version: 66.04
glider: 512
mission: 1
dive: 1021
start: 3 21 111 16 51 21
data:
$ID,512
$MISSION,1
$DIVE,1021
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,1000
$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,266
$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,380
$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,-28103.021
$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,47
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2920
$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
$GPS1,163730,2236.772,-15801.193,36,1.2,41,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.2
$GPS2,165031,2236.784,-15801.173,15,1.5,26,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.043,-0.256
$KALMAN_X,-444251.6,61.9,685.7,460448.1,-5433.9
$KALMAN_Y,-655962.6,-286.1,370.1,760551.2,220.0
$MHEAD_RNG_PITCHd_Wd,179.6,97573,-17.5,-10.025
$D_GRID,800
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,23,-0.88,-146.0,0.0,0.0,0,123,0.00,0.00,-98.20,0.000,2,0.000,0.000,41,2674,3058
$GC,129,-0.88,-146.0,3.6,-6.4,13,155,10.68,2.22,-8.70,0.000,4,0.225,0.038,2594,1231,3517
$GC,262,-0.88,-146.0,36.8,-15.5,32,266,0.00,2.28,0.00,0.000,6,0.000,0.054,2585,2609,3520
$GC,526,-0.88,-146.0,96.9,-24.4,56,530,0.00,2.10,0.00,0.000,4,0.000,0.055,2574,3904,3520
$GC,574,-0.88,-146.0,107.6,-20.1,60,578,0.00,1.85,0.00,0.000,6,0.000,0.022,2574,2643,3520
$GC,846,-0.88,-146.0,162.7,-20.3,85,850,0.00,2.08,0.00,0.000,4,0.000,0.026,2574,1239,3520
$GC,865,-0.88,-146.0,167.3,-20.1,86,872,0.08,2.30,0.00,0.000,6,0.160,0.049,2586,2637,3521
$GC,1146,-0.88,-146.0,213.5,-15.2,107,1150,0.00,2.08,0.00,0.000,4,0.000,0.060,2579,3902,3521
$GC,1188,-0.88,-146.0,219.5,-13.6,107,1194,0.00,1.85,0.00,0.000,6,0.000,0.023,2579,2641,3521
$GC,1440,-0.88,-146.0,256.1,-14.9,114,1444,0.00,2.08,0.00,0.000,4,0.000,0.026,2578,1233,3520
$GC,1488,-0.88,-146.0,262.8,-12.0,115,1492,0.00,2.33,0.00,0.000,6,0.000,0.052,2576,2643,3520
$GC,1773,-0.88,-146.0,304.3,-14.9,122,1777,0.00,2.10,0.00,0.000,4,0.000,0.064,2567,3907,3520
$GC,1860,-0.88,-146.0,315.9,-12.6,123,1867,0.12,1.88,0.00,0.000,6,0.146,0.023,2598,2627,3520
$GC,2113,-0.88,-146.0,342.8,-10.9,130,2116,0.00,2.05,0.00,0.000,4,0.000,0.026,2608,1239,3518
$GC,2162,-0.88,-146.0,347.7,-9.0,131,2166,0.00,2.30,0.00,0.000,6,0.000,0.053,2600,2649,3518
$GC,2454,-0.88,-146.0,378.9,-10.7,138,2457,0.00,2.08,0.00,0.000,4,0.000,0.064,2589,3894,3515
$GC,2529,-0.88,-146.0,387.2,-9.2,139,2533,0.00,1.88,0.00,0.000,6,0.000,0.024,2589,2646,3515
$GC,2794,-0.88,-146.0,416.4,-11.2,146,2797,0.00,2.10,0.00,0.000,4,0.000,0.027,2590,1235,3513
$GC,2818,-0.88,-146.0,419.2,-10.9,146,2823,0.00,2.33,0.00,0.000,6,0.000,0.054,2580,2640,3513
$GC,3089,-0.88,-146.0,448.5,-11.0,153,3093,0.00,2.10,0.00,0.000,4,0.000,0.064,2571,3897,3510
