version: 66.04
glider: 512
mission: 1
dive: 945
start: 3 12 111 20 5 6
data:
$ID,512
$MISSION,1
$DIVE,945
$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,-26316.295
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2840
$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,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3010
$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
$GPS1,195337,2252.743,-15805.141,34,1.1,35,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-79.3
$GPS2,200414,2252.771,-15805.194,19,1.5,19,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.247,0.069
$KALMAN_X,-367740.3,-190.3,-428.7,378388.7,-1561.9
$KALMAN_Y,-661817.8,874.8,656.3,794545.6,-3755.7
$MHEAD_RNG_PITCHd_Wd,64.2,16595,-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,-52.75,0.000,2,0.000,0.000,51,2666,2962
$GC,78,-0.85,-146.0,3.7,-5.8,7,111,11.52,2.20,-12.20,0.000,4,0.251,0.041,2562,1230,3607
$GC,132,-0.85,-146.0,22.2,-37.6,14,141,0.00,2.38,0.00,0.000,6,0.000,0.074,2554,2610,3608
$GC,407,-0.85,-146.0,110.7,-31.8,41,410,0.00,2.20,0.00,0.000,4,0.000,0.078,2544,3905,3608
$GC,457,-0.85,-146.0,125.1,-28.8,45,461,0.00,1.85,0.00,0.000,6,0.000,0.024,2551,2641,3609
$GC,728,-0.85,-146.0,189.7,-23.3,70,732,0.00,2.08,0.00,0.000,4,0.000,0.028,2561,1229,3609
$GC,790,-0.85,-146.0,201.5,-15.4,75,795,0.00,2.42,0.00,0.000,6,0.000,0.074,2552,2639,3610
$GC,1061,-0.85,-146.0,258.0,-21.7,82,1065,0.00,2.08,0.00,0.000,4,0.000,0.027,2560,1231,3610
$GC,1091,-0.85,-146.0,264.7,-19.1,82,1095,0.00,2.40,0.00,0.000,6,0.000,0.071,2551,2643,3610
$GC,1354,-0.85,-146.0,312.0,-18.5,89,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2643,3611
$GC,1598,-0.85,-146.0,354.3,-17.5,95,1601,0.00,2.15,0.00,0.000,4,0.000,0.078,2541,3906,3610
$GC,1712,-0.85,-146.0,372.0,-14.2,97,1716,0.00,1.90,0.00,0.000,6,0.000,0.024,2547,2637,3610
$GC,1980,-0.85,-146.0,414.2,-16.2,104,1984,0.00,2.08,0.00,0.000,4,0.000,0.031,2558,1240,3609
$GC,2016,-0.85,-146.0,419.7,-14.0,104,2020,0.00,2.35,0.00,0.000,6,0.000,0.065,2548,2646,3609
$GC,2268,-0.85,-146.0,456.3,-15.0,110,2271,0.00,2.12,0.00,0.000,4,0.000,0.075,2538,3902,3607
$GC,2325,-0.85,-146.0,465.1,-15.0,111,2329,0.00,1.90,0.00,0.000,6,0.000,0.026,2541,2647,3606
$GC,2607,-0.85,-146.0,507.9,-15.5,118,2610,0.00,2.22,0.00,0.000,4,0.000,0.084,2534,3899,3604
$GC,2644,-0.85,-146.0,514.1,-17.1,118,2647,0.00,1.88,0.00,0.000,6,0.000,0.025,2540,2637,3604
$GC,2902,-0.85,-146.0,554.5,-15.7,125,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2630,3602
$GC,3146,-0.85,-146.0,592.0,-15.3,131,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2630,3599
$STATE,3221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3221,begin apogee
$GC,3233,-0.32,0.0,604.0,14.9,133,3358,0.68,0.00,122.70,1.046,6,0.166,0.000,2728,2468,3010
$STATE,3359,end apogee,CONTROL_FINISHED_OK
$STATE,3359,begin climb
