version: 66.04
glider: 512
mission: 2
dive: 590
start: 10 18 111 8 59 22
data:
$ID,512
$MISSION,2
$DIVE,590
$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,-44793.57
$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,48
$R_STBD_OVSHOOT,34
$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
$GPS1,082307,2158.739,-15811.905,34,1.4,34,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-78.0
$GPS2,085828,2158.831,-15811.895,13,2.3,32,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.124,-0.219
$KALMAN_X,-173942.6,-1331.2,240.7,159838.8,1144.2
$KALMAN_Y,-207050.1,1170.1,-452.0,56487.8,820.3
$MHEAD_RNG_PITCHd_Wd,214.9,13421,-18.2,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,25,-0.77,-136.3,0.0,0.0,0,97,0.00,0.00,-70.55,0.000,2,0.000,0.000,38,2494,3283
$GC,103,-0.77,-136.3,4.3,-7.6,9,130,8.30,2.12,-5.70,0.000,4,0.193,0.039,2242,1070,3628
$GC,232,-0.77,-136.3,45.5,-18.3,23,242,0.00,2.20,0.00,0.000,6,0.000,0.040,2233,2481,3629
$GC,497,-0.77,-136.3,105.3,-17.1,48,501,0.00,2.20,0.00,0.000,4,0.000,0.047,2223,3904,3629
$GC,524,-0.77,-136.3,109.9,-16.2,50,528,0.00,2.08,0.00,0.000,6,0.000,0.021,2227,2476,3629
$GC,794,-0.77,-136.3,155.6,-16.2,75,797,0.00,1.98,0.00,0.000,4,0.000,0.024,2227,1088,3630
$GC,865,-0.77,-136.3,165.6,-11.6,81,869,0.00,2.12,0.00,0.000,6,0.000,0.038,2223,2492,3629
$GC,1143,-0.77,-136.3,206.5,-14.3,104,1147,0.00,2.17,0.00,0.000,4,0.000,0.046,2212,3906,3630
$GC,1225,-0.77,-136.3,217.5,-11.3,105,1229,0.00,2.08,0.00,0.000,6,0.000,0.021,2212,2474,3629
$GC,1484,-0.77,-136.3,255.5,-15.2,112,1487,0.00,1.98,0.00,0.000,4,0.000,0.024,2214,1089,3629
$GC,1531,-0.77,-136.3,262.1,-12.6,113,1536,0.12,2.12,0.00,0.000,6,0.110,0.038,2247,2492,3629
$GC,1817,-0.77,-136.3,292.0,-10.6,120,1821,0.00,2.17,0.00,0.000,4,0.000,0.049,2238,3904,3627
$GC,1868,-0.77,-136.3,296.9,-9.8,121,1872,0.00,2.05,0.00,0.000,6,0.000,0.021,2237,2483,3627
$GC,2160,-0.77,-136.3,327.2,-10.0,128,2163,0.00,2.00,0.00,0.000,4,0.000,0.025,2237,1088,3625
$GC,2184,-0.77,-136.3,329.8,-10.2,128,2188,0.00,2.15,0.00,0.000,6,0.000,0.039,2236,2499,3625
$GC,2454,-0.77,-136.3,359.8,-11.9,135,2458,0.00,2.17,0.00,0.000,4,0.000,0.050,2225,3899,3622
$GC,2518,-0.77,-136.3,367.2,-10.6,136,2521,0.00,2.05,0.00,0.000,6,0.000,0.023,2225,2486,3621
$GC,2792,-0.77,-136.3,399.1,-11.3,143,2796,0.00,2.00,0.00,0.000,4,0.000,0.025,2225,1096,3619
$GC,2811,-0.77,-136.3,401.3,-11.4,143,2815,0.00,2.15,0.00,0.000,6,0.000,0.041,2223,2497,3619
$GC,3086,-0.77,-136.3,430.8,-11.0,150,3091,0.00,2.22,-0.08,0.000,4,0.000,0.064,2212,3909,3639
$GC,3149,-0.77,-136.3,438.0,-10.8,151,3153,0.00,2.08,0.00,0.000,6,0.000,0.025,2212,2496,3639
$GC,3424,-0.77,-136.3,471.7,-12.3,158,3428,0.00,2.05,0.00,0.000,4,0.000,0.028,2215,1090,3637
$GC,3443,-0.77,-136.3,474.1,-12.1,158,3447,0.12,2.15,0.00,0.000,6,0.112,0.041,2244,2492,3637
$GC,3713,-0.77,-136.3,499.0,-9.4,165,3716,0.00,2.22,0.00,0.000,4,0.000,0.055,2234,3891,3635
$GC,3749,-0.77,-136.3,502.7,-9.7,165,3752,0.00,2.05,0.00,0.000,6,0.000,0.025,2234,2483,3634
$GC,4008,-0.77,-136.3,525.8,-8.8,172,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2476,3631
$GC,4252,-0.77,-136.3,548.0,-9.2,178,4256,0.00,2.28,0.00,0.000,4,0.000,0.054,2223,3897,3629
$GC,4304,-0.77,-136.3,552.8,-8.8,179,4308,0.00,2.08,0.00,0.000,6,0.000,0.026,2224,2490,3629
$GC,4587,-0.77,-136.3,580.2,-9.9,186,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2483,3626
