version: 66.04
glider: 512
mission: 3
dive: 245
start: 9 1 112 12 40 19
data:
$ID,512
$MISSION,3
$DIVE,245
$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,135
$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,-56073.613
$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,58
$R_STBD_OVSHOOT,47
$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
$GPS1,122835,2241.129,-15801.037,52,1.3,52,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-77.4
$GPS2,123937,2241.092,-15801.229,13,1.7,13,10.0
$SPEED_LIMITS,0.220,0.229
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,0.192
$KALMAN_X,-92897.7,1454.7,479.0,84378.1,-8581.7
$KALMAN_Y,-18123.5,917.2,-80.5,13006.8,-2112.6
$MHEAD_RNG_PITCHd_Wd,23.0,40303,-15.0,-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,-0.44,-131.4,0.0,0.0,0,91,0.00,0.00,-74.18,0.000,2,0.000,0.000,32,2797,2965
$GC,97,-0.44,-131.4,3.4,-3.9,9,114,8.70,1.52,-3.20,0.000,4,0.200,0.049,2368,3834,3145
$GC,204,-0.44,-131.4,42.8,-20.3,23,212,0.00,1.60,0.00,0.000,6,0.000,0.021,2368,2748,3146
$GC,461,-0.44,-131.4,94.5,-18.6,48,464,0.00,1.48,0.00,0.000,4,0.000,0.021,2368,1698,3147
$GC,511,-0.44,-131.4,103.2,-15.7,52,519,0.00,1.60,0.00,0.000,6,0.000,0.039,2360,2731,3147
$GC,769,-0.44,-131.4,147.4,-17.4,77,772,0.00,1.65,0.00,0.000,4,0.000,0.045,2352,3821,3148
$GC,808,-0.44,-131.4,154.8,-17.6,80,815,0.00,1.58,0.00,0.000,6,0.000,0.021,2352,2730,3148
$GC,1065,-0.44,-131.4,194.3,-15.5,105,1069,0.00,1.70,0.00,0.000,4,0.000,0.044,2344,3813,3148
$GC,1101,-0.44,-131.4,199.7,-15.1,108,1104,0.08,1.50,0.00,0.000,6,0.117,0.021,2381,2762,3148
$GC,1356,1.15,-131.4,226.0,-9.8,115,1360,1.42,1.42,0.00,0.000,4,0.101,0.019,2890,1720,3148
$GC,1443,1.15,-131.4,237.0,-20.6,117,1446,0.00,1.58,0.00,0.000,6,0.000,0.037,2891,2759,3148
$GC,1724,1.15,-131.4,287.6,-18.5,124,1727,0.00,1.60,0.00,0.000,4,0.000,0.043,2899,3808,3147
$GC,1865,1.15,-131.4,321.1,-27.0,127,1868,0.00,1.38,0.00,0.000,6,0.000,0.033,2911,2900,3146
$GC,2141,1.15,-131.4,374.2,-18.0,134,2143,0.00,1.42,0.00,0.000,4,0.000,0.043,2914,3809,3144
$GC,2153,1.15,-131.4,376.2,-17.3,134,2156,0.10,1.33,0.00,0.000,6,0.238,0.028,2898,2922,3144
$GC,2431,1.15,-131.4,428.7,-19.0,141,2434,0.00,1.70,0.00,0.000,4,0.000,0.021,2910,1712,3142
$GC,2481,1.15,-131.4,439.6,-27.2,142,2484,0.00,1.85,0.00,0.000,6,0.000,0.037,2910,2927,3142
$GC,2762,1.15,-131.4,500.9,-22.3,149,2765,0.00,1.70,0.00,0.000,4,0.000,0.021,2925,1705,3139
$GC,2828,1.15,-131.4,515.5,-22.5,150,2831,0.15,1.73,0.00,0.000,6,0.225,0.028,2896,2897,3139
$GC,3093,1.15,-131.4,570.5,-19.9,157,3096,0.00,1.65,0.00,0.000,4,0.000,0.021,2906,1699,3136
$GC,3121,1.15,-131.4,576.3,-18.3,157,3124,0.00,1.83,0.00,0.000,6,0.000,0.044,2905,2885,3135
$STATE,3257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3257,begin apogee
$GC,3268,-0.18,0.0,606.0,21.9,161,3380,1.62,0.00,109.07,1.037,6,0.202,0.000,2470,2422,2610
$STATE,3381,end apogee,CONTROL_FINISHED_OK
$STATE,3381,begin climb
$GC,3386,0.44,131.4,614.6,0.0,164,3510,0.50,1.65,115.43,1.004,4,0.033,0.025,2695,1363,2073
$GC,3560,0.44,131.4,604.9,14.9,168,3564,0.10,1.67,0.00,0.000,6,0.145,0.037,2663,2415,2069
$GC,3842,0.44,131.4,566.9,13.3,175,3844,0.00,1.65,0.00,0.000,4,0.000,0.044,2660,3492,2064
$GC,3864,0.44,131.4,563.6,14.6,175,3868,0.00,1.58,0.00,0.000,6,0.000,0.024,2666,2442,2063
$GC,4130,0.44,131.4,529.7,12.5,182,4133,0.00,1.58,0.00,0.000,4,0.000,0.028,2674,1369,2062
$GC,4163,0.44,131.4,525.9,11.3,182,4166,0.00,1.65,0.00,0.000,6,0.000,0.040,2673,2449,2061
$GC,4418,0.44,131.4,496.1,11.7,189,4421,0.00,1.62,0.00,0.000,4,0.000,0.027,2680,1340,2060
