version: 66.04
glider: 512
mission: 1
dive: 208
start: 1 2 111 13 4 29
data:
$ID,512
$MISSION,1
$DIVE,208
$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,-9551.9619
$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,53
$R_STBD_OVSHOOT,16
$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
$GPS1,125507,2252.222,-15758.510,41,0.9,41,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.1
$GPS2,130332,2252.269,-15758.550,15,0.9,15,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.224,0.088
$KALMAN_X,-75907.9,-106.7,-131.2,97609.9,-2484.4
$KALMAN_Y,-208921.7,3282.3,189.3,338781.5,-6207.0
$MHEAD_RNG_PITCHd_Wd,58.5,4966,-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,14,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-85.40,0.000,2,0.000,0.000,39,2553,3175
$GC,104,-0.74,-146.0,3.7,-5.2,11,122,11.43,2.30,-0.35,0.000,4,0.259,0.087,2588,3917,3198
$GC,212,-0.74,-146.0,41.5,-26.1,26,221,0.00,2.05,0.00,0.000,6,0.000,0.028,2596,2565,3200
$GC,476,-0.74,-146.0,105.0,-21.2,51,480,0.00,2.33,0.00,0.000,4,0.000,0.092,2588,3900,3200
$GC,507,-0.74,-146.0,111.7,-19.4,53,515,0.00,2.03,0.00,0.000,6,0.000,0.028,2596,2549,3200
$GC,769,-0.74,-146.0,156.6,-15.7,78,773,0.00,2.35,0.00,0.000,4,0.000,0.097,2586,3895,3202
$GC,1023,-0.74,-146.0,202.2,-18.2,100,1027,0.00,2.03,0.00,0.000,6,0.000,0.028,2594,2538,3202
$GC,1278,-0.74,-146.0,244.6,-16.1,107,1282,0.00,2.35,0.00,0.000,4,0.000,0.095,2586,3895,3203
$GC,1406,-0.74,-146.0,264.7,-15.2,110,1410,0.00,1.98,0.00,0.000,6,0.000,0.029,2594,2544,3202
$GC,1695,-0.74,-146.0,304.6,-13.7,117,1699,0.00,2.35,0.00,0.000,4,0.000,0.096,2584,3896,3203
$GC,1766,-0.74,-146.0,314.9,-14.4,118,1770,0.00,2.00,0.00,0.000,6,0.000,0.029,2592,2550,3203
$GC,2022,-0.74,-146.0,348.3,-13.1,125,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2542,3202
$GC,2266,-0.74,-146.0,379.2,-12.7,131,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2542,3201
$GC,2509,-0.74,-146.0,410.1,-12.7,137,2513,0.00,2.38,0.00,0.000,4,0.000,0.100,2583,3899,3199
$GC,2574,-0.74,-146.0,419.6,-14.5,138,2579,0.00,2.03,0.00,0.000,6,0.000,0.031,2591,2544,3198
$GC,2836,-0.74,-146.0,451.5,-12.1,145,2840,0.00,2.40,0.00,0.000,4,0.000,0.102,2581,3900,3197
$GC,2930,-0.74,-146.0,464.3,-12.8,147,2934,0.00,2.03,0.00,0.000,6,0.000,0.031,2590,2549,3196
$GC,3208,-0.74,-146.0,495.8,-11.0,154,3212,0.00,2.38,0.00,0.000,4,0.000,0.100,2581,3899,3195
$STATE,3244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3245,begin apogee
$GC,3252,-0.32,0.0,500.5,12.8,155,3375,0.55,0.00,120.35,0.977,6,0.179,0.000,2743,2536,2600
$STATE,3376,end apogee,CONTROL_FINISHED_OK
$STATE,3376,begin climb
$GC,3378,0.74,146.0,504.4,0.0,158,3510,1.10,2.17,125.03,0.930,4,0.127,0.033,3092,1157,2003
$GC,3520,0.74,146.0,476.4,30.8,161,3524,0.00,2.33,0.00,0.000,6,0.000,0.054,3092,2553,1999
$GC,3787,0.74,146.0,391.6,31.9,168,3791,0.00,2.15,0.00,0.000,4,0.000,0.034,3102,1144,1994
$GC,3836,0.74,146.0,376.7,28.6,169,3841,0.00,2.30,0.00,0.000,6,0.000,0.054,3097,2565,1992
$GC,4121,0.74,146.0,290.5,31.2,176,4124,0.00,2.12,0.00,0.000,4,0.000,0.034,3106,1156,1989
$GC,4237,0.74,146.0,257.5,26.2,178,4242,0.00,2.25,0.00,0.000,6,0.000,0.058,3106,2547,1988
$GC,4492,0.74,146.0,187.8,27.4,187,4496,0.00,2.10,0.00,0.000,4,0.000,0.035,3117,1153,1986
$GC,4604,0.74,146.0,158.8,24.5,197,4609,0.00,2.22,0.00,0.000,6,0.000,0.051,3110,2554,1986
$GC,4867,0.74,146.0,91.1,26.7,221,4871,0.00,2.15,0.00,0.000,4,0.000,0.061,3110,3900,1984
$GC,4978,0.74,146.0,64.1,24.2,231,4982,0.00,2.00,0.00,0.000,6,0.000,0.032,3119,2562,1983
$STATE,5240,end climb,SURFACE_DEPTH_REACHED
$STATE,5240,begin surface coast
$FINISH,0.1,1.023636
$STATE,5253,end surface coast,CONTROL_FINISHED_OK
$STATE,5253,begin surface
$SM_CCo,5269,119.82,0.583,0,0,886,420.19
$SM_GC,1.04,0.00,0.00,119.82,0.000,0.000,0.583,41,2550,886,-8.77,0.00,420.19
$IRIDIUM_FIX,2241.69,-15759.32,280300,131310
$TT8_MAMPS,0.023777
$HUMID,1820
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,24.4,31.032
$10V_AH,10.8,17.630
$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,21.475,56.800,245.375,119.825,0.000,54.916,69.401,229.655,0.000,0.000,0.000,15.994,571.947,3395.355,433.482,1048.490,463.958,33.323,861.408,0.000,1046.449,0.000,0.543,0.000
$DEVICE_MAMPS,259.246,102.011,977.158,582.920,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,180.603,451.972,463.803,107.171,444.879,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22562,268
$CAP_FILE_SIZE,53188,0
$CFSIZE,260165632,251650048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,020111,143522,2252.318,-15758.086,9,2.1,28,10.1