version: 66.04
glider: 512
mission: 1
dive: 579
start: 2 1 111 18 16 56
data:
$ID,512
$MISSION,1
$DIVE,579
$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,-18495.74
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3420
$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
$GPS1,181107,2250.362,-15758.294,139,0.9,139,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-78.4
$GPS2,181603,2250.381,-15758.307,13,1.7,13,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.249,-0.089
$KALMAN_X,-180215.5,-3715.3,-12.6,205825.2,6072.9
$KALMAN_Y,-535288.2,1031.8,87.6,664006.4,-4391.4
$MHEAD_RNG_PITCHd_Wd,240.2,6321,-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,13,begin dive
$GC,16,-0.84,-155.7,0.0,0.0,0,56,0.00,0.00,-37.78,0.000,2,0.000,0.000,28,2682,2983
$GC,60,-0.84,-155.7,3.5,-6.2,5,101,10.73,2.20,-18.50,0.000,4,0.235,0.041,2572,1244,3964
$GC,197,-0.84,-155.7,40.0,-16.6,23,206,0.00,2.33,0.00,0.000,6,0.000,0.071,2563,2616,3966
$GC,460,-0.84,-155.7,112.0,-26.0,48,464,0.00,2.12,0.00,0.000,4,0.000,0.077,2553,3899,3968
$GC,499,-0.84,-155.7,121.5,-23.0,51,506,0.00,1.85,0.00,0.000,6,0.000,0.025,2554,2654,3968
$GC,763,-0.84,-155.7,180.2,-23.5,76,767,0.00,2.08,0.00,0.000,4,0.000,0.028,2558,1237,3969
$GC,857,-0.84,-155.7,197.3,-13.9,84,861,0.00,2.33,0.00,0.000,6,0.000,0.064,2549,2664,3970
$GC,1130,-0.84,-155.7,249.1,-18.7,92,1134,0.00,2.03,0.00,0.000,4,0.000,0.075,2540,3891,3971
$GC,1176,-0.84,-155.7,258.3,-17.3,93,1181,0.12,1.83,0.00,0.000,6,0.145,0.024,2574,2630,3972
$GC,1466,-0.84,-155.7,299.1,-14.2,100,1469,0.00,2.03,0.00,0.000,4,0.000,0.026,2574,1233,3972
$GC,1545,-0.84,-155.7,308.6,-10.3,101,1549,0.00,2.30,0.00,0.000,6,0.000,0.062,2575,2656,3972
$GC,1797,-0.84,-155.7,341.5,-13.5,107,1800,0.00,2.03,0.00,0.000,4,0.000,0.076,2574,3889,3972
$GC,1820,-0.84,-155.7,345.2,-14.8,107,1823,0.00,1.80,0.00,0.000,6,0.000,0.025,2575,2641,3972
$GC,2087,-0.84,-155.7,380.0,-13.2,114,2091,0.00,2.03,0.00,0.000,4,0.000,0.027,2574,1251,3971
$GC,2126,-0.84,-155.7,384.9,-11.5,114,2132,0.00,2.25,0.00,0.000,6,0.000,0.058,2564,2655,3971
$GC,2378,-0.84,-155.7,416.1,-12.9,121,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2655,3969
$GC,2621,-0.84,-155.7,448.4,-13.4,127,2624,0.00,2.03,0.00,0.000,4,0.000,0.071,2554,3894,3968
$GC,2667,-0.84,-155.7,454.2,-11.2,128,2671,0.00,1.80,0.00,0.000,6,0.000,0.025,2554,2651,3968
$GC,2957,-0.84,-155.7,494.0,-13.7,135,2961,0.00,2.05,0.00,0.000,4,0.000,0.028,2557,1250,3967
$GC,3007,-0.84,-155.7,500.2,-10.4,136,3012,0.00,2.28,0.00,0.000,6,0.000,0.063,2549,2645,3966
$GC,3292,-0.84,-155.7,537.5,-13.5,143,3296,0.00,2.08,0.00,0.000,4,0.000,0.077,2540,3898,3965
$GC,3343,-0.84,-155.7,544.1,-10.9,144,3347,0.12,1.83,0.00,0.000,6,0.127,0.026,2575,2643,3964
$GC,3629,-0.84,-155.7,570.7,-9.4,151,3633,0.00,2.03,0.00,0.000,4,0.000,0.028,2575,1250,3963
$GC,3669,-0.84,-155.7,574.8,-8.6,151,3676,0.00,2.30,0.00,0.000,6,0.000,0.063,2575,2664,3963
$GC,3920,-0.84,-155.7,598.0,-9.2,158,3924,0.00,2.03,0.00,0.000,4,0.000,0.078,2575,3889,3960
$STATE,3940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3940,begin apogee
$GC,3950,-0.32,0.0,600.2,8.8,158,4065,0.47,0.00,112.30,1.042,6,0.101,0.000,2742,2537,3420
$STATE,4066,end apogee,CONTROL_FINISHED_OK
$STATE,4066,begin climb
$GC,4070,0.84,155.7,605.8,0.0,161,4211,1.08,0.00,133.40,1.034,6,0.054,0.000,3135,2536,2785
$GC,4457,1.14,399.9,628.2,-0.5,171,4679,0.20,2.17,211.38,1.021,4,0.077,0.030,3222,1148,1788
$GC,4809,1.14,399.9,517.5,41.3,179,4813,0.00,2.25,0.00,0.000,6,0.000,0.048,3218,2549,1780
$GC,5082,1.14,399.9,396.3,44.1,186,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2548,1778
$GC,5327,1.14,399.9,286.7,45.1,192,5331,0.00,2.08,0.00,0.000,4,0.000,0.030,3227,1150,1777
$GC,5400,1.14,399.9,257.0,36.5,193,5404,0.00,2.22,0.00,0.000,6,0.000,0.051,3227,2558,1775
$GC,5661,1.14,399.9,151.2,39.7,206,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2559,1775
$GC,5917,1.14,399.9,53.4,34.8,230,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2559,1774
$STATE,6060,end climb,SURFACE_DEPTH_REACHED
$STATE,6060,begin surface coast
$FINISH,0.2,1.024068
$STATE,6067,end surface coast,CONTROL_FINISHED_OK
$STATE,6067,begin surface
$SM_CCo,6149,0.00,0.000,0,0,1768,405.23
$SM_GC,1.25,8.45,0.00,0.00,0.048,0.000,0.000,35,2699,1768,-8.70,1.39,405.23
$IRIDIUM_FIX,2239.35,-15757.16,270400,171721
$TT8_MAMPS,0.023777
$HUMID,2046
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.7,76.508
$10V_AH,10.7,43.034
$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,21.175,58.450,457.075,0.000,0.000,29.703,41.253,111.822,0.000,0.000,0.000,13.165,548.852,4109.813,450.280,972.937,371.202,33.327,924.479,0.000,965.664,0.000,0.541,0.000
$DEVICE_MAMPS,234.702,78.234,1041.586,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,169.648,364.289,374.083,81.524,337.118,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19338,252
$CAP_FILE_SIZE,52546,0
$CFSIZE,260165632,238764032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,010211,200019,2249.924,-15759.231,11,2.0,16,10.1