version: 66.04
glider: 512
mission: 2
dive: 545
start: 10 10 111 0 13 9
data:
$ID,512
$MISSION,2
$DIVE,545
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,300
$T_MISSION,640
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,655.18561
$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,-43782.145
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2490
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3070
$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,0.0043565552
$SEABIRD_T_H,0.00063178345
$SEABIRD_T_I,2.466659e-05
$SEABIRD_T_J,2.7195788e-06
$SEABIRD_C_G,-9.9023848
$SEABIRD_C_H,1.1413758
$SEABIRD_C_I,-0.0018185935
$SEABIRD_C_J,0.00022361503
$GPS1,234757,2244.384,-15800.431,27,4.5,46,10.1
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-77.5
$GPS2,001207,2244.282,-15800.670,30,1.4,30,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.032,0.250
$KALMAN_X,-159690.4,278.1,-985.7,164299.1,-2807.1
$KALMAN_Y,-145709.5,747.5,521.1,78775.1,-8444.0
$MHEAD_RNG_PITCHd_Wd,22.8,1754,-27.2,-10.000
$D_GRID,900
$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,19,-0.99,-63.0,0.0,0.0,0,84,0.00,0.00,-62.58,0.000,2,0.000,0.000,38,2492,3013
$GC,90,-1.05,-115.1,3.1,-4.4,8,115,7.97,2.15,-10.23,0.000,4,0.195,0.051,2137,3900,3542
$GC,184,-1.05,-115.1,39.3,-32.0,20,192,0.00,2.08,0.00,0.000,6,0.000,0.023,2137,2507,3543
$GC,451,-1.05,-115.1,123.9,-28.9,45,455,0.00,2.08,0.00,0.000,4,0.000,0.025,2139,1067,3544
$GC,470,-1.05,-115.1,130.5,-28.3,46,478,0.00,2.17,0.00,0.000,6,0.000,0.035,2129,2483,3544
$GC,766,-1.05,-115.1,210.2,-25.1,71,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2484,3544
$GC,1008,-1.05,-115.1,267.3,-23.5,77,1012,0.00,2.17,0.00,0.000,4,0.000,0.044,2119,3908,3545
$GC,1049,-1.05,-115.1,277.5,-24.2,77,1056,0.12,2.08,0.00,0.000,6,0.153,0.021,2152,2471,3545
$GC,1302,-1.05,-115.1,330.5,-21.3,84,1306,0.00,2.03,0.00,0.000,4,0.000,0.025,2152,1082,3544
$GC,1349,-1.05,-115.1,340.5,-20.2,85,1353,0.00,2.12,0.00,0.000,6,0.000,0.038,2143,2495,3544
$GC,1643,-1.05,-115.1,397.9,-19.6,92,1646,0.00,2.15,0.00,0.000,4,0.000,0.047,2132,3893,3542
$GC,1700,-1.05,-115.1,410.1,-19.7,93,1704,0.00,2.05,0.00,0.000,6,0.000,0.022,2133,2484,3541
$GC,1981,-1.05,-115.1,464.1,-18.8,100,1985,0.00,2.00,0.00,0.000,4,0.000,0.026,2133,1089,3538
$GC,1995,-1.05,-115.1,466.7,-18.3,100,1999,0.00,2.12,0.00,0.000,6,0.000,0.038,2127,2490,3539
$GC,2277,-1.05,-115.1,517.3,-18.2,107,2281,0.00,2.17,0.00,0.000,4,0.000,0.049,2116,3895,3536
$GC,2352,-1.05,-115.1,532.3,-18.8,108,2357,0.12,2.05,0.00,0.000,6,0.141,0.024,2149,2485,3535
$GC,2616,-1.05,-115.1,575.2,-16.0,115,2619,0.00,2.03,0.00,0.000,4,0.000,0.028,2149,1093,3532
$GC,2652,-1.05,-115.1,581.2,-16.6,115,2656,0.00,2.15,0.00,0.000,6,0.000,0.041,2140,2493,3531