$GC,4441,0.44,131.4,493.5,11.6,189,4444,0.00,1.70,0.00,0.000,6,0.000,0.039,2674,2435,2059
$GC,4708,0.44,131.4,462.7,11.8,196,4711,0.00,1.60,0.00,0.000,4,0.000,0.028,2679,1367,2058
$GC,4758,0.44,131.4,456.7,11.2,197,4761,0.00,1.60,0.00,0.000,6,0.000,0.039,2674,2422,2057
$GC,5039,0.44,131.4,423.9,11.9,204,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2423,2056
$GC,5281,0.44,131.4,397.6,10.5,210,5284,0.00,1.62,0.00,0.000,4,0.000,0.048,2674,3491,2056
$GC,5379,0.44,131.4,386.7,12.0,212,5382,0.00,1.60,0.00,0.000,6,0.000,0.026,2680,2415,2054
$GC,5655,0.44,131.4,359.5,9.6,219,5658,0.00,1.52,0.00,0.000,4,0.000,0.029,2687,1371,2054
$GC,5689,0.44,131.4,356.4,9.0,219,5692,0.00,1.60,0.00,0.000,6,0.000,0.042,2686,2401,2054
$GC,5945,0.44,131.4,330.0,10.9,226,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2402,2054
$GC,6185,0.44,131.4,303.3,11.2,232,6188,0.00,1.67,0.00,0.000,4,0.000,0.049,2686,3479,2054
$GC,6278,0.44,131.4,292.9,11.8,234,6281,0.12,1.62,0.00,0.000,6,0.160,0.027,2661,2370,2053
$GC,6561,0.45,174.5,272.5,6.2,241,6597,0.00,0.00,33.78,0.843,6,0.000,0.000,2661,2363,1897
$GC,6841,0.45,174.5,250.2,8.8,248,6844,0.00,1.75,0.00,0.000,4,0.000,0.047,2660,3481,1892
$GC,6891,0.45,174.5,245.2,10.8,249,6894,0.00,1.62,0.00,0.000,6,0.000,0.027,2666,2388,1891
$GC,7174,0.45,174.5,213.2,11.6,256,7177,0.00,1.50,0.00,0.000,4,0.000,0.029,2672,1350,1890
$GC,7261,0.45,174.5,204.4,9.3,258,7264,0.00,1.60,0.00,0.000,6,0.000,0.040,2672,2376,1890
$GC,7526,0.45,174.5,184.1,8.4,277,7529,0.00,1.73,0.00,0.000,4,0.000,0.047,2672,3483,1890
$GC,7604,0.45,174.5,176.9,8.5,284,7607,0.00,1.67,0.00,0.000,6,0.000,0.025,2680,2363,1890
$GC,7867,0.45,174.5,153.3,9.4,309,7870,0.00,1.77,0.00,0.000,4,0.000,0.044,2674,3490,1890
$GC,7935,0.45,174.5,147.0,9.3,315,7939,0.00,1.65,0.00,0.000,6,0.000,0.024,2680,2376,1889
$GC,8203,0.46,183.5,125.2,7.6,340,8214,0.00,1.75,7.88,0.611,4,0.000,0.043,2680,3483,1862
$GC,8238,0.46,183.5,122.1,9.5,343,8241,0.00,1.58,0.00,0.000,6,0.000,0.024,2688,2414,1862
$GC,8500,0.46,183.5,99.3,9.1,368,8503,0.00,1.50,0.00,0.000,4,0.000,0.026,2696,1369,1860
$GC,8590,0.48,243.9,93.4,5.5,376,8644,0.00,1.58,50.00,0.663,6,0.000,0.038,2696,2393,1614
$GC,8894,0.48,246.5,67.0,7.9,404,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2393,1610
$GC,9153,-1.80,246.5,46.6,8.1,429,9158,2.12,1.70,0.00,0.000,4,0.094,0.041,1943,3493,1609
$GC,9285,-1.80,246.5,29.1,22.1,440,9292,0.00,1.62,0.00,0.000,6,0.000,0.020,1940,2367,1603
$STATE,9397,end climb,SURFACE_DEPTH_REACHED
$STATE,9397,begin surface coast
$FINISH,0.0,1.003513
$STATE,9413,end surface coast,CONTROL_FINISHED_OK
$STATE,9413,begin surface
$SM_CCo,9433,58.08,0.565,0,0,1059,380.21
$SM_GC,0.88,0.00,0.00,58.08,0.000,0.000,0.565,32,2786,1059,-7.78,0.74,380.21
$IRIDIUM_FIX,2230.01,-15801.07,261101,121215
$TT8_MAMPS,0.048321
$HUMID,2095
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.50
$XPDR_PINGS,6
$24V_AH,24.4,30.360
$10V_AH,10.6,26.708
$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,19.675,82.025,316.150,58.075,0.000,61.721,74.238,295.150,1.500,0.000,0.000,13.084,0.000,6515.072,414.498,2321.476,888.231,33.336,1101.338,0.000,2078.644,0.000,0.544,0.000
$DEVICE_MAMPS,237.770,49.088,1036.984,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,312.922,1124.916,1181.728,151.017,895.388,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38136,463
$CAP_FILE_SIZE,97308,0
$CFSIZE,260165632,247230464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010912,151935,2241.686,-15801.564,22,1.9,33,10.0