version: 66.04
glider: 512
mission: 1
dive: 460
start: 1 22 111 2 19 5
data:
$ID,512
$MISSION,1
$DIVE,460
$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,-14922.35
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2900
$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,53
$R_STBD_OVSHOOT,44
$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
$GPS1,021207,2251.566,-15803.043,34,1.8,34,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-77.5
$GPS2,021814,2251.524,-15803.014,15,1.7,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.062,0.257
$KALMAN_X,-163451.4,-1179.3,-371.2,178792.8,2058.4
$KALMAN_Y,-435674.8,1002.6,152.4,566470.9,-4309.5
$MHEAD_RNG_PITCHd_Wd,336.4,5601,-16.2,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.84,-155.7,0.0,0.0,0,57,0.00,0.00,-37.67,0.000,2,0.000,0.000,44,2679,2921
$GC,61,-0.84,-155.7,3.2,-5.8,5,101,11.57,2.03,-19.73,0.000,4,0.253,0.093,2610,3853,3961
$GC,221,-0.84,-155.7,38.9,-12.1,26,229,0.00,1.83,0.00,0.000,6,0.000,0.028,2614,2629,3963
$GC,484,-0.84,-155.7,95.1,-19.2,51,488,0.00,2.03,0.00,0.000,4,0.000,0.028,2624,1251,3964
$GC,533,-0.84,-155.7,101.7,-11.3,55,537,0.00,2.30,0.00,0.000,6,0.000,0.074,2619,2624,3965
$GC,797,-0.84,-155.7,138.8,-14.6,79,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2624,3966
$GC,1059,-0.84,-155.7,172.8,-12.5,104,1063,0.00,2.00,0.00,0.000,4,0.000,0.027,2626,1252,3967
$GC,1093,-0.84,-155.7,176.5,-9.9,107,1098,0.00,2.33,0.00,0.000,6,0.000,0.074,2619,2658,3968
$GC,1353,-0.84,-155.7,205.3,-11.6,128,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2658,3967
$GC,1596,-0.84,-155.7,231.7,-10.6,134,1600,0.00,2.08,0.00,0.000,4,0.000,0.028,2627,1242,3968
$GC,1635,-0.84,-155.7,235.6,-8.3,134,1642,0.00,2.30,0.00,0.000,6,0.000,0.067,2619,2655,3969
$GC,1887,-0.84,-155.7,257.7,-8.9,141,1891,0.00,2.10,0.00,0.000,4,0.000,0.089,2609,3884,3969
$GC,1921,-0.84,-155.7,261.0,-8.7,141,1924,0.00,1.80,0.00,0.000,6,0.000,0.031,2611,2649,3968
$GC,2177,-0.84,-155.7,283.8,-8.9,148,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2641,3968
$GC,2421,-0.84,-155.7,304.5,-8.4,154,2425,0.00,2.20,0.00,0.000,4,0.000,0.097,2603,3888,3969
$GC,2449,-0.84,-155.7,307.1,-9.0,154,2453,0.00,1.83,0.00,0.000,6,0.000,0.031,2611,2635,3968
$GC,2712,-0.84,-155.7,328.6,-8.3,161,2715,0.00,2.00,0.00,0.000,4,0.000,0.028,2617,1260,3968
$GC,2740,-0.84,-155.7,331.1,-8.1,161,2744,0.00,2.28,0.00,0.000,6,0.000,0.067,2608,2656,3968
$GC,2997,-0.84,-155.7,352.4,-8.3,168,3001,0.00,2.15,0.00,0.000,4,0.000,0.098,2598,3890,3966
$GC,3037,-0.84,-155.7,355.7,-7.7,168,3043,0.00,1.83,0.00,0.000,6,0.000,0.031,2606,2635,3966
$GC,3287,-0.84,-155.7,375.2,-7.9,175,3291,0.00,2.00,0.00,0.000,4,0.000,0.028,2615,1257,3965
$GC,3327,-0.84,-155.7,378.3,-7.0,175,3334,0.00,2.28,0.00,0.000,6,0.000,0.062,2616,2646,3965
$GC,3577,-0.84,-155.7,398.7,-8.5,182,3581,0.00,2.05,0.00,0.000,4,0.000,0.081,2608,3887,3963
$GC,3611,-0.84,-155.7,402.0,-8.8,182,3615,0.00,1.83,0.00,0.000,6,0.000,0.033,2611,2642,3963
$GC,3867,-0.84,-155.7,427.0,-10.4,189,3870,0.00,2.03,0.00,0.000,4,0.000,0.029,2617,1263,3962
$GC,3928,-0.84,-155.7,433.7,-9.8,190,3933,0.00,2.28,0.00,0.000,6,0.000,0.062,2617,2657,3961
$GC,4197,-0.84,-155.7,458.5,-9.2,197,4201,0.00,2.10,0.00,0.000,4,0.000,0.031,2617,1246,3960
$GC,4333,-0.84,-155.7,470.5,-7.7,200,4338,0.00,2.30,-0.05,0.000,6,0.000,0.062,2618,2660,3978
$GC,4617,-0.84,-155.7,494.4,-8.6,207,4621,0.00,2.08,0.00,0.000,4,0.000,0.030,2617,1260,3977
$GC,4668,-0.84,-155.7,499.4,-9.5,208,4672,0.00,2.30,0.00,0.000,6,0.000,0.069,2617,2650,3976
