version: 66.04
glider: 512
mission: 3
dive: 250
start: 9 2 112 2 31 48
data:
$ID,512
$MISSION,3
$DIVE,250
$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,25
$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,-56171.234
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2525
$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,88
$R_STBD_OVSHOOT,29
$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
$GPS1,021936,2241.316,-15802.604,35,1.6,36,10.0
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-78.1
$GPS2,023106,2241.325,-15802.723,16,1.5,16,10.0
$SPEED_LIMITS,0.172,0.229
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,0.087
$KALMAN_X,-106696.8,938.5,760.1,95858.4,-9637.0
$KALMAN_Y,-20534.9,73.8,-540.6,17156.5,-542.8
$MHEAD_RNG_PITCHd_Wd,57.6,42888,-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,-131.4,0.0,0.0,0,83,0.00,0.00,-65.88,0.000,2,0.000,0.000,12,2708,2709
$GC,88,-0.44,-131.4,2.4,-2.5,8,114,8.88,1.75,-8.80,0.000,4,0.204,0.056,2376,3827,3147
$GC,149,-0.44,-131.4,24.0,-34.6,17,158,0.00,1.55,0.00,0.000,6,0.000,0.021,2375,2782,3147
$GC,415,-0.44,-131.4,86.5,-23.2,44,418,0.00,1.52,0.00,0.000,4,0.000,0.022,2376,1707,3148
$GC,546,1.64,-131.4,109.3,-14.8,56,551,1.95,1.58,0.00,0.000,6,0.106,0.040,3053,2720,3148
$GC,807,1.64,-131.4,161.8,-20.0,80,811,0.00,1.67,0.00,0.000,4,0.000,0.040,3055,3829,3149
$GC,822,1.64,-131.4,165.8,-21.6,81,825,0.00,1.62,0.00,0.000,6,0.000,0.022,3065,2705,3148
$GC,1090,1.64,-131.4,226.1,-21.7,98,1093,0.00,1.40,0.00,0.000,4,0.000,0.021,3074,1698,3149
$GC,1107,1.64,-131.4,230.1,-20.9,98,1110,0.00,1.65,0.00,0.000,6,0.000,0.038,3068,2798,3149
$GC,1378,1.64,-131.4,292.1,-21.9,105,1380,0.00,1.48,0.00,0.000,4,0.000,0.021,3067,3854,3148
$GC,1390,1.64,-131.4,295.5,-21.2,105,1393,0.00,1.55,0.00,0.000,6,0.000,0.020,3074,2769,3148
$GC,1666,1.64,-131.4,360.1,-24.6,112,1669,0.00,1.60,0.00,0.000,4,0.000,0.036,3080,3848,3148
$GC,1694,1.64,-131.4,366.2,-24.9,112,1697,0.15,1.60,0.00,0.000,6,0.239,0.027,3058,2735,3147
$GC,1954,1.64,-131.4,426.7,-23.0,119,1957,0.00,1.42,0.00,0.000,4,0.000,0.021,3066,1685,3146
$GC,1966,1.64,-131.4,429.9,-23.6,119,1970,0.00,1.55,0.00,0.000,6,0.000,0.048,3067,2684,3146
$GC,2244,1.64,-131.4,497.5,-25.2,126,2247,0.00,1.70,0.00,0.000,4,0.000,0.044,3068,3826,3143
$GC,2310,1.64,-131.4,516.0,-30.4,127,2313,0.00,1.80,0.00,0.000,6,0.000,0.029,3078,2617,3142
$GC,2575,1.64,-131.4,587.0,-26.1,134,2579,0.00,1.27,0.00,0.000,4,0.000,0.025,3087,1702,3140
$GC,2587,1.64,-131.4,590.3,-25.9,134,2590,0.10,1.27,0.00,0.000,6,0.223,0.025,3055,2615,3140
$STATE,2658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2659,begin apogee
$GC,2669,-0.18,0.0,608.6,24.4,136,2783,1.92,0.00,110.40,1.025,6,0.151,0.000,2466,2406,2610
$STATE,2784,end apogee,CONTROL_FINISHED_OK
$STATE,2784,begin climb
$GC,2788,0.44,131.4,618.3,0.0,139,2917,0.50,1.75,118.47,0.983,4,0.031,0.039,2686,3487,2073
$GC,2993,0.44,131.4,604.8,17.5,143,2998,0.00,1.60,0.00,0.000,6,0.000,0.022,2693,2417,2069
$GC,3242,0.44,131.4,564.5,15.5,150,3245,0.00,1.52,0.00,0.000,4,0.000,0.026,2700,1376,2065
$GC,3318,0.44,131.4,553.5,14.3,151,3321,0.12,1.60,0.00,0.000,6,0.162,0.038,2670,2426,2063
$GC,3573,0.44,131.4,520.1,13.2,158,3576,0.00,1.58,0.00,0.000,4,0.000,0.027,2676,1368,2062
$GC,3612,0.44,131.4,515.2,12.5,158,3617,0.00,1.60,0.00,0.000,6,0.000,0.038,2673,2421,2061
