version: 66.04
glider: 512
mission: 3
dive: 420
start: 9 27 112 7 3 37
data:
$ID,512
$MISSION,3
$DIVE,420
$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,135
$COURSE_BIAS,0
$GLIDE_SLOPE,27
$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,-61252.375
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2527
$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,2730
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2550
$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
$GPS1,065535,2243.139,-15803.043,38,0.9,43,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-78.4
$GPS2,070254,2243.160,-15803.119,15,1.3,20,10.0
$SPEED_LIMITS,0.196,0.248
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.151,-0.196
$KALMAN_X,-238.2,106.5,123.7,-31620.2,-357.5
$KALMAN_Y,4486.1,139.0,-90.4,-30892.6,185.1
$MHEAD_RNG_PITCHd_Wd,207.5,6965,-18.5,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.53,-131.4,0.0,0.0,0,82,0.00,0.00,-65.82,0.000,2,0.000,0.000,31,2772,2625
$GC,87,-0.53,-131.4,2.1,-2.5,8,112,8.82,1.58,-9.88,0.000,4,0.200,0.038,2353,1655,3087
$GC,228,-0.53,-131.4,34.8,-17.8,30,230,0.00,1.62,0.00,0.000,6,0.000,0.036,2348,2726,3088
$GC,491,-0.53,-131.4,91.3,-17.5,55,494,0.00,1.52,0.00,0.000,4,0.000,0.022,2347,1672,3089
$GC,518,-0.53,-131.4,95.8,-17.1,57,520,0.00,1.60,0.00,0.000,6,0.000,0.036,2342,2734,3089
$GC,780,-0.53,-131.4,139.1,-16.9,82,783,0.00,1.60,0.00,0.000,4,0.000,0.042,2334,3800,3090
$GC,796,-0.53,-131.4,141.5,-17.1,83,799,0.00,1.60,0.00,0.000,6,0.000,0.020,2334,2675,3090
$GC,1059,-0.53,-131.4,184.5,-16.1,108,1062,0.00,1.42,0.00,0.000,4,0.000,0.022,2334,1659,3090
$GC,1098,-0.53,-131.4,191.2,-16.0,111,1106,0.00,1.62,0.00,0.000,6,0.000,0.038,2326,2715,3091
$GC,1358,-0.53,-131.4,232.8,-15.5,122,1359,0.12,0.00,0.00,0.000,6,0.142,0.000,2360,2715,3091
$GC,1600,-0.53,-131.4,259.8,-10.6,128,1604,0.00,1.50,0.00,0.000,4,0.000,0.021,2359,1664,3091
$GC,1677,-0.53,-131.4,267.0,-9.4,129,1680,0.00,1.60,0.00,0.000,6,0.000,0.041,2359,2720,3091
$GC,1933,-0.53,-131.4,291.5,-9.9,136,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2720,3091
$GC,2173,-0.53,-131.4,316.4,-10.1,142,2176,0.00,1.52,0.00,0.000,4,0.000,0.021,2359,1656,3090
$GC,2250,-0.53,-131.4,323.3,-8.3,143,2253,0.00,1.60,0.00,0.000,6,0.000,0.040,2359,2691,3090
$GC,2505,-0.53,-131.4,345.4,-8.6,150,2508,0.00,1.48,0.00,0.000,4,0.000,0.021,2358,1664,3088
$GC,2662,-0.53,-131.4,359.4,-9.4,153,2665,0.00,1.52,0.00,0.000,6,0.000,0.041,2358,2645,3087
$GC,2922,-0.53,-131.4,383.1,-9.1,160,2925,0.00,1.40,0.00,0.000,4,0.000,0.021,2359,1666,3086
$GC,2961,-0.53,-131.4,386.4,-7.6,160,2968,0.00,1.50,0.00,0.000,6,0.000,0.041,2358,2631,3086
$GC,3210,-0.53,-131.4,404.9,-7.3,167,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2631,3084
