version: 66.04
glider: 512
mission: 2
dive: 533
start: 10 7 111 22 5 51
data:
$ID,512
$MISSION,2
$DIVE,533
$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,-43529.109
$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,37
$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
$GPS1,215110,2244.974,-15800.792,12,2.9,31,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-81.6
$GPS2,220455,2244.955,-15800.945,56,1.1,56,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.183,0.173
$KALMAN_X,-125123.5,1260.5,327.5,126943.4,-10886.5
$KALMAN_Y,-109475.8,378.7,-89.6,44747.2,-3579.9
$MHEAD_RNG_PITCHd_Wd,63.1,1617,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.99,-63.0,0.0,0.0,0,89,0.00,0.00,-68.00,0.000,2,0.000,0.000,36,2490,3175
$GC,95,-1.04,-105.9,3.7,-5.4,9,122,8.05,2.17,-5.93,0.000,4,0.197,0.048,2140,3894,3504
$GC,166,-1.04,-105.9,35.0,-37.9,18,170,0.00,2.03,0.00,0.000,6,0.000,0.024,2141,2506,3505
$GC,437,-1.04,-105.9,118.5,-26.9,43,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3506
$GC,704,-1.04,-105.9,188.8,-25.5,68,707,0.00,2.08,0.00,0.000,4,0.000,0.025,2151,1072,3507
$GC,741,-1.04,-105.9,198.0,-22.2,71,745,0.00,2.15,0.00,0.000,6,0.000,0.036,2142,2492,3507
$GC,999,-1.04,-105.9,257.5,-23.0,78,1003,0.00,2.15,0.00,0.000,4,0.000,0.044,2132,3898,3507
$GC,1034,-1.04,-105.9,266.4,-24.9,78,1038,0.00,2.05,0.00,0.000,6,0.000,0.021,2132,2480,3507
$GC,1293,-1.04,-105.9,322.8,-21.4,85,1297,0.00,2.22,0.00,0.000,4,0.000,0.044,2121,3906,3507
$GC,1323,-1.04,-105.9,329.6,-21.7,85,1328,0.12,2.05,0.00,0.000,6,0.154,0.022,2152,2487,3507
$GC,1587,-1.04,-105.9,375.7,-16.9,92,1590,0.00,2.20,0.00,0.000,4,0.000,0.045,2143,3898,3506
$GC,1617,-1.04,-105.9,381.5,-19.3,92,1620,0.00,2.05,0.00,0.000,6,0.000,0.022,2143,2483,3505
$GC,1881,-1.04,-105.9,430.9,-18.9,99,1885,0.00,2.03,0.00,0.000,4,0.000,0.027,2146,1082,3504
$GC,1962,-1.04,-105.9,445.0,-15.8,100,1966,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2496,3503
$GC,2221,-1.04,-105.9,489.8,-17.5,107,2225,0.00,2.17,0.00,0.000,4,0.000,0.049,2127,3896,3501
$GC,2336,-1.04,-105.9,511.4,-17.8,109,2340,0.00,2.05,0.00,0.000,6,0.000,0.024,2127,2491,3500
$GC,2607,-1.04,-105.9,558.4,-17.6,116,2611,0.00,2.22,0.00,0.000,4,0.000,0.049,2116,3905,3497
$GC,2625,-1.04,-105.9,562.3,-18.0,116,2629,0.15,2.10,0.00,0.000,6,0.147,0.025,2156,2482,3497
$GC,2893,-1.04,-105.9,600.9,-13.9,123,2897,0.00,2.05,0.00,0.000,4,0.000,0.029,2155,1079,3494
$GC,2952,-1.04,-105.9,608.9,-13.1,124,2956,0.00,2.17,0.00,0.000,6,0.000,0.041,2147,2499,3494
$GC,3234,-1.04,-105.9,649.7,-14.6,131,3237,0.00,2.20,0.00,0.000,4,0.000,0.052,2136,3902,3491
$GC,3269,-1.04,-105.9,655.5,-16.0,131,3273,0.00,2.08,0.00,0.000,6,0.000,0.026,2136,2492,3491
$GC,3528,-1.04,-105.9,694.2,-15.2,138,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2485,3488
