version: 66.04
glider: 512
mission: 3
dive: 194
start: 8 26 112 1 26 39
data:
$ID,512
$MISSION,3
$DIVE,194
$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,480
$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,100
$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,-54400
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2640
$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,2610
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2740
$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
$GPS1,010845,2245.364,-15758.961,12,2.6,32,10.1
$_CALLS,3
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-80.0
$GPS2,012557,2245.441,-15759.104,15,3.3,34,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,0.030
$KALMAN_X,-421873.0,740.7,367.1,426665.0,-4085.1
$KALMAN_Y,62537.0,531.9,561.7,-70528.6,-1763.5
$MHEAD_RNG_PITCHd_Wd,71.8,54761,-21.7,-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,-0.84,-97.3,0.0,0.0,0,91,0.00,0.00,-74.15,0.000,2,0.000,0.000,25,2659,3108
$GC,96,-0.84,-97.3,3.9,-7.1,9,113,8.80,0.00,-0.47,0.000,6,0.206,0.000,2367,2659,3137
$GC,365,-0.84,-97.3,83.2,-18.9,38,368,0.00,1.88,0.00,0.000,4,0.000,0.042,2360,3886,3139
$GC,475,-0.84,-97.3,100.9,-15.8,48,478,0.00,1.75,0.00,0.000,6,0.000,0.021,2359,2682,3139
$GC,739,-0.84,-97.3,144.3,-16.7,73,742,0.00,1.98,0.00,0.000,4,0.000,0.023,2360,1288,3140
$GC,777,-0.84,-97.3,151.4,-15.5,76,784,0.00,2.15,0.00,0.000,6,0.000,0.041,2359,2684,3140
$GC,1034,-0.84,-97.3,192.1,-15.6,101,1037,0.00,1.83,0.00,0.000,4,0.000,0.044,2350,3899,3140
$GC,1121,-0.84,-97.3,206.0,-14.3,107,1124,0.00,1.70,0.00,0.000,6,0.000,0.020,2349,2686,3140
$GC,1407,-0.84,-97.3,250.6,-15.0,114,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2677,3140
$GC,1649,-0.84,-97.3,283.9,-13.6,120,1652,0.00,1.88,0.00,0.000,4,0.000,0.045,2346,3905,3139
$GC,1677,-0.84,-97.3,287.5,-13.1,120,1680,0.00,1.73,0.00,0.000,6,0.000,0.021,2346,2687,3139
$GC,1937,-0.84,-97.3,320.7,-12.7,127,1940,0.00,1.95,0.00,0.000,4,0.000,0.025,2346,1304,3138
$GC,1975,-0.84,-97.3,325.5,-12.2,127,1981,0.00,2.12,0.00,0.000,6,0.000,0.041,2346,2710,3138
$GC,2224,-0.84,-97.3,352.6,-10.8,134,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2710,3137
$GC,2466,-0.84,-97.3,377.9,-10.5,140,2469,0.00,2.00,0.00,0.000,4,0.000,0.025,2346,1309,3134
$GC,2494,-0.84,-97.3,381.0,-11.0,140,2497,0.00,2.12,0.00,0.000,6,0.000,0.043,2346,2708,3134
$GC,2754,-0.84,-97.3,406.8,-10.0,147,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2709,3132
$GC,2996,-0.84,-97.3,430.4,-9.7,153,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2709,3130
$GC,3238,-0.84,-97.3,454.5,-10.2,159,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2709,3129
$GC,3480,-0.84,-97.3,480.0,-10.6,165,3481,0.00,0.00,-0.08,0.000,6,0.000,0.000,2345,2709,3152
$GC,3724,-0.84,-97.3,504.3,-9.9,171,3727,0.00,2.03,0.00,0.000,4,0.000,0.028,2346,1305,3151
$GC,3752,-0.84,-97.3,507.2,-9.6,171,3755,0.00,2.15,0.00,0.000,6,0.000,0.046,2346,2708,3151
$GC,4012,-0.84,-97.3,531.3,-9.3,178,4015,0.00,1.85,0.00,0.000,4,0.000,0.054,2342,3908,3149
$GC,4062,-0.84,-97.3,536.0,-9.4,179,4065,0.00,1.75,0.00,0.000,6,0.000,0.027,2342,2705,3148
$GC,4345,-0.84,-97.3,563.5,-10.0,186,4348,0.00,2.03,0.00,0.000,4,0.000,0.029,2342,1300,3146
$GC,4400,-0.84,-97.3,569.2,-9.4,187,4403,0.12,2.15,0.00,0.000,6,0.118,0.045,2369,2702,3146
