version: 66.04
glider: 512
mission: 2
dive: 6
start: 8 12 111 22 44 58
data:
$ID,512
$MISSION,2
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,200
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$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,420
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32618.451
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2700
$C_ROLL_CLIMB,2625
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2860
$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,0.0043565552
$SEABIRD_T_H,0.00063178345
$SEABIRD_T_I,2.466659e-05
$SEABIRD_T_J,2.7195788e-06
$SEABIRD_C_G,-9.9023848
$SEABIRD_C_H,1.1413758
$SEABIRD_C_I,-0.0018185935
$SEABIRD_C_J,0.00022361503
$GPS1,223125,2142.819,-15807.472,24,1.0,42,9.9
$_CALLS,1
$_XMS_NAKs,31
$_XMS_TOUTs,2
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-79.7
$GPS2,224402,2142.818,-15807.534,15,0.8,15,9.9
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,FIRST
$TGT_LATLONG,2145.500,-15813.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.223,-0.036
$KALMAN_X,3711.9,1066.7,294.5,-2011.2,1040.9
$KALMAN_Y,1693.6,582.1,142.7,588.2,369.6
$MHEAD_RNG_PITCHd_Wd,251.0,10633,-20.7,-10.000
$D_GRID,300
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.82,-107.1,0.0,0.0,0,97,0.00,0.00,-75.53,0.000,2,0.000,0.000,42,2519,3227
$GC,102,-0.82,-107.1,3.4,-5.9,10,120,8.75,2.05,-1.20,0.000,4,0.199,0.051,2456,3887,3295
$GC,263,-0.82,-107.1,30.0,-7.9,37,271,0.00,1.73,0.00,0.000,6,0.000,0.024,2463,2665,3295
$GC,529,-0.82,-107.1,52.8,-10.0,62,533,0.00,1.92,0.00,0.000,4,0.000,0.025,2467,1311,3297
$GC,635,-0.82,-107.1,62.4,-8.2,71,643,0.00,2.10,0.00,0.000,6,0.000,0.035,2467,2695,3297
$GC,901,-0.82,-107.1,77.9,-5.0,96,905,0.00,1.83,0.00,0.000,4,0.000,0.048,2467,3884,3297
$GC,1015,-0.82,-107.1,83.6,-6.4,106,1018,0.00,1.62,0.00,0.000,6,0.000,0.024,2467,2705,3297
$GC,1286,-0.82,-107.1,100.3,-6.4,131,1290,0.00,1.95,0.00,0.000,4,0.000,0.025,2467,1326,3298
$GC,1359,-0.82,-107.1,105.1,-7.6,137,1362,0.00,2.05,0.00,0.000,6,0.000,0.037,2467,2702,3298
$GC,1629,-0.82,-107.1,121.5,-5.4,162,1632,0.00,1.98,0.00,0.000,4,0.000,0.025,2477,1324,3298
$GC,1700,-0.82,-107.1,125.3,-5.6,168,1704,0.00,2.08,0.00,0.000,6,0.000,0.037,2477,2714,3298
$GC,1972,-0.82,-107.1,140.0,-5.2,193,1975,0.00,1.77,0.00,0.000,4,0.000,0.047,2478,3903,3298
$GC,2044,-0.82,-107.1,144.8,-7.0,199,2048,0.00,1.65,0.00,0.000,6,0.000,0.024,2478,2715,3298
$GC,2315,-0.82,-107.1,160.6,-5.8,224,2319,0.00,1.80,0.00,0.000,4,0.000,0.046,2478,3896,3298
$GC,2364,-0.82,-107.1,163.7,-7.3,228,2368,0.00,1.70,0.00,0.000,6,0.000,0.023,2478,2696,3298
$GC,2636,-0.82,-107.1,178.7,-5.8,253,2640,0.00,1.95,0.00,0.000,4,0.000,0.025,2478,1311,3298
$GC,2731,-0.82,-107.1,183.7,-4.6,261,2735,0.00,2.05,0.00,0.000,6,0.000,0.037,2478,2702,3298
$GC,3003,-0.82,-107.1,200.5,-6.4,286,3007,0.00,1.77,0.00,0.000,4,0.000,0.048,2479,3888,3297
$GC,3129,-0.82,-107.1,209.5,-7.0,288,3133,0.00,1.67,0.00,0.000,6,0.000,0.023,2487,2709,3297
