version: 66.04
glider: 512
mission: 1
dive: 71
start: 12 23 110 7 49 41
data:
$ID,512
$MISSION,1
$DIVE,71
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$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,395
$T_MISSION,900
$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,420
$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,-4754.3989
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2050
$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,2490
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3150
$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
$GPS1,074419,2233.083,-15808.544,12,1.9,29,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-79.4
$GPS2,074849,2233.068,-15808.548,15,1.9,20,10.0
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.179,0.160
$KALMAN_X,-69316.6,700.1,949.9,71881.0,-22545.7
$KALMAN_Y,-71761.2,-40.3,244.6,169333.6,-11118.3
$MHEAD_RNG_PITCHd_Wd,38.3,26485,-14.1,-8.017
$D_GRID,950
$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,13,begin dive
$GC,14,-0.74,-146.0,0.0,0.0,0,79,0.00,0.00,-62.28,0.000,2,0.000,0.000,46,2498,3103
$GC,81,-0.74,-146.0,3.7,-5.1,8,107,8.15,2.40,-12.38,0.000,4,0.278,0.091,1787,3898,3748
$GC,353,-0.74,-146.0,194.0,-67.2,36,357,0.00,2.08,0.00,0.000,6,0.000,0.028,1796,2490,3749
$GC,607,-0.74,-146.0,359.2,-63.4,43,611,0.00,2.35,0.00,0.000,4,0.000,0.076,1787,3903,3751
$GC,678,-0.74,-146.0,403.4,-60.4,44,682,0.00,2.10,0.00,0.000,6,0.000,0.028,1795,2496,3751
$GC,934,-0.74,-146.0,552.6,-57.9,51,938,0.00,2.08,0.00,0.000,4,0.000,0.030,1806,1074,3751
$GC,1068,-0.74,-146.0,627.8,-53.8,54,1072,0.00,2.40,0.00,0.000,6,0.000,0.084,1799,2499,3751
$GC,1357,-0.74,-146.0,794.1,-58.1,61,1361,0.00,2.33,0.00,0.000,4,0.000,0.084,1787,3899,3749
$GC,1614,-0.74,-146.0,944.6,-59.3,66,1621,0.00,2.10,0.00,0.000,6,0.000,0.031,1795,2502,3746
$STATE,1659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1659,begin apogee
$GC,1663,-0.32,0.0,970.5,56.9,68,1789,0.65,0.00,123.32,1.262,6,0.272,0.000,1940,2494,3150
$STATE,1790,end apogee,CONTROL_FINISHED_OK
$STATE,1790,begin climb
$GC,1792,0.74,146.0,1025.4,0.0,71,1837,1.65,0.00,40.83,1.226,2,0.285,0.000,2272,2494,2964
$STATE,1838,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,1841,458.92,1.023,52,1,1304,452.82
$SM_CCo,2563,247.23,0.984,28,0,400,674.81
$SM_GC,0.89,5.47,0.00,0.00,0.060,0.000,0.000,49,2491,394,-6.20,1.27,676.04
$IRIDIUM_FIX,2223.01,-15810.18,180300,050556
$TT8_MAMPS,0.023777
$HUMID,1980
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,18.00
$XPDR_PINGS,2
$24V_AH,24.1,15.809
$10V_AH,10.9,8.389
$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,15.925,17.825,164.150,706.150,0.000,25.056,36.415,122.684,0.500,0.000,0.000,20.464,316.495,3941.802,1322.153,371.312,227.775,33.356,1578.134,0.000,362.831,0.000,0.540,0.000
$DEVICE_MAMPS,284.557,91.273,1261.715,1023.178,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,47.548,98.981,100.950,24.392,100.806,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3514,72
$CAP_FILE_SIZE,37160,8
$CFSIZE,260165632,256106496
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,4,80,1
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,231210,092907,2233.028,-15808.694,33,0.9,33,10.0