version: 66.04
glider: 512
mission: 1
dive: 567
start: 1 31 111 23 25 59
data:
$ID,512
$MISSION,1
$DIVE,567
$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,-18209.691
$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,40
$R_STBD_OVSHOOT,60
$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
$GPS1,232002,2247.290,-15754.860,14,1.8,14,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-77.9
$GPS2,232507,2247.314,-15754.872,16,1.6,33,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.248,-0.091
$KALMAN_X,-192858.6,3561.6,723.4,216338.8,-10178.4
$KALMAN_Y,-528031.2,187.6,-4.9,652012.9,321.8
$MHEAD_RNG_PITCHd_Wd,100.0,5033,-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,-155.7,0.0,0.0,0,71,0.00,0.00,-53.22,0.000,2,0.000,0.000,26,2699,2894
$GC,75,-0.84,-155.7,3.1,-5.1,7,115,11.00,2.20,-21.73,0.000,4,0.242,0.040,2573,1222,3960
$GC,182,-0.84,-155.7,30.0,-19.8,24,190,0.00,2.30,0.00,0.000,6,0.000,0.061,2565,2605,3961
$GC,447,-0.84,-155.7,103.2,-29.4,49,450,0.00,2.08,0.00,0.000,4,0.000,0.062,2554,3894,3962
$GC,517,-0.84,-155.7,117.4,-14.8,55,521,0.00,1.85,0.00,0.000,6,0.000,0.023,2554,2620,3963
$GC,785,-0.84,-155.7,176.4,-21.7,80,789,0.00,2.00,0.00,0.000,4,0.000,0.028,2558,1252,3965
$GC,887,-0.84,-155.7,193.8,-12.8,89,891,0.00,2.25,0.00,0.000,6,0.000,0.057,2549,2658,3966
$GC,1169,-0.84,-155.7,248.1,-18.9,98,1174,0.12,2.10,0.00,0.000,4,0.172,0.025,2587,1248,3966
$GC,1197,-0.84,-155.7,252.7,-15.5,98,1202,0.00,2.25,0.00,0.000,6,0.000,0.055,2578,2658,3967
$GC,1454,-0.84,-155.7,286.6,-13.8,105,1457,0.00,2.03,0.00,0.000,4,0.000,0.069,2577,3903,3967
$GC,1476,-0.84,-155.7,289.8,-13.4,105,1480,0.00,1.83,0.00,0.000,6,0.000,0.025,2576,2640,3967
$GC,1744,-0.84,-155.7,323.9,-13.2,112,1747,0.00,2.03,0.00,0.000,4,0.000,0.027,2576,1250,3967
$GC,1783,-0.84,-155.7,328.9,-10.9,112,1789,0.00,2.28,0.00,0.000,6,0.000,0.056,2576,2663,3967
$GC,2034,-0.84,-155.7,360.4,-13.2,119,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2663,3967
$GC,2277,-0.84,-155.7,390.2,-12.0,125,2281,0.00,2.08,0.00,0.000,4,0.000,0.027,2576,1250,3967
$GC,2325,-0.84,-155.7,395.1,-9.3,126,2329,0.00,2.25,0.00,0.000,6,0.000,0.058,2576,2649,3967
$GC,2615,-0.84,-155.7,425.4,-10.4,133,2618,0.00,2.05,0.00,0.000,4,0.000,0.074,2576,3893,3965
$GC,2666,-0.84,-155.7,430.6,-8.8,134,2669,0.00,1.80,0.00,0.000,6,0.000,0.025,2576,2647,3965
$GC,2953,-0.84,-155.7,459.8,-10.3,141,2956,0.00,2.03,0.00,0.000,4,0.000,0.028,2576,1260,3964
$GC,3001,-0.84,-155.7,464.3,-8.4,142,3005,0.00,2.25,0.00,0.000,6,0.000,0.058,2576,2657,3964
$GC,3285,-0.84,-155.7,494.5,-10.9,149,3289,0.00,2.05,0.00,0.000,4,0.000,0.074,2576,3900,3963
