version: 66.04
glider: 512
mission: 3
dive: 170
start: 8 23 112 0 33 33
data:
$ID,512
$MISSION,3
$DIVE,170
$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,110
$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,-53868.227
$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,2470
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2690
$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
$GPS1,002529,2249.854,-15803.587,43,1.4,49,10.1
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-81.8
$GPS2,003251,2249.836,-15803.638,12,2.9,31,10.1
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,-0.049
$KALMAN_X,-372221.1,570.3,409.1,369405.8,-4181.1
$KALMAN_Y,68782.7,74.4,110.4,-67717.3,-340.1
$MHEAD_RNG_PITCHd_Wd,92.4,56082,-20.7,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.82,-107.1,0.0,0.0,0,90,0.00,0.00,-74.07,0.000,2,0.000,0.000,25,2708,3022
$GC,96,-0.82,-107.1,3.5,-6.7,9,112,8.70,1.80,-1.88,0.000,4,0.202,0.047,2372,3912,3127
$GC,220,-0.82,-107.1,43.3,-16.0,25,223,0.00,1.77,0.00,0.000,6,0.000,0.022,2372,2695,3129
$GC,483,-0.82,-107.1,93.3,-18.1,50,486,0.00,2.03,0.00,0.000,4,0.000,0.025,2372,1285,3130
$GC,551,-0.82,-107.1,104.4,-14.6,56,554,0.00,2.12,0.00,0.000,6,0.000,0.041,2372,2678,3131
$GC,815,-0.82,-107.1,147.6,-15.7,81,818,0.00,1.88,0.00,0.000,4,0.000,0.045,2363,3901,3132
$GC,871,-0.82,-107.1,156.1,-12.9,86,874,0.00,1.77,0.00,0.000,6,0.000,0.021,2362,2677,3132
$GC,1134,-0.82,-107.1,192.5,-13.0,111,1137,0.00,1.98,0.00,0.000,4,0.000,0.025,2362,1281,3132
$GC,1204,-0.82,-107.1,201.0,-9.8,117,1207,0.00,2.15,0.00,0.000,6,0.000,0.040,2359,2703,3133
$GC,1464,-0.82,-107.1,233.1,-12.7,124,1467,0.00,1.80,0.00,0.000,4,0.000,0.045,2350,3901,3133
$GC,1524,-0.82,-107.1,240.6,-11.2,125,1527,0.12,1.73,0.00,0.000,6,0.127,0.021,2384,2678,3133
$GC,1794,-0.82,-107.1,265.6,-9.1,132,1797,0.00,1.95,0.00,0.000,4,0.000,0.024,2386,1299,3133
$GC,1844,-0.82,-107.1,270.1,-9.3,133,1847,0.00,2.10,0.00,0.000,6,0.000,0.040,2385,2692,3133
$GC,2125,-0.82,-107.1,295.8,-9.1,140,2128,0.00,1.83,0.00,0.000,4,0.000,0.048,2375,3899,3132
$GC,2180,-0.82,-107.1,300.4,-7.6,141,2183,0.00,1.73,0.00,0.000,6,0.000,0.022,2376,2677,3132
$GC,2456,-0.82,-107.1,324.7,-8.7,148,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2671,3131
$GC,2698,-0.82,-107.1,346.1,-8.9,154,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2671,3130
$GC,2940,-0.82,-107.1,368.7,-9.4,160,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2671,3129
$GC,3184,-0.82,-107.1,390.1,-8.8,166,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2671,3127
$GC,3424,-0.82,-107.1,410.5,-8.4,172,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2671,3126
$GC,3666,-0.82,-107.1,430.9,-8.4,178,3669,0.00,1.98,0.00,0.000,4,0.000,0.026,2376,1296,3124
$GC,3700,-0.82,-107.1,433.8,-8.8,178,3703,0.00,2.12,0.00,0.000,6,0.000,0.043,2372,2696,3124
$GC,3954,-0.82,-107.1,454.6,-8.1,185,3957,0.00,2.00,0.00,0.000,4,0.000,0.027,2372,1300,3123
$GC,3977,-0.82,-107.1,456.4,-7.7,185,3980,0.00,2.12,0.00,0.000,6,0.000,0.044,2372,2693,3122
$GC,4242,-0.82,-107.1,475.6,-7.2,192,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2693,3121
$GC,4484,-0.82,-107.1,492.3,-6.8,198,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2694,3119
$GC,4726,-0.82,-107.1,508.0,-6.5,204,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2693,3118
$GC,4968,-0.82,-107.1,525.1,-7.1,210,4971,0.00,2.03,0.00,0.000,4,0.000,0.028,2372,1298,3116
$GC,4996,-0.82,-107.1,527.4,-8.2,210,4999,0.00,2.15,0.00,0.000,6,0.000,0.046,2372,2699,3115
