version: 66.04
glider: 512
mission: 1
dive: 797
start: 2 24 111 16 54 19
data:
$ID,512
$MISSION,1
$DIVE,797
$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,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,-23047.547
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2870
$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,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,80
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3100
$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
$GPS1,163946,2248.984,-15755.385,9,2.6,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.6
$GPS2,165326,2248.885,-15755.386,14,1.8,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.007,-0.256
$KALMAN_X,-265063.5,758.5,90.4,291115.6,-1801.1
$KALMAN_Y,-519303.6,41.3,-252.4,646598.1,1600.2
$MHEAD_RNG_PITCHd_Wd,171.6,5402,-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,21,-0.85,-146.0,0.0,0.0,0,68,0.00,0.00,-45.17,0.000,2,0.000,0.000,35,2597,2823
$GC,73,-0.85,-146.0,3.1,-4.2,6,113,11.65,2.03,-18.27,0.000,4,0.246,0.041,2591,1256,3698
$GC,219,-0.85,-146.0,35.9,-18.8,28,223,0.00,2.25,0.00,0.000,6,0.000,0.054,2581,2640,3699
$GC,489,-0.85,-146.0,105.4,-25.2,53,493,0.00,2.05,0.00,0.000,4,0.000,0.066,2571,3906,3700
$GC,541,-0.85,-146.0,118.4,-21.4,57,548,0.00,1.85,0.00,0.000,6,0.000,0.025,2576,2668,3700
$GC,806,-0.85,-146.0,170.2,-20.8,82,809,0.00,2.10,0.00,0.000,4,0.000,0.026,2586,1222,3701
$GC,868,-0.85,-146.0,181.4,-13.7,87,876,0.00,2.35,0.00,0.000,6,0.000,0.062,2576,2635,3702
$GC,1145,-0.85,-146.0,232.0,-19.2,102,1148,0.00,2.08,0.00,0.000,4,0.000,0.025,2585,1225,3702
$GC,1157,-0.85,-146.0,234.7,-19.0,102,1161,0.00,2.25,0.00,0.000,6,0.000,0.049,2575,2651,3702
$GC,1431,-0.85,-146.0,279.7,-15.8,109,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2652,3702
$GC,1674,-0.85,-146.0,318.5,-16.0,115,1678,0.00,2.10,0.00,0.000,4,0.000,0.025,2584,1215,3702
$GC,1686,-0.85,-146.0,320.6,-15.8,115,1690,0.00,2.28,0.00,0.000,6,0.000,0.054,2574,2635,3702
$GC,1959,-0.85,-146.0,358.0,-13.6,122,1963,0.00,2.08,0.00,0.000,4,0.000,0.067,2564,3908,3701
$GC,2006,-0.85,-146.0,364.4,-13.0,123,2011,0.00,1.90,0.00,0.000,6,0.000,0.025,2572,2624,3701
$GC,2298,-0.85,-146.0,401.7,-12.9,130,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2617,3700
$GC,2544,-0.85,-146.0,431.8,-12.2,136,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2617,3698
$GC,2785,-0.85,-146.0,459.4,-11.1,142,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2617,3697
$GC,3028,-0.85,-146.0,486.4,-11.1,148,3032,0.00,2.15,0.00,0.000,4,0.000,0.072,2564,3896,3694
$GC,3057,-0.85,-146.0,490.0,-11.7,148,3061,0.00,1.88,0.00,0.000,6,0.000,0.025,2571,2634,3693
$GC,3320,-0.85,-146.0,519.0,-11.0,155,3324,0.00,2.03,0.00,0.000,4,0.000,0.028,2574,1241,3692
$GC,3355,-0.85,-146.0,523.0,-10.5,155,3359,0.00,2.28,0.00,0.000,6,0.000,0.059,2565,2646,3692
$GC,3608,-0.85,-146.0,550.4,-11.2,161,3612,0.12,2.08,0.00,0.000,4,0.193,0.071,2585,3897,3689
$GC,3659,-0.85,-146.0,555.5,-7.4,162,3663,0.00,1.85,0.00,0.000,6,0.000,0.026,2593,2634,3690
$GC,3947,-0.85,-146.0,578.2,-8.2,169,3951,0.00,2.05,0.00,0.000,4,0.000,0.028,2603,1239,3687
$GC,3989,-0.85,-146.0,581.7,-7.3,169,3996,0.00,2.28,0.00,0.000,6,0.000,0.055,2594,2651,3687