$GC,4829,-0.77,-136.3,604.6,-10.1,192,4833,0.00,2.28,0.00,0.000,4,0.000,0.056,2213,3898,3625
$GC,4865,-0.77,-136.3,608.4,-10.8,192,4869,0.00,2.10,0.00,0.000,6,0.000,0.027,2213,2481,3624
$GC,5123,-0.77,-136.3,634.6,-10.1,199,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2474,3622
$GC,5367,-0.77,-136.3,659.0,-9.9,205,5371,0.00,2.30,0.00,0.000,4,0.000,0.058,2202,3898,3620
$GC,5415,-0.77,-136.3,663.8,-9.1,206,5420,0.12,2.10,0.00,0.000,6,0.109,0.028,2242,2486,3620
$GC,5696,-0.77,-136.3,685.0,-7.4,213,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2479,3618
$GC,5939,-0.77,-136.3,702.2,-7.0,219,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2479,3616
$GC,6183,-0.77,-136.3,719.9,-7.3,225,6187,0.00,2.30,0.00,0.000,4,0.000,0.059,2235,3905,3615
$GC,6225,-0.77,-136.3,723.0,-7.6,225,6232,0.00,2.15,0.00,0.000,6,0.000,0.028,2235,2478,3615
$GC,6479,-0.77,-136.3,742.8,-7.9,232,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2477,3614
$GC,6722,-0.77,-136.3,760.3,-7.1,238,6726,0.00,2.30,0.00,0.000,4,0.000,0.060,2225,3893,3612
$GC,6746,-0.77,-136.3,762.1,-7.0,238,6750,0.00,2.08,0.00,0.000,6,0.000,0.029,2225,2496,3611
$GC,7017,-0.77,-136.3,781.5,-7.4,245,7021,0.00,2.30,0.00,0.000,4,0.000,0.060,2215,3906,3610
$GC,7047,-0.77,-136.3,783.9,-7.5,245,7050,0.00,2.12,0.00,0.000,6,0.000,0.030,2215,2486,3610
$GC,7313,-0.77,-136.3,805.9,-8.5,252,7317,0.00,2.33,0.00,0.000,4,0.000,0.061,2206,3899,3609
$GC,7351,-0.77,-136.3,809.1,-8.9,252,7358,0.12,2.10,0.00,0.000,6,0.107,0.029,2245,2489,3609
$GC,7606,-0.77,-136.3,823.8,-5.6,259,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2482,3608
$GC,7848,-0.77,-136.3,837.9,-5.9,265,7852,0.00,2.33,0.00,0.000,4,0.000,0.061,2236,3900,3607
$GC,7883,-0.77,-136.3,840.2,-6.1,265,7891,0.00,2.15,0.00,0.000,6,0.000,0.030,2236,2476,3606
$GC,8137,-0.77,-136.3,858.2,-7.2,272,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2475,3606
$GC,8380,-0.77,-136.3,876.7,-7.6,278,8384,0.00,2.33,0.00,0.000,4,0.000,0.061,2227,3892,3605
$GC,8416,-0.77,-136.3,879.5,-7.5,278,8422,0.00,2.10,0.00,0.000,6,0.000,0.030,2227,2489,3605
$GC,8668,-0.77,-136.3,899.7,-8.1,285,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2482,3604
$STATE,8704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8704,begin apogee
$GC,8717,-0.27,0.0,903.0,8.1,286,8846,0.52,0.00,121.70,1.255,6,0.104,0.000,2400,2482,3070
$STATE,8847,end apogee,CONTROL_FINISHED_OK
$STATE,8847,begin climb
$GC,8852,0.77,136.3,909.5,0.0,289,8994,0.90,0.00,132.30,1.194,6,0.041,0.000,2751,2481,2514
$GC,9223,0.77,136.3,882.6,16.9,298,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2481,2503
$GC,9467,0.77,136.3,842.5,16.5,304,9470,0.00,2.12,0.00,0.000,4,0.000,0.031,2761,1073,2500
$GC,9561,0.77,136.3,827.4,16.0,306,9565,0.00,2.20,0.00,0.000,6,0.000,0.041,2761,2489,2500
$GC,9846,0.77,136.3,780.1,16.6,313,9850,0.00,2.22,0.00,0.000,4,0.000,0.049,2755,3896,2498
$GC,9883,0.77,136.3,773.8,17.2,313,9887,0.00,2.12,0.00,0.000,6,0.000,0.028,2763,2476,2497
$GC,10141,0.77,136.3,732.3,16.2,320,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2470,2496
$GC,10386,0.77,136.3,694.3,15.5,326,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2471,2496
$GC,10629,0.77,136.3,657.3,14.8,332,10633,0.00,2.10,0.00,0.000,4,0.000,0.032,2774,1065,2495
$GC,10755,0.77,136.3,641.0,13.2,334,10759,0.00,2.20,0.00,0.000,6,0.000,0.041,2767,2487,2494
