version: 66.04
glider: 512
mission: 3
dive: 271
start: 9 4 112 19 38 33
data:
$ID,512
$MISSION,3
$DIVE,271
$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,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,-56730.102
$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,60
$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
$GPS1,192634,2245.022,-15811.518,10,1.4,25,10.0
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-76.5
$GPS2,193755,2245.045,-15811.634,47,1.8,47,10.0
$SPEED_LIMITS,0.139,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.189,-0.030
$KALMAN_X,-165100.4,742.3,564.9,139432.3,-7138.7
$KALMAN_Y,-35217.2,446.6,331.3,37484.4,-1743.7
$MHEAD_RNG_PITCHd_Wd,88.9,59042,-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,-0.57,-87.6,0.0,0.0,0,83,0.00,0.00,-65.80,0.000,2,0.000,0.000,21,2777,2679
$GC,88,-0.57,-87.6,2.0,-2.0,8,106,8.73,1.65,-6.35,0.000,4,0.206,0.053,2327,3838,2969
$GC,132,-0.57,-87.6,17.0,-32.6,14,140,0.00,1.60,0.00,0.000,6,0.000,0.020,2333,2762,2969
$GC,392,-0.57,-87.6,89.8,-23.8,42,395,0.00,1.50,0.00,0.000,4,0.000,0.023,2333,1704,2970
$GC,450,-0.57,-87.6,100.6,-17.7,47,453,0.00,1.62,0.00,0.000,6,0.000,0.036,2327,2763,2971
$GC,713,-0.57,-87.6,152.2,-20.3,72,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2763,2972
$GC,978,-0.57,-87.6,208.3,-20.4,95,981,0.00,1.55,0.00,0.000,4,0.000,0.021,2327,1685,2972
$GC,1039,-0.57,-87.6,219.2,-18.4,96,1042,0.00,1.65,0.00,0.000,6,0.000,0.036,2321,2786,2973
$GC,1309,-0.57,-87.6,267.4,-17.4,103,1312,0.00,1.58,0.00,0.000,4,0.000,0.043,2313,3822,2973
$GC,1402,-0.57,-87.6,281.7,-14.5,105,1405,0.00,1.50,0.00,0.000,6,0.000,0.020,2313,2780,2972
$GC,1683,-0.57,-87.6,322.9,-14.4,112,1686,0.00,1.50,0.00,0.000,4,0.000,0.023,2315,1714,2972
$GC,1765,-0.57,-87.6,334.3,-13.9,113,1770,0.12,1.65,0.00,0.000,6,0.142,0.038,2342,2811,2972
$GC,2014,1.14,-87.6,364.6,-11.7,120,2017,1.62,0.00,0.00,0.000,6,0.105,0.000,2890,2812,2970
$GC,2258,1.14,-87.6,406.3,-21.6,126,2261,0.00,1.60,0.00,0.000,4,0.000,0.022,2903,1675,2968
$GC,2271,1.14,-87.6,408.5,-21.0,126,2273,0.00,1.62,0.00,0.000,6,0.000,0.025,2903,2807,2968
$GC,2546,1.14,-87.6,464.0,-20.4,133,2549,0.00,1.58,0.00,0.000,4,0.000,0.023,2912,1713,2967
$GC,2634,1.14,-87.6,480.4,-17.1,135,2637,0.00,1.65,0.00,0.000,6,0.000,0.041,2913,2801,2966
$GC,2920,1.14,-87.6,539.3,-20.5,142,2923,0.00,1.58,0.00,0.000,4,0.000,0.023,2924,1707,2962
$GC,3092,1.14,-87.6,571.7,-19.9,145,3100,0.08,1.70,0.00,0.000,6,0.207,0.040,2898,2813,2961
$STATE,3256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3256,begin apogee
$GC,3266,-0.20,0.0,604.7,19.2,150,3344,1.65,0.00,74.12,1.040,6,0.211,0.000,2468,2389,2609
$STATE,3344,end apogee,CONTROL_FINISHED_OK
$STATE,3344,begin climb
$GC,3349,0.57,87.6,609.5,0.0,152,3441,0.62,1.83,81.72,0.983,4,0.042,0.039,2716,3485,2252
$GC,3603,0.57,87.6,589.0,15.3,158,3606,0.00,1.58,0.00,0.000,6,0.000,0.024,2722,2439,2246
$GC,3885,0.57,87.6,550.6,13.3,165,3888,0.00,1.62,0.00,0.000,4,0.000,0.043,2722,3489,2241
$GC,3935,0.57,87.6,543.4,14.6,166,3938,0.00,1.55,0.00,0.000,6,0.000,0.024,2729,2445,2241
$GC,4216,0.57,87.6,507.8,12.4,173,4219,0.00,1.58,0.00,0.000,4,0.000,0.027,2738,1367,2239
$GC,4341,0.57,87.6,493.1,11.9,175,4348,0.00,1.62,0.00,0.000,6,0.000,0.038,2738,2420,2237
$GC,4590,0.57,87.6,463.1,11.9,182,4593,0.00,1.62,0.00,0.000,4,0.000,0.044,2738,3476,2236
