version: 66.04
glider: 512
mission: 1
dive: 1041
start: 3 24 111 17 5 11
data:
$ID,512
$MISSION,1
$DIVE,1041
$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,-28540.215
$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,81
$R_STBD_OVSHOOT,32
$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
$GPS1,165654,2222.409,-15804.105,25,1.5,43,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.1
$GPS2,170419,2222.457,-15804.147,12,1.6,17,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SIX
$TGT_LATLONG,2143.800,-15810.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.078,-0.248
$KALMAN_X,-471353.4,1.2,-311.1,483495.4,-1050.0
$KALMAN_Y,-614490.4,-295.4,-351.4,693285.2,5228.0
$MHEAD_RNG_PITCHd_Wd,152.6,72422,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.76,-146.0,0.0,0.0,0,77,0.00,0.00,-52.78,0.000,2,0.000,0.000,32,2663,2694
$GC,83,-0.76,-146.0,3.1,-5.4,7,117,10.77,2.20,-17.55,0.000,4,0.223,0.044,2631,1262,3477
$GC,191,-0.76,-146.0,22.5,-12.9,24,199,0.00,2.25,0.00,0.000,6,0.000,0.051,2622,2619,3479
$GC,459,-0.76,-146.0,73.3,-17.7,53,463,0.00,2.12,0.00,0.000,4,0.000,0.059,2613,3907,3480
$GC,540,-0.76,-146.0,88.6,-16.0,60,544,0.00,1.85,0.00,0.000,6,0.000,0.024,2615,2658,3480
$GC,812,-0.76,-146.0,134.0,-16.2,85,816,0.00,2.12,0.00,0.000,4,0.000,0.027,2626,1232,3481
$GC,884,-0.76,-146.0,143.5,-10.5,91,889,0.00,2.33,0.00,0.000,6,0.000,0.049,2619,2654,3481
$GC,1151,-0.76,-146.0,175.5,-11.3,115,1155,0.00,2.05,0.00,0.000,4,0.000,0.060,2610,3897,3482
$GC,1191,-0.76,-146.0,180.1,-11.4,118,1194,0.00,1.85,0.00,0.000,6,0.000,0.022,2614,2636,3482
$GC,1486,-0.76,-146.0,214.2,-11.3,137,1490,0.00,2.05,0.00,0.000,4,0.000,0.025,2624,1240,3483
$GC,1557,-0.76,-146.0,221.0,-9.0,138,1561,0.00,2.28,0.00,0.000,6,0.000,0.047,2619,2647,3483
$GC,1820,-0.76,-146.0,249.6,-11.1,145,1824,0.00,2.05,0.00,0.000,4,0.000,0.058,2610,3893,3483
$GC,1895,-0.76,-146.0,257.3,-9.6,146,1899,0.00,1.85,0.00,0.000,6,0.000,0.022,2613,2630,3483
$GC,2159,-0.76,-146.0,284.2,-10.3,153,2163,0.00,2.05,0.00,0.000,4,0.000,0.025,2623,1242,3483
$GC,2185,-0.76,-146.0,287.1,-10.8,153,2190,0.00,2.28,0.00,0.000,6,0.000,0.050,2619,2638,3483
$GC,2449,-0.76,-146.0,313.0,-10.0,160,2453,0.00,2.08,0.00,0.000,4,0.000,0.058,2609,3902,3482
$GC,2513,-0.76,-146.0,319.4,-9.4,161,2517,0.00,1.88,0.00,0.000,6,0.000,0.023,2611,2648,3481
$GC,2791,-0.76,-146.0,345.2,-9.4,168,2795,0.00,2.10,0.00,0.000,4,0.000,0.028,2622,1243,3480
$GC,2833,-0.76,-146.0,349.0,-7.6,168,2839,0.00,2.33,0.00,0.000,6,0.000,0.054,2619,2649,3480
$GC,3086,-0.76,-146.0,371.2,-9.1,175,3090,0.00,2.05,0.00,0.000,4,0.000,0.059,2609,3895,3479
$GC,3195,-0.76,-146.0,381.0,-8.4,177,3199,0.00,1.85,0.00,0.000,6,0.000,0.023,2610,2649,3478
$GC,3470,-0.76,-146.0,405.1,-8.6,184,3474,0.00,2.12,0.00,0.000,4,0.000,0.028,2619,1234,3477
$GC,3519,-0.76,-146.0,408.9,-6.7,185,3523,0.00,2.30,0.00,0.000,6,0.000,0.051,2610,2643,3477
$GC,3805,-0.76,-146.0,433.9,-9.1,192,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2642,3475
