version: 66.04
glider: 512
mission: 3
dive: 221
start: 8 29 112 15 43 15
data:
$ID,512
$MISSION,3
$DIVE,221
$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,-54982.141
$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,58
$R_STBD_OVSHOOT,34
$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
$GPS1,151537,2242.046,-15754.675,64,1.5,66,10.1
$_CALLS,4
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-76.4
$GPS2,154233,2241.978,-15754.927,16,2.3,35,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,0.051
$KALMAN_X,-28372.8,516.2,284.9,31767.3,-3611.2
$KALMAN_Y,-1641.0,-555.2,249.6,-682.0,-377.4
$MHEAD_RNG_PITCHd_Wd,66.2,29928,-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,-73.88,0.000,2,0.000,0.000,12,2717,3103
$GC,96,-0.84,-97.3,4.0,-7.5,9,113,8.93,1.80,-0.57,0.000,4,0.207,0.044,2366,3918,3138
$GC,139,-0.84,-97.3,28.9,-58.1,15,147,0.00,1.80,0.00,0.000,6,0.000,0.021,2366,2701,3139
$GC,396,-0.84,-97.3,101.2,-23.0,40,399,0.00,2.03,0.00,0.000,4,0.000,0.024,2366,1286,3140
$GC,421,-0.84,-97.3,106.8,-22.3,42,425,0.12,2.15,0.00,0.000,6,0.140,0.037,2389,2705,3140
$GC,679,-0.84,-97.3,146.7,-14.7,66,682,0.00,1.83,0.00,0.000,4,0.000,0.045,2382,3910,3141
$GC,735,-0.84,-97.3,155.0,-12.7,71,738,0.00,1.77,0.00,0.000,6,0.000,0.021,2382,2679,3141
$GC,997,-0.84,-97.3,189.1,-12.7,96,1000,0.00,1.92,0.00,0.000,4,0.000,0.023,2382,1302,3140
$GC,1068,-0.84,-97.3,197.9,-10.2,102,1076,0.00,2.12,0.00,0.000,6,0.000,0.040,2372,2690,3141
$GC,1339,-0.84,-97.3,236.2,-14.9,111,1342,0.00,1.83,0.00,0.000,4,0.000,0.045,2363,3899,3140
$GC,1410,-0.84,-97.3,246.3,-12.9,112,1413,0.00,1.70,0.00,0.000,6,0.000,0.021,2363,2688,3140
$GC,1670,-0.84,-97.3,278.7,-12.6,119,1673,0.00,1.88,0.00,0.000,4,0.000,0.047,2359,3896,3140
$GC,1714,-0.84,-97.3,284.0,-11.2,120,1717,0.00,1.67,0.00,0.000,6,0.000,0.021,2359,2704,3139
$GC,2000,-0.84,-97.3,316.5,-11.5,127,2003,0.00,1.98,0.00,0.000,4,0.000,0.024,2359,1294,3137
$GC,2045,-0.84,-97.3,321.4,-10.7,128,2048,0.00,2.12,0.00,0.000,6,0.000,0.042,2358,2700,3138
$GC,2331,-0.84,-97.3,352.4,-10.8,135,2334,0.00,1.85,0.00,0.000,4,0.000,0.048,2350,3896,3136
$GC,2386,-0.84,-97.3,358.1,-10.0,136,2389,0.12,1.70,0.00,0.000,6,0.119,0.023,2386,2694,3135
$GC,2662,-0.84,-97.3,379.0,-7.3,143,2665,0.00,1.88,0.00,0.000,4,0.000,0.049,2385,3896,3133
$GC,2695,-0.84,-97.3,381.3,-7.1,143,2698,0.00,1.70,0.00,0.000,6,0.000,0.023,2385,2697,3132
$GC,2950,-0.84,-97.3,398.4,-6.8,150,2953,0.00,1.98,0.00,0.000,4,0.000,0.025,2385,1306,3130
