version: 66.04
glider: 512
mission: 1
dive: 818
start: 2 27 111 0 47 7
data:
$ID,512
$MISSION,1
$DIVE,818
$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,-23461.305
$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,56
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3060
$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
$GPS1,003941,2250.355,-15802.010,10,2.5,30,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.8
$GPS2,004616,2250.371,-15802.017,13,2.4,32,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.109,0.232
$KALMAN_X,-261075.0,3.0,143.6,276428.5,-1176.7
$KALMAN_Y,-547006.2,165.9,456.9,676200.4,-4409.0
$MHEAD_RNG_PITCHd_Wd,324.6,8300,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,72,0.00,0.00,-52.72,0.000,2,0.000,0.000,54,2641,3008
$GC,77,-0.85,-146.0,3.0,-4.1,7,110,13.12,2.05,-12.55,0.000,4,0.283,0.074,2577,3904,3658
$GC,289,-0.85,-146.0,55.5,-17.1,32,298,0.00,1.88,0.00,0.000,6,0.000,0.025,2585,2648,3661
$GC,555,-0.85,-146.0,117.6,-22.3,57,558,0.00,2.08,0.00,0.000,4,0.000,0.025,2595,1222,3662
$GC,617,-0.85,-146.0,129.9,-15.0,62,625,0.00,2.33,0.00,0.000,6,0.000,0.058,2585,2634,3662
$GC,881,-0.85,-146.0,180.5,-18.9,87,884,0.00,2.05,0.00,0.000,4,0.000,0.062,2575,3904,3664
$GC,930,-0.85,-146.0,189.0,-17.3,91,933,0.00,1.85,0.00,0.000,6,0.000,0.023,2578,2626,3664
$GC,1199,-0.85,-146.0,238.5,-18.8,102,1202,0.00,2.03,0.00,0.000,4,0.000,0.025,2587,1233,3665
$GC,1239,-0.85,-146.0,245.2,-14.2,102,1246,0.00,2.30,0.00,0.000,6,0.000,0.058,2578,2648,3665
$GC,1491,-0.85,-146.0,286.7,-17.2,109,1495,0.00,2.05,0.00,0.000,4,0.000,0.066,2568,3900,3665
$GC,1538,-0.85,-146.0,293.9,-13.6,110,1542,0.00,1.83,0.00,0.000,6,0.000,0.022,2575,2635,3665
$GC,1831,-0.85,-146.0,336.8,-14.8,117,1835,0.00,2.03,0.00,0.000,4,0.000,0.025,2586,1241,3665
$GC,1888,-0.85,-146.0,344.7,-11.3,118,1892,0.00,2.22,0.00,0.000,6,0.000,0.050,2576,2641,3665
$GC,2162,-0.85,-146.0,382.1,-14.1,125,2166,0.00,2.05,0.00,0.000,4,0.000,0.064,2566,3901,3664
$GC,2214,-0.85,-146.0,389.1,-12.0,126,2218,0.00,1.85,0.00,0.000,6,0.000,0.024,2574,2644,3663
$GC,2500,-0.85,-146.0,426.2,-13.3,133,2503,0.00,2.05,0.00,0.000,4,0.000,0.026,2584,1240,3661
$GC,2529,-0.85,-146.0,430.2,-12.4,133,2533,0.00,2.22,0.00,0.000,6,0.000,0.051,2576,2646,3662
$GC,2791,-0.85,-146.0,461.2,-11.9,140,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2646,3660
$GC,3036,-0.85,-146.0,488.4,-11.0,146,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2646,3659
$GC,3279,-0.85,-146.0,513.2,-10.1,152,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2647,3657
$GC,3522,-0.85,-146.0,537.8,-10.1,158,3526,0.00,2.03,0.00,0.000,4,0.000,0.064,2566,3895,3655
$GC,3562,-0.85,-146.0,542.1,-10.0,158,3568,0.00,1.85,0.00,0.000,6,0.000,0.025,2574,2632,3655
$GC,3813,-0.85,-146.0,566.4,-9.7,165,3817,0.00,2.05,0.00,0.000,4,0.000,0.028,2584,1235,3653
$GC,3845,-0.85,-146.0,569.4,-9.5,165,3849,0.00,2.25,0.00,0.000,6,0.000,0.051,2576,2647,3653
$GC,4102,-0.85,-146.0,593.5,-9.7,172,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2646,3651
