version: 66.04
glider: 512
mission: 3
dive: 244
start: 9 1 112 9 35 1
data:
$ID,512
$MISSION,3
$DIVE,244
$D_SURF,3
$D_FLARE,2
$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,250
$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,-7
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-56059.898
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2520
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.80000001
$PITCH_ADJ_DBAND,0.02
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,30
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,84
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2610
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,2
$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
$GPS1,090335,2241.796,-15800.749,30,1.9,31,10.0
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-78.8
$GPS2,093421,2241.664,-15801.110,13,2.5,32,10.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,-0.014
$KALMAN_X,-89295.2,1229.5,365.1,81319.7,-7855.3
$KALMAN_Y,-17818.6,746.4,458.1,13392.5,-2849.4
$MHEAD_RNG_PITCHd_Wd,83.4,40237,-14.9,-8.000
$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,-0.41,-77.9,0.0,0.0,0,91,0.00,0.00,-74.03,0.000,3,0.000,0.000,11,2708,2928
$GC,96,-0.41,-77.9,3.0,-3.1,9,114,8.80,1.40,0.00,0.000,4,0.202,0.019,2385,1687,2929
$GC,134,-0.41,-77.9,20.3,-38.5,14,143,0.00,1.65,0.00,0.000,6,0.000,0.036,2379,2756,2930
$GC,401,-0.41,-77.9,79.0,-17.7,42,404,0.00,1.62,0.00,0.000,4,0.000,0.043,2370,3834,2930
$GC,438,-0.41,-77.9,85.6,-18.1,45,441,0.00,1.50,0.00,0.000,6,0.000,0.020,2370,2793,2930
$GC,705,-0.41,-77.9,130.2,-15.9,70,708,0.00,1.52,0.00,0.000,4,0.000,0.021,2370,1702,2931
$GC,805,-0.41,-77.9,146.0,-14.1,79,808,0.00,1.60,0.00,0.000,6,0.000,0.040,2362,2764,2931
$GC,1069,-0.41,-77.9,182.2,-13.2,104,1071,0.00,1.50,0.00,0.000,4,0.000,0.020,2362,1707,2931
$GC,1139,-0.41,-77.9,190.9,-10.6,110,1146,0.00,1.55,0.00,0.000,6,0.000,0.038,2359,2718,2930
$GC,1420,-0.41,-77.9,227.9,-13.8,123,1423,0.00,1.65,0.00,0.000,4,0.000,0.044,2350,3820,2929
$GC,1486,-0.41,-77.9,236.7,-13.2,124,1489,0.08,1.55,0.00,0.000,6,0.115,0.020,2386,2715,2929
$GC,1753,1.30,-77.9,259.9,-8.3,131,1758,1.55,1.33,0.00,0.000,4,0.092,0.018,2937,1729,2928
$GC,1798,1.30,-77.9,260.4,-5.2,132,1801,0.00,1.52,0.00,0.000,6,0.000,0.028,2937,2765,2928
$GC,2079,1.30,-77.9,307.9,-17.2,139,2082,0.00,1.58,0.00,0.000,4,0.000,0.041,2932,3802,2927
$GC,2102,1.30,-77.9,312.3,-19.0,139,2105,0.00,1.50,0.00,0.000,6,0.000,0.023,2938,2747,2926
$GC,2369,1.30,-77.9,366.9,-20.8,146,2373,0.00,1.45,0.00,0.000,4,0.000,0.022,2948,1707,2924
$GC,2382,1.30,-77.9,370.4,-21.2,146,2385,0.00,1.55,0.00,0.000,6,0.000,0.034,2945,2745,2924
$GC,2658,1.30,-77.9,426.1,-20.0,153,2661,0.00,1.48,0.00,0.000,4,0.000,0.023,2951,1719,2922
$GC,2697,1.30,-77.9,433.0,-16.9,153,2702,0.00,1.58,0.00,0.000,6,0.000,0.041,2952,2745,2921
$GC,2946,1.30,-77.9,481.1,-19.6,160,2949,0.00,1.48,-0.08,0.000,4,0.000,0.043,2961,1707,2944
$GC,3118,1.30,-77.9,513.4,-18.5,163,3123,0.00,1.62,0.00,0.000,6,0.000,0.035,2962,2804,2943
$GC,3367,1.30,-77.9,561.7,-18.6,170,3370,0.00,1.58,0.00,0.000,4,0.000,0.023,2971,1708,2941
$STATE,3573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3573,begin apogee
$GC,3584,-0.18,0.0,600.4,18.5,174,3656,1.62,0.00,69.28,1.035,6,0.160,0.000,2465,2431,2610
$STATE,3657,end apogee,CONTROL_FINISHED_OK
$STATE,3657,begin climb
$GC,3662,0.41,77.9,604.8,0.0,176,3737,0.47,1.67,71.18,0.998,4,0.036,0.041,2674,3486,2291
$GC,3980,0.41,77.9,581.8,9.9,182,3983,0.00,1.58,0.00,0.000,6,0.000,0.023,2680,2432,2283
$GC,4240,0.41,77.9,557.3,9.3,189,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2427,2280
$GC,4482,0.41,77.9,536.0,8.8,195,4485,0.00,1.52,0.00,0.000,4,0.000,0.027,2688,1373,2278
