version: 66.04
glider: 512
mission: 3
dive: 672
start: 11 6 112 5 49 3
data:
$ID,512
$MISSION,3
$DIVE,672
$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,-67225.219
$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,68
$R_STBD_OVSHOOT,69
$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
$GPS1,053536,2215.522,-15755.787,25,1.8,25,10.0
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-79.3
$GPS2,054825,2215.589,-15755.897,15,1.8,15,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.068,-0.243
$KALMAN_X,-189994.4,120.2,179.6,170390.6,-1199.1
$KALMAN_Y,190009.9,112.0,225.1,-267774.7,1294.0
$MHEAD_RNG_PITCHd_Wd,154.3,29096,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.53,-136.3,0.0,0.0,0,86,0.00,0.00,-64.07,0.000,2,0.000,0.000,13,2682,2522
$GC,91,-0.53,-136.3,2.1,-3.7,12,119,9.27,1.62,-11.90,0.000,4,0.206,0.038,2361,1565,3048
$GC,212,-0.53,-136.3,26.7,-13.7,34,218,0.00,1.60,0.00,0.000,6,0.000,0.041,2356,2589,3049
$GC,540,-0.53,-136.3,94.6,-18.3,67,543,0.00,1.70,0.00,0.000,4,0.000,0.045,2347,3688,3049
$GC,713,-0.53,-136.3,118.2,-11.7,83,717,0.00,1.52,0.00,0.000,6,0.000,0.020,2347,2626,3049
$GC,1041,-0.53,-136.3,164.5,-15.6,114,1043,0.00,1.65,0.00,0.000,4,0.000,0.043,2340,3697,3050
$GC,1171,-0.53,-136.3,183.4,-12.6,126,1174,0.00,1.45,0.00,0.000,6,0.000,0.020,2340,2676,3050
$GC,1499,-0.53,-136.3,229.8,-14.0,143,1502,0.00,1.60,0.00,0.000,4,0.000,0.044,2332,3693,3051
$GC,1603,-0.53,-136.3,241.6,-10.1,145,1606,0.00,1.38,0.00,0.000,6,0.000,0.020,2332,2715,3051
$GC,1914,-0.53,-136.3,274.2,-10.4,153,1917,0.00,1.52,0.00,0.000,4,0.000,0.044,2325,3688,3051
$GC,2001,-0.53,-136.3,283.0,-10.0,155,2004,0.08,1.35,0.00,0.000,6,0.108,0.020,2354,2724,3051
$GC,2329,-0.53,-136.3,308.2,-7.5,163,2331,0.00,1.58,0.00,0.000,4,0.000,0.021,2354,1562,3049
$GC,2362,-0.53,-136.3,310.9,-7.4,163,2365,0.00,1.77,0.00,0.000,6,0.000,0.041,2348,2730,3049
$GC,2697,-0.53,-136.3,339.8,-9.1,172,2700,0.00,1.48,0.00,0.000,4,0.000,0.048,2341,3686,3047
$GC,2812,-0.53,-136.3,351.3,-9.6,174,2815,0.00,1.33,0.00,0.000,6,0.000,0.022,2341,2745,3046
$GC,3153,-0.53,-136.3,386.3,-10.0,183,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2739,3044
$GC,3475,-0.53,-136.3,415.4,-8.4,191,3479,0.00,1.50,0.00,0.000,4,0.000,0.047,2333,3689,3041
$GC,3568,-0.53,-136.3,422.2,-7.1,193,3571,0.00,1.33,0.00,0.000,6,0.000,0.023,2334,2763,3040
$GC,3890,-0.53,-136.3,446.1,-7.5,201,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2757,3038
$GC,4213,-0.53,-136.3,473.6,-8.8,209,4214,0.00,0.00,-0.08,0.000,6,0.000,0.000,2334,2757,3060
$GC,4536,-0.53,-136.3,504.8,-10.0,217,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2757,3058
$GC,4858,-0.53,-136.3,539.1,-10.6,225,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2757,3056
$GC,5181,-0.53,-136.3,571.6,-9.9,233,5184,0.00,1.67,0.00,0.000,4,0.000,0.026,2334,1600,3054
$GC,5209,-0.53,-136.3,574.4,-9.5,233,5212,0.00,1.80,0.00,0.000,6,0.000,0.048,2333,2762,3053
$GC,5551,-0.53,-136.3,605.3,-9.1,242,5554,0.00,1.48,0.00,0.000,4,0.000,0.054,2327,3695,3051
$GC,5579,-0.53,-136.3,608.1,-9.4,242,5582,0.08,1.35,0.00,0.000,6,0.099,0.027,2356,2767,3051
$GC,5920,-0.53,-136.3,632.0,-6.9,251,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2767,3049
$GC,6243,-0.53,-136.3,654.5,-7.0,259,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2766,3049
$GC,6565,-0.53,-136.3,676.7,-6.8,267,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2767,3046
$GC,6888,-0.53,-136.3,696.3,-5.9,275,6891,0.00,1.70,0.00,0.000,4,0.000,0.028,2356,1599,3044
$GC,6927,-0.53,-136.3,698.5,-5.8,275,6932,0.00,1.83,0.00,0.000,6,0.000,0.050,2350,2767,3044
$STATE,6969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6969,begin apogee
$GC,6981,-0.18,0.0,701.3,5.9,277,7111,0.38,0.00,128.57,1.118,6,0.085,0.000,2476,2440,2490
