version: 66.04
glider: 512
mission: 3
dive: 198
start: 8 26 112 13 59 15
data:
$ID,512
$MISSION,3
$DIVE,198
$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,480
$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,-54486.016
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2660
$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,2610
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2740
$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
$GPS1,135105,2243.388,-15758.263,31,2.0,31,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-79.3
$GPS2,135833,2243.362,-15758.313,16,2.2,35,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,0.053
$KALMAN_X,-428980.2,67.3,13.8,436160.4,-2479.7
$KALMAN_Y,61553.1,-504.6,318.3,-72102.8,-603.6
$MHEAD_RNG_PITCHd_Wd,65.8,56496,-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,-97.3,0.0,0.0,0,91,0.00,0.00,-74.00,0.000,3,0.000,0.000,26,2735,3138
$GC,96,-0.84,-97.3,4.5,-9.6,9,113,8.80,1.75,0.00,0.000,4,0.205,0.030,2369,3893,3140
$GC,143,-0.84,-97.3,31.9,-52.0,16,152,0.00,1.75,0.00,0.000,6,0.000,0.028,2369,2713,3140
$GC,402,-0.84,-97.3,92.7,-19.7,41,405,0.00,2.05,0.00,0.000,4,0.000,0.025,2369,1290,3142
$GC,458,-0.84,-97.3,103.1,-16.0,46,461,0.00,2.12,0.00,0.000,6,0.000,0.043,2359,2675,3142
$GC,722,-0.84,-97.3,151.8,-18.4,71,725,0.00,1.88,0.00,0.000,4,0.000,0.046,2350,3912,3143
$GC,832,-0.84,-97.3,169.9,-15.3,81,835,0.12,1.75,0.00,0.000,6,0.127,0.021,2383,2678,3144
$GC,1102,-0.84,-97.3,206.1,-13.0,104,1105,0.00,1.95,0.00,0.000,4,0.000,0.024,2384,1303,3145
$GC,1129,-0.84,-97.3,209.5,-11.9,104,1133,0.00,2.12,0.00,0.000,6,0.000,0.040,2384,2706,3144
$GC,1391,-0.84,-97.3,238.2,-11.0,111,1394,0.00,1.83,0.00,0.000,4,0.000,0.047,2375,3909,3145
$GC,1446,-0.84,-97.3,244.2,-9.3,112,1449,0.00,1.73,0.00,0.000,6,0.000,0.021,2375,2685,3145
$GC,1722,-0.84,-97.3,273.7,-10.7,119,1725,0.00,1.95,0.00,0.000,4,0.000,0.023,2375,1307,3145
$GC,1755,-0.84,-97.3,277.0,-8.9,119,1758,0.00,2.12,0.00,0.000,6,0.000,0.041,2371,2711,3145
$GC,2012,-0.84,-97.3,301.6,-9.8,126,2015,0.00,1.83,0.00,0.000,4,0.000,0.049,2363,3891,3145
$GC,2077,-0.84,-97.3,308.4,-9.4,127,2080,0.00,1.67,0.00,0.000,6,0.000,0.022,2363,2698,3144
$GC,2342,-0.84,-97.3,335.3,-10.0,134,2345,0.00,1.98,0.00,0.000,4,0.000,0.025,2363,1306,3143
$GC,2386,-0.84,-97.3,339.5,-9.0,135,2390,0.00,2.12,0.00,0.000,6,0.000,0.042,2359,2706,3143
$GC,2673,-0.84,-97.3,367.5,-10.0,142,2676,0.00,1.83,0.00,0.000,4,0.000,0.049,2350,3906,3141
$GC,2728,-0.84,-97.3,373.1,-9.8,143,2731,0.12,1.70,0.00,0.000,6,0.122,0.023,2385,2703,3141
