version: 66.04
glider: 512
mission: 3
dive: 349
start: 9 17 112 2 14 22
data:
$ID,512
$MISSION,3
$DIVE,349
$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,110
$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,-59613.59
$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,2755
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,38
$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
$GPS1,020635,2248.632,-15752.236,38,0.9,43,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-78.0
$GPS2,021337,2248.639,-15752.299,17,1.0,17,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.167,-0.196
$KALMAN_X,-70045.8,50.7,-178.4,120948.9,-1257.8
$KALMAN_Y,22595.2,104.1,-488.4,-46238.7,2217.9
$MHEAD_RNG_PITCHd_Wd,129.5,30983,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.50,-107.1,0.0,0.0,0,91,0.00,0.00,-74.05,0.000,2,0.000,0.000,31,2788,2754
$GC,96,-0.50,-107.1,2.6,-4.2,9,114,8.93,1.62,-5.60,0.000,4,0.206,0.041,2362,1690,3038
$GC,129,-0.50,-107.1,16.1,-36.1,13,138,0.00,1.65,0.00,0.000,6,0.000,0.033,2356,2759,3039
$GC,394,-0.50,-107.1,83.8,-21.2,42,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2759,3040
$GC,654,-0.50,-107.1,130.5,-17.5,67,657,0.00,1.55,0.00,0.000,4,0.000,0.021,2356,1688,3041
$GC,701,-0.50,-107.1,138.2,-14.4,71,704,0.00,1.60,0.00,0.000,6,0.000,0.038,2349,2744,3041
$GC,963,-0.50,-107.1,180.3,-16.1,96,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2744,3042
$GC,1216,-0.50,-107.1,219.7,-15.2,112,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2744,3042
$GC,1458,-0.50,-107.1,253.3,-13.2,118,1461,0.00,1.50,0.00,0.000,4,0.000,0.020,2349,1691,3042
$GC,1502,-0.50,-107.1,258.6,-12.0,119,1505,0.00,1.62,0.00,0.000,6,0.000,0.038,2346,2762,3042
$GC,1790,-0.50,-107.1,293.8,-12.0,126,1793,0.00,1.52,0.00,0.000,4,0.000,0.020,2346,1693,3041
$GC,1835,-0.50,-107.1,299.1,-10.8,127,1838,0.00,1.58,0.00,0.000,6,0.000,0.038,2340,2713,3042
$GC,2121,-0.50,-107.1,330.1,-10.3,134,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2713,3040
$GC,2363,-0.50,-107.1,355.5,-10.5,140,2366,0.00,1.70,0.00,0.000,4,0.000,0.047,2331,3812,3038
$GC,2386,-0.50,-107.1,358.0,-10.7,140,2389,0.00,1.60,0.00,0.000,6,0.000,0.021,2331,2683,3038
$GC,2651,-0.50,-107.1,387.9,-11.5,147,2654,0.00,1.38,0.00,0.000,4,0.000,0.022,2331,1696,3037
$GC,2733,-0.50,-107.1,397.3,-11.5,148,2739,0.05,1.55,0.00,0.000,6,0.100,0.040,2355,2699,3036
$GC,2982,-0.50,-107.1,422.3,-10.1,155,2984,0.00,1.45,0.00,0.000,4,0.000,0.021,2355,1689,3034
$GC,3005,-0.50,-107.1,424.6,-10.0,155,3008,0.00,1.58,0.00,0.000,6,0.000,0.041,2349,2704,3034
$GC,3270,-0.50,-107.1,450.1,-9.4,162,3273,0.00,1.45,0.00,0.000,4,0.000,0.024,2349,1697,3031
$GC,3303,-0.50,-107.1,453.1,-9.0,162,3306,0.00,1.55,0.00,0.000,6,0.000,0.042,2346,2691,3031
$GC,3558,-0.50,-107.1,475.5,-8.6,169,3561,0.00,1.73,0.00,0.000,4,0.000,0.051,2338,3814,3029
$GC,3581,-0.50,-107.1,477.5,-9.0,169,3584,0.00,1.65,0.00,0.000,6,0.000,0.024,2338,2670,3029
$GC,3848,-0.50,-107.1,500.2,-8.6,176,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2662,3027
$GC,4088,-0.50,-107.1,521.7,-9.0,182,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2662,3024
$GC,4330,-0.50,-107.1,544.4,-9.4,188,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2662,3023
$GC,4572,-0.50,-107.1,569.8,-10.7,194,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2662,3021
$GC,4814,-0.50,-107.1,595.9,-10.7,200,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2662,3021
$GC,5058,-0.50,-107.1,620.3,-9.9,206,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2662,3018
