version: 66.04
glider: 512
mission: 1
dive: 566
start: 1 31 111 21 34 1
data:
$ID,512
$MISSION,1
$DIVE,566
$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,-18175.184
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3420
$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
$GPS1,212806,2248.124,-15755.350,43,1.5,43,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.5
$GPS2,213308,2248.115,-15755.373,15,1.6,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.204,-0.168
$KALMAN_X,-191436.4,3251.0,428.1,214666.2,-9127.6
$KALMAN_Y,-529228.4,423.2,136.0,654318.8,-1167.9
$MHEAD_RNG_PITCHd_Wd,119.4,4630,-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,-155.7,0.0,0.0,0,79,0.00,0.00,-60.50,0.000,2,0.000,0.000,30,2694,3156
$GC,83,-0.84,-155.7,3.3,-4.1,8,115,10.75,2.20,-14.60,0.000,4,0.235,0.044,2575,1231,3963
$GC,216,-0.84,-155.7,43.6,-16.1,24,220,0.00,2.28,0.00,0.000,6,0.000,0.064,2569,2607,3965
$GC,486,-0.84,-155.7,113.2,-22.6,49,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2607,3966
$GC,748,-0.84,-155.7,170.8,-20.5,74,752,0.00,2.08,0.00,0.000,4,0.000,0.066,2558,3895,3968
$GC,809,-0.84,-155.7,182.2,-15.2,79,816,0.00,1.88,0.00,0.000,6,0.000,0.025,2558,2629,3969
$GC,1085,-0.84,-155.7,232.2,-18.6,94,1088,0.00,2.03,0.00,0.000,4,0.000,0.027,2561,1241,3970
$GC,1135,-0.84,-155.7,240.2,-13.2,95,1139,0.00,2.30,0.00,0.000,6,0.000,0.058,2552,2664,3970
$GC,1413,-0.84,-155.7,286.6,-17.4,102,1417,0.00,2.10,0.00,0.000,4,0.000,0.027,2555,1237,3971
$GC,1435,-0.84,-155.7,290.6,-17.6,102,1440,0.12,2.28,0.00,0.000,6,0.145,0.057,2579,2657,3971
$GC,1697,-0.84,-155.7,324.4,-12.8,109,1700,0.00,2.03,0.00,0.000,4,0.000,0.071,2576,3889,3971
$GC,1743,-0.84,-155.7,329.6,-10.2,110,1746,0.00,1.80,0.00,0.000,6,0.000,0.025,2576,2641,3971
$GC,2033,-0.84,-155.7,364.3,-12.4,117,2036,0.00,2.03,0.00,0.000,4,0.000,0.028,2576,1254,3971
$GC,2079,-0.84,-155.7,369.7,-10.7,118,2083,0.00,2.25,0.00,0.000,6,0.000,0.061,2576,2649,3970
$GC,2363,-0.84,-155.7,405.3,-12.7,125,2366,0.00,2.05,0.00,0.000,4,0.000,0.077,2576,3892,3970
$GC,2391,-0.84,-155.7,408.6,-11.6,125,2394,0.00,1.80,0.00,0.000,6,0.000,0.025,2576,2649,3969
$GC,2653,-0.84,-155.7,435.8,-10.5,132,2656,0.00,2.05,0.00,0.000,4,0.000,0.028,2576,1250,3968
$GC,2693,-0.84,-155.7,439.9,-9.4,132,2699,0.00,2.28,0.00,0.000,6,0.000,0.059,2576,2662,3968
$GC,2943,-0.84,-155.7,465.5,-10.5,139,2947,0.00,2.03,0.00,0.000,4,0.000,0.074,2576,3890,3967
$GC,2965,-0.84,-155.7,468.0,-10.9,139,2969,0.00,1.80,0.00,0.000,6,0.000,0.025,2576,2648,3967
$GC,3236,-0.84,-155.7,495.0,-10.3,146,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2641,3965
