version: 66.04
glider: 512
mission: 1
dive: 351
start: 1 12 111 19 40 32
data:
$ID,512
$MISSION,1
$DIVE,351
$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,-12492.507
$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,51
$R_STBD_OVSHOOT,20
$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
$GPS1,193428,2249.055,-15755.796,13,2.1,32,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-70.1
$GPS2,193937,2249.035,-15755.838,10,1.5,15,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.057,0.254
$KALMAN_X,-152680.1,-13.1,126.2,178684.9,-5319.4
$KALMAN_Y,-325935.8,3442.7,-403.6,450228.8,-12472.1
$MHEAD_RNG_PITCHd_Wd,2.5,5043,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-69.43,0.000,2,0.000,0.000,39,2532,3176
$GC,90,-1.06,-146.0,3.5,-5.8,9,115,10.77,2.35,-4.32,0.000,4,0.252,0.097,2469,3881,3397
$GC,363,-1.06,-146.0,111.0,-32.6,38,367,0.00,1.98,0.00,0.000,6,0.000,0.028,2476,2557,3399
$GC,630,-1.06,-146.0,192.4,-30.9,63,634,0.00,2.35,0.00,0.000,4,0.000,0.097,2466,3888,3400
$GC,791,-1.06,-146.0,241.1,-28.5,68,795,0.00,2.00,0.00,0.000,6,0.000,0.026,2469,2546,3401
$GC,1047,-1.06,-146.0,310.7,-26.1,75,1051,0.00,2.40,0.00,0.000,4,0.000,0.102,2460,3893,3402
$GC,1304,-1.06,-146.0,385.1,-28.0,80,1311,0.00,2.00,0.00,0.000,6,0.000,0.028,2459,2550,3402
$GC,1554,-1.06,-146.0,447.7,-24.8,87,1558,0.12,2.40,0.00,0.000,4,0.234,0.103,2475,3891,3402
$GC,1603,-1.06,-146.0,459.9,-23.7,88,1607,0.00,1.98,0.00,0.000,6,0.000,0.028,2483,2546,3401
$STATE,1797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1797,begin apogee
$GC,1803,-0.40,0.0,502.3,21.5,93,1926,0.82,0.00,119.38,0.956,6,0.209,0.000,2696,2538,2800
$STATE,1926,end apogee,CONTROL_FINISHED_OK
$STATE,1927,begin climb
$GC,1929,1.06,146.0,509.7,0.0,96,2061,1.55,2.20,124.15,0.933,4,0.139,0.031,3172,1139,2203
$GC,2074,1.06,146.0,484.6,31.7,99,2078,0.00,2.33,0.00,0.000,6,0.000,0.051,3163,2549,2201
$GC,2336,1.06,146.0,404.0,30.9,106,2340,0.00,2.12,0.00,0.000,4,0.000,0.031,3172,1140,2194
$GC,2453,1.06,146.0,371.0,27.2,108,2457,0.00,2.28,0.00,0.000,6,0.000,0.052,3163,2556,2193
$GC,2715,1.06,146.0,299.6,27.2,115,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2556,2190
$GC,2960,1.06,146.0,236.5,24.4,121,2963,0.00,2.12,0.00,0.000,4,0.000,0.052,3163,3907,2188
$GC,2970,1.06,146.0,233.1,23.9,121,2974,0.00,2.03,0.00,0.000,6,0.000,0.031,3172,2546,2188
$GC,3235,1.06,146.0,165.6,26.0,135,3239,0.00,2.08,0.00,0.000,4,0.000,0.030,3182,1138,2186
$GC,3249,1.06,146.0,162.1,24.2,136,3253,0.00,2.25,0.00,0.000,6,0.000,0.050,3176,2556,2186
$GC,3511,1.06,146.0,99.8,22.8,160,3515,0.00,2.12,0.00,0.000,4,0.000,0.055,3176,3903,2184
$GC,3767,1.06,146.0,48.7,18.8,183,3770,0.00,2.00,0.00,0.000,6,0.000,0.031,3184,2549,2184
$STATE,3991,end climb,SURFACE_DEPTH_REACHED
$STATE,3991,begin surface coast
$FINISH,0.0,1.024059
$STATE,4003,end surface coast,CONTROL_FINISHED_OK
$STATE,4003,begin surface
$SM_CCo,4021,92.93,0.612,0,0,1372,350.04
$SM_GC,1.02,0.00,0.00,92.93,0.000,0.000,0.612,46,2537,1372,-8.70,-0.37,350.04
$IRIDIUM_FIX,2239.35,-15754.99,070400,181803
$TT8_MAMPS,0.023777
$HUMID,1843
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,24.3,45.386
$10V_AH,10.8,27.078
$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,22.075,38.975,243.525,92.925,0.000,33.339,37.200,132.788,0.000,0.000,0.000,15.769,474.682,2350.106,375.011,912.133,328.434,33.318,749.328,0.000,907.109,0.000,0.542,0.000
$DEVICE_MAMPS,251.576,102.778,955.682,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,146.106,379.976,390.052,93.609,392.733,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16179,217
$CAP_FILE_SIZE,40604,0
$CFSIZE,260165632,247050240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,120111,205025,2249.385,-15755.749,41,2.0,41,10.1