version: 66.04
glider: 512
mission: 1
dive: 408
start: 1 17 111 1 53 14
data:
$ID,512
$MISSION,1
$DIVE,408
$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,160
$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,-13684.578
$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,62
$R_STBD_OVSHOOT,23
$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
$GPS1,014637,2248.014,-15757.220,11,2.0,22,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-78.6
$GPS2,015225,2248.031,-15757.218,15,1.5,20,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.138,0.225
$KALMAN_X,-164414.1,2002.4,-106.5,186267.7,-4191.5
$KALMAN_Y,-360215.1,595.7,9.2,485099.8,-7527.3
$MHEAD_RNG_PITCHd_Wd,21.4,2152,-16.2,-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,-0.84,-155.7,0.0,0.0,0,87,0.00,0.00,-68.85,0.000,2,0.000,0.000,38,2571,3234
$GC,90,-0.84,-155.7,3.8,-5.7,9,122,11.70,2.15,-12.48,0.000,4,0.265,0.044,2577,1162,3959
$GC,233,-0.84,-155.7,49.5,-16.1,26,238,0.00,2.42,0.00,0.000,6,0.000,0.096,2568,2542,3962
$GC,495,-0.84,-155.7,130.1,-31.3,50,499,0.00,2.33,0.00,0.000,4,0.000,0.088,2556,3910,3962
$GC,606,-0.84,-155.7,156.8,-15.5,59,613,0.00,2.03,0.00,0.000,6,0.000,0.028,2562,2561,3963
$GC,886,-0.84,-155.7,221.5,-24.0,80,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2554,3965
$GC,1130,-0.84,-155.7,270.2,-19.2,86,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2554,3966
$GC,1372,-0.84,-155.7,312.3,-16.8,92,1376,0.00,2.47,0.00,0.000,4,0.000,0.117,2553,3906,3966
$GC,1416,-0.84,-155.7,319.8,-15.2,93,1420,0.00,2.03,0.00,0.000,6,0.000,0.031,2560,2536,3966
$GC,1699,-0.84,-155.7,365.4,-16.4,100,1703,0.00,2.50,0.00,0.000,4,0.000,0.116,2551,3897,3967
$GC,1726,-0.84,-155.7,370.1,-17.0,100,1730,0.00,2.00,0.00,0.000,6,0.000,0.031,2559,2541,3967
$GC,1989,-0.84,-155.7,409.8,-15.2,107,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2534,3966
$GC,2231,-0.84,-155.7,446.7,-15.2,113,2235,0.00,2.50,0.00,0.000,4,0.000,0.117,2550,3898,3965
$GC,2298,-0.84,-155.7,456.8,-13.1,114,2302,0.00,2.00,0.00,0.000,6,0.000,0.031,2558,2561,3965
$GC,2560,-0.84,-155.7,496.4,-15.6,121,2564,0.00,2.47,0.00,0.000,4,0.000,0.117,2549,3904,3964
$GC,2587,-0.84,-155.7,501.1,-16.1,121,2591,0.00,2.05,0.00,0.000,6,0.000,0.035,2557,2539,3964
$GC,2845,-0.84,-155.7,538.7,-14.6,128,2849,0.00,2.50,0.00,0.000,4,0.000,0.115,2547,3900,3961
$GC,2894,-0.84,-155.7,546.3,-13.1,129,2898,0.00,2.00,0.00,0.000,6,0.000,0.031,2555,2549,3961
$GC,3174,-0.84,-155.7,586.3,-14.6,136,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2542,3960
$STATE,3292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3292,begin apogee
$GC,3298,-0.32,0.0,603.8,14.4,139,3422,0.65,0.00,120.57,1.080,6,0.164,0.000,2744,2540,3368
$STATE,3423,end apogee,CONTROL_FINISHED_OK
$STATE,3423,begin climb
$GC,3426,0.84,155.7,612.7,0.0,142,3563,1.15,0.00,133.55,1.058,6,0.097,0.000,3116,2540,2731
$GC,3821,0.90,199.6,618.6,7.8,152,3864,0.00,2.22,37.33,1.044,4,0.000,0.033,3127,1144,2553
$GC,4033,0.90,199.6,585.2,17.5,156,4037,0.00,2.33,0.00,0.000,6,0.000,0.059,3124,2558,2549
