version: 66.04
glider: 512
mission: 1
dive: 980
start: 3 16 111 14 18 49
data:
$ID,512
$MISSION,1
$DIVE,980
$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,-27055.668
$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,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2960
$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
$GPS1,140924,2246.522,-15803.924,36,1.3,37,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.4
$GPS2,141756,2246.570,-15803.961,15,1.2,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.204,0.155
$KALMAN_X,-376822.9,-118.1,-354.9,389456.9,2449.5
$KALMAN_Y,-644361.7,142.0,-31.6,767043.4,-1493.2
$MHEAD_RNG_PITCHd_Wd,297.3,13101,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.85,-146.0,0.0,0.0,0,85,0.00,0.00,-60.40,0.000,2,0.000,0.000,53,2669,3139
$GC,91,-0.85,-146.0,3.5,-3.4,8,116,11.50,1.95,-7.45,0.000,4,0.248,0.064,2584,3876,3557
$GC,316,-0.85,-146.0,65.7,-16.3,32,324,0.00,1.88,0.00,0.000,6,0.000,0.025,2591,2632,3560
$GC,582,-0.85,-146.0,126.8,-20.9,57,585,0.00,2.05,0.00,0.000,4,0.000,0.026,2601,1234,3560
$GC,610,-0.85,-146.0,132.3,-20.0,59,614,0.00,2.28,0.00,0.000,6,0.000,0.057,2592,2615,3561
$GC,879,-0.85,-146.0,181.5,-19.2,84,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2616,3562
$GC,1158,-0.85,-146.0,228.3,-16.7,99,1162,0.00,2.08,0.00,0.000,4,0.000,0.025,2600,1220,3563
$GC,1177,-0.85,-146.0,231.7,-16.3,99,1181,0.00,2.35,0.00,0.000,6,0.000,0.057,2591,2642,3563
$GC,1448,-0.85,-146.0,270.6,-14.8,106,1452,0.00,2.10,0.00,0.000,4,0.000,0.068,2581,3898,3563
$GC,1534,-0.85,-146.0,282.6,-13.3,107,1540,0.00,1.88,0.00,0.000,6,0.000,0.023,2588,2616,3563
$GC,1786,-0.85,-146.0,316.5,-13.4,114,1790,0.00,2.15,0.00,0.000,4,0.000,0.067,2580,3900,3563
$GC,1817,-0.85,-146.0,320.4,-13.1,114,1820,0.00,1.85,0.00,0.000,6,0.000,0.023,2588,2636,3564
$GC,2083,-0.85,-146.0,351.3,-11.9,121,2086,0.00,2.05,0.00,0.000,4,0.000,0.027,2598,1244,3563
$GC,2141,-0.85,-146.0,358.1,-8.8,122,2145,0.00,2.33,0.00,0.000,6,0.000,0.055,2589,2654,3563
$GC,2416,-0.85,-146.0,390.1,-12.1,129,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2653,3561
$GC,2659,-0.85,-146.0,416.7,-10.7,135,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2653,3559
$GC,2904,-0.85,-146.0,440.4,-9.6,141,2908,0.00,2.08,0.00,0.000,4,0.000,0.068,2580,3893,3558
$GC,2952,-0.85,-146.0,445.3,-9.0,142,2956,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2636,3557
$GC,3245,-0.85,-146.0,473.9,-10.1,149,3248,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1234,3556
$GC,3274,-0.85,-146.0,477.0,-10.0,149,3279,0.00,2.30,0.00,0.000,6,0.000,0.055,2590,2644,3555
$GC,3533,-0.85,-146.0,503.6,-10.6,156,3537,0.00,2.10,0.00,0.000,4,0.000,0.067,2580,3901,3553
$GC,3585,-0.85,-146.0,509.5,-10.9,157,3589,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2634,3552
$GC,3874,-0.85,-146.0,539.8,-10.5,164,3877,0.00,2.15,0.00,0.000,4,0.000,0.068,2580,3883,3550
$GC,3903,-0.85,-146.0,543.4,-11.7,164,3907,0.00,1.88,0.00,0.000,6,0.000,0.026,2586,2642,3550
