version: 66.04
glider: 512
mission: 3
dive: 617
start: 10 27 112 8 34 51
data:
$ID,512
$MISSION,3
$DIVE,617
$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,-66210.445
$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,66
$R_STBD_OVSHOOT,29
$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
$GPS1,081506,2252.652,-15749.035,30,1.0,30,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-79.4
$GPS2,083413,2252.596,-15749.030,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.161,-0.177
$KALMAN_X,-175722.7,54.0,380.2,167692.5,-458.9
$KALMAN_Y,98264.1,569.0,312.5,-108031.1,119.2
$MHEAD_RNG_PITCHd_Wd,127.5,32262,-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,16,-0.54,-121.7,0.0,0.0,0,92,0.00,0.00,-74.53,0.000,2,0.000,0.000,13,2601,2711
$GC,97,-0.54,-121.7,2.3,-2.8,10,121,9.10,1.55,-6.82,0.000,4,0.203,0.040,2346,1533,3028
$GC,130,-0.54,-121.7,12.8,-29.1,14,137,0.00,1.62,0.00,0.000,6,0.000,0.039,2341,2594,3028
$GC,403,-0.54,-121.7,56.3,-15.3,48,405,0.00,1.52,0.00,0.000,4,0.000,0.022,2342,1536,3027
$GC,481,-0.54,-121.7,67.8,-12.3,55,484,0.00,1.55,0.00,0.000,6,0.000,0.038,2337,2544,3028
$GC,744,-0.54,-121.7,103.6,-13.5,80,747,0.00,1.67,0.00,0.000,4,0.000,0.044,2328,3661,3028
$GC,805,-0.54,-121.7,112.1,-12.8,85,812,0.00,1.62,0.00,0.000,6,0.000,0.019,2328,2532,3028
$GC,1063,-0.54,-121.7,146.1,-12.8,110,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2524,3028
$GC,1321,-0.54,-121.7,179.6,-12.5,135,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2524,3028
$GC,1604,-0.54,-121.7,214.6,-12.1,154,1607,0.00,1.38,0.00,0.000,4,0.000,0.021,2329,1532,3028
$GC,1659,-0.54,-121.7,220.8,-10.6,155,1662,0.00,1.60,0.00,0.000,6,0.000,0.038,2321,2600,3028
$GC,1935,-0.54,-121.7,251.2,-10.8,162,1937,0.00,1.60,0.00,0.000,4,0.000,0.044,2313,3674,3027
$GC,1979,-0.54,-121.7,255.9,-11.0,163,1983,0.12,1.58,0.00,0.000,6,0.121,0.019,2349,2558,3027
$GC,2266,-0.54,-121.7,280.9,-8.5,170,2269,0.00,1.40,0.00,0.000,4,0.000,0.021,2349,1544,3026
$GC,2305,-0.54,-121.7,284.2,-8.4,170,2313,0.00,1.55,0.00,0.000,6,0.000,0.038,2346,2557,3026
$GC,2555,-0.54,-121.7,305.6,-8.6,177,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2557,3026
$GC,2796,-0.54,-121.7,324.8,-7.7,183,2799,0.00,1.65,0.00,0.000,4,0.000,0.046,2338,3655,3025
$GC,2857,-0.54,-121.7,329.4,-7.5,184,2859,0.00,1.58,0.00,0.000,6,0.000,0.020,2338,2545,3024
$GC,3130,-0.54,-121.7,349.5,-7.5,191,3133,0.00,1.73,0.00,0.000,4,0.000,0.044,2330,3665,3022
$GC,3180,-0.54,-121.7,353.9,-8.7,192,3183,0.00,1.52,0.00,0.000,6,0.000,0.021,2330,2594,3021
$GC,3461,-0.54,-121.7,377.7,-8.5,199,3464,0.00,1.45,0.00,0.000,4,0.000,0.023,2330,1555,3020
$GC,3533,-0.54,-121.7,383.6,-8.2,200,3536,0.00,1.58,0.00,0.000,6,0.000,0.040,2323,2578,3020
