version: 66.04
glider: 512
mission: 3
dive: 701
start: 11 11 112 4 23 55
data:
$ID,512
$MISSION,3
$DIVE,701
$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,-67772.75
$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,2660
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,74
$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
$GPS1,040223,2203.044,-15801.180,41,1.3,41,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-74.6
$GPS2,042312,2203.166,-15801.443,14,1.1,19,9.9
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.153,-0.202
$KALMAN_X,-246119.0,-117.4,-415.7,217889.8,-1772.3
$KALMAN_Y,251469.1,300.7,-493.6,-351704.4,2447.7
$MHEAD_RNG_PITCHd_Wd,133.0,8328,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.53,-136.3,0.0,0.0,0,92,0.00,0.00,-75.00,0.000,2,0.000,0.000,11,2712,2553
$GC,97,-0.53,-136.3,2.1,-2.6,14,125,9.20,1.67,-11.40,0.000,4,0.202,0.038,2361,1573,3047
$GC,213,-0.53,-136.3,27.2,-19.8,35,218,0.00,1.62,0.00,0.000,6,0.000,0.039,2356,2622,3048
$GC,536,-0.53,-136.3,93.4,-19.1,67,539,0.00,1.67,0.00,0.000,4,0.000,0.045,2347,3726,3048
$GC,729,-0.53,-136.3,122.9,-12.0,84,734,0.00,1.52,0.00,0.000,6,0.000,0.019,2347,2657,3048
$GC,1051,-0.53,-136.3,166.0,-13.5,115,1054,0.00,1.65,0.00,0.000,4,0.000,0.042,2340,3731,3048
$GC,1133,-0.53,-136.3,177.0,-11.5,122,1138,0.00,1.45,0.00,0.000,6,0.000,0.018,2340,2699,3048
$GC,1478,-0.53,-136.3,224.3,-14.3,144,1480,0.00,1.60,0.00,0.000,4,0.000,0.043,2332,3739,3048
$GC,1511,-0.53,-136.3,229.4,-15.1,144,1514,0.00,1.45,0.00,0.000,6,0.000,0.019,2332,2711,3048
$GC,1846,-0.53,-136.3,274.9,-12.8,153,1849,0.00,1.58,0.00,0.000,4,0.000,0.043,2325,3719,3048
$GC,1913,-0.53,-136.3,282.2,-10.0,154,1916,0.08,1.40,0.00,0.000,6,0.103,0.020,2356,2716,3047
$GC,2258,-0.53,-136.3,309.0,-7.3,163,2261,0.00,1.52,0.00,0.000,4,0.000,0.021,2356,1618,3045
$GC,2281,-0.53,-136.3,310.7,-7.1,163,2284,0.00,1.70,0.00,0.000,6,0.000,0.042,2350,2741,3046
$GC,2627,-0.53,-136.3,338.9,-8.9,172,2630,0.00,1.50,0.00,0.000,4,0.000,0.048,2342,3715,3043
$GC,2688,-0.53,-136.3,344.7,-9.5,173,2691,0.00,1.40,0.00,0.000,6,0.000,0.021,2342,2729,3042
$GC,2999,-0.53,-136.3,378.1,-11.0,181,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2723,3039
$GC,3322,-0.53,-136.3,412.1,-10.3,189,3325,0.00,1.60,-0.08,0.000,4,0.000,0.065,2335,3715,3059
$GC,3394,-0.53,-136.3,419.0,-9.4,190,3396,0.00,1.40,0.00,0.000,6,0.000,0.024,2335,2736,3059
$GC,3734,-0.53,-136.3,453.4,-9.9,199,3737,0.00,1.58,0.00,0.000,4,0.000,0.025,2335,1626,3056
$GC,3763,-0.53,-136.3,456.1,-9.9,199,3766,0.00,1.73,0.00,0.000,6,0.000,0.047,2333,2724,3056
