.80,0.00,0.000,6,0.000,0.024,2593,2646,3638
$GC,616,-0.85,-146.0,129.9,-20.1,62,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2639,3639
$GC,881,-0.85,-146.0,183.4,-19.3,87,884,0.00,2.08,0.00,0.000,4,0.000,0.026,2603,1220,3640
$GC,921,-0.85,-146.0,190.4,-14.8,90,929,0.00,2.35,0.00,0.000,6,0.000,0.062,2594,2628,3640
$GC,1196,-0.85,-146.0,234.0,-16.0,102,1199,0.00,2.08,0.00,0.000,4,0.000,0.066,2584,3893,3640
$GC,1288,-0.85,-146.0,246.9,-11.6,104,1291,0.00,1.83,0.00,0.000,6,0.000,0.022,2591,2635,3640
$GC,1582,-0.85,-146.0,283.2,-12.6,111,1586,0.00,2.12,0.00,0.000,4,0.000,0.068,2584,3899,3640
$GC,1640,-0.85,-146.0,290.4,-10.2,112,1643,0.00,1.85,0.00,0.000,6,0.000,0.023,2590,2628,3640
$GC,1920,-0.85,-146.0,325.3,-13.0,119,1923,0.00,2.05,0.00,0.000,4,0.000,0.026,2601,1220,3640
$GC,1943,-0.85,-146.0,328.4,-12.5,119,1947,0.00,2.30,0.00,0.000,6,0.000,0.054,2592,2639,3640
$GC,2208,-0.85,-146.0,357.8,-11.1,126,2212,0.00,2.08,0.00,0.000,4,0.000,0.068,2582,3898,3639
$GC,2282,-0.85,-146.0,366.9,-10.5,127,2286,0.00,1.88,0.00,0.000,6,0.000,0.025,2589,2639,3638
$GC,2546,-0.85,-146.0,396.5,-11.3,134,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2631,3636
$GC,2790,-0.85,-146.0,419.2,-8.6,140,2793,0.00,2.10,0.00,0.000,4,0.000,0.064,2581,3895,3635
$GC,2843,-0.85,-146.0,423.9,-7.5,141,2846,0.00,1.88,0.00,0.000,6,0.000,0.025,2589,2640,3635
$GC,3129,-0.85,-146.0,450.2,-9.8,148,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2633,3633
$GC,3372,-0.85,-146.0,475.2,-10.2,154,3376,0.00,2.12,0.00,0.000,4,0.000,0.070,2581,3894,3631
$GC,3425,-0.85,-146.0,480.4,-8.8,155,3429,0.00,1.88,0.00,0.000,6,0.000,0.026,2589,2642,3631
$GC,3711,-0.85,-146.0,505.5,-8.8,162,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2635,3628
$GC,3956,-0.85,-146.0,527.9,-9.2,168,3960,0.00,2.12,0.00,0.000,4,0.000,0.070,2581,3891,3627
$GC,3980,-0.85,-146.0,530.5,-9.5,168,3984,0.00,1.88,0.00,0.000,6,0.000,0.027,2588,2642,3626
$GC,4250,-0.85,-146.0,552.3,-7.9,175,4254,0.00,2.08,0.00,0.000,4,0.000,0.029,2599,1230,3625
$GC,4279,-0.85,-146.0,554.5,-7.0,175,4283,0.00,2.30,0.00,0.000,6,0.000,0.051,2589,2650,3625
$GC,4537,-0.85,-146.0,572.1,-7.2,182,4541,0.00,2.05,0.00,0.000,4,0.000,0.064,2580,3899,3622
$GC,4578,-0.85,-146.0,575.4,-7.8,182,4584,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2634,3622
$GC,4831,-0.85,-146.0,597.6,-9.4,189,4834,0.00,2.08,0.00,0.000,4,0.000,0.030,2598,1242,3620
$STATE,4850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4850,begin apogee
$GC,4863,-0.32,0.0,600.1,9.8,189,4988,0.57,0.00,121.78,1.064,6,0.141,0.000,2764,2452,3040
$STATE,4988,end apogee,CONTROL_FINISHED_OK
$STATE,4988,begin climb
$GC,4994,0.85,146.0,606.8,0.0,192,5132,1.12,2.42,130.20,1.058,4,0.075,0.060,3150,3882,2442
$GC,5239,0.85,146.0,592.6,22.2,197,5243,0.00,2.12,0.00,0.000,6,0.000,0.028,3159,2474,2437
$GC,5497,0.85,146.0,537.5,21.1,204,5501,0.00,2.15,0.00,0.000,4,0.000,0.028,3170,1025,2432