$GC,3793,-0.54,-121.7,404.8,-8.1,207,3796,0.00,1.65,-0.08,0.000,4,0.000,0.063,2314,3652,3041
$GC,3821,-0.54,-121.7,407.2,-8.4,207,3824,0.08,1.55,0.00,0.000,6,0.088,0.021,2355,2564,3041
$GC,4082,-0.54,-121.7,423.8,-6.3,214,4084,0.00,1.70,0.00,0.000,4,0.000,0.048,2349,3654,3039
$GC,4185,-0.54,-121.7,431.3,-8.2,216,4187,0.00,1.40,0.00,0.000,6,0.000,0.022,2348,2665,3038
$GC,4455,-0.54,-121.7,450.4,-7.0,223,4458,0.00,1.58,0.00,0.000,4,0.000,0.024,2349,1554,3035
$GC,4533,-0.54,-121.7,456.2,-8.0,224,4536,0.00,1.98,0.00,0.000,6,0.000,0.044,2346,2836,3035
$GC,4789,-0.54,-121.7,475.0,-7.2,231,4792,0.00,1.25,0.00,0.000,4,0.000,0.051,2340,3644,3033
$GC,4898,-0.54,-121.7,483.2,-7.8,233,4900,0.00,1.40,0.00,0.000,6,0.000,0.024,2340,2665,3032
$GC,5163,-0.54,-121.7,500.9,-6.4,240,5166,0.00,1.55,0.00,0.000,4,0.000,0.049,2333,3639,3030
$GC,5278,-0.54,-121.7,508.9,-6.9,242,5280,0.00,1.23,0.00,0.000,6,0.000,0.024,2333,2775,3029
$GC,5538,-0.54,-121.7,526.8,-6.9,249,5540,0.00,1.73,0.00,0.000,4,0.000,0.023,2333,1539,3028
$GC,5609,-0.54,-121.7,532.0,-7.4,250,5612,0.00,1.88,0.00,0.000,6,0.000,0.044,2333,2758,3027
$GC,5869,-0.54,-121.7,552.1,-8.0,257,5872,0.00,1.73,0.00,0.000,4,0.000,0.024,2333,1553,3026
$GC,5914,-0.54,-121.7,555.8,-7.9,258,5916,0.00,1.80,0.00,0.000,6,0.000,0.046,2333,2712,3026
$GC,6201,-0.54,-121.7,579.1,-8.0,265,6204,0.00,1.67,0.00,0.000,4,0.000,0.025,2333,1546,3024
$GC,6229,-0.54,-121.7,581.4,-8.7,265,6232,0.00,1.77,0.00,0.000,6,0.000,0.045,2333,2695,3024
$STATE,6485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6485,begin apogee
$GC,6496,-0.18,0.0,601.0,7.4,272,6609,0.40,0.00,111.78,1.042,6,0.091,0.000,2468,2480,2530
$STATE,6610,end apogee,CONTROL_FINISHED_OK
$STATE,6610,begin climb
$GC,6615,0.54,121.7,606.0,0.0,275,6740,0.62,1.67,114.50,0.989,4,0.038,0.025,2724,1401,2034
$GC,6785,0.54,121.7,597.1,12.1,279,6789,0.00,1.70,0.00,0.000,6,0.000,0.043,2724,2460,2029
$GC,7074,0.54,121.7,562.0,12.2,286,7077,0.00,1.65,0.00,0.000,4,0.000,0.048,2724,3526,2025
$GC,7242,0.54,121.7,539.3,13.1,289,7247,0.00,1.52,0.00,0.000,6,0.000,0.024,2732,2490,2024
$GC,7493,0.54,121.7,509.1,12.0,296,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2485,2022
$GC,7733,0.54,121.7,480.2,12.0,302,7736,0.00,1.62,0.00,0.000,4,0.000,0.046,2730,3530,2021
$GC,7778,0.54,121.7,474.5,13.2,303,7781,0.10,1.48,0.00,0.000,6,0.176,0.025,2707,2530,2021
$GC,8065,0.54,121.7,444.9,10.2,310,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2523,2019
$GC,8308,0.55,147.9,423.5,8.5,316,8342,0.00,1.60,24.40,0.858,4,0.000,0.048,2702,3516,1926
$GC,8399,0.55,147.9,414.8,10.0,318,8403,0.00,1.50,0.00,0.000,6,0.000,0.025,2708,2509,1925
$GC,8681,0.56,158.3,388.4,9.4,325,8692,0.00,0.00,10.38,0.825,6,0.000,0.000,2708,2503,1884
$GC,8925,0.56,163.1,364.6,9.7,331,8932,0.00,0.00,6.03,0.713,6,0.000,0.000,2708,2504,1863