$GC,4725,0.57,87.6,446.0,12.4,185,4728,0.15,1.58,0.00,0.000,6,0.177,0.025,2709,2416,2235
$GC,5006,0.57,87.6,419.7,9.0,192,5009,0.00,1.67,0.00,0.000,4,0.000,0.044,2702,3494,2234
$GC,5046,0.57,87.6,416.0,9.4,192,5051,0.00,1.60,0.00,0.000,6,0.000,0.025,2709,2391,2234
$GC,5295,0.58,102.5,397.1,7.1,199,5307,0.00,0.00,11.05,0.870,6,0.000,0.000,2708,2386,2191
$GC,5537,0.59,116.0,379.8,7.2,205,5560,0.00,1.50,14.80,0.775,4,0.000,0.028,2716,1371,2137
$GC,5644,0.59,116.0,370.5,9.4,207,5647,0.00,1.65,0.00,0.000,6,0.000,0.041,2716,2444,2135
$GC,5910,0.59,116.0,342.4,10.5,214,5912,0.00,1.60,0.00,0.000,4,0.000,0.044,2715,3499,2133
$GC,6024,0.59,116.0,331.3,9.2,216,6026,0.00,1.52,0.00,0.000,6,0.000,0.026,2721,2472,2133
$GC,6284,0.59,116.0,309.7,8.3,223,6287,0.00,1.60,0.00,0.000,4,0.000,0.028,2730,1340,2132
$GC,6532,0.59,133.4,289.7,6.9,228,6550,0.00,1.67,15.62,0.831,6,0.000,0.040,2729,2422,2066
$GC,6831,0.59,133.4,262.1,9.6,236,6834,0.00,1.55,0.00,0.000,4,0.000,0.027,2735,1372,2062
$GC,6918,0.59,133.4,254.2,9.2,238,6922,0.00,1.65,0.00,0.000,6,0.000,0.040,2735,2428,2061
$GC,7205,0.59,137.2,230.5,7.8,245,7213,0.00,1.65,4.25,0.563,4,0.000,0.047,2734,3483,2050
$GC,7458,0.59,137.2,205.1,8.6,250,7466,0.00,1.58,0.00,0.000,6,0.000,0.026,2743,2417,2050
$GC,7714,0.60,163.0,185.0,6.4,269,7741,0.00,1.73,23.10,0.754,4,0.000,0.042,2742,3490,1945
$GC,7810,0.60,163.0,175.6,12.0,277,7813,0.00,1.60,0.00,0.000,6,0.000,0.025,2748,2427,1943
$GC,8077,0.60,163.0,144.2,12.6,302,8080,0.00,1.55,0.00,0.000,4,0.000,0.027,2756,1358,1941
$GC,8144,0.60,163.0,136.0,11.5,308,8148,0.10,1.75,0.00,0.000,6,0.151,0.039,2723,2482,1941
$GC,8412,0.60,163.0,109.8,9.0,333,8415,0.00,1.52,0.00,0.000,4,0.000,0.044,2723,3480,1940
$GC,8512,0.60,163.0,99.9,9.9,342,8515,0.00,1.50,0.00,0.000,6,0.000,0.025,2730,2461,1940
$GC,8780,0.61,180.2,78.1,6.9,367,8798,0.00,1.55,15.25,0.632,4,0.000,0.025,2738,1362,1875
$GC,8891,0.61,180.2,68.1,9.5,376,8899,0.00,1.80,0.00,0.000,6,0.000,0.037,2738,2526,1872
$GC,9150,0.61,180.2,47.9,8.2,401,9152,0.00,1.45,0.00,0.000,4,0.000,0.042,2738,3480,1872
$GC,9251,0.61,180.2,38.3,9.7,410,9253,0.00,1.40,0.00,0.000,6,0.000,0.023,2745,2515,1872
$GC,9508,0.61,180.2,14.3,8.2,451,9517,0.00,1.50,0.00,0.000,4,0.000,0.040,2745,3483,1872
$STATE,9607,end climb,SURFACE_DEPTH_REACHED
$STATE,9607,begin surface coast
$FINISH,-0.0,1.023468
$STATE,9628,end surface coast,CONTROL_FINISHED_OK
$STATE,9628,begin surface
$SM_CCo,9652,95.25,0.574,0,0,1058,380.21
$SM_GC,0.68,0.00,0.00,95.25,0.000,0.000,0.574,34,2707,1058,-7.78,-1.50,380.21
$IRIDIUM_FIX,2234.68,-15812.78,291101,161600
$TT8_MAMPS,0.04602
$HUMID,2081
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.10
$XPDR_PINGS,7
$24V_AH,24.5,33.649
$10V_AH,10.6,30.096
$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,20.050,76.750,239.925,95.250,0.000,23.783,43.702,436.535,1.750,0.000,0.000,47.928,0.000,6529.596,394.851,2556.010,930.907,33.342,1150.754,0.000,2270.303,0.000,0.544,0.000
$DEVICE_MAMPS,210.925,52.923,1040.052,573.716,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,320.658,1143.182,1177.980,180.508,949.773,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38280,474
$CAP_FILE_SIZE,100757,0
$CFSIZE,260165632,245899264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,4
$GPS,040912,222254,2245.086,-15811.436,81,1.0,82,10.0