$GC,3387,-0.82,-107.1,222.7,-5.1,295,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2700,3296
$GC,3632,-0.82,-107.1,235.3,-5.0,301,3636,0.00,1.98,0.00,0.000,4,0.000,0.027,2498,1322,3296
$GC,3725,-0.82,-107.1,240.4,-6.5,303,3729,0.00,2.08,0.00,0.000,6,0.000,0.038,2498,2706,3296
$GC,4017,-0.82,-107.1,256.5,-5.3,310,4021,0.00,1.80,0.00,0.000,4,0.000,0.048,2498,3892,3295
$GC,4058,-0.82,-107.1,259.1,-6.1,310,4066,0.00,1.73,0.00,0.000,6,0.000,0.025,2504,2687,3295
$GC,4311,-0.82,-107.1,268.9,-3.5,317,4315,0.00,1.95,0.00,0.000,4,0.000,0.026,2515,1306,3293
$GC,4449,-0.82,-107.1,275.6,-6.6,320,4454,0.12,2.08,0.00,0.000,6,0.102,0.038,2472,2706,3293
$GC,4737,-0.82,-107.1,291.1,-5.5,327,4740,0.00,1.98,0.00,0.000,4,0.000,0.028,2480,1326,3292
$GC,4823,-0.82,-107.1,295.5,-5.6,328,4829,0.00,2.05,0.00,0.000,6,0.000,0.038,2480,2700,3291
$STATE,4948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4948,begin apogee
$GC,4959,-0.27,0.0,301.4,4.5,332,5045,0.45,0.00,83.60,0.810,6,0.041,0.000,2674,2700,2860
$STATE,5046,end apogee,CONTROL_FINISHED_OK
$STATE,5046,begin climb
$GC,5052,0.82,107.1,308.4,0.0,334,5149,0.90,2.22,90.93,0.802,4,0.060,0.024,3014,1235,2422
$GC,5378,0.82,107.1,271.3,19.6,341,5381,0.00,2.08,0.00,0.000,6,0.000,0.032,3013,2626,2413
$GC,5647,0.82,107.1,219.4,18.8,348,5650,0.00,1.90,0.00,0.000,4,0.000,0.038,3013,3909,2411
$GC,5699,0.82,107.1,210.6,15.2,349,5702,0.00,1.83,0.00,0.000,6,0.000,0.025,3021,2636,2411
$GC,5964,0.82,107.1,178.5,12.2,368,5967,0.00,2.03,0.00,0.000,4,0.000,0.027,3032,1210,2409
$GC,6229,0.82,107.1,146.1,10.8,391,6233,0.00,2.08,0.00,0.000,6,0.000,0.032,3027,2629,2408
$GC,6500,0.82,107.1,113.8,10.1,416,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2630,2407
$GC,6766,0.90,172.9,92.2,5.9,441,6827,0.00,2.15,50.72,0.673,4,0.000,0.027,3036,1203,2154
$GC,7063,0.90,172.9,37.3,14.7,467,7067,0.00,2.12,0.00,0.000,6,0.000,0.032,3036,2628,2149
$STATE,7258,end climb,SURFACE_DEPTH_REACHED
$STATE,7258,begin surface coast
$FINISH,0.0,1.023093
$STATE,7276,end surface coast,CONTROL_FINISHED_OK
$STATE,7276,begin surface
$SM_CCo,7301,117.45,0.581,0,0,1147,420.19
$SM_GC,0.85,0.00,0.00,117.45,0.000,0.000,0.581,48,2708,1147,-8.41,0.23,420.19
$IRIDIUM_FIX,2131.85,-15808.47,051100,202052
$TT8_MAMPS,0.023777
$HUMID,2156
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,22.90
$XPDR_PINGS,5
$24V_AH,24.8,1.038
$10V_AH,10.9,1.162
$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,18.050,65.775,225.250,117.450,0.000,29.484,36.683,448.434,1.250,0.000,0.000,15.866,971.624,3926.602,392.812,1932.635,958.403,33.326,1047.578,0.000,1932.324,0.000,0.545,0.000
$DEVICE_MAMPS,199.420,87.438,809.952,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,337.945,1009.799,1034.113,207.911,956.066,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44651,501
$CAP_FILE_SIZE,80097,0
$CFSIZE,260165632,217219072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,130811,004938,2142.868,-15807.562,13,1.4,13,9.9