$GC,3452,-0.53,-131.4,425.3,-8.7,173,3455,0.00,1.40,0.00,0.000,4,0.000,0.023,2358,1660,3082
$GC,3523,-0.53,-131.4,432.0,-8.8,174,3527,0.00,1.48,0.00,0.000,6,0.000,0.041,2358,2610,3082
$GC,3786,-0.53,-131.4,453.5,-7.8,181,3788,0.00,1.83,0.00,0.000,4,0.000,0.052,2358,3791,3079
$GC,3814,-0.53,-131.4,455.5,-6.0,181,3817,0.00,1.73,0.00,0.000,6,0.000,0.023,2358,2594,3079
$GC,4074,-0.53,-131.4,472.0,-6.4,188,4077,0.00,1.33,-0.08,0.000,4,0.000,0.044,2359,1667,3102
$GC,4129,-0.53,-131.4,475.9,-7.2,189,4132,0.00,1.48,0.00,0.000,6,0.000,0.043,2358,2610,3102
$GC,4408,-0.53,-131.4,497.4,-8.1,196,4411,0.00,1.38,0.00,0.000,4,0.000,0.024,2358,1668,3100
$GC,4441,-0.53,-131.4,500.5,-8.4,196,4445,0.00,1.45,0.00,0.000,6,0.000,0.044,2358,2595,3100
$GC,4696,-0.53,-131.4,521.6,-8.4,203,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2595,3099
$GC,4938,-0.53,-131.4,543.1,-9.0,209,4941,0.00,1.35,0.00,0.000,4,0.000,0.025,2359,1667,3098
$GC,4967,-0.53,-131.4,545.7,-9.6,209,4970,0.00,1.42,0.00,0.000,6,0.000,0.045,2358,2574,3098
$GC,5229,-0.53,-131.4,567.6,-8.2,216,5231,0.00,1.33,0.00,0.000,4,0.000,0.025,2358,1660,3096
$GC,5267,-0.53,-131.4,570.8,-7.4,216,5273,0.00,1.42,0.00,0.000,6,0.000,0.044,2358,2565,3095
$GC,5516,-0.53,-131.4,589.2,-7.3,223,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2565,3094
$STATE,5673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5673,begin apogee
$GC,5684,-0.18,0.0,600.3,6.9,227,5804,0.32,0.00,118.20,1.068,6,0.087,0.000,2470,2354,2550
$STATE,5804,end apogee,CONTROL_FINISHED_OK
$STATE,5804,begin climb
$GC,5809,0.53,131.4,604.3,0.0,230,5942,0.57,1.80,120.95,1.016,4,0.033,0.045,2702,3415,2013
$GC,5971,0.53,131.4,597.0,15.0,233,5974,0.00,1.65,0.00,0.000,6,0.000,0.025,2709,2344,2010
$GC,6226,0.53,131.4,556.7,15.5,240,6228,0.00,1.55,0.00,0.000,4,0.000,0.028,2718,1297,2005
$GC,6281,0.53,131.4,548.6,14.1,241,6283,0.00,1.65,0.00,0.000,6,0.000,0.039,2716,2364,2003
$GC,6556,0.53,131.4,509.7,14.0,248,6559,0.00,1.65,0.00,0.000,4,0.000,0.047,2716,3428,2002
$GC,6611,0.53,131.4,501.1,16.2,249,6614,0.00,1.60,0.00,0.000,6,0.000,0.026,2722,2350,2001
$GC,6890,0.53,131.4,461.5,14.3,256,6892,0.00,1.52,0.00,0.000,4,0.000,0.029,2730,1306,2000
$GC,6918,0.53,131.4,457.3,14.3,256,6921,0.10,1.65,0.00,0.000,6,0.157,0.041,2696,2361,2000
$GC,7178,0.53,131.4,422.9,13.5,263,7181,0.00,1.65,0.00,0.000,4,0.000,0.048,2696,3407,1999
$GC,7365,0.53,131.4,397.4,12.7,267,7368,0.00,1.52,0.00,0.000,6,0.000,0.027,2701,2392,1999
$GC,7641,0.53,131.4,364.5,11.9,274,7644,0.00,1.60,0.00,0.000,4,0.000,0.030,2710,1308,1999
$GC,7664,0.53,131.4,361.9,11.7,274,7667,0.00,1.70,0.00,0.000,6,0.000,0.042,2710,2411,1998
$GC,7931,0.53,131.4,332.0,10.8,281,7934,0.00,1.65,0.00,0.000,4,0.000,0.028,2718,1299,1998