$GC,11008,0.77,136.3,609.3,12.4,340,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2487,2494
$GC,11252,0.77,136.3,581.6,11.3,346,11254,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2487,2494
$GC,11496,0.77,136.3,554.5,10.8,352,11499,0.00,2.22,0.00,0.000,4,0.000,0.050,2767,3890,2494
$GC,11673,0.77,136.3,532.3,11.5,355,11682,0.12,2.15,0.00,0.000,6,0.213,0.028,2744,2471,2493
$GC,11925,0.77,137.1,506.7,10.0,362,11929,0.00,2.08,0.00,0.000,4,0.000,0.032,2753,1084,2493
$GC,12188,0.78,140.3,481.1,9.8,367,12191,0.00,2.17,0.00,0.000,6,0.000,0.041,2753,2488,2493
$GC,12446,0.81,163.7,457.3,8.8,374,12480,0.00,0.00,25.25,0.932,6,0.000,0.000,2753,2488,2402
$GC,12736,0.81,163.7,422.9,12.6,381,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2489,2397
$GC,12978,0.81,163.7,391.4,12.7,387,12979,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2489,2396
$GC,13223,0.81,163.7,360.4,12.1,393,13227,0.00,2.22,0.00,0.000,4,0.000,0.050,2753,3895,2395
$GC,13276,0.81,163.7,353.8,13.0,394,13279,0.00,2.12,0.00,0.000,6,0.000,0.027,2763,2474,2395
$GC,13565,0.81,163.7,322.7,11.3,401,13569,0.00,2.08,0.00,0.000,4,0.000,0.031,2773,1073,2394
$GC,13664,0.81,163.7,309.9,13.3,403,13668,0.00,2.17,0.00,0.000,6,0.000,0.040,2767,2482,2395
$GC,13951,0.82,173.3,277.8,9.5,410,13962,0.00,0.00,9.12,0.775,6,0.000,0.000,2767,2482,2363
$GC,14197,0.82,173.3,250.5,11.3,416,14201,0.00,2.22,0.00,0.000,4,0.000,0.050,2767,3890,2362
$GC,14255,0.82,173.3,243.7,11.6,417,14259,0.00,2.12,0.00,0.000,6,0.000,0.028,2776,2473,2361
$GC,14537,0.83,182.2,215.6,9.6,424,14552,0.00,2.28,9.60,0.731,4,0.000,0.050,2776,3902,2327
$GC,14606,0.83,182.2,207.3,12.2,425,14611,0.00,2.12,0.00,0.000,6,0.000,0.026,2785,2474,2326
$GC,14876,0.87,215.8,181.1,8.3,446,14910,0.00,0.00,31.00,0.759,6,0.000,0.000,2786,2470,2190
$GC,15174,0.87,215.8,142.1,13.2,473,15178,0.00,2.28,0.00,0.000,4,0.000,0.046,2781,3897,2185
$GC,15229,0.87,215.8,132.5,16.9,477,15233,0.00,2.12,0.00,0.000,6,0.000,0.026,2789,2481,2184
$GC,15499,0.87,215.8,94.5,10.1,502,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2476,2184
$GC,15766,1.05,363.5,79.1,2.7,527,15900,0.12,2.20,122.62,0.650,4,0.097,0.028,2844,1069,1585
$GC,16009,1.05,363.5,36.4,22.1,546,16013,0.00,2.20,0.00,0.000,6,0.000,0.036,2845,2488,1580
$STATE,16138,end climb,SURFACE_DEPTH_REACHED
$STATE,16138,begin surface coast
$FINISH,0.2,1.023101
$STATE,16159,end surface coast,CONTROL_FINISHED_OK
$STATE,16159,begin surface
$SM_CCo,16184,20.92,0.570,0,0,1396,410.13
$SM_GC,1.49,0.00,0.00,20.92,0.000,0.000,0.570,36,2500,1396,-7.67,0.28,410.13
$IRIDIUM_FIX,2152.74,-15813.21,110101,080834
$TT8_MAMPS,0.023777
$HUMID,2175
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,22.70
$XPDR_PINGS,22
$24V_AH,23.0,74.396
$10V_AH,10.5,56.144
$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,17.875,138.025,451.600,20.925,0.000,140.910,176.326,1320.788,5.500,0.000,0.000,33.733,1305.745,12177.199,523.921,1998.600,2315.735,33.372,1457.643,0.000,1958.576,0.000,0.544,0.000
$DEVICE_MAMPS,213.226,63.661,1254.812,569.881,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,385.976,696.991,716.985,113.691,524.866,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47891,569
$CAP_FILE_SIZE,138858,0
$CFSIZE,260165632,190382080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,3,0
$CURRENT,0.092, 97.6,1
$GPS,181011,133114,2157.575,-15812.466,43,1.7,56,9.9