version: 66.04
glider: 512
mission: 3
dive: 256
start: 9 2 112 19 26 35
data:
$ID,512
$MISSION,3
$DIVE,256
$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,120
$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,-56330.746
$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,35
$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,71
$R_STBD_OVSHOOT,31
$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
$GPS1,190803,2241.968,-15804.777,10,2.3,30,10.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-78.5
$GPS2,192557,2241.893,-15804.975,42,2.7,61,10.0
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,-0.007
$KALMAN_X,-122337.9,1681.9,645.9,107008.0,-8559.0
$KALMAN_Y,-26590.6,51.8,699.1,23051.5,-4256.7
$MHEAD_RNG_PITCHd_Wd,81.9,46838,-16.0,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.51,-116.8,0.0,0.0,0,95,0.00,0.00,-74.07,0.000,2,0.000,0.000,24,2783,2956
$GC,101,-0.51,-116.8,3.1,-3.5,9,118,8.70,0.00,-2.42,0.000,6,0.203,0.000,2357,2783,3088
$GC,374,-0.51,-116.8,81.3,-19.5,39,377,0.00,1.55,0.00,0.000,4,0.000,0.023,2357,1710,3089
$GC,410,-0.51,-116.8,89.3,-19.5,42,413,0.00,1.62,0.00,0.000,6,0.000,0.037,2351,2768,3089
$GC,674,-0.51,-116.8,139.1,-17.8,67,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2769,3089
$GC,931,-0.51,-116.8,178.4,-14.1,92,934,0.00,1.52,0.00,0.000,4,0.000,0.021,2351,1707,3090
$GC,989,-0.51,-116.8,185.6,-12.2,97,992,0.00,1.62,0.00,0.000,6,0.000,0.038,2346,2788,3090
$GC,1259,-0.51,-116.8,224.9,-14.5,111,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2789,3090
$GC,1498,-0.51,-116.8,261.5,-15.3,117,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2789,3090
$GC,1740,-0.51,-116.8,295.8,-13.7,123,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2789,3089
$GC,1983,-0.51,-116.8,322.4,-10.5,129,1986,0.00,1.55,0.00,0.000,4,0.000,0.022,2346,1709,3087
$GC,2096,-0.04,-116.8,333.3,-8.4,131,2100,0.50,1.60,0.00,0.000,6,0.100,0.041,2513,2767,3087
$GC,2356,-0.04,-116.8,343.4,-4.5,138,2359,0.00,1.60,0.00,0.000,4,0.000,0.048,2513,3826,3085
$GC,2396,-0.04,-116.8,345.5,-5.1,138,2401,0.00,1.05,0.00,0.000,6,0.000,0.025,2518,3069,3085
$GC,2645,-0.04,-116.8,362.1,-6.9,145,2648,0.00,1.17,0.00,0.000,4,0.000,0.049,2518,3822,3083
$GC,2673,-0.04,-116.8,364.2,-7.9,145,2676,0.00,1.00,0.00,0.000,6,0.000,0.025,2521,3099,3082
$GC,2933,-0.04,-116.8,382.0,-6.6,152,2936,0.00,1.12,0.00,0.000,4,0.000,0.048,2522,3821,3080
$GC,2978,-0.04,-116.8,385.1,-7.3,153,2981,0.00,1.00,0.00,0.000,6,0.000,0.025,2521,3107,3080
$GC,3265,-0.04,-116.8,400.9,-5.4,160,3268,0.00,2.00,-0.08,0.000,4,0.000,0.039,2521,1716,3101
$GC,3325,-0.04,-116.8,404.6,-6.7,161,3328,0.00,2.15,0.00,0.000,6,0.000,0.042,2521,3114,3101
