version: 66.04
glider: 512
mission: 3
dive: 669
start: 11 5 112 17 53 37
data:
$ID,512
$MISSION,3
$DIVE,669
$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,140
$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,-67158.258
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2530
$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,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2490
$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
$GPS1,174536,2217.708,-15753.900,38,1.7,38,10.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-80.4
$GPS2,175255,2217.757,-15753.900,16,1.4,16,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.006,-0.253
$KALMAN_X,-186635.3,-480.1,205.7,171009.9,-475.2
$KALMAN_Y,183726.7,219.4,1.9,-257357.0,1663.5
$MHEAD_RNG_PITCHd_Wd,168.6,33630,-18.4,-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,-0.53,-136.3,0.0,0.0,0,92,0.00,0.00,-74.25,0.000,2,0.000,0.000,24,2649,2805
$GC,97,-0.53,-136.3,2.8,-4.1,10,114,9.23,1.62,-4.70,0.000,4,0.206,0.039,2350,1560,3048
$GC,203,-0.53,-136.3,34.6,-18.0,26,206,0.00,1.65,0.00,0.000,6,0.000,0.041,2345,2619,3050
$GC,533,-0.53,-136.3,103.8,-17.3,57,536,0.00,1.62,0.00,0.000,4,0.000,0.047,2337,3692,3050
$GC,687,-0.53,-136.3,126.8,-14.3,71,690,0.00,1.52,0.00,0.000,6,0.000,0.021,2337,2634,3051
$GC,1016,-0.53,-136.3,174.6,-14.0,102,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2627,3051
$GC,1361,-0.53,-136.3,222.1,-13.3,124,1364,0.00,1.62,0.00,0.000,4,0.000,0.043,2329,3692,3051
$GC,1464,-0.53,-136.3,234.7,-10.1,126,1467,0.00,1.42,0.00,0.000,6,0.000,0.020,2329,2684,3051
$GC,1775,-0.53,-136.3,271.4,-12.0,134,1778,0.10,1.58,0.00,0.000,4,0.126,0.043,2351,3703,3051
$GC,1815,-0.53,-136.3,275.8,-10.7,134,1820,0.00,1.40,0.00,0.000,6,0.000,0.020,2350,2706,3051
$GC,2144,-0.53,-136.3,307.0,-9.6,143,2147,0.00,1.55,0.00,0.000,4,0.000,0.047,2344,3686,3051
$GC,2210,-0.53,-136.3,313.7,-9.9,144,2213,0.00,1.35,0.00,0.000,6,0.000,0.021,2344,2725,3051
$GC,2557,-0.53,-136.3,347.7,-9.3,153,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2718,3049
$GC,2879,-0.53,-136.3,373.8,-7.9,161,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2718,3047
$GC,3202,-0.53,-136.3,401.5,-8.9,169,3205,0.00,1.52,0.00,0.000,4,0.000,0.047,2337,3685,3044
$GC,3284,-0.53,-136.3,408.8,-8.5,170,3289,0.00,1.35,0.00,0.000,6,0.000,0.021,2337,2732,3043
$GC,3614,-0.53,-136.3,437.3,-8.5,179,3617,0.00,1.60,0.00,0.000,4,0.000,0.024,2337,1588,3041
$GC,3674,-0.53,-136.3,442.7,-8.4,180,3677,0.00,1.77,0.00,0.000,6,0.000,0.044,2334,2740,3040
$GC,3986,-0.53,-136.3,476.1,-11.2,188,3989,0.00,1.48,0.00,0.000,4,0.000,0.050,2326,3685,3038
$GC,4035,-0.53,-136.3,482.0,-11.1,189,4038,0.08,1.38,0.00,0.000,6,0.103,0.024,2355,2726,3037
$GC,4357,-0.53,-136.3,509.0,-7.7,197,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2723,3035
$GC,4680,-0.53,-136.3,529.0,-5.9,205,4682,0.00,1.55,0.00,0.000,4,0.000,0.051,2350,3690,3032
$GC,4735,-0.53,-136.3,532.2,-5.5,206,4738,0.00,1.40,0.00,0.000,6,0.000,0.026,2350,2729,3031
$GC,5052,-0.53,-136.3,551.7,-6.3,214,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2723,3030
$GC,5374,-0.53,-136.3,572.0,-6.2,222,5378,0.00,1.62,0.00,0.000,4,0.000,0.026,2350,1597,3028
$GC,5430,-0.53,-136.3,575.2,-6.2,223,5433,0.00,1.80,0.00,0.000,6,0.000,0.048,2346,2730,3028
$GC,5746,-0.53,-136.3,594.4,-6.2,231,5750,0.00,1.52,0.00,0.000,4,0.000,0.054,2339,3691,3025
$GC,5785,-0.53,-136.3,596.8,-5.8,231,5791,0.00,1.38,0.00,0.000,6,0.000,0.027,2340,2750,3025
$GC,6116,-0.53,-136.3,620.5,-7.3,240,6119,0.00,1.65,0.00,0.000,4,0.000,0.027,2339,1592,3024
$GC,6166,-0.53,-136.3,624.3,-7.1,241,6169,0.00,1.77,0.00,0.000,6,0.000,0.048,2333,2728,3024
$GC,6487,-0.53,-136.3,651.6,-8.8,249,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2728,3022
