version: 66.04
glider: 512
mission: 3
dive: 228
start: 8 30 112 16 1 2
data:
$ID,512
$MISSION,3
$DIVE,228
$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,-55215.047
$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,39
$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
$GPS1,154056,2242.303,-15756.067,45,2.3,64,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-80.1
$GPS2,160019,2242.266,-15756.224,14,2.0,14,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.002
$KALMAN_X,-46913.2,71.2,-146.5,48979.5,-1987.8
$KALMAN_Y,-4514.1,-617.7,186.2,2852.1,-109.6
$MHEAD_RNG_PITCHd_Wd,80.3,32207,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.84,-97.3,0.0,0.0,0,90,0.00,0.00,-73.95,0.000,2,0.000,0.000,12,2714,3131
$GC,96,-0.84,-97.3,4.3,-8.7,9,113,8.85,2.08,0.00,0.000,4,0.205,0.019,2388,1281,3132
$GC,123,-0.84,-97.3,21.3,-47.3,12,131,0.00,2.17,0.00,0.000,6,0.000,0.037,2380,2687,3132
$GC,389,-0.84,-97.3,90.6,-19.4,38,391,0.00,1.85,0.00,0.000,4,0.000,0.044,2370,3905,3134
$GC,455,-0.84,-97.3,102.4,-15.3,44,458,0.00,1.75,0.00,0.000,6,0.000,0.021,2370,2698,3134
$GC,719,-0.84,-97.3,147.3,-17.2,69,722,0.00,2.00,0.00,0.000,4,0.000,0.021,2370,1284,3134
$GC,776,-0.84,-97.3,156.1,-12.8,74,779,0.00,2.15,0.00,0.000,6,0.000,0.041,2360,2708,3134
$GC,1038,-0.84,-97.3,200.6,-18.3,99,1042,0.00,1.83,0.00,0.000,4,0.000,0.046,2351,3896,3134
$GC,1077,-0.84,-97.3,207.8,-16.6,99,1083,0.12,1.70,0.00,0.000,6,0.130,0.020,2384,2684,3134
$GC,1328,-0.84,-97.3,236.8,-11.1,106,1331,0.00,1.90,0.00,0.000,4,0.000,0.045,2377,3889,3134
$GC,1361,-0.84,-97.3,240.5,-10.2,106,1364,0.00,1.67,0.00,0.000,6,0.000,0.020,2377,2697,3134
$GC,1616,-0.84,-97.3,266.5,-10.6,113,1619,0.00,1.95,0.00,0.000,4,0.000,0.022,2377,1310,3134
$GC,1638,-0.84,-97.3,269.2,-11.8,113,1642,0.00,2.10,0.00,0.000,6,0.000,0.041,2372,2703,3134
$GC,1903,-0.84,-97.3,299.9,-11.8,120,1906,0.00,1.80,0.00,0.000,4,0.000,0.048,2363,3897,3132
$GC,1996,-0.84,-97.3,311.5,-12.5,122,1998,0.00,1.67,0.00,0.000,6,0.000,0.021,2363,2706,3132
$GC,2277,-0.84,-97.3,346.1,-12.2,129,2280,0.00,2.00,0.00,0.000,4,0.000,0.024,2363,1296,3130
$GC,2342,-0.84,-97.3,353.1,-9.9,130,2346,0.00,2.12,0.00,0.000,6,0.000,0.043,2359,2699,3130
$GC,2607,-0.84,-97.3,382.0,-10.7,137,2610,0.00,1.83,-0.08,0.000,4,0.000,0.064,2350,3897,3151
$GC,2678,-0.84,-97.3,388.9,-9.8,138,2682,0.10,1.75,0.00,0.000,6,0.110,0.023,2385,2688,3151
$GC,2938,-0.84,-97.3,405.7,-6.2,145,2941,0.00,1.98,0.00,0.000,4,0.000,0.025,2386,1300,3149
$GC,2966,-0.84,-97.3,407.5,-6.3,145,2969,0.00,2.15,0.00,0.000,6,0.000,0.044,2385,2714,3149
$GC,3226,-0.84,-97.3,424.3,-6.7,152,3229,0.00,1.83,0.00,0.000,4,0.000,0.052,2385,3902,3147
$GC,3260,-0.84,-97.3,426.6,-6.9,152,3263,0.00,1.75,0.00,0.000,6,0.000,0.024,2384,2702,3147
$GC,3514,-0.84,-97.3,443.8,-6.8,159,3517,0.00,2.00,0.00,0.000,4,0.000,0.026,2384,1306,3144
$GC,3547,-0.84,-97.3,446.3,-7.5,159,3551,0.00,2.12,0.00,0.000,6,0.000,0.044,2384,2698,3145
$GC,3804,-0.84,-97.3,464.0,-7.0,166,3807,0.00,1.88,0.00,0.000,4,0.000,0.053,2378,3897,3142
$GC,3838,-0.84,-97.3,466.3,-6.6,166,3841,0.00,1.73,0.00,0.000,6,0.000,0.025,2378,2697,3142
$GC,4092,-0.84,-97.3,482.0,-6.1,173,4095,0.00,2.00,0.00,0.000,4,0.000,0.027,2378,1299,3140
$GC,4136,-0.84,-97.3,484.9,-6.6,174,4139,0.00,2.15,0.00,0.000,6,0.000,0.046,2372,2703,3140
$GC,4425,-0.84,-97.3,504.2,-7.0,181,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2704,3138
$GC,4665,-0.84,-97.3,522.2,-7.4,187,4668,0.00,1.85,0.00,0.000,4,0.000,0.055,2371,3898,3136
$GC,4688,-0.84,-97.3,523.9,-7.4,187,4691,0.00,1.75,0.00,0.000,6,0.000,0.026,2371,2708,3136
$GC,4953,-0.84,-97.3,542.5,-7.0,194,4956,0.00,2.03,0.00,0.000,4,0.000,0.028,2371,1301,3134
$GC,4981,-0.84,-97.3,544.6,-7.2,194,4984,0.00,2.15,0.00,0.000,6,0.000,0.047,2371,2700,3134
