version: 66.04
glider: 512
mission: 3
dive: 257
start: 9 2 112 23 20 39
data:
$ID,512
$MISSION,3
$DIVE,257
$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,-56347.363
$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,64
$R_STBD_OVSHOOT,28
$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
$GPS1,225753,2241.629,-15805.034,33,0.8,50,10.0
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-79.2
$GPS2,232001,2241.472,-15805.375,15,1.0,15,10.0
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.161,0.147
$KALMAN_X,-125610.3,1397.7,658.0,109882.4,-8027.6
$KALMAN_Y,-26237.0,-99.6,112.4,22638.2,-1567.7
$MHEAD_RNG_PITCHd_Wd,37.7,47423,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.51,-116.8,0.0,0.0,0,91,0.00,0.00,-74.20,0.000,2,0.000,0.000,11,2731,2964
$GC,96,-0.51,-116.8,3.2,-3.8,9,114,8.80,1.70,-2.22,0.000,4,0.203,0.049,2350,3848,3087
$GC,149,-0.51,-116.8,28.3,-45.4,17,158,0.00,1.62,0.00,0.000,6,0.000,0.028,2350,2763,3087
$GC,407,-0.51,-116.8,88.6,-20.1,42,410,0.00,1.52,0.00,0.000,4,0.000,0.023,2350,1691,3088
$GC,509,-0.51,-116.8,105.5,-14.4,51,516,0.00,1.65,0.00,0.000,6,0.000,0.039,2346,2752,3088
$GC,767,-0.51,-116.8,147.4,-16.0,76,769,0.00,1.52,0.00,0.000,4,0.000,0.022,2346,1698,3088
$GC,804,-0.51,-116.8,153.3,-16.0,79,806,0.00,1.60,0.00,0.000,6,0.000,0.038,2338,2760,3088
$GC,1066,-0.51,-116.8,195.8,-15.8,104,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2760,3088
$GC,1336,-0.51,-116.8,237.3,-15.2,113,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2761,3088
$GC,1578,-0.51,-116.8,272.5,-14.1,119,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2760,3088
$GC,1821,-0.51,-116.8,305.9,-13.8,125,1824,0.00,1.52,0.00,0.000,4,0.000,0.022,2338,1699,3087
$GC,1860,-0.51,-116.8,311.2,-12.8,125,1867,0.00,1.52,0.00,0.000,6,0.000,0.039,2333,2688,3087
$GC,2109,-0.51,-116.8,342.5,-12.5,132,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2689,3085
$GC,2351,-0.51,-116.8,372.6,-12.3,138,2353,0.00,1.42,0.00,0.000,4,0.000,0.023,2333,1697,3083
$GC,2411,1.31,-116.8,379.8,-11.4,139,2416,1.73,1.50,0.00,0.000,6,0.098,0.041,2946,2666,3083
$GC,2679,1.31,-116.8,428.3,-21.0,146,2682,0.00,1.67,0.00,0.000,4,0.000,0.025,2945,3878,3081
$GC,2734,1.31,-116.8,440.7,-21.4,147,2737,0.00,1.58,0.00,0.000,6,0.000,0.023,2953,2786,3080
$GC,3010,1.31,-116.8,496.7,-20.0,154,3013,0.00,1.50,0.00,0.000,4,0.000,0.024,2962,1700,3078
$GC,3022,1.31,-116.8,499.7,-20.9,154,3025,0.00,1.80,0.00,0.000,6,0.000,0.036,2958,2912,3078
$GC,3300,1.31,-116.8,560.4,-22.4,161,3303,0.00,1.38,0.00,0.000,4,0.000,0.044,2957,3815,3075
$GC,3355,1.31,-116.8,573.8,-25.2,162,3358,0.00,1.48,0.00,0.000,6,0.000,0.031,2964,2838,3074
$STATE,3507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3507,begin apogee
$GC,3518,-0.20,0.0,608.4,22.2,166,3618,2.03,0.00,97.03,1.045,6,0.233,0.000,2467,2422,2610
$STATE,3619,end apogee,CONTROL_FINISHED_OK
$STATE,3619,begin climb
$GC,3624,0.51,116.8,615.9,0.0,168,3740,0.55,1.62,106.47,0.993,4,0.029,0.025,2707,1386,2132
$GC,3956,0.51,116.8,583.6,15.5,175,3959,0.00,1.62,0.00,0.000,6,0.000,0.037,2702,2421,2125
$GC,4243,0.51,116.8,537.4,16.2,182,4246,0.00,1.65,0.00,0.000,4,0.000,0.043,2702,3484,2122
$GC,4335,0.51,116.8,521.3,17.2,184,4338,0.00,1.58,0.00,0.000,6,0.000,0.026,2708,2431,2120