$GC,3861,0.44,131.4,482.7,13.2,165,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2422,2060
$GC,4105,0.44,131.4,450.6,13.2,171,4108,0.00,1.62,0.00,0.000,4,0.000,0.046,2673,3491,2058
$GC,4160,0.44,131.4,443.2,13.8,172,4163,0.00,1.67,0.00,0.000,6,0.000,0.025,2680,2368,2058
$GC,4436,0.44,131.4,410.0,11.6,179,4438,0.00,1.45,0.00,0.000,4,0.000,0.028,2687,1358,2056
$GC,4517,0.44,131.4,401.6,9.6,180,4523,0.00,1.58,0.00,0.000,6,0.000,0.040,2686,2378,2055
$GC,4767,0.44,131.4,374.8,10.9,187,4770,0.00,1.73,0.00,0.000,4,0.000,0.047,2686,3489,2055
$GC,4800,0.44,131.4,370.6,12.3,187,4803,0.00,1.60,0.00,0.000,6,0.000,0.025,2693,2387,2054
$GC,5055,0.44,131.4,338.2,12.8,194,5057,0.00,1.48,0.00,0.000,4,0.000,0.028,2700,1376,2054
$GC,5286,0.44,131.4,312.9,10.1,199,5290,0.10,1.45,0.00,0.000,6,0.148,0.040,2668,2316,2053
$GC,5559,0.44,134.3,291.3,7.9,206,5562,0.00,1.40,0.00,0.000,4,0.000,0.028,2675,1362,2053
$GC,5593,0.44,134.3,288.5,8.1,206,5596,0.00,1.40,0.00,0.000,6,0.000,0.039,2674,2277,2053
$GC,5847,0.44,134.3,266.6,9.0,213,5850,0.00,1.33,0.00,0.000,4,0.000,0.028,2679,1371,2052
$GC,5988,0.46,200.8,257.8,5.3,216,6047,0.00,1.27,55.30,0.833,6,0.000,0.038,2674,2205,1790
$GC,6304,0.46,200.8,229.5,9.4,224,6307,0.00,1.98,0.00,0.000,4,0.000,0.047,2674,3481,1784
$GC,6455,0.46,200.8,211.8,11.7,227,6458,0.00,1.90,0.00,0.000,6,0.000,0.027,2681,2203,1783
$GC,6715,0.46,200.8,184.8,9.9,242,6718,0.00,2.00,0.00,0.000,4,0.000,0.044,2681,3481,1782
$GC,6773,0.46,200.8,178.1,12.4,247,6776,0.00,1.80,0.00,0.000,6,0.000,0.025,2690,2269,1782
$GC,7037,0.46,200.8,150.8,10.6,272,7039,0.00,1.90,0.00,0.000,4,0.000,0.043,2686,3492,1781
$GC,7149,0.46,200.8,138.2,9.9,282,7158,0.00,1.75,0.00,0.000,6,0.000,0.024,2693,2322,1781
$GC,7408,0.46,200.8,117.3,8.5,307,7411,0.00,1.38,0.00,0.000,4,0.000,0.028,2696,1364,1781
$GC,7465,0.46,200.8,112.3,8.6,312,7468,0.00,1.45,0.00,0.000,6,0.000,0.037,2696,2313,1781
$GC,7729,0.46,200.8,86.4,10.2,337,7733,0.00,1.80,0.00,0.000,4,0.000,0.043,2696,3482,1781
$GC,7820,0.46,200.8,77.2,9.6,345,7823,0.00,1.73,0.00,0.000,6,0.000,0.024,2696,2323,1781
$GC,8084,0.47,218.8,55.4,7.3,370,8101,0.00,1.35,14.75,0.601,4,0.000,0.025,2704,1347,1719
$GC,8182,-1.27,252.6,48.7,6.6,378,8214,1.62,1.48,27.73,0.610,6,0.101,0.035,2118,2320,1580
$GC,8467,-1.27,252.6,7.7,17.5,416,8476,0.00,1.38,0.00,0.000,4,0.000,0.021,2120,1350,1573
$STATE,8496,end climb,SURFACE_DEPTH_REACHED
$STATE,8496,begin surface coast
$FINISH,0.2,1.001750
$STATE,8512,end surface coast,CONTROL_FINISHED_OK
$STATE,8512,begin surface
$SM_CCo,8535,55.08,0.566,0,0,1059,380.21
$SM_GC,0.83,0.00,0.00,55.08,0.000,0.000,0.566,29,2773,1059,-7.80,0.37,380.21
$IRIDIUM_FIX,2232.34,-15801.07,271101,020249
$TT8_MAMPS,0.046787
$HUMID,2076
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,6
$24V_AH,24.5,30.926
$10V_AH,10.6,27.312
$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,20.550,79.975,326.650,55.075,0.000,61.633,72.951,329.556,1.500,0.000,0.000,16.438,0.000,5789.588,412.268,2175.953,890.176,33.374,1076.755,0.000,1939.963,0.000,0.544,0.000
$DEVICE_MAMPS,239.304,55.991,1025.479,566.046,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,286.172,1039.280,1074.771,157.339,841.686,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35253,424
$CAP_FILE_SIZE,92442,0
$CFSIZE,260165632,246992896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,020912,045605,2241.622,-15803.041,31,1.5,36,10.0