version: 66.04
glider: 512
mission: 1
dive: 475
start: 1 23 111 22 1 11
data:
$ID,512
$MISSION,1
$DIVE,475
$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,-15234.262
$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,63
$R_STBD_OVSHOOT,29
$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
$GPS1,215504,2254.948,-15757.497,8,7.3,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-75.4
$GPS2,220020,2254.999,-15757.447,16,1.6,16,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.246,0.096
$KALMAN_X,-174070.5,-1063.7,361.0,198135.4,-1554.0
$KALMAN_Y,-462783.0,430.6,406.6,600337.2,-2446.1
$MHEAD_RNG_PITCHd_Wd,58.7,4329,-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,-38.62,0.000,2,0.000,0.000,50,2669,2868
$GC,60,-0.84,-155.7,3.1,-5.6,5,99,11.73,0.00,-21.92,0.000,6,0.257,0.000,2618,2670,3961
$GC,357,-0.84,-155.7,74.5,-21.8,40,361,0.00,2.10,0.00,0.000,4,0.000,0.029,2628,1252,3963
$GC,437,-0.84,-155.7,86.8,-10.5,47,441,0.00,2.30,0.00,0.000,6,0.000,0.065,2619,2651,3964
$GC,700,-0.84,-155.7,128.2,-16.1,71,704,0.00,2.08,0.00,0.000,4,0.000,0.083,2610,3885,3965
$GC,748,-0.84,-155.7,134.8,-12.1,75,751,0.00,1.80,0.00,0.000,6,0.000,0.027,2616,2641,3966
$GC,1017,-0.84,-155.7,170.5,-13.3,100,1021,0.00,2.03,0.00,0.000,4,0.000,0.026,2626,1245,3967
$GC,1041,-0.84,-155.7,173.6,-12.6,102,1045,0.00,2.30,0.00,0.000,6,0.000,0.064,2619,2657,3967
$GC,1304,-0.84,-155.7,199.1,-9.6,126,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2657,3968
$GC,1557,-0.84,-155.7,226.1,-10.6,133,1560,0.00,2.05,0.00,0.000,4,0.000,0.026,2627,1254,3969
$GC,1596,-0.84,-155.7,229.8,-7.6,133,1602,0.00,2.25,0.00,0.000,6,0.000,0.061,2619,2655,3969
$GC,1846,-0.84,-155.7,251.5,-8.8,140,1850,0.00,2.05,0.00,0.000,4,0.000,0.077,2609,3890,3968
$GC,1880,-0.84,-155.7,254.6,-8.4,140,1884,0.00,1.80,0.00,0.000,6,0.000,0.029,2616,2646,3969
$GC,2137,-0.84,-155.7,276.9,-9.0,147,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2640,3968
$GC,2382,-0.84,-155.7,299.8,-9.2,153,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2639,3968
$GC,2624,-0.84,-155.7,320.9,-8.6,159,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2640,3968
$GC,2868,-0.84,-155.7,338.3,-6.9,165,2871,0.00,2.10,0.00,0.000,4,0.000,0.081,2608,3882,3967
$GC,2907,-0.84,-155.7,341.1,-6.1,165,2914,0.00,1.83,0.00,0.000,6,0.000,0.030,2616,2641,3966
$GC,3158,-0.84,-155.7,360.2,-8.4,172,3161,0.00,2.03,0.00,0.000,4,0.000,0.028,2626,1254,3965
$GC,3416,-0.84,-155.7,385.4,-9.6,177,3420,0.00,2.22,0.00,0.000,6,0.000,0.052,2624,2657,3964
$GC,3671,-0.84,-155.7,410.4,-10.0,184,3675,0.00,2.05,0.00,0.000,4,0.000,0.028,2630,1257,3962
