version: 66.04
glider: 512
mission: 3
dive: 706
start: 11 12 112 1 47 56
data:
$ID,512
$MISSION,3
$DIVE,706
$D_SURF,3
$D_FLARE,2
$D_TGT,800
$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,266
$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,-67881.156
$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,52
$R_STBD_OVSHOOT,28
$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
$GPS1,011906,2203.669,-15801.753,38,1.0,38,9.9
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-78.0
$GPS2,014713,2203.700,-15802.125,14,1.8,14,9.9
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.110
$KALMAN_X,-258925.4,-136.3,170.9,228972.8,-2845.1
$KALMAN_Y,264431.7,213.5,220.8,-364302.5,993.6
$MHEAD_RNG_PITCHd_Wd,105.9,9856,-18.2,-10.025
$D_GRID,800
$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,-0.52,-136.3,0.0,0.0,0,87,0.00,0.00,-69.38,0.000,2,0.000,0.000,13,2732,2546
$GC,92,-0.52,-136.3,2.3,-4.3,13,115,9.25,0.00,-11.30,0.000,6,0.202,0.000,2358,2731,3048
$GC,430,-0.52,-136.3,75.0,-20.0,56,433,0.00,1.52,0.00,0.000,4,0.000,0.043,2352,3719,3050
$GC,507,-0.52,-136.3,86.9,-12.9,63,510,0.00,1.55,0.00,0.000,6,0.000,0.021,2352,2641,3049
$GC,835,-0.52,-136.3,130.3,-12.8,94,838,0.00,1.65,0.00,0.000,4,0.000,0.041,2344,3723,3050
$GC,901,-0.52,-136.3,139.2,-11.1,100,904,0.00,1.50,0.00,0.000,6,0.000,0.020,2344,2669,3049
$GC,1228,-0.52,-136.3,183.5,-14.5,131,1231,0.00,1.62,0.00,0.000,4,0.000,0.042,2336,3730,3049
$GC,1267,-0.52,-136.3,189.8,-13.4,134,1273,0.00,1.50,0.00,0.000,6,0.000,0.020,2336,2680,3049
$GC,1589,-0.52,-136.3,229.6,-11.2,148,1592,0.00,1.60,0.00,0.000,4,0.000,0.043,2329,3724,3049
$GC,1650,-0.52,-136.3,235.2,-8.6,149,1653,0.08,1.45,0.00,0.000,6,0.104,0.020,2358,2693,3048
$GC,1961,-0.52,-136.3,260.4,-8.3,157,1964,0.00,1.48,0.00,0.000,4,0.000,0.021,2358,1628,3048
$GC,1995,-0.52,-136.3,263.2,-8.1,157,1998,0.00,1.65,0.00,0.000,6,0.000,0.042,2358,2715,3047
$GC,2331,-0.52,-136.3,292.6,-9.2,166,2334,0.00,1.55,0.00,0.000,4,0.000,0.046,2351,3722,3045
$GC,2455,-0.52,-136.3,304.4,-9.8,168,2461,0.00,1.40,0.00,0.000,6,0.000,0.021,2351,2724,3045
$GC,2786,-0.52,-136.3,338.0,-10.4,177,2789,0.00,1.55,0.00,0.000,4,0.000,0.023,2352,1623,3042
$GC,2820,-0.52,-136.3,341.3,-9.3,177,2822,0.00,1.70,0.00,0.000,6,0.000,0.042,2346,2742,3042
$GC,3155,-0.52,-136.3,370.0,-8.2,186,3158,0.00,1.52,0.00,0.000,4,0.000,0.048,2339,3725,3039
$GC,3195,-0.52,-136.3,373.0,-7.5,186,3200,0.00,1.42,-0.05,0.000,6,0.000,0.022,2339,2716,3056
$GC,3524,-0.52,-136.3,398.9,-8.0,195,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2715,3054
$GC,3847,-0.52,-136.3,426.7,-8.8,203,3850,0.00,1.58,0.00,0.000,4,0.000,0.048,2331,3715,3052
$GC,3897,-0.52,-136.3,431.0,-8.3,204,3900,0.00,1.42,0.00,0.000,6,0.000,0.024,2332,2727,3051
$GC,4219,-0.52,-136.3,458.6,-8.4,212,4223,0.10,1.55,0.00,0.000,4,0.117,0.024,2360,1634,3048
$GC,4248,-0.52,-136.3,460.8,-6.7,212,4250,0.00,1.67,0.00,0.000,6,0.000,0.044,2359,2725,3048
$GC,4588,-0.52,-136.3,483.6,-7.1,221,4591,0.00,1.55,0.00,0.000,4,0.000,0.052,2352,3710,3046