$GC,2983,-0.84,-97.3,401.0,-7.8,150,2986,0.00,2.12,0.00,0.000,6,0.000,0.043,2385,2703,3131
$GC,3238,-0.84,-97.3,420.5,-8.0,157,3241,0.00,2.05,-0.08,0.000,4,0.000,0.039,2384,1296,3152
$GC,3261,-0.84,-97.3,422.4,-8.5,157,3264,0.00,2.15,0.00,0.000,6,0.000,0.043,2384,2704,3152
$GC,3526,-0.84,-97.3,443.1,-7.8,164,3529,0.00,1.85,0.00,0.000,4,0.000,0.053,2384,3904,3151
$GC,3570,-0.84,-97.3,446.4,-6.9,165,3573,0.00,1.73,0.00,0.000,6,0.000,0.025,2385,2694,3150
$GC,3857,-0.84,-97.3,466.4,-6.8,172,3860,0.00,2.00,0.00,0.000,4,0.000,0.027,2385,1302,3148
$GC,3912,-0.84,-97.3,470.4,-7.1,173,3915,0.00,2.15,0.00,0.000,6,0.000,0.045,2385,2707,3148
$GC,4187,-0.84,-97.3,488.2,-6.3,180,4190,0.00,1.85,0.00,0.000,4,0.000,0.053,2380,3885,3145
$GC,4221,-0.84,-97.3,490.3,-6.2,180,4224,0.00,1.70,0.00,0.000,6,0.000,0.026,2380,2698,3145
$GC,4475,-0.84,-97.3,505.9,-6.1,187,4478,0.00,2.00,0.00,0.000,4,0.000,0.028,2380,1306,3143
$GC,4520,-0.84,-97.3,508.6,-6.0,188,4523,0.00,2.15,0.00,0.000,6,0.000,0.046,2372,2707,3143
$GC,4806,-0.84,-97.3,527.1,-6.5,195,4809,0.00,1.85,0.00,0.000,4,0.000,0.054,2363,3905,3140
$GC,4856,-0.84,-97.3,530.4,-6.7,196,4859,0.00,1.73,0.00,0.000,6,0.000,0.026,2363,2704,3140
$GC,5137,-0.84,-97.3,550.4,-7.4,203,5140,0.00,2.03,0.00,0.000,4,0.000,0.028,2363,1299,3138
$GC,5203,-0.84,-97.3,555.6,-8.5,204,5206,0.00,2.17,0.00,0.000,6,0.000,0.048,2359,2706,3139
$GC,5465,-0.84,-97.3,577.8,-8.7,211,5468,0.00,1.85,0.00,0.000,4,0.000,0.056,2358,3897,3136
$GC,5499,-0.84,-97.3,580.9,-9.1,211,5502,0.00,1.75,0.00,0.000,6,0.000,0.028,2359,2707,3136
$STATE,5708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5708,begin apogee
$GC,5718,-0.27,0.0,600.1,9.0,217,5803,0.62,0.00,82.80,1.066,6,0.094,0.000,2573,2410,2740
$STATE,5803,end apogee,CONTROL_FINISHED_OK
$STATE,5803,begin climb
$GC,5808,0.84,97.3,604.1,0.0,219,5902,0.95,2.33,88.22,1.029,4,0.033,0.040,2945,3829,2343
$GC,6145,0.84,97.3,586.2,15.6,227,6148,0.00,2.12,0.00,0.000,6,0.000,0.026,2954,2408,2336
$GC,6431,0.84,97.3,547.5,13.4,234,6434,0.00,2.22,0.00,0.000,4,0.000,0.043,2954,3836,2332
$GC,6679,0.84,97.3,513.2,12.4,239,6683,0.15,2.12,0.00,0.000,6,0.234,0.027,2934,2407,2331
$GC,6928,0.84,97.3,486.7,10.4,245,6931,0.00,2.20,0.00,0.000,4,0.000,0.043,2932,3828,2330
$GC,7176,0.87,120.4,463.3,8.4,250,7199,0.00,2.10,19.10,0.950,6,0.000,0.027,2940,2400,2248
$GC,7469,0.87,120.4,427.5,12.6,258,7473,0.00,2.22,0.00,0.000,4,0.000,0.042,2940,3834,2244