$GC,3596,-0.04,-116.8,420.2,-5.8,168,3599,0.00,2.05,0.00,0.000,4,0.000,0.025,2521,1706,3099
$GC,3689,-0.04,-116.8,426.0,-6.9,170,3692,0.00,2.17,0.00,0.000,6,0.000,0.042,2521,3118,3098
$GC,3965,-0.04,-116.8,442.0,-5.6,177,3968,0.00,2.05,0.00,0.000,4,0.000,0.025,2521,1710,3096
$GC,4025,-0.04,-116.8,445.0,-5.8,178,4028,0.00,2.17,0.00,0.000,6,0.000,0.044,2521,3113,3095
$GC,4290,-0.04,-116.8,457.4,-4.6,185,4293,0.00,1.08,0.00,0.000,4,0.000,0.052,2521,3817,3094
$GC,4378,-0.04,-116.8,461.9,-5.5,187,4380,0.00,1.00,0.00,0.000,6,0.000,0.026,2521,3110,3094
$GC,4664,-0.04,-116.8,477.7,-5.8,194,4667,0.00,2.03,0.00,0.000,4,0.000,0.027,2521,1707,3091
$GC,4682,-0.04,-116.8,478.9,-6.5,194,4686,0.00,2.17,0.00,0.000,6,0.000,0.047,2521,3106,3092
$GC,4950,-0.04,-116.8,497.1,-7.1,201,4953,0.00,1.10,0.00,0.000,4,0.000,0.052,2521,3822,3090
$GC,5026,-0.04,-116.8,503.3,-8.3,202,5029,0.00,1.00,0.00,0.000,6,0.000,0.028,2521,3121,3090
$GC,5281,-0.04,-116.8,520.4,-6.6,209,5284,0.00,2.05,0.00,0.000,4,0.000,0.027,2521,1709,3088
$GC,5411,-0.04,-116.8,528.0,-5.9,212,5415,0.00,2.20,0.00,0.000,6,0.000,0.048,2521,3114,3088
$GC,5693,-0.04,-116.8,541.7,-4.8,219,5696,0.00,2.05,0.00,0.000,4,0.000,0.027,2521,1714,3086
$GC,5759,-0.04,-116.8,544.6,-5.4,220,5762,0.00,2.17,0.00,0.000,6,0.000,0.048,2521,3105,3086
$GC,6019,-0.04,-116.8,557.7,-5.2,227,6022,0.00,1.10,0.00,0.000,4,0.000,0.054,2521,3816,3084
$GC,6074,-0.04,-116.8,561.3,-8.2,228,6077,0.00,1.00,0.00,0.000,6,0.000,0.030,2521,3125,3084
$GC,6350,-0.04,-116.8,580.9,-7.4,235,6353,0.00,2.05,0.00,0.000,4,0.000,0.028,2521,1715,3084
$GC,6464,-0.04,-116.8,589.7,-7.5,237,6467,0.00,2.17,0.00,0.000,6,0.000,0.048,2521,3106,3083
$STATE,6594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6594,begin apogee
$GC,6606,-0.20,0.0,600.2,7.9,241,6708,0.17,0.00,100.95,1.088,6,0.083,0.000,2455,2404,2610
$STATE,6709,end apogee,CONTROL_FINISHED_OK
$STATE,6709,begin climb
$GC,6714,0.51,116.8,606.0,0.0,243,6831,0.62,1.62,107.00,1.030,4,0.044,0.029,2701,1383,2133
$GC,6929,0.51,116.8,601.9,11.7,247,6932,0.00,1.65,0.00,0.000,6,0.000,0.041,2700,2428,2127
$GC,7205,0.51,116.8,564.9,13.9,254,7208,0.00,1.65,0.00,0.000,4,0.000,0.048,2701,3490,2123
$GC,7303,0.51,116.8,549.7,15.8,256,7307,0.00,1.58,0.00,0.000,6,0.000,0.026,2709,2447,2121
$GC,7580,0.51,116.8,511.5,13.6,263,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2441,2120
$GC,7821,0.51,116.8,480.7,12.7,269,7824,0.00,1.60,0.00,0.000,4,0.000,0.030,2716,1364,2120
$GC,7998,0.51,116.8,461.3,10.2,273,8001,0.00,1.65,0.00,0.000,6,0.000,0.041,2715,2440,2119
$GC,8285,0.51,116.8,430.6,10.1,280,8288,0.00,1.62,0.00,0.000,4,0.000,0.045,2716,3485,2118
$GC,8388,0.51,116.8,419.2,12.8,282,8391,0.08,1.55,0.00,0.000,6,0.157,0.028,2690,2453,2118