$GC,4104,-0.53,-136.3,486.5,-8.7,208,4107,0.00,1.55,0.00,0.000,4,0.000,0.051,2326,3709,3053
$GC,4175,-0.53,-136.3,492.5,-8.3,209,4178,0.08,1.40,0.00,0.000,6,0.101,0.025,2356,2736,3053
$GC,4516,-0.53,-136.3,513.1,-5.9,218,4518,0.00,1.58,0.00,0.000,4,0.000,0.025,2357,1630,3051
$GC,4571,-0.53,-136.3,516.5,-5.9,219,4574,0.00,1.70,0.00,0.000,6,0.000,0.045,2350,2736,3050
$GC,4887,-0.53,-136.3,541.0,-8.3,227,4890,0.00,1.55,0.00,0.000,4,0.000,0.053,2343,3718,3048
$GC,4921,-0.53,-136.3,543.9,-8.7,227,4924,0.00,1.42,0.00,0.000,6,0.000,0.026,2343,2736,3048
$GC,5257,-0.53,-136.3,573.3,-8.8,236,5260,0.00,1.58,0.00,0.000,4,0.000,0.027,2343,1638,3045
$GC,5280,-0.53,-136.3,575.3,-8.7,236,5283,0.00,1.70,0.00,0.000,6,0.000,0.048,2335,2734,3045
$GC,5627,-0.53,-136.3,606.4,-9.2,245,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2734,3043
$GC,5949,-0.53,-136.3,634.6,-8.4,253,5951,0.00,1.60,0.00,0.000,4,0.000,0.028,2335,1626,3041
$GC,5972,-0.53,-136.3,636.4,-8.2,253,5975,0.00,1.73,0.00,0.000,6,0.000,0.049,2334,2710,3041
$GC,6318,-0.53,-136.3,663.4,-7.8,262,6321,0.00,1.60,0.00,0.000,4,0.000,0.056,2326,3715,3039
$GC,6373,-0.53,-136.3,667.6,-7.3,263,6377,0.08,1.42,0.00,0.000,6,0.099,0.028,2356,2748,3039
$GC,6690,-0.53,-136.3,686.6,-5.9,271,6693,0.00,1.62,0.00,0.000,4,0.000,0.028,2356,1628,3038
$GC,6740,-0.53,-136.3,689.5,-5.7,272,6743,0.00,1.75,0.00,0.000,6,0.000,0.049,2350,2725,3038
$STATE,6935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6935,begin apogee
$GC,6946,-0.18,0.0,702.3,6.4,277,7075,0.38,0.00,127.22,1.123,6,0.086,0.000,2476,2449,2490
$STATE,7076,end apogee,CONTROL_FINISHED_OK
$STATE,7076,begin climb
$GC,7081,0.53,136.3,706.7,0.0,280,7241,0.57,1.73,133.00,1.042,4,0.031,0.028,2726,1353,1933
$GC,7296,0.53,136.3,690.5,15.2,285,7299,0.00,1.70,0.00,0.000,6,0.000,0.042,2726,2415,1927
$GC,7618,0.53,136.3,640.6,15.1,293,7621,0.00,1.67,0.00,0.000,4,0.000,0.049,2726,3471,1923
$GC,7758,0.53,136.3,618.2,15.8,296,7761,0.12,1.58,0.00,0.000,6,0.181,0.027,2705,2420,1922
$GC,8075,0.53,136.3,577.2,12.9,304,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2413,1921
$GC,8397,0.53,136.3,533.3,14.2,312,8400,0.00,1.70,0.00,0.000,4,0.000,0.048,2702,3477,1920
$GC,8596,0.53,136.3,502.6,15.7,316,8599,0.00,1.55,0.00,0.000,6,0.000,0.027,2708,2439,1919
$GC,8942,0.53,136.3,455.6,12.9,325,8945,0.00,1.58,0.00,0.000,4,0.000,0.030,2716,1362,1918
$GC,8981,0.53,136.3,450.7,11.8,325,8986,0.00,1.70,0.00,0.000,6,0.000,0.044,2716,2463,1918
$GC,9311,0.53,136.3,412.2,11.5,334,9314,0.00,1.60,0.00,0.000,4,0.000,0.050,2715,3509,1918
$GC,9415,0.53,136.3,399.4,11.8,336,9418,0.00,1.55,0.00,0.000,6,0.000,0.027,2722,2475,1917
