version: 66.04
glider: 512
mission: 1
dive: 235
start: 1 4 111 14 51 26
data:
$ID,512
$MISSION,1
$DIVE,235
$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,-10059.484
$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,40
$R_STBD_OVSHOOT,22
$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
$GPS1,144559,2253.305,-15757.271,14,1.5,18,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.7
$GPS2,145032,2253.323,-15757.329,12,1.5,12,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.084,0.201
$KALMAN_X,-93715.1,821.1,-124.9,116585.8,-437.9
$KALMAN_Y,-232390.8,2578.8,729.6,364354.2,-9098.7
$MHEAD_RNG_PITCHd_Wd,12.5,6179,-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,-83.70,0.000,6,0.000,0.000,49,2563,2878
$GC,104,-0.79,-116.8,3.0,-3.7,11,121,11.25,2.25,0.00,0.000,4,0.256,0.081,2573,3892,2880
$GC,348,-0.79,-116.8,55.9,-22.6,44,351,0.00,2.03,0.00,0.000,6,0.000,0.028,2581,2525,2882
$GC,616,-0.79,-116.8,109.3,-18.9,69,620,0.00,2.45,0.00,0.000,4,0.000,0.105,2572,3886,2883
$GC,869,-0.79,-116.8,151.8,-13.1,91,876,0.00,1.98,0.00,0.000,6,0.000,0.027,2580,2545,2884
$GC,1131,-0.79,-116.8,181.3,-11.9,116,1135,0.00,2.38,0.00,0.000,4,0.000,0.101,2571,3887,2885
$GC,1387,-0.79,-116.8,216.2,-13.4,131,1391,0.00,1.98,0.00,0.000,6,0.000,0.027,2579,2549,2885
$GC,1642,-0.79,-116.8,247.1,-12.0,138,1646,0.00,2.03,0.00,0.000,4,0.000,0.027,2589,1147,2887
$GC,1687,-0.79,-116.8,252.0,-10.6,139,1691,0.00,2.38,0.00,0.000,6,0.000,0.084,2579,2542,2887
$GC,1971,-0.79,-116.8,279.9,-9.9,146,1975,0.00,2.33,0.00,0.000,4,0.000,0.094,2568,3898,2887
$GC,2110,-0.79,-116.8,295.6,-10.6,149,2114,0.00,2.00,0.00,0.000,6,0.000,0.028,2576,2546,2886
$GC,2390,-0.79,-116.8,317.7,-8.0,156,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2538,2886
$GC,2631,-0.79,-116.8,339.3,-9.2,162,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2538,2886
$GC,2875,-0.79,-116.8,363.7,-10.3,168,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2538,2885
$GC,3119,-0.79,-116.8,388.6,-10.1,174,3123,0.00,2.42,0.00,0.000,4,0.000,0.104,2567,3906,2884
$GC,3196,-0.79,-116.8,397.9,-11.8,175,3203,0.00,2.03,0.00,0.000,6,0.000,0.028,2575,2541,2884
$GC,3446,-0.79,-116.8,421.7,-9.5,182,3450,0.00,2.40,0.00,0.000,4,0.000,0.100,2566,3901,2882
$GC,3601,-0.79,-116.8,435.9,-7.5,185,3606,0.00,1.98,0.00,0.000,6,0.000,0.029,2573,2555,2882
$GC,3863,-0.79,-116.8,453.5,-6.5,192,3867,0.00,2.42,0.00,0.000,4,0.000,0.106,2565,3912,2880
$GC,4058,-0.79,-116.8,469.2,-8.1,196,4062,0.00,2.03,0.00,0.000,6,0.000,0.031,2572,2552,2879
$GC,4325,-0.79,-116.8,487.9,-7.0,203,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2545,2878
$STATE,4525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4526,begin apogee
$GC,4531,-0.32,0.0,502.7,7.2,208,4633,0.65,0.00,99.38,0.960,6,0.206,0.000,2742,2543,2400
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4636,0.79,116.8,503.8,0.0,210,4753,1.17,2.22,103.35,0.907,4,0.127,0.033,3112,1156,1922
$GC,4797,0.79,116.8,462.3,32.2,214,4801,0.00,2.38,0.00,0.000,6,0.000,0.060,3110,2566,1917
$GC,5061,0.79,116.8,373.7,33.4,221,5065,0.00,2.15,0.00,0.000,4,0.000,0.035,3120,1158,1912
$GC,5116,0.79,116.8,355.2,29.5,222,5120,0.00,2.30,0.00,0.000,6,0.000,0.060,3120,2539,1910
$GC,5394,0.79,116.8,264.1,32.6,229,5397,0.00,2.10,0.00,0.000,4,0.000,0.033,3130,1144,1909
$GC,5471,0.79,116.8,240.4,27.1,230,5475,0.00,2.25,0.00,0.000,6,0.000,0.051,3123,2550,1908
$GC,5733,0.79,116.8,158.9,32.1,246,5737,0.00,2.10,0.00,0.000,4,0.000,0.033,3132,1153,1906
$GC,5771,0.79,116.8,146.1,32.0,249,5779,0.00,2.28,0.00,0.000,6,0.000,0.056,3133,2544,1905
$GC,6033,0.79,116.8,78.6,25.2,274,6037,0.00,2.08,0.00,0.000,4,0.000,0.032,3143,1154,1904
$GC,6046,0.79,116.8,75.5,25.1,275,6051,0.12,2.20,0.00,0.000,6,0.227,0.047,3111,2558,1904
$GC,6310,0.79,116.8,6.6,27.3,307,6318,0.00,2.12,0.00,0.000,4,0.000,0.031,3122,1157,1904
$STATE,6324,end climb,SURFACE_DEPTH_REACHED
$STATE,6324,begin surface coast
$FINISH,0.4,1.023937
$STATE,6331,end surface coast,CONTROL_FINISHED_OK
$STATE,6331,begin surface
$SM_CCo,6351,139.27,0.588,0,0,686,420.19
$SM_GC,0.96,0.00,0.00,139.27,0.000,0.000,0.588,44,2555,686,-8.76,0.17,420.19
$IRIDIUM_FIX,2244.02,-15754.11,300300,121232
$TT8_MAMPS,0.023777
$HUMID,1825
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,24.4,33.608
$10V_AH,10.8,19.490
$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,21.725,61.525,202.725,139.275,0.000,23.981,34.518,122.564,0.000,0.000,0.000,13.618,661.377,4166.402,433.015,1213.552,303.072,33.331,917.410,0.000,1212.065,0.000,0.544,0.000
$DEVICE_MAMPS,256.178,105.846,959.517,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,209.318,508.191,524.088,115.646,479.365,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25701,310
$CAP_FILE_SIZE,56481,0
$CFSIZE,260165632,250720256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,040111,164055,2253.897,-15757.251,43,0.9,43,10.1