version: 66.04
glider: 512
mission: 3
dive: 313
start: 9 10 112 6 33 38
data:
$ID,512
$MISSION,3
$DIVE,313
$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,520
$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,25
$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,-58840.797
$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,2760
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,33
$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
$GPS1,061435,2300.046,-15821.681,41,1.3,41,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-77.0
$GPS2,063300,2300.073,-15821.830,17,1.4,34,10.1
$SPEED_LIMITS,0.172,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,0.060
$KALMAN_X,-275115.2,245.3,153.1,232949.9,-4426.9
$KALMAN_Y,-39098.3,12.2,-349.3,70321.3,2.7
$MHEAD_RNG_PITCHd_Wd,61.7,85117,-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,-0.52,-87.6,0.0,0.0,0,107,0.00,0.00,-90.57,0.000,2,0.000,0.000,16,2750,2752
$GC,113,-0.52,-87.6,2.5,-2.6,11,131,8.80,1.55,-4.55,0.000,4,0.205,0.042,2360,1692,2979
$GC,161,-0.52,-87.6,21.5,-40.6,18,170,0.00,1.65,0.00,0.000,6,0.000,0.036,2354,2757,2980
$GC,426,-0.52,-87.6,84.8,-19.3,46,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2758,2980
$GC,675,-0.52,-87.6,128.6,-18.4,70,677,0.00,1.52,0.00,0.000,4,0.000,0.020,2354,1697,2980
$GC,721,-0.52,-87.6,136.8,-16.9,74,724,0.00,1.60,0.00,0.000,6,0.000,0.035,2348,2740,2981
$GC,984,-0.52,-87.6,185.5,-18.3,99,987,0.00,1.62,0.00,0.000,4,0.000,0.043,2340,3826,2980
$GC,1031,-0.52,-87.6,194.1,-18.1,103,1034,0.00,1.58,0.00,0.000,6,0.000,0.020,2340,2741,2980
$GC,1306,-0.52,-87.6,238.0,-14.9,112,1309,0.00,1.45,0.00,0.000,4,0.000,0.021,2340,1701,2981
$GC,1393,-0.52,-87.6,249.3,-11.8,114,1396,0.00,1.60,0.00,0.000,6,0.000,0.037,2333,2742,2980
$GC,1682,-0.52,-87.6,287.2,-13.4,121,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2742,2980
$GC,1922,-0.52,-87.6,317.8,-12.5,127,1925,0.00,1.62,0.00,0.000,4,0.000,0.044,2325,3823,2979
$GC,1971,-0.52,-87.6,324.1,-12.2,128,1974,0.05,1.55,0.00,0.000,6,0.110,0.020,2354,2737,2978
$GC,2252,-0.52,-87.6,354.3,-10.8,135,2255,0.00,1.42,0.00,0.000,4,0.000,0.021,2355,1714,2976
$GC,2307,-0.52,-87.6,360.5,-11.1,136,2310,0.00,1.58,0.00,0.000,6,0.000,0.039,2348,2739,2976
$GC,2583,-0.52,-87.6,390.4,-10.7,143,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2739,2974
$GC,2825,-0.52,-87.6,414.4,-9.7,149,2828,0.00,1.48,0.00,0.000,4,0.000,0.022,2349,1712,2972
$GC,2864,-0.52,-87.6,418.4,-10.4,149,2869,0.00,1.58,0.00,0.000,6,0.000,0.041,2345,2728,2972
$GC,3115,-0.52,-87.6,444.3,-10.6,156,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2729,2970
$GC,3355,-0.52,-87.6,469.0,-10.1,162,3357,0.00,0.00,-0.08,0.000,6,0.000,0.000,2346,2729,2992
$GC,3597,-0.52,-87.6,494.1,-10.3,168,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2729,2990
$GC,3839,-0.52,-87.6,518.4,-10.0,174,3842,0.00,1.67,0.00,0.000,4,0.000,0.050,2338,3822,2989
$GC,3878,-0.52,-87.6,522.3,-10.3,174,3883,0.00,1.60,0.00,0.000,6,0.000,0.025,2338,2710,2988
$GC,4130,-0.52,-87.6,547.6,-10.0,181,4133,0.00,1.75,0.00,0.000,4,0.000,0.050,2329,3821,2987
$GC,4158,-0.52,-87.6,550.9,-10.0,181,4161,0.00,1.60,0.00,0.000,6,0.000,0.025,2330,2712,2986
$GC,4418,-0.52,-87.6,576.1,-9.5,188,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2706,2984
$GC,4660,-0.52,-87.6,598.2,-9.1,194,4662,0.00,1.42,0.00,0.000,4,0.000,0.027,2329,1715,2983
$STATE,4678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4678,begin apogee
$GC,4689,-0.18,0.0,600.3,9.2,194,4769,0.40,0.00,77.55,1.051,6,0.114,0.000,2459,2431,2620
$STATE,4769,end apogee,CONTROL_FINISHED_OK
$STATE,4769,begin climb
$GC,4774,0.52,87.6,602.3,0.0,196,4869,0.65,0.00,83.55,0.993,6,0.055,0.000,2693,2430,2261
$GC,5112,0.52,87.6,575.7,10.6,205,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2430,2253
$GC,5357,0.52,87.6,552.4,9.4,211,5359,0.00,1.62,0.00,0.000,4,0.000,0.046,2689,3486,2251
$GC,5555,0.52,92.3,534.6,7.7,215,5558,0.00,1.58,0.00,0.000,6,0.000,0.025,2695,2427,2249
