version: 66.04
glider: 512
mission: 1
dive: 994
start: 3 18 111 4 9 59
data:
$ID,512
$MISSION,1
$DIVE,994
$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,623.29712
$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,-27415.785
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2880
$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,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2940
$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
$GPS1,032808,2255.963,-15803.469,13,1.8,14,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-61.8
$GPS2,040907,2256.065,-15803.639,44,0.9,44,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.244,0.079
$KALMAN_X,-387689.7,248.9,-184.5,400325.7,-2012.6
$KALMAN_Y,-656493.5,64.3,181.3,796621.2,-1336.1
$MHEAD_RNG_PITCHd_Wd,61.9,14675,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,110,0.00,0.00,-90.57,0.000,2,0.000,0.000,34,2653,2828
$GC,116,-0.85,-146.0,3.4,-4.5,12,149,11.20,2.15,-14.88,0.000,4,0.235,0.038,2602,1218,3537
$GC,187,-0.85,-146.0,20.7,-23.3,22,195,0.00,2.40,0.00,0.000,6,0.000,0.067,2593,2625,3538
$GC,454,-0.85,-146.0,87.0,-25.1,50,458,0.00,2.10,0.00,0.000,4,0.000,0.062,2583,3905,3538
$GC,568,-0.85,-146.0,110.9,-16.9,60,572,0.00,1.88,0.00,0.000,6,0.000,0.025,2589,2639,3538
$GC,840,-0.85,-146.0,164.9,-20.2,85,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2632,3538
$GC,1110,-0.85,-146.0,215.6,-18.3,105,1114,0.00,2.10,0.00,0.000,4,0.000,0.029,2599,1223,3539
$GC,1152,-0.85,-146.0,222.6,-15.2,105,1159,0.00,2.38,0.00,0.000,6,0.000,0.059,2590,2648,3539
$GC,1405,-0.85,-146.0,261.9,-16.0,112,1408,0.00,2.08,0.00,0.000,4,0.000,0.067,2580,3902,3539
$GC,1440,-0.85,-146.0,267.4,-15.9,112,1444,0.00,1.85,0.00,0.000,6,0.000,0.022,2587,2632,3539
$GC,1698,-0.85,-146.0,302.5,-13.4,119,1702,0.00,2.12,0.00,0.000,4,0.000,0.064,2579,3897,3538
$GC,1746,-0.85,-146.0,309.2,-12.6,120,1750,0.00,1.85,0.00,0.000,6,0.000,0.022,2587,2635,3538
$GC,2040,-0.85,-146.0,347.5,-13.0,127,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2629,3537
$GC,2281,-0.85,-146.0,378.5,-12.6,133,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2628,3535
$GC,2525,-0.85,-146.0,410.4,-13.3,139,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2628,3533
$GC,2768,-0.85,-146.0,442.5,-12.9,145,2772,0.00,2.12,0.00,0.000,4,0.000,0.064,2579,3899,3530
$GC,2810,-0.85,-146.0,447.7,-12.3,145,2817,0.00,1.90,0.00,0.000,6,0.000,0.027,2586,2655,3530
$GC,3064,-0.85,-146.0,477.7,-12.0,152,3068,0.00,2.17,0.00,0.000,4,0.000,0.038,2597,1233,3528
$GC,3088,-0.85,-146.0,480.9,-11.9,152,3092,0.00,2.35,0.00,0.000,6,0.000,0.064,2588,2638,3527
$GC,3358,-0.85,-146.0,513.1,-12.4,159,3362,0.00,2.12,0.00,0.000,4,0.000,0.071,2578,3899,3524
$GC,3411,-0.85,-146.0,519.8,-11.1,160,3415,0.00,1.90,0.00,0.000,6,0.000,0.027,2586,2634,3524
$GC,3699,-0.85,-146.0,550.8,-10.7,167,3703,0.00,2.17,0.00,0.000,4,0.000,0.069,2578,3903,3521
$GC,3757,-0.85,-146.0,557.4,-10.9,168,3761,0.00,1.92,0.00,0.000,6,0.000,0.028,2585,2634,3521
$GC,4038,-0.85,-146.0,587.7,-11.0,175,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2627,3519
