version: 66.04
glider: 512
mission: 1
dive: 650
start: 2 7 111 6 9 30
data:
$ID,512
$MISSION,1
$DIVE,650
$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,150
$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,-20054.684
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2865
$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,2700
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,65
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3170
$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
$GPS1,060237,2247.291,-15804.867,34,1.0,34,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.9
$GPS2,060837,2247.249,-15804.812,11,1.0,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.102,0.235
$KALMAN_X,-187558.6,-594.9,68.5,198774.2,1078.2
$KALMAN_Y,-551198.8,-501.0,-443.5,676202.5,-991.2
$MHEAD_RNG_PITCHd_Wd,326.4,11636,-16.9,-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,16,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.33,0.000,2,0.000,0.000,34,2755,2895
$GC,68,-0.85,-146.0,3.2,-4.7,6,102,10.73,2.25,-17.88,0.000,4,0.226,0.039,2584,1284,3767
$GC,158,-0.85,-146.0,25.1,-20.4,20,166,0.00,2.33,0.00,0.000,6,0.000,0.070,2576,2649,3769
$GC,432,-0.85,-146.0,97.8,-27.6,47,435,0.00,2.00,0.00,0.000,4,0.000,0.077,2567,3846,3770
$GC,482,-0.85,-146.0,111.9,-22.8,51,488,0.00,1.70,0.00,0.000,6,0.000,0.025,2567,2698,3770
$GC,747,-0.85,-146.0,171.8,-22.6,76,751,0.00,2.05,0.00,0.000,4,0.000,0.027,2567,1292,3772
$GC,872,-0.85,-146.0,193.0,-14.0,87,876,0.00,2.22,0.00,0.000,6,0.000,0.067,2563,2650,3773
$GC,1161,-0.85,-146.0,249.1,-20.1,97,1165,0.00,2.10,0.00,0.000,4,0.000,0.082,2553,3901,3773
$GC,1218,-0.85,-146.0,259.8,-16.7,98,1223,0.12,1.75,0.00,0.000,6,0.146,0.026,2586,2693,3773
$GC,1497,-0.85,-146.0,298.8,-13.9,105,1501,0.00,2.03,0.00,0.000,4,0.000,0.027,2587,1298,3773
$GC,1576,-0.85,-146.0,308.1,-9.9,106,1581,0.00,2.33,0.00,0.000,6,0.000,0.068,2578,2707,3773
$GC,1828,-0.85,-146.0,340.5,-13.4,112,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2708,3774
$GC,2072,-0.85,-146.0,373.3,-13.6,118,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2708,3773
$GC,2314,-0.85,-146.0,403.7,-12.1,124,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2708,3771
$GC,2558,-0.85,-146.0,432.4,-11.7,130,2562,0.00,2.10,0.00,0.000,4,0.000,0.028,2578,1298,3771
$GC,2606,-0.85,-146.0,437.5,-9.4,131,2610,0.00,2.35,0.00,0.000,6,0.000,0.071,2577,2705,3771
$GC,2890,-0.85,-146.0,470.0,-11.6,138,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2705,3769
$GC,3134,-0.85,-146.0,495.7,-10.4,144,3137,0.00,2.08,0.00,0.000,4,0.000,0.029,2576,1301,3767
$GC,3164,-0.85,-146.0,498.7,-10.1,144,3168,0.00,2.35,0.00,0.000,6,0.000,0.076,2576,2698,3767
$GC,3421,-0.85,-146.0,524.5,-10.2,151,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2697,3765
$GC,3665,-0.85,-146.0,548.8,-9.9,157,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2698,3764
$GC,3907,-0.85,-146.0,573.3,-10.0,163,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2698,3762
$GC,4151,-0.85,-146.0,597.8,-10.1,169,4154,0.00,2.10,0.00,0.000,4,0.000,0.031,2577,1300,3760
$STATE,4170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4170,begin apogee
$GC,4181,-0.32,0.0,600.4,10.9,169,4309,0.55,0.00,124.53,1.090,6,0.114,0.000,2756,2597,3170
$STATE,4310,end apogee,CONTROL_FINISHED_OK
$STATE,4310,begin climb
$GC,4313,0.85,146.0,606.1,0.0,172,4450,1.05,2.20,129.45,1.085,4,0.056,0.031,3155,1207,2574
$GC,4465,1.02,276.3,619.1,3.8,175,4588,0.12,2.30,115.80,1.051,6,0.106,0.049,3189,2609,2043
$GC,4850,1.02,276.3,496.7,35.1,185,4854,0.00,2.12,0.00,0.000,4,0.000,0.031,3199,1193,2034
$GC,4962,1.02,276.3,460.4,32.6,187,4966,0.00,2.25,0.00,0.000,6,0.000,0.051,3199,2605,2031
$GC,5224,1.02,276.3,370.0,35.1,194,5228,0.00,2.10,0.00,0.000,4,0.000,0.030,3209,1194,2029
$GC,5347,1.02,276.3,328.6,32.8,196,5351,0.00,2.25,0.00,0.000,6,0.000,0.049,3205,2610,2028
$GC,5598,1.02,276.3,248.4,31.3,202,5601,0.00,2.10,0.00,0.000,4,0.000,0.029,3214,1196,2028
$GC,5660,1.02,276.3,229.5,29.1,203,5664,0.00,2.28,0.00,0.000,6,0.000,0.054,3214,2609,2027
$GC,5926,1.02,276.3,149.7,30.1,221,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2609,2026
$GC,6182,1.02,276.3,82.6,26.5,245,6186,0.00,2.10,0.00,0.000,4,0.000,0.029,3224,1194,2026
$GC,6306,1.02,276.3,51.3,25.9,256,6310,0.00,2.22,0.00,0.000,6,0.000,0.045,3218,2610,2026
$STATE,6475,end climb,SURFACE_DEPTH_REACHED
$STATE,6476,begin surface coast
$FINISH,0.2,1.024015
$STATE,6491,end surface coast,CONTROL_FINISHED_OK
$STATE,6491,begin surface
$SM_CCo,6514,40.88,0.653,0,0,1742,350.04
$SM_GC,1.73,0.00,0.00,40.88,0.000,0.000,0.653,45,2757,1742,-8.81,1.61,350.04
$IRIDIUM_FIX,2237.01,-15800.20,030500,030352
$TT8_MAMPS,0.024544
$HUMID,1933
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.5,86.072
$10V_AH,10.7,47.528
$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,21.050,56.000,369.775,40.875,0.000,29.593,34.055,159.729,0.000,0.000,0.000,16.642,599.714,4416.023,411.698,1038.647,454.235,33.360,877.271,0.000,1034.551,0.000,0.542,0.000
$DEVICE_MAMPS,226.265,82.069,1089.907,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,190.666,426.613,440.304,97.621,399.691,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22508,282
$CAP_FILE_SIZE,54925,0
$CFSIZE,260165632,236371968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,070211,075958,2247.899,-15805.393,10,3.9,29,10.1