version: 66.04
glider: 512
mission: 3
dive: 757
start: 11 21 112 13 30 45
data:
$ID,512
$MISSION,3
$DIVE,757
$D_SURF,3
$D_FLARE,2
$D_TGT,350
$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,116
$T_MISSION,300
$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,-7
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52093
$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,380
$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,-69062.188
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2533
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,30
$C_ROLL_DIVE,2790
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2420
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,2
$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,0.0043351329
$SEABIRD_T_H,0.00062097196
$SEABIRD_T_I,2.1804433e-05
$SEABIRD_T_J,2.1334395e-06
$SEABIRD_C_G,-10.059877
$SEABIRD_C_H,1.1555313
$SEABIRD_C_I,-0.0022602002
$SEABIRD_C_J,0.00025523445
$GPS1,132306,2147.485,-15802.533,40,1.0,40,9.9
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-75.9
$GPS2,133007,2147.509,-15802.548,17,1.1,17,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,WAY3
$TGT_LATLONG,2145.200,-15805.260
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.175,-0.170
$KALMAN_X,-10223.3,-306.7,-719.4,11978.0,676.1
$KALMAN_Y,22231.7,3.7,-189.0,-37294.4,681.7
$MHEAD_RNG_PITCHd_Wd,216.0,6328,-19.0,-10.057
$D_GRID,350
$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,20,-0.54,-126.5,0.0,0.0,0,95,0.00,0.00,-73.15,0.000,2,0.000,0.000,30,2812,2508
$GC,100,-0.54,-126.5,2.1,-3.9,14,124,9.10,1.58,-10.43,0.000,4,0.206,0.037,2359,1698,2937
$GC,259,-0.54,-126.5,33.7,-17.5,41,261,0.00,1.65,0.00,0.000,6,0.000,0.040,2352,2797,2939
$GC,586,-0.54,-126.5,99.6,-19.0,72,588,0.00,1.60,0.00,0.000,4,0.000,0.044,2344,3854,2939
$GC,663,-0.54,-126.5,114.0,-16.9,79,666,0.00,1.52,0.00,0.000,6,0.000,0.019,2344,2783,2939
$GC,990,-0.54,-126.5,162.4,-12.1,110,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2776,2940
$GC,1308,-0.54,-126.5,202.8,-11.4,141,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2776,2940
$GC,1618,-0.54,-126.5,235.1,-10.6,171,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2776,2940
$GC,1929,-0.54,-126.5,265.3,-7.2,201,1932,0.00,1.67,0.00,0.000,4,0.000,0.044,2337,3840,2940
$GC,1957,-0.54,-126.5,267.8,-9.0,203,1963,0.00,1.48,0.00,0.000,6,0.000,0.020,2336,2801,2940
$GC,2279,-0.54,-126.5,300.2,-10.5,234,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2801,2939
$GC,2599,-0.54,-126.5,332.8,-9.5,242,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2801,2937
$STATE,2794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2795,begin apogee
$GC,2805,-0.18,0.0,350.2,8.7,247,2918,0.43,0.00,110.82,0.798,6,0.141,0.000,2474,2404,2420
$STATE,2918,end apogee,CONTROL_FINISHED_OK
$STATE,2919,begin climb
$GC,2924,0.54,126.5,355.6,0.0,250,3048,0.62,1.55,112.68,0.772,4,0.057,0.023,2716,1363,1903
$GC,3122,0.54,126.5,343.2,11.3,254,3125,0.00,1.60,0.00,0.000,6,0.000,0.036,2716,2418,1899
$GC,3457,0.54,126.5,298.1,13.2,263,3461,0.00,1.62,0.00,0.000,4,0.000,0.042,2715,3475,1895
$GC,3583,0.54,126.5,281.9,12.4,274,3588,0.00,1.48,0.00,0.000,6,0.000,0.021,2721,2451,1893
$GC,3900,0.54,137.4,251.4,9.5,305,3914,0.00,1.58,8.98,0.653,4,0.000,0.025,2730,1364,1860
$GC,3940,0.54,137.4,247.3,11.0,308,3945,0.00,1.60,0.00,0.000,6,0.000,0.038,2729,2425,1859
$GC,4261,0.54,137.4,214.4,11.7,339,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2426,1857
$GC,4579,0.56,170.7,185.3,8.3,370,4614,0.00,1.65,29.58,0.706,4,0.000,0.044,2728,3475,1723
$GC,4677,0.56,170.7,175.8,10.7,379,4680,0.00,1.55,0.00,0.000,6,0.000,0.022,2735,2421,1721
$GC,5000,0.57,197.3,143.7,8.6,410,5030,0.00,1.58,23.23,0.665,4,0.000,0.025,2743,1353,1614
$GC,5118,0.59,257.1,134.8,6.9,421,5172,0.00,1.62,50.38,0.663,6,0.000,0.037,2742,2428,1370
$GC,5492,0.60,278.2,100.0,8.9,457,5514,0.00,1.65,17.90,0.607,4,0.000,0.043,2742,3471,1285
$GC,5623,0.61,309.4,88.5,8.4,469,5654,0.00,1.52,26.77,0.607,6,0.000,0.022,2748,2430,1156
$GC,5966,0.61,309.4,57.4,10.3,502,5969,0.00,1.55,0.00,0.000,4,0.000,0.027,2755,1361,1154
$GC,6037,0.61,309.4,50.0,10.2,508,6042,0.00,1.60,0.00,0.000,6,0.000,0.035,2755,2434,1153
$GC,6360,0.61,309.4,18.7,11.8,549,6365,0.00,1.55,0.00,0.000,4,0.000,0.025,2762,1378,1153
$GC,6394,0.61,309.4,15.1,10.5,555,6399,0.12,1.58,0.00,0.000,6,0.116,0.036,2726,2413,1153
$STATE,6568,end climb,SURFACE_DEPTH_REACHED
$STATE,6569,begin surface coast
$FINISH,0.2,1.023504
$STATE,6601,end surface coast,CONTROL_FINISHED_OK
$STATE,6601,begin surface
$SM_CCo,6624,31.92,0.536,0,0,869,380.21
$SM_GC,0.91,0.00,0.00,31.92,0.000,0.000,0.536,37,2827,869,-7.80,1.05,380.21
$IRIDIUM_FIX,2138.81,-15802.44,150202,111130
$TT8_MAMPS,0.047554
$HUMID,2344
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.10
$XPDR_PINGS,17
$24V_AH,23.9,104.996
$10V_AH,10.4,92.351
$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,17.100,35.825,380.325,31.925,0.000,30.657,43.592,203.478,4.250,0.000,0.000,17.114,0.000,4742.050,454.248,1263.162,604.033,33.331,1021.044,0.000,1029.725,0.000,0.544,0.000
$DEVICE_MAMPS,206.323,44.486,797.680,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,375.378,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41323,594
$CAP_FILE_SIZE,64869,0
$CFSIZE,260165632,217448448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211112,152248,2147.138,-15802.682,30,1.8,35,9.9