version: 66.04
glider: 512
mission: 3
dive: 331
start: 9 13 112 7 13 35
data:
$ID,512
$MISSION,3
$DIVE,331
$D_SURF,3
$D_FLARE,2
$D_TGT,900
$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,300
$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,100
$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,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,-59286.125
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2520
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2600
$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
$GPS1,064830,2258.943,-15813.830,88,0.9,88,10.1
$_CALLS,4
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-81.4
$GPS2,071254,2258.900,-15814.005,14,1.2,19,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,-0.066
$KALMAN_X,-33114.0,-40.9,164.7,46769.8,-3038.0
$KALMAN_Y,4763.9,-78.0,131.9,-9845.4,306.9
$MHEAD_RNG_PITCHd_Wd,94.7,72408,-17.7,-10.000
$D_GRID,900
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.49,-97.3,0.0,0.0,0,87,0.00,0.00,-65.72,0.000,2,0.000,0.000,25,2809,2711
$GC,92,-0.49,-97.3,2.6,-4.0,8,109,8.88,0.00,-5.90,0.000,6,0.205,0.000,2349,2809,2999
$GC,365,-0.49,-97.3,78.0,-23.9,40,368,0.00,1.60,0.00,0.000,4,0.000,0.022,2351,1678,3000
$GC,435,-0.49,-97.3,93.3,-16.3,46,443,0.00,1.65,0.00,0.000,6,0.000,0.038,2346,2737,3000
$GC,694,-0.49,-97.3,137.9,-17.8,71,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2738,3000
$GC,951,-0.49,-97.3,183.3,-16.4,96,954,0.00,1.67,0.00,0.000,4,0.000,0.043,2338,3827,3000
$GC,968,-0.49,-97.3,186.7,-16.6,97,975,0.00,1.62,0.00,0.000,6,0.000,0.019,2337,2698,3000
$GC,1250,-0.49,-97.3,233.4,-16.6,110,1253,0.00,1.40,0.00,0.000,4,0.000,0.020,2338,1682,3000
$GC,1304,-0.49,-97.3,241.5,-13.3,111,1307,0.00,1.60,0.00,0.000,6,0.000,0.038,2333,2743,3001
$GC,1580,-0.49,-97.3,280.0,-13.7,118,1583,0.00,1.62,0.00,0.000,4,0.000,0.044,2325,3824,3000
$GC,1624,-0.49,-97.3,286.2,-13.0,119,1628,0.12,1.62,0.00,0.000,6,0.137,0.020,2358,2670,3000
$GC,1913,-0.49,-97.3,314.4,-9.6,126,1916,0.00,1.38,0.00,0.000,4,0.000,0.021,2358,1677,2999
$GC,1931,-0.49,-97.3,316.5,-10.0,126,1934,0.00,1.60,0.00,0.000,6,0.000,0.041,2358,2735,2999
$GC,2201,-0.49,-97.3,342.5,-9.6,133,2204,0.00,1.65,0.00,0.000,4,0.000,0.047,2350,3820,2997
$GC,2240,-0.49,-97.3,346.3,-9.5,133,2245,0.00,1.60,0.00,0.000,6,0.000,0.021,2351,2690,2996
$GC,2489,-0.49,-97.3,370.8,-9.9,140,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2684,2995
$GC,2733,-0.49,-97.3,395.4,-10.3,146,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2683,2994
$GC,2973,-0.49,-97.3,420.1,-10.1,152,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2684,2991
$GC,3215,-0.49,-97.3,442.7,-9.1,158,3218,0.00,1.40,0.00,0.000,4,0.000,0.023,2351,1693,2989
$GC,3243,-0.49,-97.3,445.3,-9.1,158,3246,0.00,1.62,0.00,0.000,6,0.000,0.042,2346,2759,2988
