version: 66.04
glider: 512
mission: 3
dive: 202
start: 8 27 112 2 53 19
data:
$ID,512
$MISSION,3
$DIVE,202
$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,-54552.809
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2660
$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,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,39
$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
$GPS1,024523,2243.623,-15757.541,41,1.0,41,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-82.2
$GPS2,025237,2243.646,-15757.600,10,1.5,10,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.193,0.095
$KALMAN_X,-437971.3,73.9,128.3,446249.2,-2522.0
$KALMAN_Y,59515.7,389.2,423.1,-70544.8,-1356.9
$MHEAD_RNG_PITCHd_Wd,53.7,55278,-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,-97.3,0.0,0.0,0,83,0.00,0.00,-65.78,0.000,2,0.000,0.000,19,2687,2868
$GC,88,-0.84,-97.3,3.1,-5.9,8,105,8.85,0.00,-4.97,0.000,6,0.206,0.000,2376,2687,3141
$GC,367,-0.84,-97.3,80.0,-20.9,39,369,0.00,1.85,0.00,0.000,4,0.000,0.041,2369,3895,3143
$GC,445,-0.84,-97.3,94.9,-15.3,46,448,0.00,1.75,0.00,0.000,6,0.000,0.021,2369,2692,3143
$GC,709,-0.84,-97.3,139.8,-17.1,71,712,0.00,2.00,0.00,0.000,4,0.000,0.025,2368,1293,3144
$GC,777,-0.84,-97.3,150.2,-14.1,77,780,0.00,2.12,0.00,0.000,6,0.000,0.041,2359,2690,3144
$GC,1040,-0.84,-97.3,190.5,-15.0,102,1043,0.00,1.85,0.00,0.000,4,0.000,0.046,2350,3909,3145
$GC,1115,-0.84,-97.3,202.1,-12.9,108,1118,0.12,1.75,0.00,0.000,6,0.130,0.021,2384,2681,3145
$GC,1369,-0.84,-97.3,228.8,-10.4,115,1372,0.00,1.95,0.00,0.000,4,0.000,0.024,2384,1310,3146
$GC,1416,-0.84,-97.3,233.3,-10.1,116,1419,0.00,2.10,0.00,0.000,6,0.000,0.041,2384,2700,3146
$GC,1702,-0.84,-97.3,261.8,-10.0,123,1705,0.00,1.83,0.00,0.000,4,0.000,0.046,2376,3902,3146
$GC,1773,-0.84,-97.3,268.4,-8.7,124,1776,0.00,1.70,0.00,0.000,6,0.000,0.021,2376,2691,3146
$GC,2035,-0.84,-97.3,293.3,-9.5,131,2038,0.00,1.98,0.00,0.000,4,0.000,0.024,2376,1303,3145
$GC,2095,-0.84,-97.3,299.1,-8.6,132,2099,0.00,2.12,0.00,0.000,6,0.000,0.041,2372,2711,3145
$GC,2366,-0.84,-97.3,326.0,-10.1,139,2369,0.00,1.80,0.00,0.000,4,0.000,0.048,2363,3898,3143
$GC,2426,-0.84,-97.3,331.6,-9.4,140,2429,0.00,1.73,0.00,0.000,6,0.000,0.023,2363,2701,3143
$GC,2697,-0.84,-97.3,359.8,-10.6,147,2700,0.00,1.98,0.00,0.000,4,0.000,0.025,2363,1309,3142
$GC,2751,-0.84,-97.3,365.5,-9.8,148,2755,0.00,2.12,0.00,0.000,6,0.000,0.043,2359,2705,3142
$GC,3027,-0.84,-97.3,392.4,-9.7,155,3030,0.00,1.85,0.00,0.000,4,0.000,0.051,2358,3898,3140