$GC,3137,-0.88,-146.0,454.2,-10.9,154,3141,0.00,1.88,0.00,0.000,6,0.000,0.025,2571,2635,3510
$GC,3432,-0.88,-146.0,489.0,-11.8,161,3436,0.00,2.20,0.00,0.000,4,0.000,0.069,2561,3902,3507
$GC,3491,-0.88,-146.0,496.1,-10.6,162,3495,0.12,1.90,0.00,0.000,6,0.148,0.025,2591,2636,3507
$GC,3771,-0.88,-146.0,520.5,-8.5,169,3775,0.00,2.17,0.00,0.000,4,0.000,0.067,2583,3898,3505
$GC,3790,-0.88,-146.0,522.3,-8.8,169,3794,0.00,1.90,0.00,0.000,6,0.000,0.026,2583,2636,3505
$GC,4067,-0.88,-146.0,547.0,-9.1,176,4070,0.00,2.20,0.00,0.000,4,0.000,0.069,2576,3899,3503
$GC,4120,-0.88,-146.0,552.3,-9.6,177,4123,0.00,1.90,0.00,0.000,6,0.000,0.027,2576,2639,3502
$GC,4408,-0.88,-146.0,581.1,-10.4,184,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2631,3500
$GC,4649,-0.88,-146.0,606.8,-10.8,190,4653,0.00,2.15,0.00,0.000,4,0.000,0.031,2576,1225,3498
$GC,4669,-0.88,-146.0,609.0,-11.0,190,4673,0.00,2.40,0.00,0.000,6,0.000,0.061,2576,2640,3498
$GC,4938,-0.88,-146.0,638.0,-11.0,197,4941,0.00,2.17,0.00,0.000,4,0.000,0.071,2566,3908,3495
$GC,5007,-0.88,-146.0,646.2,-11.3,198,5011,0.12,1.98,0.00,0.000,6,0.150,0.029,2597,2607,3495
$GC,5277,-0.88,-146.0,670.4,-8.9,205,5281,0.00,2.10,0.00,0.000,4,0.000,0.033,2607,1230,3494
$GC,5296,-0.88,-146.0,672.2,-8.5,205,5300,0.00,2.40,0.00,0.000,6,0.000,0.060,2601,2651,3494
$GC,5566,-0.88,-146.0,691.8,-7.2,212,5570,0.00,2.12,0.00,0.000,4,0.000,0.070,2591,3895,3491
$GC,5615,-0.88,-146.0,695.7,-7.7,213,5619,0.00,1.92,0.00,0.000,6,0.000,0.028,2593,2625,3491
$GC,5908,-0.88,-146.0,718.1,-7.6,220,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2618,3490
$GC,6152,-0.88,-146.0,735.1,-6.8,226,6155,0.00,2.25,0.00,0.000,4,0.000,0.072,2587,3899,3489
$GC,6200,-0.88,-146.0,738.1,-6.0,227,6204,0.00,1.95,0.00,0.000,6,0.000,0.028,2587,2627,3488
$GC,6494,-0.88,-146.0,757.2,-6.6,234,6498,0.00,2.22,0.00,0.000,4,0.000,0.072,2579,3894,3487
$GC,6525,-0.88,-146.0,759.4,-7.0,234,6529,0.00,1.92,0.00,0.000,6,0.000,0.029,2579,2650,3486
$GC,6790,-0.88,-146.0,779.3,-7.6,241,6794,0.00,2.17,0.00,0.000,4,0.000,0.033,2579,1234,3486
$GC,6827,-0.88,-146.0,782.5,-7.7,241,6831,0.00,2.40,0.00,0.000,6,0.000,0.061,2577,2639,3485
$STATE,7076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7076,begin apogee
$GC,7088,-0.32,0.0,802.8,8.2,247,7215,0.65,0.00,123.80,1.229,6,0.127,0.000,2769,2467,2921
$STATE,7216,end apogee,CONTROL_FINISHED_OK
$STATE,7216,begin climb
$GC,7221,0.88,146.0,806.6,0.0,250,7380,1.08,2.58,140.45,1.179,4,0.041,0.064,3172,3874,2324
$GC,7389,0.88,146.0,791.3,27.5,254,7393,0.00,2.35,0.00,0.000,6,0.000,0.029,3182,2465,2321
$GC,7676,0.88,146.0,707.7,28.7,261,7679,0.00,2.17,0.00,0.000,4,0.000,0.033,3193,1038,2313
$GC,7694,0.88,146.0,701.9,28.7,261,7699,0.00,2.33,0.00,0.000,6,0.000,0.051,3192,2461,2312
$GC,7964,0.88,146.0,628.2,27.2,268,7968,0.00,2.17,0.00,0.000,4,0.000,0.031,3201,1038,2310
