version: 66.04
glider: 512
mission: 1
dive: 343
start: 1 12 111 9 32 23
data:
$ID,512
$MISSION,1
$DIVE,343
$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,166
$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,150
$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,-12358.267
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2830
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,50
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2800
$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
$GPS1,092628,2249.456,-15758.526,11,2.5,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-76.0
$GPS2,093128,2249.472,-15758.524,15,2.7,34,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.156,0.208
$KALMAN_X,-145999.1,-1287.3,-131.4,168916.5,-3694.0
$KALMAN_Y,-315259.2,-961.8,219.2,444148.2,-7461.0
$MHEAD_RNG_PITCHd_Wd,26.7,2779,-17.6,-10.040
$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,-1.06,-146.0,0.0,0.0,0,85,0.00,0.00,-68.68,0.000,2,0.000,0.000,36,2563,3158
$GC,89,-1.06,-146.0,3.3,-4.7,9,113,10.85,2.28,-4.82,0.000,4,0.253,0.091,2468,3886,3398
$GC,360,-1.06,-146.0,112.0,-39.6,39,364,0.00,1.98,0.00,0.000,6,0.000,0.026,2476,2544,3400
$GC,629,-1.06,-146.0,202.3,-31.8,64,633,0.00,2.35,0.00,0.000,4,0.000,0.097,2467,3882,3401
$GC,858,-1.06,-146.0,272.7,-29.2,69,862,0.00,1.98,0.00,0.000,6,0.000,0.026,2474,2553,3403
$GC,1137,-1.06,-146.0,340.6,-23.9,76,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2546,3404
$GC,1381,-1.06,-146.0,397.3,-23.2,82,1385,0.00,2.38,0.00,0.000,4,0.000,0.101,2465,3884,3404
$GC,1482,-1.06,-146.0,421.5,-24.6,84,1486,0.00,1.98,0.00,0.000,6,0.000,0.028,2465,2542,3403
$GC,1755,-1.06,-146.0,483.0,-22.4,91,1759,0.00,2.38,0.00,0.000,4,0.000,0.098,2456,3886,3402
$STATE,1825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1825,begin apogee
$GC,1833,-0.40,0.0,500.5,24.4,92,1957,0.90,0.00,119.85,0.929,6,0.220,0.000,2688,2536,2800
$STATE,1957,end apogee,CONTROL_FINISHED_OK
$STATE,1957,begin climb
$GC,1960,1.06,146.0,509.1,0.0,95,2092,1.58,2.17,124.80,0.909,4,0.144,0.031,3166,1146,2203
$GC,2176,1.06,146.0,466.2,30.2,101,2180,0.00,2.30,0.00,0.000,6,0.000,0.050,3162,2550,2197
$GC,2461,1.06,146.0,379.4,31.3,108,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2550,2193
$GC,2703,1.06,146.0,305.9,30.4,114,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2550,2190
$GC,2947,1.06,146.0,242.4,25.5,120,2950,0.00,2.10,0.00,0.000,4,0.000,0.031,3172,1138,2188
$GC,3144,1.06,146.0,198.5,21.3,124,3148,0.00,2.28,0.00,0.000,6,0.000,0.053,3164,2560,2186
$GC,3411,1.06,146.0,136.2,20.6,148,3415,0.00,2.10,0.00,0.000,4,0.000,0.029,3174,1138,2184
$GC,3457,1.06,146.0,127.6,18.5,152,3461,0.00,2.22,0.00,0.000,6,0.000,0.048,3174,2559,2184
$GC,3719,1.06,146.0,82.7,18.4,176,3722,0.00,2.08,0.00,0.000,4,0.000,0.028,3184,1143,2183
$GC,3808,1.06,146.0,65.3,21.6,184,3812,0.00,2.22,0.00,0.000,6,0.000,0.047,3176,2560,2183
$GC,4072,1.06,146.0,8.4,22.8,217,4080,0.00,2.12,0.00,0.000,4,0.000,0.028,3185,1143,2183
$STATE,4092,end climb,SURFACE_DEPTH_REACHED
$STATE,4092,begin surface coast
$FINISH,0.2,1.024051
$STATE,4104,end surface coast,CONTROL_FINISHED_OK
$STATE,4104,begin surface
$SM_CCo,4125,88.05,0.591,0,0,1372,350.04
$SM_GC,1.21,0.00,0.00,88.05,0.000,0.000,0.591,50,2556,1372,-8.68,0.11,350.04
$IRIDIUM_FIX,2239.35,-15757.16,070400,080838
$TT8_MAMPS,0.023777
$HUMID,1820
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,24.3,44.656
$10V_AH,10.8,26.641
$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,22.175,39.225,244.650,88.050,0.000,28.559,39.095,115.238,0.250,0.000,0.000,35.933,482.362,2429.844,384.013,930.045,303.800,33.321,751.681,0.000,912.212,0.000,0.542,0.000
$DEVICE_MAMPS,253.110,101.244,928.837,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,149.357,388.164,401.661,95.946,396.207,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19313,222
$CAP_FILE_SIZE,40518,0
$CFSIZE,260165632,247271424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,1
$GPS,120111,104354,2249.733,-15758.164,41,1.3,41,10.1