$GC,4628,-0.52,-136.3,486.6,-7.4,221,4633,0.00,1.40,0.00,0.000,6,0.000,0.026,2352,2738,3046
$GC,4958,-0.52,-136.3,514.1,-8.7,230,4961,0.00,1.58,0.00,0.000,4,0.000,0.026,2352,1638,3044
$GC,5018,-0.52,-136.3,519.7,-9.1,231,5021,0.00,1.67,0.00,0.000,6,0.000,0.046,2346,2721,3043
$GC,5330,-0.52,-136.3,550.7,-10.2,239,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2721,3041
$GC,5652,-0.52,-136.3,582.4,-9.7,247,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2721,3038
$GC,5975,-0.52,-136.3,610.5,-8.3,255,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2721,3036
$GC,6297,-0.52,-136.3,632.8,-6.6,263,6300,0.00,1.60,0.00,0.000,4,0.000,0.028,2346,1637,3035
$GC,6342,-0.52,-136.3,635.5,-5.8,264,6345,0.00,1.70,0.00,0.000,6,0.000,0.048,2346,2723,3034
$GC,6669,-0.52,-136.3,653.6,-5.5,272,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2724,3033
$GC,6992,-0.52,-136.3,671.9,-5.7,280,6995,0.00,1.60,0.00,0.000,4,0.000,0.028,2346,1616,3031
$GC,7032,-0.52,-136.3,674.0,-5.4,280,7037,0.00,1.73,0.00,0.000,6,0.000,0.050,2346,2715,3031
$GC,7362,-0.52,-136.3,693.0,-6.1,289,7365,0.00,1.60,0.00,0.000,4,0.000,0.058,2344,3712,3030
$GC,7390,-0.52,-136.3,694.8,-6.1,289,7393,0.00,1.45,0.00,0.000,6,0.000,0.029,2345,2732,3030
$GC,7731,-0.52,-136.3,718.1,-7.1,298,7734,0.00,1.60,0.00,0.000,4,0.000,0.030,2345,1611,3028
$GC,7787,-0.52,-136.3,722.1,-7.5,299,7790,0.00,1.70,0.00,0.000,6,0.000,0.049,2338,2698,3028
$GC,8103,-0.52,-136.3,748.2,-8.4,307,8106,0.00,1.60,0.00,0.000,4,0.000,0.057,2329,3718,3027
$GC,8142,-0.52,-136.3,751.5,-8.3,307,8148,0.08,1.50,0.00,0.000,6,0.098,0.028,2371,2706,3027
$GC,8473,-0.52,-136.3,771.5,-6.0,316,8475,0.00,1.60,0.00,0.000,4,0.000,0.030,2372,1591,3026
$GC,8512,-0.52,-136.3,773.9,-6.1,316,8517,0.00,1.73,0.00,0.000,6,0.000,0.052,2372,2682,3026
$GC,8842,-0.52,-136.3,793.7,-6.0,325,8844,0.00,1.58,0.00,0.000,4,0.000,0.030,2372,1622,3025
$STATE,8945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8945,begin apogee
$GC,8958,-0.18,0.0,800.2,5.2,327,9087,0.25,0.00,127.07,1.206,6,0.049,0.000,2486,2413,2490
$STATE,9087,end apogee,CONTROL_FINISHED_OK
$STATE,9087,begin climb
$GC,9092,0.52,136.3,805.3,0.0,330,9234,0.55,1.75,131.45,1.140,4,0.028,0.049,2722,3481,1933
$GC,9485,0.52,136.3,749.2,19.0,339,9489,0.10,1.60,0.00,0.000,6,0.176,0.029,2703,2434,1926
$GC,9802,0.52,136.3,698.1,15.7,347,9805,0.00,1.67,0.00,0.000,4,0.000,0.050,2702,3468,1924
$GC,9911,0.52,136.3,679.8,17.0,349,9913,0.00,1.58,0.00,0.000,6,0.000,0.028,2708,2425,1923
$GC,10256,0.52,136.3,624.0,16.3,358,10259,0.00,1.67,0.00,0.000,4,0.000,0.049,2703,3484,1922
$GC,10317,0.52,136.3,614.0,17.3,359,10320,0.00,1.58,0.00,0.000,6,0.000,0.028,2709,2438,1921
$GC,10628,0.52,136.3,565.3,15.3,367,10631,0.00,1.65,0.00,0.000,4,0.000,0.052,2709,3473,1921
$GC,10699,0.52,136.3,553.0,17.6,368,10702,0.00,1.50,0.00,0.000,6,0.000,0.028,2716,2470,1921
$GC,11040,0.52,136.3,501.8,14.6,377,11044,0.00,1.65,0.00,0.000,4,0.000,0.031,2725,1357,1920
