version: 66.04
glider: 512
mission: 1
dive: 992
start: 3 17 111 22 2 29
data:
$ID,512
$MISSION,1
$DIVE,992
$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,623.29712
$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,-27354.842
$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,45
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2940
$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
$GPS1,212607,2255.496,-15804.479,31,1.1,32,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.4
$GPS2,220137,2255.520,-15804.707,14,1.7,19,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.218,0.135
$KALMAN_X,-384216.3,-24.3,393.3,394706.5,-2719.7
$KALMAN_Y,-654651.2,106.0,18.4,793888.4,-1681.4
$MHEAD_RNG_PITCHd_Wd,48.2,16147,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.85,-146.0,0.0,0.0,0,77,0.00,0.00,-52.75,0.000,2,0.000,0.000,38,2652,2907
$GC,83,-0.85,-146.0,3.2,-4.4,7,115,11.40,2.03,-12.95,0.000,4,0.242,0.064,2585,3872,3537
$GC,142,-0.85,-146.0,20.2,-31.4,15,150,0.00,1.85,0.00,0.000,6,0.000,0.022,2593,2630,3538
$GC,417,-0.85,-146.0,93.9,-24.7,43,421,0.00,2.10,0.00,0.000,4,0.000,0.060,2585,3887,3539
$GC,467,-0.85,-146.0,107.4,-26.9,47,471,0.00,1.83,0.00,0.000,6,0.000,0.022,2592,2643,3539
$GC,738,-0.85,-146.0,162.1,-17.4,72,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2636,3540
$GC,1000,-0.85,-146.0,208.2,-16.8,94,1003,0.00,2.08,0.00,0.000,4,0.000,0.024,2602,1217,3540
$GC,1047,-0.85,-146.0,215.2,-12.9,95,1051,0.00,2.30,0.00,0.000,6,0.000,0.054,2593,2628,3540
$GC,1332,-0.85,-146.0,255.5,-14.4,102,1336,0.00,2.08,0.00,0.000,4,0.000,0.061,2583,3898,3540
$GC,1362,-0.85,-146.0,260.1,-15.3,102,1366,0.00,1.88,0.00,0.000,6,0.000,0.021,2590,2624,3540
$GC,1626,-0.85,-146.0,295.3,-12.9,109,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2616,3539
$GC,1869,-0.85,-146.0,328.8,-13.8,115,1872,0.00,2.12,0.00,0.000,4,0.000,0.061,2582,3897,3539
$GC,1910,-0.85,-146.0,333.9,-11.5,115,1917,0.00,1.85,0.00,0.000,6,0.000,0.023,2590,2643,3538
$GC,2162,-0.85,-146.0,363.9,-12.0,122,2166,0.00,2.05,0.00,0.000,4,0.000,0.025,2600,1237,3537
$GC,2204,-0.85,-146.0,368.2,-9.2,122,2210,0.00,2.28,0.00,0.000,6,0.000,0.050,2591,2648,3537
$GC,2456,-0.85,-146.0,395.2,-11.0,129,2460,0.00,2.05,0.00,0.000,4,0.000,0.061,2581,3901,3534
$GC,2525,-0.85,-146.0,403.1,-11.0,130,2529,0.00,1.85,0.00,0.000,6,0.000,0.023,2588,2634,3533
$GC,2797,-0.85,-146.0,434.1,-11.7,137,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2627,3531
$GC,3038,-0.85,-146.0,461.0,-10.7,143,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2627,3529
$GC,3282,-0.85,-146.0,486.5,-10.4,149,3286,0.00,2.12,0.00,0.000,4,0.000,0.061,2580,3898,3526
$GC,3331,-0.85,-146.0,491.4,-9.4,150,3335,0.00,1.85,-0.08,0.000,6,0.000,0.024,2587,2640,3552
$GC,3623,-0.85,-146.0,520.3,-10.0,157,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2633,3550
$GC,3866,-0.85,-146.0,546.0,-10.4,163,3869,0.00,2.12,0.00,0.000,4,0.000,0.064,2580,3890,3547
$GC,3901,-0.85,-146.0,549.9,-11.0,163,3905,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2641,3547
$GC,4159,-0.85,-146.0,573.6,-9.0,170,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2634,3545
