version: 66.04
glider: 512
mission: 1
dive: 271
start: 1 7 111 13 14 17
data:
$ID,512
$MISSION,1
$DIVE,271
$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,160
$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,350
$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,-10897.627
$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,56
$R_STBD_OVSHOOT,18
$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
$GPS1,125858,2248.807,-15757.842,15,2.1,34,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.9
$GPS2,131320,2248.714,-15757.841,13,1.9,13,10.1
$SPEED_LIMITS,0.139,0.247
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,0.009
$KALMAN_X,-126907.1,-2005.4,-15.6,151609.0,-3332.4
$KALMAN_Y,-252230.2,1862.4,248.5,376874.0,-3289.6
$MHEAD_RNG_PITCHd_Wd,77.8,3175,-13.5,-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,-0.73,-155.7,0.0,0.0,0,100,0.00,0.00,-79.53,0.000,6,0.000,0.000,34,2562,3032
$GC,103,-0.73,-155.7,3.5,-5.0,11,121,11.52,2.10,0.00,0.000,4,0.258,0.024,2610,1130,3033
$GC,286,-0.73,-155.7,40.4,-17.2,38,294,0.00,2.45,0.00,0.000,6,0.000,0.084,2601,2540,3035
$GC,549,-0.73,-155.7,93.9,-19.7,63,553,0.00,2.33,0.00,0.000,4,0.000,0.091,2591,3903,3036
$GC,647,-0.73,-155.7,115.7,-21.0,71,654,0.00,2.00,0.00,0.000,6,0.000,0.028,2596,2561,3036
$GC,909,-0.73,-155.7,154.0,-13.6,96,913,0.00,2.40,0.00,0.000,4,0.000,0.104,2587,3903,3037
$GC,1007,-0.73,-155.7,170.5,-14.4,104,1014,0.00,2.00,0.00,0.000,6,0.000,0.028,2596,2543,3037
$GC,1277,-0.73,-155.7,206.7,-13.5,127,1281,0.00,2.40,0.00,0.000,4,0.000,0.104,2586,3897,3038
$GC,1297,-0.73,-155.7,209.9,-14.8,127,1302,0.00,1.98,0.00,0.000,6,0.000,0.028,2595,2556,3038
$GC,1559,-0.73,-155.7,243.6,-12.4,134,1563,0.00,2.40,0.00,0.000,4,0.000,0.107,2586,3897,3038
$GC,1676,-0.73,-155.7,259.6,-14.0,136,1680,0.00,1.95,0.00,0.000,6,0.000,0.028,2593,2553,3038
$GC,1931,-0.73,-155.7,292.3,-13.1,143,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2546,3038
$GC,2175,-0.73,-155.7,320.7,-11.4,149,2178,0.00,2.05,0.00,0.000,4,0.000,0.028,2604,1142,3037
$GC,2252,-0.73,-155.7,329.2,-10.4,150,2256,0.00,2.38,0.00,0.000,6,0.000,0.079,2593,2565,3037
$GC,2508,-0.73,-155.7,356.6,-10.6,157,2512,0.00,2.28,0.00,0.000,4,0.000,0.092,2583,3899,3036
$GC,2687,-0.73,-155.7,377.1,-11.1,161,2692,0.00,1.98,0.00,0.000,6,0.000,0.030,2591,2553,3035
$GC,2971,-0.73,-155.7,405.1,-9.7,168,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2546,3034
$GC,3214,-0.73,-155.7,426.9,-8.8,174,3218,0.00,2.42,0.00,0.000,4,0.000,0.111,2581,3885,3032
$GC,3269,-0.73,-155.7,432.9,-11.3,175,3273,0.00,2.00,0.00,0.000,6,0.000,0.031,2587,2547,3032
$GC,3542,-0.73,-155.7,459.9,-9.7,182,3546,0.00,2.45,0.00,0.000,4,0.000,0.111,2578,3894,3030
$GC,3619,-0.73,-155.7,468.3,-11.3,183,3626,0.00,2.00,0.00,0.000,6,0.000,0.031,2586,2532,3029
$GC,3869,-0.73,-155.7,493.3,-10.1,190,3874,0.00,2.47,0.00,0.000,4,0.000,0.111,2577,3896,3028
$GC,3919,-0.73,-155.7,499.0,-11.2,191,3924,0.08,2.00,0.00,0.000,6,0.201,0.031,2604,2551,3027
$STATE,3927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3927,begin apogee
$GC,3932,-0.32,0.0,500.3,11.4,191,4065,0.45,0.00,129.77,0.986,6,0.183,0.000,2734,2548,2400
$STATE,4066,end apogee,CONTROL_FINISHED_OK
$STATE,4066,begin climb
$GC,4068,0.73,155.7,502.9,0.0,194,4215,1.10,2.25,134.85,0.950,4,0.124,0.033,3086,1159,1765
$GC,4270,0.73,155.7,449.3,32.2,199,4275,0.00,2.35,0.00,0.000,6,0.000,0.062,3083,2543,1758
$GC,4527,0.73,155.7,365.0,33.0,206,4530,0.00,2.12,0.00,0.000,4,0.000,0.036,3092,1155,1754
$GC,4593,0.73,155.7,343.2,28.7,207,4597,0.00,2.33,0.00,0.000,6,0.000,0.064,3092,2561,1753
$GC,4860,0.73,155.7,254.6,33.8,214,4863,0.00,2.12,0.00,0.000,4,0.000,0.034,3103,1157,1751
$GC,4995,0.73,155.7,214.6,27.0,217,4999,0.00,2.25,0.00,0.000,6,0.000,0.056,3097,2549,1750
$GC,5256,0.73,155.7,132.6,33.4,236,5260,0.00,2.10,0.00,0.000,4,0.000,0.035,3106,1155,1749
$GC,5327,0.73,155.7,111.1,25.7,242,5336,0.00,2.25,0.00,0.000,6,0.000,0.054,3107,2552,1748
$GC,5591,0.73,155.7,39.8,28.3,267,5594,0.00,2.08,0.00,0.000,4,0.000,0.032,3117,1158,1747
$GC,5658,0.73,155.7,22.9,24.4,275,5666,0.00,2.25,0.00,0.000,6,0.000,0.056,3110,2544,1746
$STATE,5730,end climb,SURFACE_DEPTH_REACHED
$STATE,5730,begin surface coast
$FINISH,0.3,1.023980
$STATE,5737,end surface coast,CONTROL_FINISHED_OK
$STATE,5737,begin surface
$SM_CCo,5754,86.32,0.652,0,0,972,350.04
$SM_GC,0.93,0.00,0.00,86.32,0.000,0.000,0.652,46,2551,972,-8.76,0.06,350.04
$IRIDIUM_FIX,2239.35,-15759.32,020400,131301
$TT8_MAMPS,0.024544
$HUMID,1880
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,19.70
$XPDR_PINGS,1
$24V_AH,24.3,37.218
$10V_AH,10.8,22.078
$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,21.650,66.125,264.625,86.325,0.000,81.140,130.756,424.195,0.250,0.000,0.000,13.795,618.001,3755.548,426.619,1140.163,780.404,33.335,907.551,0.000,1141.046,0.000,0.543,0.000
$DEVICE_MAMPS,257.712,111.215,986.362,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,194.752,481.204,496.263,114.155,472.667,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22604,289
$CAP_FILE_SIZE,64187,0
$CFSIZE,260165632,249425920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,070111,145254,2248.033,-15757.455,40,1.4,40,10.1