$GC,3004,-0.84,-97.3,394.1,-7.6,150,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2696,3139
$GC,3248,-0.84,-97.3,412.7,-7.7,156,3251,0.00,2.00,0.00,0.000,4,0.000,0.027,2387,1307,3138
$GC,3297,-0.84,-97.3,416.5,-6.9,157,3300,0.00,2.12,0.00,0.000,6,0.000,0.044,2385,2699,3138
$GC,3578,-0.84,-97.3,436.3,-6.7,164,3581,0.00,1.83,0.00,0.000,4,0.000,0.051,2376,3893,3135
$GC,3607,-0.84,-97.3,438.2,-7.0,164,3609,0.00,1.70,0.00,0.000,6,0.000,0.025,2376,2700,3135
$GC,3868,-0.84,-97.3,454.3,-6.1,171,3872,0.00,2.00,0.00,0.000,4,0.000,0.027,2376,1299,3134
$GC,3923,-0.84,-97.3,457.9,-5.6,172,3926,0.00,2.15,0.00,0.000,6,0.000,0.045,2372,2707,3134
$GC,4199,-0.84,-97.3,477.0,-7.1,179,4202,0.00,1.83,0.00,0.000,4,0.000,0.052,2363,3893,3131
$GC,4243,-0.84,-97.3,480.5,-7.8,180,4246,0.00,1.73,0.00,0.000,6,0.000,0.026,2363,2690,3131
$GC,4530,-0.84,-97.3,503.9,-8.2,187,4533,0.00,2.00,0.00,0.000,4,0.000,0.028,2363,1300,3129
$GC,4595,-0.84,-97.3,509.4,-7.6,188,4598,0.00,2.15,0.00,0.000,6,0.000,0.048,2359,2699,3129
$GC,4860,-0.84,-97.3,533.2,-9.0,195,4863,0.00,1.85,0.00,0.000,4,0.000,0.054,2350,3898,3128
$GC,4931,-0.84,-97.3,539.8,-8.7,196,4935,0.12,1.73,0.00,0.000,6,0.120,0.026,2386,2697,3127
$GC,5191,-0.84,-97.3,556.6,-6.3,203,5194,0.00,2.03,0.00,0.000,4,0.000,0.029,2395,1296,3126
$GC,5241,-0.84,-97.3,559.5,-5.8,204,5244,0.00,2.17,0.00,0.000,6,0.000,0.046,2387,2710,3126
$GC,5519,-0.84,-97.3,574.8,-5.6,211,5522,0.00,1.85,0.00,0.000,4,0.000,0.058,2385,3897,3124
$GC,5557,-0.84,-97.3,577.2,-5.9,211,5563,0.00,1.75,0.00,0.000,6,0.000,0.028,2385,2688,3123
$GC,5806,-0.84,-97.3,591.5,-5.8,218,5809,0.00,2.00,0.00,0.000,4,0.000,0.029,2385,1310,3123
$GC,5846,-0.84,-97.3,594.2,-6.8,218,5851,0.00,2.15,0.00,0.000,6,0.000,0.049,2385,2700,3123
$STATE,5969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5969,begin apogee
$GC,5979,-0.27,0.0,602.6,6.6,222,6061,0.55,0.00,80.28,1.078,6,0.083,0.000,2579,2616,2740
$STATE,6062,end apogee,CONTROL_FINISHED_OK
$STATE,6062,begin climb
$GC,6067,0.84,97.3,606.5,0.0,224,6169,0.95,2.22,90.47,1.023,4,0.047,0.028,2944,1211,2343
$GC,6413,0.84,97.3,593.9,12.4,232,6417,0.00,2.20,0.00,0.000,6,0.000,0.038,2944,2625,2334
$GC,6689,0.84,97.3,559.1,12.5,239,6692,0.00,2.10,0.00,0.000,4,0.000,0.028,2954,1211,2332
$GC,6871,0.84,97.3,539.0,12.1,243,6874,0.00,2.15,0.00,0.000,6,0.000,0.039,2954,2617,2331
$GC,7152,0.84,97.3,507.1,11.0,250,7155,0.00,1.95,0.00,0.000,4,0.000,0.044,2954,3908,2330
$GC,7400,0.85,98.9,481.2,9.9,255,7403,0.00,1.90,0.00,0.000,6,0.000,0.028,2963,2610,2327
