version: 66.04
glider: 512
mission: 1
dive: 464
start: 1 22 111 14 16 16
data:
$ID,512
$MISSION,1
$DIVE,464
$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,-15021.032
$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,55
$R_STBD_OVSHOOT,39
$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
$GPS1,141006,2252.812,-15804.395,69,0.8,70,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-77.8
$GPS2,141525,2252.774,-15804.407,11,1.0,16,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.254,0.074
$KALMAN_X,-164834.8,868.1,286.9,175056.2,-1017.8
$KALMAN_Y,-444035.5,-117.5,-103.4,578534.4,-3443.1
$MHEAD_RNG_PITCHd_Wd,63.6,15256,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-155.7,0.0,0.0,0,56,0.00,0.00,-38.38,0.000,2,0.000,0.000,50,2677,2945
$GC,60,-0.84,-155.7,3.5,-6.2,5,100,11.52,2.10,-19.08,0.000,4,0.252,0.107,2611,3861,3962
$GC,124,-0.84,-155.7,25.1,-35.7,14,133,0.00,1.83,0.00,0.000,6,0.000,0.028,2617,2663,3964
$GC,390,-0.84,-155.7,89.1,-22.3,40,394,0.00,2.12,0.00,0.000,4,0.000,0.029,2626,1226,3965
$GC,450,-0.84,-155.7,98.5,-10.7,45,454,0.00,2.38,0.00,0.000,6,0.000,0.078,2617,2632,3966
$GC,714,-0.84,-155.7,134.3,-13.7,69,718,0.00,2.20,0.00,0.000,4,0.000,0.100,2607,3893,3968
$GC,752,-0.84,-155.7,139.7,-11.9,72,760,0.00,1.90,0.00,0.000,6,0.000,0.028,2614,2606,3967
$GC,1015,-0.84,-155.7,170.0,-11.9,97,1019,0.00,1.98,0.00,0.000,4,0.000,0.027,2624,1247,3969
$GC,1040,-0.84,-155.7,172.9,-11.7,99,1044,0.00,2.28,0.00,0.000,6,0.000,0.062,2619,2660,3970
$GC,1331,-0.84,-155.7,205.0,-10.8,123,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2660,3970
$GC,1576,-0.84,-155.7,229.3,-9.7,129,1580,0.00,2.05,0.00,0.000,4,0.000,0.027,2626,1257,3970
$GC,1616,-0.84,-155.7,233.0,-8.7,129,1622,0.00,2.28,0.00,0.000,6,0.000,0.067,2619,2651,3970
$GC,1868,-0.84,-155.7,254.9,-8.7,136,1871,0.00,2.08,0.00,0.000,4,0.000,0.086,2610,3883,3971
$GC,1902,-0.84,-155.7,258.0,-8.0,136,1906,0.00,1.80,0.00,0.000,6,0.000,0.031,2614,2647,3970
$GC,2160,-0.84,-155.7,278.6,-8.3,143,2163,0.00,2.03,0.00,0.000,4,0.000,0.027,2618,1253,3970
$GC,2182,-0.84,-155.7,280.7,-8.4,143,2186,0.00,2.22,0.00,0.000,6,0.000,0.055,2617,2654,3970
$GC,2443,-0.84,-155.7,300.2,-7.6,150,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2654,3969
$GC,2688,-0.84,-155.7,320.7,-8.5,156,2691,0.00,2.05,0.00,0.000,4,0.000,0.027,2622,1257,3969
$GC,2716,-0.84,-155.7,323.4,-8.8,156,2720,0.00,2.28,0.00,0.000,6,0.000,0.068,2619,2649,3969
$GC,2974,-0.84,-155.7,344.5,-8.4,163,2977,0.00,2.10,0.00,0.000,4,0.000,0.088,2614,3883,3968
$GC,3007,-0.84,-155.7,347.5,-7.9,163,3011,0.00,1.83,0.00,0.000,6,0.000,0.033,2617,2654,3967
$GC,3263,-0.84,-155.7,369.3,-8.8,170,3267,0.00,2.03,0.00,0.000,4,0.000,0.028,2627,1257,3967
$GC,3521,-0.84,-155.7,391.7,-7.6,175,3525,0.00,2.25,0.00,0.000,6,0.000,0.059,2620,2650,3965
$GC,3773,-0.84,-155.7,412.5,-8.9,181,3776,0.00,2.05,0.00,0.000,4,0.000,0.028,2630,1257,3963
$GC,4031,-0.84,-155.7,436.9,-9.4,186,4035,0.00,2.28,0.00,0.000,6,0.000,0.062,2630,2651,3962
$GC,4283,-0.84,-155.7,460.3,-9.9,192,4286,0.00,2.05,0.00,0.000,4,0.000,0.028,2630,1255,3960
$GC,4419,-0.84,-155.7,474.6,-9.5,195,4423,0.00,2.30,0.00,0.000,6,0.000,0.064,2630,2659,3960
$GC,4703,-0.84,-155.7,502.0,-9.8,202,4707,0.00,2.08,0.00,0.000,4,0.000,0.084,2630,3887,3958
$GC,4961,-0.84,-155.7,528.5,-12.1,207,4965,0.00,1.85,0.00,0.000,6,0.000,0.038,2630,2664,3956
$GC,5217,-0.84,-155.7,552.3,-9.6,214,5221,0.00,2.12,0.00,0.000,4,0.000,0.093,2630,3882,3955