$GC,5298,-0.50,-107.1,643.4,-9.6,212,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2662,3016
$GC,5541,-0.50,-107.1,666.9,-9.6,218,5544,0.00,1.40,0.00,0.000,4,0.000,0.027,2338,1690,3016
$GC,5585,-0.50,-107.1,671.2,-9.1,219,5588,0.00,1.58,0.00,0.000,6,0.000,0.045,2333,2683,3015
$GC,5874,-0.50,-107.1,697.4,-9.1,226,5877,0.00,1.77,0.00,0.000,4,0.000,0.054,2325,3822,3014
$GC,5934,-0.50,-107.1,703.3,-9.0,227,5938,0.08,1.70,0.00,0.000,6,0.119,0.026,2351,2676,3013
$GC,6205,-0.50,-107.1,721.5,-6.5,234,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2673,3012
$GC,6447,-0.50,-107.1,736.1,-6.0,240,6450,0.00,1.40,0.00,0.000,4,0.000,0.026,2352,1700,3011
$GC,6470,-0.50,-107.1,737.7,-6.6,240,6473,0.00,1.55,0.00,0.000,6,0.000,0.045,2347,2682,3011
$GC,6736,-0.50,-107.1,753.8,-6.0,247,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2682,3010
$GC,6977,-0.50,-107.1,767.7,-5.7,253,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2682,3009
$GC,7219,-0.50,-107.1,782.5,-6.2,259,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2681,3008
$GC,7461,-0.50,-107.1,798.3,-6.6,265,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2682,3007
$GC,7706,-0.50,-107.1,814.2,-6.5,271,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2682,3006
$GC,7946,-0.50,-107.1,830.3,-6.6,277,7948,0.00,1.80,0.00,0.000,4,0.000,0.058,2343,3821,3005
$GC,7963,-0.50,-107.1,831.4,-6.9,277,7966,0.00,1.70,0.00,0.000,6,0.000,0.028,2343,2669,3005
$GC,8234,-0.50,-107.1,851.5,-7.5,284,8237,0.00,1.40,0.00,0.000,4,0.000,0.028,2343,1696,3004
$GC,8289,-0.50,-107.1,856.1,-8.0,285,8292,0.00,1.55,0.00,0.000,6,0.000,0.048,2336,2670,3004
$GC,8565,-0.50,-107.1,879.8,-8.8,292,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2670,3003
$GC,8807,-0.50,-107.1,899.8,-8.3,298,8810,0.00,1.83,0.00,0.000,4,0.000,0.058,2333,3804,3003
$STATE,8814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8814,begin apogee
$GC,8827,-0.18,0.0,900.7,8.1,298,8921,0.35,0.00,92.15,1.280,6,0.108,0.000,2452,2345,2600
$STATE,8921,end apogee,CONTROL_FINISHED_OK
$STATE,8921,begin climb
$GC,8926,0.50,107.1,903.4,0.0,300,9064,0.60,1.65,110.65,1.163,4,0.051,0.027,2686,1308,2162
$GC,9139,0.50,107.1,890.1,13.2,305,9142,0.00,1.73,0.00,0.000,6,0.000,0.042,2686,2373,2156
$GC,9426,0.50,107.1,849.0,14.2,312,9429,0.00,1.65,0.00,0.000,4,0.000,0.048,2686,3420,2152
$GC,9475,0.50,107.1,841.4,15.4,313,9478,0.00,1.60,0.00,0.000,6,0.000,0.026,2693,2356,2151
$GC,9756,0.50,107.1,799.7,14.9,320,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2350,2151
$GC,10000,0.50,107.1,762.4,15.6,326,10003,0.00,1.70,0.00,0.000,4,0.000,0.048,2689,3420,2149
$GC,10071,0.50,107.1,750.8,15.1,327,10074,0.00,1.58,0.00,0.000,6,0.000,0.026,2695,2378,2149
$GC,10331,0.50,107.1,713.7,14.0,334,10334,0.00,1.58,0.00,0.000,4,0.000,0.028,2703,1305,2148
$GC,10386,0.50,107.1,706.5,12.7,335,10389,0.00,1.65,0.00,0.000,6,0.000,0.043,2702,2369,2148
$GC,10662,0.50,107.1,669.7,12.9,342,10664,0.00,1.65,0.00,0.000,4,0.000,0.048,2702,3428,2148
$GC,10797,0.50,107.1,652.0,12.9,345,10800,0.00,1.58,0.00,0.000,6,0.000,0.028,2708,2389,2147
$GC,11078,0.50,107.1,619.8,11.3,352,11081,0.12,1.58,0.00,0.000,4,0.186,0.028,2686,1295,2147
$GC,11197,0.51,131.3,608.7,8.9,354,11230,0.00,1.70,22.42,0.988,6,0.000,0.044,2686,2390,2064
$GC,11492,0.51,131.3,574.9,11.8,362,11495,0.00,1.60,0.00,0.000,4,0.000,0.050,2685,3419,2059
$GC,11563,0.51,131.3,565.7,13.8,363,11565,0.00,1.55,0.00,0.000,6,0.000,0.027,2692,2398,2059
