version: 66.04
glider: 512
mission: 3
dive: 734
start: 11 17 112 15 21 0
data:
$ID,512
$MISSION,3
$DIVE,734
$D_SURF,3
$D_FLARE,2
$D_TGT,900
$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,272
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52093
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,-68522.039
$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,2860
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2440
$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
$GPS1,151236,2158.729,-15802.940,32,0.9,32,9.9
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,2
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-75.3
$GPS2,152024,2158.740,-15802.973,15,1.8,20,9.9
$SPEED_LIMITS,0.158,0.251
$TGT_NAME,WAY_001
$TGT_LATLONG,2148.400,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.139,-0.209
$KALMAN_X,-2222.0,-658.1,115.8,926.4,-302.0
$KALMAN_Y,2656.5,769.3,687.9,-6796.6,-993.1
$MHEAD_RNG_PITCHd_Wd,136.5,20972,-20.6,-11.029
$D_GRID,900
$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,-0.58,-126.5,0.0,0.0,0,101,0.00,0.00,-83.72,0.000,2,0.000,0.000,34,2900,2558
$GC,107,-0.58,-126.5,2.4,-4.9,16,130,9.18,1.65,-8.98,0.000,4,0.206,0.039,2342,1781,2959
$GC,239,-0.58,-126.5,31.8,-18.5,40,242,0.00,1.60,0.00,0.000,6,0.000,0.039,2336,2836,2959
$GC,567,-0.58,-126.5,101.7,-20.1,71,570,0.00,1.62,0.00,0.000,4,0.000,0.047,2328,3891,2959
$GC,627,-0.58,-126.5,114.7,-18.6,76,632,0.00,1.52,0.00,0.000,6,0.000,0.020,2328,2842,2959
$GC,949,-0.58,-126.5,162.8,-14.4,107,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2835,2959
$GC,1287,-0.58,-126.5,205.5,-12.3,137,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2834,2960
$GC,1609,-0.58,-126.5,249.1,-13.9,145,1612,0.00,1.65,0.00,0.000,4,0.000,0.044,2320,3904,2959
$GC,1626,-0.58,-126.5,251.3,-13.0,145,1629,0.00,1.48,0.00,0.000,6,0.000,0.020,2320,2869,2959
$GC,1937,-0.58,-126.5,290.2,-11.8,153,1941,0.00,1.45,0.00,0.000,4,0.000,0.021,2320,1820,2959
$GC,1998,-0.58,-126.5,296.5,-9.5,154,2001,0.00,1.60,0.00,0.000,6,0.000,0.040,2313,2862,2959
$GC,2309,-0.58,-126.5,328.5,-10.1,162,2311,0.00,1.48,0.00,0.000,4,0.000,0.021,2315,1819,2958
$GC,2359,-0.58,-126.5,333.3,-9.4,163,2362,0.12,1.60,0.00,0.000,6,0.121,0.041,2344,2876,2958
$GC,2680,-0.58,-126.5,359.5,-8.3,171,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2876,2956
$GC,3005,-0.58,-126.5,389.5,-9.5,179,3007,0.00,1.50,0.00,0.000,4,0.000,0.023,2344,1829,2953
$GC,3027,-0.58,-126.5,391.7,-9.5,179,3030,0.00,1.58,0.00,0.000,6,0.000,0.043,2339,2843,2953
$GC,3374,-0.58,-126.5,427.2,-10.3,188,3377,0.00,1.65,0.00,0.000,4,0.000,0.051,2331,3907,2950
$GC,3397,-0.58,-126.5,429.4,-9.1,188,3400,0.00,1.52,0.00,0.000,6,0.000,0.022,2331,2853,2950
$GC,3743,-0.58,-126.5,462.0,-9.0,197,3746,0.00,1.50,-0.08,0.000,4,0.000,0.042,2331,1821,2971
$GC,3777,-0.58,-126.5,464.9,-8.1,197,3780,0.00,1.60,0.00,0.000,6,0.000,0.044,2323,2867,2971
$GC,4113,-0.58,-126.5,495.1,-9.2,206,4116,0.00,1.52,0.00,0.000,4,0.000,0.024,2323,1816,2969
$GC,4189,-0.58,-126.5,502.0,-9.2,207,4192,0.00,1.58,0.00,0.000,6,0.000,0.044,2316,2821,2968
$GC,4525,-0.58,-126.5,537.8,-11.3,216,4528,0.00,1.70,0.00,0.000,4,0.000,0.053,2308,3908,2967