$GC,9726,0.53,136.3,364.1,11.4,344,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2470,1917
$GC,10048,0.53,136.3,329.5,11.2,352,10051,0.00,1.60,0.00,0.000,4,0.000,0.051,2722,3465,1917
$GC,10093,0.53,136.3,324.4,12.6,353,10095,0.00,1.45,0.00,0.000,6,0.000,0.027,2729,2495,1916
$GC,10420,0.53,136.3,284.5,12.4,361,10423,0.00,1.65,0.00,0.000,4,0.000,0.030,2738,1342,1917
$GC,10513,0.53,136.3,273.7,11.3,363,10516,0.15,1.75,0.00,0.000,6,0.154,0.044,2699,2476,1915
$GC,10834,0.55,200.3,245.6,6.9,371,10899,0.00,1.60,56.33,0.795,4,0.000,0.050,2699,3475,1672
$GC,11049,0.57,250.1,232.3,7.7,376,11097,0.00,1.48,43.03,0.780,6,0.000,0.026,2705,2496,1470
$GC,11416,0.57,250.1,197.9,10.9,385,11419,0.00,1.67,0.00,0.000,4,0.000,0.031,2712,1349,1464
$GC,11508,0.57,250.1,186.8,11.3,393,11514,0.00,1.77,0.00,0.000,6,0.000,0.044,2712,2489,1462
$GC,11831,0.59,282.3,153.7,8.5,424,11863,0.00,1.55,27.40,0.698,4,0.000,0.047,2712,3484,1338
$GC,11887,0.59,298.2,148.4,9.3,429,11908,0.00,1.52,14.75,0.657,6,0.000,0.025,2713,2467,1274
$GC,12221,0.60,323.9,121.1,8.9,461,12247,0.00,1.70,22.75,0.658,4,0.000,0.028,2721,1350,1168
$GC,12308,0.63,391.9,114.1,6.7,468,12369,0.00,1.73,57.05,0.657,6,0.000,0.039,2721,2473,891
$GC,12690,0.64,431.9,86.1,8.1,505,12731,0.00,1.73,33.45,0.622,4,0.000,0.025,2721,1348,729
$GC,12797,0.64,431.9,74.8,11.6,515,12800,0.00,1.75,0.00,0.000,6,0.000,0.038,2721,2485,727
$GC,13125,0.64,431.9,36.6,10.5,546,13128,0.00,1.65,0.00,0.000,4,0.000,0.025,2721,1335,726
$GC,13374,0.65,443.7,8.8,9.6,587,13390,0.00,1.67,10.93,0.512,6,0.000,0.035,2721,2459,680
$STATE,13446,end climb,SURFACE_DEPTH_REACHED
$STATE,13446,begin surface coast
$FINISH,0.0,1.012521
$STATE,13500,end surface coast,CONTROL_FINISHED_OK
$STATE,13500,begin surface
$SM_CCo,13583,0.00,0.000,0,0,679,444.23
$SM_GC,0.91,6.80,0.00,0.00,0.022,0.000,0.000,28,2704,679,-7.70,1.27,444.23
$IRIDIUM_FIX,2155.06,-15759.83,050202,040458
$TT8_MAMPS,0.048321
$HUMID,2245
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.90
$XPDR_PINGS,19
$24V_AH,23.4,96.181
$10V_AH,10.2,89.030
$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,17.450,93.575,525.900,0.000,0.000,79.231,103.887,754.279,4.750,0.000,0.000,20.014,0.000,10910.490,561.153,1870.592,1468.052,33.357,1429.052,0.000,1507.844,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,65.195,1122.888,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,408.358,0.000,555.421,142.922,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47626,610
$CAP_FILE_SIZE,117891,0
$CFSIZE,260165632,220454912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,111112,081124,2203.161,-15801.402,38,1.6,38,9.9