$GC,5256,-0.82,-107.1,544.9,-6.6,217,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2699,3114
$GC,5498,-0.82,-107.1,560.1,-6.4,223,5501,0.00,1.85,0.00,0.000,4,0.000,0.053,2363,3897,3114
$GC,5520,-0.82,-107.1,561.8,-6.8,223,5523,0.00,1.73,0.00,0.000,6,0.000,0.027,2363,2700,3113
$GC,5786,-0.82,-107.1,582.5,-8.1,230,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2692,3112
$STATE,6025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6025,begin apogee
$GC,6035,-0.27,0.0,603.3,8.7,236,6125,0.60,0.00,87.90,1.075,6,0.096,0.000,2569,2483,2690
$STATE,6126,end apogee,CONTROL_FINISHED_OK
$STATE,6126,begin climb
$GC,6130,0.82,107.1,606.9,0.0,238,6240,0.90,2.22,97.72,1.021,4,0.041,0.028,2923,1063,2253
$GC,6356,0.82,107.1,600.5,17.9,243,6360,0.00,2.20,0.00,0.000,6,0.000,0.037,2918,2474,2247
$GC,6621,0.82,107.1,552.1,18.2,250,6624,0.00,2.20,0.00,0.000,4,0.000,0.044,2919,3886,2244
$GC,6869,0.82,107.1,504.1,18.2,255,6872,0.00,2.12,0.00,0.000,6,0.000,0.028,2927,2459,2241
$GC,7123,0.82,107.1,461.9,15.9,262,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2453,2240
$GC,7366,0.82,107.1,427.3,13.7,268,7369,0.00,2.05,0.00,0.000,4,0.000,0.031,2938,1056,2239
$GC,7613,0.82,107.1,398.1,11.9,273,7617,0.00,2.15,0.00,0.000,6,0.000,0.038,2932,2477,2238
$GC,7868,0.82,107.1,366.2,12.9,280,7871,0.00,2.08,0.00,0.000,4,0.000,0.030,2940,1058,2238
$GC,8115,0.83,115.3,337.4,9.5,285,8128,0.00,2.12,5.68,0.711,6,0.000,0.038,2940,2474,2220
$GC,8369,0.84,124.2,313.2,9.4,292,8383,0.00,2.20,9.52,0.794,4,0.000,0.045,2940,3904,2183
$GC,8614,0.84,124.2,284.8,11.5,297,8617,0.00,2.12,0.00,0.000,6,0.000,0.027,2950,2460,2180
$GC,8873,0.84,124.2,257.9,10.0,304,8876,0.00,2.20,0.00,0.000,4,0.000,0.044,2945,3892,2179
$GC,9008,0.90,168.0,247.2,7.3,307,9051,0.00,2.10,37.30,0.818,6,0.000,0.027,2954,2459,2004
$GC,9301,0.90,168.0,197.2,18.8,315,9304,0.00,2.20,0.00,0.000,4,0.000,0.043,2954,3878,1999
$GC,9349,0.90,168.0,188.4,19.2,319,9352,0.00,2.10,0.00,0.000,6,0.000,0.029,2964,2477,1998
$GC,9612,0.90,168.0,144.8,15.5,344,9615,0.00,2.20,0.00,0.000,4,0.000,0.041,2958,3892,1998
$GC,9682,0.90,168.0,132.7,16.3,350,9690,0.00,2.12,0.00,0.000,6,0.000,0.026,2966,2479,1998
$GC,9940,0.90,168.0,92.5,14.3,375,9943,0.00,2.08,0.00,0.000,4,0.000,0.028,2977,1040,1997
$GC,10042,0.90,168.0,78.2,11.4,384,10050,0.10,2.17,0.00,0.000,6,0.229,0.036,2945,2470,1997
$GC,10305,0.97,227.9,57.5,6.2,409,10359,0.00,2.22,48.05,0.637,4,0.000,0.041,2944,3881,1758
$GC,10412,0.97,227.9,40.7,24.2,418,10416,0.00,2.12,0.00,0.000,6,0.000,0.025,2953,2446,1758
$STATE,10570,end climb,SURFACE_DEPTH_REACHED
$STATE,10570,begin surface coast
$FINISH,-0.1,1.023394
$STATE,10584,end surface coast,CONTROL_FINISHED_OK
$STATE,10584,begin surface
$SM_CCo,10607,73.15,0.572,0,0,1139,380.21
$SM_GC,0.65,0.00,0.00,73.15,0.000,0.000,0.572,28,2706,1139,-8.19,0.45,380.21
$IRIDIUM_FIX,2239.35,-15804.53,161101,212148
$TT8_MAMPS,0.047554
$HUMID,2129
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.30
$XPDR_PINGS,7
$24V_AH,24.4,20.624
$10V_AH,10.6,18.179
$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,17.900,86.225,286.175,73.150,0.000,24.592,34.165,227.969,1.750,0.000,0.000,32.538,0.000,7780.300,393.625,2240.474,700.020,33.349,1098.176,0.000,1973.152,0.000,0.544,0.000
$DEVICE_MAMPS,229.333,52.923,1075.334,572.182,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,302.146,947.370,978.962,183.950,717.381,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35269,446
$CAP_FILE_SIZE,88394,0
$CFSIZE,260165632,250888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,230812,033235,2249.225,-15803.104,29,1.0,29,10.1