version: 66.04
glider: 512
mission: 3
dive: 275
start: 9 5 112 7 44 27
data:
$ID,512
$MISSION,3
$DIVE,275
$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,200
$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,-56840.125
$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,68
$R_STBD_OVSHOOT,42
$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
$GPS1,071535,2246.280,-15812.797,58,1.2,59,10.0
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-78.3
$GPS2,074349,2246.582,-15812.905,18,1.5,18,10.0
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.203,0.022
$KALMAN_X,-176223.9,755.5,318.3,148622.3,-5092.4
$KALMAN_Y,-33647.4,-139.5,183.9,39494.6,390.7
$MHEAD_RNG_PITCHd_Wd,73.8,61791,-23.0,-10.000
$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,-0.69,-87.6,0.0,0.0,0,83,0.00,0.00,-65.78,0.000,2,0.000,0.000,13,2784,2712
$GC,88,-0.69,-87.6,2.7,-3.7,8,105,8.65,0.00,-5.38,0.000,6,0.207,0.000,2299,2784,2969
$GC,366,-0.69,-87.6,90.6,-25.8,40,369,0.00,1.58,0.00,0.000,4,0.000,0.038,2292,3812,2970
$GC,445,-0.69,-87.6,112.4,-25.9,47,448,0.00,1.52,0.00,0.000,6,0.000,0.019,2292,2760,2970
$GC,709,-0.69,-87.6,176.3,-22.6,72,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2752,2970
$GC,981,-0.69,-87.6,233.0,-20.1,87,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2752,2970
$GC,1223,-0.69,-87.6,277.3,-18.3,93,1226,0.00,1.48,0.00,0.000,4,0.000,0.021,2300,1698,2970
$GC,1267,-0.69,-87.6,284.8,-16.3,94,1270,0.00,1.60,0.00,0.000,6,0.000,0.035,2294,2747,2970
$GC,1556,-0.69,-87.6,335.5,-17.6,101,1559,0.00,1.62,0.00,0.000,4,0.000,0.043,2285,3838,2969
$GC,1670,-0.69,-87.6,356.7,-18.3,103,1673,0.00,1.55,0.00,0.000,6,0.000,0.021,2285,2761,2968
$GC,1930,-0.69,-87.6,399.6,-15.8,110,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2754,2966
$GC,2174,-0.69,-87.6,434.6,-14.4,116,2177,0.00,1.62,0.00,0.000,4,0.000,0.042,2278,3826,2964
$GC,2192,-0.69,-87.6,437.7,-15.0,116,2194,0.00,1.52,0.00,0.000,6,0.000,0.021,2278,2768,2964
$GC,2462,-0.69,-87.6,479.5,-15.6,123,2465,0.00,1.48,0.00,0.000,4,0.000,0.023,2278,1718,2962
$GC,2517,1.70,-87.6,487.6,-14.5,124,2525,2.47,1.58,0.00,0.000,6,0.130,0.038,3071,2748,2961
$GC,2794,1.70,-87.6,538.3,-22.1,131,2797,0.00,1.60,0.00,0.000,4,0.000,0.034,3067,3852,2958
$GC,2807,1.70,-87.6,542.0,-22.4,131,2809,0.00,1.60,0.00,0.000,6,0.000,0.023,3074,2732,2958
$STATE,3077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3077,begin apogee
$GC,3088,-0.20,0.0,602.8,21.8,138,3165,2.47,0.00,72.78,1.032,6,0.239,0.000,2471,2402,2610
$STATE,3165,end apogee,CONTROL_FINISHED_OK
$STATE,3165,begin climb
$GC,3170,0.69,87.6,609.3,0.0,140,3262,0.73,1.77,81.35,0.979,4,0.039,0.041,2765,3479,2251
$GC,3470,0.69,87.6,577.4,18.0,147,3473,0.00,1.55,0.00,0.000,6,0.000,0.024,2773,2440,2245
$GC,3756,0.69,87.6,534.6,14.1,154,3759,0.00,1.62,0.00,0.000,4,0.000,0.041,2768,3485,2241
$GC,3955,0.69,87.6,507.2,14.1,158,3958,0.00,1.55,0.00,0.000,6,0.000,0.025,2774,2437,2239
$GC,4220,0.69,87.6,474.3,11.8,165,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2432,2237