$GC,3503,-0.49,-97.3,468.9,-9.2,165,3506,0.00,1.55,-0.08,0.000,4,0.000,0.041,2346,1682,3012
$GC,3580,-0.49,-97.3,476.2,-9.2,166,3583,0.00,1.62,0.00,0.000,6,0.000,0.044,2346,2743,3012
$GC,3834,-0.49,-97.3,501.0,-9.9,173,3837,0.00,1.52,0.00,0.000,4,0.000,0.024,2346,1691,3009
$GC,3873,-0.49,-97.3,504.8,-9.6,173,3878,0.00,1.60,0.00,0.000,6,0.000,0.044,2346,2734,3009
$GC,4122,-0.49,-97.3,528.2,-9.3,180,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2734,3007
$GC,4366,-0.49,-97.3,549.6,-8.8,186,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2734,3005
$GC,4606,-0.49,-97.3,571.9,-9.4,192,4609,0.00,1.67,0.00,0.000,4,0.000,0.052,2338,3814,3003
$GC,4645,-0.49,-97.3,576.0,-10.5,192,4651,0.00,1.62,0.00,0.000,6,0.000,0.025,2338,2694,3003
$GC,4894,-0.49,-97.3,602.7,-10.8,199,4897,0.00,1.42,0.00,0.000,4,0.000,0.025,2338,1690,3001
$GC,4954,-0.49,-97.3,609.3,-11.0,200,4957,0.00,1.58,0.00,0.000,6,0.000,0.044,2333,2692,3001
$GC,5225,-0.49,-97.3,638.2,-10.6,207,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2692,2999
$GC,5467,-0.49,-97.3,662.0,-9.7,213,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2692,2998
$GC,5709,-0.49,-97.3,685.1,-9.4,219,5712,0.00,1.48,0.00,0.000,4,0.000,0.025,2333,1687,2997
$GC,5727,-0.49,-97.3,686.7,-9.2,219,5730,0.00,1.58,0.00,0.000,6,0.000,0.046,2333,2680,2997
$GC,5999,-0.49,-97.3,711.0,-9.1,226,6002,0.00,1.77,0.00,0.000,4,0.000,0.054,2324,3819,2995
$GC,6076,-0.49,-97.3,718.5,-9.3,227,6079,0.12,1.67,0.00,0.000,6,0.121,0.026,2359,2675,2994
$GC,6330,-0.49,-97.3,736.3,-6.7,234,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2669,2993
$GC,6572,-0.49,-97.3,752.7,-6.8,240,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2669,2992
$GC,6817,-0.49,-97.3,768.3,-6.4,246,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2669,2991
$GC,7057,-0.49,-97.3,782.7,-5.8,252,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2669,2990
$GC,7299,-0.49,-97.3,796.2,-5.6,258,7302,0.00,1.85,0.00,0.000,4,0.000,0.057,2359,3819,2989
$GC,7321,-0.49,-97.3,797.6,-6.2,258,7324,0.00,1.70,0.00,0.000,6,0.000,0.028,2359,2686,2989
$GC,7587,-0.49,-97.3,812.3,-5.6,265,7590,0.00,1.42,0.00,0.000,4,0.000,0.028,2359,1694,2989
$GC,7626,-0.49,-97.3,814.6,-6.3,265,7633,0.00,1.60,0.00,0.000,6,0.000,0.050,2359,2698,2988
$GC,7875,-0.49,-97.3,829.5,-6.2,272,7878,0.00,1.80,0.00,0.000,4,0.000,0.058,2359,3818,2987
$GC,7892,-0.49,-97.3,830.7,-6.4,272,7895,0.00,1.67,0.00,0.000,6,0.000,0.028,2358,2680,2987
$GC,8163,-0.49,-97.3,848.9,-6.8,279,8166,0.00,1.42,0.00,0.000,4,0.000,0.027,2359,1688,2987
$GC,8191,-0.49,-97.3,851.0,-7.8,279,8194,0.00,1.60,0.00,0.000,6,0.000,0.050,2358,2708,2987
$GC,8453,-0.49,-97.3,869.2,-7.0,286,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2708,2986
