version: 66.04
glider: 512
mission: 3
dive: 217
start: 8 29 112 3 57 8
data:
$ID,512
$MISSION,3
$DIVE,217
$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,-54877.008
$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,49
$R_STBD_OVSHOOT,67
$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
$GPS1,034530,2242.083,-15755.446,46,2.0,47,10.1
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-79.6
$GPS2,035630,2242.079,-15755.471,15,1.1,20,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,0.027
$KALMAN_X,-18361.5,-231.5,90.0,21768.3,-2550.4
$KALMAN_Y,-354.3,475.8,268.8,-2836.0,-327.1
$MHEAD_RNG_PITCHd_Wd,72.7,30876,-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,14,begin dive
$GC,19,-0.84,-97.3,0.0,0.0,0,120,0.00,0.00,-98.78,0.000,2,0.000,0.000,27,2749,3038
$GC,125,-0.84,-97.3,3.9,-7.6,12,142,8.85,2.12,-1.73,0.000,4,0.207,0.035,2392,1270,3138
$GC,152,-0.84,-97.3,18.8,-42.8,15,160,0.00,2.15,0.00,0.000,6,0.000,0.035,2384,2666,3139
$GC,417,-0.84,-97.3,86.5,-20.1,42,420,0.00,1.88,0.00,0.000,4,0.000,0.044,2374,3900,3140
$GC,539,-0.84,-97.3,105.0,-12.8,53,541,0.00,1.75,0.00,0.000,6,0.000,0.021,2374,2675,3140
$GC,801,-0.84,-97.3,148.3,-16.5,78,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2668,3141
$GC,1060,-0.84,-97.3,187.1,-15.5,103,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2667,3142
$GC,1313,-0.84,-97.3,222.4,-13.5,116,1316,0.00,1.90,0.00,0.000,4,0.000,0.044,2365,3886,3141
$GC,1346,-0.84,-97.3,226.9,-13.0,116,1349,0.00,1.70,0.00,0.000,6,0.000,0.021,2365,2685,3142
$GC,1601,-0.84,-97.3,260.7,-13.1,123,1603,0.00,1.95,0.00,0.000,4,0.000,0.024,2365,1306,3141
$GC,1645,-0.84,-97.3,266.0,-11.5,124,1648,0.00,2.10,0.00,0.000,6,0.000,0.040,2359,2699,3142
$GC,1933,-0.84,-97.3,299.7,-11.5,131,1936,0.00,1.83,0.00,0.000,4,0.000,0.048,2350,3907,3141
$GC,1994,-0.84,-97.3,306.3,-9.2,132,1997,0.12,1.70,0.00,0.000,6,0.117,0.022,2386,2701,3141
$GC,2264,-0.84,-97.3,324.8,-6.7,139,2267,0.00,2.00,0.00,0.000,4,0.000,0.025,2395,1296,3140
$GC,2287,-0.84,-97.3,326.4,-6.6,139,2290,0.00,2.12,0.00,0.000,6,0.000,0.041,2387,2703,3140
$GC,2554,-0.84,-97.3,343.7,-6.9,146,2557,0.00,1.85,0.00,0.000,4,0.000,0.051,2385,3892,3138
$GC,2582,-0.84,-97.3,346.0,-6.8,146,2585,0.00,1.70,0.00,0.000,6,0.000,0.023,2385,2697,3138
$GC,2842,-0.84,-97.3,365.8,-7.8,153,2845,0.00,1.98,0.00,0.000,4,0.000,0.025,2385,1303,3136
$GC,2880,-0.84,-97.3,368.8,-7.7,153,2886,0.00,2.12,0.00,0.000,6,0.000,0.042,2385,2703,3136
$GC,3130,-0.84,-97.3,387.7,-7.6,160,3133,0.00,1.83,0.00,0.000,4,0.000,0.050,2376,3901,3134
$GC,3163,-0.84,-97.3,390.4,-7.9,160,3166,0.00,1.70,0.00,0.000,6,0.000,0.024,2376,2700,3134
$GC,3417,-0.84,-97.3,412.1,-8.6,167,3421,0.00,1.98,0.00,0.000,4,0.000,0.026,2376,1302,3131
$GC,3467,-0.84,-97.3,416.6,-8.6,168,3471,0.00,2.12,0.00,0.000,6,0.000,0.044,2372,2698,3132
$GC,3748,-0.84,-97.3,442.4,-9.3,175,3751,0.00,1.83,0.00,0.000,4,0.000,0.051,2363,3892,3130
$GC,3795,-0.84,-97.3,446.5,-8.8,176,3798,0.00,1.73,0.00,0.000,6,0.000,0.025,2363,2701,3129
$GC,4081,-0.84,-97.3,473.8,-9.5,183,4084,0.00,2.00,-0.08,0.000,4,0.000,0.041,2363,1313,3154
$GC,4110,-0.84,-97.3,476.5,-9.7,183,4113,0.00,2.12,0.00,0.000,6,0.000,0.044,2359,2698,3154
$GC,4369,-0.84,-97.3,500.4,-9.1,190,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2698,3152
$GC,4614,-0.84,-97.3,522.1,-8.8,196,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2699,3150
$GC,4854,-0.84,-97.3,541.8,-8.1,202,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2699,3149
$GC,5096,-0.84,-97.3,560.0,-7.5,208,5098,0.00,1.85,0.00,0.000,4,0.000,0.053,2350,3895,3148
$GC,5150,-0.84,-97.3,564.0,-6.7,209,5154,0.12,1.73,0.00,0.000,6,0.114,0.027,2386,2698,3147
