version: 66.04
glider: 512
mission: 1
dive: 233
start: 1 4 111 10 52 59
data:
$ID,512
$MISSION,1
$DIVE,233
$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,-10031.588
$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,49
$R_STBD_OVSHOOT,13
$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
$GPS1,104658,2252.631,-15756.166,10,2.6,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-74.5
$GPS2,105206,2252.617,-15756.222,14,1.7,30,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.124,0.179
$KALMAN_X,-93421.9,92.3,234.5,118560.2,136.6
$KALMAN_Y,-228601.4,1354.4,301.1,360917.2,-7338.8
$MHEAD_RNG_PITCHd_Wd,315.3,5025,-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,-83.30,0.000,6,0.000,0.000,36,2552,2878
$GC,104,-0.79,-116.8,2.8,-3.8,11,121,11.35,2.33,0.00,0.000,4,0.258,0.087,2575,3911,2879
$GC,362,-0.79,-116.8,63.7,-21.9,44,371,0.00,2.05,0.00,0.000,6,0.000,0.028,2581,2546,2881
$GC,626,-0.79,-116.8,112.1,-14.1,69,630,0.00,2.42,0.00,0.000,4,0.000,0.102,2572,3905,2882
$GC,878,-0.79,-116.8,148.7,-11.7,91,885,0.00,2.03,0.00,0.000,6,0.000,0.028,2579,2527,2883
$GC,1140,-0.79,-116.8,178.3,-11.9,116,1144,0.00,2.42,0.00,0.000,4,0.000,0.100,2570,3905,2884
$GC,1394,-0.79,-116.8,211.7,-12.9,132,1401,0.00,2.00,0.00,0.000,6,0.000,0.028,2578,2551,2885
$GC,1644,-0.79,-116.8,240.0,-11.4,139,1648,0.00,2.38,0.00,0.000,4,0.000,0.100,2570,3897,2885
$GC,1711,-0.79,-116.8,248.9,-13.9,140,1715,0.00,2.00,0.00,0.000,6,0.000,0.027,2577,2548,2885
$GC,1973,-0.79,-116.8,276.4,-10.5,147,1977,0.00,2.38,0.00,0.000,4,0.000,0.100,2568,3897,2885
$GC,2230,-0.79,-116.8,305.9,-10.8,152,2237,0.00,2.00,0.00,0.000,6,0.000,0.028,2577,2536,2885
$GC,2480,-0.79,-116.8,327.9,-8.8,159,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2535,2885
$GC,2724,-0.79,-116.8,349.1,-9.0,165,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2534,2884
$GC,2970,-0.79,-116.8,368.8,-8.1,171,2974,0.00,2.03,0.00,0.000,4,0.000,0.028,2587,1145,2883
$GC,3099,-0.79,-116.8,378.2,-6.5,173,3105,0.00,2.35,0.00,0.000,6,0.000,0.074,2577,2563,2882
$GC,3348,-0.79,-116.8,396.8,-7.6,180,3352,0.00,2.08,0.00,0.000,4,0.000,0.029,2586,1153,2881
$GC,3420,-0.79,-116.8,402.1,-7.3,181,3424,0.00,2.33,0.00,0.000,6,0.000,0.074,2577,2553,2881
$GC,3682,-0.79,-116.8,422.0,-7.8,188,3686,0.00,2.25,0.00,0.000,4,0.000,0.084,2566,3897,2880
$GC,3872,-0.79,-116.8,439.7,-10.0,192,3875,0.00,1.98,0.00,0.000,6,0.000,0.030,2574,2554,2878
$GC,4144,-0.79,-116.8,462.4,-8.0,199,4148,0.00,2.38,0.00,0.000,4,0.000,0.101,2565,3896,2877
$GC,4319,-0.79,-116.8,478.0,-8.9,203,4323,0.00,2.00,0.00,0.000,6,0.000,0.031,2573,2542,2876
$GC,4608,-0.79,-116.8,500.0,-7.4,210,4612,0.00,2.38,0.00,0.000,4,0.000,0.099,2564,3896,2875
$STATE,4616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4616,begin apogee
$GC,4623,-0.32,0.0,500.8,7.4,210,4725,0.62,0.00,98.82,0.966,6,0.216,0.000,2735,2535,2400
$STATE,4726,end apogee,CONTROL_FINISHED_OK
$STATE,4726,begin climb
$GC,4728,0.79,116.8,502.2,0.0,212,4836,1.15,2.17,100.50,0.930,4,0.123,0.032,3105,1157,1924
$GC,4885,0.79,116.8,462.0,31.3,215,4893,0.00,2.35,0.00,0.000,6,0.000,0.060,3105,2544,1918
$GC,5135,0.79,116.8,378.7,33.6,222,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2545,1913
$GC,5379,0.79,116.8,298.4,33.1,228,5383,0.00,2.12,0.00,0.000,4,0.000,0.035,3116,1145,1911
$GC,5524,0.79,116.8,253.9,28.9,231,5528,0.00,2.30,0.00,0.000,6,0.000,0.055,3110,2544,1909
$GC,5786,0.79,116.8,172.9,30.4,242,5789,0.00,2.10,0.00,0.000,4,0.000,0.035,3120,1153,1908
$GC,5834,0.79,116.8,157.8,29.3,246,5843,0.00,2.30,0.00,0.000,6,0.000,0.057,3120,2554,1907
$GC,6098,0.79,116.8,89.5,21.8,271,6102,0.00,2.17,0.00,0.000,4,0.000,0.062,3120,3907,1907
$GC,6146,0.79,116.8,77.3,26.7,275,6150,0.00,2.03,0.00,0.000,6,0.000,0.031,3130,2552,1905
$GC,6410,0.79,116.8,4.8,27.8,307,6418,0.00,2.12,0.00,0.000,4,0.000,0.030,3143,1141,1905
$STATE,6424,end climb,SURFACE_DEPTH_REACHED
$STATE,6424,begin surface coast
$FINISH,0.1,1.024018
$STATE,6436,end surface coast,CONTROL_FINISHED_OK
$STATE,6437,begin surface
$SM_CCo,6456,137.52,0.597,0,0,687,420.19
$SM_GC,0.99,0.00,0.00,137.52,0.000,0.000,0.597,48,2560,687,-8.75,0.25,420.19
$IRIDIUM_FIX,2241.69,-15754.11,300300,090925
$TT8_MAMPS,0.024544
$HUMID,1839
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,20.00
$XPDR_PINGS,1
$24V_AH,24.4,33.428
$10V_AH,10.8,19.350
$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,21.600,65.775,199.325,137.525,0.000,22.738,43.881,133.013,0.250,0.000,0.000,30.527,680.220,4169.931,415.138,1326.743,322.935,33.329,952.402,0.000,1304.203,0.000,0.542,0.000
$DEVICE_MAMPS,257.712,102.011,965.653,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,209.782,510.450,525.228,117.114,486.578,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25687,311
$CAP_FILE_SIZE,59955,0
$CFSIZE,260165632,250785792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,040111,124407,2252.819,-15756.775,38,0.9,39,10.1