$GC,4405,-0.85,-146.0,593.6,-8.3,176,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2634,3543
$STATE,4479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4479,begin apogee
$GC,4490,-0.32,0.0,600.5,8.4,178,4619,0.65,0.00,125.40,1.068,6,0.151,0.000,2773,2480,2940
$STATE,4620,end apogee,CONTROL_FINISHED_OK
$STATE,4620,begin climb
$GC,4625,0.85,146.0,604.8,0.0,181,4761,1.10,2.30,128.48,1.045,4,0.071,0.029,3164,1038,2343
$GC,4993,0.85,146.0,544.4,22.7,189,4997,0.00,2.28,0.00,0.000,6,0.000,0.044,3162,2461,2334
$GC,5269,0.85,146.0,476.1,24.2,196,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2461,2331
$GC,5512,0.85,146.0,421.9,22.2,202,5516,0.00,2.17,0.00,0.000,4,0.000,0.031,3172,1024,2329
$GC,5565,0.85,146.0,410.9,19.8,203,5569,0.00,2.30,0.00,0.000,6,0.000,0.048,3162,2457,2329
$GC,5850,0.85,146.0,351.5,20.7,210,5854,0.00,2.15,0.00,0.000,4,0.000,0.030,3172,1032,2326
$GC,6034,0.85,146.0,317.6,17.8,214,6038,0.00,2.33,0.00,0.000,6,0.000,0.044,3163,2472,2326
$GC,6320,0.85,146.0,267.9,17.6,221,6324,0.00,2.17,0.00,0.000,4,0.000,0.028,3172,1026,2324
$GC,6384,0.85,146.0,257.6,14.1,222,6388,0.00,2.30,0.00,0.000,6,0.000,0.044,3163,2459,2325
$GC,6652,0.85,146.0,216.0,15.5,229,6657,0.00,2.33,0.00,0.000,4,0.000,0.057,3162,3872,2323
$GC,6728,0.85,146.0,204.0,16.6,230,6732,0.00,2.17,0.00,0.000,6,0.000,0.026,3172,2427,2322
$GC,6991,0.85,146.0,166.9,13.7,251,6994,0.00,2.05,0.00,0.000,4,0.000,0.027,3182,1048,2322
$GC,7106,0.85,146.0,151.0,13.3,261,7110,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2471,2322
$GC,7375,0.85,146.0,116.9,10.3,286,7379,0.00,2.12,0.00,0.000,4,0.000,0.027,3185,1037,2322
$GC,7415,0.85,146.0,112.7,11.3,289,7420,0.00,2.28,0.00,0.000,6,0.000,0.042,3176,2467,2322
$GC,7682,0.87,157.7,88.2,9.1,313,7695,0.00,2.35,7.62,0.595,4,0.000,0.050,3176,3880,2295
$GC,7766,0.87,157.7,79.1,11.4,320,7770,0.00,2.12,0.00,0.000,6,0.000,0.025,3185,2458,2295
$GC,8039,0.88,163.6,51.3,9.4,345,8053,0.00,2.12,6.65,0.538,4,0.000,0.026,3195,1054,2274
$GC,8061,0.92,200.1,49.3,8.0,346,8099,0.00,2.25,32.38,0.633,6,0.000,0.044,3192,2455,2124
$STATE,8332,end climb,SURFACE_DEPTH_REACHED
$STATE,8332,begin surface coast
$FINISH,0.5,1.023712
$STATE,8345,end surface coast,CONTROL_FINISHED_OK
$STATE,8345,begin surface
$SM_CCo,8372,213.18,0.602,0,0,398,623.30
$SM_GC,1.24,0.00,0.00,213.18,0.000,0.000,0.602,47,2671,398,-8.85,0.88,623.30
$IRIDIUM_FIX,2246.36,-15803.66,100600,222225
$TT8_MAMPS,0.023777
$HUMID,1868
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.7,129.265
$10V_AH,10.6,77.839
$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,22.225,76.850,300.525,213.175,0.000,130.749,290.688,1273.860,0.000,0.000,0.000,20.018,793.332,5849.144,554.340,1423.375,2098.680,33.373,1139.717,0.000,1413.439,0.000,0.544,0.000
$DEVICE_MAMPS,241.605,64.428,1068.431,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,260.446,618.371,635.692,141.444,576.995,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31992,385
$CAP_FILE_SIZE,77439,0
$CFSIZE,260165632,221941760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,180311,002707,2255.782,-15803.970,42,0.9,42,10.1