version: 66.04
glider: 512
mission: 1
dive: 224
start: 1 3 111 17 27 20
data:
$ID,512
$MISSION,1
$DIVE,224
$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,120
$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,-9820.958
$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,59
$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,2400
$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
$GPS1,172154,2249.705,-15755.452,31,1.0,48,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-65.0
$GPS2,172626,2249.718,-15755.474,16,1.3,16,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.103,0.192
$KALMAN_X,-96804.4,2138.2,723.9,120675.5,-7596.3
$KALMAN_Y,-219651.2,3106.4,913.8,344229.3,-8827.4
$MHEAD_RNG_PITCHd_Wd,18.0,2657,-16.1,-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,13,begin dive
$GC,15,-0.79,-116.8,0.0,0.0,0,101,0.00,0.00,-83.95,0.000,6,0.000,0.000,44,2568,2878
$GC,104,-0.79,-116.8,2.9,-3.3,11,121,11.38,2.25,0.00,0.000,4,0.259,0.083,2577,3894,2879
$GC,275,-0.79,-116.8,40.9,-20.2,37,283,0.00,2.03,0.00,0.000,6,0.000,0.028,2584,2553,2881
$GC,536,-0.79,-116.8,92.4,-17.2,62,541,0.00,2.35,0.00,0.000,4,0.000,0.097,2576,3894,2882
$GC,578,-0.79,-116.8,99.2,-17.8,65,581,0.00,2.00,0.00,0.000,6,0.000,0.028,2580,2536,2882
$GC,845,-0.79,-116.8,137.3,-14.5,90,849,0.00,2.40,0.00,0.000,4,0.000,0.098,2571,3896,2884
$GC,1098,-0.79,-116.8,174.2,-14.5,112,1105,0.00,2.00,0.00,0.000,6,0.000,0.028,2579,2546,2884
$GC,1358,-0.79,-116.8,205.9,-12.0,134,1362,0.00,2.05,0.00,0.000,4,0.000,0.028,2589,1138,2885
$GC,1408,-0.79,-116.8,211.8,-10.5,135,1412,0.00,2.35,0.00,0.000,6,0.000,0.077,2580,2542,2885
$GC,1691,-0.79,-116.8,243.8,-11.0,142,1695,0.00,2.30,0.00,0.000,4,0.000,0.087,2569,3900,2885
$GC,1947,-0.79,-116.8,274.0,-10.8,147,1954,0.00,2.00,0.00,0.000,6,0.000,0.028,2575,2544,2885
$GC,2197,-0.79,-116.8,297.5,-9.2,154,2201,0.00,2.03,0.00,0.000,4,0.000,0.027,2585,1146,2885
$GC,2292,-0.79,-116.8,305.1,-7.8,156,2297,0.00,2.35,0.00,0.000,6,0.000,0.077,2576,2553,2885
$GC,2570,-0.79,-116.8,331.9,-9.9,163,2574,0.00,2.30,0.00,0.000,4,0.000,0.090,2565,3910,2884
$GC,2592,-0.79,-116.8,334.3,-11.0,163,2596,0.00,2.00,0.00,0.000,6,0.000,0.028,2573,2540,2884
$GC,2853,-0.79,-116.8,359.0,-9.0,170,2857,0.00,2.40,0.00,0.000,4,0.000,0.102,2564,3905,2884
$GC,2942,-0.79,-116.8,368.2,-10.0,172,2946,0.00,2.00,0.00,0.000,6,0.000,0.029,2571,2532,2883
$GC,3230,-0.79,-116.8,394.7,-9.3,179,3233,0.00,2.03,0.00,0.000,4,0.000,0.028,2582,1134,2883
$GC,3313,-0.79,-116.8,402.7,-8.7,180,3320,0.00,2.40,0.00,0.000,6,0.000,0.079,2572,2545,2882
$GC,3563,-0.79,-116.8,423.2,-7.8,187,3567,0.00,2.30,0.00,0.000,4,0.000,0.091,2562,3900,2881