$GC,7717,0.87,120.4,400.0,10.3,263,7720,0.00,2.10,0.00,0.000,6,0.000,0.028,2949,2421,2243
$GC,7971,0.88,122.9,374.7,9.8,270,7974,0.00,2.20,0.00,0.000,4,0.000,0.042,2945,3834,2241
$GC,8219,0.88,122.9,345.2,12.1,275,8223,0.00,2.12,0.00,0.000,6,0.000,0.028,2954,2398,2241
$GC,8470,0.88,129.8,320.0,9.5,281,8483,0.00,2.25,8.35,0.792,4,0.000,0.043,2954,3824,2210
$GC,8594,0.88,129.8,308.4,10.0,283,8599,0.00,2.10,0.00,0.000,6,0.000,0.026,2965,2404,2209
$GC,8843,0.93,167.3,289.1,7.4,290,8886,0.00,2.28,32.83,0.858,4,0.000,0.041,2958,3829,2057
$GC,9129,0.93,167.3,239.1,18.6,296,9132,0.00,2.12,0.00,0.000,6,0.000,0.028,2966,2411,2053
$GC,9389,0.93,167.3,198.6,15.2,303,9392,0.00,2.20,0.00,0.000,4,0.000,0.041,2967,3828,2051
$GC,9457,0.93,167.3,187.4,16.8,309,9460,0.00,2.10,0.00,0.000,6,0.000,0.027,2975,2408,2051
$GC,9721,0.93,167.3,155.1,11.3,334,9724,0.00,2.05,0.00,0.000,4,0.000,0.029,2986,994,2051
$GC,9843,0.93,167.3,141.4,10.8,345,9846,0.00,2.15,0.00,0.000,6,0.000,0.038,2986,2419,2050
$GC,10106,0.93,167.3,104.3,16.3,370,10109,0.00,2.08,0.00,0.000,4,0.000,0.026,2994,987,2050
$GC,10142,0.93,167.3,99.1,13.5,373,10146,0.15,2.15,0.00,0.000,6,0.226,0.035,2963,2424,2050
$GC,10405,0.96,187.6,74.0,8.6,397,10433,0.00,2.12,17.27,0.644,4,0.000,0.026,2972,998,1974
$GC,10671,0.99,214.7,43.3,8.1,421,10698,0.00,2.15,23.17,0.617,6,0.000,0.034,2971,2411,1864
$GC,10950,0.99,214.7,3.4,16.7,463,10959,0.00,2.17,0.00,0.000,4,0.000,0.039,2970,3819,1859
$STATE,10964,end climb,SURFACE_DEPTH_REACHED
$STATE,10964,begin surface coast
$FINISH,-0.1,1.021404
$STATE,10979,end surface coast,CONTROL_FINISHED_OK
$STATE,10979,begin surface
$SM_CCo,11004,84.72,0.580,0,0,1188,380.21
$SM_GC,0.61,0.00,0.00,84.72,0.000,0.000,0.580,45,2694,1188,-8.17,-0.17,380.21
$IRIDIUM_FIX,2232.34,-15755.87,231101,151540
$TT8_MAMPS,0.047554
$HUMID,2105
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.90
$XPDR_PINGS,7
$24V_AH,24.4,27.319
$10V_AH,10.6,23.983
$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,18.475,120.575,271.750,84.725,0.000,113.573,145.294,991.074,1.750,0.000,0.000,36.249,0.000,7946.816,408.827,2608.219,1730.096,33.335,1249.882,0.000,2297.691,0.000,0.545,0.000
$DEVICE_MAMPS,233.935,55.991,1066.130,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,317.143,1021.284,1056.287,137.745,769.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38384,468
$CAP_FILE_SIZE,118076,0
$CFSIZE,260165632,248356864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,290812,184905,2242.083,-15755.013,29,1.9,29,10.1