version: 66.04
glider: 512
mission: 1
dive: 386
start: 1 15 111 12 31 39
data:
$ID,512
$MISSION,1
$DIVE,386
$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,120
$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,-13206.921
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2800
$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,45
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$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
$GPS1,122632,2249.751,-15756.444,14,1.5,14,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-79.1
$GPS2,123044,2249.784,-15756.458,12,2.0,12,10.1
$SPEED_LIMITS,0.167,0.232
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.185,0.139
$KALMAN_X,-153892.3,-3299.5,222.4,182031.8,2035.2
$KALMAN_Y,-345808.1,-372.1,492.3,474413.6,-8397.3
$MHEAD_RNG_PITCHd_Wd,296.8,5642,-19.1,-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,15,-0.91,-116.8,0.0,0.0,0,79,0.00,0.00,-61.80,0.000,2,0.000,0.000,44,2556,3042
$GC,82,-0.91,-116.8,3.5,-6.0,8,114,10.70,2.12,-15.15,0.000,4,0.250,0.042,2505,1128,3844
$GC,214,-0.91,-116.8,50.7,-27.4,24,219,0.00,2.53,0.00,0.000,6,0.000,0.100,2495,2560,3846
$GC,476,-0.91,-116.8,158.4,-36.1,48,480,0.00,2.28,0.00,0.000,4,0.000,0.091,2485,3892,3848
$GC,574,-0.91,-116.8,188.2,-26.3,56,577,0.00,2.00,0.00,0.000,6,0.000,0.029,2493,2539,3848
$GC,862,-0.91,-116.8,274.2,-29.6,66,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2532,3850
$GC,1104,-0.91,-116.8,339.2,-26.1,72,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2532,3851
$GC,1348,-0.91,-116.8,399.1,-24.7,78,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2532,3851
$GC,1592,-0.91,-116.8,452.8,-21.6,84,1596,0.00,2.50,0.00,0.000,4,0.000,0.117,2483,3896,3851
$GC,1697,-0.91,-116.8,474.4,-18.3,86,1701,0.00,2.03,0.00,0.000,6,0.000,0.031,2492,2535,3851
$GC,1964,-0.91,-116.8,529.5,-20.6,93,1969,0.00,2.53,0.00,0.000,4,0.000,0.120,2482,3897,3849
$GC,2009,-0.91,-116.8,538.9,-20.1,94,2012,0.00,2.00,0.00,0.000,6,0.000,0.031,2491,2549,3849
$GC,2294,-0.91,-116.8,594.2,-19.8,101,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2542,3848
$STATE,2330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2330,begin apogee
$GC,2337,-0.32,0.0,602.0,19.6,102,2437,0.73,0.00,97.62,1.039,6,0.191,0.000,2688,2540,3366
$STATE,2438,end apogee,CONTROL_FINISHED_OK
$STATE,2438,begin climb
$GC,2441,0.91,116.8,607.1,0.0,104,2544,1.17,0.00,98.90,1.025,6,0.091,0.000,3084,2540,2890
$GC,2767,1.33,464.7,643.1,-9.7,112,3072,0.40,2.28,296.38,1.045,4,0.100,0.034,3231,1149,1471
$GC,3224,1.33,464.7,488.8,46.8,122,3230,0.00,2.35,0.00,0.000,6,0.000,0.058,3231,2561,1466
$GC,3474,1.33,464.7,354.1,55.2,129,3477,0.00,2.17,0.00,0.000,4,0.000,0.035,3240,1145,1464
$GC,3501,1.33,464.7,338.6,54.3,129,3505,0.00,2.25,0.00,0.000,6,0.000,0.051,3240,2553,1464
$GC,3764,1.33,464.7,203.3,51.8,136,3767,0.00,2.12,0.00,0.000,4,0.000,0.037,3250,1151,1462
$GC,3814,1.33,464.7,178.2,46.0,137,3821,0.00,2.28,0.00,0.000,6,0.000,0.057,3244,2543,1462
$GC,4077,1.33,464.7,55.4,45.8,162,4081,0.00,2.12,0.00,0.000,4,0.000,0.035,3254,1141,1461
$GC,4112,1.33,464.7,38.1,50.2,165,4116,0.00,2.25,0.00,0.000,6,0.000,0.051,3254,2565,1460
$STATE,4181,end climb,SURFACE_DEPTH_REACHED
$STATE,4182,begin surface coast
$FINISH,-0.1,1.024044
$STATE,4189,end surface coast,CONTROL_FINISHED_OK
$STATE,4189,begin surface
$SM_CCo,4269,0.00,0.000,0,0,1455,469.01
$SM_GC,0.79,9.02,0.00,0.00,0.077,0.000,0.000,53,2575,1455,-8.54,0.71,469.01
$IRIDIUM_FIX,2241.69,-15746.73,100400,111139
$TT8_MAMPS,0.023777
$HUMID,2033
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,16.20
$XPDR_PINGS,2
$24V_AH,23.8,49.729
$10V_AH,10.7,29.429
$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,22.025,35.800,492.900,0.000,0.000,28.696,32.973,96.767,0.500,0.000,0.000,13.085,387.353,2698.786,456.168,718.889,274.537,33.330,846.134,0.000,713.141,0.000,0.540,0.000
$DEVICE_MAMPS,250.042,119.652,1045.421,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,118.501,260.837,268.482,59.545,245.796,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,13057,177
$CAP_FILE_SIZE,38277,0
$CFSIZE,260165632,245850112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,150111,134337,2250.211,-15757.098,9,1.7,14,10.1