version: 66.04
glider: 512
mission: 3
dive: 268
start: 9 4 112 9 53 4
data:
$ID,512
$MISSION,3
$DIVE,268
$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,-56630.895
$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,69
$R_STBD_OVSHOOT,34
$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
$GPS1,092327,2244.071,-15809.893,88,2.6,108,10.0
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,4
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-79.1
$GPS2,095226,2243.940,-15810.257,15,2.0,34,10.0
$SPEED_LIMITS,0.139,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,0.027
$KALMAN_X,-155407.7,484.9,648.6,132265.8,-6893.3
$KALMAN_Y,-33131.0,-261.8,-141.3,34525.1,323.1
$MHEAD_RNG_PITCHd_Wd,72.0,56343,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.57,-87.6,0.0,0.0,0,87,0.00,0.00,-65.85,0.000,2,0.000,0.000,11,2776,2676
$GC,92,-0.57,-87.6,2.0,-1.4,8,109,8.75,0.00,-6.43,0.000,6,0.206,0.000,2332,2776,2969
$GC,371,-0.57,-87.6,80.0,-22.2,41,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2777,2970
$GC,629,-0.57,-87.6,136.7,-18.8,66,631,0.00,1.52,0.00,0.000,4,0.000,0.020,2339,1694,2971
$GC,654,-0.57,-87.6,141.7,-19.6,68,657,0.00,1.60,0.00,0.000,6,0.000,0.036,2333,2763,2971
$GC,917,-0.57,-87.6,187.9,-15.4,93,920,0.00,1.60,0.00,0.000,4,0.000,0.041,2325,3819,2971
$GC,1005,-0.57,-87.6,202.4,-14.6,101,1008,0.00,1.52,0.00,0.000,6,0.000,0.020,2327,2763,2971
$GC,1292,-0.57,-87.6,245.2,-14.5,108,1295,0.00,1.48,0.00,0.000,4,0.000,0.021,2327,1700,2970
$GC,1463,-0.57,-87.6,266.7,-13.0,111,1469,0.00,1.60,0.00,0.000,6,0.000,0.038,2321,2747,2970
$GC,1713,-0.57,-87.6,303.1,-14.8,118,1715,0.00,1.62,0.00,0.000,4,0.000,0.044,2313,3831,2969
$GC,1905,-0.57,-87.6,332.0,-13.5,122,1908,0.00,1.52,0.00,0.000,6,0.000,0.021,2313,2768,2967
$GC,2176,-0.57,-87.6,372.1,-14.8,129,2179,0.00,1.48,0.00,0.000,4,0.000,0.022,2315,1711,2964
$GC,2236,-0.57,-87.6,380.6,-13.6,130,2240,0.00,1.62,0.00,0.000,6,0.000,0.038,2309,2775,2964
$GC,2507,-0.57,-87.6,418.3,-13.9,137,2510,0.12,1.58,0.00,0.000,4,0.153,0.044,2334,3821,2962
$GC,2551,-0.00,-87.6,423.9,-11.4,138,2555,0.52,1.52,0.00,0.000,6,0.108,0.022,2527,2760,2962
$GC,2838,-0.00,-87.6,439.9,-6.1,145,2841,0.00,1.48,0.00,0.000,4,0.000,0.024,2534,1716,2960
$GC,2941,-0.00,-87.6,446.2,-5.7,147,2944,0.00,1.35,0.00,0.000,6,0.000,0.041,2534,2597,2960
$GC,3212,-0.00,-87.6,463.5,-6.5,154,3215,0.00,1.88,-0.08,0.000,4,0.000,0.069,2534,3812,2982
$GC,3332,-0.00,-87.6,471.1,-7.1,156,3335,0.00,2.03,0.00,0.000,6,0.000,0.024,2534,2420,2980
$GC,3586,-0.00,-87.6,484.6,-5.2,163,3589,0.00,2.20,0.00,0.000,4,0.000,0.050,2535,3812,2979
