version: 66.04
glider: 512
mission: 1
dive: 607
start: 2 3 111 10 41 1
data:
$ID,512
$MISSION,1
$DIVE,607
$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,-19181.945
$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,53
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3400
$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
$GPS1,103508,2253.400,-15803.937,13,1.8,13,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-79.0
$GPS2,104008,2253.401,-15803.974,15,2.0,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.238,0.115
$KALMAN_X,-179430.8,-3656.5,-144.2,195366.5,603.0
$KALMAN_Y,-545648.8,-992.1,34.4,682033.1,-6571.6
$MHEAD_RNG_PITCHd_Wd,54.0,14458,-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,-155.7,0.0,0.0,0,56,0.00,0.00,-37.65,0.000,2,0.000,0.000,38,2657,2948
$GC,60,-0.84,-155.7,3.3,-5.7,5,100,10.55,2.03,-19.88,0.000,4,0.235,0.072,2511,3880,3963
$GC,154,-0.84,-155.7,37.1,-36.0,18,163,0.00,1.85,0.00,0.000,6,0.000,0.026,2518,2661,3965
$GC,419,-0.84,-155.7,125.9,-30.3,43,423,0.00,2.10,0.00,0.000,4,0.000,0.027,2525,1228,3966
$GC,447,-0.84,-155.7,135.2,-29.6,45,454,0.00,2.28,0.00,0.000,6,0.000,0.054,2516,2632,3966
$GC,728,-0.84,-155.7,211.8,-24.8,69,732,0.00,2.05,0.00,0.000,4,0.000,0.025,2519,1232,3969
$GC,762,-0.84,-155.7,219.8,-21.9,69,767,0.00,2.25,0.00,0.000,6,0.000,0.053,2511,2646,3969
$GC,1013,-0.84,-155.7,277.7,-23.8,75,1017,0.00,2.03,0.00,0.000,4,0.000,0.067,2501,3896,3970
$GC,1098,-0.84,-155.7,295.0,-15.6,76,1104,0.00,1.83,0.00,0.000,6,0.000,0.024,2506,2638,3970
$GC,1348,-0.84,-155.7,347.8,-21.9,83,1352,0.00,2.03,0.00,0.000,4,0.000,0.026,2516,1243,3970
$GC,1405,-0.84,-155.7,358.2,-15.4,84,1409,0.00,2.30,0.00,0.000,6,0.000,0.058,2509,2663,3970
$GC,1684,-0.84,-155.7,412.7,-20.0,91,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2663,3970
$GC,1929,-0.84,-155.7,460.0,-19.3,97,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2663,3969
$GC,2171,-0.84,-155.7,503.3,-17.6,103,2174,0.00,2.10,0.00,0.000,4,0.000,0.028,2515,1242,3967
$GC,2194,-0.84,-155.7,507.5,-17.4,103,2198,0.00,2.28,0.00,0.000,6,0.000,0.057,2505,2663,3967
$GC,2455,-0.84,-155.7,552.7,-17.5,110,2459,0.00,2.00,0.00,0.000,4,0.000,0.069,2496,3889,3966
$GC,2506,-0.84,-155.7,561.4,-15.6,111,2509,0.00,1.83,0.00,0.000,6,0.000,0.026,2502,2647,3965
$STATE,2746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2746,begin apogee
$GC,2755,-0.32,0.0,602.5,17.3,117,2875,0.60,0.00,117.07,1.016,6,0.133,0.000,2690,2541,3401
$STATE,2876,end apogee,CONTROL_FINISHED_OK
$STATE,2876,begin climb
$GC,2879,0.84,155.7,609.7,0.0,120,3019,1.05,2.33,133.50,1.009,4,0.048,0.063,3079,3896,2766
$GC,3096,1.20,445.6,628.5,-2.4,125,3354,0.28,2.03,249.70,0.999,6,0.078,0.026,3185,2534,1583
$GC,3605,1.20,445.6,446.1,47.4,138,3609,0.00,2.05,0.00,0.000,4,0.000,0.031,3195,1166,1576
$GC,3656,1.20,445.6,423.2,43.4,139,3660,0.00,2.17,0.00,0.000,6,0.000,0.044,3192,2549,1575
$GC,3936,1.20,445.6,295.9,45.5,146,3939,0.00,2.08,0.00,0.000,4,0.000,0.033,3200,1169,1574
$GC,4014,1.20,445.6,261.8,39.2,147,4019,0.00,2.17,0.00,0.000,6,0.000,0.044,3200,2563,1573
$GC,4272,1.20,445.6,148.0,42.6,159,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2563,1572
$GC,4536,1.20,445.6,40.7,38.8,184,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2563,1571
$STATE,4631,end climb,SURFACE_DEPTH_REACHED
$STATE,4632,begin surface coast
$FINISH,0.0,1.024119
$STATE,4639,end surface coast,CONTROL_FINISHED_OK
$STATE,4639,begin surface
$SM_CCo,4721,0.00,0.000,0,0,1566,449.87
$SM_GC,1.26,8.30,0.00,0.00,0.043,0.000,0.000,43,2686,1566,-8.56,1.05,449.87
$IRIDIUM_FIX,2244.02,-15806.70,290400,090913
$TT8_MAMPS,0.023777
$HUMID,2044
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.8,80.820
$10V_AH,10.7,44.426
$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,20.775,41.950,500.275,0.000,0.000,24.156,40.622,113.983,0.000,0.000,0.000,15.869,430.883,2988.853,486.046,770.827,351.013,33.356,878.760,0.000,765.693,0.000,0.541,0.000
$DEVICE_MAMPS,234.702,72.098,1015.508,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,134.742,303.523,312.192,70.203,288.453,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16209,201
$CAP_FILE_SIZE,41645,0
$CFSIZE,260165632,237965312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,030211,120101,2253.330,-15803.185,41,1.6,41,10.1