version: 66.04
glider: 512
mission: 1
dive: 1039
start: 3 24 111 9 16 22
data:
$ID,512
$MISSION,1
$DIVE,1039
$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,-28504.703
$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,30
$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,15
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2880
$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
$GPS1,090731,2223.373,-15802.916,40,1.7,41,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-65.3
$GPS2,091526,2223.413,-15803.021,13,1.5,13,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SIX
$TGT_LATLONG,2143.800,-15810.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.031,-0.258
$KALMAN_X,-469504.9,170.0,752.1,482332.2,-3730.0
$KALMAN_Y,-620799.3,-544.2,181.9,701068.0,3448.1
$MHEAD_RNG_PITCHd_Wd,176.8,74483,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,80,0.00,0.00,-60.28,0.000,2,0.000,0.000,32,2664,2910
$GC,86,-0.76,-146.0,3.5,-6.8,8,119,11.10,2.25,-11.25,0.000,4,0.233,0.040,2633,1197,3478
$GC,245,-0.76,-146.0,31.9,-11.9,33,249,0.00,2.40,0.00,0.000,6,0.000,0.058,2627,2635,3480
$GC,517,-0.76,-146.0,78.4,-17.4,58,521,0.00,2.08,0.00,0.000,4,0.000,0.059,2617,3900,3480
$GC,591,-0.76,-146.0,89.8,-11.9,64,600,0.00,1.95,0.00,0.000,6,0.000,0.024,2618,2607,3481
$GC,857,-0.76,-146.0,125.8,-14.4,89,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2601,3482
$GC,1122,-0.76,-146.0,161.4,-13.9,114,1126,0.00,2.05,0.00,0.000,4,0.000,0.026,2629,1224,3483
$GC,1185,-0.76,-146.0,169.2,-9.7,119,1192,0.00,2.33,0.00,0.000,6,0.000,0.047,2619,2644,3484
$GC,1468,-0.76,-146.0,205.5,-13.2,143,1472,0.00,2.05,0.00,0.000,4,0.000,0.058,2610,3895,3484
$GC,1555,-0.76,-146.0,216.5,-11.7,144,1561,0.00,1.88,0.00,0.000,6,0.000,0.023,2613,2622,3483
$GC,1809,-0.76,-146.0,244.7,-10.8,151,1812,0.00,2.05,0.00,0.000,4,0.000,0.025,2624,1241,3484
$GC,1857,-0.76,-146.0,248.9,-7.4,152,1861,0.00,2.28,0.00,0.000,6,0.000,0.048,2619,2645,3484
$GC,2145,-0.76,-146.0,276.7,-10.5,159,2149,0.00,2.10,0.00,0.000,4,0.000,0.025,2625,1239,3484
$GC,2187,-0.76,-146.0,281.3,-8.9,159,2193,0.00,2.28,0.00,0.000,6,0.000,0.048,2619,2642,3484
$GC,2441,-0.76,-146.0,305.0,-9.2,166,2445,0.00,2.08,0.00,0.000,4,0.000,0.059,2610,3895,3483
$GC,2478,-0.76,-146.0,308.7,-9.3,166,2481,0.00,1.85,0.00,0.000,6,0.000,0.023,2613,2639,3483
$GC,2738,-0.76,-146.0,333.5,-10.1,173,2742,0.00,2.08,0.00,0.000,4,0.000,0.026,2618,1243,3482
$GC,2774,-0.76,-146.0,337.6,-10.1,173,2778,0.00,2.28,0.00,0.000,6,0.000,0.048,2609,2641,3482
$GC,3032,-0.76,-146.0,366.1,-11.1,180,3036,0.00,2.08,0.00,0.000,4,0.000,0.060,2600,3893,3480
$GC,3096,-0.76,-146.0,372.7,-9.8,181,3100,0.00,1.88,0.00,0.000,6,0.000,0.024,2607,2629,3480
$GC,3372,-0.76,-146.0,394.9,-7.7,188,3376,0.00,2.17,0.00,0.000,4,0.000,0.061,2599,3903,3479
$GC,3425,-0.76,-146.0,399.1,-6.8,189,3429,0.00,1.90,0.00,0.000,6,0.000,0.025,2606,2639,3478
$GC,3713,-0.76,-146.0,422.1,-8.4,196,3717,0.00,2.10,0.00,0.000,4,0.000,0.029,2616,1235,3477
