version: 66.04
glider: 512
mission: 3
dive: 609
start: 10 26 112 0 33 38
data:
$ID,512
$MISSION,3
$DIVE,609
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,-66064.594
$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,2590
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2530
$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
$GPS1,002506,2255.415,-15752.795,38,1.0,38,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-79.5
$GPS2,003300,2255.433,-15752.852,10,1.0,15,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.080,-0.225
$KALMAN_X,-169376.3,-288.6,-551.8,156109.0,114.7
$KALMAN_Y,86094.4,111.4,-123.6,-89719.5,1396.3
$MHEAD_RNG_PITCHd_Wd,150.3,40426,-19.3,-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,-0.54,-121.7,0.0,0.0,0,99,0.00,0.00,-82.22,0.000,2,0.000,0.000,26,2641,2798
$GC,105,-0.54,-121.7,2.8,-5.4,11,121,9.05,0.00,-4.60,0.000,6,0.202,0.000,2340,2641,3028
$GC,376,-0.54,-121.7,55.7,-16.1,46,379,0.00,1.58,0.00,0.000,4,0.000,0.023,2340,1538,3029
$GC,491,-0.54,-121.7,71.7,-12.9,56,498,0.00,1.55,0.00,0.000,6,0.000,0.035,2335,2552,3029
$GC,748,-0.54,-121.7,106.3,-13.1,81,751,0.00,1.45,0.00,0.000,4,0.000,0.021,2335,1537,3029
$GC,830,-0.54,-121.7,115.8,-10.5,88,837,0.00,1.55,0.00,0.000,6,0.000,0.038,2333,2546,3030
$GC,1087,-0.54,-121.7,144.0,-10.9,113,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2546,3030
$GC,1345,-0.54,-121.7,173.7,-11.9,138,1348,0.00,1.45,0.00,0.000,4,0.000,0.021,2332,1528,3030
$GC,1384,-0.54,-121.7,178.4,-10.8,141,1390,0.00,1.52,0.00,0.000,6,0.000,0.037,2328,2530,3030
$GC,1638,-0.54,-121.7,211.3,-13.3,160,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2530,3030
$GC,1882,-0.54,-121.7,240.0,-11.3,166,1885,0.00,1.67,0.00,0.000,4,0.000,0.044,2319,3650,3030
$GC,1921,-0.54,-121.7,244.6,-11.1,166,1926,0.12,1.60,0.00,0.000,6,0.120,0.020,2354,2507,3029
$GC,2171,-0.54,-121.7,265.1,-7.9,173,2173,0.00,1.35,0.00,0.000,4,0.000,0.021,2354,1527,3029
$GC,2194,-0.54,-121.7,267.0,-8.0,173,2197,0.00,1.55,0.00,0.000,6,0.000,0.038,2349,2541,3030
$GC,2459,-0.54,-121.7,288.0,-8.1,180,2462,0.00,1.70,0.00,0.000,4,0.000,0.047,2341,3647,3029
$GC,2525,-0.54,-121.7,294.0,-9.5,181,2528,0.00,1.58,0.00,0.000,6,0.000,0.020,2341,2543,3029
$GC,2790,-0.54,-121.7,319.2,-9.5,188,2793,0.00,1.38,0.00,0.000,4,0.000,0.022,2341,1546,3029
$GC,2813,-0.54,-121.7,321.3,-8.8,188,2816,0.00,1.60,0.00,0.000,6,0.000,0.039,2333,2609,3028
$GC,3079,-0.54,-121.7,345.0,-8.8,195,3082,0.00,1.60,0.00,0.000,4,0.000,0.047,2325,3672,3027
$GC,3097,-0.54,-121.7,346.7,-8.8,195,3100,0.00,1.58,0.00,0.000,6,0.000,0.021,2325,2566,3026
$GC,3368,-0.54,-121.7,371.4,-9.1,202,3371,0.00,1.42,0.00,0.000,4,0.000,0.023,2325,1547,3025
$GC,3423,-0.54,-121.7,376.4,-9.3,203,3426,0.08,1.55,0.00,0.000,6,0.110,0.040,2347,2556,3024
