version: 66.04
glider: 512
mission: 3
dive: 345
start: 9 16 112 6 9 36
data:
$ID,512
$MISSION,3
$DIVE,345
$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,-59540.562
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2518
$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,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,44
$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
$GPS1,055705,2251.549,-15757.847,36,0.9,36,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-79.5
$GPS2,060855,2251.641,-15757.822,12,1.5,12,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.239,-0.095
$KALMAN_X,-64372.1,80.0,139.6,105513.8,-2106.6
$KALMAN_Y,17119.3,226.8,471.9,-36294.7,153.9
$MHEAD_RNG_PITCHd_Wd,101.6,41888,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.49,-97.3,0.0,0.0,0,95,0.00,0.00,-73.97,0.000,2,0.000,0.000,25,2781,2680
$GC,100,-0.49,-97.3,2.3,-2.8,9,126,8.85,1.60,-6.95,0.000,4,0.205,0.054,2341,3812,3009
$GC,191,-0.49,-97.3,30.8,-23.0,24,200,0.00,1.58,0.00,0.000,6,0.000,0.020,2344,2754,3009
$GC,450,-0.49,-97.3,94.7,-20.8,49,453,0.00,1.50,0.00,0.000,4,0.000,0.021,2352,1688,3010
$GC,467,-0.49,-97.3,99.1,-21.4,50,476,0.00,1.62,0.00,0.000,6,0.000,0.035,2346,2744,3010
$GC,726,-0.49,-97.3,142.0,-16.6,75,729,0.00,1.50,0.00,0.000,4,0.000,0.021,2351,1702,3010
$GC,793,-0.49,-97.3,152.1,-13.9,81,796,0.00,1.58,0.00,0.000,6,0.000,0.037,2346,2724,3010
$GC,1057,-0.49,-97.3,192.3,-15.8,106,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2724,3010
$GC,1309,-0.49,-97.3,232.5,-16.0,116,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2725,3010
$GC,1549,-0.49,-97.3,264.7,-12.7,122,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2725,3010
$GC,1791,-0.49,-97.3,293.3,-11.8,128,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2725,3010
$GC,2033,-0.49,-97.3,321.2,-11.3,134,2036,0.00,1.65,0.00,0.000,4,0.000,0.044,2338,3821,3009
$GC,2073,-0.49,-97.3,325.5,-10.6,134,2078,0.00,1.60,0.00,0.000,6,0.000,0.021,2338,2694,3009
$GC,2324,-0.49,-97.3,353.4,-11.1,141,2327,0.00,1.40,0.00,0.000,4,0.000,0.023,2338,1690,3008
$GC,2411,-0.49,-97.3,362.8,-10.2,143,2414,0.00,1.58,0.00,0.000,6,0.000,0.039,2333,2708,3007
$GC,2698,-0.49,-97.3,392.3,-10.0,150,2701,0.00,1.45,0.00,0.000,4,0.000,0.022,2333,1696,3005
$GC,2726,-0.49,-97.3,395.3,-10.5,150,2729,0.08,1.52,0.00,0.000,6,0.123,0.039,2352,2687,3005
$GC,2986,-0.49,-97.3,417.7,-8.7,157,2989,0.00,1.42,0.00,0.000,4,0.000,0.023,2352,1695,3003
$GC,3025,-0.49,-97.3,421.3,-9.2,157,3030,0.00,1.52,0.00,0.000,6,0.000,0.041,2347,2683,3003
$GC,3274,-0.49,-97.3,444.6,-9.5,164,3277,0.00,1.73,0.00,0.000,4,0.000,0.049,2338,3820,3000
$GC,3319,-0.49,-97.3,449.1,-9.8,165,3321,0.00,1.62,0.00,0.000,6,0.000,0.023,2338,2686,3000
