version: 66.04
glider: 512
mission: 3
dive: 212
start: 8 28 112 12 2 44
data:
$ID,512
$MISSION,3
$DIVE,212
$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,-54753.98
$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,57
$R_STBD_OVSHOOT,44
$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
$GPS1,114935,2242.167,-15756.355,11,1.7,27,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-78.0
$GPS2,120206,2242.155,-15756.528,14,1.7,14,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.008
$KALMAN_X,-7321.0,25.3,-154.1,8927.3,-1615.9
$KALMAN_Y,181.0,-182.2,-34.2,-2262.0,-101.7
$MHEAD_RNG_PITCHd_Wd,82.1,32674,-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,-97.3,0.0,0.0,0,115,0.00,0.00,-98.60,0.000,2,0.000,0.000,21,2727,3018
$GC,121,-0.84,-97.3,3.5,-6.6,12,138,8.90,2.10,-2.10,0.000,4,0.209,0.035,2389,1270,3137
$GC,178,-0.84,-97.3,30.1,-32.2,21,187,0.00,2.20,0.00,0.000,6,0.000,0.041,2381,2678,3138
$GC,436,-0.84,-97.3,87.6,-18.7,46,439,0.00,1.88,0.00,0.000,4,0.000,0.044,2371,3909,3139
$GC,464,-0.84,-97.3,93.6,-20.3,48,472,0.00,1.77,0.00,0.000,6,0.000,0.021,2371,2697,3139
$GC,722,-0.84,-97.3,142.3,-18.5,73,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2690,3140
$GC,979,-0.84,-97.3,184.8,-14.6,98,982,0.00,1.85,0.00,0.000,4,0.000,0.043,2362,3902,3140
$GC,1025,-0.84,-97.3,191.7,-15.1,102,1029,0.00,1.75,0.00,0.000,6,0.000,0.021,2362,2691,3140
$GC,1291,-0.84,-97.3,228.7,-13.9,113,1294,0.00,1.98,0.00,0.000,4,0.000,0.024,2362,1298,3140
$GC,1372,-0.84,-97.3,238.3,-10.9,114,1378,0.00,2.15,0.00,0.000,6,0.000,0.041,2359,2715,3141
$GC,1623,-0.84,-97.3,268.3,-12.3,121,1626,0.00,1.80,0.00,0.000,4,0.000,0.048,2350,3904,3140
$GC,1646,-0.84,-97.3,271.4,-12.7,121,1649,0.12,1.73,0.00,0.000,6,0.122,0.021,2385,2689,3139
$GC,1911,-0.84,-97.3,293.0,-7.6,128,1914,0.00,1.95,0.00,0.000,4,0.000,0.024,2386,1311,3138
$GC,1955,-0.84,-97.3,296.2,-6.9,129,1959,0.00,2.10,0.00,0.000,6,0.000,0.041,2385,2702,3138
$GC,2244,-0.84,-97.3,315.4,-6.6,136,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2702,3136
$GC,2484,-0.84,-97.3,331.3,-6.6,142,2487,0.00,1.85,0.00,0.000,4,0.000,0.049,2376,3893,3135
$GC,2528,-0.84,-97.3,334.4,-7.3,143,2531,0.00,1.73,0.00,0.000,6,0.000,0.023,2376,2699,3134
$GC,2815,-0.84,-97.3,360.2,-9.4,150,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2692,3132
$GC,3059,-0.84,-97.3,383.5,-9.6,156,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2691,3130
$GC,3299,-0.84,-97.3,405.5,-9.0,162,3302,0.00,1.98,0.00,0.000,4,0.000,0.027,2376,1310,3129
$GC,3327,-0.84,-97.3,408.1,-9.5,162,3330,0.00,2.12,-0.08,0.000,6,0.000,0.044,2372,2703,3153
$GC,3587,-0.84,-97.3,432.0,-9.5,169,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2703,3151
$GC,3829,-0.84,-97.3,454.1,-9.2,175,3831,0.00,1.83,0.00,0.000,4,0.000,0.052,2363,3892,3149
$GC,3862,-0.84,-97.3,457.3,-9.5,175,3865,0.00,1.70,0.00,0.000,6,0.000,0.026,2363,2705,3149
$GC,4116,-0.84,-97.3,481.2,-9.4,182,4119,0.00,2.03,0.00,0.000,4,0.000,0.028,2363,1300,3147
$GC,4150,-0.84,-97.3,484.3,-9.3,182,4153,0.00,2.15,0.00,0.000,6,0.000,0.045,2359,2702,3146
$GC,4404,-0.84,-97.3,507.2,-9.1,189,4407,0.00,1.85,0.00,0.000,4,0.000,0.054,2358,3900,3145
$GC,4454,-0.84,-97.3,511.4,-8.0,190,4457,0.00,1.75,0.00,0.000,6,0.000,0.026,2358,2695,3144
$GC,4735,-0.84,-97.3,533.7,-7.7,197,4738,0.00,2.00,0.00,0.000,4,0.000,0.029,2358,1304,3143
$GC,4790,-0.84,-97.3,537.8,-6.7,198,4793,0.00,2.15,0.00,0.000,6,0.000,0.047,2358,2700,3142
$GC,5065,-0.84,-97.3,557.4,-7.1,205,5069,0.00,1.90,0.00,0.000,4,0.000,0.057,2358,3901,3140
$GC,5088,-0.84,-97.3,559.1,-7.1,205,5091,0.00,1.75,0.00,0.000,6,0.000,0.028,2358,2702,3140
$GC,5353,-0.84,-97.3,577.7,-7.2,212,5356,0.00,2.00,0.00,0.000,4,0.000,0.030,2358,1305,3139