$GC,3733,-0.76,-146.0,424.2,-8.7,196,3737,0.00,2.30,0.00,0.000,6,0.000,0.052,2608,2635,3477
$GC,4009,-0.76,-146.0,447.2,-8.5,203,4013,0.00,2.12,0.00,0.000,4,0.000,0.065,2598,3897,3475
$GC,4090,-0.76,-146.0,454.6,-8.5,204,4094,0.00,1.90,0.00,0.000,6,0.000,0.025,2606,2631,3474
$GC,4350,-0.76,-146.0,476.1,-8.2,211,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2623,3473
$GC,4592,-0.76,-146.0,495.0,-7.8,217,4596,0.00,2.10,0.00,0.000,4,0.000,0.030,2616,1239,3472
$GC,4641,-0.76,-146.0,498.8,-7.3,218,4645,0.00,2.33,0.00,0.000,6,0.000,0.053,2608,2644,3471
$GC,4927,-0.76,-146.0,522.9,-8.6,225,4931,0.00,2.10,0.00,0.000,4,0.000,0.065,2598,3894,3469
$GC,4979,-0.76,-146.0,527.7,-8.7,226,4983,0.00,1.90,0.00,0.000,6,0.000,0.026,2605,2635,3469
$GC,5266,-0.76,-146.0,552.3,-8.6,233,5270,0.00,2.20,0.00,0.000,4,0.000,0.065,2597,3903,3467
$GC,5291,-0.76,-146.0,554.6,-8.9,233,5294,0.00,1.92,0.00,0.000,6,0.000,0.027,2605,2637,3467
$GC,5561,-0.76,-146.0,575.4,-7.4,240,5565,0.00,2.17,0.00,0.000,4,0.000,0.064,2598,3894,3465
$GC,5603,-0.76,-146.0,578.6,-7.1,240,5609,0.00,1.92,0.00,0.000,6,0.000,0.027,2605,2642,3465
$GC,5856,-0.76,-146.0,594.8,-6.4,247,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2635,3463
$GC,6101,-0.76,-146.0,610.8,-6.6,253,6105,0.00,2.20,0.00,0.000,4,0.000,0.067,2597,3904,3462
$GC,6132,-0.76,-146.0,613.4,-7.9,253,6136,0.00,1.95,0.00,0.000,6,0.000,0.028,2605,2625,3461
$GC,6396,-0.76,-146.0,631.4,-6.8,260,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2618,3460
$GC,6640,-0.76,-146.0,647.3,-6.4,266,6644,0.00,2.22,0.00,0.000,4,0.000,0.067,2597,3900,3459
$GC,6704,-0.76,-146.0,651.9,-6.9,267,6708,0.00,1.95,0.00,0.000,6,0.000,0.028,2605,2622,3458
$GC,6982,-0.76,-146.0,668.1,-5.9,274,6985,0.00,2.12,0.00,0.000,4,0.000,0.031,2615,1231,3457
$GC,7025,-0.76,-146.0,670.7,-5.0,274,7031,0.00,2.38,0.00,0.000,6,0.000,0.054,2606,2648,3457
$GC,7279,-0.76,-146.0,684.4,-5.5,281,7282,0.00,2.12,0.00,0.000,4,0.000,0.066,2597,3896,3456
$GC,7321,-0.76,-146.0,687.2,-6.1,281,7328,0.10,1.92,0.00,0.000,6,0.130,0.026,2632,2622,3456
$GC,7574,-0.76,-146.0,698.9,-4.6,288,7578,0.00,2.10,0.00,0.000,4,0.000,0.031,2632,1244,3454
$GC,7644,-0.76,-146.0,703.0,-6.1,289,7648,0.00,2.35,0.00,0.000,6,0.000,0.054,2632,2643,3454
$GC,7911,-0.76,-146.0,721.3,-7.4,296,7915,0.00,2.17,0.00,0.000,4,0.000,0.071,2632,3903,3454
$GC,7953,-0.76,-146.0,725.0,-8.2,296,7959,0.00,1.95,0.00,0.000,6,0.000,0.028,2632,2616,3453
$GC,8207,-0.76,-146.0,744.7,-8.0,303,8211,0.00,2.10,0.00,0.000,4,0.000,0.032,2638,1256,3453
$GC,8469,-0.76,-146.0,765.1,-7.6,308,8473,0.00,2.35,0.00,0.000,6,0.000,0.057,2638,2646,3452
$GC,8727,-0.76,-146.0,783.8,-7.3,315,8730,0.00,2.15,0.00,0.000,4,0.000,0.068,2638,3895,3451
$STATE,8938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8938,begin apogee
$GC,8952,-0.27,0.0,800.2,8.6,319,9083,0.43,0.00,125.88,1.241,6,0.086,0.000,2786,2473,2880
$STATE,9084,end apogee,CONTROL_FINISHED_OK
$STATE,9084,begin climb
