version: 66.04
glider: 512
mission: 1
dive: 430
start: 1 19 111 1 49 16
data:
$ID,512
$MISSION,1
$DIVE,430
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,740
$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,208
$T_MISSION,400
$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,51933
$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,350
$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,-14229.153
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$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,0.0043268236
$SEABIRD_T_H,0.00062176253
$SEABIRD_T_I,2.2895147e-05
$SEABIRD_T_J,2.4135268e-06
$SEABIRD_C_G,-9.7990599
$SEABIRD_C_H,1.0853468
$SEABIRD_C_I,-0.0020291714
$SEABIRD_C_J,0.00023101864
$GPS1,013156,2248.709,-15805.201,32,2.0,32,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-80.2
$GPS2,014825,2248.656,-15805.268,14,1.6,31,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.202,0.154
$KALMAN_X,-157369.5,-786.3,-592.9,168670.3,6401.7
$KALMAN_Y,-382583.0,-436.9,220.0,509439.7,-4975.9
$MHEAD_RNG_PITCHd_Wd,297.3,4939,-17.1,-9.615
$D_GRID,600
$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,16,-0.86,-143.2,0.0,0.0,0,57,0.00,0.00,-38.55,0.000,2,0.000,0.000,46,2627,2941
$GC,60,-0.87,-155.7,3.1,-5.6,5,100,11.45,2.22,-20.17,0.000,4,0.257,0.100,2550,3882,3963
$GC,319,-0.87,-155.7,74.0,-22.1,33,328,0.00,1.85,0.00,0.000,6,0.000,0.028,2557,2653,3964
$GC,583,-0.87,-155.7,154.5,-29.3,58,587,0.00,2.17,0.00,0.000,4,0.000,0.097,2548,3884,3965
$GC,629,-0.87,-155.7,167.0,-24.5,62,633,0.00,1.83,0.00,0.000,6,0.000,0.026,2556,2638,3965
$GC,911,-0.87,-155.7,228.6,-21.8,80,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2630,3967
$GC,1156,-0.87,-155.7,278.7,-20.0,86,1160,0.00,2.05,0.00,0.000,4,0.000,0.027,2566,1230,3967
$GC,1183,-0.87,-155.7,283.9,-17.5,86,1187,0.00,2.40,0.00,0.000,6,0.000,0.081,2556,2655,3967
$GC,1446,-0.87,-155.7,328.4,-17.4,93,1450,0.00,2.15,0.00,0.000,4,0.000,0.101,2547,3884,3967
$GC,1502,-0.87,-155.7,338.1,-15.1,94,1506,0.00,1.83,0.00,0.000,6,0.000,0.028,2554,2634,3967
$GC,1781,-0.87,-155.7,384.0,-16.8,101,1785,0.00,2.03,0.00,0.000,4,0.000,0.028,2564,1243,3967
$GC,1831,-0.87,-155.7,391.5,-12.6,102,1835,0.00,2.38,0.00,0.000,6,0.000,0.079,2563,2651,3967
$GC,2109,-0.87,-155.7,432.5,-15.1,109,2112,0.00,2.12,0.00,0.000,4,0.000,0.096,2550,3888,3965
$GC,2159,-0.87,-155.7,439.8,-12.8,110,2162,0.00,1.83,0.00,0.000,6,0.000,0.031,2558,2640,3965
$GC,2442,-0.87,-155.7,480.2,-14.5,117,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2634,3963
$GC,2688,-0.87,-155.7,515.4,-14.5,123,2692,0.00,2.25,0.00,0.000,4,0.000,0.105,2550,3892,3962
$GC,2728,-0.87,-155.7,521.0,-12.8,124,2732,0.00,1.83,0.00,0.000,6,0.000,0.031,2557,2648,3961
$GC,3018,-0.87,-155.7,557.6,-12.6,131,3022,0.00,2.05,0.00,0.000,4,0.000,0.029,2566,1249,3958
$GC,3046,-0.87,-155.7,561.3,-11.8,131,3050,0.00,2.38,0.00,0.000,6,0.000,0.080,2564,2651,3958
$GC,3301,-0.87,-155.7,592.3,-12.6,138,3305,0.00,2.17,0.00,0.000,4,0.000,0.105,2550,3885,3956
$GC,3351,-0.87,-155.7,598.7,-12.0,139,3354,0.00,1.83,0.00,0.000,6,0.000,0.032,2558,2649,3956