$GC,4464,0.69,87.6,446.2,11.5,171,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2432,2236
$GC,4704,0.69,90.6,420.9,9.8,177,4708,0.00,1.55,0.00,0.000,4,0.000,0.028,2782,1366,2235
$GC,4829,0.69,94.1,408.1,9.7,179,4835,0.12,1.62,0.00,0.000,6,0.187,0.038,2750,2446,2234
$GC,5081,0.70,106.1,385.2,9.1,186,5099,0.00,1.60,13.68,0.875,4,0.000,0.044,2750,3475,2177
$GC,5285,0.70,106.1,361.9,10.9,190,5288,0.00,1.48,0.00,0.000,6,0.000,0.025,2756,2478,2174
$GC,5540,0.70,106.1,335.1,10.5,197,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2472,2173
$GC,5782,0.70,113.3,311.3,9.5,203,5792,0.00,1.62,7.00,0.739,4,0.000,0.044,2755,3489,2148
$GC,6035,0.71,122.7,286.2,9.3,209,6049,0.00,1.52,10.18,0.779,6,0.000,0.025,2761,2452,2108
$GC,6324,0.71,136.0,260.5,9.0,216,6341,0.00,1.65,12.20,0.780,4,0.000,0.044,2755,3477,2054
$GC,6488,0.71,136.0,243.6,10.2,219,6491,0.00,1.50,0.00,0.000,6,0.000,0.026,2761,2473,2053
$GC,6745,0.71,143.1,219.8,9.5,226,6755,0.00,1.62,7.15,0.679,4,0.000,0.026,2769,1378,2026
$GC,6907,0.71,143.1,203.5,10.9,229,6912,0.00,1.65,0.00,0.000,6,0.000,0.040,2768,2457,2024
$GC,7164,0.71,143.1,176.3,10.9,251,7166,0.00,1.60,0.00,0.000,4,0.000,0.026,2774,1350,2024
$GC,7190,0.71,143.1,173.7,10.2,253,7193,0.00,1.65,0.00,0.000,6,0.000,0.038,2770,2436,2024
$GC,7457,0.72,163.6,149.2,8.4,278,7484,0.00,1.58,18.35,0.713,4,0.000,0.026,2776,1389,1942
$GC,7530,0.73,171.3,143.0,9.4,284,7544,0.00,1.58,8.18,0.624,6,0.000,0.038,2776,2407,1910
$GC,7798,0.73,171.3,107.5,13.4,309,7801,0.00,1.62,0.00,0.000,4,0.000,0.044,2776,3481,1907
$GC,7834,0.73,171.3,101.3,15.9,312,7837,0.00,1.62,0.00,0.000,6,0.000,0.024,2783,2384,1907
$GC,8098,0.73,171.3,62.2,13.0,337,8101,0.00,1.73,0.00,0.000,4,0.000,0.041,2781,3485,1906
$GC,8158,0.73,184.0,56.1,9.0,342,8180,0.00,1.58,11.48,0.599,6,0.000,0.023,2787,2409,1859
$GC,8434,0.73,194.2,34.6,9.2,368,8448,0.00,1.52,9.85,0.561,4,0.000,0.025,2794,1370,1817
$GC,8535,0.73,194.2,23.4,12.1,382,8544,0.08,1.62,0.00,0.000,6,0.160,0.035,2768,2434,1816
$STATE,8718,end climb,SURFACE_DEPTH_REACHED
$STATE,8718,begin surface coast
$FINISH,0.1,1.023396
$STATE,8739,end surface coast,CONTROL_FINISHED_OK
$STATE,8739,begin surface
$SM_CCo,8762,85.50,0.575,0,0,1059,380.21
$SM_GC,1.12,0.00,0.00,85.50,0.000,0.000,0.575,44,2773,1059,-7.76,0.37,380.21
$IRIDIUM_FIX,2237.01,-15843.16,301101,070745
$TT8_MAMPS,0.048321
$HUMID,2131
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.30
$XPDR_PINGS,10
$24V_AH,24.5,34.182
$10V_AH,10.6,30.605
$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,21.425,58.050,252.175,85.500,0.000,147.329,192.760,949.723,2.500,0.000,0.000,18.660,0.000,6267.761,377.279,2183.067,1698.954,33.349,1035.315,0.000,1946.948,0.000,0.544,0.000
$DEVICE_MAMPS,238.537,46.020,1032.382,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,284.884,998.198,1031.401,159.556,825.521,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35067,421
$CAP_FILE_SIZE,99324,0
$CFSIZE,260165632,245694464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050912,101306,2246.733,-15812.708,39,1.7,40,10.0