version: 66.04
glider: 512
mission: 3
dive: 158
start: 8 21 112 13 12 29
data:
$ID,512
$MISSION,3
$DIVE,158
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,200
$T_MISSION,450
$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,-8
$MAX_BUOY,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-53621.305
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,40
$C_ROLL_DIVE,2690
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2640
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,1
$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
$GPS1,130448,2251.590,-15804.689,7,1.9,13,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-80.5
$GPS2,131151,2251.551,-15804.739,14,3.2,33,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,-0.109
$KALMAN_X,-342129.9,-8.6,581.2,337835.0,-4451.9
$KALMAN_Y,65989.6,-227.2,-342.4,-60986.6,389.7
$MHEAD_RNG_PITCHd_Wd,106.0,56179,-18.5,-10.000
$D_GRID,600
$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,15,-0.78,-131.4,0.0,0.0,0,94,0.00,0.00,-76.68,0.000,2,0.000,0.000,26,2726,3133
$GC,99,-0.78,-131.4,4.6,-10.0,9,117,8.82,2.15,-0.73,0.000,4,0.203,0.034,2405,1251,3178
$GC,127,-0.78,-131.4,22.2,-45.9,12,136,0.00,2.20,0.00,0.000,6,0.000,0.039,2396,2665,3179
$GC,394,-0.78,-131.4,79.0,-17.0,38,397,0.00,1.88,0.00,0.000,4,0.000,0.045,2387,3894,3180
$GC,483,-0.78,-131.4,92.3,-12.6,46,486,0.00,1.75,0.00,0.000,6,0.000,0.021,2387,2666,3180
$GC,747,-0.78,-131.4,133.8,-15.7,71,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2659,3181
$GC,1004,-0.78,-131.4,175.1,-15.5,96,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2659,3182
$GC,1258,-0.78,-131.4,212.4,-13.6,115,1261,0.00,1.95,0.00,0.000,4,0.000,0.023,2387,1286,3182
$GC,1286,-0.78,-131.4,216.2,-12.7,115,1289,0.00,2.10,0.00,0.000,6,0.000,0.041,2385,2684,3183
$GC,1546,-0.78,-131.4,244.3,-10.7,122,1549,0.00,1.85,0.00,0.000,4,0.000,0.047,2376,3908,3183
$GC,1617,-0.78,-131.4,250.7,-8.0,123,1620,0.00,1.75,0.00,0.000,6,0.000,0.021,2376,2688,3183
$GC,1876,-0.78,-131.4,277.2,-10.3,130,1879,0.00,1.95,0.00,0.000,4,0.000,0.023,2376,1293,3182
$GC,1915,-0.78,-131.4,280.9,-9.2,130,1922,0.00,2.15,0.00,0.000,6,0.000,0.041,2372,2694,3182
$GC,2164,-0.78,-131.4,307.5,-11.1,137,2167,0.00,1.85,0.00,0.000,4,0.000,0.048,2363,3893,3182
$GC,2213,-0.78,-131.4,312.7,-9.9,138,2217,0.08,1.73,0.00,0.000,6,0.113,0.022,2391,2686,3181
$GC,2494,-0.78,-131.4,333.7,-7.2,145,2498,0.00,1.95,0.00,0.000,4,0.000,0.025,2393,1303,3180
$GC,2549,-0.78,-131.4,337.1,-5.7,146,2552,0.00,2.10,0.00,0.000,6,0.000,0.041,2386,2693,3180
$GC,2825,-0.78,-131.4,354.9,-6.6,153,2828,0.00,1.83,0.00,0.000,4,0.000,0.050,2377,3896,3178
$GC,2869,-0.78,-131.4,357.8,-5.8,154,2872,0.00,1.70,0.00,0.000,6,0.000,0.024,2377,2694,3178
$GC,3158,-0.78,-131.4,380.9,-8.4,161,3161,0.00,2.00,0.00,0.000,4,0.000,0.026,2377,1292,3176
$GC,3186,-0.78,-131.4,383.7,-9.4,161,3189,0.00,2.12,0.00,0.000,6,0.000,0.043,2372,2693,3176
$GC,3446,-0.78,-131.4,406.2,-8.7,168,3449,0.00,1.85,0.00,0.000,4,0.000,0.051,2363,3904,3174
$GC,3490,-0.78,-131.4,409.9,-8.0,169,3493,0.12,1.73,0.00,0.000,6,0.114,0.025,2401,2690,3173
$GC,3779,-0.78,-131.4,423.3,-4.4,176,3782,0.00,2.00,0.00,0.000,4,0.000,0.028,2409,1297,3172
$GC,3813,-0.78,-131.4,424.9,-4.4,176,3816,0.00,2.12,0.00,0.000,6,0.000,0.043,2402,2698,3172
$GC,4067,-0.78,-131.4,438.3,-6.0,183,4070,0.00,2.03,0.00,0.000,4,0.000,0.027,2409,1299,3170
$GC,4143,-0.78,-131.4,444.0,-7.6,184,4146,0.00,2.12,0.00,0.000,6,0.000,0.044,2408,2699,3169
$GC,4400,-0.78,-131.4,462.7,-7.5,191,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2700,3168
$GC,4640,-0.78,-131.4,481.9,-8.1,197,4641,0.00,0.00,-0.08,0.000,6,0.000,0.000,2409,2700,3192
$GC,4881,-0.78,-131.4,501.5,-8.0,203,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2699,3190