$GC,3605,-0.49,-97.3,477.4,-9.7,172,3608,0.00,1.40,-0.08,0.000,4,0.000,0.044,2338,1703,3024
$GC,3704,-0.49,-97.3,486.5,-9.3,174,3706,0.00,1.52,0.00,0.000,6,0.000,0.041,2333,2683,3023
$GC,3981,-0.49,-97.3,513.3,-9.6,181,3985,0.00,1.77,0.00,0.000,4,0.000,0.051,2326,3818,3021
$GC,4004,-0.49,-97.3,515.6,-9.2,181,4007,0.12,1.67,0.00,0.000,6,0.126,0.024,2361,2655,3020
$GC,4270,-0.49,-97.3,535.6,-7.4,188,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2649,3018
$GC,4511,-0.49,-97.3,553.5,-7.4,194,4514,0.00,1.35,0.00,0.000,4,0.000,0.025,2361,1699,3017
$GC,4566,-0.49,-97.3,557.8,-7.2,195,4569,0.00,1.52,0.00,0.000,6,0.000,0.044,2359,2673,3016
$GC,4842,-0.49,-97.3,580.1,-8.2,202,4845,0.00,1.77,0.00,0.000,4,0.000,0.053,2351,3820,3013
$GC,4887,-0.49,-97.3,584.0,-8.6,203,4890,0.00,1.65,0.00,0.000,6,0.000,0.025,2350,2681,3014
$GC,5173,-0.49,-97.3,610.0,-9.1,210,5176,0.00,1.38,0.00,0.000,4,0.000,0.026,2351,1707,3012
$GC,5250,-0.49,-97.3,616.9,-8.6,211,5253,0.00,1.52,0.00,0.000,6,0.000,0.046,2346,2674,3011
$GC,5504,-0.49,-97.3,640.1,-9.1,218,5507,0.00,1.77,0.00,0.000,4,0.000,0.054,2338,3820,3009
$GC,5527,-0.49,-97.3,642.2,-8.9,218,5530,0.00,1.67,0.00,0.000,6,0.000,0.027,2338,2668,3009
$GC,5792,-0.49,-97.3,667.0,-9.3,225,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2661,3008
$GC,6037,-0.49,-97.3,689.0,-8.9,231,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2661,3007
$GC,6276,-0.49,-97.3,709.4,-8.4,237,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2660,3006
$GC,6518,-0.49,-97.3,729.4,-8.3,243,6521,0.00,1.83,0.00,0.000,4,0.000,0.055,2333,3809,3005
$GC,6552,-0.49,-97.3,732.1,-8.5,243,6555,0.00,1.67,0.00,0.000,6,0.000,0.028,2333,2686,3005
$GC,6806,-0.49,-97.3,754.6,-8.8,250,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2679,3003
$GC,7050,-0.49,-97.3,776.0,-8.9,256,7053,0.00,1.40,0.00,0.000,4,0.000,0.029,2333,1711,3002
$GC,7078,-0.49,-97.3,778.9,-9.3,256,7081,0.00,1.55,0.00,0.000,6,0.000,0.050,2333,2683,3002
$GC,7338,-0.49,-97.3,802.5,-9.1,263,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2683,3001
$GC,7580,-0.49,-97.3,824.8,-9.3,269,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2683,3000
$GC,7822,-0.49,-97.3,847.6,-9.5,275,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2684,2999
$GC,8066,-0.49,-97.3,869.2,-8.8,281,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2683,2999
$GC,8306,-0.49,-97.3,889.4,-8.3,287,8309,0.00,1.45,0.00,0.000,4,0.000,0.030,2333,1707,2998
$GC,8335,-0.49,-97.3,891.5,-7.8,287,8338,0.00,1.55,0.00,0.000,6,0.000,0.051,2333,2676,2998
$STATE,8471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8471,begin apogee
$GC,8481,-0.18,0.0,902.5,7.9,291,8572,0.40,0.00,88.80,1.282,6,0.104,0.000,2462,2356,2610
$STATE,8572,end apogee,CONTROL_FINISHED_OK
$STATE,8572,begin climb