$GC,4946,-0.84,-155.7,524.0,-9.4,215,4950,0.00,2.08,0.00,0.000,4,0.000,0.030,2626,1257,3975
$GC,5098,-0.84,-155.7,539.9,-9.8,218,5102,0.00,2.25,0.00,0.000,6,0.000,0.058,2619,2651,3974
$GC,5365,-0.84,-155.7,566.1,-10.0,225,5369,0.00,2.08,0.00,0.000,4,0.000,0.030,2628,1266,3972
$GC,5415,-0.84,-155.7,571.5,-10.4,226,5419,0.00,2.22,0.00,0.000,6,0.000,0.060,2628,2649,3971
$GC,5699,-0.84,-155.7,599.6,-10.2,233,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2650,3971
$STATE,5736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5736,begin apogee
$GC,5743,-0.32,0.0,603.7,10.2,234,5871,0.47,0.00,124.97,1.101,6,0.079,0.000,2796,2567,3367
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5875,0.84,155.7,612.5,0.0,237,6016,1.08,2.28,133.75,1.069,4,0.074,0.052,3163,3898,2731
$GC,6274,0.84,155.7,613.2,9.7,246,6278,0.00,2.05,0.00,0.000,6,0.000,0.029,3172,2532,2725
$GC,6560,0.93,226.5,592.2,6.7,253,6626,0.00,2.28,60.92,1.049,4,0.000,0.051,3164,3898,2444
$GC,6794,0.93,226.5,546.8,22.4,258,6798,0.00,2.03,0.00,0.000,6,0.000,0.030,3172,2565,2438
$GC,7061,0.93,226.5,491.8,20.1,265,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2559,2434
$GC,7306,0.93,226.5,446.1,18.2,271,7310,0.00,2.15,0.00,0.000,4,0.000,0.031,3183,1126,2433
$GC,7401,0.93,226.5,428.9,18.7,273,7405,0.00,2.28,0.00,0.000,6,0.000,0.050,3179,2560,2433
$GC,7679,0.93,226.5,380.0,17.4,280,7682,0.00,2.12,0.00,0.000,4,0.000,0.031,3187,1129,2431
$GC,7914,0.93,226.5,340.5,15.1,285,7918,0.00,2.22,0.00,0.000,6,0.000,0.049,3187,2549,2430
$GC,8187,0.93,226.5,296.1,15.8,292,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2549,2428
$GC,8433,0.93,226.5,262.4,13.4,298,8436,0.00,2.17,0.00,0.000,4,0.000,0.063,3187,3899,2428
$GC,8690,0.93,226.5,225.2,15.0,303,8694,0.00,2.00,0.00,0.000,6,0.000,0.030,3197,2534,2427
$GC,8950,0.93,226.5,189.9,12.8,313,8954,0.00,2.20,0.00,0.000,4,0.000,0.053,3192,3903,2427
$GC,9207,0.93,226.5,158.1,10.4,336,9211,0.00,2.00,0.00,0.000,6,0.000,0.031,3200,2544,2427
$GC,9477,0.93,230.8,134.9,9.4,361,9481,0.00,2.17,0.00,0.000,4,0.000,0.058,3201,3893,2427
$GC,9513,0.95,243.1,131.4,9.1,364,9539,0.00,1.98,15.05,0.635,6,0.000,0.028,3211,2537,2376
$GC,9795,1.03,306.6,101.1,7.0,390,9857,0.00,2.22,54.53,0.712,4,0.000,0.052,3205,3899,2115
$GC,9937,1.03,306.6,77.8,24.7,402,9941,0.00,2.00,0.00,0.000,6,0.000,0.028,3213,2561,2113
$GC,10203,1.03,306.6,18.8,22.2,431,10211,0.00,2.17,0.00,0.000,4,0.000,0.050,3215,3900,2109
$GC,10246,1.03,306.6,7.2,26.7,438,10254,0.00,2.03,0.00,0.000,6,0.000,0.028,3224,2561,2109
$STATE,10260,end climb,SURFACE_DEPTH_REACHED
$STATE,10260,begin surface coast
$FINISH,0.2,1.023962
$STATE,10272,end surface coast,CONTROL_FINISHED_OK
$STATE,10272,begin surface
$SM_CCo,10293,26.50,0.614,0,0,1940,350.04
$SM_GC,3.04,0.00,0.00,26.50,0.000,0.000,0.614,47,2669,1940,-8.91,0.54,350.04
$IRIDIUM_FIX,2241.69,-15802.37,160400,232317
$TT8_MAMPS,0.023777
$HUMID,1851
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.7,60.058
$10V_AH,10.7,34.684
$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,22.225,101.500,389.225,26.500,0.000,25.220,39.810,184.612,0.250,0.000,0.000,15.068,959.354,7003.513,445.032,1776.404,506.902,33.362,1212.355,0.000,1758.954,0.000,0.542,0.000
$DEVICE_MAMPS,253.110,98.176,1101.412,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,299.338,664.373,684.752,134.133,558.300,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35143,442
$CAP_FILE_SIZE,90276,0
$CFSIZE,260165632,243060736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,220111,051324,2251.938,-15803.300,98,1.1,98,10.1