version: 66.04
glider: 512
mission: 3
dive: 639
start: 10 31 112 5 31 44
data:
$ID,512
$MISSION,3
$DIVE,639
$D_SURF,3
$D_FLARE,2
$D_TGT,700
$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,230
$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,-66596.227
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2540
$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,2630
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,54
$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
$GPS1,051936,2242.879,-15745.025,39,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-79.3
$GPS2,053106,2242.896,-15745.114,14,1.5,19,10.1
$SPEED_LIMITS,0.145,0.240
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.027,-0.239
$KALMAN_X,-198175.0,61.7,265.9,196916.2,-1008.6
$KALMAN_Y,131935.7,567.8,13.0,-159383.7,975.0
$MHEAD_RNG_PITCHd_Wd,163.5,82466,-19.6,-10.145
$D_GRID,700
$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,-0.55,-121.7,0.0,0.0,0,92,0.00,0.00,-74.43,0.000,2,0.000,0.000,17,2678,2705
$GC,97,-0.55,-121.7,2.2,-3.2,10,121,9.18,1.62,-6.97,0.000,4,0.202,0.041,2355,1568,3025
$GC,211,-0.55,-121.7,22.6,-12.8,29,218,0.00,1.60,0.00,0.000,6,0.000,0.038,2349,2604,3025
$GC,538,-0.55,-121.7,68.6,-14.0,64,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2604,3026
$GC,858,-0.55,-121.7,107.6,-11.9,95,861,0.00,1.48,0.00,0.000,4,0.000,0.021,2350,1564,3026
$GC,905,-0.55,-121.7,112.7,-10.3,99,908,0.00,1.62,0.00,0.000,6,0.000,0.038,2346,2619,3026
$GC,1234,-0.55,-121.7,149.2,-11.3,130,1237,0.00,1.52,0.00,0.000,4,0.000,0.021,2346,1549,3026
$GC,1273,-0.55,-121.7,154.1,-10.4,133,1281,0.00,1.60,0.00,0.000,6,0.000,0.039,2346,2589,3026
$GC,1597,-0.55,-121.7,188.1,-10.8,164,1600,0.00,1.45,0.00,0.000,4,0.000,0.021,2346,1564,3026
$GC,1669,-0.55,-121.7,196.3,-10.1,170,1676,0.00,1.52,0.00,0.000,6,0.000,0.036,2339,2566,3026
$GC,1989,-0.55,-121.7,231.9,-11.1,181,1992,0.00,1.70,0.00,0.000,4,0.000,0.045,2330,3690,3026
$GC,2018,-0.55,-121.7,234.9,-10.8,181,2021,0.12,1.62,0.00,0.000,6,0.117,0.020,2366,2532,3026
$GC,2358,-0.55,-121.7,262.4,-7.6,190,2362,0.00,1.35,0.00,0.000,4,0.000,0.021,2367,1549,3026
$GC,2387,-0.55,-121.7,264.4,-7.2,190,2390,0.00,1.83,0.00,0.000,6,0.000,0.040,2360,2756,3026
$GC,2728,-0.55,-121.7,286.6,-6.1,199,2731,0.00,1.67,0.00,0.000,4,0.000,0.021,2360,1559,3025
$GC,2788,-0.55,-121.7,290.7,-6.9,200,2791,0.00,1.75,0.00,0.000,6,0.000,0.040,2359,2711,3025
$GC,3100,-0.55,-121.7,313.9,-7.6,208,3103,0.00,1.50,0.00,0.000,4,0.000,0.048,2351,3683,3023
$GC,3208,-0.55,-121.7,322.9,-8.3,210,3211,0.00,1.35,0.00,0.000,6,0.000,0.021,2351,2717,3022
$GC,3554,-0.55,-121.7,346.1,-6.4,219,3557,0.00,1.52,0.00,0.000,4,0.000,0.048,2346,3681,3020
$GC,3647,-0.55,-121.7,352.7,-7.4,221,3650,0.00,1.45,0.00,0.000,6,0.000,0.021,2346,2657,3019
$GC,3969,-0.55,-121.7,375.8,-7.1,229,3972,0.00,1.65,-0.08,0.000,4,0.000,0.064,2339,3697,3040
$GC,4094,-0.55,-121.7,386.0,-8.7,231,4099,0.00,1.25,0.00,0.000,6,0.000,0.022,2338,2805,3039
$GC,4424,-0.55,-121.7,413.3,-8.2,240,4427,0.00,1.40,0.00,0.000,4,0.000,0.048,2332,3686,3037
$GC,4458,-0.55,-121.7,416.2,-8.6,240,4461,0.00,1.40,0.00,0.000,6,0.000,0.021,2332,2706,3037
