version: 66.04
glider: 512
mission: 1
dive: 672
start: 2 9 111 17 49 30
data:
$ID,512
$MISSION,1
$DIVE,672
$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,-20517.014
$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,51
$R_STBD_OVSHOOT,73
$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
$GPS1,173602,2252.438,-15753.979,7,2.0,8,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-75.0
$GPS2,174838,2252.418,-15753.972,17,1.9,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.128,-0.222
$KALMAN_X,-208488.0,1023.2,275.1,236526.0,-1955.9
$KALMAN_Y,-560574.9,597.6,-440.4,694048.2,2227.0
$MHEAD_RNG_PITCHd_Wd,139.9,11976,-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,-45.35,0.000,2,0.000,0.000,28,2749,2892
$GC,68,-0.85,-146.0,3.1,-4.3,6,109,10.68,2.20,-18.25,0.000,4,0.222,0.039,2593,1293,3758
$GC,166,-0.85,-146.0,26.7,-20.7,21,174,0.00,2.28,0.00,0.000,6,0.000,0.068,2589,2639,3760
$GC,433,-0.85,-146.0,98.9,-24.7,47,437,0.00,1.95,0.00,0.000,4,0.000,0.064,2580,3843,3761
$GC,463,-0.85,-146.0,106.2,-22.9,49,470,0.00,1.70,0.00,0.000,6,0.000,0.022,2580,2687,3761
$GC,727,-0.85,-146.0,160.3,-18.8,74,730,0.00,2.03,0.00,0.000,4,0.000,0.024,2580,1287,3762
$GC,796,-0.85,-146.0,170.5,-11.2,80,800,0.00,2.22,0.00,0.000,6,0.000,0.067,2576,2641,3762
$GC,1055,-0.85,-146.0,215.9,-18.9,98,1058,0.00,1.95,0.00,0.000,4,0.000,0.069,2567,3841,3762
$GC,1101,-0.85,-146.0,224.5,-16.9,99,1106,0.08,1.67,0.00,0.000,6,0.143,0.022,2592,2699,3762
$GC,1392,-0.85,-146.0,265.5,-13.9,106,1395,0.00,2.05,0.00,0.000,4,0.000,0.029,2601,1302,3763
$GC,1449,-0.85,-146.0,272.1,-9.3,107,1453,0.00,2.20,0.00,0.000,6,0.000,0.064,2593,2653,3763
$GC,1722,-0.85,-146.0,306.4,-13.0,114,1726,0.00,2.05,0.00,0.000,4,0.000,0.076,2583,3892,3763
$GC,1768,-0.85,-146.0,312.2,-11.5,115,1772,0.00,1.73,0.00,0.000,6,0.000,0.023,2583,2693,3763
$GC,2059,-0.85,-146.0,351.0,-13.5,122,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2686,3762
$GC,2304,-0.85,-146.0,381.1,-12.4,128,2308,0.00,2.08,0.00,0.000,4,0.000,0.031,2583,1300,3761
$GC,2316,-0.85,-146.0,383.1,-12.5,128,2320,0.00,2.28,0.00,0.000,6,0.000,0.061,2576,2698,3762
$GC,2589,-0.85,-146.0,417.4,-12.6,135,2592,0.00,2.05,0.00,0.000,4,0.000,0.028,2576,1304,3760
$GC,2629,-0.85,-146.0,422.5,-11.6,135,2636,0.00,2.33,0.00,0.000,6,0.000,0.064,2576,2706,3760
$GC,2880,-0.85,-146.0,453.0,-12.4,142,2884,0.00,1.95,0.00,0.000,4,0.000,0.072,2567,3891,3759
$GC,2908,-0.85,-146.0,456.7,-11.9,142,2913,0.12,1.73,0.00,0.000,6,0.141,0.025,2600,2704,3758
$GC,3172,-0.85,-146.0,479.2,-8.6,149,3175,0.00,2.08,0.00,0.000,4,0.000,0.028,2609,1295,3756
$GC,3229,-0.85,-146.0,484.1,-8.0,150,3233,0.00,2.28,0.00,0.000,6,0.000,0.059,2601,2702,3756
$GC,3502,-0.85,-146.0,507.4,-8.7,157,3506,0.00,1.98,0.00,0.000,4,0.000,0.077,2592,3887,3754
$GC,3538,-0.85,-146.0,510.5,-8.6,157,3542,0.00,1.75,0.00,0.000,6,0.000,0.026,2598,2695,3753