$GC,5428,-0.84,-97.3,578.3,-5.1,216,5431,0.00,2.03,0.00,0.000,4,0.000,0.029,2395,1295,3145
$GC,5483,-0.84,-97.3,581.5,-5.3,217,5487,0.00,2.17,0.00,0.000,6,0.000,0.046,2387,2710,3145
$GC,5754,-0.84,-97.3,597.4,-6.1,224,5757,0.00,2.08,0.00,0.000,4,0.000,0.031,2394,1289,3144
$STATE,5782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5783,begin apogee
$GC,5794,-0.27,0.0,600.0,7.6,224,5885,0.45,0.00,84.35,1.072,6,0.044,0.000,2586,2410,2740
$STATE,5885,end apogee,CONTROL_FINISHED_OK
$STATE,5885,begin climb
$GC,5890,0.84,97.3,606.4,0.0,227,5991,0.98,2.30,90.28,1.018,4,0.050,0.042,2944,3828,2344
$GC,6233,0.84,97.3,587.5,13.8,235,6237,0.00,2.12,0.00,0.000,6,0.000,0.027,2954,2409,2336
$GC,6504,0.84,97.3,555.2,11.6,242,6507,0.00,2.22,0.00,0.000,4,0.000,0.042,2954,3820,2333
$GC,6639,0.84,97.3,539.7,11.2,245,6642,0.12,2.10,0.00,0.000,6,0.230,0.026,2939,2405,2331
$GC,6914,0.86,107.6,513.2,9.3,252,6928,0.00,2.25,8.32,0.871,4,0.000,0.042,2931,3824,2301
$GC,7172,0.86,107.6,484.5,11.1,258,7175,0.00,2.10,0.00,0.000,6,0.000,0.027,2940,2401,2299
$GC,7459,0.86,107.6,454.9,10.1,265,7462,0.00,2.20,0.00,0.000,4,0.000,0.042,2931,3822,2297
$GC,7706,0.86,113.3,430.1,9.6,270,7719,0.00,2.08,6.28,0.788,6,0.000,0.027,2940,2401,2277
$GC,7960,0.87,117.3,404.4,9.7,277,7969,0.00,2.20,4.95,0.699,4,0.000,0.042,2931,3825,2261
$GC,8010,0.87,119.0,399.8,9.9,278,8013,0.00,2.08,0.00,0.000,6,0.000,0.027,2940,2419,2260
$GC,8285,0.87,119.7,373.1,10.0,285,8289,0.00,2.08,0.00,0.000,4,0.000,0.031,2951,993,2259
$GC,8533,0.90,139.7,349.9,8.6,290,8559,0.00,2.15,20.30,0.890,6,0.000,0.038,2944,2413,2171
$GC,8831,0.90,139.7,308.9,14.6,298,8835,0.00,2.08,0.00,0.000,4,0.000,0.029,2953,1002,2167
$GC,9079,0.91,153.0,282.0,9.1,303,9097,0.00,2.15,12.38,0.805,6,0.000,0.037,2944,2422,2115
$GC,9377,0.91,153.0,245.0,13.1,311,9380,0.00,2.10,0.00,0.000,4,0.000,0.029,2953,998,2112
$GC,9625,0.91,153.0,213.6,11.9,316,9628,0.00,2.15,0.00,0.000,6,0.000,0.038,2953,2412,2111
$GC,9885,0.93,166.6,182.7,9.1,332,9901,0.00,2.10,12.45,0.729,4,0.000,0.029,2962,993,2059
$GC,9947,0.93,166.6,175.9,11.0,337,9955,0.00,2.20,0.00,0.000,6,0.000,0.038,2958,2415,2058
$GC,10205,0.93,166.6,144.7,13.1,362,10208,0.00,2.15,0.00,0.000,4,0.000,0.043,2958,3829,2057
$GC,10454,0.93,166.6,108.8,11.9,385,10458,0.00,2.08,0.00,0.000,6,0.000,0.025,2967,2402,2056
$GC,10717,0.96,192.2,80.2,8.2,410,10744,0.00,2.22,22.00,0.657,4,0.000,0.041,2967,3820,1956
$GC,10840,0.96,192.2,64.0,13.3,421,10843,0.00,2.08,0.00,0.000,6,0.000,0.025,2976,2407,1954
$GC,11104,0.99,214.6,41.4,8.5,446,11132,0.00,2.08,19.05,0.607,4,0.000,0.025,2986,1000,1864
$GC,11211,0.99,214.6,29.0,14.3,455,11218,0.00,2.15,0.00,0.000,6,0.000,0.035,2983,2403,1862
$STATE,11368,end climb,SURFACE_DEPTH_REACHED
$STATE,11368,begin surface coast
$FINISH,-0.2,1.011901
$STATE,11383,end surface coast,CONTROL_FINISHED_OK
$STATE,11383,begin surface
$SM_CCo,11407,85.03,0.575,0,0,1189,380.21
$SM_GC,0.61,0.00,0.00,85.03,0.000,0.000,0.575,34,2718,1189,-8.21,0.51,380.21
$IRIDIUM_FIX,2232.34,-15753.70,231101,010159
$TT8_MAMPS,0.046787
$HUMID,2109
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.80
$XPDR_PINGS,14
$24V_AH,24.4,26.780
$10V_AH,10.6,23.544
$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,18.250,109.600,280.350,85.025,0.000,24.132,40.801,449.320,3.500,0.000,0.000,20.289,0.000,8114.210,439.714,2622.212,963.830,33.332,1295.451,0.000,2330.343,0.000,0.543,0.000
$DEVICE_MAMPS,230.100,52.923,1072.266,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,329.959,1054.808,1088.006,147.542,797.233,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41621,488
$CAP_FILE_SIZE,105087,0
$CFSIZE,260165632,248549376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,290812,070956,2242.086,-15755.354,24,2.5,43,10.1