$GC,8577,0.49,97.3,904.7,0.0,293,8747,0.55,1.67,110.47,1.075,4,0.034,0.029,2696,1310,2212
$GC,8802,0.49,97.3,891.4,13.8,298,8805,0.00,1.73,0.00,0.000,6,0.000,0.044,2696,2360,2208
$GC,9077,0.49,97.3,851.0,14.6,305,9081,0.00,1.70,0.00,0.000,4,0.000,0.049,2696,3421,2204
$GC,9116,0.49,97.3,845.1,15.7,305,9124,0.00,1.65,0.00,0.000,6,0.000,0.027,2705,2347,2203
$GC,9365,0.49,97.3,808.7,14.5,312,9368,0.00,1.55,0.00,0.000,4,0.000,0.031,2713,1297,2202
$GC,9415,0.49,97.3,801.6,14.4,313,9418,0.10,1.65,0.00,0.000,6,0.154,0.043,2684,2338,2202
$GC,9696,0.49,97.3,766.9,12.1,320,9699,0.00,1.70,0.00,0.000,4,0.000,0.051,2682,3422,2201
$GC,9783,0.49,97.3,755.6,13.5,322,9786,0.00,1.62,0.00,0.000,6,0.000,0.028,2689,2339,2200
$GC,10069,0.49,97.3,721.7,11.7,329,10072,0.00,1.73,0.00,0.000,4,0.000,0.050,2687,3418,2199
$GC,10135,0.49,97.3,713.6,12.8,330,10138,0.00,1.60,0.00,0.000,6,0.000,0.028,2693,2360,2200
$GC,10400,0.49,97.3,683.0,11.3,337,10403,0.00,1.70,0.00,0.000,4,0.000,0.048,2689,3425,2199
$GC,10433,0.49,97.3,679.1,12.6,337,10436,0.00,1.60,0.00,0.000,6,0.000,0.027,2695,2345,2199
$GC,10688,0.49,97.3,649.9,11.4,344,10691,0.00,1.73,0.00,0.000,4,0.000,0.051,2695,3422,2199
$GC,10748,0.49,97.3,642.6,13.4,345,10751,0.00,1.58,0.00,0.000,6,0.000,0.027,2702,2374,2198
$GC,11019,0.49,97.3,611.5,11.4,352,11022,0.00,1.67,0.00,0.000,4,0.000,0.049,2702,3425,2198
$GC,11068,0.49,97.3,605.3,12.6,353,11071,0.08,1.55,0.00,0.000,6,0.179,0.027,2677,2397,2197
$GC,11350,0.50,105.4,577.6,9.6,360,11359,0.00,1.58,6.05,0.860,4,0.000,0.030,2684,1287,2180
$GC,11404,0.50,125.9,572.3,9.0,361,11430,0.00,1.75,20.33,1.037,6,0.000,0.045,2684,2412,2095
$GC,11673,0.50,125.9,540.9,11.8,368,11674,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2412,2091
$GC,11915,0.50,125.9,513.7,11.3,374,11918,0.00,1.60,0.00,0.000,4,0.000,0.051,2684,3437,2090
$GC,12013,0.50,125.9,501.6,13.1,376,12016,0.00,1.60,0.00,0.000,6,0.000,0.028,2692,2363,2089
$GC,12289,0.50,125.9,472.1,10.5,383,12292,0.00,1.55,0.00,0.000,4,0.000,0.031,2700,1305,2089
$GC,12338,0.50,125.9,467.3,10.3,384,12341,0.00,1.67,0.00,0.000,6,0.000,0.045,2700,2380,2089
$GC,12622,0.50,125.9,438.2,10.0,391,12625,0.00,1.62,0.00,0.000,4,0.000,0.051,2700,3425,2088
$GC,12709,0.50,125.9,428.8,11.6,393,12712,0.00,1.60,0.00,0.000,6,0.000,0.027,2708,2370,2088
$GC,12995,0.50,125.9,399.0,10.4,400,12998,0.00,1.58,0.00,0.000,4,0.000,0.031,2717,1297,2088
$GC,13115,0.50,125.9,386.9,10.4,402,13118,0.10,1.73,0.00,0.000,6,0.137,0.044,2682,2390,2088
$GC,13369,0.51,137.0,362.8,9.5,409,13382,0.00,1.60,10.00,0.848,4,0.000,0.050,2682,3422,2051
$GC,13450,0.51,137.0,354.4,10.7,410,13458,0.00,1.50,0.00,0.000,6,0.000,0.026,2688,2420,2050
$GC,13699,0.51,150.1,330.4,9.4,417,13717,0.00,1.67,13.10,0.850,4,0.000,0.029,2696,1305,1997
