version: 66.04
glider: 512
mission: 1
dive: 833
start: 2 28 111 18 28 46
data:
$ID,512
$MISSION,1
$DIVE,833
$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,647.82672
$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,-23900.504
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2890
$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,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3040
$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
$GPS1,174943,2255.379,-15801.539,9,2.0,14,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.6
$GPS2,182754,2255.555,-15801.823,43,1.4,43,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.183,0.180
$KALMAN_X,-281915.5,537.0,336.3,296855.9,-3741.6
$KALMAN_Y,-564150.6,466.9,-8.5,703121.8,-1733.0
$MHEAD_RNG_PITCHd_Wd,35.4,11439,-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,-146.0,0.0,0.0,0,117,0.00,0.00,-98.22,0.000,2,0.000,0.000,49,2609,3041
$GC,123,-0.85,-146.0,3.7,-5.8,13,155,11.80,2.08,-11.18,0.000,4,0.249,0.040,2611,1236,3639
$GC,203,-0.85,-146.0,28.6,-22.6,25,211,0.00,2.33,0.00,0.000,6,0.000,0.068,2603,2616,3639
$GC,467,-0.85,-146.0,88.5,-21.9,50,470,0.00,2.10,0.00,0.000,4,0.000,0.067,2592,3907,3640
$GC,583,-0.85,-146.0,109.2,-14.6,60,591,0.00,1.85,0.00,0.000,6,0.000,0.022,2600,2641,3639
$GC,849,-0.85,-146.0,153.9,-16.9,85,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2637,3640
$GC,1112,-0.85,-146.0,197.7,-15.6,110,1116,0.00,2.03,0.00,0.000,4,0.000,0.025,2610,1241,3640
$GC,1153,-0.85,-146.0,203.6,-12.1,112,1159,0.00,2.28,0.00,0.000,6,0.000,0.057,2601,2653,3640
$GC,1404,-0.85,-146.0,237.0,-13.5,119,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2653,3640
$GC,1648,-0.85,-146.0,267.0,-12.4,125,1652,0.00,2.08,0.00,0.000,4,0.000,0.025,2610,1229,3639
$GC,1679,-0.85,-146.0,270.6,-11.8,125,1683,0.00,2.25,0.00,0.000,6,0.000,0.054,2601,2641,3639
$GC,1936,-0.85,-146.0,299.7,-11.9,132,1940,0.00,2.03,0.00,0.000,4,0.000,0.064,2591,3898,3637
$GC,1977,-0.85,-146.0,304.7,-11.9,132,1983,0.00,1.83,0.00,0.000,6,0.000,0.023,2598,2631,3637
$GC,2229,-0.85,-146.0,333.8,-11.8,139,2232,0.00,2.03,0.00,0.000,4,0.000,0.025,2609,1231,3636
$GC,2281,-0.85,-146.0,339.4,-8.6,140,2285,0.00,2.22,0.00,0.000,6,0.000,0.050,2600,2646,3635
$GC,2561,-0.85,-146.0,367.6,-10.1,147,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2647,3633
$GC,2804,-0.85,-146.0,390.5,-9.2,153,2808,0.00,2.03,0.00,0.000,4,0.000,0.064,2589,3902,3631
$GC,2845,-0.85,-146.0,394.5,-9.1,153,2851,0.00,1.83,0.00,0.000,6,0.000,0.024,2597,2639,3630
$GC,3097,-0.85,-146.0,418.9,-9.9,160,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2634,3628
$GC,3344,-0.85,-146.0,442.4,-9.7,166,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2634,3627
$GC,3585,-0.85,-146.0,465.5,-9.4,172,3586,0.00,0.00,-0.08,0.000,6,0.000,0.000,2597,2634,3649
$GC,3828,-0.85,-146.0,487.8,-9.1,178,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2634,3648
$GC,4074,-0.85,-146.0,510.1,-9.2,184,4077,0.00,2.10,0.00,0.000,4,0.000,0.067,2589,3899,3646
$GC,4115,-0.85,-146.0,514.4,-9.4,184,4121,0.00,1.85,0.00,0.000,6,0.000,0.025,2597,2635,3645
$GC,4369,-0.85,-146.0,536.8,-9.1,191,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2628,3643
$GC,4611,-0.85,-146.0,558.5,-8.9,197,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2628,3642