$GC,5243,-0.84,-97.3,563.9,-7.6,201,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2700,3133
$GC,5483,-0.84,-97.3,583.1,-7.9,207,5486,0.00,2.05,0.00,0.000,4,0.000,0.028,2371,1300,3131
$GC,5522,-0.84,-97.3,586.4,-8.5,207,5527,0.00,2.17,0.00,0.000,6,0.000,0.048,2371,2709,3131
$STATE,5726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5726,begin apogee
$GC,5736,-0.27,0.0,602.9,7.9,213,5821,0.60,0.00,82.50,1.078,6,0.089,0.000,2579,2415,2740
$STATE,5821,end apogee,CONTROL_FINISHED_OK
$STATE,5821,begin climb
$GC,5826,0.84,97.3,606.3,0.0,215,5922,0.93,2.20,88.50,1.041,4,0.029,0.028,2969,1005,2343
$GC,6167,0.84,97.3,587.8,13.6,223,6171,0.15,2.17,0.00,0.000,6,0.216,0.037,2938,2424,2334
$GC,6448,0.84,97.3,551.8,12.5,230,6451,0.00,2.10,0.00,0.000,4,0.000,0.028,2946,997,2332
$GC,6696,0.85,100.2,524.1,9.8,235,6699,0.00,2.15,0.00,0.000,6,0.000,0.038,2945,2406,2331
$GC,6950,0.86,110.6,500.4,9.3,242,6962,0.00,0.00,10.65,0.917,6,0.000,0.000,2945,2406,2289
$GC,7192,0.86,110.6,473.4,11.4,248,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2406,2286
$GC,7434,0.86,110.6,446.4,10.9,254,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2406,2285
$GC,7676,0.88,124.3,422.8,9.1,260,7694,0.00,2.12,12.95,0.911,4,0.000,0.030,2953,1004,2233
$GC,7731,0.88,128.4,418.1,9.7,261,7740,0.00,2.15,5.25,0.718,6,0.000,0.038,2953,2411,2216
$GC,8001,0.88,128.4,382.0,13.4,268,8004,0.00,2.17,0.00,0.000,4,0.000,0.045,2953,3823,2213
$GC,8249,0.88,128.4,349.0,12.7,273,8252,0.00,2.10,0.00,0.000,6,0.000,0.027,2962,2398,2212
$GC,8503,0.88,128.9,322.8,10.0,280,8506,0.00,2.22,0.00,0.000,4,0.000,0.042,2958,3836,2211
$GC,8515,0.90,140.8,321.6,9.2,280,8530,0.00,2.10,11.50,0.835,6,0.000,0.027,2967,2398,2166
$GC,8780,0.90,140.8,288.9,13.4,287,8783,0.00,2.22,0.00,0.000,4,0.000,0.042,2967,3827,2162
$GC,9028,0.90,143.7,257.5,9.8,292,9031,0.00,2.10,0.00,0.000,6,0.000,0.027,2977,2411,2161
$GC,9282,0.94,171.7,235.3,8.1,299,9315,0.00,2.28,26.80,0.817,4,0.000,0.042,2971,3823,2039
$GC,9451,0.94,171.7,209.1,19.5,302,9457,0.00,2.12,0.00,0.000,6,0.000,0.026,2979,2392,2037
$GC,9708,0.94,171.7,165.7,15.9,324,9711,0.00,2.22,0.00,0.000,4,0.000,0.041,2970,3822,2035
$GC,9729,0.94,171.7,162.5,16.4,325,9732,0.00,2.08,0.00,0.000,6,0.000,0.025,2979,2410,2035
$GC,9991,0.94,171.7,122.7,13.3,350,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2404,2035
$GC,10250,0.94,171.7,91.4,11.2,375,10253,0.00,2.03,0.00,0.000,4,0.000,0.027,2990,1000,2035
$GC,10320,0.94,171.7,82.2,12.6,381,10326,0.08,2.15,0.00,0.000,6,0.222,0.035,2966,2415,2034
$GC,10583,1.08,284.9,63.9,2.2,406,10680,0.12,2.15,89.90,0.656,4,0.085,0.025,3018,999,1578
$STATE,10845,end climb,SURFACE_DEPTH_REACHED
$STATE,10845,begin surface coast
$FINISH,0.0,1.023377
$STATE,10855,end surface coast,CONTROL_FINISHED_OK
$STATE,10856,begin surface
$SM_CCo,10881,45.22,0.585,0,0,1188,380.21
$SM_GC,0.46,0.00,0.00,45.22,0.000,0.000,0.585,35,2720,1188,-8.20,0.57,380.21
$IRIDIUM_FIX,2232.34,-15753.70,241101,151504
$TT8_MAMPS,0.046787
$HUMID,2156
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,22.70
$XPDR_PINGS,9
$24V_AH,24.4,28.327
$10V_AH,10.6,24.831
$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,18.750,109.850,328.050,45.225,0.000,82.241,116.675,668.410,2.250,0.000,0.000,19.520,0.000,8092.724,404.672,2234.869,1345.649,33.337,1158.897,0.000,1969.177,0.000,0.543,0.000
$DEVICE_MAMPS,221.663,64.428,1078.402,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,297.766,908.076,936.765,119.416,652.891,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35274,440
$CAP_FILE_SIZE,103549,0
$CFSIZE,260165632,247996416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,300812,190429,2242.041,-15756.103,48,1.1,48,10.1