version: 66.04
glider: 512
mission: 3
dive: 626
start: 10 28 112 21 2 1
data:
$ID,512
$MISSION,3
$DIVE,626
$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,522.72577
$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,-66343.062
$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,67
$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
$GPS1,202724,2249.606,-15746.525,40,1.3,40,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-78.7
$GPS2,210119,2249.675,-15746.716,15,1.4,15,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,-0.194
$KALMAN_X,-185390.2,-339.9,66.7,182014.7,-199.3
$KALMAN_Y,112712.7,293.7,461.4,-127771.0,328.7
$MHEAD_RNG_PITCHd_Wd,134.1,25560,-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,-121.7,0.0,0.0,0,107,0.00,0.00,-89.53,0.000,2,0.000,0.000,11,2642,2689
$GC,113,-0.54,-121.7,2.3,-3.1,12,136,9.10,1.60,-7.40,0.000,4,0.204,0.040,2348,1533,3025
$GC,167,-0.54,-121.7,16.1,-18.0,20,172,0.00,1.55,0.00,0.000,6,0.000,0.035,2343,2548,3025
$GC,432,-0.54,-121.7,56.5,-14.9,53,435,0.00,1.45,0.00,0.000,4,0.000,0.021,2343,1536,3025
$GC,478,-0.54,-121.7,63.6,-12.2,57,481,0.00,1.52,0.00,0.000,6,0.000,0.035,2338,2539,3025
$GC,741,-0.54,-121.7,98.6,-12.7,82,744,0.00,1.70,0.00,0.000,4,0.000,0.043,2330,3654,3025
$GC,791,-0.54,-121.7,104.9,-12.1,86,799,0.00,1.60,0.00,0.000,6,0.000,0.019,2330,2535,3025
$GC,1049,-0.54,-121.7,136.1,-11.6,111,1052,0.00,1.38,0.00,0.000,4,0.000,0.021,2330,1529,3025
$GC,1077,-0.54,-121.7,139.6,-11.0,113,1084,0.00,1.58,0.00,0.000,6,0.000,0.036,2322,2569,3025
$GC,1335,-0.54,-121.7,170.0,-11.9,138,1338,0.00,1.62,0.00,0.000,4,0.000,0.043,2314,3661,3025
$GC,1382,-0.54,-121.7,175.5,-11.4,142,1385,0.08,1.55,0.00,0.000,6,0.119,0.019,2353,2560,3025
$GC,1650,-0.54,-121.7,199.7,-8.9,167,1653,0.00,1.38,0.00,0.000,4,0.000,0.021,2352,1555,3025
$GC,1673,-0.54,-121.7,202.4,-8.9,168,1676,0.00,1.60,0.00,0.000,6,0.000,0.037,2346,2628,3025
$GC,1938,-0.54,-121.7,227.7,-9.7,175,1941,0.00,1.52,0.00,0.000,4,0.000,0.020,2346,1550,3025
$GC,1985,-0.54,-121.7,231.8,-9.0,176,1988,0.00,1.58,0.00,0.000,6,0.000,0.040,2346,2575,3025
$GC,2272,-0.54,-121.7,260.1,-10.0,183,2275,0.00,1.62,0.00,0.000,4,0.000,0.047,2346,3657,3024
$GC,2327,-0.54,-121.7,265.3,-9.1,184,2330,0.00,1.55,0.00,0.000,6,0.000,0.019,2346,2560,3024
$GC,2605,-0.54,-121.7,289.1,-8.5,191,2608,0.00,1.40,0.00,0.000,4,0.000,0.021,2346,1542,3023
$GC,2693,-0.54,-121.7,296.6,-7.5,193,2695,0.00,1.48,0.00,0.000,6,0.000,0.039,2346,2504,3022
$GC,2979,-0.54,-121.7,320.2,-8.3,200,2982,0.00,1.73,0.00,0.000,4,0.000,0.044,2337,3651,3020
$GC,3050,-0.54,-121.7,326.6,-9.6,201,3053,0.00,1.60,0.00,0.000,6,0.000,0.021,2337,2502,3020
$GC,3311,-0.54,-121.7,347.7,-8.0,208,3314,0.00,1.77,0.00,0.000,4,0.000,0.045,2333,3654,3018
$GC,3344,-0.54,-121.7,350.4,-8.2,208,3347,0.00,1.55,0.00,0.000,6,0.000,0.020,2333,2563,3018
$GC,3599,-0.54,-121.7,370.5,-7.8,215,3602,0.00,1.45,-0.08,0.000,4,0.000,0.040,2333,1522,3039
$GC,3660,-0.54,-121.7,375.1,-7.7,216,3663,0.00,1.58,0.00,0.000,6,0.000,0.040,2333,2546,3039
$GC,3931,-0.54,-121.7,396.4,-8.0,223,3934,0.00,1.67,0.00,0.000,4,0.000,0.046,2324,3650,3036
