version: 66.04
glider: 512
mission: 3
dive: 204
start: 8 27 112 9 47 32
data:
$ID,512
$MISSION,3
$DIVE,204
$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,-54596.301
$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,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,40
$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
$GPS1,092836,2243.102,-15757.085,38,1.0,38,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-79.7
$GPS2,094654,2243.068,-15757.305,11,1.2,16,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,0.037
$KALMAN_X,-442202.9,304.1,-45.5,450931.4,-2207.4
$KALMAN_Y,57894.9,-296.9,-500.0,-68370.9,-66.3
$MHEAD_RNG_PITCHd_Wd,70.1,55726,-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,-97.3,0.0,0.0,0,90,0.00,0.00,-73.90,0.000,6,0.000,0.000,14,2720,3138
$GC,96,-0.84,-97.3,4.4,-8.6,9,113,8.90,1.80,0.00,0.000,4,0.205,0.028,2374,3909,3139
$GC,169,-0.84,-97.3,40.2,-30.3,19,172,0.00,1.75,0.00,0.000,6,0.000,0.021,2374,2704,3139
$GC,431,-0.84,-97.3,92.8,-17.6,44,434,0.00,2.03,0.00,0.000,4,0.000,0.024,2374,1290,3140
$GC,455,-0.84,-97.3,96.9,-16.7,46,459,0.00,2.15,0.00,0.000,6,0.000,0.041,2372,2696,3141
$GC,713,-0.84,-97.3,136.5,-15.0,70,716,0.00,1.83,0.00,0.000,4,0.000,0.044,2362,3905,3141
$GC,730,-0.84,-97.3,139.8,-15.3,71,738,0.00,1.77,0.00,0.000,6,0.000,0.021,2362,2685,3142
$GC,988,-0.84,-97.3,179.0,-14.8,96,991,0.00,1.88,0.00,0.000,4,0.000,0.045,2359,3903,3142
$GC,1044,-0.84,-97.3,187.1,-13.5,101,1047,0.00,1.70,0.00,0.000,6,0.000,0.021,2359,2700,3141
$GC,1311,-0.84,-97.3,223.7,-13.7,115,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2692,3142
$GC,1555,-0.84,-97.3,255.9,-13.2,121,1558,0.00,1.85,0.00,0.000,4,0.000,0.044,2350,3904,3142
$GC,1604,-0.84,-97.3,263.0,-12.5,122,1608,0.12,1.70,0.00,0.000,6,0.123,0.021,2385,2687,3142
$GC,1886,-0.84,-97.3,290.4,-9.4,129,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2680,3141
$GC,2128,-0.84,-97.3,310.5,-8.2,135,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2680,3140
$GC,2372,-0.84,-97.3,329.3,-7.7,141,2375,0.00,1.95,0.00,0.000,4,0.000,0.025,2387,1310,3138
$GC,2416,-0.84,-97.3,333.0,-7.4,142,2419,0.00,2.12,0.00,0.000,6,0.000,0.041,2385,2717,3138
$GC,2703,-0.84,-97.3,355.6,-7.9,149,2705,0.00,1.80,0.00,0.000,4,0.000,0.050,2376,3903,3135
$GC,2757,-0.84,-97.3,359.8,-7.6,150,2760,0.00,1.70,0.00,0.000,6,0.000,0.023,2376,2707,3135
$GC,3033,-0.84,-97.3,381.2,-7.7,157,3036,0.00,2.00,0.00,0.000,4,0.000,0.026,2376,1304,3133
$GC,3078,-0.84,-97.3,384.7,-7.9,158,3081,0.00,2.12,0.00,0.000,6,0.000,0.043,2372,2702,3133
$GC,3364,-0.84,-97.3,408.1,-8.4,165,3367,0.00,1.83,0.00,0.000,4,0.000,0.050,2363,3898,3130
$GC,3411,-0.84,-97.3,411.8,-8.1,166,3414,0.00,1.70,0.00,0.000,6,0.000,0.025,2363,2700,3130
$GC,3697,-0.84,-97.3,438.4,-9.3,173,3701,0.00,2.00,-0.08,0.000,4,0.000,0.041,2363,1310,3154
$GC,3763,-0.84,-97.3,444.6,-9.2,174,3766,0.00,2.15,0.00,0.000,6,0.000,0.046,2359,2711,3154
$GC,4030,-0.84,-97.3,471.0,-10.1,181,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2711,3151
$GC,4270,-0.84,-97.3,495.9,-10.4,187,4273,0.00,1.85,0.00,0.000,4,0.000,0.053,2350,3887,3150
$GC,4298,-0.84,-97.3,498.8,-10.4,187,4301,0.12,1.70,0.00,0.000,6,0.118,0.027,2386,2700,3149
$GC,4557,-0.84,-97.3,518.4,-7.4,194,4560,0.00,2.00,0.00,0.000,4,0.000,0.028,2395,1307,3148
$GC,4580,-0.84,-97.3,520.1,-7.7,194,4583,0.00,2.15,0.00,0.000,6,0.000,0.045,2387,2713,3148
$GC,4847,-0.84,-97.3,537.5,-6.5,201,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2714,3146
$GC,5087,-0.84,-97.3,552.6,-6.1,207,5090,0.00,2.05,0.00,0.000,4,0.000,0.028,2387,1304,3145
$GC,5121,-0.84,-97.3,554.8,-6.5,207,5124,0.00,2.15,0.00,0.000,6,0.000,0.047,2385,2700,3144
