version: 66.04
glider: 512
mission: 3
dive: 209
start: 8 28 112 2 2 45
data:
$ID,512
$MISSION,3
$DIVE,209
$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,574.23792
$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,-54701.414
$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,69
$R_STBD_OVSHOOT,40
$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
$GPS1,014435,2243.439,-15757.080,65,0.9,70,10.1
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-78.8
$GPS2,020206,2243.474,-15757.224,12,1.3,17,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,-0.056
$KALMAN_X,-540.6,-540.6,-540.6,1955.9,27.7
$KALMAN_Y,196.8,196.8,196.8,-467.7,-10.1
$MHEAD_RNG_PITCHd_Wd,95.1,34398,-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,-97.3,0.0,0.0,0,90,0.00,0.00,-73.12,0.000,6,0.000,0.000,12,2721,3138
$GC,95,-0.84,-97.3,5.1,-11.1,9,113,8.90,2.08,0.00,0.000,4,0.206,0.018,2390,1270,3139
$GC,123,-0.84,-97.3,21.9,-49.3,12,131,0.00,2.20,0.00,0.000,6,0.000,0.040,2381,2682,3140
$GC,383,-0.84,-97.3,82.9,-19.3,38,386,0.00,1.85,0.00,0.000,4,0.000,0.044,2371,3909,3141
$GC,472,-0.84,-97.3,97.1,-14.5,46,475,0.00,1.73,0.00,0.000,6,0.000,0.021,2371,2698,3141
$GC,736,-0.84,-97.3,142.3,-17.0,71,739,0.00,2.00,0.00,0.000,4,0.000,0.022,2371,1300,3142
$GC,753,-0.84,-97.3,145.8,-16.8,72,761,0.00,2.15,0.00,0.000,6,0.000,0.038,2371,2705,3142
$GC,1012,-0.84,-97.3,185.7,-14.5,97,1015,0.00,1.83,0.00,0.000,4,0.000,0.045,2362,3893,3142
$GC,1058,-0.84,-97.3,192.2,-13.0,101,1061,0.00,1.73,0.00,0.000,6,0.000,0.021,2362,2692,3142
$GC,1324,-0.84,-97.3,229.7,-13.8,112,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2684,3142
$GC,1566,-0.84,-97.3,260.8,-12.7,118,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2684,3141
$GC,1808,-0.84,-97.3,290.4,-11.8,124,1811,0.00,1.95,0.00,0.000,4,0.000,0.024,2362,1296,3141
$GC,1847,-0.84,-97.3,294.5,-9.7,124,1852,0.00,2.12,0.00,0.000,6,0.000,0.041,2359,2703,3140
$GC,2098,-0.84,-97.3,320.4,-10.6,131,2101,0.00,1.85,0.00,0.000,4,0.000,0.048,2349,3903,3139
$GC,2147,-0.84,-97.3,326.0,-10.1,132,2150,0.10,1.73,0.00,0.000,6,0.114,0.023,2384,2700,3139
$GC,2428,-0.84,-97.3,350.9,-8.9,139,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2693,3138
$GC,2670,-0.84,-97.3,371.1,-8.3,145,2673,0.00,1.98,0.00,0.000,4,0.000,0.025,2386,1304,3135
$GC,2709,-0.84,-97.3,374.4,-7.9,145,2716,0.00,2.15,0.00,0.000,6,0.000,0.042,2385,2702,3135
$GC,2958,-0.84,-97.3,393.7,-7.8,152,2961,0.00,1.85,0.00,0.000,4,0.000,0.050,2376,3897,3134
$GC,2997,-0.84,-97.3,396.9,-8.4,152,3002,0.00,1.70,0.00,0.000,6,0.000,0.023,2376,2696,3133
$GC,3246,-0.84,-97.3,417.5,-8.3,159,3249,0.00,1.98,0.00,0.000,4,0.000,0.026,2376,1309,3131
$GC,3306,-0.84,-97.3,422.3,-7.6,160,3309,0.00,2.12,0.00,0.000,6,0.000,0.044,2373,2703,3131
$GC,3576,-0.84,-97.3,444.0,-8.2,167,3579,0.00,1.83,0.00,0.000,4,0.000,0.051,2363,3898,3129
$GC,3615,-0.84,-97.3,447.6,-8.8,167,3621,0.00,1.70,-0.08,0.000,6,0.000,0.025,2363,2701,3154
$GC,3864,-0.84,-97.3,471.9,-10.0,174,3867,0.00,2.00,0.00,0.000,4,0.000,0.028,2363,1307,3152
$GC,3887,-0.84,-97.3,474.3,-10.6,174,3890,0.00,2.12,0.00,0.000,6,0.000,0.044,2359,2700,3152
$GC,4154,-0.84,-97.3,501.6,-10.2,181,4157,0.00,1.85,0.00,0.000,4,0.000,0.054,2358,3902,3150
$GC,4172,-0.84,-97.3,503.7,-10.4,181,4175,0.00,1.75,0.00,0.000,6,0.000,0.026,2358,2708,3150
$GC,4442,-0.84,-97.3,528.1,-8.7,188,4445,0.00,2.03,0.00,0.000,4,0.000,0.028,2359,1296,3148
$GC,4486,-0.84,-97.3,531.9,-8.1,189,4490,0.00,2.15,0.00,0.000,6,0.000,0.045,2358,2702,3148
$GC,4775,-0.84,-97.3,553.7,-7.5,196,4778,0.00,1.85,0.00,0.000,4,0.000,0.055,2358,3898,3145
