version: 66.04
glider: 512
mission: 2
dive: 469
start: 9 26 111 0 38 9
data:
$ID,512
$MISSION,2
$DIVE,469
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,300
$T_MISSION,640
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$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,410
$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,-42310.273
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2510
$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,2500
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3070
$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,0.0043565552
$SEABIRD_T_H,0.00063178345
$SEABIRD_T_I,2.466659e-05
$SEABIRD_T_J,2.7195788e-06
$SEABIRD_C_G,-9.9023848
$SEABIRD_C_H,1.1413758
$SEABIRD_C_I,-0.0018185935
$SEABIRD_C_J,0.00022361503
$GPS1,002606,2321.080,-15803.634,40,1.4,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-80.2
$GPS2,003714,2320.940,-15803.740,14,1.4,14,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,right1
$TGT_LATLONG,2317.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,0.173
$KALMAN_X,-593220.8,-108.2,8.7,579261.5,-4501.5
$KALMAN_Y,-180620.5,716.8,-43.4,323821.4,-3059.1
$MHEAD_RNG_PITCHd_Wd,39.6,113771,-16.9,-10.000
$D_GRID,900
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.75,-155.7,0.0,0.0,0,89,0.00,0.00,-67.82,0.000,2,0.000,0.000,36,2458,3182
$GC,95,-0.75,-155.7,3.6,-5.1,9,119,8.52,2.03,-9.00,0.000,4,0.201,0.038,2266,1081,3707
$GC,141,-0.75,-155.7,25.2,-46.5,15,149,0.00,2.22,0.00,0.000,6,0.000,0.040,2258,2495,3708
$GC,418,-0.75,-155.7,87.3,-20.2,41,421,0.00,2.20,0.00,0.000,4,0.000,0.048,2247,3905,3709
$GC,445,-0.75,-155.7,93.5,-20.7,43,449,0.00,2.05,0.00,0.000,6,0.000,0.021,2247,2495,3709
$GC,715,-0.75,-155.7,145.2,-19.3,68,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2489,3709
$GC,983,-0.75,-155.7,192.4,-16.3,93,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2489,3710
$GC,1237,-0.75,-155.7,231.1,-14.6,103,1240,0.00,2.22,0.00,0.000,4,0.000,0.047,2236,3909,3710
$GC,1261,-0.75,-155.7,234.9,-15.4,103,1265,0.10,2.05,0.00,0.000,6,0.127,0.021,2264,2493,3711
$GC,1530,-0.75,-155.7,264.1,-10.9,110,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2486,3710
$GC,1774,-0.75,-155.7,290.8,-10.8,116,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2486,3710
$GC,2017,-0.75,-155.7,314.6,-9.5,122,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2486,3710
$GC,2261,-0.75,-155.7,335.1,-8.6,128,2264,0.00,2.22,0.00,0.000,4,0.000,0.048,2257,3905,3708
$GC,2291,-0.75,-155.7,337.8,-8.9,128,2295,0.00,2.05,0.00,0.000,6,0.000,0.022,2257,2486,3708
$GC,2556,-0.75,-155.7,361.4,-9.2,135,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2480,3707
$GC,2800,-0.75,-155.7,382.4,-8.6,141,2804,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,3905,3706
$GC,2835,-0.75,-155.7,385.6,-8.4,141,2841,0.00,2.05,0.00,0.000,6,0.000,0.023,2247,2493,3706
$GC,3089,-0.75,-155.7,407.2,-8.6,148,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2486,3703
$GC,3333,-0.75,-155.7,426.9,-8.1,154,3337,0.00,2.25,0.00,0.000,4,0.000,0.051,2236,3906,3702
$GC,3371,-0.75,-155.7,430.1,-8.0,154,3377,0.10,2.03,0.00,0.000,6,0.104,0.024,2268,2502,3702
$GC,3625,-0.75,-155.7,446.2,-6.4,161,3628,0.00,2.03,0.00,0.000,4,0.000,0.027,2269,1103,3700
$GC,3656,-0.75,-155.7,448.5,-7.3,161,3660,0.00,2.15,0.00,0.000,6,0.000,0.039,2263,2509,3699
$GC,3919,-0.75,-155.7,467.8,-7.5,168,3923,0.00,2.17,0.00,0.000,4,0.000,0.052,2252,3901,3697
$GC,3988,-0.75,-155.7,473.1,-8.0,169,3992,0.00,2.05,0.00,0.000,6,0.000,0.025,2252,2485,3696