$GC,4670,-0.84,-97.3,589.6,-7.4,194,4673,0.00,1.85,0.00,0.000,4,0.000,0.054,2363,3902,3144
$GC,4693,-0.84,-97.3,591.3,-7.5,194,4696,0.00,1.75,0.00,0.000,6,0.000,0.027,2363,2697,3144
$STATE,4832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4832,begin apogee
$GC,4843,-0.27,0.0,602.6,7.9,198,4928,0.55,0.00,83.60,1.071,6,0.091,0.000,2552,2605,2740
$STATE,4929,end apogee,CONTROL_FINISHED_OK
$STATE,4929,begin climb
$GC,4934,0.84,97.3,605.6,0.0,200,5035,0.95,2.15,89.53,1.008,4,0.036,0.041,2917,3908,2343
$GC,5280,0.84,97.3,585.0,15.2,208,5283,0.00,1.92,0.00,0.000,6,0.000,0.027,2926,2614,2335
$GC,5561,0.84,97.3,547.5,13.0,215,5564,0.00,2.00,0.00,0.000,4,0.000,0.043,2927,3913,2332
$GC,5808,0.84,97.3,517.6,10.8,220,5811,0.00,1.92,0.00,0.000,6,0.000,0.026,2937,2595,2331
$GC,6063,0.88,129.0,496.3,7.8,227,6093,0.00,2.12,26.58,0.983,4,0.000,0.042,2932,3914,2213
$GC,6336,0.88,129.0,452.1,16.8,233,6339,0.00,1.92,0.00,0.000,6,0.000,0.027,2939,2613,2207
$GC,6601,0.88,129.0,408.5,15.8,240,6604,0.00,2.03,0.00,0.000,4,0.000,0.043,2939,3916,2206
$GC,6715,0.88,129.0,391.2,15.7,242,6718,0.00,1.92,0.00,0.000,6,0.000,0.026,2949,2603,2205
$GC,6974,0.88,129.0,354.8,13.5,249,6977,0.00,2.05,0.00,0.000,4,0.000,0.028,2960,1187,2204
$GC,7222,0.88,129.0,324.5,11.6,254,7226,0.12,2.15,0.00,0.000,6,0.219,0.038,2931,2620,2203
$GC,7479,0.88,129.0,296.7,11.1,261,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2621,2202
$GC,7718,0.89,135.6,272.3,9.5,267,7727,0.00,2.10,4.93,0.644,4,0.000,0.028,2940,1201,2187
$GC,7971,0.97,195.2,253.6,5.9,272,8026,0.00,2.12,51.15,0.838,6,0.000,0.038,2939,2611,1944
$GC,8280,0.97,195.2,191.5,22.7,282,8283,0.00,2.10,0.00,0.000,4,0.000,0.028,2949,1191,1937
$GC,8368,0.97,195.2,171.1,21.2,290,8372,0.00,2.15,0.00,0.000,6,0.000,0.038,2945,2607,1936
$GC,8632,0.97,195.2,122.0,18.3,315,8635,0.00,2.08,0.00,0.000,4,0.000,0.028,2953,1191,1935
$GC,8884,0.97,195.2,74.4,19.8,338,8887,0.00,2.15,0.00,0.000,6,0.000,0.038,2954,2617,1934
$GC,9142,0.97,195.2,40.4,10.7,362,9145,0.00,2.05,0.00,0.000,4,0.000,0.025,2963,1192,1934
$GC,9157,0.97,195.2,38.6,10.9,363,9161,0.00,2.12,0.00,0.000,6,0.000,0.035,2957,2616,1934
$GC,9414,0.97,195.2,6.1,15.6,405,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2616,1934
$STATE,9433,end climb,SURFACE_DEPTH_REACHED
$STATE,9433,begin surface coast
$FINISH,-0.0,1.023808
$STATE,9448,end surface coast,CONTROL_FINISHED_OK
$STATE,9448,begin surface
$SM_CCo,9472,97.18,0.591,0,0,1189,380.21
$SM_GC,0.63,0.00,0.00,97.18,0.000,0.000,0.591,27,2749,1189,-8.17,1.39,380.21
$IRIDIUM_FIX,2237.01,-15757.16,201101,010151
$TT8_MAMPS,0.047554
$HUMID,2112
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.20
$XPDR_PINGS,10
$24V_AH,24.5,23.863
$10V_AH,10.6,20.847
$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,18.025,75.850,255.775,97.175,0.000,88.548,110.729,523.867,2.500,0.000,0.000,35.840,0.000,6872.546,397.313,2181.256,1138.996,33.355,1073.416,0.000,1926.734,0.000,0.544,0.000
$DEVICE_MAMPS,219.362,82.836,1071.499,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,278.724,892.798,923.845,133.373,718.101,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34948,411
$CAP_FILE_SIZE,90710,0
$CFSIZE,260165632,249745408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,1
$GPS,260812,040706,2245.142,-15758.601,25,1.9,25,10.1