$GC,3477,-0.84,-155.7,519.5,-10.0,152,3480,0.00,2.05,0.00,0.000,4,0.000,0.030,2576,1257,3964
$GC,3511,-0.84,-155.7,522.8,-9.2,152,3515,0.00,2.25,0.00,0.000,6,0.000,0.058,2576,2653,3964
$GC,3761,-0.84,-155.7,548.0,-10.3,158,3765,0.00,2.03,0.00,0.000,4,0.000,0.073,2576,3886,3963
$GC,3802,-0.84,-155.7,551.9,-9.3,158,3808,0.00,1.80,0.00,0.000,6,0.000,0.026,2576,2647,3962
$GC,4052,-0.84,-155.7,577.5,-10.2,165,4056,0.00,2.03,0.00,0.000,4,0.000,0.028,2575,1263,3961
$GC,4085,-0.84,-155.7,581.0,-9.8,165,4089,0.00,2.22,0.00,0.000,6,0.000,0.058,2575,2647,3961
$STATE,4292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4292,begin apogee
$GC,4300,-0.32,0.0,601.0,9.5,170,4415,0.52,0.00,112.28,1.058,6,0.137,0.000,2744,2558,3420
$STATE,4416,end apogee,CONTROL_FINISHED_OK
$STATE,4416,begin climb
$GC,4420,0.84,155.7,608.4,0.0,173,4561,1.08,2.33,133.40,1.039,4,0.058,0.065,3125,3887,2785
$GC,4815,1.21,456.1,636.5,-2.8,182,5084,0.30,2.00,259.27,1.034,6,0.071,0.027,3243,2531,1559
$GC,5335,1.21,456.1,428.9,52.3,195,5339,0.00,2.20,0.00,0.000,4,0.000,0.047,3243,3912,1552
$GC,5386,1.21,456.1,402.0,52.1,196,5390,0.00,2.03,0.00,0.000,6,0.000,0.030,3252,2570,1552
$GC,5670,1.21,456.1,260.0,51.0,203,5674,0.00,2.17,0.00,0.000,4,0.000,0.035,3264,1130,1551
$GC,5777,1.21,456.1,208.5,47.0,205,5782,0.00,2.22,0.00,0.000,6,0.000,0.045,3258,2552,1549
$GC,6048,1.21,456.1,81.0,44.7,229,6051,0.00,2.12,0.00,0.000,4,0.000,0.048,3257,3913,1548
$GC,6077,1.21,456.1,66.7,46.8,231,6085,0.00,2.08,0.00,0.000,6,0.000,0.030,3265,2550,1547
$STATE,6221,end climb,SURFACE_DEPTH_REACHED
$STATE,6221,begin surface coast
$FINISH,0.1,1.024013
$STATE,6228,end surface coast,CONTROL_FINISHED_OK
$STATE,6228,begin surface
$SM_CCo,6310,0.00,0.000,0,0,1543,460.18
$SM_GC,1.26,8.50,0.00,0.00,0.043,0.000,0.000,34,2700,1543,-8.71,1.39,460.18
$IRIDIUM_FIX,2239.35,-15757.16,260400,191959
$TT8_MAMPS,0.024544
$HUMID,2076
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,16.20
$XPDR_PINGS,2
$24V_AH,23.7,74.638
$10V_AH,10.7,42.348
$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,21.275,67.025,504.950,0.000,0.000,28.116,35.788,122.669,0.500,0.000,0.000,15.890,555.826,4168.427,485.235,1023.997,386.093,33.337,1011.774,0.000,1013.210,0.000,0.541,0.000
$DEVICE_MAMPS,234.702,77.467,1058.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,169.611,359.785,368.845,76.744,316.271,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19191,252
$CAP_FILE_SIZE,56216,0
$CFSIZE,260165632,239140864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,310111,232002,2247.290,-15754.860,14,1.8,14,10.1