$GC,5124,-0.78,-131.4,520.0,-7.6,209,5127,0.00,2.05,0.00,0.000,4,0.000,0.028,2409,1285,3189
$GC,5173,-0.78,-131.4,523.7,-7.9,210,5176,0.00,2.15,0.00,0.000,6,0.000,0.044,2409,2696,3189
$GC,5454,-0.78,-131.4,544.0,-7.6,217,5457,0.00,1.85,0.00,0.000,4,0.000,0.054,2409,3898,3186
$GC,5493,-0.78,-131.4,547.2,-8.4,217,5499,0.00,1.75,0.00,0.000,6,0.000,0.028,2409,2684,3187
$GC,5742,-0.78,-131.4,566.2,-8.0,224,5745,0.00,2.00,0.00,0.000,4,0.000,0.030,2409,1303,3186
$GC,5835,-0.78,-131.4,573.9,-7.7,226,5838,0.00,2.12,0.00,0.000,6,0.000,0.046,2409,2692,3186
$GC,6116,-0.78,-131.4,598.2,-9.0,233,6119,0.00,2.03,0.00,0.000,4,0.000,0.029,2409,1305,3184
$STATE,6134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6134,begin apogee
$GC,6146,-0.27,0.0,600.4,9.4,233,6263,0.40,0.00,114.53,1.062,6,0.061,0.000,2571,2507,2641
$STATE,6263,end apogee,CONTROL_FINISHED_OK
$STATE,6263,begin climb
$GC,6268,0.78,131.4,607.9,0.0,236,6398,0.88,2.22,118.47,1.011,4,0.032,0.029,2921,1116,2103
$GC,6634,0.78,131.4,554.8,23.7,244,6637,0.00,2.15,0.00,0.000,6,0.000,0.039,2918,2506,2095
$GC,6896,0.78,131.4,489.2,25.3,251,6899,0.00,2.15,0.00,0.000,4,0.000,0.043,2918,3903,2093
$GC,6924,0.78,131.4,481.5,27.7,251,6927,0.00,2.05,0.00,0.000,6,0.000,0.027,2927,2517,2092
$GC,7183,0.78,131.4,419.9,22.9,258,7186,0.00,2.10,0.00,0.000,4,0.000,0.031,2937,1090,2090
$GC,7315,0.78,131.4,393.8,18.3,261,7319,0.12,2.15,0.00,0.000,6,0.221,0.038,2905,2503,2090
$GC,7596,0.78,131.4,339.8,19.2,268,7599,0.00,2.08,0.00,0.000,4,0.000,0.031,2913,1095,2089
$GC,7753,0.78,131.4,311.8,17.2,271,7756,0.00,2.12,0.00,0.000,6,0.000,0.038,2913,2502,2089
$GC,8012,0.78,131.4,262.5,19.1,278,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2502,2088
$GC,8254,0.78,131.4,223.5,15.0,284,8257,0.00,2.05,0.00,0.000,4,0.000,0.029,2924,1093,2088
$GC,8400,0.78,131.4,208.1,11.0,287,8403,0.00,2.12,0.00,0.000,6,0.000,0.039,2918,2501,2087
$GC,8657,0.78,131.4,182.3,10.4,304,8660,0.00,2.12,0.00,0.000,4,0.000,0.044,2918,3899,2087
$GC,8853,0.78,131.4,159.2,12.3,322,8856,0.00,2.05,0.00,0.000,6,0.000,0.026,2927,2486,2086
$GC,9117,0.78,135.6,131.4,9.8,347,9121,0.00,2.17,0.00,0.000,4,0.000,0.043,2927,3905,2087
$GC,9174,0.82,161.7,126.0,8.7,352,9201,0.00,2.03,23.70,0.694,6,0.000,0.025,2937,2498,1980
$GC,9454,0.82,161.7,86.5,16.4,378,9457,0.00,2.03,0.00,0.000,4,0.000,0.028,2948,1098,1977
$GC,9533,0.82,161.7,74.5,15.6,385,9537,0.12,2.10,0.00,0.000,6,0.212,0.035,2917,2503,1976
$GC,9796,0.87,203.6,48.2,7.9,409,9836,0.00,2.08,34.65,0.621,4,0.000,0.026,2926,1097,1809
$GC,9851,0.87,203.6,42.1,11.6,414,9854,0.00,2.12,0.00,0.000,6,0.000,0.035,2926,2497,1808
$STATE,10049,end climb,SURFACE_DEPTH_REACHED
$STATE,10049,begin surface coast
$FINISH,-0.0,1.023450
$STATE,10059,end surface coast,CONTROL_FINISHED_OK
$STATE,10059,begin surface
$SM_CCo,10082,80.40,0.568,0,0,1089,380.21
$SM_GC,0.81,0.00,0.00,80.40,0.000,0.000,0.568,35,2719,1089,-8.17,0.82,380.21
$IRIDIUM_FIX,2246.36,-15806.70,151101,101044
$TT8_MAMPS,0.049088
$HUMID,2092
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.80
$XPDR_PINGS,52
$24V_AH,24.4,19.240
$10V_AH,10.6,16.830
$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,17.900,100.850,291.350,80.400,0.000,24.819,37.742,191.026,13.000,0.000,0.000,34.695,0.000,7206.686,409.287,2279.519,675.602,33.343,1124.295,0.000,2009.280,0.000,0.544,0.000
$DEVICE_MAMPS,220.896,53.690,1062.295,567.580,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,302.173,1004.810,1039.829,408.212,757.571,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35306,447
$CAP_FILE_SIZE,89373,0
$CFSIZE,260165632,251437056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,210812,160305,2250.930,-15805.174,41,0.8,41,10.1