$GC,11822,0.51,131.3,533.0,12.4,370,11825,0.00,1.60,0.00,0.000,4,0.000,0.029,2700,1288,2058
$GC,11851,0.51,131.3,529.6,12.5,370,11853,0.00,1.75,0.00,0.000,6,0.000,0.043,2700,2413,2057
$GC,12110,0.51,131.3,497.7,12.0,377,12113,0.00,1.67,0.00,0.000,4,0.000,0.029,2709,1288,2057
$GC,12149,0.51,131.3,493.2,12.3,377,12154,0.00,1.73,0.00,0.000,6,0.000,0.043,2709,2399,2057
$GC,12398,0.51,131.3,462.2,12.5,384,12401,0.00,1.60,0.00,0.000,4,0.000,0.049,2709,3429,2057
$GC,12453,0.51,131.3,454.9,14.2,385,12456,0.15,1.58,0.00,0.000,6,0.199,0.027,2683,2389,2056
$GC,12729,0.51,131.3,423.7,11.0,392,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2383,2056
$GC,12971,0.51,136.2,399.7,9.8,398,12977,0.00,0.00,4.80,0.701,6,0.000,0.000,2683,2383,2044
$GC,13213,0.51,136.2,375.2,10.5,404,13216,0.00,1.58,0.00,0.000,4,0.000,0.029,2690,1309,2043
$GC,13289,0.52,164.9,367.8,8.7,405,13320,0.00,1.75,26.62,0.914,6,0.000,0.044,2686,2412,1926
$GC,13587,0.52,171.5,338.8,9.7,413,13597,0.00,1.58,6.75,0.747,4,0.000,0.047,2686,3426,1900
$GC,13755,0.52,171.5,320.8,11.0,417,13757,0.00,1.50,0.00,0.000,6,0.000,0.025,2692,2442,1898
$GC,14041,0.52,171.5,288.5,12.0,424,14044,0.00,1.65,0.00,0.000,4,0.000,0.030,2697,1305,1897
$GC,14160,0.52,171.5,275.7,11.0,426,14163,0.00,1.77,0.00,0.000,6,0.000,0.042,2696,2445,1896
$GC,14415,0.52,171.5,247.9,11.0,433,14418,0.00,1.52,0.00,0.000,4,0.000,0.049,2696,3414,1896
$GC,14539,0.52,171.5,235.6,10.7,435,14546,0.00,1.42,0.00,0.000,6,0.000,0.025,2705,2452,1895
$GC,14788,0.53,189.8,212.8,9.1,442,14806,0.00,0.00,16.45,0.762,6,0.000,0.000,2704,2452,1825
$GC,15058,0.53,189.8,187.0,10.0,456,15059,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2452,1823
$GC,15307,0.53,189.8,160.7,11.1,480,15315,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2452,1823
$GC,15566,0.53,189.8,132.2,11.2,505,15569,0.00,1.67,0.00,0.000,4,0.000,0.027,2712,1305,1823
$GC,15664,0.54,216.8,122.5,8.7,514,15691,0.00,1.80,23.62,0.679,6,0.000,0.038,2713,2459,1716
$GC,15945,0.54,216.8,92.0,11.1,540,15948,0.00,1.50,0.00,0.000,4,0.000,0.044,2713,3426,1713
$GC,15991,0.54,216.8,86.4,11.2,544,15994,0.00,1.42,0.00,0.000,6,0.000,0.021,2720,2461,1713
$GC,16256,0.57,287.9,63.0,6.7,569,16322,0.00,0.00,57.75,0.626,6,0.000,0.000,2720,2455,1425
$GC,16577,0.57,287.9,34.6,10.6,599,16579,0.00,1.67,0.00,0.000,4,0.000,0.027,2726,1299,1421
$GC,16623,0.58,321.8,29.6,8.4,603,16657,0.00,1.85,27.62,0.581,6,0.000,0.036,2726,2483,1287
$STATE,16868,end climb,SURFACE_DEPTH_REACHED
$STATE,16868,begin surface coast
$FINISH,-0.1,1.010315
$STATE,16894,end surface coast,CONTROL_FINISHED_OK
$STATE,16894,begin surface
$SM_CCo,16918,26.00,0.545,0,0,1049,380.21
$SM_GC,0.91,0.00,0.00,26.00,0.000,0.000,0.545,38,2819,1049,-7.75,1.81,380.21
$IRIDIUM_FIX,2241.69,-15754.99,111201,212146
$TT8_MAMPS,0.046787
$HUMID,2074
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.00
$XPDR_PINGS,7
$24V_AH,23.8,43.596
$10V_AH,10.5,41.083
$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,17.150,103.975,388.850,26.000,0.000,27.541,38.656,182.167,1.750,0.000,0.000,21.457,0.000,13067.377,445.685,2979.734,857.162,33.362,1432.253,0.000,2625.615,0.000,0.543,0.000
$DEVICE_MAMPS,206.323,58.292,1280.123,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,443.330,1265.064,1305.892,179.172,942.411,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54207,653
$CAP_FILE_SIZE,128109,0
$CFSIZE,260165632,241405952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,170912,065805,2248.291,-15750.995,42,1.1,47,10.1