$GC,4619,0.51,116.8,475.5,15.8,191,4622,0.00,1.55,0.00,0.000,4,0.000,0.028,2716,1373,2119
$GC,4723,0.51,116.8,460.0,14.7,193,4725,0.00,1.60,0.00,0.000,6,0.000,0.038,2716,2427,2118
$GC,4993,0.51,116.8,425.4,12.2,200,4996,0.00,1.58,0.00,0.000,4,0.000,0.028,2722,1370,2117
$GC,5032,0.51,116.8,421.4,9.8,200,5039,0.00,1.67,0.00,0.000,6,0.000,0.040,2716,2449,2116
$GC,5281,0.51,116.8,396.2,10.3,207,5284,0.00,1.60,0.00,0.000,4,0.000,0.047,2715,3480,2115
$GC,5368,0.51,116.8,386.4,10.6,209,5372,0.10,1.50,0.00,0.000,6,0.172,0.027,2692,2477,2114
$GC,5657,0.51,116.8,357.4,10.4,216,5660,0.00,1.62,0.00,0.000,4,0.000,0.030,2696,1345,2113
$GC,5782,0.51,116.8,345.2,9.5,218,5787,0.00,1.73,0.00,0.000,6,0.000,0.039,2697,2478,2113
$GC,6031,0.51,116.8,321.9,9.2,225,6034,0.00,1.62,0.00,0.000,4,0.000,0.028,2704,1376,2113
$GC,6279,0.51,117.6,303.6,8.0,230,6282,0.00,1.58,0.00,0.000,6,0.000,0.041,2702,2392,2112
$GC,6534,0.51,117.6,283.1,8.2,237,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2393,2112
$GC,6776,0.52,158.6,266.6,6.1,243,6816,0.00,1.58,32.47,0.844,4,0.000,0.027,2707,1369,1963
$GC,6924,0.52,158.6,256.3,8.0,246,6927,0.00,1.60,0.00,0.000,6,0.000,0.039,2702,2410,1959
$GC,7194,0.52,158.6,228.1,11.0,253,7197,0.00,1.65,0.00,0.000,4,0.000,0.047,2701,3492,1957
$GC,7308,0.52,158.6,214.7,11.8,255,7311,0.00,1.60,0.00,0.000,6,0.000,0.026,2709,2403,1957
$GC,7563,0.52,158.6,187.4,10.5,270,7566,0.00,1.50,0.00,0.000,4,0.000,0.028,2713,1370,1956
$GC,7708,0.52,158.6,172.8,8.8,283,7715,0.00,1.52,0.00,0.000,6,0.000,0.039,2713,2354,1956
$GC,7966,0.53,177.3,154.4,7.1,308,7992,0.00,1.80,15.88,0.713,4,0.000,0.045,2713,3493,1887
$GC,8152,0.53,177.3,135.1,10.3,324,8161,0.00,1.67,0.00,0.000,6,0.000,0.025,2722,2375,1885
$GC,8411,0.53,177.3,106.3,13.4,349,8414,0.00,1.45,0.00,0.000,4,0.000,0.027,2729,1358,1884
$GC,8513,0.53,177.3,92.8,12.3,358,8522,0.00,1.58,0.00,0.000,6,0.000,0.037,2729,2382,1883
$GC,8777,0.54,209.0,68.2,6.5,383,8807,0.00,1.70,27.20,0.645,4,0.000,0.043,2729,3475,1757
$GC,8873,0.54,209.0,60.0,9.6,391,8876,0.12,1.60,0.00,0.000,6,0.149,0.024,2703,2380,1755
$GC,9141,0.56,253.9,45.2,5.9,416,9181,0.00,1.48,36.35,0.619,4,0.000,0.025,2709,1371,1575
$GC,9204,-1.16,253.9,40.5,8.2,421,9209,1.62,1.67,0.00,0.000,6,0.104,0.035,2158,2470,1572
$STATE,9459,end climb,SURFACE_DEPTH_REACHED
$STATE,9459,begin surface coast
$FINISH,0.5,1.023478
$STATE,9476,end surface coast,CONTROL_FINISHED_OK
$STATE,9476,begin surface
$SM_CCo,9497,55.95,0.567,0,0,1060,380.21
$SM_GC,0.82,0.00,0.00,55.95,0.000,0.000,0.567,32,2768,1060,-7.79,0.23,380.21
$IRIDIUM_FIX,2232.34,-15806.28,271101,232339
$TT8_MAMPS,0.047554
$HUMID,2085
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.40
$XPDR_PINGS,7
$24V_AH,24.4,31.778
$10V_AH,10.6,28.209
$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,20.225,70.900,315.400,55.950,0.000,113.807,135.841,715.699,1.750,0.000,0.000,15.984,0.000,6616.662,409.009,2416.195,1420.014,33.347,1143.373,0.000,2178.803,0.000,0.544,0.000
$DEVICE_MAMPS,233.168,49.088,1044.654,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,311.199,1116.843,1172.323,147.925,921.210,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38358,461
$CAP_FILE_SIZE,106721,0
$CFSIZE,260165632,246620160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030912,020129,2241.698,-15805.697,60,1.3,65,10.0