$GC,4529,0.41,77.9,532.4,8.1,196,4532,0.05,1.58,0.00,0.000,6,0.144,0.038,2658,2391,2277
$GC,4815,0.42,81.7,509.8,7.8,203,4818,0.00,1.65,0.00,0.000,4,0.000,0.044,2658,3481,2275
$GC,4849,0.42,81.7,506.9,9.3,203,4852,0.00,1.60,0.00,0.000,6,0.000,0.025,2665,2382,2274
$GC,5103,0.42,91.7,486.8,7.6,210,5117,0.00,1.73,10.45,0.890,4,0.000,0.044,2660,3490,2235
$GC,5217,0.42,91.7,477.0,9.1,212,5220,0.00,1.58,0.00,0.000,6,0.000,0.025,2666,2429,2233
$GC,5477,0.42,93.3,456.2,7.9,219,5480,0.00,1.65,0.00,0.000,4,0.000,0.045,2660,3492,2231
$GC,5553,0.42,102.3,450.1,7.6,220,5567,0.00,1.50,10.02,0.874,6,0.000,0.025,2666,2469,2193
$GC,5808,0.43,121.9,431.6,7.2,227,5828,0.00,0.00,18.65,0.924,6,0.000,0.000,2666,2469,2112
$GC,6050,0.43,121.9,411.8,8.5,233,6052,0.00,1.60,0.00,0.000,4,0.000,0.045,2660,3496,2107
$GC,6094,0.43,121.9,407.9,9.6,234,6097,0.00,1.55,0.00,0.000,6,0.000,0.026,2666,2466,2107
$GC,6383,0.43,128.3,384.7,7.7,241,6390,0.00,0.00,6.05,0.742,6,0.000,0.000,2666,2460,2087
$GC,6622,0.43,128.3,363.8,8.8,247,6625,0.00,1.60,0.00,0.000,4,0.000,0.028,2674,1350,2084
$GC,6699,0.43,128.3,357.1,9.0,248,6702,0.00,1.73,0.00,0.000,6,0.000,0.041,2674,2455,2084
$GC,6953,0.43,128.3,333.1,9.2,255,6957,0.00,1.60,0.00,0.000,4,0.000,0.048,2674,3487,2083
$GC,7067,0.43,128.3,321.0,10.7,257,7070,0.00,1.50,0.00,0.000,6,0.000,0.026,2679,2478,2083
$GC,7327,0.43,128.3,295.6,9.7,264,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2473,2083
$GC,7569,0.43,128.3,271.4,10.1,270,7572,0.00,1.62,0.00,0.000,4,0.000,0.029,2687,1357,2082
$GC,7796,0.43,128.3,253.3,8.0,275,7798,0.00,1.75,0.00,0.000,6,0.000,0.042,2686,2502,2082
$GC,8072,0.46,186.7,236.6,5.6,282,8126,0.00,1.58,49.53,0.821,4,0.000,0.048,2686,3486,1847
$GC,8199,0.46,186.7,224.9,12.2,285,8202,0.00,1.45,0.00,0.000,6,0.000,0.026,2692,2530,1844
$GC,8460,0.46,186.7,192.6,12.8,295,8464,0.00,1.73,0.00,0.000,4,0.000,0.029,2697,1368,1842
$GC,8549,0.46,186.7,180.9,12.8,303,8552,0.00,1.77,0.00,0.000,6,0.000,0.041,2696,2515,1841
$GC,8812,0.46,186.7,147.8,12.1,328,8815,0.00,1.70,0.00,0.000,4,0.000,0.027,2704,1350,1840
$GC,8934,0.46,186.7,135.4,9.6,339,8938,0.12,1.65,0.00,0.000,6,0.129,0.039,2666,2436,1839
$GC,9201,0.46,186.7,113.8,8.5,364,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2436,1838
$GC,9461,0.46,186.7,89.6,9.4,389,9464,0.00,1.58,0.00,0.000,4,0.000,0.027,2670,1363,1839
$GC,9529,-0.80,201.3,83.9,7.4,395,9545,1.12,1.60,11.50,0.627,6,0.097,0.038,2258,2406,1789
$GC,9806,-0.80,201.3,53.9,13.8,421,9809,0.00,1.52,0.00,0.000,4,0.000,0.028,2258,1367,1783
$GC,10049,-0.80,201.3,24.1,12.2,448,10058,0.00,1.60,0.00,0.000,6,0.000,0.035,2251,2418,1782
$STATE,10198,end climb,SURFACE_DEPTH_REACHED
$STATE,10203,begin surface coast
$FINISH,0.1,1.010322
$STATE,10223,end surface coast,CONTROL_FINISHED_OK
$STATE,10224,begin surface
$SM_CCo,10245,85.07,0.574,0,0,1060,380.21
$SM_GC,0.98,0.00,0.00,85.07,0.000,0.000,0.574,37,2797,1060,-7.76,1.05,380.21
$IRIDIUM_FIX,2232.34,-15758.91,261101,090907
$TT8_MAMPS,0.047554
$HUMID,2157
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,22.50
$XPDR_PINGS,14
$24V_AH,24.6,30.244
$10V_AH,10.6,26.581
$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,19.375,79.000,246.650,85.075,0.000,111.467,212.378,1136.490,3.500,0.000,0.000,33.339,0.000,7300.178,382.983,2532.452,1944.579,33.339,1130.422,0.000,2247.522,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,48.321,1034.683,573.716,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,326.088,1129.975,1178.732,158.319,887.192,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41290,481
$CAP_FILE_SIZE,119407,0
$CFSIZE,260165632,247263232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010912,122835,2241.129,-15801.037,52,1.3,52,10.0