$GC,3599,-0.00,-87.6,485.1,-4.9,163,3602,0.00,2.03,0.00,0.000,6,0.000,0.023,2545,2422,2978
$GC,3875,-0.00,-87.6,495.5,-4.0,170,3878,0.00,0.98,0.00,0.000,4,0.000,0.025,2547,1710,2977
$GC,3935,-0.00,-87.6,497.9,-4.8,171,3938,0.00,1.08,0.00,0.000,6,0.000,0.043,2547,2407,2976
$GC,4206,-0.00,-87.6,510.2,-4.9,178,4209,0.00,0.98,0.00,0.000,4,0.000,0.026,2547,1719,2974
$GC,4266,-0.00,-87.6,513.6,-6.0,179,4269,0.00,1.08,0.00,0.000,6,0.000,0.042,2547,2413,2974
$GC,4540,-0.00,-87.6,530.1,-6.4,186,4543,0.00,2.17,0.00,0.000,4,0.000,0.051,2547,3817,2971
$GC,4574,-0.00,-87.6,532.5,-6.9,186,4577,0.00,2.05,0.00,0.000,6,0.000,0.026,2547,2427,2971
$GC,4828,-0.00,-87.6,549.7,-7.1,193,4832,0.00,2.22,0.00,0.000,4,0.000,0.053,2547,3827,2969
$GC,4948,-0.00,-87.6,558.2,-7.5,195,4954,0.00,2.08,0.00,0.000,6,0.000,0.026,2547,2433,2968
$GC,5197,-0.00,-87.6,572.8,-5.5,202,5200,0.00,1.00,0.00,0.000,4,0.000,0.028,2547,1717,2967
$GC,5300,-0.00,-87.6,577.6,-5.6,204,5303,0.00,1.60,0.00,0.000,6,0.000,0.046,2547,2760,2967
$GC,5573,-0.00,-87.6,588.1,-3.8,211,5576,0.00,1.50,0.00,0.000,4,0.000,0.027,2547,1728,2966
$GC,5671,-0.00,-87.6,591.9,-4.4,213,5674,0.00,1.90,0.00,0.000,6,0.000,0.047,2547,2955,2965
$STATE,5901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5901,begin apogee
$GC,5912,-0.20,0.0,601.1,4.1,219,5990,0.28,0.00,75.95,1.085,6,0.097,0.000,2457,2423,2611
$STATE,5990,end apogee,CONTROL_FINISHED_OK
$STATE,5990,begin climb
$GC,5995,0.57,87.6,604.4,0.0,221,6080,0.68,1.62,80.60,1.043,4,0.043,0.027,2730,1356,2252
$GC,6130,0.58,92.3,603.9,7.7,224,6139,0.00,1.73,5.28,0.736,6,0.000,0.041,2728,2422,2233
$GC,6409,0.58,92.3,573.4,11.0,231,6411,0.00,1.65,0.00,0.000,4,0.000,0.046,2728,3492,2226
$GC,6490,0.58,92.3,562.8,12.5,232,6495,0.00,1.62,0.00,0.000,6,0.000,0.025,2735,2393,2226
$GC,6740,0.58,92.3,535.1,11.1,239,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2386,2225
$GC,6981,0.58,92.3,505.6,12.3,245,6984,0.00,1.50,0.00,0.000,4,0.000,0.029,2743,1365,2224
$GC,7028,0.58,92.3,500.1,12.4,246,7031,0.08,1.62,0.00,0.000,6,0.175,0.041,2718,2405,2223
$GC,7314,0.58,92.3,466.1,11.7,253,7317,0.00,1.65,0.00,0.000,4,0.000,0.048,2716,3480,2223
$GC,7563,0.58,92.3,436.7,10.8,258,7566,0.00,1.55,0.00,0.000,6,0.000,0.028,2722,2442,2222
$GC,7818,0.58,92.3,411.1,10.0,265,7821,0.00,1.58,0.00,0.000,4,0.000,0.030,2729,1367,2222
$GC,7975,0.58,92.3,396.5,8.7,268,7978,0.00,1.62,0.00,0.000,6,0.000,0.041,2729,2434,2221
$GC,8235,0.59,119.9,377.7,6.3,275,8263,0.00,1.67,22.88,0.927,4,0.000,0.047,2728,3483,2120
$GC,8378,0.59,119.9,365.6,10.2,278,8381,0.00,1.55,0.00,0.000,6,0.000,0.028,2735,2459,2118
