version: 66.04
glider: 512
mission: 3
dive: 460
start: 10 2 112 23 46 11
data:
$ID,512
$MISSION,3
$DIVE,460
$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,30
$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,-63090.816
$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,76
$R_STBD_OVSHOOT,31
$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
$GPS1,233351,2252.879,-15750.614,10,2.2,29,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-80.6
$GPS2,234533,2252.877,-15750.706,14,2.4,33,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.128
$KALMAN_X,-40184.4,-174.0,551.5,29354.1,-1288.8
$KALMAN_Y,21990.9,180.0,273.3,-30806.6,34.6
$MHEAD_RNG_PITCHd_Wd,111.1,34442,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.53,-131.4,0.0,0.0,0,104,0.00,0.00,-82.35,0.000,2,0.000,0.000,27,2701,2909
$GC,109,-0.53,-131.4,3.2,-5.3,10,126,8.98,1.65,-3.30,0.000,4,0.205,0.048,2337,3816,3086
$GC,162,-0.53,-131.4,25.5,-35.6,18,170,0.00,1.60,0.00,0.000,6,0.000,0.022,2341,2741,3087
$GC,423,-0.53,-131.4,76.6,-16.5,44,426,0.00,1.52,0.00,0.000,4,0.000,0.024,2342,1672,3088
$GC,533,-0.53,-131.4,92.0,-12.0,54,536,0.00,1.58,0.00,0.000,6,0.000,0.038,2336,2690,3088
$GC,797,-0.53,-131.4,130.0,-15.5,79,801,0.00,1.48,0.00,0.000,4,0.000,0.021,2336,1663,3088
$GC,824,-0.53,-131.4,134.1,-15.4,81,827,0.00,1.55,0.00,0.000,6,0.000,0.038,2333,2668,3088
$GC,1088,-0.53,-131.4,173.8,-14.9,106,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2669,3089
$GC,1354,-0.53,-131.4,212.4,-13.8,126,1357,0.00,1.45,0.00,0.000,4,0.000,0.021,2333,1655,3088
$GC,1414,-0.53,-131.4,220.2,-11.8,127,1417,0.00,1.58,0.00,0.000,6,0.000,0.039,2328,2679,3088
$GC,1685,-0.53,-131.4,253.9,-12.3,134,1688,0.00,1.45,0.00,0.000,4,0.000,0.021,2328,1665,3088
$GC,1707,-0.53,-131.4,256.7,-12.0,134,1711,0.08,1.55,0.00,0.000,6,0.093,0.038,2360,2675,3088
$GC,1975,-0.53,-131.4,278.7,-8.1,141,1978,0.00,1.45,0.00,0.000,4,0.000,0.021,2361,1660,3087
$GC,2003,-0.53,-131.4,281.4,-8.4,141,2006,0.00,1.52,0.00,0.000,6,0.000,0.039,2360,2648,3087
$GC,2263,-0.53,-131.4,302.8,-8.2,148,2266,0.00,1.40,0.00,0.000,4,0.000,0.021,2359,1663,3086
$GC,2302,-0.53,-131.4,306.0,-8.1,148,2307,0.00,1.52,0.00,0.000,6,0.000,0.041,2359,2651,3087
$GC,2551,-0.53,-131.4,326.3,-8.1,155,2554,0.00,1.42,0.00,0.000,4,0.000,0.022,2358,1656,3085
$GC,2617,-0.53,-131.4,331.4,-7.4,156,2620,0.00,1.45,0.00,0.000,6,0.000,0.038,2352,2600,3085
$GC,2882,-0.53,-131.4,350.9,-7.3,163,2885,0.00,1.35,0.00,0.000,4,0.000,0.022,2352,1655,3083
$GC,2921,-0.53,-131.4,353.8,-6.4,163,2926,0.00,1.42,0.00,0.000,6,0.000,0.039,2346,2579,3082
$GC,3170,-0.53,-131.4,373.4,-8.0,170,3173,0.00,1.30,0.00,0.000,4,0.000,0.021,2346,1663,3080
$GC,3210,-0.53,-131.4,376.5,-7.8,170,3217,0.00,1.40,0.00,0.000,6,0.000,0.041,2346,2567,3080
