version: 66.04
glider: 512
mission: 3
dive: 262
start: 9 3 112 14 43 26
data:
$ID,512
$MISSION,3
$DIVE,262
$D_SURF,3
$D_FLARE,2
$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,250
$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,-7
$MAX_BUOY,90
$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,-56442.441
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2525
$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,0.80000001
$PITCH_ADJ_DBAND,0.02
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,30
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$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,50
$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,2
$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
$GPS1,143106,2242.010,-15807.450,40,1.0,41,10.0
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-78.1
$GPS2,144248,2242.068,-15807.611,15,1.2,15,10.0
$SPEED_LIMITS,0.139,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.191,-0.013
$KALMAN_X,-139024.5,889.0,266.6,120381.8,-7134.0
$KALMAN_Y,-32425.4,266.4,494.8,29185.5,-2408.6
$MHEAD_RNG_PITCHd_Wd,84.0,51350,-18.9,-8.000
$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,-0.66,-87.6,0.0,0.0,0,108,0.00,0.00,-90.68,0.000,2,0.000,0.000,19,2768,2777
$GC,113,-0.66,-87.6,2.8,-3.1,11,131,8.52,1.60,-3.78,0.000,4,0.202,0.051,2294,3839,2966
$GC,161,-0.66,-87.6,22.1,-40.9,18,169,0.00,1.60,0.00,0.000,6,0.000,0.023,2300,2769,2967
$GC,428,-0.66,-87.6,95.2,-24.1,45,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2762,2967
$GC,687,-0.66,-87.6,155.7,-23.2,70,690,0.00,1.65,0.00,0.000,4,0.000,0.039,2294,3833,2967
$GC,765,-0.66,-87.6,175.3,-24.2,77,768,0.00,1.55,0.00,0.000,6,0.000,0.019,2300,2767,2967
$GC,1034,-0.66,-87.6,235.8,-22.0,91,1037,0.00,1.48,0.00,0.000,4,0.000,0.021,2308,1702,2968
$GC,1084,-0.66,-87.6,246.1,-18.3,92,1087,0.00,1.60,0.00,0.000,6,0.000,0.036,2301,2751,2968
$GC,1365,-0.66,-87.6,296.8,-17.2,99,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2751,2968
$GC,1607,-0.66,-87.6,334.1,-15.2,105,1610,0.00,1.50,0.00,0.000,4,0.000,0.021,2308,1705,2967
$GC,1662,-0.66,-87.6,342.0,-13.5,106,1665,0.00,1.58,0.00,0.000,6,0.000,0.038,2302,2736,2967
$GC,1938,-0.66,-87.6,378.3,-12.7,113,1940,0.00,1.62,0.00,0.000,4,0.000,0.044,2293,3819,2965
$GC,2041,-0.66,-87.6,392.4,-13.2,115,2044,0.00,1.58,0.00,0.000,6,0.000,0.021,2299,2733,2964
$GC,2311,-0.66,-87.6,428.4,-13.3,122,2314,0.00,1.45,0.00,0.000,4,0.000,0.023,2307,1701,2962
$GC,2377,-0.66,-87.6,437.2,-13.1,123,2380,0.00,1.58,0.00,0.000,6,0.000,0.038,2301,2728,2961
$GC,2642,-0.66,-87.6,476.4,-15.2,130,2645,0.00,1.65,0.00,0.000,4,0.000,0.048,2293,3819,2959
$GC,2689,-0.66,-87.6,483.5,-16.1,131,2692,0.00,1.58,0.00,0.000,6,0.000,0.024,2298,2740,2959
$GC,2976,-0.66,-87.6,525.7,-14.1,138,2978,0.00,1.67,0.00,0.000,4,0.000,0.046,2292,3824,2956
$GC,2993,-0.66,-87.6,528.1,-13.8,138,2996,0.00,1.58,0.00,0.000,6,0.000,0.024,2298,2742,2956
$GC,3264,-0.66,-87.6,565.0,-13.4,145,3267,0.00,1.48,0.00,0.000,4,0.000,0.026,2306,1708,2953
$GC,3362,1.73,-87.6,577.4,-11.6,147,3369,2.28,1.55,0.00,0.000,6,0.115,0.041,3080,2706,2953
$STATE,3512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3512,begin apogee
$GC,3523,-0.23,0.0,602.5,20.8,151,3599,2.15,0.00,72.70,1.045,6,0.173,0.000,2458,2422,2610
$STATE,3599,end apogee,CONTROL_FINISHED_OK
$STATE,3600,begin climb
$GC,3604,0.66,87.6,608.9,0.0,153,3699,0.75,1.77,82.15,0.989,4,0.044,0.042,2754,3486,2252
$GC,3766,0.66,87.6,604.1,13.9,156,3772,0.00,1.60,0.00,0.000,6,0.000,0.025,2761,2420,2247
$GC,4016,0.66,87.6,568.6,14.0,163,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2413,2244
$GC,4258,0.66,87.6,535.8,13.7,169,4260,0.00,1.55,0.00,0.000,4,0.000,0.028,2769,1352,2240
