version: 66.04
glider: 512
mission: 3
dive: 511
start: 10 10 112 14 38 46
data:
$ID,512
$MISSION,3
$DIVE,511
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,-64055.242
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2527
$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,2630
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2550
$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
$GPS1,142006,2303.573,-15736.482,36,1.2,36,10.1
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-78.5
$GPS2,143808,2303.535,-15736.654,15,1.4,16,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,0.218
$KALMAN_X,-80905.1,60.0,-475.9,94834.1,-687.8
$KALMAN_Y,49055.2,-499.7,228.7,-37405.5,-955.7
$MHEAD_RNG_PITCHd_Wd,22.6,4092,-17.5,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.51,-146.0,0.0,0.0,0,96,0.00,0.00,-74.05,0.000,2,0.000,0.000,13,2646,2825
$GC,101,-0.51,-146.0,3.0,-4.8,9,119,9.07,1.62,-6.12,0.000,4,0.202,0.048,2347,3708,3149
$GC,218,-0.51,-146.0,34.2,-14.3,27,227,0.00,1.60,0.00,0.000,6,0.000,0.020,2346,2615,3150
$GC,477,-0.51,-146.0,81.3,-15.9,52,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2609,3150
$GC,735,-0.51,-146.0,119.4,-13.5,77,738,0.00,1.65,0.00,0.000,4,0.000,0.041,2339,3698,3150
$GC,770,-0.51,-146.0,123.8,-12.0,80,774,0.00,1.52,0.00,0.000,6,0.000,0.019,2339,2629,3150
$GC,1034,-0.51,-146.0,157.7,-13.4,105,1037,0.00,1.45,0.00,0.000,4,0.000,0.021,2339,1587,3150
$GC,1136,-0.51,-146.0,170.6,-11.9,114,1144,0.00,1.58,0.00,0.000,6,0.000,0.035,2333,2617,3150
$GC,1422,-0.51,-146.0,205.8,-12.0,139,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2618,3150
$GC,1663,-0.51,-146.0,235.5,-12.1,145,1666,0.00,1.48,0.00,0.000,4,0.000,0.021,2333,1582,3150
$GC,1710,-0.51,-146.0,240.6,-11.2,146,1713,0.00,1.58,0.00,0.000,6,0.000,0.038,2333,2605,3150
$GC,1997,-0.51,-146.0,273.6,-11.5,153,2000,0.00,1.62,0.00,0.000,4,0.000,0.043,2325,3697,3149
$GC,2019,-0.51,-146.0,276.2,-11.1,153,2023,0.12,1.58,0.00,0.000,6,0.108,0.020,2363,2590,3149
$GC,2285,-0.51,-146.0,296.7,-7.2,160,2288,0.00,1.40,0.00,0.000,4,0.000,0.021,2365,1581,3148
$GC,2345,-0.51,-146.0,301.0,-7.5,161,2348,0.00,1.52,0.00,0.000,6,0.000,0.038,2359,2578,3148
$GC,2616,-0.51,-146.0,319.8,-7.0,168,2619,0.00,1.67,0.00,0.000,4,0.000,0.047,2359,3686,3147
$GC,2661,-0.51,-146.0,323.3,-7.7,169,2663,0.00,1.60,0.00,0.000,6,0.000,0.021,2358,2562,3146
$GC,2949,-0.51,-146.0,347.4,-8.8,176,2952,0.00,1.38,0.00,0.000,4,0.000,0.022,2359,1576,3144
$GC,2984,-0.51,-146.0,350.8,-9.4,176,2987,0.00,1.55,0.00,0.000,6,0.000,0.040,2359,2578,3144
$GC,3238,-0.51,-146.0,373.7,-8.7,183,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2578,3142
$GC,3480,-0.51,-146.0,391.0,-6.8,189,3484,0.00,1.42,0.00,0.000,4,0.000,0.022,2359,1584,3140
$GC,3514,-0.51,-146.0,393.2,-6.7,189,3517,0.00,1.50,0.00,0.000,6,0.000,0.041,2358,2552,3139
$GC,3771,-0.51,-146.0,408.4,-6.0,196,3774,0.00,1.75,0.00,0.000,4,0.000,0.051,2359,3695,3137