$GC,3459,-0.53,-131.4,395.5,-7.6,177,3462,0.00,1.90,-0.08,0.000,4,0.000,0.061,2338,3792,3100
$GC,3482,-0.53,-131.4,397.2,-7.4,177,3485,0.00,1.80,0.00,0.000,6,0.000,0.022,2338,2545,3100
$GC,3748,-0.53,-131.4,418.0,-7.9,184,3751,0.00,1.23,0.00,0.000,4,0.000,0.025,2338,1670,3099
$GC,3803,-0.53,-131.4,422.2,-7.7,185,3805,0.00,1.35,0.00,0.000,6,0.000,0.040,2333,2541,3099
$GC,4079,-0.53,-131.4,445.8,-9.0,192,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2541,3096
$GC,4321,-0.53,-131.4,469.3,-9.7,198,4324,0.00,1.27,0.00,0.000,4,0.000,0.025,2333,1665,3095
$GC,4349,-0.53,-131.4,472.1,-10.3,198,4352,0.00,1.33,0.00,0.000,6,0.000,0.042,2333,2517,3094
$GC,4609,-0.53,-131.4,498.7,-10.5,205,4612,0.00,1.98,0.00,0.000,4,0.000,0.050,2323,3793,3092
$GC,4655,-0.53,-131.4,503.3,-10.1,206,4659,0.12,1.88,0.00,0.000,6,0.107,0.025,2362,2520,3092
$GC,4942,-0.53,-131.4,526.1,-7.5,213,4945,0.00,1.20,0.00,0.000,4,0.000,0.026,2362,1662,3090
$GC,4992,-0.53,-131.4,529.7,-6.6,214,4995,0.00,1.33,0.00,0.000,6,0.000,0.041,2359,2515,3090
$GC,5276,-0.53,-131.4,548.5,-6.5,221,5278,0.00,1.98,0.00,0.000,4,0.000,0.051,2351,3782,3088
$GC,5299,-0.53,-131.4,549.9,-5.7,221,5302,0.00,1.90,0.00,0.000,6,0.000,0.025,2351,2507,3087
$GC,5564,-0.53,-131.4,566.7,-6.4,228,5567,0.00,1.17,0.00,0.000,4,0.000,0.026,2351,1671,3086
$GC,5608,-0.53,-131.4,569.8,-6.6,229,5611,0.00,1.30,0.00,0.000,6,0.000,0.043,2346,2499,3086
$GC,5897,-0.53,-131.4,589.6,-7.1,236,5900,0.00,2.03,0.00,0.000,4,0.000,0.054,2346,3787,3085
$GC,5926,-0.53,-131.4,591.8,-7.2,236,5928,0.00,1.90,0.00,0.000,6,0.000,0.025,2346,2497,3084
$STATE,6059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6059,begin apogee
$GC,6070,-0.18,0.0,602.3,7.5,240,6189,0.38,0.00,117.38,1.059,6,0.091,0.000,2473,2339,2551
$STATE,6190,end apogee,CONTROL_FINISHED_OK
$STATE,6190,begin climb
$GC,6195,0.53,131.4,607.1,0.0,243,6326,0.60,1.83,121.40,1.008,4,0.038,0.045,2711,3419,2013
$GC,6411,0.53,131.4,590.8,16.2,248,6414,0.00,1.60,0.00,0.000,6,0.000,0.025,2719,2363,2009
$GC,6692,0.53,131.4,549.6,14.1,255,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2358,2005
$GC,6937,0.53,131.4,516.1,13.7,261,6940,0.00,1.70,0.00,0.000,4,0.000,0.044,2716,3423,2003
$GC,6975,0.53,131.4,510.2,15.1,261,6981,0.00,1.58,0.00,0.000,6,0.000,0.026,2722,2375,2002
$GC,7224,0.53,131.4,477.3,13.1,268,7227,0.00,1.65,0.00,0.000,4,0.000,0.044,2716,3428,2000
$GC,7300,0.53,131.4,466.6,14.7,269,7304,0.00,1.55,0.00,0.000,6,0.000,0.026,2722,2392,2000
$GC,7557,0.53,131.4,431.6,13.6,276,7560,0.00,1.60,0.00,0.000,4,0.000,0.030,2730,1295,2000
$GC,7634,0.53,131.4,421.4,12.9,277,7637,0.12,1.67,0.00,0.000,6,0.162,0.041,2697,2387,1999
$GC,7888,0.53,131.4,391.2,11.7,284,7891,0.00,1.62,0.00,0.000,4,0.000,0.048,2697,3442,1999
$GC,8002,0.53,131.4,376.6,13.2,286,8005,0.00,1.60,0.00,0.000,6,0.000,0.027,2704,2352,1999