$GC,4585,-0.58,-126.5,545.2,-12.1,217,4588,0.12,1.58,0.00,0.000,6,0.110,0.024,2347,2836,2966
$GC,4896,-0.58,-126.5,574.0,-9.0,225,4899,0.00,1.45,0.00,0.000,4,0.000,0.025,2347,1813,2964
$GC,4984,-0.58,-126.5,581.5,-8.7,227,4987,0.00,1.60,0.00,0.000,6,0.000,0.047,2346,2821,2963
$GC,5311,-0.58,-126.5,608.7,-8.2,235,5314,0.00,1.48,0.00,0.000,4,0.000,0.026,2346,1809,2961
$GC,5382,-0.58,-126.5,614.1,-7.1,236,5385,0.00,1.58,0.00,0.000,6,0.000,0.047,2340,2805,2961
$GC,5724,-0.58,-126.5,640.2,-7.5,245,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2805,2958
$GC,6045,-0.58,-126.5,662.3,-6.7,253,6048,0.00,1.45,0.00,0.000,4,0.000,0.027,2340,1812,2956
$GC,6116,-0.58,-126.5,666.7,-6.2,254,6120,0.00,1.58,0.00,0.000,6,0.000,0.048,2333,2805,2956
$GC,6458,-0.58,-126.5,689.8,-6.9,263,6460,0.00,1.75,0.00,0.000,4,0.000,0.058,2326,3905,2955
$GC,6491,-0.58,-126.5,692.3,-7.9,263,6494,0.00,1.60,0.00,0.000,6,0.000,0.027,2326,2812,2955
$GC,6827,-0.58,-126.5,715.9,-7.1,272,6830,0.00,1.42,0.00,0.000,4,0.000,0.027,2326,1812,2954
$GC,6909,-0.58,-126.5,721.7,-7.1,273,6913,0.00,1.58,0.00,0.000,6,0.000,0.048,2318,2803,2953
$GC,7239,-0.58,-126.5,746.5,-7.5,282,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2803,2952
$GC,7562,-0.58,-126.5,771.3,-7.8,290,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2803,2951
$GC,7885,-0.58,-126.5,796.1,-7.6,298,7888,0.00,1.48,0.00,0.000,4,0.000,0.028,2319,1801,2950
$GC,7935,-0.58,-126.5,799.8,-6.7,299,7938,0.10,1.60,0.00,0.000,6,0.125,0.049,2339,2824,2950
$GC,8257,-0.58,-126.5,820.2,-6.3,307,8260,0.00,1.50,0.00,0.000,4,0.000,0.028,2339,1810,2948
$GC,8296,-0.58,-126.5,822.6,-6.6,307,8299,0.00,1.55,0.00,0.000,6,0.000,0.049,2334,2781,2949
$GC,8626,-0.58,-126.5,844.8,-6.8,316,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2782,2948
$GC,8949,-0.58,-126.5,867.8,-7.4,324,8952,0.00,1.42,0.00,0.000,4,0.000,0.029,2334,1814,2946
$GC,8982,-0.58,-126.5,870.3,-7.3,324,8986,0.00,1.52,0.00,0.000,6,0.000,0.049,2328,2768,2947
$GC,9318,-0.58,-126.5,897.6,-8.3,333,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2767,2946
$STATE,9353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9353,begin apogee
$GC,9364,-0.18,0.0,901.0,8.3,334,9496,0.45,0.00,125.53,1.251,6,0.103,0.000,2473,2406,2440
$STATE,9497,end apogee,CONTROL_FINISHED_OK
$STATE,9497,begin climb
$GC,9502,0.58,126.5,905.8,0.0,337,9727,0.65,1.62,147.62,1.042,4,0.036,0.031,2747,1366,1923
$GC,9835,0.58,126.5,862.4,17.4,345,9838,0.00,1.67,0.00,0.000,6,0.000,0.044,2747,2426,1917
$GC,10162,0.58,126.5,797.4,20.0,353,10165,0.00,1.65,0.00,0.000,4,0.000,0.050,2742,3483,1915
$GC,10218,0.58,126.5,786.2,21.3,354,10221,0.08,1.60,0.00,0.000,6,0.174,0.028,2726,2429,1914
$GC,10534,0.58,126.5,726.6,19.0,362,10537,0.00,1.58,0.00,0.000,4,0.000,0.030,2733,1358,1914
$GC,10568,0.58,126.5,720.3,18.7,362,10571,0.00,1.67,0.00,0.000,6,0.000,0.044,2728,2437,1912
$GC,10904,0.58,126.5,659.1,17.8,371,10907,0.00,1.62,0.00,0.000,4,0.000,0.052,2729,3478,1912
$GC,10969,0.58,126.5,646.6,17.9,372,10972,0.00,1.58,0.00,0.000,6,0.000,0.028,2734,2436,1911
$GC,11315,0.58,126.5,586.4,17.2,381,11318,0.00,1.60,0.00,0.000,4,0.000,0.031,2743,1349,1911
