version: 66.04
glider: 512
mission: 1
dive: 952
start: 3 13 111 13 31 12
data:
$ID,512
$MISSION,1
$DIVE,952
$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,-26475.881
$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,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3000
$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
$GPS1,131936,2255.868,-15800.079,28,1.5,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.7
$GPS2,133020,2255.955,-15800.094,13,1.4,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.179,0.184
$KALMAN_X,-377444.0,1179.0,873.8,394186.2,-4497.9
$KALMAN_Y,-664695.1,525.8,218.3,804109.2,-994.7
$MHEAD_RNG_PITCHd_Wd,34.1,9060,-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,-52.80,0.000,2,0.000,0.000,45,2626,2943
$GC,78,-0.85,-146.0,3.2,-4.4,7,110,11.62,2.15,-13.18,0.000,4,0.249,0.078,2580,3908,3595
$GC,153,-0.85,-146.0,26.1,-31.6,18,161,0.00,1.92,0.00,0.000,6,0.000,0.028,2587,2656,3597
$GC,426,-0.85,-146.0,99.7,-26.1,44,430,0.00,2.15,0.00,0.000,4,0.000,0.029,2598,1212,3598
$GC,455,-0.85,-146.0,107.9,-25.0,46,464,0.00,2.42,0.00,0.000,6,0.000,0.068,2589,2631,3598
$GC,720,-0.85,-146.0,166.5,-19.7,71,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2631,3599
$GC,980,-0.85,-146.0,216.0,-18.5,90,984,0.00,2.17,0.00,0.000,4,0.000,0.079,2580,3901,3599
$GC,1010,-0.85,-146.0,221.7,-18.7,90,1014,0.00,1.90,0.00,0.000,6,0.000,0.024,2587,2609,3599
$GC,1273,-0.85,-146.0,263.9,-16.4,97,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2602,3600
$GC,1517,-0.85,-146.0,298.5,-14.3,103,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2602,3600
$GC,1763,-0.85,-146.0,330.5,-13.0,109,1767,0.00,2.05,0.00,0.000,4,0.000,0.031,2597,1229,3599
$GC,1798,-0.85,-146.0,335.5,-12.1,109,1802,0.00,2.35,0.00,0.000,6,0.000,0.064,2588,2639,3600
$GC,2057,-0.85,-146.0,365.2,-11.6,116,2060,0.00,2.12,0.00,0.000,4,0.000,0.074,2578,3898,3599
$GC,2104,-0.85,-146.0,370.4,-10.5,117,2108,0.00,1.88,0.00,0.000,6,0.000,0.025,2586,2622,3598
$GC,2396,-0.85,-146.0,400.6,-10.6,124,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2615,3596
$GC,2639,-0.85,-146.0,428.6,-11.7,130,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2615,3594
$GC,2885,-0.85,-146.0,458.3,-12.0,136,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2615,3593
$GC,3127,-0.85,-146.0,485.3,-10.9,142,3131,0.00,2.22,0.00,0.000,4,0.000,0.079,2578,3895,3590
$GC,3157,-0.85,-146.0,488.6,-11.2,142,3160,0.00,1.88,0.00,0.000,6,0.000,0.026,2585,2635,3590
$GC,3420,-0.85,-146.0,516.3,-10.6,149,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2629,3589
$GC,3664,-0.85,-146.0,542.2,-10.6,155,3667,0.00,2.22,0.00,0.000,4,0.000,0.079,2578,3896,3587
$GC,3721,-0.85,-146.0,548.3,-10.4,156,3725,0.00,1.90,0.00,0.000,6,0.000,0.026,2585,2643,3586
$GC,4004,-0.85,-146.0,575.3,-9.5,163,4008,0.00,2.12,0.00,0.000,4,0.000,0.033,2595,1233,3584
$GC,4034,-0.85,-146.0,578.6,-9.8,163,4038,0.00,2.35,0.00,0.000,6,0.000,0.061,2588,2646,3584
$STATE,4292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4292,begin apogee
