version: 66.04
glider: 512
mission: 1
dive: 403
start: 1 16 111 17 50 13
data:
$ID,512
$MISSION,1
$DIVE,403
$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,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,-13597.827
$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,55
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$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
$GPS1,174036,2249.732,-15755.523,94,1.0,94,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-76.9
$GPS2,174920,2249.724,-15755.580,16,1.0,16,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.253,0.076
$KALMAN_X,-162515.6,-1213.8,201.2,190091.0,950.9
$KALMAN_Y,-356798.1,1319.6,453.9,483638.8,-6464.0
$MHEAD_RNG_PITCHd_Wd,276.7,6311,-16.2,-9.615
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-155.7,0.0,0.0,0,55,0.00,0.00,-38.12,0.000,2,0.000,0.000,41,2549,2919
$GC,58,-0.84,-155.7,3.1,-5.1,5,98,11.65,2.42,-20.62,0.000,4,0.262,0.120,2558,3882,3961
$GC,322,-0.84,-155.7,72.9,-22.2,35,326,0.00,1.98,0.00,0.000,6,0.000,0.028,2563,2558,3963
$GC,590,-0.84,-155.7,152.1,-26.8,60,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2551,3966
$GC,873,-0.84,-155.7,220.7,-23.4,81,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2550,3967
$GC,1116,-0.84,-155.7,265.3,-17.3,87,1120,0.00,2.53,0.00,0.000,4,0.000,0.129,2553,3888,3968
$GC,1159,-0.84,-155.7,273.1,-16.6,88,1163,0.00,1.98,0.00,0.000,6,0.000,0.029,2561,2545,3967
$GC,1443,-0.84,-155.7,324.3,-18.9,95,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2537,3968
$GC,1688,-0.84,-155.7,364.5,-16.0,101,1692,0.00,2.55,0.00,0.000,4,0.000,0.127,2552,3889,3967
$GC,1714,-0.84,-155.7,369.1,-16.2,101,1718,0.00,2.00,0.00,0.000,6,0.000,0.032,2560,2535,3967
$GC,1970,-0.84,-155.7,404.3,-13.9,108,1974,0.00,2.53,0.00,0.000,4,0.000,0.123,2551,3884,3967
$GC,2003,-0.84,-155.7,409.1,-14.7,108,2009,0.00,1.98,0.00,0.000,6,0.000,0.031,2559,2546,3967
$GC,2253,-0.84,-155.7,444.2,-14.5,115,2257,0.00,2.50,0.00,0.000,4,0.000,0.123,2550,3884,3965
$GC,2303,-0.84,-155.7,451.4,-12.6,116,2307,0.00,1.98,0.00,0.000,6,0.000,0.031,2558,2549,3965
$GC,2587,-0.84,-155.7,492.7,-15.1,123,2591,0.00,2.53,0.00,0.000,4,0.000,0.123,2549,3889,3963
$GC,2636,-0.84,-155.7,500.1,-13.2,124,2640,0.00,2.00,0.00,0.000,6,0.000,0.031,2557,2539,3964
$GC,2916,-0.84,-155.7,538.7,-13.8,131,2920,0.00,2.53,0.00,0.000,4,0.000,0.125,2548,3883,3961
$GC,2965,-0.84,-155.7,545.6,-12.3,132,2969,0.00,2.00,0.00,0.000,6,0.000,0.032,2556,2539,3961
$GC,3244,-0.84,-155.7,580.1,-12.5,139,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2532,3958
$STATE,3444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3444,begin apogee
$GC,3450,-0.32,0.0,604.4,12.0,144,3573,0.65,0.00,119.93,1.048,6,0.165,0.000,2745,2530,3367
$STATE,3574,end apogee,CONTROL_FINISHED_OK
$STATE,3574,begin climb
$GC,3577,0.84,155.7,610.5,0.0,147,3717,1.08,2.40,132.23,1.029,4,0.074,0.068,3110,3881,2731
$GC,3734,1.26,498.8,627.7,-4.6,150,4037,0.38,2.12,293.75,1.001,6,0.094,0.033,3253,2547,1332
$GC,4312,1.26,498.8,369.1,56.7,165,4316,0.00,2.12,0.00,0.000,4,0.000,0.035,3264,1158,1326
$GC,4446,1.26,498.8,294.5,50.0,168,4451,0.00,2.28,0.00,0.000,6,0.000,0.057,3257,2554,1325
$GC,4704,1.26,498.8,152.7,56.5,178,4708,0.00,2.15,0.00,0.000,4,0.000,0.038,3266,1160,1323
$GC,4808,1.26,498.8,96.4,47.7,187,4815,0.00,2.28,0.00,0.000,6,0.000,0.058,3257,2553,1323
$STATE,4999,end climb,SURFACE_DEPTH_REACHED
$STATE,4999,begin surface coast
$FINISH,-0.1,1.024007
$STATE,5008,end surface coast,CONTROL_FINISHED_OK
$STATE,5008,begin surface
$SM_CCo,5088,0.00,0.000,0,0,1317,502.86
$SM_GC,1.20,9.18,0.00,0.00,0.085,0.000,0.000,52,2562,1317,-8.69,0.34,502.86
$IRIDIUM_FIX,2239.35,-15757.16,110400,171756
$TT8_MAMPS,0.023777
$HUMID,2024
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,16.00
$XPDR_PINGS,1
$24V_AH,23.6,52.125
$10V_AH,10.7,30.420
$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,22.925,44.825,545.900,0.000,0.000,59.066,67.866,229.012,0.250,0.000,0.000,17.029,452.564,3312.346,509.798,850.096,497.409,33.343,937.545,0.000,842.821,0.000,0.541,0.000
$DEVICE_MAMPS,262.314,128.856,1048.489,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,141.660,305.679,315.759,70.841,291.948,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16203,211
$CAP_FILE_SIZE,46042,0
$CFSIZE,260165632,245288960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,160111,191550,2249.620,-15756.489,14,1.1,14,10.1