$GC,6810,-0.53,-136.3,679.9,-8.8,257,6813,0.00,1.65,0.00,0.000,4,0.000,0.028,2333,1592,3021
$GC,6839,-0.53,-136.3,682.4,-8.5,257,6842,0.00,1.77,0.00,0.000,6,0.000,0.049,2333,2721,3021
$STATE,7054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7054,begin apogee
$GC,7065,-0.18,0.0,700.8,8.4,263,7190,0.43,0.00,123.55,1.124,6,0.095,0.000,2473,2426,2490
$STATE,7190,end apogee,CONTROL_FINISHED_OK
$STATE,7190,begin climb
$GC,7195,0.53,136.3,705.5,0.0,266,7356,0.57,1.67,133.62,1.039,4,0.036,0.028,2713,1359,1933
$GC,7454,0.53,136.3,683.3,14.9,272,7457,0.00,1.67,0.00,0.000,6,0.000,0.043,2713,2426,1927
$GC,7776,0.53,136.3,634.7,15.1,280,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2426,1923
$GC,8098,0.53,136.3,588.0,14.3,288,8101,0.00,1.62,0.00,0.000,4,0.000,0.049,2713,3474,1921
$GC,8217,0.53,136.3,568.5,16.5,290,8220,0.00,1.60,0.00,0.000,6,0.000,0.026,2721,2388,1920
$GC,8552,0.53,136.3,516.4,15.7,299,8555,0.00,1.73,0.00,0.000,4,0.000,0.048,2715,3477,1920
$GC,8624,0.53,136.3,505.0,15.7,300,8627,0.00,1.58,0.00,0.000,6,0.000,0.026,2721,2422,1919
$GC,8964,0.53,136.3,450.0,16.1,309,8967,0.00,1.67,0.00,0.000,4,0.000,0.050,2722,3475,1919
$GC,9057,0.53,136.3,434.2,18.3,311,9059,0.00,1.55,0.00,0.000,6,0.000,0.027,2729,2438,1919
$GC,9379,0.53,136.3,385.9,14.0,319,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2432,1919
$GC,9702,0.53,136.3,350.0,10.7,327,9704,0.00,1.65,0.00,0.000,4,0.000,0.051,2729,3474,1918
$GC,9735,0.53,136.3,345.9,13.2,327,9738,0.10,1.50,0.00,0.000,6,0.179,0.026,2707,2469,1918
$GC,10071,0.53,136.3,308.2,11.9,336,10074,0.00,1.62,0.00,0.000,4,0.000,0.050,2702,3492,1917
$GC,10260,0.53,136.3,285.9,10.7,340,10263,0.00,1.48,0.00,0.000,6,0.000,0.026,2708,2498,1917
$GC,10571,0.54,163.5,258.0,8.8,348,10605,0.00,1.70,24.60,0.769,4,0.000,0.029,2716,1364,1823
$GC,10726,0.56,229.7,247.0,6.8,351,10795,0.00,1.75,60.10,0.788,6,0.000,0.044,2715,2469,1552
$GC,11118,0.56,229.7,203.9,11.8,361,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2469,1546
$GC,11425,0.57,244.3,172.6,9.4,388,11443,0.00,0.00,12.73,0.691,6,0.000,0.000,2715,2469,1494
$GC,11760,0.57,244.3,140.9,11.0,420,11763,0.00,1.65,0.00,0.000,4,0.000,0.028,2722,1337,1492
$GC,11874,0.57,244.3,126.8,11.7,430,11881,0.00,1.77,0.00,0.000,6,0.000,0.040,2722,2471,1491
$GC,12199,0.57,244.3,87.6,10.3,461,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2471,1491
$GC,12518,0.58,269.5,59.1,8.9,492,12544,0.00,1.70,22.77,0.614,4,0.000,0.026,2723,1362,1390
$GC,12602,0.60,330.5,52.4,7.1,499,12656,0.00,1.73,50.83,0.614,6,0.000,0.038,2723,2489,1142
$GC,12974,0.63,397.0,23.7,6.8,541,13034,0.00,1.67,54.53,0.581,4,0.000,0.025,2723,1364,871
$GC,13082,0.66,471.1,16.4,6.4,557,13150,0.00,1.70,60.70,0.568,6,0.000,0.035,2723,2457,567
$STATE,13218,end climb,SURFACE_DEPTH_REACHED
$STATE,13218,begin surface coast
$FINISH,0.1,0.999293
$STATE,13248,end surface coast,CONTROL_FINISHED_OK
$STATE,13249,begin surface
$SM_CCo,13332,0.00,0.000,0,0,563,472.93
$SM_GC,0.90,6.97,0.00,0.00,0.028,0.000,0.000,42,2660,563,-7.71,0.85,472.93
$IRIDIUM_FIX,2211.35,-15754.18,300102,141422
$TT8_MAMPS,0.047554
$HUMID,2209
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.10
$XPDR_PINGS,15
$24V_AH,23.4,91.074
$10V_AH,10.3,86.947
$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,17.475,74.275,543.425,0.000,0.000,25.799,37.014,196.577,3.750,0.000,0.000,16.837,0.000,10061.038,513.809,2407.989,766.565,33.367,1379.208,0.000,2125.012,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,54.457,1123.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,392.002,1125.472,1181.429,122.364,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44640,584
$CAP_FILE_SIZE,98615,0
$CFSIZE,260165632,222289920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,051112,213659,2216.825,-15754.422,42,1.4,42,10.0