version: 66.04
glider: 512
mission: 2
dive: 546
start: 10 10 111 3 59 17
data:
$ID,512
$MISSION,2
$DIVE,546
$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,-43795.922
$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,54
$R_STBD_OVSHOOT,36
$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
$GPS1,035006,2244.983,-15800.241,40,1.4,45,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.9
$GPS2,035819,2244.956,-15800.274,13,1.4,13,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.069,0.242
$KALMAN_X,-161565.8,995.5,1581.7,163533.2,-6855.7
$KALMAN_Y,-147210.0,-643.0,377.1,83022.5,-5664.7
$MHEAD_RNG_PITCHd_Wd,62.4,476,-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,-63.0,0.0,0.0,0,120,0.00,0.00,-98.03,0.000,2,0.000,0.000,40,2476,3062
$GC,126,-1.04,-108.8,3.2,-5.1,12,152,8.02,2.22,-8.45,0.000,4,0.199,0.051,2142,3894,3516
$GC,174,-1.04,-108.8,24.6,-46.3,18,184,0.00,2.10,0.00,0.000,6,0.000,0.025,2149,2498,3516
$GC,449,-1.04,-108.8,114.4,-27.1,44,452,0.00,2.08,0.00,0.000,4,0.000,0.027,2156,1074,3517
$GC,510,-1.04,-108.8,128.5,-21.2,49,514,0.00,2.15,0.00,0.000,6,0.000,0.037,2148,2491,3517
$GC,781,-1.04,-108.8,196.5,-25.0,74,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2493,3517
$GC,1044,-1.04,-108.8,254.5,-21.6,82,1047,0.00,2.15,0.00,0.000,4,0.000,0.044,2137,3894,3518
$GC,1093,-1.04,-108.8,264.3,-19.4,83,1096,0.00,2.08,0.00,0.000,6,0.000,0.021,2137,2471,3517
$GC,1384,-1.04,-108.8,327.6,-21.8,90,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2464,3517
$GC,1629,-1.04,-108.8,375.8,-19.6,96,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2464,3516
$GC,1872,-1.04,-108.8,421.5,-18.8,102,1875,0.00,2.00,0.00,0.000,4,0.000,0.026,2137,1084,3514
$GC,1903,-1.04,-108.8,427.4,-19.6,102,1906,0.00,2.15,0.00,0.000,6,0.000,0.038,2127,2494,3514
$GC,2167,-1.04,-108.8,476.5,-18.4,109,2171,0.00,2.17,0.00,0.000,4,0.000,0.049,2117,3896,3511
$GC,2264,-1.04,-108.8,494.4,-18.0,111,2269,0.12,2.08,0.00,0.000,6,0.142,0.024,2149,2480,3510
$GC,2545,-1.04,-108.8,538.2,-15.5,118,2549,0.00,2.03,0.00,0.000,4,0.000,0.028,2149,1086,3507
$GC,2575,-1.04,-108.8,543.0,-14.9,118,2579,0.00,2.17,0.00,0.000,6,0.000,0.041,2141,2497,3507
$GC,2833,-1.04,-108.8,584.1,-16.3,125,2836,0.00,2.20,0.00,0.000,4,0.000,0.051,2130,3904,3503
$GC,2891,-1.04,-108.8,594.1,-16.4,126,2895,0.00,2.08,0.00,0.000,6,0.000,0.025,2130,2491,3503
$GC,3174,-1.04,-108.8,640.7,-16.7,133,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2484,3500
$GC,3415,-1.04,-108.8,680.1,-16.0,139,3419,0.00,2.25,0.00,0.000,4,0.000,0.052,2119,3903,3498
$GC,3509,-1.04,-108.8,694.9,-15.3,141,3514,0.12,2.08,0.00,0.000,6,0.143,0.026,2151,2489,3497
$GC,3801,-1.04,-108.8,733.1,-12.8,148,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2483,3494
$GC,4044,-1.04,-108.8,763.9,-12.7,154,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2482,3492
$GC,4287,-1.04,-108.8,794.3,-12.6,160,4291,0.00,2.28,0.00,0.000,4,0.000,0.054,2142,3900,3490
$GC,4375,-1.04,-108.8,805.9,-13.9,162,4378,0.00,2.10,0.00,0.000,6,0.000,0.028,2142,2487,3489
$GC,4667,-1.04,-108.8,845.3,-13.6,169,4671,0.00,2.05,0.00,0.000,4,0.000,0.032,2145,1092,3487
$GC,4692,-1.04,-108.8,849.0,-13.6,169,4696,0.00,2.20,0.00,0.000,6,0.000,0.045,2136,2497,3487
$GC,4956,-1.04,-108.8,886.7,-14.5,176,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2497,3485
$STATE,5072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5072,begin apogee
$GC,5083,-0.27,0.0,904.4,14.5,179,5178,0.85,0.00,90.93,1.249,6,0.127,0.000,2402,2497,3071
$STATE,5178,end apogee,CONTROL_FINISHED_OK
$STATE,5178,begin climb
$GC,5185,1.04,108.8,908.0,0.0,181,5324,1.15,2.30,111.18,1.133,4,0.035,0.030,2857,1080,2626
$GC,5350,1.09,145.0,919.4,6.2,185,5398,0.00,2.28,37.12,1.144,6,0.000,0.040,2857,2487,2478
