version: 66.04
glider: 512
mission: 2
dive: 531
start: 10 7 111 14 29 29
data:
$ID,512
$MISSION,2
$DIVE,531
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,-43455.09
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2490
$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,2490
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$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
$GPS1,142030,2244.986,-15800.072,39,1.1,44,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-77.9
$GPS2,142827,2244.985,-15800.154,9,1.1,16,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.176,0.180
$KALMAN_X,-117861.7,1334.0,527.5,120759.5,-9713.9
$KALMAN_Y,-105670.1,915.7,792.0,39554.9,-4848.0
$MHEAD_RNG_PITCHd_Wd,68.2,266,-27.2,-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,-0.99,-63.0,0.0,0.0,0,89,0.00,0.00,-67.95,0.000,2,0.000,0.000,38,2465,3173
$GC,94,-1.03,-98.0,3.7,-6.3,9,113,8.05,2.25,-5.35,0.000,4,0.197,0.048,2146,3907,3473
$GC,163,-1.03,-98.0,34.2,-36.8,18,167,0.00,2.08,0.00,0.000,6,0.000,0.025,2146,2509,3474
$GC,435,-1.03,-98.0,115.0,-25.2,43,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2501,3475
$GC,701,-1.03,-98.0,183.4,-27.3,68,705,0.00,2.08,0.00,0.000,4,0.000,0.025,2150,1072,3476
$GC,732,-1.03,-98.0,190.0,-23.4,70,736,0.00,2.15,0.00,0.000,6,0.000,0.037,2141,2488,3476
$GC,1022,-1.03,-98.0,250.4,-20.7,80,1026,0.00,2.17,0.00,0.000,4,0.000,0.044,2130,3908,3476
$GC,1051,-1.03,-98.0,256.9,-21.6,80,1055,0.00,2.08,0.00,0.000,6,0.000,0.021,2130,2473,3476
$GC,1318,-1.03,-98.0,314.0,-21.8,87,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2467,3477
$GC,1559,-1.03,-98.0,369.1,-22.6,93,1563,0.00,2.22,0.00,0.000,4,0.000,0.045,2119,3906,3476
$GC,1588,-1.03,-98.0,376.2,-24.3,93,1593,0.15,2.05,0.00,0.000,6,0.148,0.021,2160,2486,3476
$GC,1846,-1.03,-98.0,422.7,-17.7,100,1850,0.00,2.22,0.00,0.000,4,0.000,0.047,2150,3907,3475
$GC,1896,-1.03,-98.0,431.9,-19.3,101,1900,0.00,2.08,0.00,0.000,6,0.000,0.023,2150,2487,3474
$GC,2188,-1.03,-98.0,484.9,-17.1,108,2192,0.00,2.03,0.00,0.000,4,0.000,0.027,2150,1089,3473
$GC,2218,-1.03,-98.0,490.5,-18.0,108,2222,0.00,2.15,0.00,0.000,6,0.000,0.040,2140,2498,3472
$GC,2481,-1.03,-98.0,536.4,-17.7,115,2485,0.00,2.17,0.00,0.000,4,0.000,0.049,2129,3904,3469
$GC,2517,-1.03,-98.0,542.5,-17.9,115,2521,0.00,2.08,0.00,0.000,6,0.000,0.025,2129,2479,3468
$GC,2775,-1.03,-98.0,585.5,-16.5,122,2779,0.00,2.25,0.00,0.000,4,0.000,0.049,2120,3904,3466
$GC,2815,-1.03,-98.0,592.4,-16.9,122,2822,0.15,2.08,0.00,0.000,6,0.146,0.025,2160,2484,3466
$GC,3069,-1.03,-98.0,626.4,-13.2,129,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2477,3464
$GC,3311,-1.03,-98.0,657.4,-12.8,135,3315,0.00,2.25,0.00,0.000,4,0.000,0.051,2151,3895,3462