$GC,9211,0.57,177.8,337.5,9.2,338,9229,0.00,1.62,14.18,0.831,4,0.000,0.048,2702,3515,1804
$GC,9343,0.57,185.5,325.2,9.6,341,9356,0.00,1.50,8.57,0.758,6,0.000,0.025,2708,2504,1772
$GC,9631,0.58,213.6,300.4,8.4,348,9659,0.00,1.62,25.55,0.834,4,0.000,0.048,2708,3525,1658
$GC,9756,0.58,213.6,287.2,11.0,351,9759,0.00,1.42,0.00,0.000,6,0.000,0.025,2710,2580,1656
$GC,10042,0.59,227.6,259.8,9.2,358,10060,0.00,1.75,12.82,0.759,4,0.000,0.028,2713,1414,1601
$GC,10107,0.60,261.3,254.4,8.1,359,10141,0.00,1.77,29.70,0.793,6,0.000,0.041,2713,2562,1466
$GC,10414,0.62,300.4,230.1,7.8,367,10454,0.00,1.55,33.92,0.772,4,0.000,0.048,2713,3524,1305
$GC,10521,0.62,300.4,220.3,10.3,369,10524,0.00,1.48,0.00,0.000,6,0.000,0.023,2713,2543,1304
$GC,10788,0.63,324.8,197.0,8.7,376,10814,0.00,1.55,21.27,0.726,4,0.000,0.047,2713,3519,1206
$GC,10882,0.63,326.5,188.2,9.9,384,10886,0.00,1.62,0.00,0.000,6,0.000,0.023,2713,2442,1205
$GC,11150,0.65,392.6,169.3,6.3,409,11213,0.00,1.55,56.83,0.718,4,0.000,0.027,2713,1407,929
$GC,11456,0.65,392.6,140.8,10.3,436,11464,0.00,1.30,0.00,0.000,6,0.000,0.035,2713,2255,926
$GC,11714,0.66,398.7,115.6,9.7,461,11726,0.00,1.27,6.22,0.531,4,0.000,0.025,2713,1393,904
$GC,11970,0.66,398.7,87.3,10.2,484,11977,0.00,1.25,0.00,0.000,6,0.000,0.035,2713,2214,904
$GC,12228,0.66,419.6,63.6,8.8,509,12253,0.00,2.05,18.38,0.594,4,0.000,0.045,2713,3525,821
$GC,12278,0.66,420.7,58.6,9.9,513,12281,0.00,1.98,0.00,0.000,6,0.000,0.021,2713,2167,821
$GC,12541,0.66,420.7,32.0,10.3,538,12544,0.00,1.08,0.00,0.000,4,0.000,0.025,2713,1393,820
$GC,12794,0.67,423.7,4.2,9.8,582,12802,0.00,1.20,5.68,0.436,6,0.000,0.031,2713,2197,802
$STATE,12806,end climb,SURFACE_DEPTH_REACHED
$STATE,12806,begin surface coast
$FINISH,0.2,0.999346
$STATE,12833,end surface coast,CONTROL_FINISHED_OK
$STATE,12834,begin surface
$SM_CCo,12917,0.00,0.000,0,0,800,424.12
$SM_GC,0.93,6.78,0.00,0.00,0.025,0.000,0.000,40,2617,800,-7.68,0.68,424.12
$IRIDIUM_FIX,2241.69,-15748.90,210102,080856
$TT8_MAMPS,0.047554
$HUMID,2289
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,22.00
$XPDR_PINGS,40
$24V_AH,23.7,82.334
$10V_AH,10.4,80.483
$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,17.200,95.225,500.200,0.000,0.000,55.580,70.015,774.574,10.000,0.000,0.000,12.121,0.000,9333.561,509.104,2748.968,1444.252,33.351,1450.185,0.000,2434.157,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,62.894,1041.586,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,396.564,1347.442,1410.655,179.950,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47827,589
$CAP_FILE_SIZE,123658,0
$CFSIZE,260165632,225550336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,271012,121106,2251.922,-15748.632,31,1.2,31,10.1