$GC,11086,0.52,136.3,495.5,13.3,378,11089,0.00,1.77,0.00,0.000,6,0.000,0.044,2724,2481,1919
$GC,11413,0.52,136.3,452.6,12.7,386,11416,0.00,1.58,0.00,0.000,4,0.000,0.052,2725,3475,1919
$GC,11467,0.52,136.3,445.2,14.2,387,11471,0.10,1.55,0.00,0.000,6,0.173,0.028,2704,2446,1919
$GC,11784,0.52,136.3,409.2,11.0,395,11788,0.00,1.65,0.00,0.000,4,0.000,0.051,2702,3466,1918
$GC,11882,0.52,136.3,396.4,13.2,397,11885,0.00,1.50,0.00,0.000,6,0.000,0.029,2708,2470,1918
$GC,12198,0.52,136.3,359.3,11.7,405,12199,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2465,1918
$GC,12521,0.52,136.3,321.6,11.8,413,12524,0.00,1.62,0.00,0.000,4,0.000,0.051,2708,3492,1919
$GC,12625,0.52,136.3,308.6,12.4,415,12628,0.00,1.52,0.00,0.000,6,0.000,0.028,2716,2475,1918
$GC,12936,0.53,153.3,276.9,9.2,423,12960,0.00,1.60,16.02,0.734,4,0.000,0.050,2716,3471,1864
$GC,12979,0.53,153.3,272.6,11.3,424,12982,0.00,1.50,0.00,0.000,6,0.000,0.028,2721,2473,1863
$GC,13301,0.53,153.3,241.1,10.0,432,13304,0.00,1.62,0.00,0.000,4,0.000,0.031,2728,1348,1862
$GC,13426,0.56,221.0,231.4,6.7,434,13491,0.00,1.75,59.92,0.805,6,0.000,0.044,2728,2475,1587
$GC,13804,0.56,221.0,192.4,10.0,447,13807,0.00,1.58,0.00,0.000,4,0.000,0.051,2728,3468,1581
$GC,13935,0.56,221.0,177.1,12.4,459,13938,0.00,1.48,0.00,0.000,6,0.000,0.027,2734,2491,1580
$GC,14262,0.56,221.0,141.5,10.5,490,14267,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2485,1579
$GC,14581,0.56,235.9,110.3,9.3,521,14597,0.00,1.62,12.82,0.637,4,0.000,0.045,2734,3483,1528
$GC,14620,0.56,235.9,106.4,10.4,524,14623,0.08,1.42,0.00,0.000,6,0.140,0.027,2714,2538,1527
$GC,14944,0.58,287.8,81.5,7.5,555,14996,0.00,1.83,44.60,0.645,4,0.000,0.028,2715,1343,1315
$GC,15116,0.63,410.3,72.2,4.0,571,15222,0.00,1.77,100.32,0.626,6,0.000,0.039,2714,2491,816
$GC,15533,0.63,410.3,35.2,11.4,611,15536,0.00,1.67,0.00,0.000,4,0.000,0.026,2714,1345,813
$GC,15642,0.63,410.3,23.1,10.9,626,15647,0.00,1.70,0.00,0.000,6,0.000,0.038,2714,2464,811
$STATE,15827,end climb,SURFACE_DEPTH_REACHED
$STATE,15827,begin surface coast
$FINISH,0.1,1.023315
$STATE,15854,end surface coast,CONTROL_FINISHED_OK
$STATE,15854,begin surface
$SM_CCo,15937,0.00,0.000,0,0,811,411.85
$SM_GC,0.94,6.82,0.00,0.00,0.026,0.000,0.000,38,2681,811,-7.71,0.59,411.85
$IRIDIUM_FIX,2155.06,-15759.83,060202,010135
$TT8_MAMPS,0.049088
$HUMID,2297
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.50
$XPDR_PINGS,14
$24V_AH,23.1,97.204
$10V_AH,10.1,89.394
$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,17.400,105.050,492.225,0.000,0.000,92.519,109.890,1186.207,3.500,0.000,0.000,14.694,0.000,13053.219,529.527,2057.189,1963.400,33.356,1470.034,0.000,1658.697,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,57.525,1205.724,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,447.356,0.000,555.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50816,666
$CAP_FILE_SIZE,134336,0
$CFSIZE,260165632,220147712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,121112,061435,2203.840,-15802.545,35,1.0,35,9.9