version: 66.04
glider: 512
mission: 3
dive: 357
start: 9 18 112 13 13 15
data:
$ID,512
$MISSION,3
$DIVE,357
$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,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,-59804.016
$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,2735
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2580
$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
$GPS1,125159,2243.477,-15742.918,38,1.6,38,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-80.0
$GPS2,131233,2243.444,-15743.096,15,2.8,34,10.1
$SPEED_LIMITS,0.248,0.260
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.160,-0.205
$KALMAN_X,-75753.9,-11.3,-124.2,142355.7,-850.9
$KALMAN_Y,36609.2,-35.8,-459.8,-69765.3,1387.4
$MHEAD_RNG_PITCHd_Wd,131.9,12749,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.51,-146.0,0.0,0.0,0,99,0.00,0.00,-82.05,0.000,2,0.000,0.000,31,2782,2590
$GC,104,-0.51,-146.0,2.1,-2.7,10,131,8.93,1.62,-12.77,0.000,4,0.209,0.050,2351,1673,3177
$GC,181,-0.51,-146.0,24.4,-25.3,22,190,0.00,1.60,0.00,0.000,6,0.000,0.038,2346,2702,3178
$GC,442,-0.51,-146.0,85.0,-18.9,48,445,0.00,1.65,0.00,0.000,4,0.000,0.044,2338,3798,3178
$GC,470,-0.51,-146.0,90.8,-19.2,50,478,0.00,1.52,0.00,0.000,6,0.000,0.020,2340,2747,3178
$GC,729,-0.51,-146.0,133.3,-16.6,75,732,0.00,1.50,0.00,0.000,4,0.000,0.021,2340,1674,3178
$GC,764,-0.51,-146.0,139.5,-16.2,78,767,0.00,1.67,0.00,0.000,6,0.000,0.038,2333,2760,3179
$GC,1028,-0.51,-146.0,187.3,-18.2,103,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2761,3178
$GC,1299,-0.51,-146.0,234.3,-16.6,115,1302,0.00,1.55,0.00,0.000,4,0.000,0.021,2334,1671,3178
$GC,1354,-0.51,-146.0,242.3,-13.9,116,1357,0.00,1.65,0.00,0.000,6,0.000,0.041,2333,2762,3178
$GC,1629,-0.51,-146.0,280.6,-13.3,123,1632,0.00,1.55,0.00,0.000,4,0.000,0.021,2333,1672,3178
$GC,1669,-0.51,-146.0,285.2,-11.6,123,1674,0.00,1.65,0.00,0.000,6,0.000,0.041,2334,2762,3178
$GC,1918,-0.51,-146.0,312.8,-11.0,130,1920,0.00,1.58,0.00,0.000,4,0.000,0.046,2325,3789,3176
$GC,1964,-0.51,-146.0,317.8,-11.2,131,1967,0.00,1.50,0.00,0.000,6,0.000,0.019,2325,2735,3176
$GC,2251,-0.51,-146.0,351.1,-11.9,138,2254,0.00,1.45,0.00,0.000,4,0.000,0.022,2325,1696,3174
$GC,2322,-0.51,-146.0,359.5,-11.3,139,2325,0.12,1.60,0.00,0.000,6,0.120,0.040,2353,2758,3174
$GC,2584,-0.51,-146.0,386.7,-10.5,146,2587,0.00,1.52,0.00,0.000,4,0.000,0.022,2353,1694,3171
$GC,2606,-0.51,-146.0,389.5,-11.4,146,2609,0.00,1.60,0.00,0.000,6,0.000,0.041,2347,2752,3171
$GC,2871,-0.51,-146.0,418.1,-10.8,153,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2752,3169