$GC,3699,-0.54,-121.7,398.3,-7.8,210,3702,0.00,1.70,0.00,0.000,4,0.000,0.050,2341,3652,3022
$GC,3738,-0.54,-121.7,401.6,-8.8,210,3746,0.00,1.58,0.00,0.000,6,0.000,0.021,2341,2540,3022
$GC,3987,-0.54,-121.7,421.3,-7.7,217,3991,0.00,1.73,0.00,0.000,4,0.000,0.048,2333,3644,3020
$GC,4091,-0.54,-121.7,429.7,-8.0,219,4094,0.00,1.38,0.00,0.000,6,0.000,0.022,2333,2678,3020
$GC,4364,-0.54,-121.7,450.9,-7.7,226,4367,0.00,1.58,-0.08,0.000,4,0.000,0.040,2333,1555,3042
$GC,4440,-0.54,-121.7,456.9,-7.5,227,4444,0.00,1.67,0.00,0.000,6,0.000,0.043,2333,2632,3042
$GC,4695,-0.54,-121.7,474.5,-6.9,234,4699,0.00,1.55,0.00,0.000,4,0.000,0.023,2333,1564,3041
$GC,4734,-0.54,-121.7,477.3,-6.7,234,4740,0.00,1.58,0.00,0.000,6,0.000,0.043,2333,2580,3040
$GC,4986,-0.54,-121.7,494.8,-7.2,241,4989,0.00,1.67,0.00,0.000,4,0.000,0.051,2325,3647,3038
$GC,5025,-0.54,-121.7,497.9,-8.1,241,5030,0.00,1.50,0.00,0.000,6,0.000,0.023,2325,2602,3037
$GC,5274,-0.54,-121.7,518.1,-8.2,248,5277,0.00,1.50,0.00,0.000,4,0.000,0.025,2326,1550,3036
$GC,5313,-0.54,-121.7,521.4,-8.0,248,5319,0.12,1.60,0.00,0.000,6,0.110,0.043,2356,2598,3036
$GC,5563,-0.54,-121.7,538.7,-6.9,255,5566,0.00,1.52,0.00,0.000,4,0.000,0.024,2356,1542,3034
$GC,5618,-0.54,-121.7,542.9,-7.2,256,5621,0.00,1.95,0.00,0.000,6,0.000,0.044,2349,2788,3033
$GC,5894,-0.54,-121.7,562.4,-6.8,263,5897,0.00,1.77,0.00,0.000,4,0.000,0.025,2349,1548,3031
$GC,5976,-0.54,-121.7,568.3,-7.1,264,5981,0.00,2.12,0.00,0.000,6,0.000,0.048,2346,2911,3031
$GC,6228,-0.54,-121.7,585.0,-6.6,271,6231,0.00,1.15,0.00,0.000,4,0.000,0.054,2341,3650,3029
$GC,6261,-0.54,-121.7,587.5,-6.8,271,6264,0.00,1.40,0.00,0.000,6,0.000,0.025,2341,2679,3029
$STATE,6470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6470,begin apogee
$GC,6481,-0.18,0.0,602.1,6.8,277,6595,0.38,0.00,112.53,1.047,6,0.082,0.000,2471,2480,2530
$STATE,6596,end apogee,CONTROL_FINISHED_OK
$STATE,6596,begin climb
$GC,6601,0.54,121.7,608.5,0.0,280,6727,0.60,1.70,114.45,0.995,4,0.041,0.025,2720,1385,2034
$GC,6873,0.54,121.7,592.0,10.7,286,6876,0.00,1.70,0.00,0.000,6,0.000,0.041,2716,2463,2026
$GC,7144,0.54,121.7,561.5,11.4,293,7147,0.00,1.62,0.00,0.000,4,0.000,0.048,2715,3519,2024
$GC,7236,0.54,121.7,549.6,13.1,295,7240,0.00,1.60,0.00,0.000,6,0.000,0.025,2722,2436,2022
$GC,7517,0.54,121.7,515.9,11.8,302,7520,0.00,1.70,0.00,0.000,4,0.000,0.048,2716,3517,2021
$GC,7600,0.54,121.7,506.2,12.0,303,7605,0.00,1.52,0.00,0.000,6,0.000,0.024,2722,2476,2020
$GC,7849,0.54,121.7,477.4,11.5,310,7852,0.00,1.55,0.00,0.000,4,0.000,0.028,2730,1403,2020
$GC,7877,0.54,121.7,474.2,11.6,310,7880,0.00,1.65,0.00,0.000,6,0.000,0.042,2729,2484,2019
$GC,8137,0.54,121.7,446.1,10.8,317,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2484,2019
$GC,8379,0.55,136.4,423.5,9.2,323,8399,0.00,0.00,14.05,0.766,6,0.000,0.000,2729,2484,1973