$GC,3050,-0.84,-97.3,394.6,-9.5,155,3053,0.00,1.73,0.00,0.000,6,0.000,0.024,2358,2695,3139
$GC,3315,-0.84,-97.3,418.7,-9.1,162,3318,0.00,1.98,0.00,0.000,4,0.000,0.026,2358,1298,3137
$GC,3370,-0.84,-97.3,423.7,-8.5,163,3373,0.00,2.15,0.00,0.000,6,0.000,0.044,2358,2706,3137
$GC,3646,-0.84,-97.3,448.8,-9.3,170,3649,0.00,1.83,0.00,0.000,4,0.000,0.050,2349,3899,3136
$GC,3701,-0.84,-97.3,453.9,-9.2,171,3704,0.12,1.73,0.00,0.000,6,0.118,0.025,2385,2696,3135
$GC,3977,-0.84,-97.3,474.3,-7.4,178,3980,0.00,2.00,0.00,0.000,4,0.000,0.027,2386,1302,3133
$GC,4042,-0.84,-97.3,479.4,-7.5,179,4045,0.00,2.15,0.00,0.000,6,0.000,0.044,2385,2707,3133
$GC,4310,-0.84,-97.3,498.7,-7.3,186,4313,0.00,1.85,0.00,0.000,4,0.000,0.054,2384,3906,3131
$GC,4359,-0.84,-97.3,502.5,-6.7,187,4362,0.00,1.75,0.00,0.000,6,0.000,0.027,2385,2688,3130
$GC,4640,-0.84,-97.3,521.6,-6.7,194,4643,0.00,2.00,0.00,0.000,4,0.000,0.028,2384,1297,3129
$GC,4679,-0.84,-97.3,524.3,-7.0,194,4685,0.00,2.15,0.00,0.000,6,0.000,0.046,2384,2699,3129
$GC,4930,-0.84,-97.3,539.9,-6.0,201,4934,0.00,1.88,0.00,0.000,4,0.000,0.055,2384,3888,3127
$GC,4958,-0.84,-97.3,541.6,-5.9,201,4961,0.00,1.73,0.00,0.000,6,0.000,0.028,2384,2693,3126
$GC,5218,-0.84,-97.3,556.1,-5.6,208,5221,0.00,2.00,0.00,0.000,4,0.000,0.029,2384,1305,3125
$GC,5268,-0.84,-97.3,559.1,-6.3,209,5271,0.00,2.15,0.00,0.000,6,0.000,0.048,2385,2701,3125
$GC,5551,-0.84,-97.3,576.3,-6.2,216,5554,0.00,1.85,0.00,0.000,4,0.000,0.057,2385,3892,3124
$GC,5574,-0.84,-97.3,577.9,-6.3,216,5577,0.00,1.75,0.00,0.000,6,0.000,0.028,2384,2700,3124
$GC,5839,-0.84,-97.3,593.0,-5.6,223,5842,0.00,2.05,0.00,0.000,4,0.000,0.029,2385,1276,3122
$GC,5883,-0.84,-97.3,595.6,-5.8,224,5887,0.00,2.17,0.00,0.000,6,0.000,0.048,2385,2699,3122
$STATE,5966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5966,begin apogee
$GC,5976,-0.27,0.0,600.4,5.6,226,6058,0.55,0.00,79.85,1.075,6,0.081,0.000,2580,2422,2740
$STATE,6058,end apogee,CONTROL_FINISHED_OK
$STATE,6058,begin climb
$GC,6063,0.84,97.3,603.1,0.0,228,6164,0.93,2.20,89.97,1.016,4,0.038,0.028,2950,1005,2343
$GC,6408,0.84,97.3,587.7,13.1,236,6411,0.00,2.17,0.00,0.000,6,0.000,0.035,2945,2427,2335
$GC,6683,0.84,97.3,556.4,10.7,243,6686,0.00,2.12,0.00,0.000,4,0.000,0.029,2954,999,2332
$GC,6931,0.85,105.4,533.2,9.4,248,6942,0.00,2.15,6.40,0.814,6,0.000,0.039,2954,2409,2310
$GC,7185,0.85,105.4,504.0,11.9,255,7188,0.00,2.17,0.00,0.000,4,0.000,0.044,2954,3826,2308
$GC,7208,0.85,105.4,501.5,11.1,255,7211,0.00,2.10,0.00,0.000,6,0.000,0.027,2964,2408,2307