$STATE,4238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4238,begin apogee
$GC,4249,-0.32,0.0,602.3,8.3,176,4375,0.57,0.00,123.20,1.048,6,0.145,0.000,2763,2537,3100
$STATE,4375,end apogee,CONTROL_FINISHED_OK
$STATE,4376,begin climb
$GC,4380,0.85,146.0,608.2,0.0,179,4518,1.10,2.25,128.98,1.025,4,0.085,0.030,3152,1106,2503
$GC,4781,0.85,146.0,572.7,17.7,188,4785,0.00,2.25,0.00,0.000,6,0.000,0.048,3150,2522,2495
$GC,5066,0.85,146.0,522.5,17.3,195,5070,0.00,2.12,0.00,0.000,4,0.000,0.030,3159,1097,2492
$GC,5325,0.85,146.0,481.8,14.0,200,5329,0.00,2.25,0.00,0.000,6,0.000,0.048,3159,2521,2491
$GC,5577,0.85,146.0,443.4,15.2,206,5581,0.00,2.22,0.00,0.000,4,0.000,0.055,3150,3909,2489
$GC,5595,0.85,146.0,440.3,15.2,206,5599,0.00,2.08,0.00,0.000,6,0.000,0.026,3158,2509,2488
$GC,5869,0.85,146.0,402.3,13.6,213,5873,0.00,2.08,0.00,0.000,4,0.000,0.028,3169,1103,2487
$GC,5948,0.85,146.0,392.6,12.4,214,5953,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2529,2487
$GC,6208,0.85,146.0,357.9,13.6,221,6212,0.00,2.20,0.00,0.000,4,0.000,0.054,3162,3909,2485
$GC,6226,0.85,146.0,355.1,13.2,221,6230,0.00,2.08,0.00,0.000,6,0.000,0.027,3172,2512,2485
$GC,6500,0.85,146.0,320.5,12.5,228,6504,0.00,2.22,0.00,0.000,4,0.000,0.051,3163,3902,2484
$GC,6637,0.85,146.0,303.8,12.3,231,6641,0.00,2.08,0.00,0.000,6,0.000,0.028,3172,2506,2484
$GC,6930,0.88,163.6,277.3,8.8,238,6954,0.00,2.08,15.02,0.720,4,0.000,0.028,3182,1109,2431
$GC,6968,0.88,163.6,273.5,9.9,238,6974,0.00,2.22,0.00,0.000,6,0.000,0.048,3176,2518,2431
$GC,7219,0.88,163.6,242.4,12.2,245,7223,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1104,2430
$GC,7305,0.90,181.8,234.5,8.8,246,7329,0.00,2.22,17.50,0.787,6,0.000,0.044,3176,2522,2358
$GC,7599,0.90,181.8,196.4,13.9,254,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2522,2354
$GC,7854,0.90,181.8,160.5,12.4,278,7858,0.00,2.20,0.00,0.000,4,0.000,0.058,3176,3898,2353
$GC,7946,0.90,181.8,147.4,14.6,286,7950,0.00,2.05,0.00,0.000,6,0.000,0.027,3184,2518,2353
$GC,8218,0.98,243.9,125.6,6.9,311,8276,0.00,0.00,53.97,0.713,6,0.000,0.000,3185,2511,2104
$GC,8533,0.98,243.9,64.0,21.7,341,8537,0.00,2.08,0.00,0.000,4,0.000,0.027,3194,1109,2098
$GC,8570,0.98,243.9,56.7,19.2,344,8574,0.00,2.22,0.00,0.000,6,0.000,0.044,3192,2525,2098
$STATE,8818,end climb,SURFACE_DEPTH_REACHED
$STATE,8818,begin surface coast
$FINISH,0.4,1.023767
$STATE,8830,end surface coast,CONTROL_FINISHED_OK
$STATE,8831,begin surface
$SM_CCo,8856,56.40,0.597,0,0,1673,350.04
$SM_GC,1.98,0.00,0.00,56.40,0.000,0.000,0.597,48,2687,1673,-8.82,1.33,350.04
$IRIDIUM_FIX,2239.35,-15754.99,200500,161655
$TT8_MAMPS,0.023777
$HUMID,1894
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,105.101
$10V_AH,10.6,60.515
$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,22.375,85.475,338.675,56.400,0.000,57.034,73.885,476.560,0.000,0.000,0.000,14.477,808.164,6118.540,431.695,1436.587,943.025,33.365,1051.692,0.000,1422.870,0.000,0.544,0.000
$DEVICE_MAMPS,246.207,72.098,1048.489,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,256.819,573.401,587.784,123.363,510.905,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31969,380
$CAP_FILE_SIZE,79164,0
$CFSIZE,260165632,229957632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,240211,192407,2247.633,-15755.862,29,1.4,30,10.1