version: 66.04
glider: 512
mission: 1
dive: 617
start: 2 4 111 3 35 38
data:
$ID,512
$MISSION,1
$DIVE,617
$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,140
$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,-19364.342
$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,56
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3200
$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
$GPS1,032858,2253.844,-15758.066,8,2.3,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-75.4
$GPS2,033446,2253.857,-15758.107,9,2.5,28,10.1
$SPEED_LIMITS,0.167,0.248
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.236,0.076
$KALMAN_X,-200990.2,3647.7,835.3,218715.5,-9777.5
$KALMAN_Y,-552389.4,1687.7,488.3,686493.3,-5258.2
$MHEAD_RNG_PITCHd_Wd,62.0,4498,-17.5,-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,-0.87,-136.3,0.0,0.0,0,64,0.00,0.00,-45.30,0.000,2,0.000,0.000,36,2682,2924
$GC,68,-0.87,-136.3,3.1,-4.6,6,102,10.32,2.03,-17.62,0.000,4,0.227,0.083,2499,3866,3758
$GC,169,-0.87,-136.3,39.1,-38.1,20,173,0.00,1.80,0.00,0.000,6,0.000,0.025,2505,2673,3760
$GC,439,-0.87,-136.3,134.3,-33.3,45,443,0.00,2.12,0.00,0.000,4,0.000,0.028,2516,1225,3761
$GC,465,-0.87,-136.3,142.8,-32.2,47,469,0.00,2.28,0.00,0.000,6,0.000,0.064,2507,2626,3762
$GC,740,-0.87,-136.3,223.8,-27.9,67,744,0.00,2.10,0.00,0.000,4,0.000,0.074,2497,3905,3763
$GC,774,-0.87,-136.3,233.9,-29.4,67,778,0.00,1.85,0.00,0.000,6,0.000,0.024,2502,2626,3763
$GC,1030,-0.87,-136.3,299.1,-24.9,74,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2619,3764
$GC,1273,-0.87,-136.3,354.9,-22.7,80,1277,0.00,2.00,0.00,0.000,4,0.000,0.027,2512,1251,3764
$GC,1296,-0.87,-136.3,360.5,-23.2,80,1300,0.00,2.30,0.00,0.000,6,0.000,0.064,2503,2664,3764
$GC,1558,-0.87,-136.3,418.6,-22.9,87,1562,0.00,2.05,0.00,0.000,4,0.000,0.076,2494,3895,3764
$GC,1620,-0.87,-136.3,432.7,-20.7,88,1624,0.00,1.80,0.00,0.000,6,0.000,0.025,2500,2657,3763
$GC,1893,-0.87,-136.3,491.2,-21.8,95,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2651,3762
$GC,2138,-0.87,-136.3,540.7,-19.6,101,2142,0.00,2.08,0.00,0.000,4,0.000,0.028,2508,1244,3761
$GC,2172,-0.87,-136.3,547.1,-17.0,101,2176,0.00,2.30,0.00,0.000,6,0.000,0.060,2499,2654,3761
$GC,2429,-0.87,-136.3,592.8,-18.2,108,2432,0.00,2.03,0.00,0.000,4,0.000,0.072,2490,3893,3759
$GC,2462,-0.87,-136.3,599.3,-19.0,108,2466,0.00,1.83,0.00,0.000,6,0.000,0.027,2497,2652,3758
$STATE,2471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2472,begin apogee
$GC,2481,-0.32,0.0,601.2,18.2,109,2600,0.65,0.00,116.05,1.021,6,0.143,0.000,2695,2523,3200
$STATE,2600,end apogee,CONTROL_FINISHED_OK
$STATE,2601,begin climb
$GC,2604,0.87,136.3,608.4,0.0,112,2727,1.05,0.00,118.85,1.012,6,0.037,0.000,3096,2522,2644
$GC,2960,0.87,136.3,596.8,11.9,121,2964,0.00,2.03,0.00,0.000,4,0.000,0.028,3107,1155,2637
$GC,3057,0.87,136.3,585.7,10.5,123,3061,0.00,2.22,0.00,0.000,6,0.000,0.048,3106,2560,2635
$GC,3335,0.87,136.3,556.3,10.3,130,3339,0.00,2.08,0.00,0.000,4,0.000,0.028,3116,1154,2632