$GC,3771,-1.04,-105.9,730.2,-14.8,144,3775,0.00,2.25,0.00,0.000,4,0.000,0.052,2125,3897,3486
$GC,3835,-1.04,-105.9,740.3,-15.2,145,3840,0.12,2.10,0.00,0.000,6,0.143,0.027,2158,2489,3485
$GC,4104,-1.04,-105.9,774.3,-12.5,152,4108,0.00,2.08,0.00,0.000,4,0.000,0.031,2158,1084,3483
$GC,4146,-1.04,-105.9,779.6,-12.0,152,4153,0.00,2.20,0.00,0.000,6,0.000,0.044,2150,2492,3483
$GC,4399,-1.04,-105.9,812.8,-13.3,159,4402,0.00,2.22,0.00,0.000,4,0.000,0.056,2139,3897,3480
$GC,4447,-1.04,-105.9,819.5,-14.6,160,4451,0.00,2.10,0.00,0.000,6,0.000,0.028,2139,2488,3480
$GC,4739,-1.04,-105.9,859.6,-13.3,167,4743,0.00,2.28,0.00,0.000,4,0.000,0.054,2129,3895,3478
$GC,4783,-1.04,-105.9,865.7,-14.8,168,4786,0.00,2.10,0.00,0.000,6,0.000,0.028,2129,2490,3478
$STATE,5028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5029,begin apogee
$GC,5040,-0.27,0.0,901.3,14.2,174,5132,0.88,0.00,88.88,1.255,6,0.130,0.000,2399,2482,3070
$STATE,5132,end apogee,CONTROL_FINISHED_OK
$STATE,5133,begin climb
$GC,5138,1.04,105.9,904.2,0.0,176,5245,1.12,2.38,99.53,1.192,4,0.039,0.044,2834,3903,2638
$GC,5501,1.04,105.9,872.0,17.5,184,5505,0.00,2.15,0.00,0.000,6,0.000,0.027,2845,2471,2629
$GC,5779,1.04,105.9,830.0,15.0,191,5782,0.00,2.25,0.00,0.000,4,0.000,0.045,2846,3904,2624
$GC,5995,1.04,105.9,795.9,15.6,195,5999,0.12,2.12,0.00,0.000,6,0.239,0.028,2831,2474,2623
$GC,6248,1.04,105.9,760.6,13.8,201,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2469,2621
$GC,6492,1.04,105.9,728.6,13.3,207,6496,0.00,2.08,0.00,0.000,4,0.000,0.031,2840,1072,2620
$GC,6522,1.04,105.9,724.7,12.4,207,6526,0.00,2.17,0.00,0.000,6,0.000,0.039,2836,2491,2620
$GC,6779,1.04,105.9,694.3,11.5,214,6783,0.00,2.17,0.00,0.000,4,0.000,0.048,2836,3891,2618
$GC,7041,1.04,105.9,664.7,10.6,219,7045,0.00,2.10,0.00,0.000,6,0.000,0.028,2845,2471,2617
$GC,7300,1.05,115.9,641.6,8.9,226,7313,0.00,2.28,6.53,0.905,4,0.000,0.045,2845,3889,2597
$GC,7417,1.05,117.9,630.3,9.8,228,7421,0.00,2.10,0.00,0.000,6,0.000,0.028,2856,2475,2597
$GC,7681,1.07,128.9,606.3,8.8,235,7703,0.00,0.00,15.50,0.919,6,0.000,0.000,2857,2470,2544
$GC,7925,1.07,128.9,576.5,12.8,241,7929,0.00,2.08,0.00,0.000,4,0.000,0.031,2867,1073,2542
$GC,8142,1.07,128.9,548.8,13.1,245,8146,0.00,2.17,0.00,0.000,6,0.000,0.039,2863,2487,2541
$GC,8395,1.07,128.9,517.4,12.4,251,8399,0.00,2.20,0.00,0.000,4,0.000,0.047,2862,3900,2539
$GC,8425,1.07,128.9,513.3,13.1,251,8430,0.17,2.12,0.00,0.000,6,0.236,0.028,2834,2467,2539
$GC,8683,1.07,134.9,487.4,9.4,258,8694,0.00,2.25,6.38,0.828,4,0.000,0.046,2834,3893,2519
$GC,8952,1.08,135.8,459.4,9.9,264,8956,0.00,2.10,0.00,0.000,6,0.000,0.028,2844,2479,2519
$GC,9246,1.10,156.2,435.8,7.8,271,9289,0.00,2.12,24.67,0.834,4,0.000,0.031,2855,1067,2433
$GC,9428,1.10,156.2,414.7,13.2,275,9432,0.00,2.20,0.00,0.000,6,0.000,0.038,2855,2486,2429