$GC,5820,0.52,92.3,512.5,8.3,222,5823,0.00,1.65,0.00,0.000,4,0.000,0.048,2689,3483,2248
$GC,5869,0.52,92.3,508.0,9.8,223,5872,0.00,1.58,0.00,0.000,6,0.000,0.025,2695,2424,2247
$GC,6150,0.52,92.3,480.0,10.1,230,6154,0.00,1.67,0.00,0.000,4,0.000,0.046,2689,3477,2246
$GC,6211,0.52,92.3,473.9,10.4,231,6213,0.00,1.52,0.00,0.000,6,0.000,0.026,2695,2450,2246
$GC,6481,0.52,92.3,446.9,9.7,238,6484,0.00,1.55,0.00,0.000,4,0.000,0.028,2703,1377,2244
$GC,6504,0.52,92.3,445.0,8.5,238,6507,0.00,1.67,0.00,0.000,6,0.000,0.041,2702,2473,2244
$GC,6769,0.54,129.1,427.1,5.7,245,6812,0.00,1.67,33.97,0.957,4,0.000,0.028,2709,1387,2092
$GC,6830,0.54,144.7,423.6,7.0,246,6848,0.00,1.67,15.02,0.887,6,0.000,0.041,2709,2460,2029
$GC,7099,0.54,144.7,392.9,12.1,253,7102,0.00,1.60,0.00,0.000,4,0.000,0.047,2709,3498,2023
$GC,7154,0.54,144.7,386.0,12.6,254,7157,0.00,1.55,0.00,0.000,6,0.000,0.026,2717,2470,2023
$GC,7432,0.54,144.7,350.0,13.2,261,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2464,2021
$GC,7672,0.54,144.7,315.9,14.0,267,7675,0.00,1.62,0.00,0.000,4,0.000,0.048,2716,3482,2021
$GC,7732,0.54,144.7,308.0,13.5,268,7735,0.00,1.55,0.00,0.000,6,0.000,0.026,2722,2446,2020
$GC,8002,0.54,144.7,278.8,10.5,275,8005,0.00,1.62,0.00,0.000,4,0.000,0.046,2716,3485,2019
$GC,8025,0.54,144.7,276.4,10.8,275,8028,0.00,1.50,0.00,0.000,6,0.000,0.025,2721,2473,2019
$GC,8290,0.54,144.7,251.8,9.0,282,8293,0.00,1.62,0.00,0.000,4,0.000,0.028,2730,1331,2019
$GC,8393,0.54,144.7,242.3,8.7,284,8396,0.00,1.70,0.00,0.000,6,0.000,0.041,2729,2439,2019
$GC,8666,0.54,144.7,214.9,10.4,291,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2439,2019
$GC,8909,0.54,151.7,196.6,7.6,300,8923,0.00,1.60,5.62,0.611,4,0.000,0.025,2735,1356,2001
$GC,8952,0.55,168.1,193.3,7.0,303,8974,0.00,1.67,15.38,0.733,6,0.000,0.040,2729,2437,1935
$GC,9228,0.55,168.1,167.8,10.4,329,9231,0.00,1.60,0.00,0.000,4,0.000,0.045,2729,3491,1931
$GC,9288,0.55,168.1,160.1,12.1,334,9293,0.10,1.58,0.00,0.000,6,0.170,0.023,2706,2429,1931
$GC,9550,0.55,168.1,133.7,9.9,359,9553,0.00,1.52,0.00,0.000,4,0.000,0.027,2714,1370,1931
$GC,9598,0.55,168.1,128.8,9.3,363,9602,0.00,1.62,0.00,0.000,6,0.000,0.038,2715,2421,1930
$GC,9861,0.55,168.1,103.7,9.6,388,9864,0.00,1.62,0.00,0.000,4,0.000,0.044,2715,3498,1931
$GC,9907,0.55,168.1,98.6,11.6,392,9910,0.00,1.60,0.00,0.000,6,0.000,0.023,2722,2415,1931
$GC,10172,0.56,179.3,76.9,7.3,417,10186,0.00,1.55,10.80,0.600,4,0.000,0.025,2729,1353,1888
$GC,10333,0.57,204.0,64.9,6.5,431,10360,0.00,1.55,21.77,0.618,6,0.000,0.037,2729,2358,1786
$GC,10614,0.57,216.5,44.4,7.2,457,10629,0.00,1.77,11.27,0.561,4,0.000,0.044,2728,3483,1737
$GC,10796,0.57,216.5,30.5,8.0,473,10798,0.00,1.62,0.00,0.000,6,0.000,0.021,2735,2362,1735
$GC,11051,0.57,216.5,10.1,9.0,521,11059,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2355,1735
$STATE,11120,end climb,SURFACE_DEPTH_REACHED
$STATE,11120,begin surface coast
$FINISH,0.3,1.023348
$STATE,11145,end surface coast,CONTROL_FINISHED_OK
$STATE,11146,begin surface
$SM_CCo,11169,158.00,0.561,0,0,398,544.80
$SM_GC,0.74,0.00,0.00,158.00,0.000,0.000,0.561,36,2775,398,-7.78,0.42,544.80
$IRIDIUM_FIX,2248.70,-15820.61,051201,060612
$TT8_MAMPS,0.046787
$HUMID,2039
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.80
$XPDR_PINGS,5
$24V_AH,24.5,38.517
$10V_AH,10.6,35.697
$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,16.875,79.925,274.950,158.000,0.000,137.657,190.856,310.485,1.250,0.000,0.000,34.532,0.000,8204.532,506.849,2534.635,1166.289,33.347,1230.791,0.000,2248.833,0.000,0.546,0.000
$DEVICE_MAMPS,204.789,49.855,1050.790,560.677,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,364.443,1273.176,1312.146,206.205,1065.653,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44571,539
$CAP_FILE_SIZE,100740,0
$CFSIZE,260165632,243634176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,100912,094406,2300.396,-15821.771,69,1.1,69,10.1