$GC,3386,-1.03,-98.0,667.7,-13.4,136,3389,0.00,2.08,0.00,0.000,6,0.000,0.026,2151,2486,3460
$GC,3649,-1.03,-98.0,704.1,-14.1,143,3653,0.00,2.05,0.00,0.000,4,0.000,0.030,2151,1089,3457
$GC,3702,-1.03,-98.0,712.0,-14.2,144,3707,0.00,2.15,0.00,0.000,6,0.000,0.043,2141,2488,3457
$GC,3989,-1.03,-98.0,756.8,-16.1,151,3994,0.00,2.25,0.00,0.000,4,0.000,0.054,2129,3906,3455
$GC,4070,-1.03,-98.0,771.2,-17.2,152,4076,0.00,2.10,0.00,0.000,6,0.000,0.028,2130,2494,3454
$GC,4325,-1.03,-98.0,813.6,-16.8,159,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2486,3452
$GC,4566,-1.03,-98.0,855.0,-16.7,165,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2486,3450
$GC,4811,-1.03,-98.0,894.7,-16.3,171,4815,0.00,2.28,0.00,0.000,4,0.000,0.054,2119,3899,3448
$STATE,4835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4835,begin apogee
$GC,4849,-0.27,0.0,900.0,17.4,171,4935,0.90,0.00,82.82,1.252,6,0.138,0.000,2396,2466,3070
$STATE,4935,end apogee,CONTROL_FINISHED_OK
$STATE,4936,begin climb
$GC,4942,1.03,98.0,903.5,0.0,173,5048,1.12,2.38,93.88,1.177,4,0.038,0.046,2833,3896,2670
$GC,5102,1.04,109.2,911.7,8.8,176,5127,0.00,2.17,13.25,0.945,6,0.000,0.025,2842,2470,2625
$GC,5404,1.04,109.2,866.2,15.6,184,5408,0.00,2.25,0.00,0.000,4,0.000,0.044,2836,3901,2618
$GC,5422,1.04,109.2,862.5,15.8,184,5426,0.00,2.12,0.00,0.000,6,0.000,0.026,2845,2475,2617
$GC,5700,1.04,109.2,819.0,15.6,191,5704,0.00,2.25,0.00,0.000,4,0.000,0.046,2846,3901,2616
$GC,5752,1.04,109.2,810.2,16.4,192,5756,0.00,2.12,0.00,0.000,6,0.000,0.027,2856,2475,2615
$GC,6033,1.04,109.2,768.8,14.7,199,6038,0.12,2.28,0.00,0.000,4,0.225,0.046,2822,3910,2613
$GC,6293,1.04,109.2,731.4,14.6,204,6299,0.00,2.12,0.00,0.000,6,0.000,0.028,2831,2478,2612
$GC,6548,1.04,109.2,701.1,11.9,211,6552,0.00,2.25,0.00,0.000,4,0.000,0.048,2832,3910,2610
$GC,6791,1.04,109.2,671.4,10.8,216,6795,0.00,2.12,0.00,0.000,6,0.000,0.028,2842,2476,2610
$GC,7061,1.04,109.2,644.1,10.2,223,7065,0.00,2.25,0.00,0.000,4,0.000,0.048,2836,3904,2608
$GC,7141,1.04,109.2,635.6,10.2,224,7147,0.00,2.12,0.00,0.000,6,0.000,0.028,2845,2473,2608
$GC,7396,1.05,116.9,612.0,9.2,231,7406,0.00,2.25,5.03,0.805,4,0.000,0.047,2846,3904,2595
$GC,7664,1.07,133.7,586.0,8.2,237,7693,0.00,2.10,19.67,0.956,6,0.000,0.028,2857,2474,2524
$GC,7953,1.07,133.7,551.3,13.0,244,7957,0.00,2.28,0.00,0.000,4,0.000,0.049,2857,3904,2519
$GC,8210,1.07,133.7,514.6,13.4,249,8214,0.15,2.10,0.00,0.000,6,0.239,0.028,2837,2490,2518
$GC,8462,1.07,133.7,481.6,13.0,255,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2485,2518
$GC,8707,1.07,133.7,451.6,12.2,261,8711,0.00,2.10,0.00,0.000,4,0.000,0.032,2846,1069,2517
$GC,8839,1.09,151.6,438.9,8.1,263,8868,0.00,2.17,18.75,0.875,6,0.000,0.039,2846,2490,2451