$GC,4260,-0.75,-155.7,494.4,-7.9,176,4264,0.00,2.03,-0.08,0.000,4,0.000,0.040,2252,1116,3721
$GC,4284,-0.75,-155.7,496.7,-8.3,176,4288,0.00,2.15,0.00,0.000,6,0.000,0.041,2250,2507,3721
$GC,4554,-0.75,-155.7,517.5,-7.7,183,4557,0.00,2.20,0.00,0.000,4,0.000,0.054,2239,3902,3719
$GC,4602,-0.75,-155.7,521.2,-7.3,184,4606,0.00,2.05,0.00,0.000,6,0.000,0.025,2239,2505,3719
$GC,4896,-0.75,-155.7,543.8,-7.6,191,4900,0.00,2.05,0.00,0.000,4,0.000,0.028,2241,1102,3716
$GC,4932,-0.75,-155.7,546.8,-7.2,191,4937,0.10,2.17,0.00,0.000,6,0.118,0.043,2266,2506,3716
$GC,5187,-0.75,-155.7,559.8,-5.1,197,5190,0.00,2.22,0.00,0.000,4,0.000,0.056,2259,3906,3715
$GC,5230,-0.75,-155.7,562.0,-4.5,197,5236,0.00,2.08,0.00,0.000,6,0.000,0.028,2259,2488,3715
$GC,5484,-0.75,-155.7,579.9,-7.7,204,5488,0.00,2.00,0.00,0.000,4,0.000,0.028,2259,1113,3713
$GC,5553,-0.75,-155.7,586.0,-8.6,205,5557,0.00,2.15,0.00,0.000,6,0.000,0.041,2258,2511,3713
$GC,5826,-0.75,-155.7,608.2,-8.6,212,5829,0.00,2.20,0.00,0.000,4,0.000,0.056,2259,3895,3710
$GC,5874,-0.75,-155.7,612.9,-9.4,213,5878,0.00,2.03,0.00,0.000,6,0.000,0.026,2264,2502,3710
$GC,6166,-0.75,-155.7,637.5,-8.5,220,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2495,3708
$GC,6410,-0.75,-155.7,658.0,-8.3,226,6414,0.00,2.28,0.00,0.000,4,0.000,0.057,2264,3903,3707
$GC,6459,-0.75,-155.7,662.6,-9.7,227,6462,0.00,2.08,0.00,0.000,6,0.000,0.028,2265,2500,3706
$GC,6747,-0.75,-155.7,688.1,-9.3,234,6750,0.00,2.05,0.00,0.000,4,0.000,0.030,2273,1101,3705
$GC,6782,-0.75,-155.7,691.8,-9.6,234,6787,0.00,2.17,0.00,0.000,6,0.000,0.043,2273,2500,3705
$GC,7044,-0.75,-155.7,716.1,-9.7,241,7048,0.00,2.22,0.00,0.000,4,0.000,0.057,2273,3895,3704
$GC,7102,-0.75,-155.7,722.8,-10.7,242,7106,0.00,2.05,0.00,0.000,6,0.000,0.028,2277,2497,3703
$GC,7383,-0.75,-155.7,752.2,-10.9,249,7386,0.00,2.03,0.00,0.000,4,0.000,0.029,2285,1110,3702
$GC,7424,-0.75,-155.7,757.1,-11.2,249,7430,0.00,2.17,0.00,0.000,6,0.000,0.044,2285,2511,3701
$GC,7678,-0.75,-155.7,783.1,-10.4,256,7681,0.00,2.22,0.00,0.000,4,0.000,0.058,2283,3897,3700
$GC,7753,-0.75,-155.7,790.7,-8.8,257,7757,0.00,2.08,0.00,0.000,6,0.000,0.028,2286,2487,3700
$GC,8017,-0.75,-155.7,814.5,-9.0,264,8021,0.00,2.03,0.00,0.000,4,0.000,0.029,2287,1105,3698
$GC,8060,-0.75,-155.7,818.4,-9.4,264,8066,0.00,2.17,0.00,0.000,6,0.000,0.045,2287,2499,3698
$GC,8314,-0.75,-155.7,839.7,-8.8,271,8318,0.00,2.25,0.00,0.000,4,0.000,0.058,2287,3899,3697
$GC,8389,-0.75,-155.7,846.4,-8.1,272,8393,0.00,2.08,0.00,0.000,6,0.000,0.029,2288,2496,3697
$GC,8647,-0.75,-155.7,870.9,-9.8,279,8651,0.00,2.28,0.00,0.000,4,0.000,0.058,2288,3896,3696
$GC,8728,-0.75,-155.7,879.1,-9.4,280,8732,0.00,2.08,0.00,0.000,6,0.000,0.029,2287,2499,3696
$STATE,8941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8941,begin apogee
$GC,8953,-0.27,0.0,901.6,10.4,286,9094,0.38,0.00,138.20,1.299,6,0.054,0.000,2442,2491,3070
$STATE,9094,end apogee,CONTROL_FINISHED_OK
$STATE,9094,begin climb
$GC,9099,0.75,155.7,911.4,0.0,289,9270,0.82,2.47,150.80,1.249,4,0.041,0.049,2754,3899,2434
$GC,9526,0.75,155.7,860.2,23.1,298,9530,0.00,2.15,0.00,0.000,6,0.000,0.028,2763,2490,2426
$GC,9790,0.75,155.7,806.4,20.1,305,9794,0.00,2.25,0.00,0.000,4,0.000,0.048,2763,3904,2422
$GC,9959,0.75,155.7,767.9,22.0,308,9966,0.00,2.15,0.00,0.000,6,0.000,0.028,2772,2470,2421
$GC,10213,0.75,155.7,715.9,20.6,315,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2465,2420
$GC,10456,0.75,155.7,668.2,19.2,321,10457,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2465,2420
