version: 66.04
glider: 512
mission: 3
dive: 380
start: 9 21 112 16 6 20
data:
$ID,512
$MISSION,3
$DIVE,380
$D_SURF,3
$D_FLARE,2
$D_TGT,600
$D_ABORT,950
$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,620
$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,105
$COURSE_BIAS,0
$GLIDE_SLOPE,22
$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,544.80243
$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,-60300.027
$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,39
$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,30
$C_ROLL_DIVE,2745
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2620
$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
$GPS1,154709,2253.865,-15735.281,9,4.7,28,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-82.2
$GPS2,160535,2253.858,-15735.358,44,1.2,49,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.171,0.345
$KALMAN_X,-101960.4,-2.0,549.2,181058.2,-2068.0
$KALMAN_Y,42982.6,-56.0,-539.6,-56752.5,-111.5
$MHEAD_RNG_PITCHd_Wd,16.2,21431,-10.0,-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,-0.30,-102.2,0.0,0.0,0,83,0.00,0.00,-65.80,0.000,2,0.000,0.000,12,2758,2620
$GC,88,-0.30,-102.2,2.1,-2.9,8,114,8.90,1.62,-9.12,0.000,4,0.192,0.053,2414,3812,3035
$GC,233,-0.30,-102.2,29.4,-11.4,33,242,0.00,1.58,0.00,0.000,6,0.000,0.020,2413,2721,3036
$GC,492,-0.30,-102.2,67.7,-12.3,58,495,0.00,1.42,0.00,0.000,4,0.000,0.021,2415,1705,3036
$GC,590,-0.30,-102.2,77.6,-8.9,67,593,0.00,1.58,0.00,0.000,6,0.000,0.038,2414,2729,3036
$GC,853,-0.30,-102.2,101.4,-9.6,92,856,0.00,1.48,0.00,0.000,4,0.000,0.021,2418,1697,3037
$GC,892,-0.30,-102.2,105.2,-8.7,95,899,0.00,1.58,0.00,0.000,6,0.000,0.038,2414,2723,3037
$GC,1150,-0.30,-102.2,127.2,-9.1,120,1153,0.00,1.45,0.00,0.000,4,0.000,0.020,2419,1701,3037
$GC,1208,-0.30,-102.2,132.0,-8.0,125,1211,0.00,1.55,0.00,0.000,6,0.000,0.038,2414,2706,3037
$GC,1471,-0.30,-102.2,155.8,-9.3,150,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2706,3036
$GC,1730,-0.30,-102.2,179.3,-8.4,175,1733,0.00,1.42,0.00,0.000,4,0.000,0.021,2414,1705,3037
$GC,1811,-0.30,-102.2,185.6,-6.5,182,1819,0.00,1.50,0.00,0.000,6,0.000,0.038,2414,2681,3037
$GC,2066,-0.30,-102.2,203.3,-6.9,204,2069,0.00,1.70,0.00,0.000,4,0.000,0.048,2414,3801,3037
$GC,2094,-0.30,-102.2,205.2,-6.5,204,2097,0.00,1.60,0.00,0.000,6,0.000,0.020,2414,2658,3037
$GC,2356,-0.30,-102.2,222.4,-6.9,211,2359,0.00,1.33,0.00,0.000,4,0.000,0.021,2414,1699,3037
$GC,2443,-0.30,-102.2,229.0,-7.3,213,2446,0.00,1.50,0.00,0.000,6,0.000,0.039,2414,2672,3036
$GC,2730,-0.30,-102.2,250.4,-7.7,220,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2673,3036
$GC,2974,-0.30,-102.2,266.9,-6.4,226,2977,0.00,1.38,0.00,0.000,4,0.000,0.021,2414,1701,3036
$GC,3034,-0.30,-102.2,270.7,-6.0,227,3037,0.00,1.45,0.00,0.000,6,0.000,0.038,2414,2644,3036
$GC,3305,-0.30,-102.2,285.0,-5.4,234,3308,0.00,1.35,0.00,0.000,4,0.000,0.021,2414,1695,3035