$GC,7654,0.91,146.5,462.6,6.7,262,7699,0.00,2.08,40.88,0.992,4,0.000,0.042,2958,3907,2142
$GC,7744,0.91,146.5,451.0,20.2,264,7747,0.00,1.95,0.00,0.000,6,0.000,0.028,2965,2620,2139
$GC,8022,0.91,146.5,396.7,19.4,271,8025,0.00,2.10,0.00,0.000,4,0.000,0.030,2976,1193,2136
$GC,8114,0.91,146.5,379.4,17.6,273,8118,0.00,2.17,0.00,0.000,6,0.000,0.040,2971,2610,2135
$GC,8390,0.91,146.5,328.8,18.4,280,8393,0.00,2.10,0.00,0.000,4,0.000,0.031,2979,1193,2134
$GC,8499,0.91,146.5,308.8,18.4,282,8502,0.00,2.17,0.00,0.000,6,0.000,0.041,2971,2615,2133
$GC,8758,0.91,146.5,268.2,14.6,289,8761,0.00,1.95,0.00,0.000,4,0.000,0.043,2970,3904,2132
$GC,8899,0.91,146.5,248.0,14.1,292,8902,0.00,1.90,0.00,0.000,6,0.000,0.027,2978,2602,2132
$GC,9175,0.91,146.5,217.0,10.4,299,9178,0.00,2.03,0.00,0.000,4,0.000,0.028,2989,1197,2131
$GC,9426,0.94,171.3,196.9,8.3,307,9451,0.00,2.12,20.33,0.779,6,0.000,0.038,2986,2613,2040
$GC,9705,0.94,171.3,154.1,17.5,333,9708,0.00,2.08,0.00,0.000,4,0.000,0.028,2994,1195,2036
$GC,9826,0.94,171.3,135.8,13.7,344,9830,0.15,2.15,0.00,0.000,6,0.224,0.038,2963,2620,2036
$GC,10088,0.94,171.3,104.5,11.1,368,10091,0.00,1.95,0.00,0.000,4,0.000,0.040,2957,3923,2036
$GC,10112,0.94,171.3,101.1,11.6,370,10116,0.00,1.92,0.00,0.000,6,0.000,0.024,2966,2582,2036
$GC,10377,0.97,196.5,77.0,8.3,395,10404,0.00,2.00,21.77,0.653,4,0.000,0.025,2976,1189,1937
$GC,10647,0.97,196.5,40.1,13.5,419,10654,0.00,2.15,0.00,0.000,6,0.000,0.034,2970,2601,1934
$STATE,10899,end climb,SURFACE_DEPTH_REACHED
$STATE,10899,begin surface coast
$FINISH,0.0,1.023462
$STATE,10915,end surface coast,CONTROL_FINISHED_OK
$STATE,10915,begin surface
$SM_CCo,10938,98.88,0.582,0,0,1189,380.21
$SM_GC,0.59,0.00,0.00,98.88,0.000,0.000,0.582,38,2757,1189,-8.19,1.61,380.21
$IRIDIUM_FIX,2234.68,-15752.82,201101,101023
$TT8_MAMPS,0.047554
$HUMID,2074
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.90
$XPDR_PINGS,6
$24V_AH,24.4,24.333
$10V_AH,10.6,21.308
$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,18.200,114.750,253.725,98.875,0.000,24.076,41.352,208.394,1.500,0.000,0.000,36.452,0.000,7809.288,406.626,2520.555,735.983,33.385,1211.894,0.000,2214.145,0.000,0.543,0.000
$DEVICE_MAMPS,223.964,59.059,1077.635,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,314.575,996.901,1027.643,137.324,747.230,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38259,464
$CAP_FILE_SIZE,100646,0
$CFSIZE,260165632,249540608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,1,1
$GPS,260812,170424,2243.193,-15758.215,40,1.5,40,10.1