$STATE,4178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4178,begin apogee
$GC,4189,-0.32,0.0,601.5,9.7,174,4317,0.65,0.00,124.97,1.057,6,0.152,0.000,2764,2530,3060
$STATE,4317,end apogee,CONTROL_FINISHED_OK
$STATE,4318,begin climb
$GC,4322,0.85,146.0,607.3,0.0,177,4460,1.08,2.22,130.07,1.029,4,0.078,0.030,3149,1112,2464
$GC,4722,0.85,146.0,567.6,16.7,186,4726,0.00,2.25,0.00,0.000,6,0.000,0.049,3149,2529,2454
$GC,5007,0.85,146.0,515.6,17.8,193,5011,0.00,2.12,0.00,0.000,4,0.000,0.030,3158,1103,2450
$GC,5267,0.85,146.0,472.2,16.3,198,5271,0.00,2.25,0.00,0.000,6,0.000,0.044,3150,2532,2450
$GC,5524,0.85,146.0,428.2,17.0,205,5528,0.00,2.12,0.00,0.000,4,0.000,0.028,3159,1101,2448
$GC,5644,0.85,146.0,408.3,16.6,207,5648,0.00,2.25,0.00,0.000,6,0.000,0.043,3150,2529,2448
$GC,5903,0.85,146.0,366.5,16.1,214,5906,0.00,2.12,0.00,0.000,4,0.000,0.028,3159,1097,2445
$GC,6104,0.85,146.0,340.4,11.9,218,6108,0.00,2.25,0.00,0.000,6,0.000,0.042,3151,2527,2445
$GC,6379,0.85,146.0,306.3,12.5,225,6383,0.00,2.12,0.00,0.000,4,0.000,0.029,3159,1093,2444
$GC,6638,0.86,146.6,278.5,9.6,230,6643,0.00,2.25,0.00,0.000,6,0.000,0.047,3151,2516,2444
$GC,6891,0.86,146.6,253.5,9.8,236,6895,0.00,2.10,0.00,0.000,4,0.000,0.027,3160,1086,2443
$GC,7151,0.88,164.8,228.0,8.8,241,7171,0.00,2.25,13.70,0.764,6,0.000,0.043,3151,2523,2389
$GC,7423,0.88,164.8,198.6,11.4,249,7426,0.00,2.10,0.00,0.000,4,0.000,0.028,3160,1097,2387
$GC,7680,0.88,164.8,170.5,10.8,272,7684,0.00,2.25,0.00,0.000,6,0.000,0.044,3151,2524,2387
$GC,7944,0.88,164.8,143.4,10.3,296,7948,0.00,2.17,0.00,0.000,4,0.000,0.052,3140,3898,2386
$GC,8052,0.88,164.8,130.6,12.9,305,8059,0.00,2.10,0.00,0.000,6,0.000,0.025,3149,2497,2386
$GC,8316,0.95,224.8,105.8,7.0,330,8378,0.00,2.12,52.92,0.689,4,0.000,0.026,3160,1111,2141
$GC,8438,0.95,224.8,91.2,16.4,340,8443,0.00,2.22,0.00,0.000,6,0.000,0.044,3152,2518,2138
$GC,8703,0.95,224.8,41.5,18.5,364,8707,0.00,2.10,0.00,0.000,4,0.000,0.025,3160,1103,2136
$GC,8765,0.95,224.8,29.6,18.2,369,8773,0.00,2.25,0.00,0.000,6,0.000,0.042,3160,2521,2136
$STATE,8905,end climb,SURFACE_DEPTH_REACHED
$STATE,8905,begin surface coast
$FINISH,0.4,1.023800
$STATE,8927,end surface coast,CONTROL_FINISHED_OK
$STATE,8927,begin surface
$SM_CCo,8952,63.83,0.595,0,0,1632,350.04
$SM_GC,1.11,0.00,0.00,63.83,0.000,0.000,0.595,55,2670,1632,-8.80,0.85,350.04
$IRIDIUM_FIX,2241.69,-15804.53,220500,222211
$TT8_MAMPS,0.023777
$HUMID,1848
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.5,107.560
$10V_AH,10.7,62.376
$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,23.600,85.000,321.675,63.825,0.000,31.676,34.882,158.277,0.250,0.000,0.000,33.872,861.662,5863.480,425.431,1686.979,574.778,33.369,1124.203,0.000,1654.791,0.000,0.542,0.000
$DEVICE_MAMPS,283.023,74.399,1056.926,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.877,622.886,641.117,135.040,559.604,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31924,398
$CAP_FILE_SIZE,77431,0
$CFSIZE,260165632,229081088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,270211,031837,2251.030,-15802.543,28,1.8,29,10.1