$GC,9090,0.76,146.0,807.9,0.0,323,9346,0.95,2.60,170.43,1.026,4,0.045,0.061,3124,3875,2283
$GC,9501,0.76,146.0,734.7,26.5,332,9505,0.00,2.22,0.00,0.000,6,0.000,0.030,3132,2469,2278
$GC,9765,0.76,146.0,668.5,24.5,339,9769,0.00,2.20,0.00,0.000,4,0.000,0.034,3143,1033,2275
$GC,9859,0.76,146.0,647.6,21.7,341,9863,0.00,2.33,0.00,0.000,6,0.000,0.049,3137,2468,2274
$GC,10150,0.76,146.0,576.1,24.6,348,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2469,2272
$GC,10394,0.76,146.0,514.3,25.3,354,10398,0.00,2.20,0.00,0.000,4,0.000,0.031,3146,1037,2271
$GC,10559,0.76,146.0,476.2,22.1,357,10563,0.00,2.30,0.00,0.000,6,0.000,0.048,3146,2459,2271
$GC,10823,0.76,146.0,416.5,23.0,364,10824,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2459,2270
$GC,11067,0.76,146.0,362.6,22.3,370,11070,0.00,2.20,0.00,0.000,4,0.000,0.031,3155,1035,2269
$GC,11126,0.76,146.0,350.4,20.6,371,11130,0.00,2.35,0.00,0.000,6,0.000,0.047,3151,2470,2269
$GC,11406,0.76,146.0,292.2,19.9,378,11410,0.00,2.33,0.00,0.000,4,0.000,0.054,3150,3873,2268
$GC,11442,0.76,146.0,284.9,19.9,378,11449,0.15,2.20,0.00,0.000,6,0.230,0.029,3130,2448,2268
$GC,11695,0.76,146.0,244.2,15.5,385,11699,0.00,2.12,0.00,0.000,4,0.000,0.031,3140,1047,2267
$GC,11956,0.76,146.0,203.8,14.2,390,11961,0.00,2.33,0.00,0.000,6,0.000,0.048,3137,2463,2267
$GC,12222,0.76,146.0,166.3,13.5,411,12229,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2463,2267
$GC,12486,0.76,146.0,130.8,12.0,436,12494,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2463,2267
$GC,12753,0.76,146.0,100.7,10.9,461,12759,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2463,2267
$GC,13019,0.78,161.7,73.6,9.3,486,13036,0.00,2.20,12.23,0.637,4,0.000,0.029,3147,1022,2220
$GC,13289,0.79,170.0,43.7,9.6,510,13304,0.00,2.33,8.93,0.577,6,0.000,0.042,3146,2471,2186
$GC,13562,0.79,170.0,5.5,13.3,550,13570,0.00,2.17,0.00,0.000,4,0.000,0.026,3155,1036,2184
$STATE,13576,end climb,SURFACE_DEPTH_REACHED
$STATE,13577,begin surface coast
$FINISH,0.4,1.019806
$STATE,13599,end surface coast,CONTROL_FINISHED_OK
$STATE,13599,begin surface
$SM_CCo,13630,107.65,0.608,0,0,1330,380.21
$SM_GC,1.35,0.00,0.00,107.65,0.000,0.000,0.608,43,2650,1330,-8.85,0.28,380.21
$IRIDIUM_FIX,2213.68,-15819.27,170600,050534
$TT8_MAMPS,0.023777
$HUMID,1872
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,22.1,137.898
$10V_AH,10.5,82.924
$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,21.250,138.050,317.450,107.650,0.000,25.380,39.718,214.541,0.000,0.000,0.000,13.172,1196.892,9396.723,561.419,2180.419,874.718,33.375,1500.867,0.000,2160.412,0.000,0.542,0.000
$DEVICE_MAMPS,233.168,70.564,1241.006,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,377.197,802.328,829.103,176.323,726.394,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44654,556
$CAP_FILE_SIZE,113587,0
$CFSIZE,260165632,219680768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,15,0
$GPS,240311,130637,2222.782,-15804.020,28,1.2,28,10.0