$GC,9135,1.09,151.6,406.7,11.6,271,9138,0.00,2.20,0.00,0.000,4,0.000,0.048,2846,3897,2447
$GC,9397,1.09,151.6,373.7,12.3,276,9400,0.00,2.10,0.00,0.000,6,0.000,0.027,2855,2477,2446
$GC,9654,1.09,151.6,343.6,11.7,283,9658,0.00,2.08,0.00,0.000,4,0.000,0.030,2866,1067,2445
$GC,9916,1.09,151.6,315.3,10.3,288,9920,0.00,2.17,0.00,0.000,6,0.000,0.038,2863,2489,2445
$GC,10173,1.09,151.6,287.4,11.1,295,10175,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2490,2444
$GC,10418,1.09,151.6,261.4,10.5,301,10422,0.00,2.10,0.00,0.000,4,0.000,0.029,2871,1065,2445
$GC,10495,1.10,158.7,253.9,9.2,302,10511,0.00,2.17,7.20,0.712,6,0.000,0.038,2871,2491,2421
$GC,10757,1.10,158.7,226.4,10.2,309,10760,0.00,2.10,0.00,0.000,4,0.000,0.028,2880,1070,2421
$GC,11019,1.15,197.8,206.8,5.8,314,11059,0.00,2.15,35.65,0.790,6,0.000,0.036,2876,2483,2263
$GC,11325,1.15,197.8,162.5,14.0,337,11328,0.00,2.10,0.00,0.000,4,0.000,0.028,2884,1073,2257
$GC,11519,1.15,197.8,133.5,14.0,354,11523,0.00,2.12,0.00,0.000,6,0.000,0.035,2875,2480,2255
$GC,11790,1.15,197.8,97.7,12.6,379,11794,0.00,2.08,0.00,0.000,4,0.000,0.028,2884,1071,2255
$GC,11854,1.16,201.8,90.8,9.6,384,11863,0.00,2.17,3.62,0.422,6,0.000,0.035,2875,2481,2247
$GC,12124,1.22,251.4,73.5,4.7,409,12177,0.00,2.15,43.58,0.660,4,0.000,0.027,2884,1073,2044
$GC,12241,1.22,251.4,58.5,18.7,418,12249,0.00,2.20,0.00,0.000,6,0.000,0.035,2875,2481,2041
$GC,12514,1.22,251.4,11.2,16.5,452,12522,0.00,2.20,0.00,0.000,4,0.000,0.042,2865,3882,2040
$GC,12533,1.22,251.4,6.7,17.9,454,12541,0.00,2.10,0.00,0.000,6,0.000,0.023,2874,2477,2040
$STATE,12548,end climb,SURFACE_DEPTH_REACHED
$STATE,12548,begin surface coast
$FINISH,0.5,1.023195
$STATE,12565,end surface coast,CONTROL_FINISHED_OK
$STATE,12566,begin surface
$SM_CCo,12592,78.90,0.588,0,0,1398,410.13
$SM_GC,1.05,0.00,0.00,78.90,0.000,0.000,0.588,40,2465,1398,-7.66,-0.71,410.13
$IRIDIUM_FIX,2237.01,-15835.78,311200,101033
$TT8_MAMPS,0.023777
$HUMID,2111
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,23.20
$XPDR_PINGS,19
$24V_AH,23.6,64.825
$10V_AH,10.6,49.340
$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,18.025,125.100,323.450,78.900,0.000,28.320,31.817,217.918,4.750,0.000,0.000,16.970,1123.043,8738.920,474.825,1949.989,865.328,33.350,1357.641,0.000,1928.084,0.000,0.544,0.000
$DEVICE_MAMPS,239.304,54.457,1251.744,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,310.770,595.908,614.547,113.463,510.949,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38218,459
$CAP_FILE_SIZE,104673,0
$CFSIZE,260165632,193994752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,4,0
$CURRENT,0.061,238.3,1
$GPS,071011,180230,2244.913,-15759.312,60,1.2,60,10.1