version: 66.04
glider: 512
mission: 1
dive: 569
start: 2 1 111 3 13 43
data:
$ID,512
$MISSION,1
$DIVE,569
$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,-18260.59
$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,60
$R_STBD_OVSHOOT,50
$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
$GPS1,025520,2246.665,-15753.080,11,1.9,11,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-77.8
$GPS2,031251,2246.709,-15753.111,10,2.3,29,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.015,0.166
$KALMAN_X,-192266.8,1779.1,773.5,220506.3,-8180.1
$KALMAN_Y,-528969.8,414.2,49.4,651559.2,-1020.6
$MHEAD_RNG_PITCHd_Wd,355.1,8024,-27.2,-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,-1.16,-59.4,0.0,0.0,0,79,0.00,0.00,-60.45,0.000,2,0.000,0.000,35,2676,3108
$GC,83,-1.21,-97.9,3.7,-5.4,8,115,10.05,1.92,-13.30,0.000,4,0.228,0.068,2445,3853,3823
$GC,173,-1.21,-97.9,41.8,-40.1,20,177,0.00,1.77,0.00,0.000,6,0.000,0.031,2449,2674,3824
$GC,443,-1.21,-97.9,150.2,-36.8,45,446,0.00,2.12,0.00,0.000,4,0.000,0.030,2455,1231,3825
$GC,479,-1.21,-97.9,163.8,-36.9,48,483,0.00,2.20,0.00,0.000,6,0.000,0.051,2446,2620,3825
$GC,745,-1.21,-97.9,257.0,-34.0,61,749,0.00,2.03,0.00,0.000,4,0.000,0.059,2436,3899,3826
$GC,812,-1.21,-97.9,279.0,-28.1,62,816,0.00,1.85,0.00,0.000,6,0.000,0.023,2439,2630,3826
$GC,1080,-1.21,-97.9,358.7,-30.1,69,1083,0.00,2.03,0.00,0.000,4,0.000,0.028,2449,1241,3827
$GC,1097,-1.21,-97.9,364.2,-29.2,69,1101,0.00,2.25,0.00,0.000,6,0.000,0.051,2440,2668,3827
$GC,1365,-1.21,-97.9,439.0,-28.5,76,1368,0.00,1.95,0.00,0.000,4,0.000,0.062,2430,3889,3826
$GC,1466,-1.21,-97.9,465.7,-23.1,78,1470,0.12,1.83,0.00,0.000,6,0.195,0.024,2459,2639,3826
$GC,1744,-1.21,-97.9,531.8,-23.9,85,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2632,3825
$GC,1989,-1.21,-97.9,586.9,-22.8,91,1992,0.00,2.05,0.00,0.000,4,0.000,0.029,2464,1245,3823
$GC,2045,-1.21,-97.9,599.1,-18.5,92,2049,0.00,2.22,0.00,0.000,3,0.000,0.059,2456,2630,3822
$STATE,2050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2050,begin apogee
$GC,2058,-0.32,0.0,600.1,18.1,92,2144,0.93,0.00,82.93,1.013,6,0.152,0.000,2738,2544,3419
$STATE,2145,end apogee,CONTROL_FINISHED_OK
$STATE,2145,begin climb
$GC,2149,1.21,97.9,604.3,0.0,94,2237,1.38,0.00,83.82,0.999,6,0.058,0.000,3242,2544,3020
$GC,2475,1.47,313.9,653.1,-13.8,102,2677,0.20,2.17,186.52,1.032,4,0.079,0.027,3330,1133,2140
$GC,2893,1.47,313.9,553.6,37.5,111,2897,0.00,2.25,0.00,0.000,6,0.000,0.044,3327,2554,2131
$GC,3149,1.47,313.9,452.3,39.2,118,3152,0.00,2.10,0.00,0.000,4,0.000,0.028,3336,1130,2129
$GC,3222,1.47,313.9,424.7,37.0,119,3226,0.00,2.20,0.00,0.000,6,0.000,0.040,3327,2554,2128
$GC,3485,1.47,313.9,331.3,35.6,126,3488,0.00,2.10,0.00,0.000,4,0.000,0.050,3327,3896,2125
$GC,3576,1.47,313.9,298.6,34.6,128,3580,0.00,2.00,0.00,0.000,6,0.000,0.026,3336,2544,2124
$GC,3866,1.47,313.9,204.1,32.4,135,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2538,2123
$GC,4120,1.47,313.9,123.1,33.6,156,4123,0.00,2.15,0.00,0.000,4,0.000,0.051,3337,3896,2122
$GC,4157,1.47,313.9,112.1,32.3,159,4161,0.00,1.98,0.00,0.000,6,0.000,0.024,3345,2535,2121
$GC,4427,1.47,313.9,43.4,25.8,184,4431,0.00,2.03,0.00,0.000,4,0.000,0.026,3356,1133,2121
$GC,4505,1.47,313.9,22.9,26.5,193,4514,0.10,2.22,0.00,0.000,6,0.228,0.041,3328,2549,2121
$STATE,4578,end climb,SURFACE_DEPTH_REACHED
$STATE,4578,begin surface coast
$FINISH,0.2,1.024283
$STATE,4590,end surface coast,CONTROL_FINISHED_OK
$STATE,4590,begin surface
$SM_CCo,4612,17.85,0.606,0,0,1993,350.04
$SM_GC,3.84,0.00,0.00,17.85,0.000,0.000,0.606,36,2687,1993,-8.80,1.05,350.04
$IRIDIUM_FIX,2239.35,-15751.94,270400,030347
$TT8_MAMPS,0.023777
$HUMID,1969
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,19.00
$XPDR_PINGS,1
$24V_AH,23.9,75.120
$10V_AH,10.7,42.517
$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,21.450,45.675,353.275,17.850,0.000,88.687,102.262,597.498,0.250,0.000,0.000,33.173,462.965,3010.123,376.073,871.116,971.535,33.332,786.698,0.000,849.452,0.000,0.542,0.000
$DEVICE_MAMPS,227.799,68.263,1031.615,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,140.098,326.011,336.550,78.198,323.208,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16314,208
$CAP_FILE_SIZE,54791,0
$CFSIZE,260165632,239054848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,010211,043236,2247.310,-15752.982,62,1.6,62,10.1