version: 66.04
glider: 512
mission: 1
dive: 757
start: 2 20 111 1 58 1
data:
$ID,512
$MISSION,1
$DIVE,757
$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,150
$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,-22256.773
$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,2680
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$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,3220
$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
$GPS1,015100,2250.362,-15755.377,40,1.3,40,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-79.3
$GPS2,015708,2250.320,-15755.397,14,1.3,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.001,-0.256
$KALMAN_X,-239414.3,176.6,77.5,266040.5,-1495.9
$KALMAN_Y,-500418.1,700.8,-279.0,629723.8,983.1
$MHEAD_RNG_PITCHd_Wd,169.8,7391,-16.9,-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,17,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.17,0.000,2,0.000,0.000,45,2704,2978
$GC,69,-0.85,-146.0,3.6,-5.4,6,101,10.68,1.95,-15.73,0.000,4,0.225,0.069,2555,3875,3818
$GC,260,-0.85,-146.0,56.0,-19.0,28,264,0.00,1.77,0.00,0.000,6,0.000,0.025,2555,2692,3820
$GC,531,-0.85,-146.0,134.2,-25.5,53,534,0.00,2.10,0.00,0.000,4,0.000,0.029,2558,1269,3821
$GC,581,-0.85,-146.0,145.8,-21.1,57,585,0.00,2.28,0.00,0.000,6,0.000,0.064,2549,2654,3822
$GC,842,-0.85,-146.0,211.6,-26.8,78,846,0.00,2.03,0.00,0.000,4,0.000,0.064,2539,3906,3823
$GC,1011,-0.85,-146.0,242.1,-14.0,81,1016,0.12,1.83,0.00,0.000,6,0.137,0.026,2573,2672,3823
$GC,1270,-0.85,-146.0,283.1,-16.4,88,1273,0.00,2.08,0.00,0.000,4,0.000,0.029,2574,1265,3824
$GC,1389,-0.85,-146.0,298.5,-10.8,90,1393,0.00,2.30,0.00,0.000,6,0.000,0.061,2565,2683,3824
$GC,1646,-0.85,-146.0,336.3,-15.2,97,1649,0.00,2.10,0.00,0.000,4,0.000,0.028,2566,1269,3824
$GC,1671,-0.85,-146.0,340.0,-15.3,97,1675,0.00,2.30,0.00,0.000,6,0.000,0.061,2557,2682,3824
$GC,1933,-0.85,-146.0,381.8,-16.6,104,1936,0.00,2.10,0.00,0.000,4,0.000,0.030,2562,1269,3823
$GC,1956,-0.85,-146.0,385.9,-17.0,104,1960,0.00,2.30,0.00,0.000,6,0.000,0.059,2554,2687,3823
$GC,2221,-0.85,-146.0,425.3,-15.1,111,2225,0.00,2.12,0.00,0.000,4,0.000,0.029,2560,1259,3822
$GC,2262,-0.85,-146.0,431.6,-13.1,111,2268,0.00,2.33,0.00,0.000,6,0.000,0.060,2551,2688,3822
$GC,2513,-0.85,-146.0,466.5,-14.4,118,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2688,3820
$GC,2757,-0.85,-146.0,499.6,-13.6,124,2761,0.00,2.12,0.00,0.000,4,0.000,0.029,2560,1267,3819
$GC,2808,-0.85,-146.0,506.1,-10.3,125,2813,0.00,2.30,0.00,0.000,6,0.000,0.057,2551,2687,3819
$GC,3090,-0.85,-146.0,543.7,-13.8,132,3093,0.00,2.00,0.00,0.000,4,0.000,0.071,2541,3896,3816
$GC,3119,-0.85,-146.0,548.1,-13.7,132,3123,0.00,1.83,0.00,0.000,6,0.000,0.025,2548,2672,3816
$GC,3381,-0.85,-146.0,581.3,-12.8,139,3385,0.00,2.08,0.00,0.000,4,0.000,0.029,2557,1271,3813
$GC,3416,-0.85,-146.0,585.5,-10.8,139,3420,0.00,2.28,0.00,0.000,6,0.000,0.057,2549,2680,3814
$STATE,3541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3541,begin apogee
$GC,3551,-0.32,0.0,600.8,12.0,142,3678,0.65,0.00,124.00,1.035,6,0.143,0.000,2742,2522,3220
$STATE,3679,end apogee,CONTROL_FINISHED_OK
$STATE,3679,begin climb
$GC,3683,0.85,146.0,607.0,0.0,145,3815,1.12,0.00,127.10,1.016,6,0.095,0.000,3115,2522,2624
