version: 66.04
glider: 512
mission: 1
dive: 117
start: 12 27 110 20 41 19
data:
$ID,512
$MISSION,1
$DIVE,117
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,166
$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,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,-7691.6821
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,203530,2244.181,-15756.227,37,0.9,43,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.8
$GPS2,204025,2244.125,-15756.143,13,1.6,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.120,0.231
$KALMAN_X,-73721.3,-1093.5,-157.7,100593.4,4575.2
$KALMAN_Y,-141008.4,1117.7,543.2,257583.8,-7624.8
$MHEAD_RNG_PITCHd_Wd,17.4,15981,-17.6,-10.040
$D_GRID,500
$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,-0.88,-146.0,0.0,0.0,0,86,0.00,0.00,-69.72,0.000,2,0.000,0.000,47,2556,3018
$GC,89,-0.88,-146.0,3.1,-4.7,9,121,11.35,2.20,-9.85,0.000,4,0.265,0.041,2565,1120,3499
$GC,263,-0.88,-146.0,54.8,-27.0,31,268,0.00,2.45,0.00,0.000,6,0.000,0.086,2555,2555,3500
$GC,526,-0.88,-146.0,132.8,-27.3,55,529,0.00,2.12,0.00,0.000,4,0.000,0.029,2563,1128,3501
$GC,550,-0.88,-146.0,139.6,-28.8,57,554,0.00,2.35,0.00,0.000,6,0.000,0.072,2554,2554,3502
$GC,829,-0.88,-146.0,211.1,-25.2,80,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2553,3503
$GC,1074,-0.88,-146.0,269.3,-23.7,86,1078,0.00,2.10,0.00,0.000,4,0.000,0.028,2563,1130,3503
$GC,1118,-0.88,-146.0,278.5,-18.8,87,1122,0.00,2.35,0.00,0.000,6,0.000,0.074,2553,2554,3503
$GC,1401,-0.88,-146.0,332.4,-19.1,94,1404,0.00,2.22,0.00,0.000,4,0.000,0.082,2542,3898,3503
$GC,1461,-0.88,-146.0,344.1,-18.6,95,1466,0.00,2.03,0.00,0.000,6,0.000,0.029,2548,2533,3503
$GC,1735,-0.88,-146.0,397.2,-19.5,102,1739,0.00,2.40,0.00,0.000,4,0.000,0.104,2538,3897,3503
$GC,1800,-0.88,-146.0,410.5,-18.6,103,1805,0.00,2.00,0.00,0.000,6,0.000,0.030,2545,2552,3502
$GC,2061,-0.88,-146.0,458.4,-17.9,110,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2545,3501
$STATE,2305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2305,begin apogee
$GC,2309,-0.32,0.0,503.6,18.5,116,2429,0.70,0.00,117.15,0.962,6,0.180,0.000,2743,2544,2900
$STATE,2430,end apogee,CONTROL_FINISHED_OK
$STATE,2430,begin climb
$GC,2431,0.88,146.0,510.1,0.0,119,2563,1.15,2.25,122.93,0.950,4,0.093,0.030,3140,1142,2303
$GC,2573,0.88,146.0,497.7,24.6,122,2578,0.00,2.38,0.00,0.000,6,0.000,0.052,3137,2552,2301
$GC,2840,0.88,146.0,421.7,29.2,129,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2552,2294
$GC,3084,0.88,146.0,357.7,26.0,135,3088,0.00,2.12,0.00,0.000,4,0.000,0.033,3147,1128,2292
$GC,3110,0.88,146.0,351.2,23.7,135,3115,0.00,2.30,0.00,0.000,6,0.000,0.054,3146,2556,2291
$GC,3372,0.88,146.0,287.2,24.4,142,3375,0.00,2.10,0.00,0.000,4,0.000,0.031,3156,1140,2289
$GC,3416,0.88,146.0,276.9,23.3,143,3420,0.00,2.25,0.00,0.000,6,0.000,0.051,3150,2562,2288
$GC,3704,0.88,146.0,219.2,19.0,150,3708,0.00,2.10,0.00,0.000,4,0.000,0.031,3159,1138,2285
$GC,3960,0.88,146.0,171.2,19.4,164,3964,0.00,2.22,0.00,0.000,6,0.000,0.054,3159,2551,2285
$GC,4221,0.88,146.0,120.7,17.7,188,4225,0.00,2.10,0.00,0.000,4,0.000,0.032,3168,1137,2284
$GC,4477,0.88,146.0,88.4,10.0,211,4481,0.00,2.22,0.00,0.000,6,0.000,0.051,3163,2555,2283
$GC,4739,0.88,146.0,54.8,13.2,235,4743,0.00,2.08,0.00,0.000,4,0.000,0.030,3172,1137,2283
$GC,4817,0.88,146.0,44.3,13.0,242,4821,0.00,2.22,0.00,0.000,6,0.000,0.049,3163,2562,2283
$GC,5078,0.88,146.0,9.1,12.3,281,5086,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1129,2283
$STATE,5134,end climb,SURFACE_DEPTH_REACHED
$STATE,5134,begin surface coast
$FINISH,0.2,1.023829
$STATE,5162,end surface coast,CONTROL_FINISHED_OK
$STATE,5162,begin surface
$SM_CCo,5180,127.07,0.582,0,0,1186,420.19
$SM_GC,1.16,0.00,0.00,127.07,0.000,0.000,0.582,48,2557,1186,-8.75,0.23,420.19
$IRIDIUM_FIX,2237.01,-15758.03,220300,191906
$TT8_MAMPS,0.023777
$HUMID,1729
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,24.5,22.022
$10V_AH,10.8,12.127
$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,21.750,52.950,240.075,127.075,0.000,24.879,43.348,144.920,0.000,0.000,0.000,13.289,600.078,3165.278,423.820,1128.970,300.975,33.323,852.689,0.000,1130.133,0.000,0.544,0.000
$DEVICE_MAMPS,265.382,104.312,961.818,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,199.663,532.695,549.514,137.211,569.298,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25540,296
$CAP_FILE_SIZE,49288,0
$CFSIZE,260165632,254291968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,271210,221032,2244.347,-15755.586,12,1.6,12,10.1