$GC,8659,0.51,116.8,393.7,8.7,289,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2447,2118
$GC,8900,0.51,116.8,371.7,9.4,295,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2447,2117
$GC,9145,0.51,116.8,348.1,9.6,301,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2447,2117
$GC,9385,0.51,116.8,325.6,9.0,307,9388,0.00,1.60,0.00,0.000,4,0.000,0.030,2696,1355,2117
$GC,9633,0.51,129.1,306.0,7.4,312,9646,0.00,1.73,8.93,0.800,6,0.000,0.042,2696,2479,2084
$GC,9930,0.51,129.1,280.1,9.0,320,9933,0.00,1.55,0.00,0.000,4,0.000,0.048,2696,3479,2083
$GC,10049,0.51,129.1,268.2,10.0,322,10052,0.00,1.48,0.00,0.000,6,0.000,0.027,2705,2487,2082
$GC,10304,0.51,129.1,243.0,9.9,329,10307,0.00,1.62,0.00,0.000,4,0.000,0.030,2713,1347,2082
$GC,10380,0.51,129.1,237.2,8.5,330,10383,0.00,1.70,0.00,0.000,6,0.000,0.041,2714,2439,2081
$GC,10635,0.52,144.7,218.1,7.3,337,10653,0.00,1.62,15.00,0.782,4,0.000,0.045,2713,3484,2019
$GC,10898,0.52,144.7,192.3,9.1,346,10905,0.00,1.58,0.00,0.000,6,0.000,0.027,2721,2425,2016
$GC,11160,0.52,144.7,169.4,8.7,371,11163,0.00,1.55,0.00,0.000,4,0.000,0.029,2729,1369,2015
$GC,11408,0.52,144.7,147.0,9.1,394,11411,0.15,1.58,0.00,0.000,6,0.143,0.038,2688,2394,2015
$GC,11676,0.55,238.6,133.0,3.7,419,11758,0.00,1.58,77.18,0.724,4,0.000,0.027,2693,1389,1637
$GC,11871,-1.73,250.8,120.9,7.4,435,11892,2.05,1.60,10.15,0.630,6,0.095,0.038,1971,2400,1584
$GC,12141,-1.73,250.8,73.5,21.5,461,12144,0.12,1.55,0.00,0.000,4,0.156,0.024,1965,1360,1581
$GC,12219,-1.73,250.8,57.7,21.1,468,12222,0.00,1.60,0.00,0.000,6,0.000,0.041,1963,2395,1578
$GC,12484,-1.73,250.8,5.3,19.6,503,12492,0.00,1.67,0.00,0.000,4,0.000,0.039,1944,3511,1578
$STATE,12497,end climb,SURFACE_DEPTH_REACHED
$STATE,12497,begin surface coast
$FINISH,0.1,1.003246
$STATE,12513,end surface coast,CONTROL_FINISHED_OK
$STATE,12513,begin surface
$SM_CCo,12534,61.22,0.584,0,0,1059,380.21
$SM_GC,0.73,0.00,0.00,61.22,0.000,0.000,0.584,33,2734,1059,-7.78,-0.74,380.21
$IRIDIUM_FIX,2232.34,-15806.28,271101,191912
$TT8_MAMPS,0.047554
$HUMID,2180
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,21.00
$XPDR_PINGS,4
$24V_AH,24.3,31.635
$10V_AH,10.6,28.074
$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,17.175,91.250,319.200,61.225,0.000,54.111,68.661,694.379,1.000,0.000,0.000,62.773,0.000,9208.061,416.326,2710.099,1319.115,33.340,1275.601,0.000,2355.662,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,54.457,1087.606,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,344.623,1052.523,1101.729,128.626,746.300,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41400,508
$CAP_FILE_SIZE,124661,0
$CFSIZE,260165632,246661120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020912,225753,2241.629,-15805.034,33,0.8,50,10.0