$GC,5571,0.85,146.0,521.6,21.1,205,5575,0.00,2.30,0.00,0.000,6,0.000,0.048,3162,2460,2431
$GC,5828,0.85,146.0,471.0,19.5,212,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2460,2429
$GC,6073,0.85,146.0,424.2,19.2,218,6077,0.00,2.12,0.00,0.000,4,0.000,0.031,3171,1045,2428
$GC,6205,0.85,146.0,401.3,16.6,220,6212,0.00,2.33,0.00,0.000,6,0.000,0.048,3162,2466,2427
$GC,6457,0.85,146.0,361.0,15.9,227,6461,0.00,2.12,0.00,0.000,4,0.000,0.030,3171,1049,2425
$GC,6498,0.85,146.0,354.0,16.9,227,6504,0.00,2.25,0.00,0.000,6,0.000,0.047,3163,2460,2425
$GC,6750,0.85,146.0,318.2,14.0,234,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2459,2424
$GC,6994,0.85,146.0,285.0,14.1,240,6997,0.00,2.12,0.00,0.000,4,0.000,0.030,3171,1038,2423
$GC,7096,0.85,146.0,272.6,11.4,242,7100,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2467,2423
$GC,7375,0.85,146.0,243.1,10.0,249,7379,0.00,2.28,0.00,0.000,4,0.000,0.054,3162,3872,2423
$GC,7405,0.85,146.0,240.3,9.9,249,7410,0.00,2.12,0.00,0.000,6,0.000,0.026,3171,2450,2422
$GC,7670,0.90,182.3,219.2,8.0,256,7705,0.00,2.33,29.23,0.798,4,0.000,0.050,3162,3873,2295
$GC,7724,0.90,182.3,212.8,14.8,257,7728,0.00,2.12,0.00,0.000,6,0.000,0.025,3171,2468,2294
$GC,7995,0.90,182.3,165.2,17.5,277,7999,0.00,2.28,0.00,0.000,4,0.000,0.049,3162,3874,2291
$GC,8042,0.90,182.3,157.5,15.4,280,8049,0.00,2.15,0.00,0.000,6,0.000,0.025,3172,2455,2291
$GC,8308,0.90,182.3,123.7,13.8,305,8311,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1040,2290
$GC,8505,0.90,182.3,96.7,13.2,322,8513,0.00,2.28,0.00,0.000,6,0.000,0.044,3176,2460,2290
$GC,8771,0.91,194.1,69.3,9.1,347,8788,0.00,2.33,10.98,0.613,4,0.000,0.055,3175,3870,2248
$GC,8800,0.91,194.1,66.0,11.4,349,8804,0.00,2.10,0.00,0.000,6,0.000,0.025,3184,2453,2247
$GC,9071,0.91,194.1,35.0,11.1,374,9075,0.00,2.28,0.00,0.000,4,0.000,0.048,3176,3873,2246
$GC,9173,0.91,194.1,21.6,14.1,388,9181,0.00,2.12,0.00,0.000,6,0.000,0.023,3185,2452,2246
$STATE,9314,end climb,SURFACE_DEPTH_REACHED
$STATE,9314,begin surface coast
$FINISH,0.4,1.024084
$STATE,9346,end surface coast,CONTROL_FINISHED_OK
$STATE,9346,begin surface
$SM_CCo,9373,88.93,0.606,0,0,1613,350.04
$SM_GC,1.59,0.00,0.00,88.93,0.000,0.000,0.606,45,2692,1613,-8.86,1.47,350.04
$IRIDIUM_FIX,2239.35,-15757.16,010600,191955
$TT8_MAMPS,0.023777
$HUMID,1874
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.6,118.566
$10V_AH,10.6,70.217
$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,22.075,97.800,292.175,88.925,0.000,33.233,35.836,409.577,0.250,0.000,0.000,12.952,881.462,6341.465,435.259,1571.442,871.556,33.364,1090.299,0.000,1562.657,0.000,0.545,0.000
$DEVICE_MAMPS,234.702,72.865,1063.829,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,283.738,649.753,669.844,154.485,636.053,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35153,419
$CAP_FILE_SIZE,82312,0
$CFSIZE,260165632,225497088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,090311,005106,2246.503,-15757.196,20,1.2,30,10.1