$GC,8654,0.59,119.9,336.6,10.2,285,8657,0.00,1.60,0.00,0.000,4,0.000,0.031,2742,1349,2116
$GC,8784,0.59,119.9,322.5,10.7,288,8787,0.00,1.62,0.00,0.000,6,0.000,0.042,2742,2403,2116
$GC,9071,0.59,119.9,293.2,10.2,295,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2404,2115
$GC,9315,0.59,119.9,270.4,8.9,301,9318,0.00,1.55,0.00,0.000,4,0.000,0.029,2748,1366,2114
$GC,9563,0.60,162.9,252.9,5.4,306,9603,0.00,1.60,36.58,0.838,6,0.000,0.040,2742,2419,1945
$GC,9853,0.60,162.9,220.1,13.5,314,9856,0.00,1.58,0.00,0.000,4,0.000,0.028,2748,1369,1939
$GC,10104,0.60,162.9,189.2,10.8,325,10107,0.00,1.60,0.00,0.000,6,0.000,0.041,2747,2386,1938
$GC,10372,0.60,162.9,159.2,11.4,350,10375,0.00,1.67,0.00,0.000,4,0.000,0.044,2742,3489,1938
$GC,10609,0.60,162.9,127.5,14.5,372,10612,0.00,1.65,0.00,0.000,6,0.000,0.025,2749,2392,1937
$GC,10877,0.60,162.9,99.3,9.6,397,10880,0.00,1.50,0.00,0.000,4,0.000,0.028,2756,1344,1938
$GC,10927,0.60,162.9,94.0,8.7,401,10933,0.10,1.58,0.00,0.000,6,0.148,0.038,2723,2370,1937
$GC,11190,0.62,205.7,76.1,5.4,426,11231,0.00,1.70,34.62,0.660,4,0.000,0.042,2716,3481,1772
$GC,11299,0.62,209.9,68.3,7.7,435,11313,0.00,1.60,5.43,0.499,6,0.000,0.024,2722,2386,1753
$GC,11568,0.63,229.3,50.1,6.8,460,11595,0.00,1.75,17.00,0.601,4,0.000,0.041,2722,3488,1674
$GC,11653,0.63,229.3,41.9,9.5,467,11656,0.00,1.55,0.00,0.000,6,0.000,0.023,2730,2451,1673
$GC,11911,0.63,229.3,17.6,9.2,505,11920,0.00,1.58,0.00,0.000,4,0.000,0.025,2738,1359,1672
$GC,11950,0.63,229.3,14.3,8.5,511,11959,0.00,1.70,0.00,0.000,6,0.000,0.038,2738,2459,1671
$STATE,12054,end climb,SURFACE_DEPTH_REACHED
$STATE,12054,begin surface coast
$FINISH,-0.1,0.999997
$STATE,12080,end surface coast,CONTROL_FINISHED_OK
$STATE,12080,begin surface
$SM_CCo,12103,143.98,0.564,0,0,398,542.35
$SM_GC,0.72,0.00,0.00,143.98,0.000,0.000,0.564,38,2789,398,-7.77,0.82,542.35
$IRIDIUM_FIX,2234.68,-15830.57,291101,090938
$TT8_MAMPS,0.046787
$HUMID,2033
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,25.30
$XPDR_PINGS,5
$24V_AH,24.4,33.286
$10V_AH,10.6,29.696
$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,17.325,94.700,278.325,143.975,0.000,138.893,206.275,960.692,1.250,0.000,0.000,34.977,0.000,8741.082,465.053,2916.618,1847.393,33.347,1372.829,0.000,2580.715,0.000,0.545,0.000
$DEVICE_MAMPS,206.323,69.030,1085.305,563.745,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,362.783,1185.302,1223.439,187.442,971.949,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44586,535
$CAP_FILE_SIZE,138112,0
$CFSIZE,260165632,246018048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040912,131829,2243.648,-15810.502,41,1.0,46,10.0