$GC,4328,0.66,87.6,526.1,13.6,170,4331,0.00,1.62,0.00,0.000,6,0.000,0.037,2768,2428,2240
$GC,4589,0.66,87.6,491.9,12.5,177,4591,0.00,1.62,0.00,0.000,4,0.000,0.045,2768,3497,2238
$GC,4692,0.66,87.6,479.2,12.4,179,4695,0.15,1.58,0.00,0.000,6,0.205,0.027,2741,2439,2237
$GC,4964,0.66,87.6,454.7,8.5,186,4967,0.00,1.62,0.00,0.000,4,0.000,0.046,2741,3485,2236
$GC,5014,0.66,87.6,450.5,8.3,187,5017,0.00,1.55,0.00,0.000,6,0.000,0.025,2747,2437,2235
$GC,5296,0.66,87.6,426.5,8.1,194,5298,0.00,1.55,0.00,0.000,4,0.000,0.030,2755,1370,2234
$GC,5544,0.67,96.6,408.4,7.4,199,5554,0.00,1.60,5.60,0.738,6,0.000,0.040,2755,2428,2216
$GC,5800,0.67,96.6,385.0,9.4,206,5803,0.00,1.62,0.00,0.000,4,0.000,0.048,2755,3478,2215
$GC,5823,0.67,96.6,382.7,9.5,206,5826,0.00,1.55,0.00,0.000,6,0.000,0.028,2761,2440,2215
$GC,6088,0.67,96.6,358.0,9.2,213,6091,0.00,1.62,0.00,0.000,4,0.000,0.046,2755,3491,2214
$GC,6207,0.67,96.6,347.8,8.3,215,6210,0.00,1.50,0.00,0.000,6,0.000,0.026,2761,2474,2214
$GC,6462,0.68,121.9,330.6,6.4,222,6490,0.00,1.65,23.17,0.884,4,0.000,0.044,2755,3495,2112
$GC,6521,0.68,121.9,325.6,10.5,223,6524,0.00,1.55,0.00,0.000,6,0.000,0.026,2761,2467,2110
$GC,6791,0.68,121.9,295.8,11.3,230,6794,0.00,1.60,0.00,0.000,4,0.000,0.028,2769,1352,2108
$GC,7039,0.68,137.8,277.9,7.0,235,7057,0.00,1.70,14.15,0.809,6,0.000,0.039,2768,2470,2047
$GC,7333,0.68,137.8,246.7,12.2,243,7336,0.00,1.58,0.00,0.000,4,0.000,0.047,2768,3486,2044
$GC,7474,0.68,137.8,228.2,13.5,246,7477,0.00,1.45,0.00,0.000,6,0.000,0.026,2773,2508,2044
$GC,7750,0.68,137.8,200.1,9.4,253,7753,0.00,1.65,0.00,0.000,4,0.000,0.028,2781,1350,2043
$GC,7903,0.68,137.8,185.8,9.7,264,7907,0.12,1.80,0.00,0.000,6,0.176,0.038,2750,2534,2042
$GC,8172,0.68,137.8,161.8,8.7,289,8175,0.00,1.45,0.00,0.000,4,0.000,0.044,2743,3486,2042
$GC,8420,0.68,137.8,137.1,11.3,312,8423,0.00,1.38,0.00,0.000,6,0.000,0.024,2748,2537,2042
$GC,8683,0.68,137.8,113.5,8.1,337,8686,0.00,1.48,0.00,0.000,4,0.000,0.041,2743,3493,2042
$GC,8698,0.68,137.8,112.2,8.4,338,8701,0.00,1.42,0.00,0.000,6,0.000,0.023,2749,2508,2042
$GC,8967,0.70,169.6,92.6,6.0,363,8997,0.00,1.65,27.08,0.658,4,0.000,0.025,2757,1345,1918
$GC,9126,0.70,169.6,79.4,9.9,376,9135,0.00,1.80,0.00,0.000,6,0.000,0.038,2755,2507,1914
$GC,9385,0.71,203.0,61.6,5.9,401,9416,0.00,1.48,28.08,0.621,4,0.000,0.040,2755,3489,1781
$GC,9476,0.71,203.0,53.3,11.3,408,9478,0.00,1.40,0.00,0.000,6,0.000,0.022,2760,2531,1780
$GC,9736,0.71,203.0,21.8,10.6,439,9745,0.00,1.70,0.00,0.000,4,0.000,0.025,2769,1346,1778
$GC,9795,0.71,203.0,14.2,11.2,449,9804,0.00,1.85,0.00,0.000,6,0.000,0.040,2767,2539,1778
$STATE,9884,end climb,SURFACE_DEPTH_REACHED
$STATE,9884,begin surface coast
$FINISH,0.1,1.023462
$STATE,9905,end surface coast,CONTROL_FINISHED_OK
$STATE,9905,begin surface
$SM_CCo,9928,75.20,0.565,0,0,1059,380.21
$SM_GC,0.85,0.00,0.00,75.20,0.000,0.000,0.565,42,2773,1059,-7.76,0.34,380.21
$IRIDIUM_FIX,2232.34,-15808.45,281101,111117
$TT8_MAMPS,0.046787
$HUMID,2073
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.20
$XPDR_PINGS,7
$24V_AH,24.5,32.450
$10V_AH,10.6,28.870
$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,20.925,79.925,252.925,75.200,0.000,26.210,43.324,485.906,1.750,0.000,0.000,15.260,0.000,6843.151,383.726,2470.186,991.813,33.339,1151.734,0.000,2207.137,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,50.622,1044.654,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,317.488,1106.936,1141.699,169.073,885.258,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38306,470
$CAP_FILE_SIZE,101881,0
$CFSIZE,260165632,246370304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,030912,173145,2242.152,-15807.709,44,3.5,64,10.0