$GC,3364,0.85,146.0,609.8,0.0,136,3500,1.17,2.25,128.43,1.030,4,0.087,0.031,3126,1039,2413
$GC,3627,0.85,146.0,585.7,20.1,141,3631,0.00,2.33,0.00,0.000,6,0.000,0.054,3124,2457,2408
$GC,3879,0.85,146.0,530.6,22.0,147,3882,0.00,2.12,0.00,0.000,4,0.000,0.031,3132,1046,2404
$GC,4023,0.85,146.0,500.9,20.2,150,4027,0.00,2.30,0.00,0.000,6,0.000,0.051,3124,2470,2403
$GC,4303,0.85,146.0,445.7,19.2,157,4306,0.00,2.15,0.00,0.000,4,0.000,0.028,3133,1032,2400
$GC,4366,0.85,146.0,433.8,18.0,158,4370,0.00,2.30,0.00,0.000,6,0.000,0.045,3124,2473,2400
$GC,4640,0.85,146.0,382.3,18.4,165,4644,0.00,2.15,0.00,0.000,4,0.000,0.028,3133,1036,2398
$GC,4745,0.85,146.0,365.7,15.0,167,4749,0.00,2.28,0.00,0.000,6,0.000,0.044,3124,2470,2398
$GC,5019,0.85,146.0,324.5,14.5,174,5022,0.00,2.28,0.00,0.000,4,0.000,0.056,3124,3868,2396
$GC,5037,0.85,146.0,321.7,14.2,174,5042,0.00,2.12,0.00,0.000,6,0.000,0.025,3132,2452,2394
$GC,5313,0.85,146.0,280.4,15.4,181,5317,0.00,2.30,0.00,0.000,4,0.000,0.051,3124,3870,2393
$GC,5574,0.85,146.0,245.9,10.0,186,5580,0.00,2.12,0.00,0.000,6,0.000,0.025,3133,2441,2392
$GC,5828,0.85,146.0,220.6,10.5,193,5832,0.00,2.35,0.00,0.000,4,0.000,0.054,3133,3880,2391
$GC,5852,0.89,173.8,218.4,8.4,193,5878,0.00,2.12,21.52,0.788,6,0.000,0.026,3143,2449,2301
$GC,6140,0.89,173.8,175.7,16.4,208,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2449,2296
$GC,6406,0.89,173.8,134.5,14.7,233,6410,0.00,2.05,0.00,0.000,4,0.000,0.026,3154,1060,2296
$GC,6553,0.89,173.8,117.1,12.1,246,6557,0.00,2.20,0.00,0.000,6,0.000,0.043,3150,2456,2296
$GC,6825,0.89,173.8,88.4,10.3,271,6829,0.00,2.33,0.00,0.000,4,0.000,0.057,3150,3878,2295
$GC,6970,0.89,173.8,71.8,12.1,283,6978,0.10,2.12,0.00,0.000,6,0.242,0.026,3136,2467,2294
$GC,7240,0.97,237.1,49.4,6.8,308,7304,0.00,2.33,53.90,0.643,4,0.000,0.051,3131,3872,2041
$GC,7353,0.97,237.1,33.8,20.3,317,7357,0.00,2.12,0.00,0.000,6,0.000,0.024,3141,2456,2041
$STATE,7502,end climb,SURFACE_DEPTH_REACHED
$STATE,7502,begin surface coast
$FINISH,0.3,1.023694
$STATE,7521,end surface coast,CONTROL_FINISHED_OK
$STATE,7521,begin surface
$SM_CCo,7547,58.12,0.601,0,0,1582,350.04
$SM_GC,1.27,0.00,0.00,58.12,0.000,0.000,0.601,46,2686,1582,-8.73,1.30,350.04
$IRIDIUM_FIX,2244.02,-15803.66,050600,171709
$TT8_MAMPS,0.023777
$HUMID,1908
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.8,123.295
$10V_AH,10.6,73.652
$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,22.250,79.050,326.550,58.125,0.000,27.780,34.406,405.177,0.000,0.000,0.000,19.693,739.098,4900.837,418.692,1369.956,816.853,33.363,998.548,0.000,1353.607,0.000,0.544,0.000
$DEVICE_MAMPS,250.809,84.370,1046.188,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,232.770,555.435,572.387,128.657,531.784,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28849,345
$CAP_FILE_SIZE,68770,0
$CFSIZE,260165632,223887360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,120311,221324,2252.883,-15804.268,28,1.1,45,10.1