$GC,4048,-0.76,-146.0,458.7,-10.3,198,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2642,3474
$GC,4292,-0.76,-146.0,480.4,-8.8,204,4296,0.00,2.10,0.00,0.000,4,0.000,0.064,2600,3893,3472
$GC,4350,-0.76,-146.0,485.7,-8.8,205,4354,0.00,1.88,0.00,0.000,6,0.000,0.025,2608,2643,3472
$GC,4632,-0.76,-146.0,507.9,-7.8,212,4636,0.00,2.15,0.00,0.000,4,0.000,0.063,2600,3898,3470
$GC,4664,-0.76,-146.0,510.7,-8.5,212,4668,0.00,1.90,0.00,0.000,6,0.000,0.025,2607,2631,3470
$GC,4928,-0.76,-146.0,533.6,-9.0,219,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2623,3468
$GC,5173,-0.76,-146.0,557.2,-9.9,225,5176,0.00,2.17,0.00,0.000,4,0.000,0.063,2600,3895,3467
$GC,5222,-0.76,-146.0,562.0,-9.7,226,5226,0.00,1.92,0.00,0.000,6,0.000,0.025,2607,2640,3466
$GC,5514,-0.76,-146.0,585.5,-7.3,233,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2633,3464
$GC,5757,-0.76,-146.0,600.7,-6.2,239,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2633,3463
$GC,6002,-0.76,-146.0,616.5,-6.6,245,6005,0.00,2.15,0.00,0.000,4,0.000,0.031,2617,1227,3461
$GC,6028,-0.76,-146.0,618.3,-6.8,245,6032,0.00,2.35,0.00,0.000,6,0.000,0.051,2609,2646,3461
$GC,6292,-0.76,-146.0,635.2,-6.4,252,6295,0.00,2.12,0.00,0.000,4,0.000,0.064,2599,3903,3459
$GC,6322,-0.76,-146.0,637.7,-7.6,252,6326,0.00,1.92,0.00,0.000,6,0.000,0.026,2606,2627,3459
$GC,6587,-0.76,-146.0,657.6,-7.8,259,6590,0.00,2.20,0.00,0.000,4,0.000,0.064,2598,3896,3458
$GC,6617,-0.76,-146.0,660.3,-8.9,259,6621,0.00,1.90,0.00,0.000,6,0.000,0.026,2604,2645,3457
$GC,6882,-0.76,-146.0,680.9,-7.7,266,6887,0.10,2.17,0.00,0.000,4,0.143,0.030,2634,1226,3457
$GC,6918,-0.76,-146.0,683.4,-7.0,266,6925,0.00,2.38,0.00,0.000,6,0.000,0.054,2633,2643,3457
$GC,7171,-0.76,-146.0,696.3,-4.8,273,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2644,3455
$GC,7416,-0.76,-146.0,709.1,-5.4,279,7420,0.00,2.17,0.00,0.000,4,0.000,0.030,2633,1235,3454
$GC,7555,-0.76,-146.0,717.2,-5.7,282,7560,0.00,2.38,0.00,0.000,6,0.000,0.054,2633,2644,3454
$GC,7848,-0.76,-146.0,735.4,-6.5,289,7851,0.00,2.17,0.00,0.000,4,0.000,0.030,2633,1232,3453
$GC,7986,-0.76,-146.0,744.4,-6.0,292,7990,0.00,2.38,0.00,0.000,6,0.000,0.054,2633,2643,3452
$GC,8273,-0.76,-146.0,762.0,-6.0,299,8276,0.00,2.17,0.00,0.000,4,0.000,0.030,2634,1237,3451
$GC,8303,-0.76,-146.0,764.0,-6.9,299,8307,0.00,2.38,0.00,0.000,6,0.000,0.054,2633,2647,3452
$GC,8562,-0.76,-146.0,777.3,-5.2,306,8565,0.00,2.15,0.00,0.000,4,0.000,0.069,2633,3897,3451
$GC,8576,-0.76,-146.0,778.0,-5.0,306,8579,0.00,1.92,0.00,0.000,6,0.000,0.026,2633,2626,3450
$GC,8857,-0.76,-146.0,790.6,-4.6,313,8860,0.00,2.10,0.00,0.000,4,0.000,0.031,2633,1250,3450
$GC,8926,-0.76,-146.0,794.1,-5.3,314,8931,0.00,2.33,0.00,0.000,6,0.000,0.054,2633,2639,3449
$STATE,9063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9063,begin apogee
$GC,9076,-0.27,0.0,801.3,5.2,318,9211,0.47,0.00,126.85,1.220,6,0.083,0.000,2791,2479,2880
$STATE,9211,end apogee,CONTROL_FINISHED_OK
$STATE,9211,begin climb