$STATE,3364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3365,begin apogee
$GC,3372,-0.32,0.0,600.5,11.7,139,3494,0.57,0.00,119.78,1.045,6,0.156,0.000,2735,2554,3367
$STATE,3495,end apogee,CONTROL_FINISHED_OK
$STATE,3495,begin climb
$GC,3498,0.87,155.7,607.6,0.0,142,3639,1.15,2.40,131.48,1.027,4,0.091,0.074,3119,3891,2731
$GC,3896,0.93,200.0,614.9,7.6,151,3941,0.00,2.03,38.15,1.017,6,0.000,0.028,3130,2532,2550
$GC,4222,0.93,200.0,566.5,16.5,159,4225,0.00,2.22,0.00,0.000,4,0.000,0.058,3124,3896,2543
$GC,4479,0.93,200.0,523.2,16.8,164,4484,0.00,2.00,0.00,0.000,6,0.000,0.031,3132,2555,2541
$GC,4738,0.93,200.0,486.2,14.2,171,4741,0.00,2.17,0.00,0.000,4,0.000,0.060,3133,3893,2539
$GC,4866,0.93,200.0,467.0,14.0,173,4872,0.00,2.00,0.00,0.000,6,0.000,0.030,3143,2548,2538
$GC,5116,0.93,200.0,433.3,13.4,180,5120,0.00,2.20,0.00,0.000,4,0.000,0.059,3137,3900,2537
$GC,5368,0.93,200.0,402.4,11.4,185,5373,0.00,2.00,0.00,0.000,6,0.000,0.031,3146,2551,2536
$GC,5630,0.93,200.0,373.0,11.5,192,5633,0.00,2.10,0.00,0.000,4,0.000,0.031,3157,1129,2535
$GC,5888,0.96,223.4,347.8,8.6,197,5912,0.00,2.25,18.85,0.885,6,0.000,0.051,3150,2560,2455
$GC,6186,0.96,223.4,308.1,13.5,205,6190,0.00,2.15,0.00,0.000,4,0.000,0.031,3159,1124,2451
$GC,6297,0.96,223.4,293.7,12.2,207,6301,0.00,2.28,0.00,0.000,6,0.000,0.051,3159,2561,2450
$GC,6558,0.96,223.4,257.8,13.5,214,6561,0.00,2.12,0.00,0.000,4,0.000,0.031,3168,1135,2449
$GC,6815,0.97,231.9,232.2,9.2,219,6830,0.00,2.25,8.25,0.733,6,0.000,0.052,3162,2545,2420
$GC,7115,0.97,231.9,198.9,10.6,227,7119,0.00,2.10,0.00,0.000,4,0.000,0.031,3170,1141,2419
$GC,7376,0.97,231.9,168.2,11.6,250,7380,0.00,2.25,0.00,0.000,6,0.000,0.051,3163,2554,2418
$GC,7645,0.97,236.6,140.1,9.4,275,7658,0.00,2.15,5.22,0.571,4,0.000,0.028,3172,1139,2403
$GC,7783,0.99,251.2,127.3,9.0,287,7809,0.00,2.22,14.62,0.692,6,0.000,0.046,3164,2561,2341
$GC,8066,1.11,350.7,102.0,5.1,313,8156,0.15,2.22,83.05,0.697,4,0.106,0.058,3205,3883,1936
$GC,8382,1.11,350.7,15.9,34.7,344,8390,0.00,2.03,0.00,0.000,6,0.000,0.029,3213,2547,1931
$STATE,8417,end climb,SURFACE_DEPTH_REACHED
$STATE,8417,begin surface coast
$FINISH,1.2,1.023984
$STATE,8424,end surface coast,CONTROL_FINISHED_OK
$STATE,8424,begin surface
$SM_CCo,8505,0.00,0.000,0,0,1923,353.96
$SM_GC,1.22,8.93,0.00,0.00,0.073,0.000,0.000,54,2685,1923,-8.70,0.99,353.96
$IRIDIUM_FIX,2239.35,-15804.53,140400,010106
$TT8_MAMPS,0.023777
$HUMID,1840
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.9,55.788
$10V_AH,10.7,32.301
$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,22.250,80.750,419.400,0.000,0.000,86.729,112.272,537.405,0.000,0.000,0.000,33.322,798.332,5707.628,413.426,1627.909,955.355,33.339,1141.078,0.000,1591.002,0.000,0.541,0.000
$DEVICE_MAMPS,256.945,105.079,1044.654,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,236.748,519.438,532.202,101.870,426.978,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28773,351
$CAP_FILE_SIZE,83658,0
$CFSIZE,260165632,244244480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,190111,041232,2248.410,-15806.102,54,1.7,55,10.1