version: 66.04
glider: 512
mission: 1
dive: 574
start: 2 1 111 11 39 23
data:
$ID,512
$MISSION,1
$DIVE,574
$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,-18388.838
$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,68
$R_STBD_OVSHOOT,41
$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
$GPS1,112943,2248.121,-15756.802,14,1.7,31,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-78.2
$GPS2,113832,2248.149,-15756.832,13,1.7,13,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.136,0.097
$KALMAN_X,-185591.1,2280.7,-191.0,207921.1,-72.5
$KALMAN_Y,-533311.6,-1124.9,164.1,659984.2,-3256.9
$MHEAD_RNG_PITCHd_Wd,295.4,2694,-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,-60.95,0.000,2,0.000,0.000,33,2670,3085
$GC,83,-1.20,-90.6,3.7,-6.2,8,115,10.18,1.95,-13.23,0.000,4,0.232,0.065,2447,3875,3788
$GC,359,-1.20,-90.6,111.1,-35.7,37,366,0.00,1.80,0.00,0.000,6,0.000,0.026,2450,2682,3790
$GC,653,-1.20,-90.6,215.2,-34.0,62,657,0.00,2.12,0.00,0.000,4,0.000,0.028,2453,1231,3792
$GC,670,-1.20,-90.6,222.0,-33.0,62,674,0.00,2.20,0.00,0.000,6,0.000,0.048,2444,2629,3792
$GC,937,-1.20,-90.6,304.8,-31.0,69,940,0.00,2.05,0.00,0.000,4,0.000,0.066,2434,3892,3793
$GC,999,-1.20,-90.6,324.8,-30.2,70,1003,0.00,1.85,0.00,0.000,6,0.000,0.024,2437,2646,3794
$GC,1271,-1.20,-90.6,408.2,-30.3,77,1275,0.00,2.05,0.00,0.000,4,0.000,0.027,2439,1241,3794
$GC,1322,-1.20,-90.6,421.8,-22.9,78,1327,0.12,2.30,0.00,0.000,6,0.185,0.063,2458,2647,3794
$GC,1600,-1.20,-90.6,488.7,-23.9,85,1604,0.00,2.05,0.00,0.000,4,0.000,0.074,2450,3894,3793
$GC,1629,-1.20,-90.6,495.9,-25.7,85,1632,0.00,1.83,0.00,0.000,6,0.000,0.025,2450,2637,3793
$GC,1890,-1.20,-90.6,557.6,-23.7,92,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2631,3793
$STATE,2092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2092,begin apogee
$GC,2100,-0.32,0.0,605.3,23.5,97,2180,1.00,0.00,76.82,1.018,6,0.161,0.000,2741,2540,3420
$STATE,2181,end apogee,CONTROL_FINISHED_OK
$STATE,2181,begin climb
$GC,2185,1.20,90.6,611.1,0.0,99,2269,1.38,2.20,76.75,1.004,4,0.062,0.028,3252,1143,3050
$GC,2276,1.51,347.5,626.8,-18.3,101,2508,0.25,2.30,221.12,1.010,6,0.074,0.047,3336,2558,2003
$GC,2765,1.51,347.5,483.6,45.6,113,2769,0.00,2.12,0.00,0.000,4,0.000,0.028,3346,1140,1996
$GC,2849,1.51,347.5,447.6,40.4,114,2855,0.00,2.25,0.00,0.000,6,0.000,0.046,3341,2553,1994
$GC,3101,1.51,347.5,341.9,41.9,121,3105,0.00,2.08,0.00,0.000,4,0.000,0.026,3350,1133,1992
$GC,3169,1.51,347.5,314.3,38.6,122,3173,0.00,2.22,0.00,0.000,6,0.000,0.044,3349,2553,1991
$GC,3430,1.51,347.5,207.4,41.5,129,3434,0.00,2.10,0.00,0.000,4,0.000,0.048,3349,3901,1990
$GC,3514,1.51,347.5,173.0,40.1,133,3521,0.00,2.03,0.00,0.000,6,0.000,0.027,3358,2555,1989
$GC,3777,1.51,347.5,76.7,34.7,158,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2548,1988
$STATE,3992,end climb,SURFACE_DEPTH_REACHED
$STATE,3992,begin surface coast
$FINISH,0.5,1.024312
$STATE,4001,end surface coast,CONTROL_FINISHED_OK
$STATE,4001,begin surface
$SM_CCo,4084,0.00,0.000,0,0,1980,353.47
$SM_GC,2.27,8.88,0.00,0.00,0.053,0.000,0.000,38,2684,1980,-8.70,0.96,353.47
$IRIDIUM_FIX,2241.69,-15759.32,270400,111119
$TT8_MAMPS,0.023777
$HUMID,2004
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,23.8,75.855
$10V_AH,10.7,42.782
$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,21.800,37.750,374.700,0.000,0.000,59.862,78.774,207.884,0.000,0.000,0.000,13.552,405.498,2585.872,365.483,754.905,506.217,33.332,744.126,0.000,749.065,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,73.632,1017.809,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,124.652,291.783,299.730,70.866,291.933,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16182,186
$CAP_FILE_SIZE,41655,0
$CFSIZE,260165632,238919680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,010211,124936,2248.437,-15757.559,92,0.9,92,10.1