$GC,3929,-0.84,-155.7,435.7,-10.1,189,3933,0.00,2.22,0.00,0.000,6,0.000,0.056,2630,2644,3961
$GC,4179,-0.84,-155.7,457.5,-8.8,195,4183,0.00,2.03,0.00,0.000,4,0.000,0.028,2637,1266,3960
$GC,4437,-0.84,-155.7,481.3,-9.0,200,4441,0.00,2.22,-0.05,0.000,6,0.000,0.055,2633,2651,3977
$GC,4692,-0.84,-155.7,503.7,-9.1,207,4696,0.00,2.05,0.00,0.000,4,0.000,0.028,2637,1260,3976
$GC,4950,-0.84,-155.7,528.3,-9.4,212,4954,0.00,2.25,0.00,0.000,6,0.000,0.057,2636,2655,3975
$GC,5206,-0.84,-155.7,552.7,-9.7,219,5210,0.00,2.08,0.00,0.000,4,0.000,0.081,2633,3894,3973
$GC,5245,-0.84,-155.7,556.9,-11.0,219,5251,0.00,1.83,0.00,0.000,6,0.000,0.032,2635,2638,3972
$GC,5496,-0.84,-155.7,581.8,-10.1,226,5500,0.00,2.03,0.00,0.000,4,0.000,0.030,2640,1265,3971
$GC,5558,-0.84,-155.7,588.8,-11.0,227,5562,0.00,2.25,0.00,0.000,6,0.000,0.060,2637,2649,3971
$STATE,5706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5706,begin apogee
$GC,5714,-0.32,0.0,604.3,10.4,231,5842,0.45,0.00,125.68,1.128,6,0.078,0.000,2795,2578,3367
$STATE,5843,end apogee,CONTROL_FINISHED_OK
$STATE,5843,begin climb
$GC,5847,0.84,155.7,615.2,0.0,234,5989,1.08,2.33,134.68,1.095,4,0.075,0.029,3180,1138,2731
$GC,6003,1.34,560.8,637.7,-7.2,237,6366,0.47,2.35,353.33,1.045,6,0.094,0.047,3327,2550,1080
$GC,6627,1.34,560.8,308.1,69.0,253,6631,0.00,2.15,0.00,0.000,4,0.000,0.032,3338,1143,1074
$GC,6768,1.34,560.8,218.0,59.6,256,6772,0.00,2.28,0.00,0.000,6,0.000,0.056,3338,2544,1071
$GC,7038,1.34,560.8,50.5,59.3,279,7042,0.00,2.10,0.00,0.000,4,0.000,0.036,3348,1153,1070
$GC,7095,1.34,560.8,17.7,56.2,286,7103,0.00,2.25,0.00,0.000,6,0.000,0.050,3340,2546,1069
$STATE,7120,end climb,SURFACE_DEPTH_REACHED
$STATE,7120,begin surface coast
$FINISH,0.1,1.024060
$STATE,7127,end surface coast,CONTROL_FINISHED_OK
$STATE,7127,begin surface
$SM_CCo,7208,0.00,0.000,0,0,1064,564.92
$SM_GC,1.03,9.35,0.00,0.00,0.080,0.000,0.000,55,2681,1064,-8.85,0.85,564.92
$IRIDIUM_FIX,2244.02,-15718.49,180400,191911
$TT8_MAMPS,0.023777
$HUMID,2023
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,15.50
$XPDR_PINGS,2
$24V_AH,23.4,62.196
$10V_AH,10.7,36.010
$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,23.075,63.625,613.675,0.000,0.000,29.078,34.068,131.094,0.500,0.000,0.000,16.818,644.102,4660.955,547.002,1281.856,390.988,33.363,1173.631,0.000,1261.547,0.000,0.541,0.000
$DEVICE_MAMPS,256.945,82.836,1128.257,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,196.174,420.532,432.257,87.179,357.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22350,291
$CAP_FILE_SIZE,63760,0
$CFSIZE,260165632,242438144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,240111,000236,2254.982,-15756.580,41,1.0,41,10.1