$GC,8044,0.88,146.0,607.2,24.7,269,8049,0.17,2.33,0.00,0.000,6,0.222,0.049,3166,2466,2309
$GC,8296,0.88,146.0,544.1,25.4,275,8300,0.00,2.20,0.00,0.000,4,0.000,0.031,3174,1028,2308
$GC,8417,0.88,146.0,515.9,22.8,277,8421,0.00,2.35,0.00,0.000,6,0.000,0.048,3174,2466,2307
$GC,8674,0.88,146.0,453.3,24.8,284,8678,0.00,2.20,0.00,0.000,4,0.000,0.030,3184,1028,2306
$GC,8689,0.88,146.0,450.1,24.0,284,8694,0.00,2.35,0.00,0.000,6,0.000,0.046,3176,2471,2306
$GC,8965,0.88,146.0,384.9,23.8,291,8969,0.00,2.20,0.00,0.000,4,0.000,0.030,3184,1035,2305
$GC,9052,0.88,146.0,366.3,21.7,292,9058,0.00,2.33,0.00,0.000,6,0.000,0.044,3178,2460,2305
$GC,9304,0.88,146.0,313.4,21.0,299,9308,0.00,2.20,0.00,0.000,4,0.000,0.031,3187,1033,2304
$GC,9566,0.88,146.0,267.4,15.0,304,9570,0.00,2.33,0.00,0.000,6,0.000,0.046,3187,2460,2304
$GC,9825,0.88,146.0,223.6,17.4,311,9828,0.00,2.17,0.00,0.000,4,0.000,0.030,3197,1034,2303
$GC,9855,0.88,146.0,219.1,14.3,311,9859,0.00,2.30,0.00,0.000,6,0.000,0.042,3191,2465,2303
$GC,10115,0.88,146.0,179.7,16.4,326,10119,0.00,2.20,0.00,0.000,4,0.000,0.030,3200,1028,2303
$GC,10367,0.88,146.0,141.5,14.2,348,10376,0.12,2.35,0.00,0.000,6,0.206,0.044,3172,2451,2303
$GC,10638,0.88,146.0,108.7,10.4,373,10641,0.00,2.15,0.00,0.000,4,0.000,0.028,3180,1030,2303
$GC,10675,0.88,146.0,104.0,10.9,376,10680,0.00,2.33,0.00,0.000,6,0.000,0.043,3178,2473,2303
$GC,10946,0.91,171.9,76.1,8.8,400,10973,0.00,2.22,19.77,0.657,4,0.000,0.028,3187,1022,2219
$GC,11107,0.91,171.9,55.4,14.1,413,11116,0.00,2.35,0.00,0.000,6,0.000,0.046,3188,2456,2217
$GC,11378,0.91,171.9,21.0,15.2,443,11386,0.00,2.17,0.00,0.000,4,0.000,0.027,3197,1034,2217
$GC,11399,0.91,171.9,17.3,14.5,445,11407,0.00,2.33,0.00,0.000,6,0.000,0.043,3192,2462,2217
$STATE,11488,end climb,SURFACE_DEPTH_REACHED
$STATE,11488,begin surface coast
$FINISH,0.3,1.023865
$STATE,11505,end surface coast,CONTROL_FINISHED_OK
$STATE,11505,begin surface
$SM_CCo,11533,102.47,0.607,0,0,1370,380.21
$SM_GC,1.43,0.00,0.00,102.47,0.000,0.000,0.607,38,2669,1370,-8.88,0.82,380.21
$IRIDIUM_FIX,2230.01,-15803.24,140600,131315
$TT8_MAMPS,0.023777
$HUMID,1921
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,22.7,134.968
$10V_AH,10.5,80.980
$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,21.975,139.475,284.025,102.475,0.000,31.682,33.355,523.396,0.750,0.000,0.000,26.385,1019.688,7988.357,487.889,1792.880,1122.632,33.376,1277.431,0.000,1760.212,0.000,0.543,0.000
$DEVICE_MAMPS,225.498,72.098,1228.734,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,314.784,665.614,684.687,150.339,615.167,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38213,464
$CAP_FILE_SIZE,103511,0
$CFSIZE,260165632,220643328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,1,1
$GPS,210311,200654,2235.999,-15802.146,30,1.0,47,10.0