$GC,9217,0.76,146.0,807.4,0.0,321,9473,0.95,2.53,169.90,1.022,4,0.044,0.055,3135,3863,2283
$GC,9679,0.76,146.0,719.5,28.4,331,9683,0.00,2.20,0.00,0.000,6,0.000,0.028,3146,2459,2278
$GC,9931,0.76,146.0,650.9,26.8,337,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2452,2275
$GC,10176,0.76,146.0,586.8,26.8,343,10180,0.00,2.15,0.00,0.000,4,0.000,0.031,3156,1036,2274
$GC,10297,0.76,146.0,555.7,25.2,345,10301,0.00,2.30,0.00,0.000,6,0.000,0.045,3151,2461,2272
$GC,10554,0.76,146.0,488.5,26.3,352,10559,0.00,2.33,0.00,0.000,4,0.000,0.052,3150,3881,2271
$GC,10573,0.76,146.0,483.7,24.6,352,10578,0.15,2.20,0.00,0.000,6,0.238,0.028,3130,2455,2271
$GC,10837,0.76,146.0,424.5,22.6,359,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2449,2270
$GC,11080,0.76,146.0,373.8,20.1,365,11084,0.00,2.15,0.00,0.000,4,0.000,0.031,3140,1038,2270
$GC,11206,0.76,146.0,349.5,18.5,367,11210,0.00,2.30,0.00,0.000,6,0.000,0.045,3137,2461,2269
$GC,11459,0.76,146.0,297.3,20.9,373,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2461,2268
$GC,11702,0.76,146.0,253.3,18.2,379,11706,0.00,2.17,0.00,0.000,4,0.000,0.030,3147,1032,2268
$GC,11782,0.76,146.0,240.4,15.3,380,11786,0.00,2.33,0.00,0.000,6,0.000,0.045,3146,2463,2268
$GC,12035,0.76,146.0,199.2,17.3,386,12039,0.00,2.17,0.00,0.000,4,0.000,0.029,3156,1035,2268
$GC,12185,0.76,146.0,176.8,15.1,399,12189,0.00,2.33,0.00,0.000,6,0.000,0.044,3151,2472,2267
$GC,12455,0.76,146.0,136.9,16.5,424,12459,0.00,2.20,0.00,0.000,4,0.000,0.028,3159,1030,2268
$GC,12718,0.76,146.0,97.3,16.0,447,12723,0.15,2.30,0.00,0.000,6,0.202,0.041,3129,2463,2268
$GC,12989,0.76,146.0,66.1,10.3,471,12993,0.00,2.30,0.00,0.000,4,0.000,0.048,3124,3869,2268
$GC,13022,0.76,146.0,62.0,11.6,473,13026,0.00,2.17,0.00,0.000,6,0.000,0.025,3133,2438,2268
$GC,13294,0.78,163.1,38.4,9.2,498,13312,0.00,2.35,13.48,0.604,4,0.000,0.049,3134,3872,2215
$GC,13384,0.78,163.1,27.3,15.1,506,13392,0.00,2.17,0.00,0.000,6,0.000,0.024,3143,2455,2214
$STATE,13555,end climb,SURFACE_DEPTH_REACHED
$STATE,13555,begin surface coast
$FINISH,0.4,1.023938
$STATE,13573,end surface coast,CONTROL_FINISHED_OK
$STATE,13573,begin surface
$SM_CCo,13601,106.62,0.604,0,0,1328,380.21
$SM_GC,1.41,0.00,0.00,106.62,0.000,0.000,0.604,39,2651,1328,-8.87,0.31,380.21
$IRIDIUM_FIX,2211.35,-15759.37,170600,131341
$TT8_MAMPS,0.02301
$HUMID,1891
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,21.3,138.158
$10V_AH,10.5,83.143
$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,21.225,138.675,310.225,106.625,0.000,30.091,34.853,180.077,0.250,0.000,0.000,18.000,1171.433,9557.497,538.731,2043.185,837.745,33.363,1414.381,0.000,2024.210,0.000,0.543,0.000
$DEVICE_MAMPS,237.770,69.030,1219.530,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,367.685,762.271,786.889,171.310,698.608,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44535,540
$CAP_FILE_SIZE,112391,0
$CFSIZE,260165632,219561984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,35,16,0
$GPS,240311,205507,2222.027,-15804.320,38,1.7,38,10.0