$GC,11365,0.58,126.5,578.3,16.6,382,11368,0.00,1.70,0.00,0.000,6,0.000,0.045,2742,2444,1911
$GC,11687,0.58,126.5,524.8,16.3,390,11690,0.00,1.62,0.00,0.000,4,0.000,0.052,2742,3485,1911
$GC,11752,0.58,126.5,513.9,16.9,391,11756,0.08,1.55,0.00,0.000,6,0.167,0.028,2718,2453,1911
$GC,12099,0.58,126.5,463.8,14.3,400,12102,0.00,1.62,0.00,0.000,4,0.000,0.031,2725,1335,1910
$GC,12234,0.58,126.5,446.6,11.3,403,12237,0.00,1.75,0.00,0.000,6,0.000,0.045,2725,2441,1910
$GC,12555,0.58,126.5,403.8,13.2,411,12558,0.00,1.62,0.00,0.000,4,0.000,0.051,2725,3482,1910
$GC,12579,0.58,126.5,400.7,13.5,411,12582,0.00,1.58,0.00,0.000,6,0.000,0.026,2733,2430,1910
$GC,12925,0.58,126.5,356.5,12.6,420,12928,0.00,1.67,0.00,0.000,4,0.000,0.051,2729,3481,1910
$GC,12975,0.58,126.5,349.7,13.1,421,12978,0.00,1.55,0.00,0.000,6,0.000,0.025,2735,2446,1910
$GC,13297,0.58,126.5,309.5,12.6,429,13300,0.00,1.60,0.00,0.000,4,0.000,0.030,2743,1348,1909
$GC,13411,0.58,136.6,297.5,10.4,431,13425,0.00,1.70,8.15,0.769,6,0.000,0.045,2741,2445,1883
$GC,13751,0.59,145.3,261.0,10.5,440,13764,0.00,1.65,9.60,0.763,4,0.000,0.051,2742,3471,1847
$GC,13822,0.59,147.3,253.1,10.9,441,13830,0.00,1.58,3.42,0.480,6,0.000,0.026,2748,2422,1839
$GC,14162,0.59,153.3,215.8,10.7,450,14174,0.00,1.62,7.25,0.684,4,0.000,0.028,2756,1345,1814
$GC,14301,0.60,176.7,201.6,9.7,453,14326,0.08,1.73,21.92,0.766,6,0.149,0.044,2730,2435,1719
$GC,14644,0.61,200.0,168.3,9.7,484,14669,0.00,1.65,21.48,0.730,4,0.000,0.048,2729,3481,1623
$GC,14828,0.62,217.5,148.1,10.0,500,14847,0.00,1.50,15.90,0.690,6,0.000,0.025,2734,2482,1553
$GC,15168,0.62,221.0,113.0,10.8,533,15178,0.00,1.67,4.15,0.465,4,0.000,0.029,2739,1367,1539
$GC,15265,0.64,277.1,103.5,7.7,542,15318,0.00,1.73,48.62,0.671,6,0.000,0.041,2739,2487,1309
$GC,15630,0.66,320.2,67.1,8.5,577,15673,0.00,1.70,36.17,0.630,4,0.000,0.027,2738,1360,1133
$GC,15696,0.67,355.7,61.1,8.9,583,15730,0.00,1.73,30.55,0.610,6,0.000,0.038,2739,2476,988
$GC,16046,0.67,355.7,26.7,11.1,619,16051,0.00,1.65,0.00,0.000,4,0.000,0.027,2739,1351,985
$GC,16079,0.69,397.8,23.6,8.6,625,16118,0.00,1.70,34.83,0.582,6,0.000,0.035,2739,2471,818
$STATE,16314,end climb,SURFACE_DEPTH_REACHED
$STATE,16314,begin surface coast
$FINISH,0.2,1.016141
$STATE,16357,end surface coast,CONTROL_FINISHED_OK
$STATE,16357,begin surface
$SM_CCo,16441,0.00,0.000,0,0,813,399.10
$SM_GC,1.11,6.95,0.00,0.00,0.027,0.000,0.000,33,2877,813,-7.71,0.45,399.10
$IRIDIUM_FIX,2150.42,-15757.67,110202,101001
$TT8_MAMPS,0.047554
$HUMID,2301
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.60
$XPDR_PINGS,19
$24V_AH,23.1,101.694
$10V_AH,10.0,91.152
$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,17.800,109.525,515.200,0.000,0.000,23.650,37.552,241.800,4.750,0.000,0.000,20.994,0.000,13393.688,598.636,2024.950,866.379,31.421,1564.408,0.000,1661.761,0.000,0.543,0.000
$DEVICE_MAMPS,206.323,57.525,1250.977,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,235.187,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47748,677
$CAP_FILE_SIZE,125983,0
$CFSIZE,260165632,218517504
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,14,1
$GPS,171112,195630,2158.030,-15802.927,61,1.0,61,9.9