version: 66.04
glider: 512
mission: 3
dive: 173
start: 8 23 112 11 13 35
data:
$ID,512
$MISSION,3
$DIVE,173
$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,100
$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,-53932.297
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2690
$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,2700
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2730
$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
$GPS1,104656,2248.542,-15803.038,36,2.5,55,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-79.5
$GPS2,111257,2248.593,-15803.284,12,2.9,31,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,0.055
$KALMAN_X,-378280.4,281.1,-62.5,376841.9,-2668.1
$KALMAN_Y,68826.0,-37.3,519.3,-70354.4,-768.4
$MHEAD_RNG_PITCHd_Wd,65.2,56798,-21.7,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.84,-97.3,0.0,0.0,0,93,0.00,0.00,-75.40,0.000,6,0.000,0.000,24,2647,3128
$GC,98,-0.84,-97.3,4.3,-8.2,9,116,8.82,1.90,0.00,0.000,4,0.201,0.029,2405,3912,3129
$GC,131,-0.84,-97.3,23.9,-53.6,13,139,0.00,1.77,0.00,0.000,6,0.000,0.020,2412,2689,3129
$GC,398,-0.84,-97.3,71.7,-12.7,39,401,0.00,1.98,0.00,0.000,4,0.000,0.027,2417,1312,3130
$GC,424,-0.84,-97.3,74.9,-12.6,41,427,0.00,2.10,0.00,0.000,6,0.000,0.039,2414,2695,3130
$GC,687,-0.84,-97.3,104.7,-11.6,66,690,0.00,1.83,0.00,0.000,4,0.000,0.044,2409,3902,3130
$GC,712,-0.84,-97.3,107.7,-11.9,68,715,0.00,1.70,0.00,0.000,6,0.000,0.021,2409,2699,3130
$GC,976,-0.84,-97.3,139.8,-11.9,93,979,0.00,1.98,0.00,0.000,4,0.000,0.023,2409,1307,3131
$GC,1012,-0.84,-97.3,144.1,-11.3,96,1015,0.00,2.10,0.00,0.000,6,0.000,0.038,2401,2700,3131
$GC,1275,-0.84,-97.3,175.2,-11.4,121,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2700,3131
$GC,1563,-0.84,-97.3,204.8,-9.6,146,1566,0.00,1.83,0.00,0.000,4,0.000,0.046,2397,3908,3131
$GC,1597,-0.84,-97.3,208.1,-9.3,146,1600,0.00,1.70,0.00,0.000,6,0.000,0.021,2397,2698,3131
$GC,1851,-0.84,-97.3,232.8,-9.9,153,1854,0.00,1.98,0.00,0.000,4,0.000,0.022,2397,1299,3131
$GC,1917,-0.84,-97.3,238.7,-8.1,154,1920,0.10,2.12,0.00,0.000,6,0.117,0.041,2418,2710,3131
$GC,2179,-0.84,-97.3,254.7,-5.9,161,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2710,3130
$GC,2418,-0.84,-97.3,266.2,-4.6,167,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2710,3129
$GC,2660,-0.84,-97.3,277.2,-4.5,173,2663,0.00,1.80,0.00,0.000,4,0.000,0.048,2414,3896,3128
$GC,2694,-0.84,-97.3,278.5,-4.4,173,2697,0.00,1.70,0.00,0.000,6,0.000,0.022,2415,2691,3128
$GC,2948,-0.84,-97.3,290.7,-5.1,180,2951,0.00,1.95,0.00,0.000,4,0.000,0.025,2416,1313,3126
$GC,3003,-0.84,-97.3,293.8,-5.1,181,3006,0.00,2.10,0.00,0.000,6,0.000,0.041,2415,2710,3126