$GC,5651,1.09,145.0,854.6,23.4,193,5655,0.00,2.12,0.00,0.000,4,0.000,0.029,2867,1076,2468
$GC,5676,1.09,145.0,848.5,22.5,193,5680,0.00,2.17,0.00,0.000,6,0.000,0.038,2862,2482,2467
$GC,5939,1.09,145.0,787.6,23.0,200,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2481,2466
$GC,6184,1.09,145.0,732.0,22.4,206,6188,0.00,2.20,0.00,0.000,4,0.000,0.047,2862,3893,2464
$GC,6260,1.09,145.0,713.3,24.2,207,6265,0.12,2.12,0.00,0.000,6,0.242,0.028,2847,2472,2463
$GC,6523,1.09,145.0,660.8,19.0,214,6527,0.00,2.22,0.00,0.000,4,0.000,0.048,2846,3893,2462
$GC,6603,1.09,145.0,644.9,19.9,215,6607,0.00,2.10,0.00,0.000,6,0.000,0.028,2855,2475,2461
$GC,6862,1.09,145.0,598.2,17.7,222,6865,0.00,2.22,0.00,0.000,4,0.000,0.047,2850,3888,2460
$GC,7010,1.09,145.0,570.5,18.3,225,7014,0.00,2.10,0.00,0.000,6,0.000,0.028,2858,2483,2460
$GC,7292,1.09,145.0,525.3,15.7,232,7295,0.00,2.22,0.00,0.000,4,0.000,0.048,2859,3903,2458
$GC,7351,1.09,145.0,515.6,15.8,233,7355,0.00,2.12,0.00,0.000,6,0.000,0.028,2868,2472,2459
$GC,7631,1.09,145.0,472.4,15.2,240,7635,0.00,2.08,0.00,0.000,4,0.000,0.031,2878,1066,2458
$GC,7650,1.09,145.0,469.4,15.2,240,7654,0.15,2.17,0.00,0.000,6,0.218,0.039,2842,2483,2458
$GC,7919,1.09,145.0,430.4,14.4,247,7922,0.00,2.20,0.00,0.000,4,0.000,0.047,2837,3890,2457
$GC,8040,1.09,145.0,412.3,14.9,249,8044,0.00,2.10,0.00,0.000,6,0.000,0.028,2845,2474,2456
$GC,8304,1.09,145.0,376.5,13.4,256,8308,0.00,2.05,0.00,0.000,4,0.000,0.029,2856,1078,2456
$GC,8566,1.09,145.0,344.3,10.8,261,8570,0.00,2.15,0.00,0.000,6,0.000,0.039,2856,2482,2456
$GC,8824,1.09,145.0,315.9,11.1,268,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2482,2456
$GC,9070,1.09,151.6,292.4,9.3,274,9073,0.00,2.20,0.00,0.000,4,0.000,0.047,2850,3901,2455
$GC,9190,1.10,159.3,280.4,9.2,276,9207,0.00,2.10,10.05,0.781,6,0.000,0.028,2858,2474,2420
$GC,9453,1.10,159.3,253.8,10.6,283,9457,0.00,2.05,0.00,0.000,4,0.000,0.030,2869,1084,2418
$GC,9716,1.13,179.7,226.2,7.8,288,9740,0.00,2.15,19.40,0.785,6,0.000,0.038,2862,2492,2337
$GC,9998,1.13,181.0,195.4,9.9,297,10001,0.00,2.20,0.00,0.000,4,0.000,0.047,2862,3898,2334
$GC,10114,1.13,181.0,182.7,11.3,307,10118,0.00,2.10,0.00,0.000,6,0.000,0.025,2871,2477,2334
$GC,10386,1.13,181.0,151.3,13.2,332,10389,0.00,2.05,0.00,0.000,4,0.000,0.028,2881,1074,2332
$GC,10578,1.13,181.0,131.4,11.7,348,10586,0.00,2.17,0.00,0.000,6,0.000,0.035,2875,2484,2332
$GC,10844,1.13,181.0,100.7,11.8,373,10848,0.00,2.08,0.00,0.000,4,0.000,0.027,2884,1062,2332
$GC,11109,1.17,212.0,80.9,6.7,396,11148,0.00,2.15,28.73,0.651,6,0.000,0.034,2876,2493,2205
$GC,11404,1.25,275.3,56.9,3.3,423,11463,0.00,0.00,54.20,0.639,6,0.000,0.000,2876,2493,1945
$STATE,11698,end climb,SURFACE_DEPTH_REACHED
$STATE,11698,begin surface coast
$FINISH,0.4,1.023203
$STATE,11710,end surface coast,CONTROL_FINISHED_OK
$STATE,11710,begin surface
$SM_CCo,11735,57.80,0.584,0,0,1398,410.13
$SM_GC,1.30,0.00,0.00,57.80,0.000,0.000,0.584,39,2504,1398,-7.66,0.40,410.13
$IRIDIUM_FIX,2237.01,-15800.20,030101,000059
$TT8_MAMPS,0.023777
$HUMID,2134
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,23.30
$XPDR_PINGS,28
$24V_AH,23.6,67.190
$10V_AH,10.6,51.020
$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,17.950,102.800,351.600,57.800,0.000,29.571,37.313,223.042,7.000,0.000,0.000,13.149,1056.578,8134.780,480.580,1804.678,810.401,33.358,1291.479,0.000,1790.472,0.000,0.543,0.000
$DEVICE_MAMPS,242.372,54.457,1249.443,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,312.255,643.117,664.424,122.680,556.148,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38191,462
$CAP_FILE_SIZE,93796,0
$CFSIZE,260165632,193134592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,5,0
$CURRENT,0.028,199.7,1
$GPS,101011,071727,2245.108,-15759.123,27,2.2,46,10.1