$GC,3975,-0.54,-121.7,400.6,-9.7,224,3978,0.00,1.58,0.00,0.000,6,0.000,0.021,2325,2554,3036
$GC,4265,-0.54,-121.7,427.1,-9.1,231,4268,0.00,1.42,0.00,0.000,4,0.000,0.023,2324,1537,3033
$GC,4299,-0.54,-121.7,430.3,-8.7,231,4302,0.12,1.58,0.00,0.000,6,0.113,0.041,2356,2555,3033
$GC,4553,-0.54,-121.7,446.5,-6.1,238,4556,0.00,1.45,0.00,0.000,4,0.000,0.023,2356,1536,3031
$GC,4614,-0.54,-121.7,450.4,-6.7,239,4617,0.00,1.83,0.00,0.000,6,0.000,0.042,2349,2738,3030
$GC,4887,-0.54,-121.7,467.2,-6.1,246,4890,0.00,1.42,0.00,0.000,4,0.000,0.052,2346,3653,3028
$GC,4947,-0.54,-121.7,471.4,-7.0,247,4950,0.00,1.62,0.00,0.000,6,0.000,0.023,2346,2505,3027
$GC,5219,-0.54,-121.7,489.0,-6.5,254,5221,0.00,1.35,0.00,0.000,4,0.000,0.025,2346,1536,3026
$GC,5241,-0.54,-121.7,490.6,-6.8,254,5244,0.00,1.85,0.00,0.000,6,0.000,0.045,2346,2742,3026
$GC,5509,-0.54,-121.7,508.6,-6.8,261,5512,0.00,1.75,0.00,0.000,4,0.000,0.025,2346,1537,3024
$GC,5569,-0.54,-121.7,513.1,-7.4,262,5572,0.00,1.75,0.00,0.000,6,0.000,0.045,2346,2673,3024
$GC,5840,-0.54,-121.7,532.7,-7.4,269,5843,0.00,1.52,0.00,0.000,4,0.000,0.053,2346,3647,3022
$GC,5895,-0.54,-121.7,536.9,-7.6,270,5898,0.00,1.42,0.00,0.000,6,0.000,0.025,2346,2657,3021
$GC,6171,-0.54,-121.7,555.8,-6.7,277,6174,0.00,1.58,0.00,0.000,4,0.000,0.025,2346,1548,3019
$GC,6232,-0.54,-121.7,560.4,-7.5,278,6235,0.00,2.03,0.00,0.000,6,0.000,0.048,2346,2850,3019
$GC,6503,-0.54,-121.7,577.5,-6.1,285,6506,0.00,1.25,0.00,0.000,4,0.000,0.054,2346,3647,3018
$GC,6536,-0.54,-121.7,579.5,-6.2,285,6539,0.00,1.42,0.00,0.000,6,0.000,0.027,2346,2665,3017
$GC,6792,-0.54,-121.7,594.1,-5.6,292,6794,0.00,1.60,0.00,0.000,4,0.000,0.026,2346,1523,3016
$GC,6868,-0.54,-121.7,598.8,-6.4,293,6871,0.00,2.10,0.00,0.000,6,0.000,0.048,2346,2872,3016
$STATE,6916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6916,begin apogee
$GC,6926,-0.18,0.0,601.8,5.7,295,7040,0.38,0.00,110.30,1.045,6,0.087,0.000,2474,2468,2529
$STATE,7040,end apogee,CONTROL_FINISHED_OK
$STATE,7040,begin climb
$GC,7045,0.54,121.7,606.7,0.0,298,7169,0.57,0.00,114.60,0.992,6,0.040,0.000,2703,2468,2033
$GC,7410,0.54,121.7,576.5,10.8,307,7413,0.00,1.67,0.00,0.000,4,0.000,0.049,2702,3532,2025
$GC,7497,0.54,121.7,566.2,12.2,309,7500,0.00,1.50,0.00,0.000,6,0.000,0.025,2709,2521,2025
$GC,7787,0.54,121.7,537.2,10.1,316,7789,0.00,1.60,0.00,0.000,4,0.000,0.048,2703,3521,2023
$GC,7815,0.54,121.7,533.8,11.2,316,7818,0.00,1.42,0.00,0.000,6,0.000,0.025,2709,2548,2023
$GC,8074,0.55,132.8,508.9,9.4,323,8087,0.00,1.58,9.48,0.854,4,0.000,0.048,2709,3523,1988
$GC,8107,0.55,132.8,505.5,10.7,323,8110,0.00,1.40,0.00,0.000,6,0.000,0.025,2716,2567,1988
$GC,8362,0.55,132.8,479.9,10.1,330,8365,0.00,1.67,0.00,0.000,4,0.000,0.028,2724,1399,1986
$GC,8460,0.55,140.0,470.6,9.6,332,8473,0.00,1.80,7.93,0.815,6,0.000,0.044,2724,2567,1959
$GC,8735,0.55,140.0,441.9,10.6,339,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2566,1957
$GC,8978,0.55,140.0,416.7,10.3,345,8981,0.00,1.48,0.00,0.000,4,0.000,0.050,2724,3515,1956
$GC,9017,0.55,140.0,412.4,11.4,345,9024,0.00,1.48,0.00,0.000,6,0.000,0.025,2731,2506,1955
$GC,9265,0.55,140.0,386.0,10.8,352,9269,0.00,1.58,0.00,0.000,4,0.000,0.028,2739,1421,1955