$GC,7473,0.85,105.4,471.6,11.2,262,7476,0.00,2.20,0.00,0.000,4,0.000,0.042,2958,3827,2306
$GC,7618,0.85,105.4,454.6,11.6,265,7622,0.12,2.10,0.00,0.000,6,0.240,0.027,2942,2401,2305
$GC,7883,0.86,111.0,428.2,9.6,272,7893,0.00,2.22,6.03,0.772,4,0.000,0.041,2941,3827,2287
$GC,8067,0.86,111.1,408.3,10.0,276,8070,0.00,2.10,0.00,0.000,6,0.000,0.027,2949,2405,2285
$GC,8337,0.89,135.9,385.1,8.3,283,8365,0.00,2.10,22.88,0.920,4,0.000,0.029,2960,1010,2185
$GC,8610,0.89,135.9,347.3,15.8,289,8613,0.00,2.15,0.00,0.000,6,0.000,0.038,2957,2418,2180
$GC,8883,0.89,135.9,306.3,15.2,296,8886,0.00,2.10,0.00,0.000,4,0.000,0.029,2967,994,2179
$GC,8980,0.89,135.9,294.0,11.4,298,8984,0.00,2.15,0.00,0.000,6,0.000,0.038,2966,2414,2179
$GC,9256,0.90,139.1,265.0,9.8,305,9259,0.00,2.08,0.00,0.000,4,0.000,0.029,2976,996,2178
$GC,9503,0.94,178.2,249.0,7.3,310,9544,0.00,2.15,35.40,0.830,6,0.000,0.038,2971,2416,2013
$GC,9801,0.94,178.2,193.6,20.5,318,9804,0.00,2.10,0.00,0.000,4,0.000,0.028,2979,994,2008
$GC,10051,0.94,178.2,149.5,16.5,341,10054,0.00,2.15,0.00,0.000,6,0.000,0.037,2971,2409,2007
$GC,10314,0.94,178.2,108.9,15.2,366,10317,0.00,2.05,0.00,0.000,4,0.000,0.028,2979,1003,2006
$GC,10562,0.94,178.2,76.9,10.5,389,10566,0.00,2.10,0.00,0.000,6,0.000,0.032,2971,2416,2006
$GC,10827,1.09,297.3,64.8,1.8,414,10926,0.12,2.17,94.53,0.644,4,0.091,0.027,3022,1007,1526
$GC,11018,1.09,297.3,25.2,29.2,431,11026,0.00,2.17,0.00,0.000,6,0.000,0.036,3022,2394,1521
$STATE,11082,end climb,SURFACE_DEPTH_REACHED
$STATE,11082,begin surface coast
$FINISH,0.2,1.023324
$STATE,11087,end surface coast,CONTROL_FINISHED_OK
$STATE,11087,begin surface
$SM_CCo,11111,39.60,0.573,0,0,1189,380.21
$SM_GC,0.55,0.00,0.00,39.60,0.000,0.000,0.573,38,2734,1189,-8.19,0.96,380.21
$IRIDIUM_FIX,2234.68,-15758.03,201101,232327
$TT8_MAMPS,0.049088
$HUMID,2136
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,22.90
$XPDR_PINGS,6
$24V_AH,24.4,24.790
$10V_AH,10.6,21.762
$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,18.600,117.250,335.050,39.600,0.000,26.169,37.193,222.777,1.500,0.000,0.000,10.658,0.000,7938.794,386.545,2491.124,756.681,33.367,1238.604,0.000,2211.449,0.000,0.543,0.000
$DEVICE_MAMPS,240.071,56.758,1074.567,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,300.850,909.249,943.680,121.550,681.287,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35193,444
$CAP_FILE_SIZE,102360,0
$CFSIZE,260165632,249344000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,1,0
$GPS,270812,060035,2243.508,-15757.272,37,1.1,53,10.1