$GC,3414,0.90,164.8,549.3,8.3,131,3444,0.00,2.20,24.23,0.958,6,0.000,0.047,3110,2551,2528
$GC,3713,0.90,164.8,507.6,14.6,139,3717,0.00,2.10,0.00,0.000,4,0.000,0.028,3118,1150,2522
$GC,3781,0.90,164.8,499.1,11.6,140,3785,0.00,2.20,0.00,0.000,6,0.000,0.048,3119,2557,2521
$GC,4048,0.90,164.8,463.7,13.6,147,4052,0.00,2.08,0.00,0.000,4,0.000,0.028,3129,1152,2519
$GC,4076,0.90,164.8,459.6,13.6,147,4081,0.12,2.20,0.00,0.000,6,0.219,0.047,3097,2550,2519
$GC,4333,0.90,164.8,428.7,11.9,154,4336,0.00,2.08,0.00,0.000,4,0.000,0.029,3106,1153,2517
$GC,4479,0.91,165.6,414.0,9.6,157,4483,0.00,2.20,0.00,0.000,6,0.000,0.048,3107,2552,2516
$GC,4752,0.91,168.6,387.9,9.5,164,4756,0.00,2.12,0.00,0.000,4,0.000,0.056,3106,3896,2514
$GC,4859,0.91,168.6,375.4,11.9,166,4863,0.00,1.98,0.00,0.000,6,0.000,0.027,3116,2559,2514
$GC,5134,0.91,168.6,346.0,10.7,173,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2551,2513
$GC,5376,0.91,168.6,320.2,10.8,179,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2551,2513
$GC,5621,0.92,180.8,297.7,9.0,185,5645,0.00,2.10,15.05,0.713,4,0.000,0.027,3126,1131,2462
$GC,5898,0.92,180.8,267.3,12.7,191,5902,0.00,2.22,0.00,0.000,6,0.000,0.044,3124,2559,2460
$GC,6179,0.92,180.8,233.4,11.5,198,6182,0.00,2.10,0.00,0.000,4,0.000,0.027,3133,1135,2458
$GC,6437,0.93,189.5,207.1,9.2,203,6452,0.12,2.22,9.05,0.695,6,0.206,0.047,3107,2551,2426
$GC,6718,0.94,195.4,180.1,9.3,223,6731,0.00,2.12,6.65,0.629,4,0.000,0.027,3117,1130,2402
$GC,6985,0.94,195.4,154.7,10.2,246,6994,0.00,2.25,0.00,0.000,6,0.000,0.044,3117,2549,2401
$GC,7250,0.94,195.4,128.6,9.7,271,7253,0.00,2.10,0.00,0.000,4,0.000,0.027,3127,1131,2402
$GC,7509,0.97,214.5,104.1,8.7,294,7534,0.00,2.22,17.48,0.654,6,0.000,0.043,3123,2566,2326
$GC,7795,0.97,219.0,77.0,9.4,320,7809,0.00,2.15,5.28,0.507,4,0.000,0.026,3133,1134,2308
$GC,8055,0.97,219.0,48.9,11.8,343,8063,0.00,2.25,0.00,0.000,6,0.000,0.048,3133,2537,2308
$GC,8322,0.97,219.0,15.0,11.6,378,8330,0.00,2.08,0.00,0.000,4,0.000,0.025,3143,1134,2308
$STATE,8410,end climb,SURFACE_DEPTH_REACHED
$STATE,8410,begin surface coast
$FINISH,0.3,1.024092
$STATE,8432,end surface coast,CONTROL_FINISHED_OK
$STATE,8432,begin surface
$SM_CCo,8456,70.55,0.594,0,0,1773,350.04
$SM_GC,1.96,0.00,0.00,70.55,0.000,0.000,0.594,45,2652,1773,-8.61,0.06,350.04
$IRIDIUM_FIX,2244.02,-15803.66,300400,010130
$TT8_MAMPS,0.023777
$HUMID,1791
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.8,82.271
$10V_AH,10.7,45.051
$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,20.375,80.425,312.625,70.550,0.000,31.061,36.503,134.176,0.000,0.000,0.000,32.729,849.726,5501.896,440.599,1608.055,482.009,33.337,1079.244,0.000,1584.631,0.000,0.542,0.000
$DEVICE_MAMPS,227.032,82.836,1020.877,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,269.568,643.066,661.312,146.052,601.313,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31936,398
$CAP_FILE_SIZE,73900,0
$CFSIZE,260165632,237596672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,040211,055907,2253.599,-15757.479,38,1.2,39,10.1