$GC,4056,0.85,146.0,593.2,12.7,154,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2522,2616
$GC,4296,0.85,146.0,565.5,11.1,160,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2522,2614
$GC,4541,0.85,146.0,541.2,9.7,166,4544,0.00,2.12,0.00,0.000,4,0.000,0.033,3125,1123,2611
$GC,4682,0.87,154.5,529.2,9.2,169,4693,0.00,2.22,6.18,0.792,6,0.000,0.049,3118,2524,2590
$GC,4963,0.87,154.5,501.7,10.2,176,4967,0.00,2.20,0.00,0.000,4,0.000,0.059,3110,3901,2588
$GC,5211,0.87,154.5,473.7,10.9,181,5215,0.00,2.08,0.00,0.000,6,0.000,0.030,3119,2526,2587
$GC,5479,0.87,160.1,448.1,9.4,188,5489,0.00,2.25,5.45,0.742,4,0.000,0.055,3110,3903,2569
$GC,5536,0.89,171.4,442.7,9.1,189,5555,0.00,2.10,12.45,0.891,6,0.000,0.031,3119,2510,2520
$GC,5809,0.89,171.4,412.9,11.1,196,5812,0.00,2.10,0.00,0.000,4,0.000,0.032,3130,1103,2517
$GC,5946,0.89,176.9,399.4,9.4,199,5957,0.00,2.25,5.97,0.749,6,0.000,0.045,3123,2530,2498
$GC,6232,0.89,176.9,367.3,11.7,206,6236,0.00,2.20,0.00,0.000,4,0.000,0.054,3121,3909,2496
$GC,6267,0.89,176.9,363.2,11.4,206,6271,0.00,2.08,0.00,0.000,6,0.000,0.026,3129,2520,2495
$GC,6526,0.89,176.9,332.2,11.8,213,6530,0.00,2.25,0.00,0.000,4,0.000,0.054,3124,3909,2494
$GC,6787,0.91,193.5,303.8,8.9,218,6808,0.00,2.08,15.65,0.831,6,0.000,0.025,3133,2511,2431
$GC,7084,0.91,193.5,270.6,11.8,226,7087,0.00,2.22,0.00,0.000,4,0.000,0.051,3124,3900,2427
$GC,7294,0.91,193.5,248.1,10.4,230,7297,0.00,2.08,0.00,0.000,6,0.000,0.027,3132,2510,2427
$GC,7557,0.92,200.5,221.9,9.3,237,7571,0.00,2.28,7.38,0.688,4,0.000,0.051,3124,3902,2402
$GC,7618,0.92,200.5,216.1,9.8,238,7622,0.00,2.05,0.00,0.000,6,0.000,0.026,3133,2517,2401
$GC,7875,0.92,200.5,190.1,9.7,249,7879,0.00,2.08,0.00,0.000,4,0.000,0.029,3144,1112,2400
$GC,8134,0.95,226.6,169.8,8.5,272,8163,0.00,2.22,24.08,0.729,6,0.000,0.044,3138,2528,2296
$GC,8435,0.95,226.6,136.7,12.7,299,8438,0.00,2.20,0.00,0.000,4,0.000,0.056,3137,3905,2292
$GC,8696,1.02,282.2,104.4,7.1,322,8749,0.00,2.05,48.30,0.677,6,0.000,0.024,3147,2494,2069
$GC,9009,1.02,282.2,53.1,20.4,350,9012,0.00,2.03,0.00,0.000,4,0.000,0.025,3156,1118,2063
$GC,9113,1.02,282.2,33.0,19.3,359,9117,0.00,2.20,0.00,0.000,6,0.000,0.043,3157,2522,2062
$STATE,9250,end climb,SURFACE_DEPTH_REACHED
$STATE,9250,begin surface coast
$FINISH,0.4,1.023708
$STATE,9268,end surface coast,CONTROL_FINISHED_OK
$STATE,9268,begin surface
$SM_CCo,9292,36.08,0.588,0,0,1793,350.04
$SM_GC,1.25,0.00,0.00,36.08,0.000,0.000,0.588,47,2711,1793,-8.76,0.88,350.04
$IRIDIUM_FIX,2244.02,-15754.11,150500,232306
$TT8_MAMPS,0.023777
$HUMID,1845
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.6,100.104
$10V_AH,10.6,57.012
$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,20.800,89.975,376.550,36.075,0.000,28.096,35.599,157.667,0.000,0.000,0.000,14.791,869.964,6222.704,423.405,1617.266,565.230,33.373,1121.511,0.000,1600.849,0.000,0.543,0.000
$DEVICE_MAMPS,225.498,71.331,1034.683,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,260.660,566.647,585.064,119.105,492.714,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32023,385
$CAP_FILE_SIZE,80697,0
$CFSIZE,260165632,231653376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,200211,043455,2249.685,-15755.702,41,1.5,42,10.1