version: 66.04
glider: 512
mission: 1
dive: 851
start: 3 2 111 22 2 16
data:
$ID,512
$MISSION,1
$DIVE,851
$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,-24316.424
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2880
$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,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,49
$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
$GPS1,213739,2253.781,-15758.016,9,4.6,29,10.1
$_CALLS,5
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-75.0
$GPS2,220124,2253.805,-15758.202,30,1.3,47,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.240,0.091
$KALMAN_X,-317882.0,310.9,233.6,339390.9,-3552.8
$KALMAN_Y,-594243.3,635.4,443.9,729340.6,-3658.1
$MHEAD_RNG_PITCHd_Wd,59.2,4644,-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,-45.22,0.000,2,0.000,0.000,48,2671,2751
$GC,70,-0.85,-146.0,3.0,-3.5,6,109,11.85,1.98,-18.83,0.000,4,0.251,0.076,2589,3853,3639
$GC,141,-0.85,-146.0,20.3,-27.2,16,149,0.00,1.83,0.00,0.000,6,0.000,0.024,2596,2633,3640
$GC,413,-0.85,-146.0,88.7,-22.2,44,417,0.00,2.05,0.00,0.000,4,0.000,0.026,2606,1226,3640
$GC,442,-0.85,-146.0,94.9,-19.4,46,450,0.00,2.28,0.00,0.000,6,0.000,0.061,2597,2598,3640
$GC,707,-0.85,-146.0,142.0,-17.5,71,711,0.00,2.12,0.00,0.000,4,0.000,0.067,2586,3897,3641
$GC,743,-0.85,-146.0,148.8,-18.0,74,747,0.00,1.83,0.00,0.000,6,0.000,0.022,2594,2635,3641
$GC,1013,-0.85,-146.0,193.5,-15.7,99,1016,0.00,2.03,0.00,0.000,4,0.000,0.025,2604,1239,3641
$GC,1062,-0.85,-146.0,199.9,-11.6,103,1067,0.00,2.28,0.00,0.000,6,0.000,0.056,2595,2652,3642
$GC,1315,-0.85,-146.0,235.3,-14.6,109,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2652,3641
$GC,1558,-0.85,-146.0,268.2,-13.4,115,1562,0.00,2.10,0.00,0.000,4,0.000,0.025,2603,1225,3641
$GC,1609,-0.85,-146.0,274.2,-10.4,116,1613,0.00,2.28,0.00,0.000,6,0.000,0.054,2594,2644,3642
$GC,1889,-0.85,-146.0,308.9,-12.9,123,1892,0.00,2.03,0.00,0.000,4,0.000,0.066,2584,3891,3641
$GC,1918,-0.85,-146.0,312.8,-13.2,123,1922,0.00,1.83,0.00,0.000,6,0.000,0.023,2591,2631,3640
$GC,2181,-0.85,-146.0,341.3,-10.7,130,2184,0.00,2.03,0.00,0.000,4,0.000,0.027,2601,1236,3640
$GC,2212,-0.85,-146.0,344.4,-9.8,130,2216,0.00,2.25,0.00,0.000,6,0.000,0.052,2592,2640,3640
$GC,2469,-0.85,-146.0,371.4,-11.1,137,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2641,3637
$GC,2714,-0.85,-146.0,398.3,-10.9,143,2718,0.00,2.08,0.00,0.000,4,0.000,0.028,2601,1231,3636
$GC,2757,-0.85,-146.0,402.9,-9.0,143,2763,0.00,2.25,0.00,0.000,6,0.000,0.051,2591,2641,3636
$GC,3008,-0.85,-146.0,429.1,-10.6,150,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2641,3634
$GC,3254,-0.85,-146.0,453.6,-9.9,156,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2640,3632
$GC,3496,-0.85,-146.0,477.4,-9.5,162,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2641,3631
$GC,3742,-0.85,-146.0,499.3,-8.7,168,3745,0.00,2.08,0.00,0.000,4,0.000,0.028,2600,1250,3628
$GC,3784,-0.85,-146.0,503.1,-7.8,168,3790,0.00,2.28,0.00,0.000,6,0.000,0.060,2590,2637,3628
$GC,4037,-0.85,-146.0,524.6,-8.7,175,4040,0.00,2.08,0.00,0.000,4,0.000,0.071,2580,3892,3626
$GC,4072,-0.85,-146.0,528.1,-9.3,175,4076,0.00,1.85,0.00,0.000,6,0.000,0.026,2588,2633,3625
$GC,4329,-0.85,-146.0,550.7,-9.0,182,4333,0.00,2.05,0.00,0.000,4,0.000,0.028,2598,1245,3625
$GC,4377,-0.85,-146.0,554.6,-7.3,183,4381,0.00,2.28,0.00,0.000,6,0.000,0.057,2589,2639,3624
$GC,4668,-0.85,-146.0,580.3,-8.9,190,4672,0.00,2.08,0.00,0.000,4,0.000,0.071,2580,3893,3621