$GC,3365,-0.30,-102.2,288.7,-6.5,235,3368,0.00,1.40,0.00,0.000,6,0.000,0.039,2414,2606,3035
$GC,3636,-0.30,-102.2,306.2,-6.5,242,3638,0.00,1.83,0.00,0.000,4,0.000,0.050,2414,3798,3034
$GC,3884,-0.30,-102.2,325.6,-8.5,247,3887,0.00,1.60,0.00,0.000,6,0.000,0.021,2418,2660,3033
$GC,4138,-0.30,-102.2,344.5,-7.2,254,4141,0.00,1.33,0.00,0.000,4,0.000,0.022,2426,1698,3032
$GC,4231,-0.30,-102.2,350.6,-6.7,256,4234,0.00,1.50,0.00,0.000,6,0.000,0.041,2425,2673,3031
$GC,4512,-0.30,-102.2,369.1,-6.9,263,4515,0.00,1.73,0.00,0.000,4,0.000,0.049,2425,3804,3029
$GC,4605,-0.30,-102.2,376.1,-7.2,265,4607,0.00,1.60,0.00,0.000,6,0.000,0.022,2425,2665,3029
$GC,4886,-0.30,-102.2,395.5,-6.5,272,4889,0.00,1.38,-0.08,0.000,4,0.000,0.043,2430,1694,3051
$GC,5021,-0.30,-102.2,404.6,-6.7,275,5024,0.00,1.52,0.00,0.000,6,0.000,0.041,2431,2679,3051
$GC,5303,-0.30,-102.2,425.6,-7.9,282,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2680,3048
$GC,5545,-0.30,-102.2,445.1,-8.1,288,5547,0.00,1.40,0.00,0.000,4,0.000,0.025,2433,1710,3047
$GC,5626,-0.30,-102.2,451.4,-7.1,289,5631,0.00,1.50,0.00,0.000,6,0.000,0.043,2434,2676,3046
$GC,5877,-0.30,-102.2,468.1,-6.6,296,5881,0.00,1.75,0.00,0.000,4,0.000,0.051,2434,3793,3044
$GC,5944,-0.30,-102.2,472.5,-6.2,297,5947,0.00,1.60,0.00,0.000,6,0.000,0.025,2433,2671,3044
$GC,6209,-0.30,-102.2,490.0,-7.0,304,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2668,3043
$GC,6451,-0.30,-102.2,508.6,-7.9,310,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2668,3042
$GC,6695,-0.30,-102.2,528.8,-8.4,316,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2668,3040
$GC,6935,-0.30,-102.2,548.3,-8.0,322,6938,0.00,1.80,0.00,0.000,4,0.000,0.052,2434,3809,3038
$GC,6985,-0.30,-102.2,552.2,-8.2,323,6987,0.00,1.62,0.00,0.000,6,0.000,0.025,2434,2677,3038
$GC,7266,-0.30,-102.2,572.8,-7.4,330,7269,0.00,1.38,0.00,0.000,4,0.000,0.026,2437,1707,3037
$GC,7342,-0.30,-102.2,578.3,-7.1,331,7345,0.00,1.52,0.00,0.000,6,0.000,0.045,2437,2679,3036
$GC,7597,-0.30,-102.2,596.0,-7.0,338,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2679,3035
$STATE,7672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7672,begin apogee
$GC,7683,-0.18,0.0,601.7,7.0,340,7774,0.00,0.00,89.57,1.061,6,0.000,0.000,2438,2362,2620
$STATE,7774,end apogee,CONTROL_FINISHED_OK
$STATE,7774,begin climb
$GC,7779,0.30,102.2,606.6,0.0,342,7884,0.47,1.62,94.88,1.006,4,0.044,0.028,2636,1320,2203
$GC,7942,0.35,225.5,604.0,7.7,345,8054,0.00,1.67,106.35,1.006,6,0.000,0.040,2633,2358,1699
$GC,8321,0.35,225.5,560.7,12.0,355,8324,0.00,1.67,0.00,0.000,4,0.000,0.048,2633,3412,1692
$GC,8367,0.35,225.5,554.8,12.6,356,8370,0.00,1.55,0.00,0.000,6,0.000,0.026,2639,2397,1692
$GC,8654,0.35,225.5,520.7,11.9,363,8656,0.00,1.62,0.00,0.000,4,0.000,0.031,2645,1276,1690
$GC,8703,0.35,225.5,515.3,10.9,364,8706,0.00,1.73,0.00,0.000,6,0.000,0.041,2645,2392,1688
$GC,8987,0.35,225.5,483.3,11.4,371,8989,0.00,1.60,0.00,0.000,4,0.000,0.048,2645,3414,1688
