version: 66.04
glider: 512
mission: 3
dive: 261
start: 9 3 112 11 47 25
data:
$ID,512
$MISSION,3
$DIVE,261
$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,90
$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,542.34949
$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,-56426.551
$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,30
$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,62
$R_STBD_OVSHOOT,40
$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
$GPS1,112436,2242.275,-15807.054,8,2.0,14,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-77.9
$GPS2,114643,2242.189,-15807.393,12,1.8,12,10.0
$SPEED_LIMITS,0.139,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.191,-0.013
$KALMAN_X,-135765.5,525.3,365.7,117761.2,-6660.5
$KALMAN_Y,-32191.2,161.7,195.3,29576.8,-2822.8
$MHEAD_RNG_PITCHd_Wd,83.8,51008,-18.9,-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,-0.66,-87.6,0.0,0.0,0,83,0.00,0.00,-65.75,0.000,2,0.000,0.000,12,2789,2700
$GC,88,-0.66,-87.6,2.4,-2.5,8,105,8.62,0.00,-5.78,0.000,6,0.206,0.000,2308,2790,2970
$GC,366,-0.66,-87.6,87.6,-25.0,40,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2790,2971
$GC,625,-0.66,-87.6,149.8,-22.7,65,627,0.00,1.58,0.00,0.000,4,0.000,0.039,2301,3820,2972
$GC,674,-0.66,-87.6,161.4,-21.8,69,682,0.00,1.55,0.00,0.000,6,0.000,0.020,2301,2751,2972
$GC,938,-0.66,-87.6,215.7,-18.3,89,940,0.00,1.45,0.00,0.000,4,0.000,0.021,2309,1706,2972
$GC,998,-0.66,-87.6,226.5,-17.1,90,1001,0.00,1.60,0.00,0.000,6,0.000,0.037,2303,2779,2972
$GC,1269,-0.66,-87.6,273.5,-16.8,97,1271,0.00,1.52,0.00,0.000,4,0.000,0.021,2307,1704,2972
$GC,1318,-0.66,-87.6,281.8,-14.8,98,1321,0.00,1.58,0.00,0.000,6,0.000,0.037,2302,2738,2972
$GC,1599,-0.66,-87.6,325.7,-15.8,105,1602,0.00,1.48,0.00,0.000,4,0.000,0.021,2307,1703,2971
$GC,1622,-0.66,-87.6,329.0,-14.2,105,1625,0.00,1.58,0.00,0.000,6,0.000,0.037,2302,2738,2971
$GC,1887,-0.66,-87.6,364.5,-13.1,112,1891,0.00,1.65,0.00,0.000,4,0.000,0.044,2293,3816,2969
$GC,1958,-0.66,-87.6,374.7,-14.5,113,1961,0.00,1.58,0.00,0.000,6,0.000,0.021,2294,2733,2968
$GC,2218,-0.66,-87.6,411.7,-14.6,120,2221,0.00,1.45,0.00,0.000,4,0.000,0.024,2301,1700,2966
$GC,2316,-0.66,-87.6,424.7,-12.9,122,2319,0.00,1.55,0.00,0.000,6,0.000,0.038,2296,2710,2965
$GC,2592,-0.66,-87.6,466.0,-15.3,129,2595,0.00,1.67,0.00,0.000,4,0.000,0.047,2287,3819,2963
$GC,2690,-0.66,-87.6,481.6,-16.4,131,2693,0.00,1.60,0.00,0.000,6,0.000,0.023,2287,2725,2962
$GC,2966,-0.66,-87.6,523.2,-14.9,138,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2719,2959
$GC,3208,-0.66,-87.6,558.7,-14.7,144,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2719,2958
$GC,3450,-0.66,-87.6,595.1,-15.2,150,3453,0.00,1.45,0.00,0.000,4,0.000,0.027,2287,1708,2955
$STATE,3479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3479,begin apogee
$GC,3490,-0.23,0.0,600.3,15.5,150,3565,0.50,0.00,72.85,1.045,6,0.125,0.000,2446,2429,2610
$STATE,3565,end apogee,CONTROL_FINISHED_OK
$STATE,3565,begin climb
$GC,3570,0.66,87.6,604.3,0.0,152,3655,0.80,1.70,79.82,1.007,4,0.066,0.043,2738,3492,2252
$GC,3675,0.66,87.6,600.7,9.1,154,3678,0.00,1.62,0.00,0.000,6,0.000,0.024,2746,2420,2249
$GC,3942,0.66,87.6,566.4,13.1,161,3945,0.00,1.70,0.00,0.000,4,0.000,0.042,2744,3484,2243
$GC,3965,0.66,87.6,563.0,13.4,161,3968,0.00,1.60,0.00,0.000,6,0.000,0.025,2751,2397,2242
