version: 66.04
glider: 512
mission: 1
dive: 201
start: 1 2 111 1 38 44
data:
$ID,512
$MISSION,1
$DIVE,201
$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,208
$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,-9405.085
$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,45
$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,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
$GPS1,013330,2252.634,-15754.927,44,1.0,49,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.8
$GPS2,013749,2252.663,-15754.954,11,1.2,11,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.196,0.139
$KALMAN_X,-74835.6,-1149.0,81.5,103552.8,1992.1
$KALMAN_Y,-209692.8,152.7,643.3,342945.3,-8820.0
$MHEAD_RNG_PITCHd_Wd,295.3,6042,-14.1,-8.013
$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,12,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-77.32,0.000,2,0.000,0.000,44,2563,2885
$GC,97,-0.74,-146.0,3.0,-4.0,10,122,11.55,2.38,-6.93,0.000,4,0.263,0.120,2587,3892,3196
$GC,368,-0.74,-146.0,80.3,-23.5,41,372,0.00,2.00,0.00,0.000,6,0.000,0.028,2594,2541,3198
$GC,635,-0.74,-146.0,132.4,-16.0,66,639,0.00,2.40,0.00,0.000,4,0.000,0.100,2585,3897,3200
$GC,890,-0.74,-146.0,178.4,-17.1,88,896,0.00,2.03,0.00,0.000,6,0.000,0.028,2593,2547,3201
$GC,1144,-0.74,-146.0,220.4,-16.3,104,1148,0.00,2.38,0.00,0.000,4,0.000,0.102,2585,3893,3201
$GC,1401,-0.74,-146.0,263.9,-15.9,109,1408,0.00,2.00,0.00,0.000,6,0.000,0.028,2592,2549,3201
$GC,1652,-0.74,-146.0,298.6,-13.6,116,1656,0.00,2.40,0.00,0.000,4,0.000,0.106,2583,3896,3202
$GC,1752,-0.74,-146.0,312.6,-14.6,118,1756,0.00,2.00,0.00,0.000,6,0.000,0.029,2591,2551,3201
$GC,2024,-0.74,-146.0,347.1,-12.7,125,2028,0.00,2.40,0.00,0.000,4,0.000,0.107,2582,3895,3201
$GC,2096,-0.74,-146.0,356.7,-13.2,126,2100,0.00,2.03,0.00,0.000,6,0.000,0.030,2590,2540,3201
$GC,2351,-0.74,-146.0,387.3,-12.0,133,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2534,3200
$GC,2595,-0.74,-146.0,417.2,-12.5,139,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2533,3199
$GC,2839,-0.74,-146.0,448.8,-13.1,145,2843,0.00,2.42,0.00,0.000,4,0.000,0.106,2581,3897,3197
$GC,2955,-0.74,-146.0,465.0,-14.0,147,2959,0.00,2.03,0.00,0.000,6,0.000,0.032,2588,2550,3196
$GC,3210,-0.74,-146.0,495.8,-11.9,154,3214,0.00,2.42,0.00,0.000,4,0.000,0.112,2579,3893,3195
$STATE,3241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3241,begin apogee
$GC,3248,-0.32,0.0,500.2,13.5,154,3374,0.55,0.00,120.38,0.954,6,0.184,0.000,2740,2533,2599
$STATE,3375,end apogee,CONTROL_FINISHED_OK
$STATE,3375,begin climb
$GC,3377,0.74,146.0,503.3,0.0,158,3516,1.10,2.20,126.43,0.910,4,0.132,0.032,3088,1149,2003
$GC,3555,0.74,146.0,465.0,29.8,162,3560,0.00,2.40,0.00,0.000,6,0.000,0.061,3083,2550,1997
$GC,3828,0.74,146.0,381.9,29.9,169,3832,0.00,2.12,0.00,0.000,4,0.000,0.035,3092,1153,1992
$GC,3894,0.74,146.0,363.8,24.8,170,3899,0.00,2.30,0.00,0.000,6,0.000,0.059,3092,2554,1991
$GC,4161,0.74,146.0,285.9,29.6,177,4165,0.00,2.12,0.00,0.000,4,0.000,0.034,3103,1145,1988
$GC,4210,0.74,146.0,272.5,24.6,178,4214,0.00,2.28,0.00,0.000,6,0.000,0.055,3097,2558,1988
$GC,4494,0.74,146.0,193.8,27.6,185,4497,0.00,2.12,0.00,0.000,4,0.000,0.033,3106,1142,1985
$GC,4539,0.74,146.0,182.1,25.8,189,4543,0.00,2.25,0.00,0.000,6,0.000,0.057,3106,2550,1985
$GC,4805,0.74,146.0,110.1,24.6,214,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2551,1985
$GC,5061,0.74,146.0,51.9,21.6,238,5065,0.00,2.10,0.00,0.000,4,0.000,0.032,3117,1143,1984
$GC,5193,0.74,146.0,25.2,19.7,252,5201,0.00,2.28,0.00,0.000,6,0.000,0.053,3110,2550,1984
$STATE,5281,end climb,SURFACE_DEPTH_REACHED
$STATE,5281,begin surface coast
$FINISH,0.0,1.023763
$STATE,5294,end surface coast,CONTROL_FINISHED_OK
$STATE,5294,begin surface
$SM_CCo,5310,122.85,0.586,0,0,886,420.19
$SM_GC,1.08,0.00,0.00,122.85,0.000,0.000,0.586,50,2558,886,-8.75,0.23,420.19
$IRIDIUM_FIX,2241.69,-15754.11,280300,000057
$TT8_MAMPS,0.023777
$HUMID,1816
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,20.70
$XPDR_PINGS,2
$24V_AH,24.4,30.382
$10V_AH,10.8,17.175
$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,21.725,53.100,246.800,122.850,0.000,27.668,32.539,117.909,0.500,0.000,0.000,13.235,578.305,3330.603,432.995,1094.218,273.136,33.324,884.420,0.000,1091.054,0.000,0.542,0.000
$DEVICE_MAMPS,263.081,119.652,954.148,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,181.814,454.227,465.369,107.191,448.386,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22624,270
$CAP_FILE_SIZE,50141,0
$CFSIZE,260165632,251863040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,020111,031002,2253.147,-15755.644,9,2.0,9,10.1