$GC,9068,0.35,225.5,473.8,11.2,372,9073,0.00,1.52,0.00,0.000,6,0.000,0.026,2652,2401,1688
$GC,9317,0.35,225.5,446.2,11.1,379,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2395,1687
$GC,9559,0.35,225.5,419.4,11.2,385,9562,0.00,1.62,0.00,0.000,4,0.000,0.047,2653,3432,1687
$GC,9587,0.35,225.5,415.9,13.0,385,9590,0.00,1.52,0.00,0.000,6,0.000,0.027,2660,2420,1687
$GC,9847,0.35,225.5,382.9,12.7,392,9850,0.00,1.62,0.00,0.000,4,0.000,0.031,2668,1309,1687
$GC,9934,0.35,225.5,372.6,11.4,394,9937,0.12,1.67,0.00,0.000,6,0.121,0.043,2632,2393,1686
$GC,10223,0.39,332.9,348.1,8.0,401,10316,0.00,1.70,87.68,0.900,4,0.000,0.046,2632,3416,1262
$GC,10341,0.42,415.9,338.2,8.5,403,10416,0.00,1.60,69.75,0.861,6,0.000,0.025,2632,2368,924
$GC,10673,0.42,415.9,309.0,11.1,412,10676,0.00,1.60,0.00,0.000,4,0.000,0.031,2632,1280,918
$GC,10921,0.43,425.5,281.1,9.8,417,10932,0.00,1.70,8.27,0.716,6,0.000,0.040,2631,2361,885
$GC,11175,0.43,429.8,256.2,9.9,424,11181,0.00,0.00,5.10,0.600,6,0.000,0.000,2632,2360,867
$GC,11417,0.43,429.8,227.7,12.0,430,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2360,866
$GC,11661,0.43,429.8,196.1,13.0,436,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2360,866
$GC,11919,0.43,429.8,165.0,11.6,461,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2360,866
$GC,12176,0.43,429.8,134.5,11.8,486,12179,0.00,1.62,0.00,0.000,4,0.000,0.047,2631,3421,866
$GC,12246,0.43,429.8,126.2,11.0,492,12255,0.00,1.60,0.00,0.000,6,0.000,0.024,2632,2336,866
$GC,12505,0.43,429.8,99.1,10.2,517,12508,0.00,1.48,0.00,0.000,4,0.000,0.028,2631,1322,866
$GC,12672,0.46,499.6,83.6,8.7,532,12739,0.08,1.58,55.92,0.634,6,0.061,0.035,2678,2350,582
$GC,12988,0.46,499.6,48.7,12.1,561,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2350,579
$GC,13244,0.46,499.6,18.2,12.1,595,13252,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2350,580
$STATE,13368,end climb,SURFACE_DEPTH_REACHED
$STATE,13368,begin surface coast
$FINISH,0.6,1.023227
$STATE,13394,end surface coast,CONTROL_FINISHED_OK
$STATE,13394,begin surface
$SM_CCo,13416,23.52,0.544,0,0,398,544.80
$SM_GC,0.74,0.00,0.00,23.52,0.000,0.000,0.544,3,2762,398,-7.88,0.48,544.80
$IRIDIUM_FIX,2246.36,-15738.46,161201,161642
$TT8_MAMPS,0.046787
$HUMID,2215
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,22.00
$XPDR_PINGS,5
$24V_AH,24.2,47.798
$10V_AH,10.5,45.422
$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,16.200,85.325,517.525,23.525,0.000,161.998,213.076,278.799,1.250,0.000,0.000,49.766,0.000,9666.241,530.787,3133.123,1206.316,33.356,1499.570,0.000,2784.262,0.000,0.544,0.000
$DEVICE_MAMPS,191.750,52.923,1060.761,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,420.863,1439.652,1485.869,204.703,1107.295,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51029,623
$CAP_FILE_SIZE,119502,0
$CFSIZE,260165632,239644672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210912,195121,2254.537,-15735.987,8,2.3,27,10.1