$GC,7975,0.53,131.7,327.4,10.0,282,7978,0.00,1.75,0.00,0.000,6,0.000,0.041,2719,2416,1997
$GC,8262,0.54,157.2,299.7,8.7,289,8286,0.00,1.52,20.70,0.858,4,0.000,0.044,2717,3420,1909
$GC,8331,0.54,157.2,293.4,11.1,290,8334,0.00,1.50,0.00,0.000,6,0.000,0.025,2723,2421,1908
$GC,8586,0.54,164.6,268.5,9.6,297,8598,0.00,1.62,7.90,0.739,4,0.000,0.044,2722,3417,1878
$GC,8635,0.54,164.6,262.8,12.6,298,8637,0.00,1.48,0.00,0.000,6,0.000,0.025,2731,2433,1877
$GC,8916,0.54,164.6,232.3,10.4,305,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2427,1875
$GC,9160,0.54,164.6,207.1,10.5,311,9163,0.00,1.58,0.00,0.000,4,0.000,0.046,2729,3414,1875
$GC,9252,0.54,164.6,196.7,10.7,313,9260,0.10,1.48,0.00,0.000,6,0.170,0.025,2706,2418,1875
$GC,9514,0.55,184.0,174.5,9.0,338,9533,0.00,0.00,17.75,0.736,6,0.000,0.000,2707,2417,1798
$GC,9782,0.57,224.1,150.2,7.9,364,9820,0.00,1.62,34.33,0.723,4,0.000,0.026,2713,1305,1636
$GC,9857,0.57,240.4,143.7,9.2,370,9875,0.00,1.75,14.70,0.672,6,0.000,0.038,2713,2433,1569
$GC,10134,0.57,240.4,113.7,11.4,395,10137,0.00,1.55,0.00,0.000,4,0.000,0.044,2713,3424,1566
$GC,10203,0.57,240.4,105.4,11.0,401,10206,0.00,1.45,0.00,0.000,6,0.000,0.023,2719,2449,1565
$GC,10466,0.59,292.0,83.3,7.4,426,10518,0.00,1.60,42.72,0.657,4,0.000,0.042,2719,3421,1358
$GC,10534,0.61,334.1,78.4,7.8,431,10576,0.00,1.40,35.03,0.640,6,0.000,0.023,2723,2487,1187
$GC,10825,0.61,341.6,54.0,9.6,458,10838,0.00,1.73,6.72,0.514,4,0.000,0.025,2731,1297,1159
$GC,10907,0.62,352.7,46.8,9.4,465,10921,0.00,1.80,11.05,0.564,6,0.000,0.035,2732,2475,1111
$GC,11172,0.62,352.7,21.8,11.5,498,11181,0.00,1.75,0.00,0.000,4,0.000,0.026,2736,1302,1109
$GC,11206,0.62,352.7,17.9,11.5,503,11214,0.00,1.80,0.00,0.000,6,0.000,0.035,2736,2461,1109
$STATE,11330,end climb,SURFACE_DEPTH_REACHED
$STATE,11330,begin surface coast
$FINISH,0.3,1.023246
$STATE,11356,end surface coast,CONTROL_FINISHED_OK
$STATE,11356,begin surface
$SM_CCo,11379,14.00,0.543,0,0,999,380.21
$SM_GC,0.78,0.00,0.00,14.00,0.000,0.000,0.543,36,2790,999,-7.79,1.72,380.21
$IRIDIUM_FIX,2237.01,-15800.20,221201,030337
$TT8_MAMPS,0.047554
$HUMID,2157
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.30
$XPDR_PINGS,6
$24V_AH,24.0,53.277
$10V_AH,10.5,51.011
$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,16.925,91.550,430.050,14.000,0.000,29.364,33.877,201.601,1.500,0.000,0.000,24.963,0.000,8040.402,452.556,2528.607,797.008,33.347,1248.423,0.000,2251.580,0.000,0.543,0.000
$DEVICE_MAMPS,200.187,52.156,1067.664,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,358.202,1229.074,1272.175,189.907,978.866,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44696,531
$CAP_FILE_SIZE,101831,0
$CFSIZE,260165632,237420544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270912,101435,2241.747,-15804.367,33,1.2,33,10.0