$GC,3113,-0.51,-146.0,443.9,-10.4,159,3116,0.00,1.52,-0.08,0.000,4,0.000,0.041,2348,1689,3191
$GC,3190,-0.51,-146.0,451.4,-9.5,160,3193,0.00,1.58,0.00,0.000,6,0.000,0.042,2346,2700,3190
$GC,3444,-0.51,-146.0,473.7,-8.6,167,3447,0.00,1.45,0.00,0.000,4,0.000,0.023,2346,1697,3188
$GC,3478,-0.51,-146.0,476.4,-8.5,167,3481,0.00,1.55,0.00,0.000,6,0.000,0.044,2346,2692,3187
$GC,3732,-0.51,-146.0,497.3,-8.1,174,3735,0.00,1.70,0.00,0.000,4,0.000,0.051,2338,3793,3185
$GC,3755,-0.51,-146.0,499.1,-8.2,174,3758,0.00,1.60,0.00,0.000,6,0.000,0.025,2338,2679,3185
$GC,4023,-0.51,-146.0,521.6,-8.3,181,4026,0.00,1.38,0.00,0.000,4,0.000,0.025,2338,1701,3183
$GC,4067,-0.51,-146.0,525.4,-7.9,182,4070,0.00,1.52,0.00,0.000,6,0.000,0.044,2334,2676,3182
$GC,4354,-0.51,-146.0,551.3,-9.3,189,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2677,3180
$GC,4596,-0.51,-146.0,575.7,-10.2,195,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2677,3178
$STATE,4835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4835,begin apogee
$GC,4845,-0.18,0.0,601.8,10.9,201,4974,0.40,0.00,127.10,1.039,6,0.101,0.000,2464,2372,2580
$STATE,4975,end apogee,CONTROL_FINISHED_OK
$STATE,4975,begin climb
$GC,4980,0.51,146.0,608.5,0.0,204,5123,0.57,1.65,131.20,0.986,4,0.039,0.027,2700,1318,1983
$GC,5145,0.51,146.0,605.2,12.9,207,5150,0.00,1.67,0.00,0.000,6,0.000,0.039,2701,2369,1979
$GC,5394,0.51,146.0,566.8,15.5,214,5397,0.00,1.62,0.00,0.000,4,0.000,0.044,2701,3421,1975
$GC,5443,0.51,146.0,558.6,17.4,215,5446,0.00,1.60,0.00,0.000,6,0.000,0.025,2709,2344,1974
$GC,5725,0.51,146.0,512.1,16.7,222,5728,0.00,1.52,0.00,0.000,4,0.000,0.029,2717,1299,1972
$GC,5844,0.51,146.0,493.8,15.0,224,5847,0.12,1.60,0.00,0.000,6,0.150,0.040,2682,2346,1971
$GC,6100,0.51,146.0,459.5,13.5,231,6103,0.00,1.67,0.00,0.000,4,0.000,0.047,2682,3417,1970
$GC,6177,0.51,146.0,448.3,14.4,232,6179,0.00,1.58,0.00,0.000,6,0.000,0.026,2689,2365,1969
$GC,6431,0.51,146.0,415.6,12.6,239,6434,0.00,1.55,0.00,0.000,4,0.000,0.029,2695,1304,1968
$GC,6486,0.51,146.0,409.1,12.2,240,6489,0.00,1.62,0.00,0.000,6,0.000,0.041,2696,2368,1968
$GC,6762,0.51,146.0,376.4,11.3,247,6765,0.00,1.62,0.00,0.000,4,0.000,0.048,2696,3426,1967
$GC,6833,0.51,146.0,367.3,13.8,248,6835,0.00,1.60,0.00,0.000,6,0.000,0.026,2705,2336,1967
$GC,7092,0.51,146.0,337.8,11.5,255,7095,0.00,1.50,0.00,0.000,4,0.000,0.029,2713,1308,1967
$GC,7147,0.51,150.0,332.1,9.8,256,7150,0.12,1.60,0.00,0.000,6,0.148,0.041,2681,2359,1966
$GC,7423,0.51,164.9,306.0,9.3,263,7441,0.00,1.67,14.48,0.824,4,0.000,0.048,2674,3423,1907