$GC,4230,0.66,87.6,528.4,12.9,168,4233,0.00,1.50,0.00,0.000,4,0.000,0.028,2758,1364,2240
$GC,4258,0.66,87.6,524.9,11.9,168,4261,0.00,1.60,0.00,0.000,6,0.000,0.038,2755,2419,2240
$GC,4518,0.66,87.6,494.2,11.3,175,4521,0.00,1.62,0.00,0.000,4,0.000,0.044,2755,3491,2239
$GC,4600,0.66,87.6,484.4,12.1,176,4605,0.00,1.52,0.00,0.000,6,0.000,0.025,2761,2457,2237
$GC,4849,0.66,87.6,458.9,9.8,183,4852,0.00,1.62,0.00,0.000,4,0.000,0.045,2755,3504,2236
$GC,5097,0.66,87.6,434.3,10.5,188,5100,0.00,1.48,0.00,0.000,6,0.000,0.027,2761,2508,2235
$GC,5352,0.66,87.6,410.7,8.9,195,5354,0.00,1.62,0.00,0.000,4,0.000,0.029,2769,1372,2234
$GC,5412,0.66,87.6,405.6,8.7,196,5415,0.00,1.70,0.00,0.000,6,0.000,0.039,2768,2493,2234
$GC,5683,0.66,87.6,381.0,8.6,203,5686,0.00,1.65,0.00,0.000,4,0.000,0.027,2774,1366,2234
$GC,5722,0.67,105.7,378.4,6.9,203,5740,0.00,1.70,13.50,0.884,6,0.000,0.039,2768,2489,2179
$GC,6016,0.67,105.7,354.3,8.6,211,6018,0.00,1.52,0.00,0.000,4,0.000,0.044,2768,3477,2175
$GC,6264,0.67,105.7,329.4,9.6,216,6267,0.10,1.40,0.00,0.000,6,0.195,0.027,2746,2533,2174
$GC,6518,0.67,105.7,306.1,9.3,223,6521,0.00,1.48,0.00,0.000,4,0.000,0.044,2742,3475,2173
$GC,6573,0.67,105.7,300.6,9.7,224,6576,0.00,1.42,0.00,0.000,6,0.000,0.026,2748,2511,2173
$GC,6852,0.67,105.7,277.4,8.2,231,6854,0.00,1.62,0.00,0.000,4,0.000,0.028,2756,1365,2173
$GC,7100,0.70,164.9,263.3,4.4,236,7154,0.00,1.73,50.25,0.842,6,0.000,0.038,2755,2505,1936
$GC,7442,0.70,164.9,223.5,14.4,245,7445,0.00,1.73,0.00,0.000,4,0.000,0.028,2761,1358,1929
$GC,7693,0.70,164.9,194.1,10.0,253,7696,0.00,1.77,0.00,0.000,6,0.000,0.039,2761,2514,1928
$GC,7956,0.70,164.9,163.1,13.0,278,7959,0.00,1.67,0.00,0.000,4,0.000,0.026,2769,1377,1927
$GC,8055,0.70,164.9,151.4,10.9,287,8058,0.00,1.73,0.00,0.000,6,0.000,0.041,2768,2478,1927
$GC,8318,0.70,164.9,120.9,11.3,312,8321,0.00,1.55,0.00,0.000,4,0.000,0.044,2768,3484,1926
$GC,8567,0.70,164.9,93.2,9.3,335,8570,0.00,1.42,0.00,0.000,6,0.000,0.025,2773,2510,1926
$GC,8836,0.70,170.1,71.0,7.7,360,8849,0.00,1.52,4.22,0.458,4,0.000,0.041,2768,3489,1916
$GC,8975,0.70,180.7,60.1,7.3,372,8989,0.00,1.35,10.68,0.591,6,0.000,0.024,2773,2550,1872
$GC,9243,0.70,180.7,35.4,10.2,397,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2549,1871
$GC,9498,0.70,180.7,6.3,8.3,442,9507,0.00,1.70,0.00,0.000,4,0.000,0.025,2781,1358,1871
$STATE,9532,end climb,SURFACE_DEPTH_REACHED
$STATE,9532,begin surface coast
$FINISH,0.4,1.023448
$STATE,9548,end surface coast,CONTROL_FINISHED_OK
$STATE,9548,begin surface
$SM_CCo,9573,175.43,0.568,0,0,398,542.35
$SM_GC,0.71,0.00,0.00,175.43,0.000,0.000,0.568,29,2768,398,-7.79,0.20,542.35
$IRIDIUM_FIX,2232.34,-15808.45,281101,111117
$TT8_MAMPS,0.048321
$HUMID,2039
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.5,32.340
$10V_AH,10.6,28.741
$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,16.900,72.825,231.325,175.425,0.000,139.810,230.608,540.835,0.500,0.000,0.000,13.024,0.000,6851.183,450.793,2394.599,1367.324,33.349,1176.958,0.000,2137.375,0.000,0.544,0.000
$DEVICE_MAMPS,206.323,46.787,1044.654,568.347,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,305.460,1054.202,1084.580,168.598,872.038,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38304,451
$CAP_FILE_SIZE,104667,0
$CFSIZE,260165632,246411264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030912,143106,2242.010,-15807.450,40,1.0,41,10.0