$GC,2910,-1.05,-115.1,623.7,-16.6,122,2914,0.00,2.20,0.00,0.000,4,0.000,0.052,2130,3898,3528
$GC,3004,-1.05,-115.1,639.3,-16.0,124,3008,0.00,2.08,0.00,0.000,6,0.000,0.025,2130,2488,3527
$GC,3298,-1.05,-115.1,689.0,-17.1,131,3302,0.00,2.25,0.00,0.000,4,0.000,0.052,2119,3900,3524
$GC,3385,-1.05,-115.1,704.0,-16.1,133,3389,0.12,2.10,0.00,0.000,6,0.144,0.026,2151,2486,3523
$GC,3676,-1.05,-115.1,743.3,-13.0,140,3680,0.00,2.05,0.00,0.000,4,0.000,0.031,2151,1088,3521
$GC,3730,-1.05,-115.1,750.2,-12.7,141,3734,0.00,2.17,0.00,0.000,6,0.000,0.044,2142,2490,3520
$GC,4018,-1.05,-115.1,790.3,-14.4,148,4022,0.00,2.22,0.00,0.000,4,0.000,0.055,2132,3895,3517
$GC,4132,-1.05,-115.1,808.5,-15.6,150,4136,0.00,2.10,0.00,0.000,6,0.000,0.028,2131,2479,3516
$GC,4403,-1.05,-115.1,850.6,-15.7,157,4406,0.00,2.05,0.00,0.000,4,0.000,0.031,2132,1090,3514
$GC,4450,-1.05,-115.1,858.1,-14.8,158,4455,0.00,2.20,0.00,0.000,6,0.000,0.046,2127,2498,3513
$STATE,4731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4731,begin apogee
$GC,4743,-0.27,0.0,902.8,15.7,165,4843,0.90,0.00,96.68,1.248,6,0.138,0.000,2402,2498,3070
$STATE,4843,end apogee,CONTROL_FINISHED_OK
$STATE,4843,begin climb
$GC,4850,1.05,115.1,906.6,0.0,167,4973,1.12,2.33,110.70,1.179,4,0.037,0.047,2836,3898,2599
$GC,5100,1.05,115.1,896.1,19.5,172,5103,0.00,2.15,0.00,0.000,6,0.000,0.026,2845,2478,2592
$GC,5359,1.05,115.1,851.0,17.3,179,5362,0.00,2.10,0.00,0.000,4,0.000,0.030,2856,1064,2588
$GC,5428,1.05,115.1,839.1,15.9,180,5432,0.00,2.20,0.00,0.000,6,0.000,0.038,2856,2493,2586
$GC,5692,1.05,115.1,795.5,16.4,187,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2493,2585
$GC,5934,1.05,115.1,755.2,16.4,193,5938,0.00,2.17,0.00,0.000,4,0.000,0.046,2849,3893,2583
$GC,6094,1.05,115.1,727.0,17.9,196,6099,0.12,2.10,0.00,0.000,6,0.226,0.028,2833,2479,2582
$GC,6364,1.05,115.1,684.4,15.6,203,6368,0.00,2.20,0.00,0.000,4,0.000,0.047,2833,3885,2581
$GC,6383,1.05,115.1,680.9,15.3,203,6387,0.00,2.10,0.00,0.000,6,0.000,0.028,2842,2468,2580
$GC,6659,1.05,115.1,644.3,12.6,210,6663,0.00,2.22,0.00,0.000,4,0.000,0.047,2842,3894,2580
$GC,6897,1.05,115.1,614.1,11.8,215,6900,0.00,2.10,0.00,0.000,6,0.000,0.028,2854,2475,2579
$GC,7180,1.05,117.7,586.1,9.7,222,7184,0.00,2.22,0.00,0.000,4,0.000,0.047,2850,3894,2578
$GC,7323,1.05,118.3,571.1,9.9,225,7326,0.00,2.10,0.00,0.000,6,0.000,0.027,2859,2475,2577
$GC,7609,1.06,121.0,543.3,9.7,232,7613,0.00,2.25,0.00,0.000,4,0.000,0.047,2859,3899,2577
$GC,7872,1.07,133.8,516.2,8.6,237,7898,0.15,2.10,15.88,0.878,6,0.235,0.028,2838,2475,2524
$GC,8162,1.07,133.8,483.3,11.7,245,8166,0.00,2.25,0.00,0.000,4,0.000,0.048,2836,3893,2521
$GC,8424,1.07,133.8,453.3,10.7,250,8428,0.00,2.10,0.00,0.000,6,0.000,0.027,2845,2479,2520
$GC,8682,1.08,140.5,429.1,9.3,257,8696,0.00,2.28,7.22,0.830,4,0.000,0.047,2845,3891,2497