$GC,4303,-0.32,0.0,603.1,9.5,170,4428,0.65,0.00,121.72,1.065,6,0.150,0.000,2773,2468,3000
$STATE,4429,end apogee,CONTROL_FINISHED_OK
$STATE,4429,begin climb
$GC,4435,0.85,146.0,608.7,0.0,173,4579,1.10,2.42,131.50,1.037,4,0.072,0.064,3150,3874,2403
$GC,4837,0.85,146.0,552.4,26.9,182,4841,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2453,2394
$GC,5122,0.85,146.0,491.0,20.8,189,5126,0.00,2.33,0.00,0.000,4,0.000,0.052,3150,3881,2390
$GC,5135,0.85,146.0,488.1,21.1,189,5139,0.00,2.15,0.00,0.000,6,0.000,0.026,3159,2447,2389
$GC,5418,0.85,146.0,433.4,19.4,196,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2441,2388
$GC,5658,0.85,146.0,385.2,20.0,202,5662,0.00,2.05,0.00,0.000,4,0.000,0.028,3169,1050,2387
$GC,5784,0.85,146.0,362.2,18.7,204,5788,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2464,2386
$GC,6036,0.85,146.0,320.0,16.4,210,6040,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1051,2384
$GC,6274,0.85,146.0,283.7,13.4,215,6278,0.00,2.25,0.00,0.000,6,0.000,0.044,3164,2463,2383
$GC,6551,0.85,146.0,250.5,11.4,222,6554,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1037,2382
$GC,6594,0.87,154.8,246.6,9.2,222,6604,0.00,2.28,4.93,0.627,6,0.000,0.041,3164,2473,2368
$GC,6891,0.87,154.8,212.5,11.8,230,6895,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1046,2367
$GC,7153,0.87,154.8,183.0,11.6,244,7158,0.00,2.22,0.00,0.000,6,0.000,0.042,3164,2457,2367
$GC,7423,0.87,154.8,153.0,10.5,269,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2457,2366
$GC,7688,0.92,195.1,131.6,7.8,294,7729,0.00,2.35,35.85,0.709,4,0.000,0.055,3162,3888,2204
$GC,7797,0.92,195.1,117.4,17.7,303,7801,0.00,2.15,0.00,0.000,6,0.000,0.026,3172,2459,2202
$GC,8068,0.92,195.1,73.7,15.5,328,8072,0.00,2.30,0.00,0.000,4,0.000,0.049,3163,3872,2200
$GC,8123,0.92,195.1,64.1,18.9,332,8127,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2446,2200
$GC,8389,0.92,195.1,26.3,15.5,358,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2439,2199
$STATE,8528,end climb,SURFACE_DEPTH_REACHED
$STATE,8528,begin surface coast
$FINISH,0.4,1.023782
$STATE,8546,end surface coast,CONTROL_FINISHED_OK
$STATE,8551,begin surface
$SM_CCo,8578,81.20,0.601,0,0,1573,350.04
$SM_GC,1.68,0.00,0.00,81.20,0.000,0.000,0.601,50,2675,1573,-8.85,0.96,350.04
$IRIDIUM_FIX,2246.36,-15758.45,060600,131356
$TT8_MAMPS,0.023777
$HUMID,1889
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.6,124.159
$10V_AH,10.6,74.249
$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,22.375,69.825,294.000,81.200,0.000,58.860,70.624,284.497,0.250,0.000,0.000,18.442,798.775,5856.929,417.638,1437.198,794.343,33.371,1014.316,0.000,1432.432,0.000,0.544,0.000
$DEVICE_MAMPS,248.508,79.001,1065.363,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,261.715,609.385,628.406,135.078,552.643,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32120,387
$CAP_FILE_SIZE,72087,0
$CFSIZE,260165632,223604736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,130311,155706,2256.593,-15759.174,40,1.4,47,10.1