version: 66.04
glider: 512
mission: 1
dive: 613
start: 2 3 111 19 45 7
data:
$ID,512
$MISSION,1
$DIVE,613
$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,-19271.436
$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,40
$R_STBD_OVSHOOT,46
$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
$GPS1,193906,2254.217,-15800.580,14,1.0,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.4
$GPS2,194414,2254.251,-15800.601,15,1.8,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.238,0.114
$KALMAN_X,-193498.7,1337.7,139.8,209936.2,-13385.9
$KALMAN_Y,-551175.0,2614.8,351.8,685202.6,-11975.4
$MHEAD_RNG_PITCHd_Wd,54.3,8812,-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,-155.7,0.0,0.0,0,87,0.00,0.00,-67.97,0.000,2,0.000,0.000,37,2674,2947
$GC,91,-0.84,-155.7,3.2,-5.1,9,130,10.30,1.95,-20.12,0.000,4,0.231,0.072,2509,3856,3963
$GC,184,-0.84,-155.7,34.3,-36.7,22,188,0.00,1.80,0.00,0.000,6,0.000,0.025,2513,2634,3964
$GC,454,-0.84,-155.7,133.1,-35.8,47,458,0.00,2.05,0.00,0.000,4,0.000,0.026,2523,1229,3966
$GC,512,-0.84,-155.7,150.9,-23.4,52,516,0.00,2.30,0.00,0.000,6,0.000,0.065,2521,2629,3966
$GC,782,-0.84,-155.7,224.2,-26.6,71,786,0.00,2.05,0.00,0.000,4,0.000,0.066,2511,3903,3968
$GC,829,-0.84,-155.7,235.8,-22.0,72,832,0.00,1.83,0.00,0.000,6,0.000,0.024,2513,2643,3968
$GC,1120,-0.84,-155.7,304.8,-23.5,79,1124,0.00,2.05,0.00,0.000,4,0.000,0.029,2521,1246,3969
$GC,1188,-0.84,-155.7,317.9,-15.6,80,1192,0.00,2.28,0.00,0.000,6,0.000,0.058,2512,2649,3969
$GC,1449,-0.84,-155.7,372.7,-21.9,87,1453,0.00,2.05,0.00,0.000,4,0.000,0.074,2502,3899,3969
$GC,1496,-0.84,-155.7,382.5,-19.7,88,1499,0.00,1.83,0.00,0.000,6,0.000,0.025,2506,2638,3969
$GC,1786,-0.84,-155.7,442.9,-21.0,95,1790,0.00,2.03,0.00,0.000,4,0.000,0.026,2509,1246,3969
$GC,1803,-0.84,-155.7,446.9,-20.6,95,1807,0.00,2.25,0.00,0.000,6,0.000,0.053,2500,2661,3969
$GC,2070,-0.84,-155.7,500.9,-20.5,102,2074,0.00,2.00,0.00,0.000,4,0.000,0.069,2490,3891,3968
$GC,2138,-0.84,-155.7,513.6,-16.8,103,2142,0.08,1.83,0.00,0.000,6,0.141,0.025,2540,2648,3967
$GC,2405,-0.84,-155.7,549.3,-13.1,110,2408,0.00,2.03,0.00,0.000,4,0.000,0.027,2542,1259,3965
$GC,2453,-0.84,-155.7,554.8,-10.3,111,2457,0.00,2.28,0.00,0.000,6,0.000,0.067,2536,2649,3965
$GC,2737,-0.84,-155.7,592.4,-13.4,118,2740,0.00,2.08,0.00,0.000,4,0.000,0.077,2527,3902,3964
$GC,2783,-0.84,-155.7,598.3,-12.1,119,2787,0.00,1.83,0.00,0.000,6,0.000,0.026,2526,2650,3963
$STATE,2796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2796,begin apogee
$GC,2805,-0.32,0.0,600.5,11.6,119,2925,0.50,0.00,116.72,1.012,6,0.131,0.000,2688,2544,3400
$STATE,2926,end apogee,CONTROL_FINISHED_OK
$STATE,2926,begin climb
$GC,2930,0.84,155.7,606.3,0.0,122,3074,1.05,2.33,133.50,1.003,4,0.040,0.061,3084,3891,2764
$GC,3092,1.30,526.8,624.6,-5.8,126,3419,0.35,2.03,317.80,0.976,6,0.067,0.025,3215,2547,1251
$GC,3688,1.30,526.8,372.6,55.0,141,3691,0.00,2.12,0.00,0.000,4,0.000,0.041,3215,3909,1246
$GC,3862,1.30,526.8,294.1,38.8,144,3869,0.00,2.03,0.00,0.000,6,0.000,0.031,3225,2574,1244
$GC,4117,1.30,526.8,168.9,48.6,154,4121,0.00,2.17,0.00,0.000,4,0.000,0.038,3236,1137,1243
$GC,4313,1.30,526.8,72.3,45.6,171,4317,0.00,2.22,0.00,0.000,6,0.000,0.046,3231,2560,1242
$STATE,4451,end climb,SURFACE_DEPTH_REACHED
$STATE,4451,begin surface coast
$FINISH,0.1,1.021604
$STATE,4458,end surface coast,CONTROL_FINISHED_OK
$STATE,4458,begin surface
$SM_CCo,4540,0.00,0.000,0,0,1237,530.58
$SM_GC,1.08,8.35,0.00,0.00,0.042,0.000,0.000,40,2700,1237,-8.54,1.41,530.58
$IRIDIUM_FIX,2244.02,-15801.49,290400,181859
$TT8_MAMPS,0.023777
$HUMID,2054
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,23.7,81.736
$10V_AH,10.7,44.739
$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,20.625,49.575,568.025,0.000,0.000,30.620,36.507,124.001,0.500,0.000,0.000,15.357,427.255,2693.897,534.595,835.212,366.357,33.319,985.873,0.000,822.070,0.000,0.541,0.000
$DEVICE_MAMPS,230.867,77.467,1011.673,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,126.795,280.342,289.868,65.276,266.926,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16240,190
$CAP_FILE_SIZE,44677,0
$CFSIZE,260165632,237793280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,030211,210138,2254.250,-15800.026,13,1.5,13,10.1