version: 66.04
glider: 512
mission: 3
dive: 239
start: 8 31 112 19 42 41
data:
$ID,512
$MISSION,3
$DIVE,239
$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,125
$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,-55944.906
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2530
$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,2740
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2610
$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,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
$GPS1,193543,2241.887,-15759.344,13,1.7,13,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-80.8
$GPS2,194203,2241.853,-15759.411,13,4.3,32,10.0
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.153,0.183
$KALMAN_X,-74330.9,865.8,716.4,69268.9,-6611.5
$KALMAN_Y,-12198.4,-236.6,270.9,9289.0,-1422.5
$MHEAD_RNG_PITCHd_Wd,29.9,37419,-19.3,-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,-0.82,-121.7,0.0,0.0,0,91,0.00,0.00,-74.05,0.000,2,0.000,0.000,25,2758,2960
$GC,96,-0.82,-121.7,3.3,-6.3,9,113,8.30,1.75,-2.65,0.000,4,0.202,0.048,2250,3907,3107
$GC,330,-0.82,-121.7,93.7,-27.5,34,337,0.00,1.73,0.00,0.000,6,0.000,0.021,2250,2731,3110
$GC,587,-0.82,-121.7,167.9,-29.1,59,589,0.00,1.77,0.00,0.000,4,0.000,0.040,2241,3889,3111
$GC,613,-0.82,-121.7,175.3,-29.9,61,616,0.00,1.65,0.00,0.000,6,0.000,0.021,2241,2734,3111
$GC,899,-0.82,-121.7,254.0,-26.5,74,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2726,3113
$GC,1141,-0.82,-121.7,313.4,-24.6,80,1144,0.00,1.77,0.00,0.000,4,0.000,0.041,2232,3877,3113
$GC,1207,-0.82,-121.7,329.9,-24.4,81,1210,0.12,1.62,0.00,0.000,6,0.155,0.020,2265,2717,3113
$GC,1472,-0.82,-121.7,385.0,-20.8,88,1475,0.00,1.80,0.00,0.000,4,0.000,0.043,2257,3889,3112
$GC,1569,-0.82,-121.7,405.0,-20.6,90,1572,0.00,1.62,0.00,0.000,6,0.000,0.021,2257,2741,3112
$GC,1845,-0.82,-121.7,461.0,-20.0,97,1848,0.00,2.00,0.00,0.000,4,0.000,0.025,2257,1336,3110
$GC,1873,-0.82,-121.7,466.6,-20.1,97,1876,0.00,2.10,0.00,0.000,6,0.000,0.039,2247,2736,3110
$GC,2132,-0.82,-121.7,517.7,-19.8,104,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2736,3108
$GC,2374,-0.82,-121.7,566.5,-20.4,110,2377,0.00,1.77,0.00,0.000,4,0.000,0.048,2237,3902,3107
$GC,2461,-0.82,-121.7,584.8,-20.5,112,2464,0.00,1.65,0.00,0.000,6,0.000,0.024,2237,2744,3106
$STATE,2541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2541,begin apogee
$GC,2552,-0.32,0.0,602.1,21.0,114,2657,0.60,0.00,103.00,1.027,6,0.134,0.000,2425,2387,2610
$STATE,2657,end apogee,CONTROL_FINISHED_OK
$STATE,2657,begin climb
$GC,2662,0.82,121.7,608.7,0.0,116,2781,1.05,0.00,111.00,0.978,6,0.079,0.000,2785,2386,2114
$GC,2991,0.82,121.7,561.9,20.0,125,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2387,2106
$GC,3235,0.82,121.7,513.7,20.1,131,3239,0.00,2.25,0.00,0.000,4,0.000,0.044,2781,3831,2102
$GC,3269,0.82,121.7,506.2,21.8,131,3274,0.00,2.10,0.00,0.000,6,0.000,0.026,2789,2427,2102
