version: 66.04
glider: 512
mission: 1
dive: 816
start: 2 26 111 19 33 19
data:
$ID,512
$MISSION,1
$DIVE,816
$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,-23409.941
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2870
$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,2640
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3060
$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
$GPS1,192624,2249.651,-15801.596,32,1.1,43,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-78.2
$GPS2,193226,2249.618,-15801.579,15,1.5,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.118,0.228
$KALMAN_X,-260014.4,43.9,-105.6,276328.6,-837.4
$KALMAN_Y,-543080.2,393.2,180.1,670932.4,-4230.2
$MHEAD_RNG_PITCHd_Wd,322.6,9820,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-52.72,0.000,2,0.000,0.000,52,2668,3008
$GC,77,-0.85,-146.0,3.5,-5.4,7,111,15.25,2.03,-11.68,0.000,4,0.319,0.074,2576,3875,3655
$GC,359,-0.85,-146.0,68.2,-17.5,37,367,0.00,1.85,0.00,0.000,6,0.000,0.024,2583,2637,3657
$GC,622,-0.85,-146.0,125.3,-21.4,62,626,0.00,2.05,0.00,0.000,4,0.000,0.028,2593,1237,3659
$GC,682,-0.85,-146.0,135.6,-15.2,67,687,0.00,2.28,0.00,0.000,6,0.000,0.059,2583,2632,3659
$GC,948,-0.85,-146.0,181.6,-16.9,91,952,0.00,2.08,0.00,0.000,4,0.000,0.025,2592,1229,3660
$GC,986,-0.85,-146.0,188.2,-15.9,94,991,0.00,2.30,0.00,0.000,6,0.000,0.057,2582,2648,3660
$GC,1273,-0.85,-146.0,235.8,-16.8,106,1277,0.00,2.03,0.00,0.000,4,0.000,0.061,2569,3906,3661
$GC,1320,-0.85,-146.0,243.5,-14.1,107,1324,0.00,1.85,0.00,0.000,6,0.000,0.023,2577,2628,3661
$GC,1613,-0.85,-146.0,286.7,-14.6,114,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2622,3661
$GC,1855,-0.85,-146.0,318.4,-12.6,120,1858,0.00,2.03,0.00,0.000,4,0.000,0.026,2587,1237,3661
$GC,1896,-0.85,-146.0,323.3,-10.6,120,1903,0.00,2.28,0.00,0.000,6,0.000,0.054,2577,2635,3661
$GC,2147,-0.85,-146.0,350.4,-10.9,127,2151,0.00,2.03,0.00,0.000,4,0.000,0.061,2567,3894,3660
$GC,2198,-0.85,-146.0,356.3,-9.9,128,2202,0.00,1.85,0.00,0.000,6,0.000,0.023,2575,2641,3660
$GC,2483,-0.85,-146.0,388.2,-11.5,135,2486,0.00,2.05,0.00,0.000,4,0.000,0.027,2585,1239,3659
$GC,2518,-0.85,-146.0,392.1,-10.2,135,2522,0.00,2.25,0.00,0.000,6,0.000,0.051,2576,2646,3659
$GC,2775,-0.85,-146.0,421.5,-12.0,142,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2646,3657
$GC,3018,-0.85,-146.0,449.9,-11.6,148,3022,0.00,2.00,0.00,0.000,4,0.000,0.061,2566,3893,3656
$GC,3047,-0.85,-146.0,453.4,-12.0,148,3051,0.00,1.83,0.00,0.000,6,0.000,0.024,2574,2639,3657
$GC,3311,-0.85,-146.0,482.5,-11.2,155,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2634,3654
$GC,3555,-0.85,-146.0,509.5,-11.1,161,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2634,3653
$GC,3799,-0.85,-146.0,535.7,-10.8,167,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2634,3652
$GC,4041,-0.85,-146.0,560.4,-9.9,173,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2634,3649
$GC,4285,-0.85,-146.0,583.5,-9.4,179,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2634,3648
$STATE,4484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4484,begin apogee
$GC,4495,-0.32,0.0,602.7,9.4,184,4621,0.65,0.00,123.85,1.058,6,0.154,0.000,2762,2527,3060
