version: 66.04
glider: 512
mission: 3
dive: 147
start: 8 20 112 9 12 33
data:
$ID,512
$MISSION,3
$DIVE,147
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,200
$T_MISSION,450
$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,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-53358.602
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2635
$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,2690
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2390
$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,0.0043351329
$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
$GPS1,090006,2253.584,-15805.965,36,1.1,37,10.1
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-77.5
$GPS2,091155,2253.503,-15805.983,12,1.5,18,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,-0.007
$KALMAN_X,-320122.9,1120.7,816.7,312339.8,-6008.2
$KALMAN_Y,64165.4,698.1,375.2,-57196.3,-1206.0
$MHEAD_RNG_PITCHd_Wd,81.4,56562,-18.5,-10.000
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.90,-131.4,0.0,0.0,0,99,0.00,0.00,-81.90,0.000,6,0.000,0.000,17,2711,2927
$GC,104,-0.90,-131.4,2.9,-5.0,10,121,8.73,2.10,0.00,0.000,4,0.210,0.018,2347,1259,2928
$GC,334,-0.90,-131.4,62.8,-18.6,38,338,0.00,2.17,0.00,0.000,6,0.000,0.040,2339,2685,2929
$GC,591,-0.90,-131.4,119.3,-21.0,62,594,0.00,2.03,0.00,0.000,4,0.000,0.023,2340,1278,2930
$GC,790,-0.90,-131.4,149.2,-14.0,80,794,0.00,2.15,0.00,0.000,6,0.000,0.039,2333,2697,2931
$GC,1048,-0.90,-131.4,194.9,-17.8,104,1050,0.00,1.83,0.00,0.000,4,0.000,0.043,2323,3914,2931
$GC,1074,-0.90,-131.4,199.5,-18.8,106,1077,0.00,1.75,0.00,0.000,6,0.000,0.021,2324,2675,2931
$GC,1328,-0.90,-131.4,245.1,-17.2,113,1331,0.00,1.88,0.00,0.000,4,0.000,0.041,2314,3906,2932
$GC,1345,-0.90,-131.4,247.9,-16.4,113,1349,0.12,1.75,0.00,0.000,6,0.148,0.021,2346,2671,2932
$GC,1616,-0.90,-131.4,284.6,-12.8,120,1619,0.00,1.95,0.00,0.000,4,0.000,0.025,2347,1293,2932
$GC,1687,-0.90,-131.4,293.0,-9.9,121,1690,0.00,2.12,0.00,0.000,6,0.000,0.040,2346,2704,2932
$GC,1946,-0.90,-131.4,323.0,-11.3,128,1949,0.00,1.80,0.00,0.000,4,0.000,0.044,2337,3903,2931
$GC,2033,-0.90,-131.4,333.4,-12.1,130,2036,0.00,1.70,0.00,0.000,6,0.000,0.021,2336,2699,2931
$GC,2319,-0.90,-131.4,366.6,-11.1,137,2322,0.00,2.00,0.00,0.000,4,0.000,0.025,2337,1290,2930
$GC,2380,-0.90,-131.4,373.5,-10.7,138,2383,0.00,2.12,0.00,0.000,6,0.000,0.040,2333,2700,2930
$GC,2650,-0.90,-131.4,405.8,-12.3,145,2653,0.00,1.83,0.00,0.000,4,0.000,0.047,2323,3911,2928
$GC,2696,-0.90,-131.4,411.7,-13.3,146,2699,0.00,1.75,0.00,0.000,6,0.000,0.022,2324,2680,2927
$GC,2983,-0.90,-131.4,451.0,-13.5,153,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2672,2926
$GC,3225,-0.90,-131.4,481.7,-12.6,159,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2673,2924
$GC,3467,-0.90,-131.4,508.6,-10.7,165,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2673,2922