$GC,3518,0.82,121.7,457.3,19.3,138,3521,0.00,2.10,0.00,0.000,4,0.000,0.028,2800,995,2100
$GC,3583,0.82,121.7,444.6,18.2,139,3586,0.00,2.17,0.00,0.000,6,0.000,0.039,2796,2416,2099
$GC,3845,0.82,121.7,400.4,16.0,146,3848,0.00,2.10,0.00,0.000,4,0.000,0.028,2804,988,2099
$GC,3905,0.82,121.7,390.5,15.4,147,3908,0.00,2.17,0.00,0.000,6,0.000,0.041,2804,2411,2097
$GC,4170,0.82,121.7,349.5,15.3,154,4173,0.00,2.20,0.00,0.000,4,0.000,0.049,2804,3829,2098
$GC,4316,0.82,121.7,325.7,14.3,157,4319,0.00,2.10,0.00,0.000,6,0.000,0.026,2815,2412,2096
$GC,4586,0.82,121.7,289.9,12.9,164,4589,0.00,2.20,0.00,0.000,4,0.000,0.045,2810,3825,2096
$GC,4625,0.82,121.7,284.9,13.3,164,4630,0.00,2.10,0.00,0.000,6,0.000,0.025,2818,2394,2095
$GC,4875,0.82,121.7,253.3,13.1,171,4879,0.00,2.22,0.00,0.000,4,0.000,0.046,2819,3833,2095
$GC,4968,0.82,121.7,240.4,13.9,173,4971,0.15,2.10,0.00,0.000,6,0.212,0.026,2796,2406,2094
$GC,5243,0.82,121.7,209.7,10.8,180,5247,0.00,2.20,0.00,0.000,4,0.000,0.045,2794,3831,2094
$GC,5255,0.82,121.7,208.6,10.2,180,5258,0.00,2.10,0.00,0.000,6,0.000,0.025,2802,2400,2094
$GC,5517,0.85,184.4,186.0,6.5,197,5570,0.00,2.15,49.22,0.775,4,0.000,0.028,2813,993,1857
$GC,5637,0.85,184.4,173.6,13.7,207,5640,0.00,2.20,0.00,0.000,6,0.000,0.038,2809,2418,1854
$GC,5895,0.85,184.4,127.5,18.7,231,5898,0.00,2.17,0.00,0.000,4,0.000,0.044,2809,3825,1852
$GC,5952,0.85,184.4,115.4,23.5,236,5955,0.00,2.10,0.00,0.000,6,0.000,0.025,2818,2396,1851
$GC,6216,0.85,184.4,66.5,19.5,261,6219,0.00,2.25,0.00,0.000,4,0.000,0.044,2818,3835,1851
$GC,6258,0.85,184.4,59.2,16.8,264,6261,0.00,2.08,0.00,0.000,6,0.000,0.025,2828,2411,1851
$GC,6522,0.85,184.4,28.9,11.6,289,6530,0.00,2.20,0.00,0.000,4,0.000,0.043,2823,3815,1850
$GC,6566,0.85,184.4,23.4,12.9,296,6574,0.00,2.08,0.00,0.000,6,0.000,0.024,2831,2420,1850
$STATE,6725,end climb,SURFACE_DEPTH_REACHED
$STATE,6730,begin surface coast
$FINISH,-0.0,1.023378
$STATE,6745,end surface coast,CONTROL_FINISHED_OK
$STATE,6745,begin surface
$SM_CCo,6768,92.22,0.585,0,0,1059,380.21
$SM_GC,0.81,0.00,0.00,92.22,0.000,0.000,0.585,33,2749,1059,-7.80,0.28,380.21
$IRIDIUM_FIX,2234.68,-15548.25,251101,171737
$TT8_MAMPS,0.047554
$HUMID,2143
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.10
$XPDR_PINGS,9
$24V_AH,24.5,29.595
$10V_AH,10.6,25.973
$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,17.225,69.525,263.225,92.225,0.000,29.666,34.326,159.728,2.250,0.000,0.000,33.138,0.000,4633.177,427.335,1630.096,538.346,33.343,904.939,0.000,1425.936,0.000,0.544,0.000
$DEVICE_MAMPS,212.459,49.088,1027.013,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,222.600,785.750,807.216,123.862,652.879,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25776,330
$CAP_FILE_SIZE,61391,0
$CFSIZE,260165632,247582720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,310812,213803,2242.105,-15759.399,9,2.4,29,10.0