$GC,3279,-0.84,-97.3,306.6,-4.5,188,3282,0.00,1.83,0.00,0.000,4,0.000,0.050,2415,3905,3124
$GC,3307,-0.84,-97.3,307.9,-4.4,188,3310,0.00,1.75,0.00,0.000,6,0.000,0.023,2415,2699,3124
$GC,3567,-0.84,-97.3,318.1,-4.0,195,3570,0.00,1.98,0.00,0.000,4,0.000,0.025,2415,1304,3123
$GC,3613,-0.84,-97.3,320.2,-4.7,196,3616,0.00,2.12,0.00,0.000,6,0.000,0.041,2414,2709,3122
$GC,3900,-0.84,-97.3,335.8,-5.6,203,3903,0.00,1.83,0.00,0.000,4,0.000,0.051,2414,3905,3121
$GC,3923,-0.84,-97.3,337.0,-5.5,203,3926,0.00,1.73,0.00,0.000,6,0.000,0.024,2414,2695,3121
$GC,4188,-0.84,-97.3,355.6,-7.8,210,4191,0.00,1.98,0.00,0.000,4,0.000,0.025,2423,1309,3120
$GC,4344,-0.84,-97.3,369.2,-8.8,213,4348,0.00,2.12,-0.08,0.000,6,0.000,0.042,2422,2710,3140
$GC,4599,-0.84,-97.3,390.6,-8.6,220,4602,0.00,1.83,0.00,0.000,4,0.000,0.051,2422,3902,3140
$GC,4645,-0.84,-97.3,394.5,-9.1,221,4648,0.00,1.73,0.00,0.000,6,0.000,0.025,2422,2690,3139
$GC,4932,-0.84,-97.3,418.1,-8.1,228,4935,0.00,1.98,0.00,0.000,4,0.000,0.026,2425,1317,3138
$GC,4997,-0.84,-97.3,423.4,-7.5,229,5001,0.00,2.10,0.00,0.000,6,0.000,0.042,2425,2700,3137
$GC,5265,-0.84,-97.3,440.9,-6.6,236,5268,0.00,1.85,0.00,0.000,4,0.000,0.053,2425,3903,3136
$GC,5287,-0.84,-97.3,442.6,-6.7,236,5291,0.00,1.75,0.00,0.000,6,0.000,0.026,2425,2702,3135
$GC,5553,-0.84,-97.3,460.3,-7.0,243,5556,0.00,1.88,0.00,0.000,4,0.000,0.052,2425,3886,3135
$GC,5581,-0.84,-97.3,462.6,-7.9,243,5584,0.00,1.67,0.00,0.000,6,0.000,0.027,2425,2704,3134
$GC,5840,-0.84,-97.3,484.7,-9.0,250,5843,0.00,2.00,0.00,0.000,4,0.000,0.028,2425,1310,3133
$GC,5895,-0.84,-97.3,489.9,-8.9,251,5898,0.00,2.12,0.00,0.000,6,0.000,0.042,2425,2707,3133
$GC,6171,-0.84,-97.3,515.3,-9.3,258,6174,0.00,1.83,0.00,0.000,4,0.000,0.052,2425,3895,3131
$GC,6194,-0.84,-97.3,517.3,-9.1,258,6197,0.00,1.73,0.00,0.000,6,0.000,0.027,2425,2693,3130
$GC,6459,-0.84,-97.3,537.9,-7.5,265,6462,0.00,2.00,0.00,0.000,4,0.000,0.028,2425,1301,3129
$GC,6506,-0.84,-97.3,541.1,-7.1,266,6509,0.00,2.12,0.00,0.000,6,0.000,0.045,2425,2702,3130
$GC,6792,-0.84,-97.3,558.7,-6.1,273,6795,0.00,2.03,0.00,0.000,4,0.000,0.028,2425,1307,3128
$GC,6869,-0.84,-97.3,563.3,-5.9,274,6872,0.00,2.12,0.00,0.000,6,0.000,0.044,2425,2701,3128
$GC,7125,-0.84,-97.3,580.0,-7.0,281,7128,0.00,1.85,0.00,0.000,4,0.000,0.054,2425,3896,3126
$GC,7180,-0.84,-97.3,584.3,-7.3,282,7183,0.00,1.73,0.00,0.000,6,0.000,0.028,2425,2692,3126
$STATE,7370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7370,begin apogee
$GC,7381,-0.27,0.0,600.2,8.3,287,7466,0.47,0.00,82.90,1.069,6,0.041,0.000,2629,2531,2730
$STATE,7466,end apogee,CONTROL_FINISHED_OK
$STATE,7466,begin climb
$GC,7471,0.84,97.3,606.5,0.0,289,7573,0.90,2.25,90.03,1.016,4,0.051,0.040,2958,3904,2332
