version: 66.04
glider: 512
mission: 1
dive: 522
start: 1 28 111 18 5 1
data:
$ID,512
$MISSION,1
$DIVE,522
$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,-17200.373
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2800
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,37
$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
$GPS1,175928,2253.558,-15800.329,13,2.9,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-76.4
$GPS2,180408,2253.555,-15800.373,16,1.6,16,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.237,0.116
$KALMAN_X,-167273.5,-863.8,252.7,186202.4,-6631.4
$KALMAN_Y,-516893.7,1145.2,164.3,651298.9,-7431.0
$MHEAD_RNG_PITCHd_Wd,53.9,8314,-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,16,-0.84,-155.7,0.0,0.0,0,63,0.00,0.00,-45.65,0.000,2,0.000,0.000,51,2688,2913
$GC,67,-0.84,-155.7,3.2,-5.0,6,107,10.70,1.98,-20.52,0.000,4,0.242,0.077,2508,3874,3961
$GC,127,-0.84,-155.7,23.0,-38.5,14,135,0.00,1.83,0.00,0.000,6,0.000,0.025,2513,2653,3962
$GC,392,-0.84,-155.7,124.2,-34.4,40,396,0.00,2.00,0.00,0.000,4,0.000,0.061,2505,3877,3964
$GC,417,-0.84,-155.7,132.7,-35.0,42,420,0.00,1.80,0.00,0.000,6,0.000,0.025,2513,2635,3963
$GC,704,-0.84,-155.7,213.4,-26.9,66,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2629,3966
$GC,948,-0.84,-155.7,274.5,-24.2,72,952,0.00,2.03,0.00,0.000,4,0.000,0.028,2523,1253,3968
$GC,988,-0.84,-155.7,282.9,-18.9,72,994,0.00,2.28,0.00,0.000,6,0.000,0.067,2515,2632,3968
$GC,1238,-0.84,-155.7,335.0,-21.7,79,1241,0.00,2.10,0.00,0.000,4,0.000,0.080,2505,3895,3968
$GC,1266,-0.84,-155.7,341.7,-23.0,79,1269,0.00,1.80,0.00,0.000,6,0.000,0.025,2511,2659,3968
$GC,1528,-0.84,-155.7,397.5,-21.5,86,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2654,3968
$GC,1773,-0.84,-155.7,446.7,-20.1,92,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2654,3967
$GC,2015,-0.84,-155.7,494.0,-19.4,98,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2654,3967
$GC,2258,-0.84,-155.7,541.1,-19.2,104,2262,0.00,2.10,0.00,0.000,4,0.000,0.079,2503,3895,3965
$GC,2304,-0.84,-155.7,549.8,-17.8,105,2308,0.00,1.83,0.00,0.000,6,0.000,0.027,2511,2655,3965
$STATE,2591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2591,begin apogee
$GC,2599,-0.32,0.0,601.6,17.9,112,2725,0.70,0.00,123.10,1.019,6,0.218,0.000,2686,2537,3367
$STATE,2726,end apogee,CONTROL_FINISHED_OK
$STATE,2726,begin climb
$GC,2729,0.84,155.7,609.2,0.0,115,2870,1.38,2.25,132.35,1.006,4,0.176,0.044,3071,1176,2732
$GC,2907,1.17,423.4,624.9,-1.5,119,3150,0.40,2.33,230.95,0.994,6,0.169,0.065,3169,2553,1640
$GC,3434,1.17,423.4,437.0,44.7,132,3438,0.00,2.17,0.00,0.000,4,0.000,0.044,3179,1169,1633
$GC,3445,1.17,423.4,431.9,42.5,132,3449,0.00,2.20,0.00,0.000,6,0.000,0.052,3176,2551,1632
$GC,3724,1.17,423.4,313.4,42.1,139,3727,0.00,2.17,0.00,0.000,4,0.000,0.064,3175,3898,1631
$GC,3897,1.17,423.4,244.4,36.8,142,3904,0.00,2.03,0.00,0.000,6,0.000,0.035,3182,2574,1629
$GC,4155,1.17,423.4,142.7,41.3,158,4158,0.00,2.20,0.00,0.000,4,0.000,0.041,3193,1130,1629
$GC,4289,1.17,423.4,91.4,33.8,170,4293,0.00,2.30,0.00,0.000,6,0.000,0.059,3192,2561,1627
$STATE,4528,end climb,SURFACE_DEPTH_REACHED
$STATE,4528,begin surface coast
$FINISH,0.1,1.014716
$STATE,4538,end surface coast,CONTROL_FINISHED_OK
$STATE,4538,begin surface
$SM_CCo,4618,0.00,0.000,0,0,1621,428.29
$SM_GC,1.23,8.40,0.00,0.00,0.051,0.000,0.000,34,2688,1621,-8.55,1.07,428.29
$IRIDIUM_FIX,2246.36,-15758.45,230400,161653
$TT8_MAMPS,0.023777
$HUMID,2011
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,23.8,68.543
$10V_AH,10.7,39.758
$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,21.575,37.625,486.400,0.000,0.000,28.156,33.063,107.874,0.000,0.000,0.000,17.086,421.430,2936.314,461.157,768.303,320.242,33.338,851.579,0.000,762.239,0.000,0.542,0.000
$DEVICE_MAMPS,242.372,79.768,1019.343,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,133.411,303.563,313.901,69.758,284.153,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16145,199
$CAP_FILE_SIZE,39752,0
$CFSIZE,260165632,240582656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,280111,192249,2253.408,-15759.865,14,1.8,14,10.1