$GC,13796,0.52,172.2,321.6,9.0,419,13820,0.00,1.75,20.33,0.860,6,0.000,0.044,2696,2423,1908
$GC,14073,0.52,172.2,290.7,11.3,426,14076,0.00,1.67,0.00,0.000,4,0.000,0.029,2699,1293,1903
$GC,14118,0.52,172.2,285.9,10.1,427,14120,0.00,1.80,0.00,0.000,6,0.000,0.043,2699,2437,1902
$GC,14404,0.52,172.2,256.3,10.5,434,14407,0.00,1.55,0.00,0.000,4,0.000,0.049,2699,3417,1902
$GC,14534,0.52,172.2,242.0,11.5,437,14537,0.00,1.48,0.00,0.000,6,0.000,0.025,2707,2437,1901
$GC,14821,0.52,177.9,213.3,9.7,444,14829,0.00,1.65,5.30,0.616,4,0.000,0.028,2713,1292,1886
$GC,14891,0.53,194.9,206.7,9.2,445,14912,0.00,1.83,16.62,0.754,6,0.000,0.041,2713,2451,1814
$GC,15176,0.53,194.9,175.2,11.8,465,15185,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2450,1811
$GC,15434,0.53,194.9,143.8,11.5,490,15437,0.00,1.70,0.00,0.000,4,0.000,0.028,2722,1289,1811
$GC,15471,0.53,194.9,140.1,10.1,493,15474,0.12,1.75,0.00,0.000,6,0.135,0.041,2688,2425,1809
$GC,15738,0.55,241.2,118.7,7.8,518,15782,0.00,1.60,38.83,0.689,4,0.000,0.046,2688,3419,1626
$GC,15815,0.55,241.2,111.2,10.4,524,15818,0.00,1.52,0.00,0.000,6,0.000,0.024,2694,2415,1625
$GC,16079,0.56,267.8,84.1,8.8,549,16106,0.00,0.00,22.00,0.633,6,0.000,0.000,2694,2409,1518
$GC,16358,0.59,340.9,62.5,6.6,576,16427,0.00,1.67,59.15,0.624,4,0.000,0.028,2696,1308,1219
$GC,16453,0.62,428.1,56.8,5.9,583,16526,0.00,1.77,69.12,0.609,6,0.000,0.037,2696,2439,864
$GC,16780,0.63,430.3,30.1,9.9,612,16783,0.00,1.67,0.00,0.000,4,0.000,0.025,2696,1298,859
$GC,16806,0.64,469.3,27.9,8.2,615,16849,0.00,1.77,32.88,0.571,6,0.000,0.037,2696,2428,694
$GC,17100,0.64,473.0,4.2,9.8,668,17108,0.00,0.00,4.25,0.384,6,0.000,0.000,2696,2428,680
$STATE,17113,end climb,SURFACE_DEPTH_REACHED
$STATE,17113,begin surface coast
$FINISH,-0.0,1.001711
$STATE,17144,end surface coast,CONTROL_FINISHED_OK
$STATE,17145,begin surface
$SM_CCo,17228,0.00,0.000,0,0,679,473.67
$SM_GC,0.99,6.72,0.00,0.00,0.018,0.000,0.000,23,2794,679,-7.67,0.90,473.67
$IRIDIUM_FIX,2244.02,-15758.45,111201,060651
$TT8_MAMPS,0.048321
$HUMID,2053
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,25.00
$XPDR_PINGS,39
$24V_AH,24.1,43.017
$10V_AH,10.5,40.474
$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,17.125,127.025,517.225,0.000,0.000,56.214,66.875,345.711,9.750,0.000,0.000,12.723,0.000,13062.216,528.907,3200.855,1119.350,33.356,1644.335,0.000,2824.996,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,55.224,1282.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,457.519,1337.540,1382.059,191.149,1033.666,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54295,676
$CAP_FILE_SIZE,142475,0
$CFSIZE,260165632,241659904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$GPS,160912,105736,2251.097,-15756.181,25,1.8,25,10.1