$GC,8768,1.08,140.5,420.3,11.0,258,8774,0.00,2.10,0.00,0.000,6,0.000,0.028,2857,2480,2496
$GC,9023,1.09,148.5,396.1,9.2,265,9037,0.00,2.12,8.98,0.847,4,0.000,0.031,2867,1074,2464
$GC,9171,1.09,148.5,380.4,10.7,268,9175,0.00,2.17,0.00,0.000,6,0.000,0.038,2862,2486,2463
$GC,9446,1.09,148.5,349.2,11.5,275,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2486,2461
$GC,9690,1.10,152.8,324.5,9.5,281,9700,0.00,2.20,5.38,0.692,4,0.000,0.047,2862,3901,2445
$GC,9816,1.10,159.7,312.3,9.3,283,9829,0.00,2.12,8.25,0.777,6,0.000,0.027,2872,2469,2418
$GC,10111,1.10,159.7,280.7,11.6,291,10115,0.00,2.05,0.00,0.000,4,0.000,0.029,2882,1077,2415
$GC,10373,1.10,159.7,247.9,12.4,296,10378,0.12,2.15,0.00,0.000,6,0.218,0.038,2849,2485,2414
$GC,10626,1.11,163.5,222.3,9.6,302,10635,0.00,2.10,4.40,0.563,4,0.000,0.029,2858,1066,2403
$GC,10831,1.11,163.5,201.3,10.2,306,10835,0.00,2.17,0.00,0.000,6,0.000,0.038,2858,2488,2403
$GC,11100,1.13,179.1,179.9,8.3,330,11127,0.00,2.22,15.68,0.725,4,0.000,0.045,2858,3886,2338
$GC,11143,1.14,188.4,176.2,9.0,333,11157,0.00,2.10,9.77,0.682,6,0.000,0.025,2868,2461,2302
$GC,11417,1.14,188.4,141.4,12.1,358,11421,0.00,2.03,0.00,0.000,4,0.000,0.028,2878,1079,2298
$GC,11676,1.14,188.4,108.6,10.6,381,11680,0.00,2.12,0.00,0.000,6,0.000,0.035,2875,2483,2298
$GC,11947,1.19,226.6,89.4,5.9,406,11986,0.00,0.00,33.55,0.660,6,0.000,0.000,2875,2482,2144
$GC,12251,1.19,230.3,62.0,9.6,434,12265,0.00,2.22,4.00,0.420,4,0.000,0.043,2875,3893,2130
$GC,12372,1.19,230.3,46.2,13.5,444,12376,0.00,2.05,0.00,0.000,6,0.000,0.023,2884,2488,2130
$GC,12647,1.19,230.3,5.3,17.3,482,12655,0.00,2.20,0.00,0.000,4,0.000,0.041,2875,3878,2130
$STATE,12662,end climb,SURFACE_DEPTH_REACHED
$STATE,12662,begin surface coast
$FINISH,0.8,1.023139
$STATE,12669,end surface coast,CONTROL_FINISHED_OK
$STATE,12669,begin surface
$SM_CCo,12696,224.85,0.584,0,0,399,655.19
$SM_GC,1.23,0.00,0.00,224.85,0.000,0.000,0.584,39,2476,399,-7.66,-0.40,655.19
$IRIDIUM_FIX,2237.01,-15606.05,030101,000058
$TT8_MAMPS,0.023777
$HUMID,2019
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,24.10
$XPDR_PINGS,22
$24V_AH,23.5,67.062
$10V_AH,10.6,50.921
$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,18.150,128.225,320.475,224.850,0.000,133.646,198.627,627.023,5.500,0.000,0.000,30.121,1186.311,8883.216,610.701,2119.293,1576.825,33.355,1531.803,0.000,2079.729,0.000,0.544,0.000
$DEVICE_MAMPS,234.702,55.224,1247.909,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,328.652,665.378,687.289,125.116,568.543,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41409,485
$CAP_FILE_SIZE,123097,0
$CFSIZE,260165632,193155072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,2,0
$CURRENT,0.046,229.9,1
$GPS,101011,035006,2244.983,-15800.241,40,1.4,45,10.1