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4622,begin climb
$GC,4627,0.85,146.0,607.8,0.0,187,4771,1.10,2.33,131.27,1.021,4,0.077,0.061,3146,3895,2466
$GC,4861,0.85,146.0,596.4,22.9,192,4864,0.00,2.08,0.00,0.000,6,0.000,0.026,3155,2523,2460
$GC,5129,0.85,146.0,540.9,20.3,199,5133,0.00,2.10,0.00,0.000,4,0.000,0.030,3166,1107,2455
$GC,5186,0.85,146.0,529.9,17.6,200,5190,0.00,2.25,0.00,0.000,6,0.000,0.045,3162,2519,2454
$GC,5466,0.85,146.0,476.2,19.2,207,5469,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1091,2452
$GC,5540,0.85,146.0,462.6,17.5,208,5544,0.00,2.28,0.00,0.000,6,0.000,0.044,3162,2526,2452
$GC,5802,0.85,146.0,419.7,16.0,215,5806,0.00,2.20,0.00,0.000,4,0.000,0.056,3162,3898,2450
$GC,5832,0.85,146.0,414.8,17.1,215,5836,0.00,2.05,0.00,0.000,6,0.000,0.026,3171,2517,2450
$GC,6096,0.85,146.0,373.9,16.0,222,6099,0.00,2.22,0.00,0.000,4,0.000,0.050,3163,3905,2448
$GC,6119,0.85,146.0,369.9,15.8,222,6123,0.00,2.08,0.00,0.000,6,0.000,0.027,3172,2513,2448
$GC,6388,0.85,146.0,328.6,15.6,229,6391,0.00,2.08,0.00,0.000,4,0.000,0.028,3183,1106,2447
$GC,6445,0.85,146.0,321.1,12.0,230,6450,0.12,2.22,0.00,0.000,6,0.250,0.043,3152,2520,2448
$GC,6724,0.85,146.0,285.6,13.1,237,6728,0.00,2.12,0.00,0.000,4,0.000,0.028,3161,1086,2446
$GC,6928,0.85,146.0,264.2,10.2,241,6932,0.00,2.28,0.00,0.000,6,0.000,0.045,3161,2527,2446
$GC,7191,0.88,169.1,240.9,8.6,248,7211,0.00,0.00,18.65,0.798,6,0.000,0.000,3161,2527,2370
$GC,7434,0.88,169.1,208.6,14.3,254,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2527,2365
$GC,7686,0.88,169.1,176.5,12.9,272,7690,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1104,2365
$GC,7913,0.88,169.1,149.1,13.2,292,7917,0.00,2.22,0.00,0.000,6,0.000,0.043,3162,2532,2365
$GC,8183,0.88,169.1,117.3,9.8,317,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2531,2365
$GC,8448,0.97,236.0,94.1,6.6,342,8511,0.00,2.22,57.83,0.686,4,0.000,0.027,3171,1095,2096
$GC,8552,0.97,236.0,79.3,19.8,350,8560,0.00,2.28,0.00,0.000,6,0.000,0.042,3162,2514,2092
$GC,8817,0.97,236.0,22.0,21.5,378,8825,0.00,2.12,0.00,0.000,4,0.000,0.026,3171,1106,2091
$GC,8867,0.97,236.0,12.2,19.4,386,8876,0.00,2.25,0.00,0.000,6,0.000,0.044,3162,2519,2090
$STATE,8913,end climb,SURFACE_DEPTH_REACHED
$STATE,8913,begin surface coast
$FINISH,0.4,1.023779
$STATE,8926,end surface coast,CONTROL_FINISHED_OK
$STATE,8926,begin surface
$SM_CCo,8951,61.62,0.600,0,0,1632,350.04
$SM_GC,1.23,0.00,0.00,61.62,0.000,0.000,0.600,51,2662,1632,-8.81,0.62,350.04
$IRIDIUM_FIX,2241.69,-15804.53,220500,171725
$TT8_MAMPS,0.023777
$HUMID,1879
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,107.336
$10V_AH,10.6,62.202
$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,26.000,76.650,331.600,61.625,0.000,25.440,34.979,147.960,0.000,0.000,0.000,15.697,812.714,6163.372,435.597,1422.675,544.951,33.370,1038.747,0.000,1412.098,0.000,0.542,0.000
$DEVICE_MAMPS,319.072,74.399,1058.460,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,267.779,611.612,627.323,130.567,542.205,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31944,396
$CAP_FILE_SIZE,70966,0
$CFSIZE,260165632,229167104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,18,14,1,0
$GPS,260211,220501,2249.943,-15802.429,43,1.2,44,10.1