$GC,3848,-0.51,-146.0,413.4,-5.9,197,3850,0.00,1.58,0.00,0.000,6,0.000,0.022,2358,2593,3137
$GC,4102,-0.51,-146.0,429.8,-6.7,204,4105,0.00,1.42,-0.08,0.000,4,0.000,0.041,2359,1590,3160
$GC,4147,-0.51,-146.0,433.0,-6.8,205,4150,0.00,1.90,0.00,0.000,6,0.000,0.044,2359,2821,3160
$GC,4433,-0.51,-146.0,453.2,-6.8,212,4436,0.00,1.35,0.00,0.000,4,0.000,0.051,2359,3684,3158
$GC,4457,-0.51,-146.0,454.7,-6.4,212,4459,0.00,1.52,0.00,0.000,6,0.000,0.025,2358,2626,3157
$GC,4722,-0.51,-146.0,471.2,-6.2,219,4725,0.00,1.48,0.00,0.000,4,0.000,0.024,2358,1582,3156
$GC,4756,-0.51,-146.0,473.3,-6.2,219,4759,0.00,1.95,0.00,0.000,6,0.000,0.045,2358,2841,3156
$GC,5013,-0.51,-146.0,489.9,-6.5,226,5016,0.00,1.33,0.00,0.000,4,0.000,0.052,2359,3690,3153
$GC,5090,-0.51,-146.0,495.2,-6.7,227,5093,0.00,1.52,0.00,0.000,6,0.000,0.025,2359,2637,3153
$GC,5345,-0.51,-146.0,511.9,-6.5,234,5348,0.00,1.50,0.00,0.000,4,0.000,0.025,2358,1582,3151
$GC,5384,-0.51,-146.0,514.7,-7.4,234,5389,0.00,2.00,0.00,0.000,6,0.000,0.046,2358,2871,3151
$GC,5635,-0.51,-146.0,531.2,-6.7,241,5638,0.00,1.27,0.00,0.000,4,0.000,0.053,2358,3686,3150
$GC,5653,-0.51,-146.0,532.6,-6.6,241,5656,0.00,1.55,0.00,0.000,6,0.000,0.026,2358,2618,3150
$GC,5924,-0.51,-146.0,550.2,-6.5,248,5927,0.00,1.48,0.00,0.000,4,0.000,0.025,2358,1582,3148
$GC,5947,-0.51,-146.0,551.8,-6.7,248,5950,0.00,1.92,0.00,0.000,6,0.000,0.047,2359,2819,3148
$GC,6213,-0.51,-146.0,567.7,-5.9,255,6215,0.00,1.35,0.00,0.000,4,0.000,0.054,2359,3678,3147
$GC,6259,-0.51,-146.0,570.4,-5.9,256,6262,0.00,1.55,0.00,0.000,6,0.000,0.025,2358,2614,3146
$GC,6546,-0.51,-146.0,587.1,-5.9,263,6548,0.00,1.70,0.00,0.000,4,0.000,0.054,2358,3683,3144
$STATE,6741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6741,begin apogee
$GC,6754,-0.18,0.0,600.1,7.0,267,6891,0.28,0.00,129.70,1.056,6,0.049,0.000,2481,2360,2551
$STATE,6892,end apogee,CONTROL_FINISHED_OK
$STATE,6892,begin climb
$GC,6897,0.51,146.0,607.4,0.0,271,7042,0.55,1.80,133.15,1.008,4,0.035,0.048,2702,3411,1954
$GC,7246,0.51,146.0,572.1,15.9,279,7249,0.00,1.58,0.00,0.000,6,0.000,0.025,2708,2375,1946
$GC,7524,0.51,146.0,536.2,12.5,286,7527,0.00,1.65,0.00,0.000,4,0.000,0.047,2709,3417,1943
$GC,7611,0.51,146.0,523.4,16.0,288,7615,0.00,1.58,0.00,0.000,6,0.000,0.025,2717,2372,1943
$GC,7898,0.51,146.0,485.5,12.6,295,7901,0.00,1.65,0.00,0.000,4,0.000,0.047,2715,3420,1942
$GC,7944,0.51,146.0,479.4,14.7,296,7947,0.00,1.55,0.00,0.000,6,0.000,0.025,2721,2385,1942
$GC,8231,0.51,146.0,444.4,12.2,303,8232,0.12,0.00,0.00,0.000,6,0.170,0.000,2690,2379,1941
$GC,8473,0.51,148.1,420.0,9.9,309,8476,0.00,1.62,0.00,0.000,4,0.000,0.049,2689,3417,1940
$GC,8586,0.51,148.1,406.3,12.5,311,8589,0.00,1.50,0.00,0.000,6,0.000,0.025,2694,2407,1940
$GC,8847,0.51,148.1,377.9,10.7,318,8849,0.00,1.62,0.00,0.000,4,0.000,0.049,2695,3435,1939
$GC,8896,0.51,148.1,372.1,12.3,319,8899,0.00,1.48,0.00,0.000,6,0.000,0.026,2702,2440,1939