$GC,4846,-0.84,-97.3,558.9,-6.5,197,4849,0.00,1.75,0.00,0.000,6,0.000,0.026,2358,2694,3145
$GC,5106,-0.84,-97.3,578.6,-7.8,204,5109,0.00,2.00,0.00,0.000,4,0.000,0.029,2358,1306,3143
$GC,5145,-0.84,-97.3,582.0,-8.5,204,5151,0.00,2.15,0.00,0.000,6,0.000,0.048,2358,2700,3143
$STATE,5349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5349,begin apogee
$GC,5360,-0.27,0.0,600.5,9.1,210,5445,0.62,0.00,83.68,1.067,6,0.093,0.000,2572,2406,2740
$STATE,5446,end apogee,CONTROL_FINISHED_OK
$STATE,5446,begin climb
$GC,5451,0.84,97.3,604.9,0.0,212,5546,0.95,2.20,88.18,1.029,4,0.034,0.028,2958,998,2342
$GC,5790,0.84,97.3,592.5,12.3,220,5794,0.00,2.20,0.00,0.000,6,0.000,0.038,2958,2428,2333
$GC,6071,0.84,97.3,557.6,12.5,227,6074,0.00,2.10,0.00,0.000,4,0.000,0.028,2967,1005,2331
$GC,6174,0.84,97.3,545.5,11.4,229,6178,0.15,2.15,0.00,0.000,6,0.224,0.037,2934,2422,2331
$GC,6441,0.84,97.3,517.3,10.3,236,6444,0.00,2.15,0.00,0.000,4,0.000,0.043,2932,3824,2329
$GC,6608,0.86,110.6,500.6,9.1,239,6622,0.00,2.08,10.20,0.908,6,0.000,0.026,2940,2407,2289
$GC,6900,0.86,110.6,468.6,10.8,247,6903,0.00,2.05,0.00,0.000,4,0.000,0.029,2951,1000,2286
$GC,6955,0.86,110.6,463.0,10.8,248,6958,0.00,2.12,0.00,0.000,6,0.000,0.037,2945,2407,2285
$GC,7230,0.89,135.3,438.2,8.3,255,7258,0.00,2.15,22.30,0.952,4,0.000,0.030,2953,1011,2187
$GC,7316,0.89,135.3,427.7,15.3,257,7319,0.00,2.15,0.00,0.000,6,0.000,0.039,2953,2410,2185
$GC,7602,0.89,135.3,384.8,14.9,264,7606,0.00,2.08,0.00,0.000,4,0.000,0.030,2962,997,2183
$GC,7630,0.89,135.3,380.6,15.5,264,7634,0.00,2.17,0.00,0.000,6,0.000,0.039,2958,2419,2183
$GC,7887,0.89,135.3,343.3,14.2,271,7890,0.00,2.08,0.00,0.000,4,0.000,0.028,2966,1004,2181
$GC,8135,0.89,135.3,309.9,12.3,276,8138,0.00,2.15,0.00,0.000,6,0.000,0.038,2966,2426,2180
$GC,8389,0.90,138.3,284.1,9.8,283,8392,0.00,2.08,0.00,0.000,4,0.000,0.028,2975,1000,2180
$GC,8637,0.97,201.8,264.9,5.6,288,8696,0.00,2.12,55.38,0.844,6,0.000,0.037,2970,2414,1917
$GC,8968,0.97,201.8,191.6,25.5,297,8971,0.00,2.08,0.00,0.000,4,0.000,0.029,2979,1011,1909
$GC,9157,0.97,201.8,151.2,23.0,314,9160,0.00,2.12,0.00,0.000,6,0.000,0.037,2979,2410,1908
$GC,9421,0.97,201.8,91.5,21.3,339,9424,0.00,2.05,0.00,0.000,4,0.000,0.027,2988,1005,1907
$GC,9438,0.97,201.8,87.2,21.3,340,9447,0.00,2.15,0.00,0.000,6,0.000,0.038,2986,2402,1907
$GC,9697,0.97,201.8,43.2,11.8,365,9699,0.00,2.17,0.00,0.000,4,0.000,0.042,2984,3826,1907
$GC,9755,0.97,201.8,35.4,13.9,370,9758,0.00,2.08,0.00,0.000,6,0.000,0.024,2992,2406,1907
$STATE,9976,end climb,SURFACE_DEPTH_REACHED
$STATE,9976,begin surface coast
$FINISH,0.0,1.023365
$STATE,9991,end surface coast,CONTROL_FINISHED_OK
$STATE,9991,begin surface
$SM_CCo,10015,180.05,0.581,0,0,399,574.24
$SM_GC,0.75,0.00,0.00,180.05,0.000,0.000,0.581,34,2730,399,-8.19,0.85,574.24
$IRIDIUM_FIX,2234.68,-15754.99,221101,020227
$TT8_MAMPS,0.046787
$HUMID,2107
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,22.30
$XPDR_PINGS,8
$24V_AH,24.4,25.761
$10V_AH,10.6,22.600
$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,18.250,105.700,259.725,180.050,0.000,158.717,250.716,233.273,2.000,0.000,0.000,17.437,0.000,7501.696,497.436,2146.703,1088.188,30.178,1204.715,0.000,1894.916,0.000,0.544,0.000
$DEVICE_MAMPS,223.964,55.224,1066.897,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,278.893,856.589,884.894,125.484,668.227,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35092,412
$CAP_FILE_SIZE,94272,0
$CFSIZE,260165632,248971264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,280812,045353,2243.273,-15756.944,23,1.2,42,10.1