$GC,9713,1.10,156.2,372.9,14.8,282,9717,0.00,2.10,0.00,0.000,4,0.000,0.030,2865,1077,2428
$GC,9808,1.10,156.2,359.6,14.8,284,9812,0.00,2.15,0.00,0.000,6,0.000,0.039,2863,2480,2428
$GC,10100,1.10,156.2,320.7,12.4,291,10104,0.00,2.20,0.00,0.000,4,0.000,0.048,2863,3895,2428
$GC,10175,1.10,156.2,311.0,11.8,292,10179,0.00,2.10,0.00,0.000,6,0.000,0.027,2871,2474,2427
$GC,10440,1.10,156.2,282.1,10.9,299,10443,0.00,2.22,0.00,0.000,4,0.000,0.047,2872,3888,2427
$GC,10520,1.11,161.7,273.7,9.4,300,10534,0.15,2.10,5.82,0.683,6,0.240,0.027,2850,2467,2410
$GC,10778,1.11,163.5,249.6,9.8,307,10779,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2467,2409
$GC,11024,1.12,173.6,227.1,8.9,313,11043,0.00,2.30,12.05,0.751,4,0.000,0.046,2849,3903,2362
$GC,11136,1.12,173.6,215.1,11.0,315,11139,0.00,2.10,0.00,0.000,6,0.000,0.026,2858,2483,2361
$GC,11402,1.12,173.6,187.3,10.6,330,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2477,2359
$GC,11669,1.13,178.4,163.4,9.5,355,11683,0.00,0.00,5.82,0.590,6,0.000,0.000,2859,2477,2342
$GC,11940,1.16,201.1,139.9,7.6,380,11966,0.00,2.15,21.35,0.699,4,0.000,0.028,2869,1066,2250
$GC,12111,1.16,201.1,119.1,14.3,394,12120,0.00,2.20,0.00,0.000,6,0.000,0.035,2862,2481,2246
$GC,12377,1.16,201.1,87.1,11.1,419,12381,0.00,2.08,0.00,0.000,4,0.000,0.027,2870,1070,2246
$GC,12405,1.19,226.8,85.1,7.3,421,12434,0.00,2.15,23.08,0.645,6,0.000,0.034,2871,2487,2144
$GC,12701,1.21,248.1,63.9,7.7,448,12728,0.00,2.15,18.42,0.606,4,0.000,0.025,2880,1070,2060
$GC,12738,1.21,249.3,60.3,9.9,450,12746,0.00,2.17,0.00,0.000,6,0.000,0.033,2875,2477,2059
$GC,13011,1.21,249.3,17.4,18.1,481,13019,0.00,2.20,0.00,0.000,4,0.000,0.043,2874,3881,2059
$STATE,13075,end climb,SURFACE_DEPTH_REACHED
$STATE,13075,begin surface coast
$FINISH,0.4,1.000022
$STATE,13093,end surface coast,CONTROL_FINISHED_OK
$STATE,13093,begin surface
$SM_CCo,13121,80.07,0.585,0,0,1397,410.13
$SM_GC,0.99,0.00,0.00,80.07,0.000,0.000,0.585,41,2499,1397,-7.65,0.25,410.13
$IRIDIUM_FIX,2234.68,-15803.24,311200,222252
$TT8_MAMPS,0.023777
$HUMID,2063
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,24.20
$XPDR_PINGS,23
$24V_AH,23.5,65.089
$10V_AH,10.6,49.554
$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,18.175,133.225,328.025,80.075,0.000,60.062,67.111,402.847,5.750,0.000,0.000,57.003,1179.492,9193.938,490.072,2056.553,1106.310,33.349,1391.487,0.000,1992.677,0.000,0.543,0.000
$DEVICE_MAMPS,240.071,55.991,1254.812,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,335.505,667.750,688.118,123.792,563.089,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41457,495
$CAP_FILE_SIZE,112513,0
$CFSIZE,260165632,193875968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,3,0
$CURRENT,0.066,239.2,1
$GPS,081011,014716,2245.134,-15800.197,14,2.3,33,10.1