$GC,8262,0.53,131.4,345.2,11.8,293,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2345,1998
$GC,8504,0.53,131.4,316.2,11.7,299,8507,0.00,1.67,0.00,0.000,4,0.000,0.046,2702,3419,1998
$GC,8542,0.53,131.4,311.6,12.3,299,8548,0.00,1.60,0.00,0.000,6,0.000,0.027,2709,2327,1997
$GC,8794,0.54,155.5,288.9,8.8,306,8814,0.00,0.00,19.70,0.841,6,0.000,0.000,2709,2321,1915
$GC,9034,0.54,164.0,265.7,9.6,312,9047,0.00,1.75,8.48,0.739,4,0.000,0.047,2709,3410,1881
$GC,9163,0.54,164.0,251.9,11.1,315,9166,0.00,1.58,0.00,0.000,6,0.000,0.028,2717,2375,1879
$GC,9450,0.54,173.5,223.8,9.5,322,9463,0.00,1.67,9.80,0.726,4,0.000,0.045,2715,3433,1841
$GC,9504,0.54,173.5,218.3,10.8,323,9507,0.00,1.58,0.00,0.000,6,0.000,0.026,2722,2389,1841
$GC,9765,0.55,177.5,193.2,9.8,334,9777,0.00,1.60,4.70,0.558,4,0.000,0.029,2729,1305,1826
$GC,9856,0.55,189.6,184.9,9.4,342,9873,0.00,1.70,12.15,0.709,6,0.000,0.041,2729,2408,1777
$GC,10138,0.55,197.7,158.2,9.6,368,10151,0.00,1.55,8.43,0.641,4,0.000,0.045,2728,3427,1744
$GC,10229,0.55,197.7,147.2,12.1,376,10232,0.00,1.48,0.00,0.000,6,0.000,0.025,2734,2445,1743
$GC,10493,0.55,197.7,117.1,12.0,401,10497,0.00,1.67,0.00,0.000,4,0.000,0.028,2739,1304,1742
$GC,10533,0.55,197.7,112.3,10.4,404,10541,0.10,1.80,0.00,0.000,6,0.126,0.040,2707,2461,1741
$GC,10795,0.57,242.8,90.8,7.7,429,10838,0.00,1.50,38.30,0.659,4,0.000,0.044,2707,3414,1559
$GC,10905,0.59,280.7,81.2,8.1,438,10943,0.00,1.40,32.55,0.638,6,0.000,0.025,2710,2476,1404
$GC,11203,0.61,339.6,60.3,7.0,466,11257,0.00,1.75,47.75,0.622,4,0.000,0.028,2710,1297,1165
$GC,11315,0.65,426.2,53.4,5.6,475,11389,0.00,1.83,69.90,0.607,6,0.000,0.035,2710,2481,811
$GC,11641,0.65,426.2,22.5,11.9,510,11649,0.00,1.77,0.00,0.000,4,0.000,0.025,2710,1302,806
$STATE,11810,end climb,SURFACE_DEPTH_REACHED
$STATE,11810,begin surface coast
$FINISH,0.1,1.023060
$STATE,11835,end surface coast,CONTROL_FINISHED_OK
$STATE,11835,begin surface
$SM_CCo,11920,0.00,0.000,0,0,805,428.04
$SM_GC,0.97,6.70,0.00,0.00,0.018,0.000,0.000,38,2732,805,-7.69,0.08,428.04
$IRIDIUM_FIX,2244.02,-15751.94,271201,202044
$TT8_MAMPS,0.048321
$HUMID,2189
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.60
$XPDR_PINGS,9
$24V_AH,24.0,59.016
$10V_AH,10.5,56.773
$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,17.075,101.900,490.525,0.000,0.000,29.118,38.394,442.422,2.250,0.000,0.000,34.102,0.000,8408.870,491.827,2652.316,1043.245,33.360,1349.148,0.000,2345.533,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,61.360,1059.227,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,368.370,1263.778,1302.479,197.982,1002.581,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44482,547
$CAP_FILE_SIZE,109742,0
$CFSIZE,260165632,235110400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031012,030559,2252.506,-15749.973,41,1.3,41,10.1