$GC,4717,-0.85,-146.0,584.7,-9.3,191,4721,0.00,1.88,0.00,0.000,6,0.000,0.027,2587,2639,3620
$STATE,4882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4882,begin apogee
$GC,4892,-0.32,0.0,600.4,9.3,195,5018,0.62,0.00,122.60,1.068,6,0.151,0.000,2769,2494,3040
$STATE,5018,end apogee,CONTROL_FINISHED_OK
$STATE,5019,begin climb
$GC,5024,0.85,146.0,606.3,0.0,198,5166,1.10,0.00,133.82,1.035,6,0.074,0.000,3153,2494,2444
$GC,5391,0.85,146.0,568.5,21.5,207,5395,0.00,2.30,0.00,0.000,4,0.000,0.059,3150,3896,2435
$GC,5442,0.85,146.0,556.6,24.0,208,5446,0.00,2.17,0.00,0.000,6,0.000,0.028,3159,2449,2433
$GC,5716,0.85,146.0,497.4,21.5,215,5720,0.00,2.05,0.00,0.000,4,0.000,0.029,3170,1055,2431
$GC,5740,0.85,146.0,492.4,19.8,215,5744,0.00,2.25,0.00,0.000,6,0.000,0.044,3162,2488,2430
$GC,6002,0.85,146.0,441.6,18.4,222,6006,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1059,2429
$GC,6186,0.85,146.0,409.2,16.1,226,6191,0.00,2.22,0.00,0.000,6,0.000,0.045,3162,2478,2427
$GC,6472,0.85,146.0,363.2,16.1,233,6475,0.00,2.10,0.00,0.000,4,0.000,0.029,3171,1070,2425
$GC,6535,0.85,146.0,353.6,15.9,234,6539,0.00,2.22,0.00,0.000,6,0.000,0.045,3163,2479,2425
$GC,6811,0.85,146.0,310.2,15.7,241,6814,0.00,2.10,0.00,0.000,4,0.000,0.029,3171,1075,2424
$GC,6868,0.85,146.0,302.4,12.5,242,6872,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2491,2424
$GC,7141,0.85,146.0,268.6,12.4,249,7145,0.00,2.25,0.00,0.000,4,0.000,0.052,3162,3900,2423
$GC,7205,0.85,146.0,258.9,15.2,250,7209,0.00,2.12,0.00,0.000,6,0.000,0.027,3171,2477,2422
$GC,7479,0.85,146.0,228.3,10.1,257,7482,0.00,2.10,0.00,0.000,4,0.000,0.029,3182,1055,2422
$GC,7632,0.90,180.7,215.6,8.1,260,7665,0.00,2.22,27.75,0.793,6,0.000,0.042,3176,2480,2303
$GC,7927,0.90,180.7,171.5,15.8,277,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2481,2298
$GC,8191,0.90,180.7,129.3,16.4,302,8195,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1064,2297
$GC,8207,0.90,180.7,127.2,15.6,303,8211,0.00,2.20,0.00,0.000,6,0.000,0.041,3175,2483,2297
$GC,8477,0.90,180.7,91.9,11.0,328,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2483,2297
$GC,8742,0.90,180.7,65.1,9.8,353,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2483,2297
$GC,9008,0.96,228.6,43.2,7.5,378,9059,0.00,2.17,41.40,0.631,4,0.000,0.026,3184,1065,2106
$GC,9086,0.96,228.6,35.0,14.2,384,9090,0.00,2.20,0.00,0.000,6,0.000,0.040,3176,2481,2105
$STATE,9256,end climb,SURFACE_DEPTH_REACHED
$STATE,9256,begin surface coast
$FINISH,0.4,1.023311
$STATE,9273,end surface coast,CONTROL_FINISHED_OK
$STATE,9273,begin surface
$SM_CCo,9298,63.45,0.591,0,0,1613,350.04
$SM_GC,1.34,0.00,0.00,63.45,0.000,0.000,0.591,47,2650,1613,-8.86,0.28,350.04
$IRIDIUM_FIX,2244.02,-15759.32,260500,222218
$TT8_MAMPS,0.023777
$HUMID,1874
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,23.6,112.121
$10V_AH,10.6,65.501
$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,22.425,89.350,325.575,63.450,0.000,133.708,174.086,657.852,0.500,0.000,0.000,47.484,854.396,6603.580,463.417,1505.197,1362.255,33.372,1072.716,0.000,1470.306,0.000,0.544,0.000
$DEVICE_MAMPS,250.809,75.933,1067.664,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,280.543,642.666,663.239,151.819,618.004,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35155,415
$CAP_FILE_SIZE,88466,0
$CFSIZE,260165632,227688448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,030311,003934,2253.279,-15757.765,10,2.7,30,10.1