$GC,8693,-0.49,-97.3,885.3,-6.6,292,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2708,2985
$GC,8935,-0.49,-97.3,899.9,-6.0,298,8938,0.00,1.75,0.00,0.000,4,0.000,0.058,2359,3813,2984
$STATE,8942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8942,begin apogee
$GC,8955,-0.18,0.0,900.5,5.7,298,9043,0.28,0.00,86.78,1.295,6,0.100,0.000,2456,2389,2600
$STATE,9044,end apogee,CONTROL_FINISHED_OK
$STATE,9044,begin climb
$GC,9049,0.49,97.3,902.1,0.0,300,9181,0.60,1.62,102.15,1.154,4,0.045,0.027,2693,1344,2202
$GC,9257,0.49,97.3,887.5,15.1,304,9262,0.00,1.70,0.00,0.000,6,0.000,0.041,2689,2399,2196
$GC,9508,0.49,97.3,851.5,14.5,311,9510,0.00,1.67,0.00,0.000,4,0.000,0.048,2686,3466,2193
$GC,9563,0.49,97.3,842.9,14.5,312,9566,0.00,1.65,0.00,0.000,6,0.000,0.026,2693,2389,2192
$GC,9838,0.49,97.3,802.4,14.6,319,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2382,2191
$GC,10080,0.49,97.3,766.8,14.7,325,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2381,2190
$GC,10324,0.49,97.3,733.1,13.7,331,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2381,2189
$GC,10564,0.49,97.3,702.8,12.2,337,10565,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2381,2188
$GC,10807,0.49,97.3,675.3,11.3,343,10810,0.00,1.73,0.00,0.000,4,0.000,0.048,2687,3475,2188
$GC,10888,0.49,97.3,665.4,12.5,344,10893,0.00,1.60,0.00,0.000,6,0.000,0.027,2693,2393,2187
$GC,11139,0.49,97.3,637.9,11.2,351,11142,0.00,1.55,0.00,0.000,4,0.000,0.030,2701,1334,2187
$GC,11221,0.49,97.3,628.5,11.2,352,11227,0.00,1.73,0.00,0.000,6,0.000,0.043,2701,2447,2187
$GC,11470,0.49,97.3,598.7,12.1,359,11473,0.00,1.60,0.00,0.000,4,0.000,0.050,2701,3458,2186
$GC,11530,0.49,97.3,591.1,12.7,360,11533,0.00,1.52,0.00,0.000,6,0.000,0.026,2708,2441,2186
$GC,11801,0.49,97.3,558.7,11.8,367,11803,0.00,1.62,0.00,0.000,4,0.000,0.048,2702,3473,2186
$GC,11877,0.49,97.3,549.1,13.9,368,11879,0.00,1.50,0.00,0.000,6,0.000,0.027,2708,2472,2185
$GC,12131,0.49,97.3,521.7,10.6,375,12132,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2466,2185
$GC,12375,0.49,97.3,495.5,10.8,381,12378,0.00,1.62,0.00,0.000,4,0.000,0.029,2716,1348,2185
$GC,12425,0.49,100.0,490.3,9.9,382,12428,0.12,1.77,0.00,0.000,6,0.156,0.043,2684,2491,2185
$GC,12706,0.51,137.7,465.6,8.2,389,12747,0.00,1.77,33.55,1.004,4,0.000,0.028,2689,1338,2037
$GC,12818,0.52,157.4,455.2,9.1,391,12841,0.00,1.80,18.48,0.950,6,0.000,0.043,2686,2478,1957
$GC,13119,0.52,157.4,420.3,12.0,399,13122,0.00,1.70,0.00,0.000,4,0.000,0.029,2692,1339,1952
$GC,13163,0.52,157.4,415.1,10.9,400,13166,0.00,1.77,0.00,0.000,6,0.000,0.044,2687,2461,1951
$GC,13450,0.52,157.4,381.1,11.7,407,13453,0.00,1.60,0.00,0.000,4,0.000,0.049,2686,3461,1950
$GC,13521,0.52,157.4,371.9,12.5,408,13524,0.00,1.48,0.00,0.000,6,0.000,0.026,2692,2485,1950
$GC,13780,0.52,157.4,340.3,12.0,415,13784,0.00,1.67,0.00,0.000,4,0.000,0.029,2700,1354,1949