$GC,10699,0.75,155.7,622.9,18.2,327,10703,0.00,2.25,0.00,0.000,4,0.000,0.048,2767,3897,2419
$GC,10724,0.75,155.7,618.5,17.7,327,10728,0.00,2.12,0.00,0.000,6,0.000,0.028,2776,2474,2418
$GC,10988,0.75,155.7,575.4,16.1,334,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2470,2419
$GC,11232,0.75,155.7,539.5,14.7,340,11236,0.00,2.08,0.00,0.000,4,0.000,0.031,2787,1071,2418
$GC,11358,0.75,155.7,522.0,13.9,342,11362,0.00,2.20,0.00,0.000,6,0.000,0.040,2780,2495,2417
$GC,11610,0.75,155.7,487.1,13.8,348,11614,0.00,2.12,0.00,0.000,4,0.000,0.030,2789,1066,2416
$GC,11669,0.75,155.7,479.3,12.6,349,11673,0.00,2.17,0.00,0.000,6,0.000,0.040,2781,2480,2417
$GC,11952,0.75,155.7,440.7,13.9,356,11956,0.00,2.10,0.00,0.000,4,0.000,0.031,2789,1070,2416
$GC,12032,0.75,155.7,428.8,14.3,357,12036,0.00,2.17,0.00,0.000,6,0.000,0.040,2781,2481,2416
$GC,12286,0.75,155.7,395.0,13.4,363,12287,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2482,2416
$GC,12530,0.75,155.7,365.5,12.0,369,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2481,2415
$GC,12772,0.75,155.7,337.2,11.6,375,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2481,2415
$GC,13017,0.81,197.0,315.6,8.2,381,13063,0.00,2.15,36.33,0.846,4,0.000,0.029,2789,1072,2266
$GC,13139,0.81,197.0,301.0,13.4,383,13146,0.00,2.20,0.00,0.000,6,0.000,0.039,2781,2481,2262
$GC,13392,0.81,197.0,261.7,15.6,390,13395,0.00,2.22,0.00,0.000,4,0.000,0.048,2779,3901,2260
$GC,13410,0.81,197.0,258.8,14.5,390,13414,0.00,2.12,0.00,0.000,6,0.000,0.025,2788,2475,2259
$GC,13685,0.81,197.0,220.8,13.8,397,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2470,2259
$GC,13934,0.81,197.0,190.8,10.4,406,13938,0.00,2.25,0.00,0.000,4,0.000,0.045,2780,3898,2259
$GC,13952,0.81,197.0,188.5,10.2,407,13960,0.00,2.12,0.00,0.000,6,0.000,0.025,2789,2471,2258
$GC,14217,0.84,221.1,163.7,9.0,432,14243,0.00,2.12,20.92,0.719,4,0.000,0.027,2799,1074,2168
$GC,14350,0.84,221.1,146.6,12.9,443,14354,0.00,2.17,0.00,0.000,6,0.000,0.037,2793,2491,2165
$GC,14620,0.84,221.1,99.1,16.3,468,14624,0.00,2.17,0.00,0.000,4,0.000,0.044,2793,3895,2165
$GC,14684,0.84,221.1,87.5,17.9,473,14691,0.00,2.10,0.00,0.000,6,0.000,0.023,2801,2486,2165
$GC,14950,0.92,289.4,59.6,7.0,498,15014,0.00,2.10,57.62,0.647,4,0.000,0.025,2813,1072,1891
$GC,15044,0.92,289.4,50.8,14.2,505,15052,0.00,2.22,0.00,0.000,6,0.000,0.035,2809,2486,1887
$GC,15313,0.92,289.4,4.9,19.3,542,15321,0.00,2.20,0.00,0.000,4,0.000,0.042,2809,3887,1885
$STATE,15328,end climb,SURFACE_DEPTH_REACHED
$STATE,15328,begin surface coast
$FINISH,0.4,1.010407
$STATE,15340,end surface coast,CONTROL_FINISHED_OK
$STATE,15340,begin surface
$SM_CCo,15368,57.45,0.586,0,0,1397,410.13
$SM_GC,1.50,0.00,0.00,57.45,0.000,0.000,0.586,40,2478,1397,-7.72,-0.65,410.13
$IRIDIUM_FIX,2314.48,-15743.58,191200,202057
$TT8_MAMPS,0.023777
$HUMID,2077
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,23.90
$XPDR_PINGS,23
$24V_AH,22.9,55.098
$10V_AH,10.7,42.208
$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,17.200,150.100,403.875,57.450,0.000,28.065,45.570,398.202,5.750,0.000,0.000,14.541,1183.309,11345.885,538.615,1931.240,1092.186,33.376,1439.632,0.000,1911.329,0.000,0.543,0.000
$DEVICE_MAMPS,200.954,58.292,1298.531,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,368.968,681.059,699.301,125.146,564.769,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44521,546
$CAP_FILE_SIZE,120144,0
$CFSIZE,260165632,197812224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,2,0
$GPS,260911,045637,2321.075,-15803.854,32,1.5,32,10.1