version: 66.04
glider: 512
mission: 1
dive: 360
start: 1 13 111 10 31 56
data:
$ID,512
$MISSION,1
$DIVE,360
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,250
$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,-12693.878
$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,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,24
$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
$GPS1,102225,2250.050,-15755.402,8,1.7,14,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.2
$GPS2,103102,2250.093,-15755.366,11,1.9,11,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.158,0.181
$KALMAN_X,-147177.2,-2485.7,369.9,176229.6,1543.7
$KALMAN_Y,-330916.2,4197.3,508.5,455501.4,-12260.2
$MHEAD_RNG_PITCHd_Wd,308.8,7076,-14.1,-8.000
$D_GRID,600
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,87,0.00,0.00,-68.85,0.000,2,0.000,0.000,31,2574,3169
$GC,90,-0.74,-146.0,3.4,-4.6,9,115,11.10,2.17,-4.47,0.000,4,0.245,0.041,2589,1132,3398
$GC,231,-0.74,-146.0,45.3,-23.2,27,235,0.00,2.42,0.00,0.000,6,0.000,0.084,2579,2539,3399
$GC,498,-0.74,-146.0,122.8,-27.7,52,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2539,3400
$GC,754,-0.74,-146.0,177.7,-20.4,76,758,0.00,2.08,0.00,0.000,4,0.000,0.028,2588,1126,3401
$GC,800,-0.74,-146.0,186.4,-17.0,80,804,0.00,2.42,0.00,0.000,6,0.000,0.081,2578,2560,3401
$GC,1083,-0.74,-146.0,238.9,-18.7,92,1087,0.00,2.30,0.00,0.000,4,0.000,0.094,2567,3895,3403
$GC,1206,-0.74,-146.0,260.8,-16.9,94,1212,0.00,2.00,0.00,0.000,6,0.000,0.028,2574,2539,3403
$GC,1459,-0.74,-146.0,300.7,-15.9,101,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2532,3403
$GC,1700,-0.74,-146.0,339.2,-15.9,107,1704,0.00,2.47,0.00,0.000,4,0.000,0.113,2565,3893,3403
$GC,1817,-0.74,-146.0,358.5,-15.2,109,1820,0.00,2.00,0.00,0.000,6,0.000,0.029,2572,2533,3402
$GC,2073,-0.74,-146.0,398.5,-15.7,116,2077,0.00,2.47,0.00,0.000,4,0.000,0.110,2562,3896,3401
$GC,2133,-0.74,-146.0,408.9,-16.8,117,2138,0.00,2.03,0.00,0.000,6,0.000,0.030,2570,2547,3400
$GC,2401,-0.74,-146.0,449.0,-14.7,124,2405,0.00,2.45,0.00,0.000,4,0.000,0.113,2561,3886,3399
$GC,2461,-0.74,-146.0,458.9,-15.8,125,2466,0.00,2.00,0.00,0.000,6,0.000,0.030,2561,2551,3399
$GC,2728,-0.74,-146.0,498.3,-14.8,132,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2543,3398
$GC,2972,-0.74,-146.0,532.1,-14.0,138,2976,0.00,2.45,0.00,0.000,4,0.000,0.114,2550,3890,3396
$GC,2999,-0.74,-146.0,536.3,-14.9,138,3003,0.12,2.00,0.00,0.000,6,0.190,0.031,2587,2532,3395
$GC,3254,-0.74,-146.0,563.3,-10.2,145,3258,0.00,2.50,0.00,0.000,4,0.000,0.116,2578,3890,3394
$GC,3286,-0.74,-146.0,567.2,-12.3,145,3293,0.00,2.00,0.00,0.000,6,0.000,0.032,2586,2563,3394
$GC,3536,-0.74,-146.0,593.2,-10.6,152,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2556,3392
$STATE,3615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3615,begin apogee
$GC,3620,-0.32,0.0,602.0,10.7,154,3745,0.47,0.00,121.95,1.068,6,0.168,0.000,2722,2555,2800
$STATE,3746,end apogee,CONTROL_FINISHED_OK
$STATE,3746,begin climb
$GC,3749,0.74,146.0,605.4,0.0,157,3891,1.12,2.28,130.80,1.020,4,0.123,0.035,3076,1151,2204
$GC,3925,0.74,146.0,578.7,25.1,161,3929,0.00,2.38,0.00,0.000,6,0.000,0.061,3067,2553,2199
$GC,4186,0.74,146.0,511.4,25.7,168,4189,0.00,2.15,0.00,0.000,4,0.000,0.035,3077,1146,2193
$GC,4286,0.74,146.0,486.9,22.0,170,4290,0.00,2.33,0.00,0.000,6,0.000,0.061,3076,2550,2192
$GC,4564,0.74,146.0,421.0,23.8,177,4568,0.00,2.12,0.00,0.000,4,0.000,0.035,3085,1143,2189
$GC,4620,0.74,146.0,407.9,22.8,178,4624,0.00,2.33,0.00,0.000,6,0.000,0.062,3083,2558,2189
$GC,4891,0.74,146.0,341.9,24.5,185,4895,0.00,2.12,0.00,0.000,4,0.000,0.033,3092,1148,2187
$GC,4913,0.74,146.0,336.6,23.2,185,4917,0.00,2.28,0.00,0.000,6,0.000,0.061,3092,2549,2187
$GC,5180,0.74,146.0,269.2,24.8,192,5184,0.00,2.10,0.00,0.000,4,0.000,0.035,3103,1144,2186
$GC,5241,0.74,146.0,255.2,23.1,193,5245,0.00,2.30,0.00,0.000,6,0.000,0.060,3097,2550,2185
$GC,5513,0.74,146.0,198.8,21.2,200,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2550,2183
$GC,5770,0.74,146.0,147.6,21.1,224,5774,0.00,2.10,0.00,0.000,4,0.000,0.034,3106,1148,2183
$GC,6028,0.74,146.0,110.1,13.3,247,6033,0.15,2.28,0.00,0.000,6,0.235,0.058,3076,2561,2182
$GC,6293,0.74,146.0,68.6,17.0,271,6297,0.00,2.10,0.00,0.000,4,0.000,0.031,3085,1135,2182
$GC,6502,0.74,146.0,33.6,15.9,290,6506,0.00,2.28,0.00,0.000,6,0.000,0.056,3081,2550,2182
$STATE,6684,end climb,SURFACE_DEPTH_REACHED
$STATE,6684,begin surface coast
$FINISH,0.1,1.024064
$STATE,6702,end surface coast,CONTROL_FINISHED_OK
$STATE,6702,begin surface
$SM_CCo,6720,90.72,0.598,0,0,1372,350.04
$SM_GC,0.98,0.00,0.00,90.72,0.000,0.000,0.598,44,2558,1372,-8.70,0.23,350.04
$IRIDIUM_FIX,2241.69,-15754.11,080400,101046
$TT8_MAMPS,0.023777
$HUMID,1806
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,24.0,46.298
$10V_AH,10.7,27.695
$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,21.450,66.900,252.750,90.725,0.000,53.113,78.108,207.740,0.250,0.000,0.000,13.113,684.444,4511.971,429.263,1197.492,516.498,33.335,901.155,0.000,1199.776,0.000,0.543,0.000
$DEVICE_MAMPS,244.673,115.817,1067.664,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,219.415,523.893,539.573,123.679,510.915,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25612,324
$CAP_FILE_SIZE,60941,0
$CFSIZE,260165632,246722560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,130111,122637,2250.616,-15756.222,31,0.9,32,10.1