$GC,7818,0.84,97.3,584.4,16.3,297,7821,0.00,2.10,0.00,0.000,6,0.000,0.025,2967,2493,2325
$GC,8099,0.84,97.3,542.4,14.3,304,8102,0.00,2.03,0.00,0.000,4,0.000,0.031,2977,1100,2322
$GC,8347,0.84,97.3,509.1,13.5,309,8350,0.00,2.15,0.00,0.000,6,0.000,0.037,2971,2522,2320
$GC,8603,0.84,97.3,481.7,10.2,316,8606,0.00,2.08,0.00,0.000,4,0.000,0.029,2979,1098,2318
$GC,8851,0.92,157.4,462.3,5.9,321,8905,0.00,2.12,50.12,0.979,6,0.000,0.037,2971,2513,2088
$GC,9188,0.92,157.4,392.0,23.7,330,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2513,2081
$GC,9432,0.92,157.4,336.1,22.9,336,9436,0.00,2.10,0.00,0.000,4,0.000,0.031,2979,1098,2079
$GC,9669,0.92,157.4,288.0,19.1,341,9672,0.00,2.15,0.00,0.000,6,0.000,0.038,2979,2512,2077
$GC,9934,0.92,157.4,243.7,16.3,348,9937,0.00,2.08,0.00,0.000,4,0.000,0.029,2988,1097,2076
$GC,9962,0.92,157.4,239.4,14.8,348,9965,0.00,2.15,0.00,0.000,6,0.000,0.038,2986,2520,2076
$GC,10222,0.92,157.4,208.3,11.3,355,10225,0.00,2.08,0.00,0.000,4,0.000,0.029,2995,1102,2076
$GC,10400,0.92,157.4,190.9,11.3,365,10403,0.00,2.12,0.00,0.000,6,0.000,0.038,2995,2512,2075
$GC,10663,0.92,157.4,158.5,10.6,390,10666,0.00,2.05,0.00,0.000,4,0.000,0.027,3005,1096,2075
$GC,10869,0.92,157.4,138.7,10.3,409,10873,0.00,2.12,0.00,0.000,6,0.000,0.035,2999,2521,2075
$GC,11132,0.92,157.4,110.4,12.7,434,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2521,2075
$GC,11391,0.93,167.3,80.8,9.3,459,11404,0.00,2.08,7.78,0.580,4,0.000,0.039,2999,3901,2048
$GC,11584,0.99,215.9,60.5,6.6,476,11634,0.00,2.05,40.95,0.635,6,0.000,0.023,3008,2500,1846
$STATE,11879,end climb,SURFACE_DEPTH_REACHED
$STATE,11879,begin surface coast
$FINISH,0.2,1.023466
$STATE,11890,end surface coast,CONTROL_FINISHED_OK
$STATE,11890,begin surface
$SM_CCo,11913,78.85,0.574,0,0,1179,380.21
$SM_GC,0.68,0.00,0.00,78.85,0.000,0.000,0.574,33,2720,1179,-8.30,0.59,380.21
$IRIDIUM_FIX,2241.69,-15806.70,171101,111140
$TT8_MAMPS,0.047554
$HUMID,2100
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.80
$XPDR_PINGS,740
$24V_AH,24.5,21.061
$10V_AH,10.6,18.579
$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,17.950,114.350,271.775,78.850,0.000,153.364,162.304,815.214,185.000,0.000,0.000,32.380,0.000,8799.844,397.474,2706.345,1632.809,33.354,1246.110,0.000,2394.519,0.000,0.545,0.000
$DEVICE_MAMPS,200.954,53.690,1069.198,573.716,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,349.447,1143.155,1179.948,358.012,820.087,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41463,516
$CAP_FILE_SIZE,117173,0
$CFSIZE,260165632,250691584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,230812,143436,2248.051,-15803.347,36,1.1,36,10.1