$GC,4794,-0.55,-121.7,444.0,-7.9,249,4797,0.00,1.58,0.00,0.000,4,0.000,0.023,2332,1589,3034
$GC,4811,-0.55,-121.7,445.4,-7.7,249,4815,0.12,1.75,0.00,0.000,6,0.106,0.042,2361,2733,3034
$GC,5122,-0.55,-121.7,463.8,-5.6,257,5125,0.00,1.62,0.00,0.000,4,0.000,0.024,2361,1586,3032
$GC,5193,-0.55,-121.7,467.9,-5.7,258,5196,0.00,1.98,0.00,0.000,6,0.000,0.044,2359,2864,3032
$GC,5535,-0.55,-121.7,487.9,-6.0,267,5537,0.00,1.83,0.00,0.000,4,0.000,0.024,2359,1592,3029
$GC,5627,-0.55,-121.7,494.0,-6.5,269,5630,0.00,1.67,0.00,0.000,6,0.000,0.044,2359,2679,3029
$GC,5949,-0.55,-121.7,513.0,-5.8,277,5952,0.00,1.58,0.00,0.000,4,0.000,0.054,2359,3677,3027
$GC,6010,-0.55,-121.7,516.9,-6.6,278,6012,0.00,1.12,0.00,0.000,6,0.000,0.027,2359,2901,3027
$GC,6321,-0.55,-121.7,536.6,-6.5,286,6324,0.00,1.85,0.00,0.000,4,0.000,0.025,2359,1601,3025
$GC,6333,-0.55,-121.7,537.5,-6.6,286,6336,0.00,1.70,0.00,0.000,6,0.000,0.045,2359,2698,3025
$GC,6650,-0.55,-121.7,559.0,-6.8,294,6653,0.00,1.60,0.00,0.000,4,0.000,0.025,2359,1576,3023
$GC,6732,-0.55,-121.7,564.8,-7.1,295,6737,0.00,1.98,0.00,0.000,6,0.000,0.046,2359,2842,3023
$GC,7062,-0.55,-121.7,585.3,-6.0,304,7065,0.00,1.80,0.00,0.000,4,0.000,0.025,2359,1596,3021
$GC,7150,-0.55,-121.7,590.6,-6.2,306,7153,0.00,1.62,0.00,0.000,6,0.000,0.046,2359,2623,3021
$GC,7477,-0.55,-121.7,608.2,-5.2,314,7480,0.00,1.70,0.00,0.000,4,0.000,0.057,2359,3686,3020
$GC,7591,-0.55,-121.7,614.1,-5.5,316,7594,0.00,1.20,0.00,0.000,6,0.000,0.027,2359,2858,3019
$GC,7932,-0.55,-121.7,630.8,-4.8,325,7935,0.00,1.35,0.00,0.000,4,0.000,0.056,2358,3690,3017
$GC,8046,-0.55,-121.7,636.5,-4.9,327,8048,0.00,1.52,0.00,0.000,6,0.000,0.027,2358,2654,3016
$GC,8387,-0.55,-121.7,654.4,-5.4,336,8390,0.00,1.52,0.00,0.000,4,0.000,0.026,2359,1591,3015
$GC,8495,-0.55,-121.7,660.6,-5.6,338,8498,0.00,1.38,0.00,0.000,6,0.000,0.045,2358,2464,3015
$GC,8841,-0.55,-121.7,680.8,-6.0,347,8844,0.00,1.95,0.00,0.000,4,0.000,0.058,2358,3691,3014
$GC,8956,-0.55,-121.7,687.9,-6.0,349,8959,0.00,1.55,0.00,0.000,6,0.000,0.028,2359,2643,3013
$STATE,9170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9170,begin apogee
$GC,9181,-0.18,0.0,701.4,6.1,355,9296,0.35,0.00,113.03,1.131,6,0.075,0.000,2482,2482,2530
$STATE,9297,end apogee,CONTROL_FINISHED_OK
$STATE,9297,begin climb
$GC,9302,0.55,121.7,706.9,0.0,358,9483,0.60,1.70,130.55,0.980,4,0.029,0.049,2744,3521,2033
$GC,9527,0.55,121.7,692.0,14.8,363,9530,0.12,1.62,0.00,0.000,6,0.188,0.025,2724,2440,2030
$GC,9874,0.55,121.7,647.6,12.6,372,9876,0.00,1.73,0.00,0.000,4,0.000,0.050,2724,3522,2025
$GC,9934,0.55,121.7,639.5,14.1,373,9937,0.00,1.55,0.00,0.000,6,0.000,0.026,2729,2485,2025
$GC,10245,0.55,121.7,601.5,11.9,381,10247,0.00,1.58,0.00,0.000,4,0.000,0.029,2737,1410,2023
$GC,10278,0.55,121.7,597.7,11.4,381,10281,0.00,1.70,0.00,0.000,6,0.000,0.044,2737,2508,2022
$GC,10614,0.55,121.7,559.3,11.4,390,10617,0.00,1.60,0.00,0.000,4,0.000,0.048,2737,3526,2022
$GC,10711,0.55,121.7,546.8,12.9,392,10714,0.00,1.50,0.00,0.000,6,0.000,0.025,2745,2516,2022
$GC,11027,0.55,121.7,508.4,12.2,400,11030,0.00,1.62,0.00,0.000,4,0.000,0.028,2752,1387,2021
$GC,11083,0.55,121.7,501.7,12.4,401,11086,0.12,1.77,0.00,0.000,6,0.163,0.044,2723,2535,2021