$GC,3797,-0.85,-146.0,532.6,-8.7,164,3801,0.00,2.08,0.00,0.000,4,0.000,0.030,2608,1297,3752
$GC,3837,-0.85,-146.0,536.4,-8.8,164,3844,0.00,2.28,0.00,0.000,6,0.000,0.059,2599,2700,3752
$GC,4090,-0.85,-146.0,557.3,-8.4,171,4094,0.00,2.00,0.00,0.000,4,0.000,0.077,2590,3895,3749
$GC,4108,-0.85,-146.0,559.0,-8.5,171,4111,0.00,1.77,0.00,0.000,6,0.000,0.026,2596,2685,3749
$GC,4382,-0.85,-146.0,580.1,-7.7,178,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2679,3748
$GC,4625,-0.85,-146.0,597.4,-7.1,184,4629,0.00,2.05,0.00,0.000,4,0.000,0.031,2606,1303,3747
$GC,4643,-0.85,-146.0,598.9,-7.2,184,4647,0.00,2.28,0.00,0.000,6,0.000,0.059,2597,2710,3747
$STATE,4662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4662,begin apogee
$GC,4671,-0.32,0.0,600.3,6.3,184,4798,0.52,0.00,123.47,1.081,6,0.129,0.000,2765,2620,3161
$STATE,4799,end apogee,CONTROL_FINISHED_OK
$STATE,4799,begin climb
$GC,4803,0.85,146.0,605.5,0.0,188,4940,1.12,2.28,128.15,1.025,4,0.096,0.035,3150,1229,2564
$GC,4951,1.03,289.0,614.7,3.3,191,5083,0.20,2.33,126.12,1.029,6,0.131,0.054,3203,2630,1981
$GC,5339,1.03,289.0,486.5,37.6,201,5343,0.00,2.12,0.00,0.000,4,0.000,0.035,3214,1236,1972
$GC,5435,1.03,289.0,452.7,33.2,203,5439,0.00,2.22,0.00,0.000,6,0.000,0.052,3205,2624,1970
$GC,5715,1.03,289.0,353.6,36.1,210,5719,0.00,2.12,0.00,0.000,4,0.000,0.034,3214,1227,1969
$GC,5928,1.03,289.0,281.7,30.2,214,5932,0.00,2.22,0.00,0.000,6,0.000,0.052,3205,2625,1967
$GC,6187,1.03,289.0,199.9,31.9,221,6191,0.00,2.10,0.00,0.000,4,0.000,0.030,3214,1219,1966
$GC,6249,1.03,289.0,179.5,29.2,226,6257,0.00,2.25,0.00,0.000,6,0.000,0.051,3214,2618,1965
$GC,6514,1.03,289.0,101.0,27.8,251,6518,0.00,2.08,0.00,0.000,4,0.000,0.028,3223,1216,1964
$GC,6611,1.03,289.0,72.8,25.1,259,6619,0.00,2.22,0.00,0.000,6,0.000,0.044,3218,2623,1964
$STATE,6864,end climb,SURFACE_DEPTH_REACHED
$STATE,6864,begin surface coast
$FINISH,0.2,1.024008
$STATE,6872,end surface coast,CONTROL_FINISHED_OK
$STATE,6873,begin surface
$SM_CCo,6895,29.33,0.609,0,0,1732,350.04
$SM_GC,1.01,0.00,0.00,29.33,0.000,0.000,0.609,45,2752,1732,-8.85,1.47,350.04
$IRIDIUM_FIX,2241.69,-15754.11,050500,171759
$TT8_MAMPS,0.023777
$HUMID,1960
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,19.40
$XPDR_PINGS,4
$24V_AH,23.6,88.888
$10V_AH,10.7,49.376
$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,21.250,79.100,377.750,29.325,0.000,54.645,71.975,420.874,1.000,0.000,0.000,17.281,648.017,4664.071,426.568,1126.282,820.738,33.364,957.616,0.000,1115.083,0.000,0.542,0.000
$DEVICE_MAMPS,222.430,77.467,1081.470,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,196.977,431.731,445.993,97.382,399.677,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22391,292
$CAP_FILE_SIZE,69767,0
$CFSIZE,260165632,235433984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,090211,194627,2251.552,-15753.595,27,2.6,47,10.1