$GC,3711,-0.90,-131.4,532.8,-9.9,171,3714,0.00,1.92,0.00,0.000,4,0.000,0.048,2314,3900,2920
$GC,3728,-0.90,-131.4,534.9,-10.0,171,3732,0.10,1.75,0.00,0.000,6,0.136,0.025,2339,2679,2920
$GC,3999,-0.90,-131.4,559.8,-9.3,178,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2672,2918
$GC,4240,-0.90,-131.4,584.6,-10.4,184,4243,0.00,2.00,0.00,0.000,4,0.000,0.028,2341,1290,2916
$GC,4306,-0.90,-131.4,591.5,-10.5,185,4309,0.00,2.15,0.00,0.000,6,0.000,0.044,2333,2698,2916
$STATE,4405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4405,begin apogee
$GC,4415,-0.32,0.0,602.9,11.0,188,4531,0.60,0.00,113.25,1.047,6,0.123,0.000,2528,2501,2390
$STATE,4531,end apogee,CONTROL_FINISHED_OK
$STATE,4531,begin climb
$GC,4536,0.90,131.4,607.0,0.0,191,4666,1.02,2.20,116.78,0.989,4,0.030,0.028,2950,1092,1853
$GC,4779,0.90,131.4,548.3,33.8,196,4782,0.00,2.20,0.00,0.000,6,0.000,0.034,2950,2520,1846
$GC,5027,0.90,131.4,460.9,35.2,202,5031,0.00,2.12,0.00,0.000,4,0.000,0.029,2961,1092,1844
$GC,5082,0.90,131.4,442.8,31.5,203,5086,0.12,2.15,0.00,0.000,6,0.226,0.038,2932,2496,1843
$GC,5353,0.90,131.4,355.4,32.2,210,5356,0.00,2.15,0.00,0.000,4,0.000,0.041,2931,3910,1842
$GC,5391,0.90,131.4,342.7,32.1,210,5399,0.00,2.12,0.00,0.000,6,0.000,0.028,2940,2494,1841
$GC,5640,0.90,131.4,267.9,30.1,217,5643,0.00,2.03,0.00,0.000,4,0.000,0.029,2951,1097,1840
$GC,5668,0.90,131.4,260.1,28.3,217,5671,0.00,2.12,0.00,0.000,6,0.000,0.036,2951,2509,1840
$GC,5922,0.90,131.4,186.0,28.5,226,5926,0.00,2.08,0.00,0.000,4,0.000,0.028,2962,1086,1839
$GC,6133,0.90,131.4,133.4,24.9,245,6136,0.12,2.12,0.00,0.000,6,0.212,0.038,2930,2502,1838
$GC,6391,0.90,131.4,71.3,23.8,269,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2504,1837
$GC,6649,0.90,131.4,22.7,18.7,297,6658,0.00,2.08,0.00,0.000,4,0.000,0.028,2942,1095,1837
$STATE,6758,end climb,SURFACE_DEPTH_REACHED
$STATE,6758,begin surface coast
$FINISH,0.1,1.023642
$STATE,6773,end surface coast,CONTROL_FINISHED_OK
$STATE,6778,begin surface
$SM_CCo,6803,113.55,0.582,0,0,839,380.21
$SM_GC,0.87,0.00,0.00,113.55,0.000,0.000,0.582,37,2708,839,-8.11,0.51,380.21
$IRIDIUM_FIX,2246.36,-15806.70,141101,090914
$TT8_MAMPS,0.046787
$HUMID,2146
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,21.70
$XPDR_PINGS,4
$24V_AH,24.4,18.055
$10V_AH,10.6,15.684
$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,18.175,64.850,230.025,113.550,0.000,58.288,91.463,351.063,1.000,0.000,0.000,18.728,0.000,4791.863,401.078,1593.527,828.199,33.338,891.113,0.000,1410.553,0.000,0.544,0.000
$DEVICE_MAMPS,226.265,47.554,1046.955,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,216.656,751.106,773.048,118.875,618.854,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25585,321
$CAP_FILE_SIZE,65033,0
$CFSIZE,260165632,251932672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,200812,110851,2253.177,-15805.912,10,2.2,29,10.1