version: 66.04
glider: 512
mission: 1
dive: 234
start: 1 4 111 12 52 56
data:
$ID,512
$MISSION,1
$DIVE,234
$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,-10045.237
$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,42
$R_STBD_OVSHOOT,14
$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
$GPS1,124407,2252.819,-15756.775,38,0.9,39,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.4
$GPS2,125202,2252.808,-15756.891,12,1.5,12,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.037,0.215
$KALMAN_X,-93178.7,444.3,69.5,116983.5,253.4
$KALMAN_Y,-230972.9,2269.9,527.5,362500.1,-8513.8
$MHEAD_RNG_PITCHd_Wd,340.1,5204,-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,-116.6,0.0,0.0,0,101,0.00,0.00,-83.32,0.000,6,0.000,0.000,38,2558,2876
$GC,104,-0.79,-116.8,3.1,-3.8,11,121,11.32,2.25,0.00,0.000,4,0.256,0.078,2574,3906,2878
$GC,362,-0.79,-116.8,65.6,-23.8,44,371,0.00,2.05,0.00,0.000,6,0.000,0.028,2579,2539,2879
$GC,626,-0.79,-116.8,117.1,-17.4,69,630,0.00,2.40,0.00,0.000,4,0.000,0.097,2570,3900,2880
$GC,879,-0.79,-116.8,154.1,-13.3,91,886,0.00,2.00,0.00,0.000,6,0.000,0.028,2578,2540,2882
$GC,1141,-0.79,-116.8,184.2,-11.3,116,1145,0.00,2.38,0.00,0.000,4,0.000,0.097,2569,3899,2882
$GC,1396,-0.79,-116.8,218.7,-12.9,130,1400,0.00,1.98,0.00,0.000,6,0.000,0.028,2577,2560,2882
$GC,1651,-0.79,-116.8,246.7,-11.0,137,1655,0.00,2.38,0.00,0.000,4,0.000,0.102,2568,3898,2883
$GC,1837,-0.79,-116.8,268.0,-11.3,141,1841,0.00,1.98,0.00,0.000,6,0.000,0.028,2575,2547,2883
$GC,2115,-0.79,-116.8,294.9,-9.4,148,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2539,2883
$GC,2358,-0.79,-116.8,316.5,-8.6,154,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2539,2882
$GC,2602,-0.79,-116.8,337.8,-8.7,160,2606,0.00,2.05,0.00,0.000,4,0.000,0.028,2586,1133,2882
$GC,2617,-0.79,-116.8,339.3,-9.0,160,2622,0.00,2.38,0.00,0.000,6,0.000,0.076,2576,2561,2882
$GC,2891,-0.79,-116.8,361.0,-7.7,167,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2561,2881
$GC,3134,-0.79,-116.8,379.4,-7.3,173,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2561,2880
$GC,3377,-0.79,-116.8,398.6,-8.1,179,3381,0.00,2.10,0.00,0.000,4,0.000,0.029,2584,1138,2878
$GC,3470,-0.79,-116.8,405.9,-7.8,181,3474,0.00,2.38,0.00,0.000,6,0.000,0.081,2575,2543,2877
$GC,3753,-0.79,-116.8,429.7,-8.3,188,3757,0.00,2.30,0.00,0.000,4,0.000,0.091,2564,3898,2876
$GC,4009,-0.79,-116.8,452.5,-7.9,193,4016,0.00,2.00,0.00,0.000,6,0.000,0.031,2571,2532,2875
$GC,4260,-0.79,-116.8,468.8,-6.2,200,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2531,2873
$GC,4504,-0.79,-116.8,484.2,-6.5,206,4508,0.00,2.42,0.00,0.000,4,0.000,0.104,2562,3897,2872
$GC,4633,-0.79,-116.8,494.9,-8.0,209,4637,0.00,1.98,0.00,0.000,6,0.000,0.031,2569,2554,2872
$STATE,4718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4718,begin apogee
$GC,4723,-0.32,0.0,500.9,6.8,211,4824,0.65,0.00,98.65,0.969,6,0.206,0.000,2738,2544,2400
$STATE,4825,end apogee,CONTROL_FINISHED_OK
$STATE,4825,begin climb
$GC,4827,0.79,116.8,502.1,0.0,213,4939,1.17,0.00,103.35,0.914,6,0.124,0.000,3100,2543,1923
$GC,5162,0.79,116.8,402.4,33.7,222,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2544,1915
$GC,5406,0.79,116.8,324.7,31.7,228,5410,0.00,2.12,0.00,0.000,4,0.000,0.035,3110,1143,1912
$GC,5550,0.79,116.8,282.5,28.2,231,5555,0.00,2.35,0.00,0.000,6,0.000,0.066,3110,2559,1908
$GC,5828,0.79,116.8,199.2,30.1,238,5832,0.00,2.12,0.00,0.000,4,0.000,0.034,3119,1145,1907
$GC,5907,0.79,116.8,177.1,26.3,245,5911,0.00,2.33,0.00,0.000,6,0.000,0.065,3120,2561,1906
$GC,6170,0.79,116.8,103.1,21.4,269,6174,0.00,2.22,0.00,0.000,4,0.000,0.077,3121,3897,1905
$GC,6217,0.79,116.8,92.3,24.1,273,6221,0.00,2.03,0.00,0.000,6,0.000,0.034,3129,2554,1904
$GC,6480,0.79,116.8,25.9,26.2,298,6488,0.00,2.12,0.00,0.000,4,0.000,0.031,3141,1135,1904
$STATE,6562,end climb,SURFACE_DEPTH_REACHED
$STATE,6562,begin surface coast
$FINISH,0.1,1.023944
$STATE,6574,end surface coast,CONTROL_FINISHED_OK
$STATE,6575,begin surface
$SM_CCo,6594,135.27,0.595,0,0,686,420.19
$SM_GC,1.07,0.00,0.00,135.27,0.000,0.000,0.595,54,2563,686,-8.74,0.34,420.19
$IRIDIUM_FIX,2246.36,-15756.28,300300,121220
$TT8_MAMPS,0.023777
$HUMID,1847
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,24.4,33.521
$10V_AH,10.8,19.421
$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,21.625,52.625,202.000,135.275,0.000,57.187,72.882,192.359,0.000,0.000,0.000,13.019,671.778,4440.772,439.150,1223.966,443.255,33.330,912.412,0.000,1221.388,0.000,0.543,0.000
$DEVICE_MAMPS,256.178,103.545,968.721,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,212.897,507.981,523.616,114.486,475.460,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25760,315
$CAP_FILE_SIZE,58623,0
$CFSIZE,260165632,250753024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,040111,144559,2253.305,-15757.271,14,1.5,18,10.1