$STATE,4154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4154,begin apogee
$GC,4166,-0.32,0.0,600.9,10.8,178,4289,0.75,0.00,120.05,1.065,6,0.202,0.000,2769,2425,2940
$STATE,4290,end apogee,CONTROL_FINISHED_OK
$STATE,4290,begin climb
$GC,4295,0.85,146.0,606.4,0.0,181,4440,1.38,2.50,131.00,1.025,4,0.162,0.065,3144,3872,2343
$GC,4486,0.85,146.0,593.2,26.0,185,4493,0.00,2.28,0.00,0.000,6,0.000,0.048,3153,2501,2340
$GC,4740,0.85,146.0,527.8,25.2,192,4744,0.00,2.35,0.00,0.000,4,0.000,0.054,3164,1044,2333
$GC,4797,0.85,146.0,514.2,21.3,193,4802,0.00,2.38,0.00,0.000,6,0.000,0.062,3156,2468,2331
$GC,5067,0.85,146.0,454.5,22.1,200,5071,0.00,2.28,0.00,0.000,4,0.000,0.048,3165,1043,2329
$GC,5282,0.85,146.0,410.2,18.3,204,5288,0.00,2.35,0.00,0.000,6,0.000,0.057,3157,2466,2327
$GC,5536,0.85,146.0,357.7,20.8,211,5539,0.00,2.25,0.00,0.000,4,0.000,0.043,3164,1043,2325
$GC,5701,0.85,146.0,326.6,19.3,214,5705,0.00,2.33,0.00,0.000,6,0.000,0.054,3157,2459,2324
$GC,5960,0.85,146.0,280.2,17.4,221,5964,0.00,2.22,0.00,0.000,4,0.000,0.041,3165,1041,2323
$GC,6024,0.85,146.0,269.0,15.4,222,6028,0.00,2.33,0.00,0.000,6,0.000,0.054,3156,2460,2323
$GC,6301,0.85,146.0,229.3,14.1,229,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2460,2322
$GC,6542,0.85,146.0,197.6,12.8,235,6546,0.00,2.33,0.00,0.000,4,0.000,0.058,3149,3875,2320
$GC,6586,0.85,146.0,191.4,14.8,238,6590,0.00,2.20,0.00,0.000,6,0.000,0.031,3158,2435,2320
$GC,6856,0.85,146.0,153.7,14.3,263,6860,0.00,2.12,0.00,0.000,4,0.000,0.037,3169,1056,2320
$GC,7114,0.87,159.1,128.0,9.0,286,7129,0.00,2.28,8.12,0.635,6,0.000,0.047,3163,2473,2291
$GC,7391,0.87,159.8,98.7,9.6,311,7394,0.00,2.17,0.00,0.000,4,0.000,0.032,3171,1046,2290
$GC,7487,0.94,218.8,90.8,7.0,319,7548,0.00,2.28,50.75,0.684,6,0.000,0.048,3163,2456,2049
$GC,7805,0.94,218.8,38.0,18.4,348,7809,0.00,2.12,0.00,0.000,4,0.000,0.032,3171,1053,2042
$GC,7842,0.94,218.8,31.6,16.1,351,7846,0.00,2.28,0.00,0.000,6,0.000,0.050,3163,2470,2040
$STATE,7996,end climb,SURFACE_DEPTH_REACHED
$STATE,7996,begin surface coast
$FINISH,0.4,1.023753
$STATE,8013,end surface coast,CONTROL_FINISHED_OK
$STATE,8013,begin surface
$SM_CCo,8039,194.30,0.603,0,0,398,623.30
$SM_GC,1.32,0.00,0.00,194.30,0.000,0.000,0.603,45,2668,398,-8.86,0.79,623.30
$IRIDIUM_FIX,2248.70,-15758.45,110600,040439
$TT8_MAMPS,0.023777
$HUMID,1889
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.8,129.720
$10V_AH,10.6,78.053
$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,21.675,79.100,309.925,194.300,0.000,137.913,218.668,1631.817,0.250,0.000,0.000,45.024,776.941,5490.328,585.629,1435.169,2406.749,33.378,1172.906,0.000,1396.820,0.000,0.544,0.000
$DEVICE_MAMPS,235.469,70.564,1064.596,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,256.467,617.985,636.916,141.380,580.512,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32047,381
$CAP_FILE_SIZE,76884,0
$CFSIZE,260165632,221855744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,180311,062834,2256.202,-15802.786,11,2.6,31,10.1