$GC,3775,-0.79,-116.8,440.0,-7.5,191,3781,0.00,2.03,0.00,0.000,6,0.000,0.030,2568,2533,2879
$GC,4025,-0.79,-116.8,456.4,-6.8,198,4029,0.00,2.40,0.00,0.000,4,0.000,0.101,2560,3897,2878
$GC,4281,-0.79,-116.8,478.9,-9.0,203,4289,0.10,2.00,0.00,0.000,6,0.231,0.031,2587,2555,2877
$GC,4532,-0.79,-116.8,497.2,-7.5,210,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2556,2876
$STATE,4571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4572,begin apogee
$GC,4576,-0.32,0.0,500.4,7.5,211,4678,0.57,0.00,98.53,0.953,6,0.198,0.000,2740,2554,2400
$STATE,4678,end apogee,CONTROL_FINISHED_OK
$STATE,4679,begin climb
$GC,4681,0.79,116.8,501.9,0.0,213,4795,1.15,2.22,102.80,0.923,4,0.121,0.032,3107,1155,1922
$GC,4812,0.79,116.8,470.8,33.8,217,4817,0.00,2.35,0.00,0.000,6,0.000,0.057,3106,2561,1919
$GC,5095,0.79,116.8,377.5,33.0,224,5099,0.00,2.15,0.00,0.000,4,0.000,0.034,3117,1150,1913
$GC,5117,0.79,116.8,370.4,32.7,224,5121,0.00,2.25,0.00,0.000,6,0.000,0.051,3110,2556,1912
$GC,5384,0.79,116.8,282.2,32.9,231,5388,0.00,2.10,0.00,0.000,4,0.000,0.033,3120,1162,1910
$GC,5501,0.79,116.8,246.2,28.5,233,5505,0.00,2.28,0.00,0.000,6,0.000,0.061,3120,2559,1908
$GC,5756,0.79,116.8,167.1,32.7,245,5760,0.00,2.08,0.00,0.000,4,0.000,0.031,3130,1158,1907
$GC,5813,0.79,116.8,150.8,26.8,250,5818,0.00,2.22,0.00,0.000,6,0.000,0.054,3123,2547,1905
$GC,6075,0.79,116.8,78.5,24.5,274,6079,0.00,2.08,0.00,0.000,4,0.000,0.031,3133,1154,1904
$GC,6099,0.79,116.8,72.8,25.2,276,6103,0.00,2.22,0.00,0.000,6,0.000,0.053,3133,2561,1904
$STATE,6360,end climb,SURFACE_DEPTH_REACHED
$STATE,6361,begin surface coast
$FINISH,0.2,1.023954
$STATE,6368,end surface coast,CONTROL_FINISHED_OK
$STATE,6368,begin surface
$SM_CCo,6385,139.02,0.597,0,0,686,420.19
$SM_GC,0.98,0.00,0.00,139.02,0.000,0.000,0.597,42,2570,686,-8.77,0.57,420.19
$IRIDIUM_FIX,2239.35,-15754.11,290300,151543
$TT8_MAMPS,0.02301
$HUMID,1835
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,19.90
$XPDR_PINGS,1
$24V_AH,24.4,32.596
$10V_AH,10.8,18.702
$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,21.725,69.900,201.325,139.025,0.000,29.056,35.610,115.179,0.250,0.000,0.000,16.594,681.712,4106.636,436.344,1284.746,300.855,33.328,952.068,0.000,1277.496,0.000,0.542,0.000
$DEVICE_MAMPS,259.246,102.011,953.381,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,209.117,507.686,522.600,117.742,490.052,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25593,310
$CAP_FILE_SIZE,60590,0
$CFSIZE,260165632,251113472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,030111,191650,2250.305,-15755.219,10,1.5,10,10.1