$GC,5375,-0.84,-97.3,570.2,-6.0,214,5378,0.00,1.88,0.00,0.000,4,0.000,0.057,2384,3907,3142
$GC,5404,-0.84,-97.3,571.8,-5.8,214,5407,0.00,1.75,0.00,0.000,6,0.000,0.028,2384,2701,3142
$GC,5666,-0.84,-97.3,586.5,-5.6,221,5668,0.00,2.03,0.00,0.000,4,0.000,0.029,2385,1301,3140
$GC,5705,-0.84,-97.3,589.2,-6.3,221,5710,0.00,2.17,0.00,0.000,6,0.000,0.048,2384,2708,3140
$STATE,5908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5908,begin apogee
$GC,5919,-0.27,0.0,602.0,6.1,227,6004,0.55,0.00,83.57,1.074,6,0.080,0.000,2580,2415,2740
$STATE,6005,end apogee,CONTROL_FINISHED_OK
$STATE,6005,begin climb
$GC,6010,0.84,97.3,605.4,0.0,229,6103,0.93,2.20,87.62,1.038,4,0.028,0.028,2973,997,2342
$GC,6347,0.84,97.3,588.6,14.4,237,6350,0.15,2.20,0.00,0.000,6,0.209,0.036,2937,2431,2333
$GC,6628,0.84,97.3,554.7,11.8,244,6631,0.00,2.12,0.00,0.000,4,0.000,0.030,2946,998,2331
$GC,6875,0.84,97.3,528.3,10.4,249,6878,0.00,2.15,0.00,0.000,6,0.000,0.039,2945,2406,2330
$GC,7132,0.84,97.3,498.0,12.1,256,7135,0.00,2.08,0.00,0.000,4,0.000,0.030,2954,993,2328
$GC,7379,0.86,108.7,472.3,9.2,261,7393,0.00,2.15,8.57,0.868,6,0.000,0.039,2953,2411,2297
$GC,7676,0.86,108.7,440.6,10.7,269,7679,0.00,2.08,0.00,0.000,4,0.000,0.031,2962,998,2294
$GC,7853,0.89,134.9,425.1,8.2,273,7881,0.00,2.15,23.77,0.947,6,0.000,0.039,2958,2417,2189
$GC,8138,0.89,134.9,383.6,15.9,280,8141,0.00,2.10,0.00,0.000,4,0.000,0.029,2967,999,2184
$GC,8161,0.89,134.9,380.2,14.8,280,8164,0.00,2.15,0.00,0.000,6,0.000,0.038,2967,2410,2183
$GC,8426,0.89,134.9,341.5,14.3,287,8429,0.00,2.17,0.00,0.000,4,0.000,0.044,2967,3833,2182
$GC,8518,0.89,134.9,327.7,16.3,289,8521,0.00,2.10,0.00,0.000,6,0.000,0.028,2975,2406,2181
$GC,8801,0.89,134.9,293.6,11.6,296,8804,0.00,2.05,0.00,0.000,4,0.000,0.029,2986,994,2181
$GC,9049,0.92,160.2,269.2,8.3,301,9075,0.00,2.15,21.42,0.838,6,0.000,0.038,2985,2417,2086
$GC,9340,0.92,160.2,225.3,16.0,309,9344,0.00,2.08,0.00,0.000,4,0.000,0.029,2994,1003,2082
$GC,9522,0.92,160.2,201.8,11.4,313,9526,0.15,2.12,0.00,0.000,6,0.226,0.037,2963,2410,2081
$GC,9790,0.93,168.4,174.0,9.4,336,9804,0.00,2.17,7.40,0.667,4,0.000,0.040,2958,3817,2053
$GC,9818,0.94,175.0,170.8,9.5,338,9831,0.00,2.08,7.55,0.655,6,0.000,0.026,2966,2407,2025
$GC,10086,0.94,175.0,136.8,15.5,363,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2407,2023
$GC,10344,0.94,175.0,99.6,12.5,388,10347,0.00,2.05,0.00,0.000,4,0.000,0.028,2976,993,2023
$GC,10513,0.97,196.7,81.2,8.5,403,10535,0.00,2.15,19.08,0.654,6,0.000,0.035,2971,2406,1938
$GC,10788,0.97,196.7,50.8,10.6,429,10791,0.00,2.05,0.00,0.000,4,0.000,0.026,2979,990,1934
$GC,11034,0.97,196.7,21.0,12.3,459,11042,0.00,2.17,0.00,0.000,6,0.000,0.034,2979,2420,1934
$STATE,11163,end climb,SURFACE_DEPTH_REACHED
$STATE,11163,begin surface coast
$FINISH,0.1,1.023360
$STATE,11183,end surface coast,CONTROL_FINISHED_OK
$STATE,11183,begin surface
$SM_CCo,11207,93.25,0.575,0,0,1189,380.21
$SM_GC,0.63,0.00,0.00,93.25,0.000,0.000,0.575,27,2717,1189,-8.22,0.51,380.21
$IRIDIUM_FIX,2234.68,-15758.03,211101,090905
$TT8_MAMPS,0.047554
$HUMID,2055
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.50
$XPDR_PINGS,8
$24V_AH,24.4,25.048
$10V_AH,10.6,22.020
$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,18.550,105.075,259.000,93.250,0.000,55.122,72.448,751.797,2.000,0.000,0.000,16.387,0.000,8071.179,402.142,2535.146,1372.851,33.364,1198.464,0.000,2269.049,0.000,0.545,0.000
$DEVICE_MAMPS,226.265,56.758,1073.800,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,330.180,1067.386,1101.745,155.166,809.492,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41430,487
$CAP_FILE_SIZE,107952,0
$CFSIZE,260165632,249221120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,270812,125736,2243.028,-15757.303,72,1.1,72,10.1