$GC,5392,-0.84,-97.3,580.6,-7.7,212,5398,0.00,2.17,0.00,0.000,6,0.000,0.048,2358,2710,3139
$GC,5642,-0.84,-97.3,598.8,-7.4,219,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2711,3137
$STATE,5677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5677,begin apogee
$GC,5687,-0.27,0.0,602.1,7.7,220,5773,0.62,0.00,83.70,1.071,6,0.091,0.000,2574,2418,2740
$STATE,5773,end apogee,CONTROL_FINISHED_OK
$STATE,5774,begin climb
$GC,5778,0.84,97.3,604.8,0.0,222,5879,0.95,2.30,89.90,1.017,4,0.037,0.040,2942,3831,2344
$GC,6037,0.84,97.3,599.1,13.7,228,6041,0.00,2.15,0.00,0.000,6,0.000,0.026,2953,2404,2337
$GC,6313,0.84,97.3,563.1,12.7,235,6316,0.00,2.22,0.00,0.000,4,0.000,0.041,2954,3834,2333
$GC,6331,0.84,97.3,561.1,12.1,235,6334,0.12,2.15,0.00,0.000,6,0.231,0.028,2939,2408,2333
$GC,6596,0.84,97.3,532.2,10.4,242,6599,0.00,2.08,0.00,0.000,4,0.000,0.029,2948,987,2332
$GC,6843,0.84,97.3,507.6,10.3,247,6846,0.00,2.17,0.00,0.000,6,0.000,0.038,2945,2421,2330
$GC,7098,0.84,97.5,482.1,10.0,254,7101,0.00,2.10,0.00,0.000,4,0.000,0.028,2953,989,2330
$GC,7153,0.87,117.5,477.3,8.6,255,7175,0.00,2.15,16.58,0.956,6,0.000,0.038,2945,2411,2261
$GC,7426,0.87,117.5,444.7,11.9,262,7429,0.00,2.17,0.00,0.000,4,0.000,0.044,2945,3822,2257
$GC,7529,0.87,117.5,432.2,12.1,264,7532,0.00,2.12,0.00,0.000,6,0.000,0.028,2954,2387,2256
$GC,7801,0.87,117.5,403.4,10.7,271,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2381,2255
$GC,8041,0.87,117.5,376.6,11.1,277,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2381,2254
$GC,8284,0.87,117.5,351.7,10.3,283,8287,0.00,2.22,0.00,0.000,4,0.000,0.044,2953,3822,2253
$GC,8531,0.89,132.9,328.7,8.9,288,8550,0.00,2.08,13.75,0.860,6,0.000,0.028,2963,2402,2198
$GC,8830,0.89,132.9,294.9,11.7,296,8833,0.00,2.03,0.00,0.000,4,0.000,0.029,2973,1008,2193
$GC,9067,0.93,170.3,272.7,7.4,301,9105,0.00,2.12,32.20,0.851,6,0.000,0.038,2971,2412,2045
$GC,9372,0.93,170.3,226.3,16.6,309,9375,0.00,2.08,0.00,0.000,4,0.000,0.030,2979,1014,2040
$GC,9417,0.93,170.3,219.9,15.1,310,9420,0.00,2.12,0.00,0.000,6,0.000,0.036,2971,2412,2039
$GC,9677,0.93,170.3,182.3,15.9,323,9680,0.00,2.08,0.00,0.000,4,0.000,0.028,2979,1003,2038
$GC,9776,0.93,170.3,169.1,14.0,332,9779,0.00,2.15,0.00,0.000,6,0.000,0.037,2971,2422,2038
$GC,10040,0.93,170.3,133.6,13.1,357,10043,0.00,2.05,0.00,0.000,4,0.000,0.027,2979,1007,2037
$GC,10057,0.93,170.3,131.0,12.3,358,10066,0.00,2.15,0.00,0.000,6,0.000,0.036,2971,2412,2038
$GC,10316,0.93,170.3,99.4,10.7,383,10319,0.00,2.03,0.00,0.000,4,0.000,0.027,2979,1006,2037
$GC,10565,1.01,233.2,75.6,5.7,406,10620,0.00,2.10,50.58,0.661,6,0.000,0.033,2971,2424,1789
$GC,10872,1.01,233.2,18.7,19.9,438,10881,0.00,2.10,0.00,0.000,4,0.000,0.026,2980,1010,1782
$STATE,10951,end climb,SURFACE_DEPTH_REACHED
$STATE,10951,begin surface coast
$FINISH,0.0,1.023449
$STATE,10962,end surface coast,CONTROL_FINISHED_OK
$STATE,10962,begin surface
$SM_CCo,10988,68.15,0.581,0,0,1188,380.21
$SM_GC,0.78,0.00,0.00,68.15,0.000,0.000,0.581,32,2705,1188,-8.21,0.14,380.21
$IRIDIUM_FIX,2232.34,-15755.87,221101,121202
$TT8_MAMPS,0.047554
$HUMID,2116
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.20
$XPDR_PINGS,8
$24V_AH,24.4,26.134
$10V_AH,10.6,22.953
$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,18.225,106.150,286.700,68.150,0.000,63.953,69.210,399.729,2.000,0.000,0.000,14.230,0.000,8097.559,415.722,2289.888,987.984,33.339,1181.138,0.000,2028.833,0.000,0.544,0.000
$DEVICE_MAMPS,230.867,56.758,1071.499,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,307.615,955.399,985.107,130.336,697.969,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38364,455
$CAP_FILE_SIZE,99931,0
$CFSIZE,260165632,248815616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,280812,150826,2242.043,-15756.185,33,2.8,52,10.1