$GC,5290,-0.84,-155.7,559.7,-9.9,215,5294,0.00,1.83,0.00,0.000,6,0.000,0.032,2639,2647,3954
$GC,5552,-0.84,-155.7,586.4,-10.6,222,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2640,3953
$STATE,5670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5671,begin apogee
$GC,5678,-0.32,0.0,600.1,11.2,225,5803,0.45,0.00,121.32,1.085,6,0.088,0.000,2794,2550,3367
$STATE,5803,end apogee,CONTROL_FINISHED_OK
$STATE,5803,begin climb
$GC,5806,0.84,155.7,611.0,0.0,228,5949,1.08,2.28,133.65,1.072,4,0.074,0.029,3179,1135,2731
$GC,6207,0.92,216.7,622.8,7.1,237,6267,0.00,2.28,53.28,1.068,6,0.000,0.051,3178,2546,2482
$GC,6529,0.92,216.7,559.9,21.6,245,6533,0.00,2.12,0.00,0.000,4,0.000,0.033,3187,1133,2474
$GC,6717,0.92,216.7,522.8,19.8,249,6721,0.00,2.28,0.00,0.000,6,0.000,0.054,3187,2552,2473
$GC,6997,0.92,216.7,469.8,18.7,256,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2552,2471
$GC,7238,0.92,216.7,428.1,17.0,262,7242,0.00,2.10,0.00,0.000,4,0.000,0.031,3197,1139,2470
$GC,7277,0.92,216.7,421.6,16.1,262,7283,0.00,2.28,0.00,0.000,6,0.000,0.054,3192,2556,2470
$GC,7527,0.92,216.7,382.2,15.8,269,7531,0.00,2.10,0.00,0.000,4,0.000,0.031,3200,1143,2469
$GC,7538,0.92,216.7,380.5,15.5,269,7542,0.00,2.25,0.00,0.000,6,0.000,0.051,3201,2551,2469
$GC,7811,0.92,216.7,334.2,17.0,276,7815,0.00,2.17,0.00,0.000,4,0.000,0.062,3201,3902,2468
$GC,7913,0.92,216.7,317.2,16.7,278,7917,0.00,2.03,0.00,0.000,6,0.000,0.031,3211,2538,2467
$GC,8191,0.92,216.7,275.0,14.5,285,8195,0.00,2.08,0.00,0.000,4,0.000,0.030,3221,1120,2467
$GC,8202,0.92,216.7,273.5,13.8,285,8206,0.00,2.25,0.00,0.000,6,0.000,0.049,3218,2552,2467
$GC,8474,0.92,216.7,240.8,11.6,292,8478,0.00,2.15,0.00,0.000,4,0.000,0.060,3218,3895,2467
$GC,8661,0.92,216.7,217.7,12.5,296,8666,0.15,2.00,0.00,0.000,6,0.269,0.029,3200,2538,2466
$GC,8920,0.96,253.8,193.6,8.1,306,8957,0.00,2.08,30.27,0.823,4,0.000,0.028,3209,1143,2332
$GC,9172,0.96,253.8,156.1,16.6,328,9176,0.00,2.22,0.00,0.000,6,0.000,0.048,3205,2550,2327
$GC,9441,0.96,253.8,112.5,15.9,353,9445,0.00,2.15,0.00,0.000,4,0.000,0.058,3205,3901,2326
$GC,9467,0.96,253.8,108.2,16.4,355,9471,0.00,2.00,0.00,0.000,6,0.000,0.030,3213,2545,2326
$GC,9736,0.96,253.8,78.3,10.1,380,9740,0.00,2.20,0.00,0.000,4,0.000,0.060,3214,3901,2326
$GC,9926,0.96,253.8,54.1,14.6,397,9930,0.00,2.00,0.00,0.000,6,0.000,0.028,3223,2543,2326
$GC,10191,0.96,253.8,22.1,11.4,427,10199,0.00,2.20,0.00,0.000,4,0.000,0.056,3218,3885,2325
$STATE,10337,end climb,SURFACE_DEPTH_REACHED
$STATE,10337,begin surface coast
$FINISH,0.5,1.023995
$STATE,10362,end surface coast,CONTROL_FINISHED_OK
$STATE,10363,begin surface
$SM_CCo,10388,54.85,0.637,0,0,1939,350.04
$SM_GC,0.90,0.00,0.00,54.85,0.000,0.000,0.637,49,2644,1939,-8.91,-0.17,350.04
$IRIDIUM_FIX,2244.02,-15806.70,170400,111110
$TT8_MAMPS,0.024544
$HUMID,1813
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.7,60.599
$10V_AH,10.7,35.062
$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,24.650,105.450,338.525,54.850,0.000,22.339,33.150,142.541,0.250,0.000,0.000,16.124,999.296,6971.323,436.463,1894.455,464.532,33.364,1215.356,0.000,1876.160,0.000,0.543,0.000
$DEVICE_MAMPS,269.217,106.613,1084.538,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,310.852,708.306,725.901,155.057,642.974,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38361,458
$CAP_FILE_SIZE,89879,0
$CFSIZE,260165632,242876416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,220111,171154,2252.323,-15803.646,44,1.2,55,10.1