version: 66.04
glider: 512
mission: 1
dive: 957
start: 3 14 111 2 12 19
data:
$ID,512
$MISSION,1
$DIVE,957
$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,-26616.129
$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,51
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3000
$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
$GPS1,020437,2255.595,-15755.359,33,1.2,34,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.2
$GPS2,021126,2255.642,-15755.343,14,1.3,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.251,-0.054
$KALMAN_X,-381556.3,117.7,453.7,407963.1,-3159.8
$KALMAN_Y,-664276.1,-353.1,96.5,804117.3,184.1
$MHEAD_RNG_PITCHd_Wd,92.0,3976,-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,18,-0.85,-146.0,0.0,0.0,0,72,0.00,0.00,-52.88,0.000,2,0.000,0.000,48,2674,2964
$GC,78,-0.85,-146.0,3.8,-5.9,7,111,11.20,2.00,-11.75,0.000,4,0.238,0.071,2586,3863,3598
$GC,173,-0.85,-146.0,36.6,-27.4,20,182,0.00,1.85,0.00,0.000,6,0.000,0.025,2592,2640,3600
$GC,439,-0.85,-146.0,105.1,-24.1,45,443,0.00,2.10,0.00,0.000,4,0.000,0.027,2603,1217,3601
$GC,479,-0.85,-146.0,114.6,-18.9,48,488,0.00,2.35,0.00,0.000,6,0.000,0.059,2593,2621,3602
$GC,746,-0.85,-146.0,164.6,-19.9,73,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2622,3603
$GC,1026,-0.85,-146.0,214.1,-16.8,94,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2622,3604
$GC,1270,-0.85,-146.0,252.0,-15.0,100,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2622,3604
$GC,1516,-0.85,-146.0,286.8,-13.9,106,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2622,3604
$GC,1757,-0.85,-146.0,317.8,-12.7,112,1761,0.00,2.08,0.00,0.000,4,0.000,0.026,2601,1210,3604
$GC,1781,-0.85,-146.0,320.8,-11.7,112,1786,0.00,2.35,0.00,0.000,6,0.000,0.054,2592,2650,3604
$GC,2045,-0.85,-146.0,351.4,-11.9,119,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2651,3603
$GC,2288,-0.85,-146.0,378.4,-11.0,125,2292,0.00,2.05,0.00,0.000,4,0.000,0.064,2581,3895,3602
$GC,2319,-0.85,-146.0,381.8,-11.3,125,2323,0.00,1.88,0.00,0.000,6,0.000,0.024,2589,2632,3602
$GC,2582,-0.85,-146.0,410.3,-11.3,132,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2624,3600
$GC,2826,-0.85,-146.0,438.4,-11.2,138,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2624,3599
$GC,3069,-0.85,-146.0,465.5,-11.0,144,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2624,3597
$GC,3313,-0.85,-146.0,491.4,-10.6,150,3317,0.00,2.12,0.00,0.000,4,0.000,0.064,2581,3893,3595
$GC,3343,-0.85,-146.0,494.6,-11.1,150,3346,0.00,1.85,0.00,0.000,6,0.000,0.025,2589,2638,3595
$GC,3608,-0.85,-146.0,522.3,-10.6,157,3611,0.00,2.08,0.00,0.000,4,0.000,0.028,2599,1241,3593
$GC,3632,-0.85,-146.0,525.3,-11.2,157,3636,0.00,2.30,0.00,0.000,6,0.000,0.055,2589,2638,3593
$GC,3895,-0.85,-146.0,552.1,-10.3,164,3899,0.00,2.10,0.00,0.000,4,0.000,0.069,2580,3892,3591
$GC,3944,-0.85,-146.0,557.1,-9.5,165,3947,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2639,3590
$GC,4235,-0.85,-146.0,586.7,-10.2,172,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2632,3589
$STATE,4394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4394,begin apogee
$GC,4405,-0.32,0.0,602.9,10.0,176,4531,0.62,0.00,122.72,1.063,6,0.146,0.000,2767,2476,3000
$STATE,4531,end apogee,CONTROL_FINISHED_OK