$GC,9320,0.55,140.0,380.1,10.7,353,9324,0.10,1.73,0.00,0.000,6,0.140,0.043,2708,2526,1955
$GC,9597,0.56,151.7,353.8,9.4,360,9620,0.00,1.58,13.43,0.723,4,0.000,0.048,2702,3525,1911
$GC,9677,0.56,169.3,346.4,9.0,361,9698,0.00,1.48,17.50,0.849,6,0.000,0.025,2708,2521,1839
$GC,9964,0.57,190.5,321.0,8.8,369,9987,0.00,1.62,19.50,0.834,4,0.000,0.050,2708,3519,1752
$GC,10028,0.57,190.5,314.4,11.3,370,10031,0.00,1.40,0.00,0.000,6,0.000,0.025,2716,2575,1751
$GC,10293,0.57,190.5,286.9,10.3,377,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2568,1749
$GC,10535,0.58,219.7,265.7,8.4,383,10565,0.00,1.70,26.20,0.808,4,0.000,0.027,2724,1420,1633
$GC,10638,0.59,243.1,257.4,8.7,385,10663,0.00,1.77,20.80,0.782,6,0.000,0.044,2724,2561,1538
$GC,10947,0.60,254.1,228.6,9.4,393,10961,0.00,1.50,10.65,0.711,4,0.000,0.047,2723,3531,1493
$GC,11002,0.60,254.1,223.1,10.6,394,11005,0.00,1.48,0.00,0.000,6,0.000,0.025,2731,2540,1491
$GC,11275,0.60,273.0,197.9,9.0,401,11300,0.00,1.65,17.27,0.728,4,0.000,0.028,2739,1431,1416
$GC,11350,0.61,286.0,190.8,9.3,407,11371,0.00,1.73,12.32,0.686,6,0.000,0.041,2739,2527,1363
$GC,11625,0.61,286.0,163.6,10.2,433,11628,0.00,1.55,0.00,0.000,4,0.000,0.048,2739,3518,1361
$GC,11693,0.61,286.0,155.6,11.7,439,11696,0.00,1.42,0.00,0.000,6,0.000,0.024,2745,2548,1361
$GC,11956,0.61,287.8,129.0,9.9,464,11960,0.00,1.55,0.00,0.000,4,0.000,0.047,2746,3525,1360
$GC,12003,0.61,287.8,124.0,11.1,468,12006,0.00,1.35,0.00,0.000,6,0.000,0.024,2751,2598,1360
$GC,12266,0.61,287.8,97.7,10.4,493,12269,0.00,1.70,0.00,0.000,4,0.000,0.027,2760,1409,1360
$GC,12323,0.61,287.8,91.8,10.1,498,12327,0.12,1.83,0.00,0.000,6,0.129,0.040,2723,2603,1360
$GC,12591,0.63,335.9,70.8,7.3,523,12641,0.00,1.77,41.97,0.630,4,0.000,0.025,2723,1417,1159
$GC,12700,0.65,388.4,63.0,7.1,532,12750,0.00,1.80,43.53,0.614,6,0.000,0.040,2723,2592,945
$GC,13000,0.66,407.2,38.1,9.0,560,13025,0.00,1.45,16.70,0.564,4,0.000,0.045,2723,3519,868
$GC,13273,0.66,411.6,10.1,9.8,602,13281,0.00,1.45,4.95,0.413,6,0.000,0.021,2723,2507,851
$STATE,13339,end climb,SURFACE_DEPTH_REACHED
$STATE,13339,begin surface coast
$FINISH,0.1,1.023275
$STATE,13366,end surface coast,CONTROL_FINISHED_OK
$STATE,13371,begin surface
$SM_CCo,13394,54.05,0.550,0,0,398,522.73
$SM_GC,0.80,0.00,0.00,54.05,0.000,0.000,0.550,46,2633,398,-7.75,1.24,522.73
$IRIDIUM_FIX,2241.69,-15744.57,220102,202036
$TT8_MAMPS,0.046787
$HUMID,2236
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.10
$XPDR_PINGS,41
$24V_AH,23.7,83.987
$10V_AH,10.4,81.666
$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,17.275,120.950,487.125,54.050,0.000,150.333,188.187,1239.196,10.250,0.000,0.000,15.594,0.000,9872.867,568.719,2813.374,2209.428,33.351,1531.308,0.000,2462.637,0.000,0.545,0.000
$DEVICE_MAMPS,204.022,63.661,1044.654,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,416.492,1424.729,1487.188,189.191,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50939,619
$CAP_FILE_SIZE,145997,0
$CFSIZE,260165632,224944128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,291012,004724,2248.693,-15746.426,42,1.1,42,10.1