$GC,8621,0.55,136.4,399.3,10.1,329,8624,0.00,1.60,0.00,0.000,4,0.000,0.050,2729,3528,1971
$GC,8751,0.55,136.4,383.3,13.1,332,8754,0.08,1.52,0.00,0.000,6,0.178,0.025,2703,2503,1970
$GC,9038,0.56,160.5,357.1,8.7,339,9069,0.00,0.00,24.73,0.825,6,0.000,0.000,2703,2496,1875
$GC,9280,0.57,197.2,337.6,8.0,345,9323,0.00,1.70,33.03,0.867,4,0.000,0.050,2702,3522,1725
$GC,9436,0.58,215.2,324.2,9.0,348,9457,0.00,1.52,17.08,0.818,6,0.000,0.026,2709,2502,1652
$GC,9701,0.58,217.4,298.1,9.9,355,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2501,1647
$GC,9945,0.59,227.3,274.8,9.5,361,9957,0.00,0.00,11.00,0.755,6,0.000,0.000,2708,2502,1603
$GC,10185,0.59,246.7,253.0,8.9,367,10204,0.00,0.00,17.77,0.777,6,0.000,0.000,2708,2501,1524
$GC,10427,0.61,292.1,234.4,7.5,373,10470,0.00,1.67,39.83,0.778,4,0.000,0.048,2708,3515,1338
$GC,10493,0.63,326.0,229.3,8.1,374,10526,0.00,1.48,29.92,0.752,6,0.000,0.025,2712,2528,1201
$GC,10789,0.64,361.8,205.2,8.0,382,10823,0.00,1.65,30.90,0.737,4,0.000,0.027,2712,1412,1052
$GC,10837,0.66,400.4,201.5,7.9,382,10880,0.00,1.62,32.97,0.719,6,0.000,0.036,2712,2471,896
$GC,11130,0.66,409.9,175.0,9.5,408,11143,0.00,1.62,8.82,0.622,4,0.000,0.027,2712,1401,858
$GC,11279,0.66,409.9,159.6,11.7,421,11282,0.00,1.45,0.00,0.000,6,0.000,0.036,2712,2337,856
$GC,11542,0.66,409.9,130.7,10.8,446,11546,0.00,1.35,0.00,0.000,4,0.000,0.026,2713,1414,856
$GC,11792,0.66,409.9,103.8,10.4,469,11795,0.00,1.33,0.00,0.000,6,0.000,0.036,2713,2285,856
$GC,12056,0.66,419.6,78.6,9.5,494,12070,0.00,1.33,9.60,0.558,4,0.000,0.025,2713,1402,819
$GC,12313,0.66,419.6,52.5,10.0,517,12320,0.00,1.33,0.00,0.000,6,0.000,0.037,2712,2273,818
$GC,12572,0.66,419.6,25.5,11.1,545,12579,0.00,1.25,0.00,0.000,4,0.000,0.025,2712,1409,818
$STATE,12773,end climb,SURFACE_DEPTH_REACHED
$STATE,12773,begin surface coast
$FINISH,0.0,1.023250
$STATE,12800,end surface coast,CONTROL_FINISHED_OK
$STATE,12800,begin surface
$SM_CCo,12884,0.00,0.000,0,0,818,419.95
$SM_GC,0.93,6.75,0.00,0.00,0.025,0.000,0.000,38,2598,818,-7.69,0.23,419.95
$IRIDIUM_FIX,2248.70,-15751.06,190102,202023
$TT8_MAMPS,0.046787
$HUMID,2255
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.90
$XPDR_PINGS,21
$24V_AH,23.7,80.952
$10V_AH,10.4,79.458
$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,17.175,94.200,496.675,0.000,0.000,25.762,33.153,236.546,5.250,0.000,0.000,15.713,0.000,9285.720,562.963,2642.165,839.521,33.349,1432.963,0.000,2333.335,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,53.690,1046.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,394.970,1339.014,1404.978,178.374,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47818,587
$CAP_FILE_SIZE,112789,0
$CFSIZE,260165632,226066432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,261012,040935,2255.120,-15752.464,41,1.7,46,10.1