$STATE,7111,end apogee,CONTROL_FINISHED_OK
$STATE,7111,begin climb
$GC,7116,0.53,136.3,704.7,0.0,280,7276,0.57,1.70,133.23,1.035,4,0.035,0.027,2718,1354,1933
$GC,7311,0.53,136.3,688.9,17.4,284,7314,0.00,1.67,0.00,0.000,6,0.000,0.041,2716,2417,1928
$GC,7651,0.53,136.3,628.4,17.5,293,7654,0.00,1.65,0.00,0.000,4,0.000,0.048,2716,3482,1924
$GC,7711,0.53,136.3,617.2,19.4,294,7714,0.00,1.60,0.00,0.000,6,0.000,0.026,2722,2394,1924
$GC,8023,0.53,136.3,565.8,15.8,302,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2388,1922
$GC,8345,0.53,136.3,518.3,14.6,310,8348,0.00,1.70,0.00,0.000,4,0.000,0.048,2717,3471,1921
$GC,8378,0.53,136.3,513.2,16.1,310,8381,0.00,1.55,0.00,0.000,6,0.000,0.026,2722,2430,1920
$GC,8713,0.53,136.3,466.1,13.7,319,8716,0.00,1.58,0.00,0.000,4,0.000,0.029,2730,1355,1920
$GC,8747,0.53,136.3,462.1,12.5,319,8750,0.00,1.62,0.00,0.000,6,0.000,0.041,2729,2420,1919
$GC,9082,0.53,136.3,420.0,12.2,328,9085,0.00,1.62,0.00,0.000,4,0.000,0.049,2729,3474,1918
$GC,9180,0.53,136.3,407.1,13.1,330,9183,0.08,1.52,0.00,0.000,6,0.189,0.027,2705,2448,1918
$GC,9497,0.53,136.3,373.5,10.6,338,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2442,1918
$GC,9819,0.53,136.3,334.9,11.9,346,9822,0.00,1.60,0.00,0.000,4,0.000,0.029,2712,1356,1918
$GC,9890,0.53,136.3,327.3,10.4,347,9893,0.00,1.67,0.00,0.000,6,0.000,0.043,2712,2445,1917
$GC,10230,0.53,151.5,292.9,9.4,356,10251,0.00,0.00,14.10,0.713,6,0.000,0.000,2712,2445,1872
$GC,10554,0.54,175.0,263.9,9.0,364,10581,0.00,1.67,22.45,0.812,4,0.000,0.049,2712,3478,1776
$GC,10617,0.54,175.0,257.6,11.1,365,10620,0.00,1.60,0.00,0.000,6,0.000,0.025,2720,2397,1774
$GC,10963,0.54,175.0,219.9,11.2,374,10966,0.00,1.52,0.00,0.000,4,0.000,0.029,2728,1340,1771
$GC,11083,0.56,208.0,210.1,8.5,376,11117,0.00,1.70,29.58,0.765,6,0.000,0.042,2728,2443,1640
$GC,11435,0.56,208.0,176.2,10.3,401,11438,0.00,1.60,0.00,0.000,4,0.000,0.048,2728,3482,1635
$GC,11474,0.56,208.0,171.9,11.5,404,11479,0.00,1.55,0.00,0.000,6,0.000,0.025,2735,2442,1635
$GC,11796,0.56,208.0,134.9,11.3,435,11799,0.00,1.58,0.00,0.000,4,0.000,0.029,2739,1366,1635
$GC,11916,0.56,222.7,122.8,9.4,446,11937,0.00,1.62,13.15,0.648,6,0.000,0.040,2739,2432,1580
$GC,12249,0.56,222.7,86.1,12.5,478,12252,0.00,1.60,0.00,0.000,4,0.000,0.047,2739,3481,1579
$GC,12315,0.56,222.7,78.7,10.3,484,12319,0.00,1.52,0.00,0.000,6,0.000,0.024,2739,2451,1578
$GC,12643,0.58,276.3,52.1,7.5,515,12695,0.00,1.62,45.55,0.616,4,0.000,0.028,2739,1361,1362
$GC,12787,0.60,329.2,40.2,7.5,528,12840,0.00,1.65,44.30,0.593,6,0.000,0.038,2739,2422,1145
$GC,13161,0.61,333.8,8.3,9.9,586,13172,0.00,1.60,5.00,0.420,4,0.000,0.025,2739,1353,1128
$GC,13211,0.65,443.0,4.4,4.7,595,13240,0.00,1.60,25.65,0.552,2,0.000,0.030,2739,2408,1008
$STATE,13241,end climb,SURFACE_DEPTH_REACHED
$STATE,13241,begin surface coast
$FINISH,1.8,1.023301
$STATE,13248,end surface coast,CONTROL_FINISHED_OK
$STATE,13248,begin surface
$SM_CCo,13272,9.02,0.483,0,0,939,380.21
$SM_GC,0.64,0.00,0.00,9.02,0.000,0.000,0.483,44,2659,939,-7.77,0.79,380.21
$IRIDIUM_FIX,2206.70,-15758.08,310102,050537
$TT8_MAMPS,0.047554
$HUMID,2280
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.10
$XPDR_PINGS,15
$24V_AH,23.4,91.516
$10V_AH,10.3,87.225
$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,17.525,76.925,461.575,9.025,0.000,59.363,87.103,376.269,3.750,0.000,0.000,15.590,0.000,10798.683,521.343,1682.573,1028.321,33.353,1288.352,0.000,1343.834,0.000,0.544,0.000
$DEVICE_MAMPS,206.323,54.457,1118.286,483.210,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,403.629,0.000,547.638,140.388,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44573,602
$CAP_FILE_SIZE,103899,0
$CFSIZE,260165632,222113792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,061112,093200,2214.670,-15756.264,62,1.3,62,10.0