$GC,4283,0.90,199.6,543.8,16.1,162,4287,0.00,2.12,0.00,0.000,4,0.000,0.031,3133,1137,2544
$GC,4378,0.90,199.6,530.0,13.9,164,4382,0.00,2.30,0.00,0.000,6,0.000,0.061,3133,2556,2544
$GC,4658,0.90,199.6,493.8,12.4,171,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2556,2542
$GC,4899,0.90,199.6,465.9,11.4,177,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2556,2540
$GC,5143,0.90,199.6,437.1,11.9,183,5146,0.00,2.20,0.00,0.000,4,0.000,0.071,3133,3900,2540
$GC,5400,0.90,199.6,403.2,13.3,188,5404,0.00,2.00,0.00,0.000,6,0.000,0.033,3143,2550,2538
$GC,5656,0.90,199.6,374.3,10.8,195,5660,0.00,2.22,0.00,0.000,4,0.000,0.066,3137,3903,2537
$GC,5914,0.90,199.6,342.8,12.9,200,5917,0.00,2.03,0.00,0.000,6,0.000,0.033,3146,2540,2537
$GC,6169,0.90,199.6,316.0,10.2,207,6173,0.00,2.22,0.00,0.000,4,0.000,0.064,3146,3897,2535
$GC,6394,0.90,199.6,294.7,10.7,212,6398,0.00,2.00,0.00,0.000,6,0.000,0.031,3155,2544,2535
$GC,6686,0.90,202.2,267.2,9.5,219,6689,0.00,2.20,0.00,0.000,4,0.000,0.061,3150,3898,2535
$GC,6736,0.91,211.2,262.3,9.2,220,6750,0.00,2.00,8.60,0.765,6,0.000,0.032,3159,2542,2505
$GC,7018,0.92,222.6,236.9,9.1,227,7031,0.00,0.00,11.48,0.784,6,0.000,0.000,3159,2542,2459
$GC,7262,0.94,235.2,214.2,9.1,233,7280,0.00,2.15,12.18,0.770,4,0.000,0.031,3169,1138,2408
$GC,7292,0.94,235.2,211.2,10.4,233,7296,0.00,2.30,0.00,0.000,6,0.000,0.055,3163,2560,2407
$GC,7548,0.94,235.2,179.7,14.0,248,7552,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1146,2405
$GC,7598,0.94,235.2,173.2,12.1,252,7606,0.00,2.28,0.00,0.000,6,0.000,0.052,3166,2545,2405
$GC,7862,0.99,280.6,143.9,7.7,277,7907,0.00,2.22,38.92,0.757,4,0.000,0.067,3163,3896,2222
$GC,7991,0.99,280.6,123.1,22.5,288,7999,0.00,2.05,0.00,0.000,6,0.000,0.031,3171,2574,2219
$GC,8254,0.99,280.6,79.6,18.4,313,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2568,2217
$GC,8509,0.99,280.6,31.8,19.3,337,8512,0.00,2.17,0.00,0.000,4,0.000,0.062,3163,3900,2217
$GC,8554,0.99,280.6,22.8,19.6,344,8562,0.00,2.05,0.00,0.000,6,0.000,0.030,3172,2542,2217
$STATE,8657,end climb,SURFACE_DEPTH_REACHED
$STATE,8658,begin surface coast
$FINISH,0.2,1.024031
$STATE,8675,end surface coast,CONTROL_FINISHED_OK
$STATE,8675,begin surface
$SM_CCo,8694,34.40,0.619,0,0,1939,350.04
$SM_GC,1.32,0.00,0.00,34.40,0.000,0.000,0.619,49,2535,1939,-8.76,-0.42,350.04
$IRIDIUM_FIX,2241.69,-15757.16,120400,000020
$TT8_MAMPS,0.023777
$HUMID,1825
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.9,52.764
$10V_AH,10.7,30.723
$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,22.200,74.650,362.625,34.400,0.000,24.227,52.413,166.577,0.000,0.000,0.000,20.465,782.113,6004.150,462.409,1409.008,429.366,33.333,1060.628,0.000,1393.980,0.000,0.541,0.000
$DEVICE_MAMPS,264.615,117.351,1079.936,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,247.422,539.630,553.819,116.546,482.532,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28777,366
$CAP_FILE_SIZE,70149,0
$CFSIZE,260165632,245092352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,170111,042055,2248.189,-15757.229,93,1.8,93,10.1