$GC,13846,0.52,157.4,332.8,11.7,416,13849,0.00,1.77,0.00,0.000,6,0.000,0.044,2700,2491,1949
$GC,14111,0.52,157.4,301.3,11.8,423,14114,0.00,1.52,0.00,0.000,4,0.000,0.049,2700,3453,1950
$GC,14150,0.52,157.4,296.2,13.2,423,14155,0.00,1.45,0.00,0.000,6,0.000,0.026,2708,2492,1949
$GC,14399,0.52,157.4,266.5,11.7,430,14402,0.00,1.65,0.00,0.000,4,0.000,0.029,2717,1346,1949
$GC,14464,0.52,157.4,259.2,11.2,431,14467,0.00,1.77,0.00,0.000,6,0.000,0.043,2715,2490,1949
$GC,14729,0.52,157.4,230.4,10.5,438,14730,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2490,1949
$GC,14971,0.53,194.7,208.7,8.2,444,15006,0.00,1.73,31.08,0.788,4,0.000,0.027,2722,1328,1806
$GC,15129,0.53,194.7,193.2,10.8,449,15132,0.12,1.80,0.00,0.000,6,0.131,0.042,2688,2474,1802
$GC,15396,0.54,204.9,168.7,9.5,474,15410,0.00,1.52,9.60,0.677,4,0.000,0.046,2686,3472,1765
$GC,15436,0.54,208.8,164.4,9.8,477,15450,0.00,1.50,5.40,0.567,6,0.000,0.024,2693,2472,1748
$GC,15703,0.54,208.8,137.8,10.0,502,15706,0.00,1.65,0.00,0.000,4,0.000,0.028,2696,1353,1746
$GC,15749,0.54,208.8,132.7,10.4,506,15752,0.00,1.75,0.00,0.000,6,0.000,0.039,2696,2486,1744
$GC,16014,0.54,222.4,105.6,9.4,531,16029,0.00,1.50,12.55,0.638,4,0.000,0.044,2696,3469,1693
$GC,16084,0.54,228.0,98.7,9.7,537,16097,0.00,1.42,6.55,0.553,6,0.000,0.023,2704,2507,1669
$GC,16352,0.56,267.6,76.1,8.1,562,16393,0.00,1.73,32.45,0.642,4,0.000,0.025,2709,1348,1509
$GC,16493,0.57,285.8,64.2,9.1,574,16520,0.00,1.77,16.40,0.603,6,0.000,0.038,2709,2493,1433
$GC,16774,0.57,285.8,36.7,10.7,600,16782,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2493,1432
$GC,17031,0.58,308.2,13.6,8.9,643,17057,0.00,0.00,18.98,0.566,6,0.000,0.000,2709,2493,1343
$STATE,17157,end climb,SURFACE_DEPTH_REACHED
$STATE,17157,begin surface coast
$FINISH,0.0,1.010689
$STATE,17193,end surface coast,CONTROL_FINISHED_OK
$STATE,17193,begin surface
$SM_CCo,17216,33.88,0.557,0,0,1049,380.21
$SM_GC,0.76,0.00,0.00,33.88,0.000,0.000,0.557,20,2803,1049,-7.81,1.24,380.21
$IRIDIUM_FIX,2248.70,-15813.22,081201,070738
$TT8_MAMPS,0.047554
$HUMID,2045
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.70
$XPDR_PINGS,8
$24V_AH,23.9,40.877
$10V_AH,10.5,38.284
$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,17.000,117.825,373.950,33.875,0.000,108.343,215.329,756.738,2.000,0.000,0.000,19.355,0.000,13439.396,468.319,3021.392,1765.157,33.348,1457.328,0.000,2654.790,0.000,0.545,0.000
$DEVICE_MAMPS,204.789,58.292,1295.463,556.842,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,456.036,1317.750,1357.362,193.480,981.717,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53976,672
$CAP_FILE_SIZE,147040,0
$CFSIZE,260165632,242610176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,130912,120206,2258.458,-15813.190,28,1.3,28,10.1