$GC,4168,-0.85,-146.0,571.6,-10.8,171,4172,0.00,2.10,0.00,0.000,4,0.000,0.029,2597,1237,3548
$GC,4221,-0.85,-146.0,576.9,-8.6,172,4226,0.00,2.33,0.00,0.000,6,0.000,0.057,2589,2638,3548
$STATE,4456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4456,begin apogee
$GC,4468,-0.32,0.0,600.6,10.0,178,4593,0.62,0.00,122.45,1.070,6,0.146,0.000,2768,2481,2960
$STATE,4594,end apogee,CONTROL_FINISHED_OK
$STATE,4594,begin climb
$GC,4599,0.85,146.0,606.8,0.0,181,4736,1.10,2.25,128.85,1.052,4,0.074,0.029,3161,1037,2363
$GC,4913,0.85,146.0,567.0,23.1,188,4917,0.00,2.30,0.00,0.000,6,0.000,0.047,3160,2467,2355
$GC,5193,0.85,146.0,498.6,24.9,195,5196,0.00,2.15,0.00,0.000,4,0.000,0.029,3171,1037,2351
$GC,5426,0.85,146.0,446.8,22.6,200,5430,0.00,2.28,0.00,0.000,6,0.000,0.046,3162,2464,2350
$GC,5711,0.85,146.0,384.5,21.5,207,5715,0.00,2.15,0.00,0.000,4,0.000,0.030,3171,1030,2348
$GC,5776,0.85,146.0,372.5,17.9,208,5780,0.00,2.30,0.00,0.000,6,0.000,0.045,3163,2469,2348
$GC,6045,0.85,146.0,319.6,19.0,215,6048,0.00,2.15,0.00,0.000,4,0.000,0.029,3172,1034,2347
$GC,6182,0.85,146.0,295.9,16.1,218,6186,0.00,2.30,0.00,0.000,6,0.000,0.045,3163,2472,2346
$GC,6468,0.85,146.0,254.2,13.6,225,6472,0.00,2.30,0.00,0.000,4,0.000,0.054,3163,3872,2345
$GC,6621,0.85,146.0,232.8,12.9,228,6625,0.00,2.15,0.00,0.000,6,0.000,0.027,3172,2446,2342
$GC,6891,0.85,146.0,199.5,12.4,235,6895,0.00,2.35,0.00,0.000,4,0.000,0.049,3163,3881,2342
$GC,7005,0.85,146.0,182.0,16.4,244,7012,0.00,2.17,0.00,0.000,6,0.000,0.027,3172,2463,2342
$GC,7271,0.85,146.0,148.7,12.3,269,7275,0.00,2.12,0.00,0.000,4,0.000,0.028,3182,1030,2342
$GC,7531,0.85,146.0,121.7,10.5,292,7535,0.00,2.28,0.00,0.000,6,0.000,0.041,3176,2471,2342
$GC,7796,0.98,246.4,102.5,5.2,316,7883,0.00,2.38,81.47,0.700,4,0.000,0.053,3176,3875,1954
$GC,7995,0.98,246.4,64.7,23.3,333,8004,0.00,2.17,0.00,0.000,6,0.000,0.026,3184,2471,1951
$STATE,8255,end climb,SURFACE_DEPTH_REACHED
$STATE,8255,begin surface coast
$FINISH,0.4,1.002268
$STATE,8267,end surface coast,CONTROL_FINISHED_OK
$STATE,8267,begin surface
$SM_CCo,8294,50.65,0.603,0,0,1531,350.04
$SM_GC,1.31,0.00,0.00,50.65,0.000,0.000,0.603,46,2660,1531,-8.86,0.57,350.04
$IRIDIUM_FIX,2237.01,-15805.41,090600,111126
$TT8_MAMPS,0.023777
$HUMID,1945
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.6,127.653
$10V_AH,10.6,76.739
$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,22.300,81.975,332.775,50.650,0.000,23.971,47.022,275.991,0.000,0.000,0.000,15.771,793.175,5444.544,414.720,1478.065,730.232,33.381,1048.114,0.000,1464.750,0.000,0.541,0.000
$DEVICE_MAMPS,247.741,68.263,1069.965,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,248.997,577.765,595.059,121.056,500.503,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28866,369
$CAP_FILE_SIZE,72368,0
$CFSIZE,260165632,222453760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,160311,163930,2247.206,-15804.828,32,1.0,47,10.1