version: 66.04
glider: 512
mission: 1
dive: 243
start: 1 5 111 6 43 20
data:
$ID,512
$MISSION,1
$DIVE,243
$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,380
$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,-10231.169
$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,63
$R_STBD_OVSHOOT,15
$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
$GPS1,063724,2250.958,-15756.573,30,0.9,47,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-74.8
$GPS2,064225,2250.957,-15756.621,13,1.2,18,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,0.019
$KALMAN_X,-109991.9,1193.7,381.3,133182.4,-8474.2
$KALMAN_Y,-230232.2,749.3,59.1,360330.9,-2448.9
$MHEAD_RNG_PITCHd_Wd,74.9,1886,-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,14,-0.79,-116.8,0.0,0.0,0,99,0.00,0.00,-78.38,0.000,6,0.000,0.000,44,2552,2876
$GC,102,-0.79,-116.8,3.7,-4.9,11,118,11.23,0.00,0.00,0.000,6,0.254,0.000,2586,2550,2877
$GC,381,-0.79,-116.8,62.3,-19.7,47,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2551,2879
$GC,643,-0.79,-116.8,112.0,-17.1,72,646,0.00,2.05,0.00,0.000,4,0.000,0.027,2595,1152,2880
$GC,766,-0.79,-116.8,128.3,-12.1,83,770,0.00,2.38,0.00,0.000,6,0.000,0.082,2585,2545,2881
$GC,1027,-0.79,-116.8,163.3,-11.8,107,1031,0.00,2.35,0.00,0.000,4,0.000,0.096,2574,3903,2882
$GC,1281,-0.79,-116.8,200.3,-14.1,129,1289,0.00,2.00,0.00,0.000,6,0.000,0.028,2578,2544,2883
$GC,1531,-0.79,-116.8,229.4,-11.1,136,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2543,2883
$GC,1774,-0.79,-116.8,255.6,-10.8,142,1778,0.00,2.42,0.00,0.000,4,0.000,0.106,2569,3904,2883
$GC,1834,-0.79,-116.8,262.4,-11.5,143,1838,0.00,2.00,0.00,0.000,6,0.000,0.028,2577,2550,2883
$GC,2101,-0.79,-116.8,291.2,-10.7,150,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2542,2883
$GC,2346,-0.79,-116.8,312.2,-8.4,156,2350,0.00,2.42,0.00,0.000,4,0.000,0.107,2568,3897,2883
$GC,2591,-0.79,-116.8,335.6,-8.7,161,2596,0.00,2.00,0.00,0.000,6,0.000,0.029,2576,2549,2882
$GC,2853,-0.79,-116.8,355.2,-7.6,168,2857,0.00,2.42,0.00,0.000,4,0.000,0.108,2567,3896,2882
$GC,3094,-0.79,-116.8,378.1,-10.2,173,3097,0.00,1.98,0.00,0.000,6,0.000,0.029,2575,2549,2881
$GC,3360,-0.79,-116.8,401.2,-8.6,180,3364,0.00,2.42,0.00,0.000,4,0.000,0.110,2566,3896,2881
$GC,3470,-0.79,-116.8,412.3,-10.6,182,3474,0.00,2.00,0.00,0.000,6,0.000,0.031,2573,2550,2880
$GC,3737,-0.79,-116.8,436.1,-8.7,189,3741,0.00,2.45,0.00,0.000,4,0.000,0.112,2565,3896,2879
$GC,3934,-0.79,-116.8,455.8,-9.1,193,3937,0.00,2.00,0.00,0.000,6,0.000,0.030,2572,2539,2877
$GC,4200,-0.79,-116.8,476.8,-7.7,200,4204,0.00,2.47,0.00,0.000,4,0.000,0.112,2563,3897,2876
$GC,4451,-0.79,-116.8,498.7,-8.6,205,4455,0.00,2.03,0.00,0.000,6,0.000,0.031,2570,2548,2875
$STATE,4507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4507,begin apogee
$GC,4512,-0.32,0.0,502.9,7.4,207,4614,0.65,0.00,98.88,0.991,6,0.202,0.000,2741,2539,2400
$STATE,4615,end apogee,CONTROL_FINISHED_OK
$STATE,4615,begin climb
$GC,4617,0.79,116.8,504.1,0.0,209,4725,1.12,2.20,101.43,0.953,4,0.121,0.033,3105,1158,1922
$GC,4737,0.79,116.8,475.2,33.7,212,4741,0.00,2.35,0.00,0.000,6,0.000,0.057,3105,2563,1919
$GC,5019,0.79,116.8,379.7,33.9,219,5023,0.00,2.15,0.00,0.000,4,0.000,0.034,3115,1146,1913
$GC,5051,0.79,116.8,368.6,33.5,219,5056,0.00,2.30,0.00,0.000,6,0.000,0.054,3110,2543,1911
$GC,5308,0.79,116.8,283.3,33.4,226,5312,0.00,2.22,0.00,0.000,4,0.000,0.066,3111,3901,1909
$GC,5318,0.79,116.8,279.3,33.5,226,5323,0.00,2.08,0.00,0.000,6,0.000,0.038,3119,2560,1909
$GC,5598,0.79,116.8,192.3,31.2,233,5601,0.00,2.12,0.00,0.000,4,0.000,0.032,3130,1134,1907
$GC,5624,0.79,116.8,184.1,28.5,235,5632,0.00,2.28,0.00,0.000,6,0.000,0.053,3123,2545,1906
$GC,5887,0.79,116.8,106.3,30.6,260,5890,0.00,2.10,0.00,0.000,4,0.000,0.034,3132,1141,1905
$GC,5947,0.79,116.8,90.3,23.5,265,5954,0.00,2.30,0.00,0.000,6,0.000,0.058,3133,2546,1904
$GC,6210,0.79,116.8,16.8,30.2,294,6218,0.00,2.12,0.00,0.000,4,0.000,0.031,3143,1143,1904
$STATE,6261,end climb,SURFACE_DEPTH_REACHED
$STATE,6262,begin surface coast
$FINISH,0.4,1.023922
$STATE,6268,end surface coast,CONTROL_FINISHED_OK
$STATE,6268,begin surface
$SM_CCo,6288,115.68,0.611,0,0,848,380.21
$SM_GC,0.93,0.00,0.00,115.68,0.000,0.000,0.611,41,2573,848,-8.78,0.65,380.21
$IRIDIUM_FIX,2241.69,-15754.11,310300,040442
$TT8_MAMPS,0.023777
$HUMID,1844
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,24.3,34.331
$10V_AH,10.8,20.068
$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,21.625,61.975,200.300,115.675,0.000,24.543,38.551,138.576,0.000,0.000,0.000,18.538,664.477,4069.044,402.750,1255.501,327.878,33.338,908.982,0.000,1247.501,0.000,0.542,0.000
$DEVICE_MAMPS,253.877,111.982,990.964,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,205.147,499.205,515.596,115.336,479.624,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25662,304
$CAP_FILE_SIZE,57149,0
$CFSIZE,260165632,250425344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,050111,083050,2250.691,-15756.259,10,1.6,10,10.1