version: 66.04
glider: 512
mission: 1
dive: 228
start: 1 4 111 1 23 54
data:
$ID,512
$MISSION,1
$DIVE,228
$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,-9932.2598
$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,38
$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
$GPS1,011749,2250.985,-15754.966,32,1.5,39,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.4
$GPS2,012301,2250.956,-15755.037,19,1.2,24,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.025,0.217
$KALMAN_X,-95859.3,1330.9,406.6,121616.3,-4021.2
$KALMAN_Y,-221754.3,913.7,450.1,351284.8,-7448.2
$MHEAD_RNG_PITCHd_Wd,356.5,3789,-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,12,begin dive
$GC,15,-0.79,-116.8,0.0,0.0,0,101,0.00,0.00,-83.32,0.000,6,0.000,0.000,44,2568,2877
$GC,104,-0.79,-116.8,2.9,-3.7,11,121,11.35,2.25,0.00,0.000,4,0.258,0.082,2574,3897,2879
$GC,360,-0.79,-116.8,59.8,-21.0,45,369,0.00,2.05,0.00,0.000,6,0.000,0.028,2582,2532,2881
$GC,622,-0.79,-116.8,104.1,-14.1,70,626,0.00,2.38,0.00,0.000,4,0.000,0.094,2572,3891,2882
$GC,699,-0.79,-116.8,114.6,-13.2,76,707,0.00,2.00,0.00,0.000,6,0.000,0.027,2579,2542,2882
$GC,962,-0.79,-116.8,148.0,-12.3,101,966,0.00,2.38,0.00,0.000,4,0.000,0.097,2570,3898,2883
$GC,1216,-0.79,-116.8,184.6,-13.6,123,1225,0.00,2.00,0.00,0.000,6,0.000,0.027,2578,2538,2884
$GC,1472,-0.79,-116.8,214.9,-11.5,139,1476,0.00,2.38,0.00,0.000,4,0.000,0.099,2569,3891,2884
$GC,1662,-0.79,-116.8,237.7,-11.6,143,1665,0.00,1.95,0.00,0.000,6,0.000,0.028,2577,2550,2885
$GC,1933,-0.79,-116.8,262.6,-9.1,150,1937,0.00,2.38,0.00,0.000,4,0.000,0.099,2568,3896,2885
$GC,2191,-0.79,-116.8,291.6,-12.1,155,2197,0.00,1.98,0.00,0.000,6,0.000,0.028,2576,2560,2885
$GC,2440,-0.79,-116.8,315.9,-9.8,162,2444,0.00,2.35,0.00,0.000,4,0.000,0.100,2567,3892,2885
$GC,2647,-0.79,-116.8,339.3,-10.6,166,2651,0.00,2.00,0.00,0.000,6,0.000,0.028,2575,2544,2884
$GC,2903,-0.79,-116.8,362.3,-8.9,173,2907,0.00,2.38,0.00,0.000,4,0.000,0.100,2566,3887,2883
$GC,3160,-0.79,-116.8,386.3,-8.9,178,3166,0.00,1.98,0.00,0.000,6,0.000,0.029,2573,2549,2882
$GC,3410,-0.79,-116.8,406.1,-7.9,185,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2549,2881
$GC,3654,-0.79,-116.8,426.2,-8.4,191,3658,0.00,2.38,0.00,0.000,4,0.000,0.101,2564,3896,2880
$GC,3789,-0.79,-116.8,438.9,-9.1,194,3793,0.00,1.98,0.00,0.000,6,0.000,0.031,2572,2555,2879
$GC,4074,-0.79,-116.8,461.7,-7.8,201,4077,0.00,2.08,0.00,0.000,4,0.000,0.031,2583,1138,2878
$GC,4230,-0.79,-116.8,474.1,-8.3,204,4234,0.00,2.38,0.00,0.000,6,0.000,0.083,2573,2543,2877
$GC,4498,-0.79,-116.8,494.8,-7.9,211,4501,0.00,2.08,0.00,0.000,4,0.000,0.031,2574,1146,2875
$STATE,4556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4556,begin apogee
$GC,4564,-0.32,0.0,500.1,8.1,212,4670,0.65,0.00,98.43,0.967,6,0.209,0.000,2736,2562,2399
$STATE,4671,end apogee,CONTROL_FINISHED_OK
$STATE,4671,begin climb
$GC,4673,0.79,116.8,500.8,0.0,215,4785,1.12,0.00,102.40,0.941,6,0.122,0.000,3091,2562,1923
$GC,5042,0.79,116.8,396.1,32.2,224,5046,0.00,2.15,0.00,0.000,4,0.000,0.034,3102,1156,1914
$GC,5153,0.79,116.8,361.6,29.0,226,5158,0.00,2.30,0.00,0.000,6,0.000,0.060,3096,2541,1910
$GC,5422,0.79,116.8,276.8,32.1,233,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2541,1909
$GC,5664,0.79,116.8,200.9,30.9,239,5668,0.00,2.22,0.00,0.000,4,0.000,0.069,3097,3899,1907
$GC,5735,0.79,116.8,178.5,29.5,242,5744,0.00,2.05,0.00,0.000,6,0.000,0.035,3106,2562,1906
$GC,5999,0.79,116.8,105.2,29.4,267,6003,0.00,2.12,0.00,0.000,4,0.000,0.032,3117,1136,1904
$GC,6113,0.79,116.8,76.4,22.3,277,6117,0.00,2.28,0.00,0.000,6,0.000,0.054,3110,2553,1903
$GC,6377,0.79,116.8,8.3,25.6,308,6384,0.00,2.12,0.00,0.000,4,0.000,0.031,3120,1141,1903
$STATE,6396,end climb,SURFACE_DEPTH_REACHED
$STATE,6396,begin surface coast
$FINISH,0.1,1.023925
$STATE,6408,end surface coast,CONTROL_FINISHED_OK
$STATE,6408,begin surface
$SM_CCo,6428,137.10,0.628,0,0,686,420.19
$SM_GC,1.00,0.00,0.00,137.10,0.000,0.000,0.628,52,2552,686,-8.74,0.06,420.19
$IRIDIUM_FIX,2241.69,-15754.11,290300,232316
$TT8_MAMPS,0.023777
$HUMID,1833
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,24.3,32.971
$10V_AH,10.8,18.995
$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,21.700,61.575,200.825,137.100,0.000,30.064,34.590,142.611,0.000,0.000,0.000,25.010,685.292,4082.818,418.743,1373.948,329.350,33.333,973.875,0.000,1354.092,0.000,0.542,0.000
$DEVICE_MAMPS,258.479,111.215,967.187,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,211.162,513.876,526.028,119.651,499.720,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25649,313
$CAP_FILE_SIZE,59702,0
$CFSIZE,260165632,250966016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,3
$GPS,040111,031407,2251.274,-15755.172,13,2.0,13,10.1