$STATE,4531,begin climb
$GC,4537,0.85,146.0,608.3,0.0,179,4675,1.12,2.28,129.12,1.045,4,0.081,0.031,3162,1041,2404
$GC,4737,0.85,146.0,596.6,22.8,183,4741,0.00,2.30,0.00,0.000,6,0.000,0.046,3162,2466,2398
$GC,5000,0.85,146.0,535.6,23.1,190,5004,0.00,2.17,0.00,0.000,4,0.000,0.029,3172,1020,2393
$GC,5041,0.85,146.0,526.4,22.3,190,5049,0.00,2.33,0.00,0.000,6,0.000,0.045,3165,2460,2393
$GC,5293,0.85,146.0,471.3,21.4,197,5297,0.00,2.15,0.00,0.000,4,0.000,0.029,3174,1023,2391
$GC,5379,0.85,146.0,453.7,20.6,198,5386,0.00,2.33,0.00,0.000,6,0.000,0.048,3174,2472,2389
$GC,5632,0.85,146.0,403.3,20.0,205,5636,0.00,2.15,0.00,0.000,4,0.000,0.028,3184,1035,2388
$GC,5645,0.85,146.0,400.4,19.9,205,5649,0.00,2.28,0.00,0.000,6,0.000,0.042,3176,2471,2388
$GC,5925,0.85,146.0,348.3,17.1,212,5928,0.00,2.28,0.00,0.000,4,0.000,0.053,3176,3875,2387
$GC,5945,0.85,146.0,344.7,16.8,212,5949,0.00,2.15,0.00,0.000,6,0.000,0.025,3185,2434,2386
$GC,6220,0.85,146.0,296.3,17.9,219,6224,0.12,2.08,0.00,0.000,4,0.257,0.028,3171,1057,2385
$GC,6362,0.85,146.0,274.2,14.5,222,6366,0.00,2.25,0.00,0.000,6,0.000,0.042,3163,2463,2385
$GC,6643,0.85,146.0,241.7,11.3,229,6647,0.00,2.28,0.00,0.000,4,0.000,0.051,3163,3873,2384
$GC,6719,0.85,146.0,233.0,12.5,230,6723,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2456,2382
$GC,6982,0.85,146.0,204.7,10.6,237,6986,0.00,2.10,0.00,0.000,4,0.000,0.028,3182,1046,2382
$GC,7122,0.85,146.0,189.1,10.8,246,7126,0.00,2.22,0.00,0.000,6,0.000,0.041,3176,2462,2382
$GC,7387,0.88,164.1,163.8,8.8,270,7405,0.00,2.15,13.20,0.716,4,0.000,0.026,3184,1037,2329
$GC,7433,0.88,164.1,158.6,13.1,273,7437,0.00,2.25,0.00,0.000,6,0.000,0.040,3176,2469,2328
$GC,7699,0.88,164.1,125.2,11.7,297,7703,0.00,2.10,0.00,0.000,4,0.000,0.025,3184,1050,2327
$GC,7716,0.88,164.1,123.1,12.3,298,7720,0.00,2.22,0.00,0.000,6,0.000,0.039,3176,2471,2328
$GC,7980,0.89,172.0,94.5,9.3,322,7995,0.00,2.15,8.38,0.603,4,0.000,0.025,3185,1034,2298
$GC,8161,0.89,172.0,75.5,10.9,337,8165,0.00,2.22,0.00,0.000,6,0.000,0.038,3176,2463,2297
$GC,8427,0.93,208.0,50.5,8.0,361,8466,0.00,2.28,31.38,0.624,4,0.000,0.048,3176,3867,2152
$GC,8601,0.93,208.0,22.2,20.6,378,8609,0.00,2.12,0.00,0.000,6,0.000,0.024,3185,2458,2151
$STATE,8704,end climb,SURFACE_DEPTH_REACHED
$STATE,8704,begin surface coast
$FINISH,0.5,1.023556
$STATE,8722,end surface coast,CONTROL_FINISHED_OK
$STATE,8722,begin surface
$SM_CCo,8749,78.50,0.601,0,0,1572,350.04
$SM_GC,1.65,0.00,0.00,78.50,0.000,0.000,0.601,48,2653,1572,-8.85,0.37,350.04
$IRIDIUM_FIX,2248.70,-15758.45,060600,232349
$TT8_MAMPS,0.023777
$HUMID,1882
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.6,124.719
$10V_AH,10.6,74.674
$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,22.025,82.425,304.800,78.500,0.000,24.180,42.083,178.915,0.000,0.000,0.000,14.639,818.974,5959.975,429.550,1404.329,627.427,33.380,1017.493,0.000,1399.671,0.000,0.542,0.000
$DEVICE_MAMPS,256.945,71.331,1063.062,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,270.250,636.381,653.137,141.522,580.430,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32157,400
$CAP_FILE_SIZE,71545,0
$CFSIZE,260165632,223404032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,140311,044046,2255.255,-15754.313,9,3.3,29,10.1