$GC,3336,-0.84,-155.7,499.3,-7.5,150,3340,0.00,1.83,0.00,0.000,6,0.000,0.026,2576,2650,3962
$GC,3623,-0.84,-155.7,525.3,-9.1,157,3626,0.00,2.03,0.00,0.000,4,0.000,0.028,2575,1260,3960
$GC,3663,-0.84,-155.7,529.0,-7.8,157,3669,0.00,2.25,0.00,0.000,6,0.000,0.060,2576,2648,3960
$GC,3913,-0.84,-155.7,550.9,-8.8,164,3917,0.00,2.05,0.00,0.000,4,0.000,0.074,2576,3893,3958
$GC,3953,-0.84,-155.7,554.5,-7.9,164,3959,0.00,1.80,0.00,0.000,6,0.000,0.026,2576,2648,3958
$GC,4205,-0.84,-155.7,576.5,-9.0,171,4209,0.00,2.05,0.00,0.000,4,0.000,0.028,2576,1258,3957
$GC,4245,-0.84,-155.7,580.3,-8.6,171,4251,0.00,2.25,0.00,0.000,6,0.000,0.059,2576,2649,3957
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4460,-0.32,0.0,600.2,9.6,177,4575,0.52,0.00,111.57,1.059,6,0.114,0.000,2747,2562,3420
$STATE,4576,end apogee,CONTROL_FINISHED_OK
$STATE,4576,begin climb
$GC,4579,0.84,155.7,608.2,0.0,180,4718,1.00,0.00,133.98,1.035,6,0.043,0.000,3127,2561,2785
$GC,4948,1.27,505.4,640.9,-4.9,189,5261,0.35,2.25,303.27,1.027,4,0.067,0.031,3272,1152,1358
$GC,5268,1.27,505.4,539.3,59.1,196,5274,0.00,2.30,0.00,0.000,6,0.000,0.041,3272,2564,1357
$GC,5520,1.27,505.4,394.3,57.4,203,5524,0.00,2.17,0.00,0.000,4,0.000,0.035,3282,1154,1352
$GC,5559,1.27,505.4,369.8,59.3,203,5565,0.00,2.17,0.00,0.000,6,0.000,0.040,3282,2552,1352
$GC,5810,1.27,505.4,226.4,58.0,210,5814,0.00,2.12,0.00,0.000,4,0.000,0.036,3292,1150,1351
$GC,5827,1.27,505.4,216.1,58.7,210,5831,0.00,2.15,0.00,0.000,6,0.000,0.033,3286,2569,1350
$GC,6092,1.27,505.4,78.2,47.7,233,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2569,1349
$STATE,6241,end climb,SURFACE_DEPTH_REACHED
$STATE,6241,begin surface coast
$FINISH,0.0,1.024075
$STATE,6248,end surface coast,CONTROL_FINISHED_OK
$STATE,6248,begin surface
$SM_CCo,6330,0.00,0.000,0,0,1343,509.23
$SM_GC,1.18,8.60,0.00,0.00,0.046,0.000,0.000,40,2677,1343,-8.70,0.76,509.23
$IRIDIUM_FIX,2239.35,-15807.58,260400,212138
$TT8_MAMPS,0.023777
$HUMID,2085
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,23.7,74.807
$10V_AH,10.7,42.404
$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,21.600,67.300,548.825,0.000,0.000,29.010,33.595,108.873,0.250,0.000,0.000,33.879,541.660,4227.422,565.290,941.687,364.931,33.362,1029.564,0.000,916.096,0.000,0.541,0.000
$DEVICE_MAMPS,242.372,75.933,1059.227,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,169.857,354.774,364.850,78.927,326.017,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19277,253
$CAP_FILE_SIZE,54143,0
$CFSIZE,260165632,239108096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,1
$GPS,010211,011236,2246.674,-15754.106,14,1.7,30,10.1