$GC,4855,-0.85,-146.0,580.4,-9.1,203,4858,0.00,2.10,0.00,0.000,4,0.000,0.067,2589,3886,3639
$GC,4903,-0.85,-146.0,584.7,-8.8,204,4906,0.00,1.85,0.00,0.000,6,0.000,0.027,2597,2630,3638
$STATE,5067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5067,begin apogee
$GC,5078,-0.32,0.0,600.3,9.1,208,5207,0.62,0.00,126.57,1.063,6,0.141,0.000,2783,2510,3040
$STATE,5208,end apogee,CONTROL_FINISHED_OK
$STATE,5208,begin climb
$GC,5213,0.85,146.0,607.2,0.0,211,5359,1.08,2.33,133.07,1.039,4,0.071,0.056,3163,3886,2443
$GC,5551,0.85,146.0,572.5,23.4,218,5554,0.00,2.10,0.00,0.000,6,0.000,0.026,3172,2478,2436
$GC,5808,0.85,146.0,515.0,22.5,225,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2472,2430
$GC,6053,0.85,146.0,464.8,20.9,231,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2472,2429
$GC,6295,0.85,146.0,415.6,19.7,237,6299,0.00,2.05,0.00,0.000,4,0.000,0.031,3182,1093,2428
$GC,6392,0.85,146.0,396.5,18.2,239,6396,0.00,2.22,0.00,0.000,6,0.000,0.048,3176,2498,2427
$GC,6673,0.85,146.0,348.9,16.9,246,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2498,2425
$GC,6915,0.85,146.0,310.2,15.5,252,6919,0.00,2.10,0.00,0.000,4,0.000,0.030,3184,1086,2424
$GC,7122,0.85,146.0,279.2,14.4,256,7126,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2508,2423
$GC,7385,0.85,146.0,242.0,13.9,263,7388,0.00,2.22,0.00,0.000,4,0.000,0.054,3176,3908,2422
$GC,7410,0.85,146.0,238.6,13.9,263,7414,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2485,2422
$GC,7679,0.85,146.0,204.3,13.3,270,7682,0.00,2.05,0.00,0.000,4,0.000,0.028,3195,1094,2422
$GC,7875,0.85,146.0,184.3,10.3,284,7879,0.00,2.20,0.00,0.000,6,0.000,0.045,3192,2500,2422
$GC,8139,0.86,147.6,157.1,9.5,308,8143,0.00,2.08,0.00,0.000,4,0.000,0.028,3200,1085,2421
$GC,8365,0.89,173.5,138.0,8.5,328,8391,0.00,2.22,21.30,0.705,6,0.000,0.044,3200,2514,2332
$GC,8650,0.89,173.5,99.6,15.9,354,8653,0.00,2.10,0.00,0.000,4,0.000,0.025,3210,1084,2329
$GC,8679,0.89,173.5,94.2,16.0,356,8687,0.00,2.25,0.00,0.000,6,0.000,0.040,3205,2500,2328
$GC,8945,0.98,246.9,70.3,6.4,381,9013,0.00,0.00,62.30,0.670,6,0.000,0.000,3205,2500,2035
$GC,9275,0.98,246.9,6.4,24.3,420,9283,0.00,2.28,0.00,0.000,4,0.000,0.058,3205,3888,2028
$STATE,9289,end climb,SURFACE_DEPTH_REACHED
$STATE,9289,begin surface coast
$FINISH,0.2,1.023651
$STATE,9301,end surface coast,CONTROL_FINISHED_OK
$STATE,9302,begin surface
$SM_CCo,9328,196.12,0.594,0,0,398,647.83
$SM_GC,1.32,0.00,0.00,196.12,0.000,0.000,0.594,52,2603,398,-8.86,-1.05,647.83
$IRIDIUM_FIX,2246.36,-15803.66,240500,181808
$TT8_MAMPS,0.023777
$HUMID,1870
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.4,109.617
$10V_AH,10.6,63.782
$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,22.375,71.425,343.250,196.125,0.000,128.642,202.757,1502.995,0.250,0.000,0.000,43.459,837.187,6629.686,604.409,1524.823,2220.540,33.368,1244.586,0.000,1492.791,0.000,0.544,0.000
$DEVICE_MAMPS,249.275,68.263,1063.062,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,285.553,667.217,687.370,144.215,593.719,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34991,424
$CAP_FILE_SIZE,81772,0
$CFSIZE,260165632,228409344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,1
$GPS,280211,210900,2255.903,-15801.725,32,1.1,43,10.1