$GC,7531,0.51,164.9,293.3,12.2,265,7533,0.00,1.60,0.00,0.000,6,0.000,0.025,2680,2340,1905
$GC,7796,0.51,164.9,264.0,10.8,272,7799,0.00,1.73,0.00,0.000,4,0.000,0.048,2680,3417,1904
$GC,7862,0.52,188.3,257.9,8.9,273,7886,0.00,1.52,20.77,0.805,6,0.000,0.025,2688,2386,1811
$GC,8171,0.54,224.9,232.0,8.3,281,8205,0.00,1.65,31.20,0.785,4,0.000,0.044,2686,3425,1663
$GC,8245,0.54,224.9,225.1,10.6,281,8250,0.00,1.50,0.00,0.000,6,0.000,0.025,2692,2438,1661
$GC,8494,0.54,224.9,199.0,11.0,288,8497,0.00,1.62,0.00,0.000,4,0.000,0.029,2696,1315,1659
$GC,8597,0.54,224.9,188.7,10.2,297,8605,0.00,1.73,0.00,0.000,6,0.000,0.039,2696,2419,1657
$GC,8855,0.54,224.9,158.8,12.5,322,8858,0.00,1.55,0.00,0.000,4,0.000,0.044,2696,3420,1657
$GC,8905,0.54,224.9,152.2,12.9,326,8912,0.00,1.48,0.00,0.000,6,0.000,0.023,2702,2420,1657
$GC,9164,0.54,224.9,120.8,11.9,351,9167,0.00,1.60,0.00,0.000,4,0.000,0.028,2709,1307,1656
$GC,9211,0.54,224.9,115.5,10.8,355,9214,0.00,1.67,0.00,0.000,6,0.000,0.037,2709,2417,1656
$GC,9474,0.54,224.9,84.9,11.7,380,9477,0.00,1.55,0.00,0.000,4,0.000,0.043,2709,3426,1656
$GC,9575,0.54,224.9,73.7,10.3,389,9578,0.00,1.42,0.00,0.000,6,0.000,0.024,2713,2453,1656
$GC,9838,0.56,268.4,50.5,8.0,414,9880,0.00,1.65,35.15,0.611,4,0.000,0.026,2713,1318,1484
$GC,9986,0.59,359.9,39.9,5.8,426,10064,0.00,1.65,72.43,0.596,6,0.000,0.035,2713,2391,1111
$GC,10312,0.59,359.9,12.8,10.5,474,10321,0.00,1.58,0.00,0.000,4,0.000,0.039,2713,3413,1107
$GC,10341,0.59,360.0,9.9,10.0,478,10350,0.00,1.52,0.00,0.000,6,0.000,0.022,2713,2387,1107
$STATE,10425,end climb,SURFACE_DEPTH_REACHED
$STATE,10425,begin surface coast
$FINISH,-0.0,1.012244
$STATE,10470,end surface coast,CONTROL_FINISHED_OK
$STATE,10470,begin surface
$SM_CCo,10493,9.85,0.500,0,0,1030,380.21
$SM_GC,0.70,0.00,0.00,9.85,0.000,0.000,0.500,35,2761,1030,-7.76,0.74,380.21
$IRIDIUM_FIX,2237.01,-15742.40,131201,131317
$TT8_MAMPS,0.047554
$HUMID,2150
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.20
$XPDR_PINGS,8
$24V_AH,24.3,44.767
$10V_AH,10.5,42.266
$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,17.050,89.650,432.325,9.850,0.000,124.267,148.264,570.884,2.000,0.000,0.000,34.972,0.000,7440.076,458.378,2482.601,1342.057,33.343,1245.029,0.000,2195.941,0.000,0.545,0.000
$DEVICE_MAMPS,208.624,51.389,1038.518,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,338.184,1185.992,1217.288,189.570,998.357,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41426,502
$CAP_FILE_SIZE,107022,0
$CFSIZE,260165632,240951296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180912,160936,2242.866,-15742.630,46,1.2,46,10.1