version: 66.04
glider: 512
mission: 1
dive: 227
start: 1 3 111 23 27 48
data:
$ID,512
$MISSION,1
$DIVE,227
$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,-9906.6221
$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,56
$R_STBD_OVSHOOT,18
$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
$GPS1,232206,2250.792,-15754.856,37,1.2,38,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-72.0
$GPS2,232655,2250.769,-15754.917,14,1.2,19,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.029,0.216
$KALMAN_X,-95865.8,1432.9,450.2,121679.7,-4379.9
$KALMAN_Y,-220725.9,1718.5,395.9,349158.2,-7410.8
$MHEAD_RNG_PITCHd_Wd,357.6,3829,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.79,-116.8,0.0,0.0,0,102,0.00,0.00,-83.65,0.000,6,0.000,0.000,38,2551,2878
$GC,105,-0.79,-116.8,3.1,-3.9,11,122,11.38,2.22,0.00,0.000,4,0.258,0.074,2575,3900,2879
$GC,361,-0.79,-116.8,62.2,-24.1,45,370,0.00,2.03,0.00,0.000,6,0.000,0.028,2579,2548,2881
$GC,623,-0.79,-116.8,108.5,-13.6,70,627,0.00,2.38,0.00,0.000,4,0.000,0.096,2570,3897,2883
$GC,876,-0.79,-116.8,146.9,-14.7,92,885,0.00,2.00,0.00,0.000,6,0.000,0.027,2578,2545,2883
$GC,1140,-0.79,-116.8,181.1,-11.9,117,1144,0.00,2.35,0.00,0.000,4,0.000,0.094,2569,3897,2885
$GC,1300,-0.79,-116.8,202.3,-12.4,130,1304,0.00,1.98,0.00,0.000,6,0.000,0.028,2577,2537,2885
$GC,1555,-0.79,-116.8,231.7,-11.8,137,1559,0.00,2.35,0.00,0.000,4,0.000,0.094,2568,3897,2886
$GC,1638,-0.79,-116.8,242.3,-13.8,139,1642,0.00,1.95,0.00,0.000,6,0.000,0.027,2576,2555,2885
$GC,1929,-0.79,-116.8,270.0,-9.0,146,1933,0.00,2.35,0.00,0.000,4,0.000,0.098,2567,3893,2886
$GC,2186,-0.79,-116.8,296.7,-10.2,151,2192,0.00,2.00,0.00,0.000,6,0.000,0.028,2575,2515,2885
$GC,2436,-0.79,-116.8,318.7,-8.9,158,2440,0.00,2.40,0.00,0.000,4,0.000,0.097,2566,3894,2885
$GC,2580,-0.79,-116.8,333.2,-10.3,161,2584,0.00,1.98,0.00,0.000,6,0.000,0.028,2573,2558,2885
$GC,2852,-0.79,-116.8,356.3,-8.6,168,2856,0.00,2.35,0.00,0.000,4,0.000,0.100,2564,3892,2884
$GC,2997,-0.79,-116.8,370.8,-9.7,171,3001,0.00,2.00,0.00,0.000,6,0.000,0.029,2573,2544,2883
$GC,3269,-0.79,-116.8,395.4,-9.1,178,3273,0.00,2.38,0.00,0.000,4,0.000,0.100,2563,3891,2882
$GC,3400,-0.79,-116.8,408.0,-9.4,181,3403,0.00,1.98,0.00,0.000,6,0.000,0.030,2571,2545,2881
$GC,3688,-0.79,-116.8,433.0,-8.4,188,3692,0.00,2.40,0.00,0.000,4,0.000,0.100,2562,3898,2880
$GC,3862,-0.79,-116.8,449.1,-9.9,192,3866,0.00,2.00,0.00,0.000,6,0.000,0.030,2570,2542,2879
$GC,4151,-0.79,-116.8,471.2,-7.3,199,4154,0.00,2.05,0.00,0.000,4,0.000,0.031,2574,1143,2877
$GC,4336,-0.79,-116.8,486.1,-8.1,203,4341,0.12,2.38,0.00,0.000,6,0.224,0.083,2589,2545,2876
$STATE,4530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4530,begin apogee
$GC,4535,-0.32,0.0,500.7,7.4,208,4637,0.57,0.00,98.88,0.963,6,0.199,0.000,2742,2545,2401
$STATE,4637,end apogee,CONTROL_FINISHED_OK
$STATE,4637,begin climb
$GC,4639,0.79,116.8,501.9,0.0,210,4745,1.15,0.00,101.60,0.951,6,0.132,0.000,3094,2545,1923
$GC,4966,0.79,116.8,409.9,31.2,218,4969,0.00,2.12,0.00,0.000,4,0.000,0.034,3105,1154,1913
$GC,5066,0.79,116.8,379.9,27.2,220,5070,0.00,2.33,0.00,0.000,6,0.000,0.067,3105,2556,1911
$GC,5343,0.79,116.8,288.0,33.4,227,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2557,1909
$GC,5587,0.79,116.8,210.2,31.6,233,5591,0.00,2.20,0.00,0.000,4,0.000,0.071,3097,3898,1907
$GC,5648,0.79,116.8,191.1,30.5,235,5655,0.00,2.05,0.00,0.000,6,0.000,0.035,3106,2566,1906
$GC,5910,0.79,116.8,118.3,27.0,260,5913,0.00,2.15,0.00,0.000,4,0.000,0.033,3117,1131,1905
$GC,5967,0.79,116.8,102.3,27.2,265,5971,0.00,2.33,0.00,0.000,6,0.000,0.061,3110,2558,1904
$GC,6230,0.79,116.8,37.6,24.9,289,6233,0.00,2.12,0.00,0.000,4,0.000,0.031,3120,1132,1903
$GC,6256,0.79,116.8,31.2,25.7,291,6260,0.00,2.28,0.00,0.000,6,0.000,0.056,3120,2561,1902
$STATE,6362,end climb,SURFACE_DEPTH_REACHED
$STATE,6362,begin surface coast
$FINISH,-0.0,1.023943
$STATE,6376,end surface coast,CONTROL_FINISHED_OK
$STATE,6376,begin surface
$SM_CCo,6393,134.30,0.617,0,0,686,420.19
$SM_GC,0.86,0.00,0.00,134.30,0.000,0.000,0.617,51,2568,686,-8.74,0.51,420.19
$IRIDIUM_FIX,2244.02,-15754.11,290300,212129
$TT8_MAMPS,0.023777
$HUMID,1854
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,24.4,32.881
$10V_AH,10.8,18.922
$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,21.775,61.075,200.475,134.300,0.000,30.017,33.969,128.305,0.000,0.000,0.000,19.745,686.710,4061.594,413.492,1349.952,317.528,33.333,948.981,0.000,1340.243,0.000,0.541,0.000
$DEVICE_MAMPS,258.479,100.477,963.352,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,210.964,514.946,532.388,119.915,496.931,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25695,312
$CAP_FILE_SIZE,59481,0
$CFSIZE,260165632,251002880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,040111,011749,2250.985,-15754.966,32,1.5,39,10.1