version: 66.04
glider: 512
mission: 1
dive: 178
start: 12 31 110 13 41 8
data:
$ID,512
$MISSION,1
$DIVE,178
$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,-8935.2666
$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,68
$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,2600
$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
$GPS1,132934,2253.806,-15757.318,13,3.2,32,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.6
$GPS2,134014,2253.958,-15757.367,13,1.6,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.174,-0.193
$KALMAN_X,-72330.3,2189.1,-364.7,94010.6,-2588.9
$KALMAN_Y,-199387.9,609.9,243.9,334983.1,-3729.1
$MHEAD_RNG_PITCHd_Wd,127.9,7356,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.88,-146.0,0.0,0.0,0,95,0.00,0.00,-76.78,0.000,2,0.000,0.000,40,2528,2901
$GC,97,-0.88,-146.0,3.1,-5.6,10,122,11.35,2.03,-6.50,0.000,4,0.264,0.043,2565,1154,3196
$GC,183,-0.88,-146.0,27.2,-27.6,24,191,0.00,2.38,0.00,0.000,6,0.000,0.081,2556,2542,3197
$GC,452,-0.88,-146.0,105.4,-27.6,50,456,0.00,2.25,0.00,0.000,4,0.000,0.074,2546,3917,3198
$GC,588,-0.88,-146.0,139.7,-21.6,62,598,0.00,2.00,0.00,0.000,6,0.000,0.026,2553,2571,3198
$GC,852,-0.88,-146.0,193.2,-19.5,87,856,0.00,2.30,0.00,0.000,4,0.000,0.095,2545,3900,3200
$GC,924,-0.88,-146.0,209.8,-22.3,90,928,0.00,2.00,0.00,0.000,6,0.000,0.028,2553,2547,3200
$GC,1179,-0.88,-146.0,258.7,-18.1,97,1183,0.00,2.35,0.00,0.000,4,0.000,0.096,2544,3903,3200
$GC,1223,-0.88,-146.0,267.0,-18.1,98,1227,0.00,2.00,0.00,0.000,6,0.000,0.030,2552,2543,3200
$GC,1506,-0.88,-146.0,314.8,-17.0,105,1510,0.00,2.35,0.00,0.000,4,0.000,0.097,2542,3897,3200
$GC,1691,-0.88,-146.0,349.3,-17.6,109,1695,0.00,1.98,0.00,0.000,6,0.000,0.029,2547,2542,3200
$GC,1969,-0.88,-146.0,396.6,-16.9,116,1974,0.00,2.35,0.00,0.000,4,0.000,0.097,2538,3898,3199
$GC,2008,-0.88,-146.0,403.3,-17.1,117,2012,0.00,1.98,0.00,0.000,6,0.000,0.029,2546,2546,3198
$GC,2297,-0.88,-146.0,448.1,-15.7,124,2301,0.00,2.38,0.00,0.000,4,0.000,0.099,2537,3904,3197
$GC,2368,-0.88,-146.0,460.4,-16.8,125,2372,0.00,2.03,0.00,0.000,6,0.000,0.030,2544,2544,3196
$STATE,2622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2622,begin apogee
$GC,2627,-0.32,0.0,501.1,15.8,132,2748,0.73,0.00,118.40,0.934,6,0.197,0.000,2741,2535,2600
$STATE,2749,end apogee,CONTROL_FINISHED_OK
$STATE,2749,begin climb
$GC,2751,0.88,146.0,506.1,0.0,135,2883,1.25,2.22,123.03,0.904,4,0.131,0.032,3137,1151,2003
$GC,2951,0.88,146.0,456.2,31.8,139,2955,0.00,2.33,0.00,0.000,6,0.000,0.051,3137,2573,1998
$GC,3207,0.88,146.0,369.5,34.6,146,3211,0.00,2.15,0.00,0.000,4,0.000,0.033,3147,1149,1993
$GC,3301,0.88,146.0,337.6,32.6,148,3306,0.00,2.28,0.00,0.000,6,0.000,0.054,3146,2546,1992
$GC,3585,0.88,146.0,243.7,33.2,155,3589,0.00,2.10,0.00,0.000,4,0.000,0.032,3155,1146,1989
$GC,3617,0.88,146.0,233.3,30.8,155,3622,0.00,2.25,0.00,0.000,6,0.000,0.050,3150,2551,1989
$GC,3880,0.88,146.0,155.5,31.3,171,3883,0.00,2.12,0.00,0.000,4,0.000,0.033,3159,1136,1987
$GC,3903,0.88,146.0,148.7,30.8,173,3907,0.00,2.22,0.00,0.000,6,0.000,0.049,3159,2551,1986
$GC,4165,0.88,146.0,73.6,24.8,197,4169,0.00,2.10,0.00,0.000,4,0.000,0.032,3168,1131,1985
$GC,4190,0.88,146.0,66.7,23.8,199,4200,0.00,2.28,0.00,0.000,6,0.000,0.050,3162,2552,1985
$STATE,4447,end climb,SURFACE_DEPTH_REACHED
$STATE,4447,begin surface coast
$FINISH,0.2,1.023647
$STATE,4460,end surface coast,CONTROL_FINISHED_OK
$STATE,4460,begin surface
$SM_CCo,4476,118.47,0.596,0,0,886,420.19
$SM_GC,1.01,0.00,0.00,118.47,0.000,0.000,0.596,47,2560,886,-8.76,0.25,420.19
$IRIDIUM_FIX,2241.69,-15756.28,260300,131309
$TT8_MAMPS,0.023777
$HUMID,1827
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,20.50
$XPDR_PINGS,1
$24V_AH,24.5,28.135
$10V_AH,10.8,15.752
$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,21.950,52.400,241.425,118.475,0.000,84.412,182.787,166.514,0.250,0.000,0.000,13.351,506.099,2871.020,418.564,929.306,527.422,33.313,816.513,0.000,929.631,0.000,0.543,0.000
$DEVICE_MAMPS,263.848,98.943,934.206,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,157.886,404.799,417.124,99.910,410.116,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19376,235
$CAP_FILE_SIZE,48458,0
$CFSIZE,260165632,252538880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,311210,145831,2253.524,-15757.255,9,1.0,14,10.1