$GC,9179,0.51,151.0,343.2,9.9,326,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2434,1939
$GC,9420,0.52,176.5,321.9,8.8,332,9448,0.00,1.58,25.10,0.867,4,0.000,0.047,2702,3428,1829
$GC,9542,0.52,176.5,309.1,10.8,334,9547,0.00,1.48,0.00,0.000,6,0.000,0.025,2708,2445,1827
$GC,9793,0.52,176.5,282.8,10.5,341,9796,0.00,1.58,0.00,0.000,4,0.000,0.048,2708,3422,1825
$GC,9913,0.52,176.5,268.6,11.6,343,9916,0.00,1.42,0.00,0.000,6,0.000,0.026,2715,2461,1825
$GC,10167,0.52,182.3,242.6,9.7,350,10174,0.00,0.00,5.97,0.652,6,0.000,0.000,2715,2455,1806
$GC,10411,0.54,221.4,222.1,8.2,356,10452,0.00,1.73,34.55,0.788,4,0.000,0.029,2723,1321,1646
$GC,10486,0.55,250.0,215.6,8.7,357,10515,0.00,1.80,25.00,0.756,6,0.000,0.042,2723,2469,1530
$GC,10766,0.55,250.0,185.6,10.3,372,10770,0.00,1.50,0.00,0.000,4,0.000,0.048,2723,3418,1525
$GC,10826,0.55,250.0,178.1,12.8,377,10833,0.00,1.42,0.00,0.000,6,0.000,0.025,2726,2477,1525
$GC,11084,0.55,250.0,148.8,10.8,402,11087,0.00,1.70,0.00,0.000,4,0.000,0.028,2726,1320,1524
$GC,11121,0.56,274.8,145.4,8.9,405,11147,0.00,1.77,21.50,0.698,6,0.000,0.041,2726,2454,1429
$GC,11402,0.56,278.0,117.7,9.9,431,11415,0.00,1.52,3.90,0.441,4,0.000,0.046,2727,3418,1416
$GC,11474,0.56,278.0,109.2,10.7,437,11482,0.00,1.40,0.00,0.000,6,0.000,0.024,2732,2476,1416
$GC,11733,0.57,293.4,83.5,9.3,462,11750,0.00,1.70,14.48,0.618,4,0.000,0.026,2739,1306,1353
$GC,11759,0.57,300.5,80.6,9.7,463,11770,0.00,1.90,7.75,0.550,6,0.000,0.038,2739,2520,1324
$GC,12035,0.59,346.2,56.7,7.9,489,12077,0.00,1.45,38.00,0.621,4,0.000,0.044,2739,3428,1138
$GC,12137,0.59,357.2,47.1,9.5,497,12151,0.00,1.33,10.73,0.551,6,0.000,0.022,2739,2529,1093
$GC,12407,0.62,418.1,26.4,7.2,526,12460,0.00,1.88,49.42,0.590,4,0.000,0.025,2739,1300,844
$GC,12506,0.65,495.7,19.6,6.4,540,12576,0.00,1.92,62.08,0.575,6,0.000,0.035,2738,2531,528
$STATE,12666,end climb,SURFACE_DEPTH_REACHED
$STATE,12671,begin surface coast
$FINISH,0.0,1.021042
$STATE,12696,end surface coast,CONTROL_FINISHED_OK
$STATE,12697,begin surface
$SM_CCo,12780,0.00,0.000,0,0,524,496.72
$SM_GC,0.97,6.93,0.00,0.00,0.022,0.000,0.000,39,2680,524,-7.70,1.47,496.72
$IRIDIUM_FIX,2253.38,-15734.52,040102,141457
$TT8_MAMPS,0.048321
$HUMID,2186
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.70
$XPDR_PINGS,10
$24V_AH,23.8,66.458
$10V_AH,10.5,64.366
$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,17.075,105.075,561.325,0.000,0.000,74.396,101.353,592.456,2.500,0.000,0.000,16.950,0.000,9142.883,517.743,2835.741,1340.103,33.348,1474.262,0.000,2527.361,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,59.059,1056.159,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,384.039,1291.440,1330.933,195.169,1021.308,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47827,571
$CAP_FILE_SIZE,123860,0
$CFSIZE,260165632,232083456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101012,181254,2304.639,-15736.552,41,1.7,41,10.1