version: 66.04
glider: 512
mission: 1
dive: 195
start: 1 1 111 15 39 15
data:
$ID,512
$MISSION,1
$DIVE,195
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,420
$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,-9267.5391
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2600
$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
$GPS1,153407,2250.048,-15754.997,39,1.3,39,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.7
$GPS2,153819,2250.048,-15755.012,10,1.5,15,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.093,0.221
$KALMAN_X,-83164.2,3609.5,113.3,106983.3,-6805.9
$KALMAN_Y,-205116.5,1043.9,365.6,332925.9,-8131.0
$MHEAD_RNG_PITCHd_Wd,12.8,3395,-14.1,-8.013
$D_GRID,500
$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,13,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-84.57,0.000,2,0.000,0.000,43,2564,3130
$GC,104,-0.74,-146.0,3.4,-4.6,11,122,11.48,2.28,-1.30,0.000,4,0.262,0.091,2589,3899,3197
$GC,179,-0.74,-146.0,31.5,-27.9,23,188,0.00,2.05,0.00,0.000,6,0.000,0.029,2597,2545,3199
$GC,441,-0.74,-146.0,94.0,-23.3,48,445,0.00,2.38,0.00,0.000,4,0.000,0.096,2588,3898,3201
$GC,528,-0.74,-146.0,115.3,-21.8,55,532,0.00,2.00,0.00,0.000,6,0.000,0.028,2597,2545,3201
$GC,795,-0.74,-146.0,164.5,-17.5,80,799,0.00,2.03,0.00,0.000,4,0.000,0.028,2607,1141,3203
$GC,810,-0.74,-146.0,167.6,-17.6,81,819,0.00,2.35,0.00,0.000,6,0.000,0.070,2598,2549,3203
$GC,1089,-0.74,-146.0,214.8,-16.3,102,1093,0.00,2.25,0.00,0.000,4,0.000,0.081,2587,3901,3204
$GC,1177,-0.74,-146.0,229.9,-16.1,104,1181,0.00,2.00,0.00,0.000,6,0.000,0.028,2595,2557,3204
$GC,1462,-0.74,-146.0,268.8,-13.5,111,1466,0.00,2.33,0.00,0.000,4,0.000,0.097,2586,3896,3204
$GC,1533,-0.74,-146.0,279.0,-13.1,112,1537,0.00,2.00,0.00,0.000,6,0.000,0.028,2594,2545,3204
$GC,1788,-0.74,-146.0,311.8,-12.5,119,1792,0.00,2.05,0.00,0.000,4,0.000,0.028,2605,1137,3204
$GC,1815,-0.74,-146.0,315.7,-13.3,119,1820,0.00,2.35,0.00,0.000,6,0.000,0.069,2595,2554,3204
$GC,2077,-0.74,-146.0,348.2,-12.5,126,2081,0.00,2.22,0.00,0.000,4,0.000,0.081,2584,3896,3203
$GC,2104,-0.74,-146.0,352.1,-13.6,126,2108,0.00,2.00,0.00,0.000,6,0.000,0.029,2592,2552,3203
$GC,2365,-0.74,-146.0,384.6,-12.4,133,2369,0.00,2.35,0.00,0.000,4,0.000,0.099,2583,3896,3202
$GC,2398,-0.74,-146.0,389.0,-13.1,133,2404,0.00,1.98,0.00,0.000,6,0.000,0.030,2591,2552,3202
$GC,2647,-0.74,-146.0,420.7,-12.5,140,2651,0.00,2.35,0.00,0.000,4,0.000,0.099,2582,3895,3201
$GC,2781,-0.74,-146.0,439.4,-13.6,143,2785,0.00,2.00,0.00,0.000,6,0.000,0.031,2589,2554,3200
$GC,3064,-0.74,-146.0,476.5,-12.9,150,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2547,3198
$STATE,3266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3266,begin apogee
$GC,3270,-0.32,0.0,501.7,12.4,155,3393,0.55,0.00,120.22,0.961,6,0.181,0.000,2744,2545,2600
$STATE,3394,end apogee,CONTROL_FINISHED_OK
$STATE,3394,begin climb
$GC,3396,0.74,146.0,505.4,0.0,158,3529,1.12,2.22,125.28,0.949,4,0.128,0.032,3095,1154,2003
$GC,3556,0.74,146.0,472.6,29.5,162,3560,0.00,2.30,0.00,0.000,6,0.000,0.051,3095,2553,1999
$GC,3839,0.74,146.0,382.7,32.3,169,3843,0.00,2.12,0.00,0.000,4,0.000,0.034,3106,1155,1993
$GC,3922,0.74,146.0,358.4,27.6,170,3929,0.00,2.28,0.00,0.000,6,0.000,0.053,3106,2545,1991
$GC,4172,0.74,146.0,281.2,31.0,177,4176,0.00,2.10,0.00,0.000,4,0.000,0.035,3117,1153,1989
$GC,4266,0.74,146.0,255.4,25.4,179,4271,0.00,2.25,0.00,0.000,6,0.000,0.051,3110,2546,1988
$GC,4524,0.74,146.0,185.0,27.3,189,4528,0.00,2.12,0.00,0.000,4,0.000,0.034,3120,1145,1986
$GC,4596,0.74,146.0,165.6,24.1,195,4605,0.10,2.28,0.00,0.000,6,0.211,0.051,3094,2555,1986
$GC,4858,0.74,146.0,99.0,23.1,220,4862,0.00,2.10,0.00,0.000,4,0.000,0.031,3105,1147,1985
$GC,4906,0.74,146.0,89.1,17.8,224,4915,0.00,2.22,0.00,0.000,6,0.000,0.051,3105,2543,1984
$GC,5170,0.74,146.0,30.6,23.8,249,5174,0.00,2.17,0.00,0.000,4,0.000,0.062,3105,3902,1984
$GC,5278,0.74,146.0,4.2,23.1,268,5287,0.00,2.03,0.00,0.000,6,0.000,0.031,3116,2557,1983
$STATE,5293,end climb,SURFACE_DEPTH_REACHED
$STATE,5293,begin surface coast
$FINISH,0.1,1.023694
$STATE,5305,end surface coast,CONTROL_FINISHED_OK
$STATE,5305,begin surface
$SM_CCo,5322,122.12,0.616,0,0,886,420.19
$SM_GC,1.02,0.00,0.00,122.12,0.000,0.000,0.616,50,2546,886,-8.75,-0.11,420.19
$IRIDIUM_FIX,2241.69,-15757.16,270300,141403
$TT8_MAMPS,0.02301
$HUMID,1822
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,20.90
$XPDR_PINGS,1
$24V_AH,24.4,29.798
$10V_AH,10.8,16.791
$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,21.750,65.150,245.500,122.125,0.000,24.001,34.862,110.589,0.250,0.000,0.000,15.282,577.155,3394.550,471.129,1004.579,267.466,33.323,885.289,0.000,1005.492,0.000,0.542,0.000
$DEVICE_MAMPS,261.547,98.943,961.051,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,182.724,460.051,474.487,108.327,451.826,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22501,272
$CAP_FILE_SIZE,50598,0
$CFSIZE,260165632,252039168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,010111,171044,2250.746,-15754.471,10,1.3,10,10.1