version: 66.04
glider: 512
mission: 1
dive: 118
start: 12 27 110 22 26 2
data:
$ID,512
$MISSION,1
$DIVE,118
$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,-7708.2349
$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,47
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2800
$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
$GPS1,221032,2244.347,-15755.586,12,1.6,12,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.1
$GPS2,222508,2244.192,-15755.437,15,1.9,15,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.171,0.196
$KALMAN_X,-74678.4,-804.4,24.5,102303.4,2366.7
$KALMAN_Y,-142356.9,632.0,824.9,259263.4,-6897.2
$MHEAD_RNG_PITCHd_Wd,308.8,16804,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.88,-146.0,0.0,0.0,0,86,0.00,0.00,-69.57,0.000,2,0.000,0.000,36,2557,2999
$GC,89,-0.88,-146.0,3.4,-7.2,9,114,11.25,2.17,-8.18,0.000,4,0.262,0.041,2564,1130,3399
$GC,148,-0.88,-146.0,23.5,-33.9,18,156,0.00,2.40,0.00,0.000,6,0.000,0.077,2555,2538,3400
$GC,419,-0.88,-146.0,111.8,-27.7,45,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2538,3400
$GC,672,-0.88,-146.0,179.3,-24.3,69,676,0.00,2.25,0.00,0.000,4,0.000,0.078,2544,3907,3401
$GC,770,-0.88,-146.0,204.0,-23.5,76,775,0.00,2.03,0.00,0.000,6,0.000,0.027,2553,2544,3401
$GC,1043,-0.88,-146.0,263.5,-21.3,83,1047,0.00,2.35,0.00,0.000,4,0.000,0.100,2544,3895,3402
$GC,1203,-0.88,-146.0,297.5,-19.3,86,1208,0.00,2.00,0.00,0.000,6,0.000,0.028,2551,2546,3402
$GC,1458,-0.88,-146.0,345.0,-18.5,93,1463,0.00,2.35,0.00,0.000,4,0.000,0.098,2542,3901,3401
$GC,1530,-0.88,-146.0,358.3,-17.1,94,1535,0.00,2.00,0.00,0.000,6,0.000,0.030,2548,2549,3401
$GC,1787,-0.88,-146.0,401.3,-16.5,101,1790,0.00,2.05,0.00,0.000,4,0.000,0.031,2559,1141,3400
$GC,1824,-0.88,-146.0,407.7,-15.0,101,1831,0.00,2.33,0.00,0.000,6,0.000,0.074,2550,2543,3400
$GC,2074,-0.88,-146.0,449.8,-17.1,108,2078,0.00,2.25,0.00,0.000,4,0.000,0.086,2539,3897,3398
$GC,2259,-0.88,-146.0,483.6,-18.8,112,2263,0.00,1.98,0.00,0.000,6,0.000,0.031,2547,2550,3397
$STATE,2378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2378,begin apogee
$GC,2382,-0.32,0.0,505.5,18.3,115,2501,0.70,0.00,116.72,0.954,6,0.183,0.000,2744,2542,2800
$STATE,2502,end apogee,CONTROL_FINISHED_OK
$STATE,2502,begin climb
$GC,2504,0.88,146.0,510.6,0.0,118,2632,1.20,0.00,124.12,0.946,6,0.107,0.000,3130,2541,2204
$GC,2863,0.88,146.0,425.4,30.2,127,2867,0.00,2.12,0.00,0.000,4,0.000,0.032,3140,1136,2195
$GC,2883,0.88,146.0,418.7,30.1,127,2888,0.00,2.33,0.00,0.000,6,0.000,0.054,3137,2550,2194
$GC,3152,0.88,146.0,340.9,28.4,134,3155,0.00,2.10,0.00,0.000,4,0.000,0.033,3147,1141,2191
$GC,3286,0.88,146.0,304.8,26.7,137,3290,0.00,2.25,0.00,0.000,6,0.000,0.054,3146,2554,2189
$GC,3569,0.88,146.0,232.5,25.3,144,3573,0.00,2.12,0.00,0.000,4,0.000,0.032,3156,1137,2187
$GC,3601,0.88,146.0,224.8,22.1,144,3606,0.00,2.28,0.00,0.000,6,0.000,0.054,3150,2548,2187
$GC,3865,0.88,146.0,163.7,24.0,160,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2548,2185
$GC,4118,0.88,146.0,103.5,23.4,184,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2548,2183
$GC,4374,0.88,146.0,50.9,19.5,208,4378,0.00,2.10,0.00,0.000,4,0.000,0.032,3159,1134,2183
$GC,4538,0.88,146.0,23.1,15.9,227,4546,0.00,2.28,0.00,0.000,6,0.000,0.057,3159,2550,2182
$STATE,4652,end climb,SURFACE_DEPTH_REACHED
$STATE,4652,begin surface coast
$FINISH,0.1,1.023753
$STATE,4670,end surface coast,CONTROL_FINISHED_OK
$STATE,4670,begin surface
$SM_CCo,4686,125.00,0.576,0,0,1086,420.19
$SM_GC,0.99,0.00,0.00,125.00,0.000,0.000,0.576,50,2556,1086,-8.74,0.17,420.19
$IRIDIUM_FIX,2234.68,-15758.03,220300,222245
$TT8_MAMPS,0.023777
$HUMID,1772
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,24.5,22.138
$10V_AH,10.8,12.191
$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,21.700,43.725,240.850,125.000,0.000,106.790,192.859,301.742,0.000,0.000,0.000,15.921,532.986,3077.097,451.533,950.463,692.167,33.321,818.053,0.000,954.562,0.000,0.544,0.000
$DEVICE_MAMPS,262.314,99.710,954.148,576.017,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,168.948,433.979,447.877,108.415,447.964,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19375,251
$CAP_FILE_SIZE,51000,0
$CFSIZE,260165632,254267392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,271210,234716,2244.610,-15755.756,9,6.1,28,10.1