$GC,11399,0.55,121.7,463.9,11.8,409,11402,0.00,1.55,0.00,0.000,4,0.000,0.049,2723,3521,2020
$GC,11433,0.55,121.7,459.7,12.9,409,11435,0.00,1.50,0.00,0.000,6,0.000,0.025,2730,2505,2019
$GC,11768,0.55,121.9,423.6,10.1,418,11772,0.00,1.60,0.00,0.000,4,0.000,0.028,2738,1412,2019
$GC,11839,0.56,142.5,417.1,9.0,419,11868,0.00,1.70,20.10,0.843,6,0.000,0.044,2738,2512,1948
$GC,12181,0.56,142.6,382.8,10.1,428,12184,0.00,1.58,0.00,0.000,4,0.000,0.048,2739,3515,1944
$GC,12284,0.56,142.6,371.1,11.3,430,12287,0.00,1.50,0.00,0.000,6,0.000,0.025,2746,2504,1944
$GC,12595,0.56,142.6,338.1,10.6,438,12598,0.00,1.60,0.00,0.000,4,0.000,0.050,2746,3518,1943
$GC,12634,0.56,142.6,333.5,11.3,438,12639,0.08,1.42,0.00,0.000,6,0.188,0.025,2732,2553,1943
$GC,12964,0.56,147.6,300.4,9.9,447,12972,0.00,0.00,5.22,0.658,6,0.000,0.000,2732,2548,1929
$GC,13291,0.58,192.8,273.8,7.6,455,13336,0.00,1.70,41.28,0.835,4,0.000,0.026,2739,1407,1743
$GC,13382,0.58,207.0,266.2,9.3,457,13400,0.00,1.83,13.82,0.762,6,0.000,0.041,2739,2574,1685
$GC,13737,0.58,207.0,229.5,10.3,466,13740,0.00,1.50,0.00,0.000,4,0.000,0.048,2739,3526,1680
$GC,13814,0.58,207.0,221.4,10.9,467,13817,0.00,1.38,0.00,0.000,6,0.000,0.024,2746,2599,1680
$GC,14133,0.59,222.5,191.0,9.3,480,14150,0.00,1.80,14.07,0.718,4,0.000,0.028,2752,1402,1622
$GC,14222,0.59,222.5,182.4,10.3,487,14230,0.00,1.85,0.00,0.000,6,0.000,0.042,2752,2571,1619
$GC,14547,0.60,241.9,151.0,9.1,518,14567,0.00,1.50,17.52,0.687,4,0.000,0.048,2752,3518,1544
$GC,14589,0.60,241.9,146.4,10.2,522,14592,0.00,1.42,0.00,0.000,6,0.000,0.023,2759,2561,1543
$GC,14919,0.60,256.1,115.1,9.3,553,14936,0.00,1.67,13.62,0.638,4,0.000,0.025,2767,1395,1485
$GC,15009,0.61,279.1,106.2,8.9,560,15033,0.00,1.85,20.67,0.647,6,0.000,0.041,2767,2573,1392
$GC,15349,0.62,290.9,72.7,9.5,592,15365,0.00,1.75,11.35,0.584,4,0.000,0.025,2774,1414,1343
$GC,15408,0.62,304.8,67.2,9.4,597,15425,0.00,1.75,13.15,0.584,6,0.000,0.040,2768,2548,1287
$GC,15741,0.64,337.2,37.6,8.3,628,15778,0.00,1.55,27.88,0.591,4,0.000,0.044,2767,3520,1153
$GC,15796,0.65,370.2,33.0,8.3,632,15830,0.00,1.45,28.48,0.579,6,0.000,0.021,2773,2528,1019
$STATE,16136,end climb,SURFACE_DEPTH_REACHED
$STATE,16136,begin surface coast
$FINISH,0.0,1.006765
$STATE,16173,end surface coast,CONTROL_FINISHED_OK
$STATE,16173,begin surface
$SM_CCo,16197,7.07,0.470,0,0,979,380.21
$SM_GC,1.42,0.00,0.00,7.07,0.000,0.000,0.470,43,2666,979,-7.80,1.02,380.21
$IRIDIUM_FIX,2234.68,-15743.29,250102,010118
$TT8_MAMPS,0.048321
$HUMID,2245
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.70
$XPDR_PINGS,31
$24V_AH,23.4,86.478
$10V_AH,10.4,83.414
$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,17.700,121.925,470.750,7.075,0.000,29.437,31.827,443.020,7.750,0.000,0.000,19.751,0.000,12223.046,516.686,3017.887,1111.880,33.351,1579.507,0.000,2632.565,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,63.661,1130.558,470.171,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,470.437,1311.195,1370.022,287.828,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54069,698
$CAP_FILE_SIZE,134733,0
$CFSIZE,260165632,224116736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,9,0
$GPS,311012,100300,2242.101,-15744.750,39,1.8,39,10.1