version: 66.04
glider: 512
mission: 3
dive: 276
start: 9 5 112 10 30 54
data:
$ID,512
$MISSION,3
$DIVE,276
$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,520
$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,-56875.938
$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,71
$R_STBD_OVSHOOT,39
$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
$GPS1,101306,2246.733,-15812.708,39,1.7,40,10.0
$_CALLS,3
$_XMS_NAKs,14
$_XMS_TOUTs,2
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-74.7
$GPS2,103012,2246.665,-15812.800,29,1.5,35,10.0
$SPEED_LIMITS,0.139,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.179,0.067
$KALMAN_X,-178571.0,612.4,678.6,150929.3,-6707.5
$KALMAN_Y,-33751.4,-99.7,124.2,39781.2,2.8
$MHEAD_RNG_PITCHd_Wd,59.6,61653,-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,16,-0.57,-87.6,0.0,0.0,0,83,0.00,0.00,-65.88,0.000,2,0.000,0.000,14,2781,2689
$GC,88,-0.57,-87.6,2.0,-1.9,8,107,8.70,1.62,-6.15,0.000,4,0.203,0.051,2327,3835,2969
$GC,272,-0.57,-87.6,56.4,-26.2,32,281,0.00,1.60,0.00,0.000,6,0.000,0.035,2327,2771,2970
$GC,531,-0.57,-87.6,117.4,-21.8,57,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2762,2971
$GC,789,-0.57,-87.6,167.6,-18.3,82,792,0.00,1.52,0.00,0.000,4,0.000,0.021,2326,1682,2971
$GC,828,-0.57,-87.6,175.4,-17.2,85,836,0.00,1.62,0.00,0.000,6,0.000,0.036,2320,2746,2972
$GC,1101,-0.57,-87.6,223.6,-18.2,103,1104,0.00,1.60,0.00,0.000,4,0.000,0.041,2311,3824,2972
$GC,1173,-0.57,-87.6,236.9,-17.4,104,1176,0.00,1.55,0.00,0.000,6,0.000,0.020,2311,2747,2972
$GC,1435,-0.57,-87.6,284.9,-18.8,111,1438,0.00,1.45,0.00,0.000,4,0.000,0.021,2315,1705,2971
$GC,1474,-0.57,-87.6,292.4,-17.8,111,1479,0.12,1.62,0.00,0.000,6,0.140,0.037,2343,2792,2972
$GC,1723,1.87,-87.6,325.1,-12.9,118,1730,2.22,1.60,0.00,0.000,4,0.103,0.047,3114,3824,2971
$GC,1740,1.87,-87.6,325.5,-10.7,118,1743,0.00,1.48,0.00,0.000,6,0.000,0.020,3121,2778,2970
$GC,2010,1.87,-87.6,377.9,-20.8,125,2013,0.00,1.60,0.00,0.000,4,0.000,0.043,3124,3825,2969
$GC,2060,1.87,-87.6,389.0,-25.8,126,2063,0.00,1.45,0.00,0.000,6,0.000,0.030,3132,2854,2968
$GC,2341,1.87,-87.6,452.8,-23.3,133,2344,0.00,1.58,0.00,0.000,4,0.000,0.023,3144,1726,2966
$GC,2445,1.87,-87.6,475.9,-22.5,135,2448,0.00,1.62,0.00,0.000,6,0.000,0.028,3145,2850,2965
$GC,2715,1.87,-87.6,536.7,-22.4,142,2718,0.00,1.48,0.00,0.000,4,0.000,0.043,3150,3819,2963
$GC,2781,1.87,-87.6,551.5,-23.0,143,2785,0.10,1.50,0.00,0.000,6,0.244,0.029,3134,2823,2962
$STATE,3001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3001,begin apogee
$GC,3012,-0.20,0.0,602.3,22.8,149,3090,2.75,0.00,73.62,1.029,6,0.240,0.000,2466,2445,2610
$STATE,3090,end apogee,CONTROL_FINISHED_OK
$STATE,3090,begin climb
$GC,3095,0.57,87.6,609.4,0.0,151,3187,0.62,1.67,81.55,0.979,4,0.044,0.024,2722,1359,2251
$GC,3430,0.57,87.6,585.9,11.0,159,3433,0.00,1.62,0.00,0.000,6,0.000,0.037,2722,2423,2244
$GC,3718,0.57,87.6,550.1,12.7,166,3721,0.00,1.58,0.00,0.000,4,0.000,0.025,2730,1356,2240
$GC,3890,0.57,87.6,530.1,11.4,169,3895,0.00,1.62,0.00,0.000,6,0.000,0.038,2728,2428,2239
$GC,4142,0.57,87.6,498.2,13.0,176,4144,0.00,1.62,0.00,0.000,4,0.000,0.044,2728,3501,2237
$GC,4175,0.57,87.6,493.3,13.7,176,4178,0.00,1.60,0.00,0.000,6,0.000,0.025,2735,2398,2236
$GC,4430,0.57,87.6,461.8,12.2,183,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2392,2235
$GC,4672,0.57,87.6,437.0,9.8,189,4675,0.00,1.48,0.00,0.000,4,0.000,0.027,2743,1370,2234
$GC,4689,0.57,87.6,435.4,8.6,189,4693,0.12,1.65,0.00,0.000,6,0.173,0.038,2713,2464,2234
$GC,4962,0.58,101.6,414.8,7.1,196,4975,0.00,1.60,10.02,0.860,4,0.000,0.025,2719,1369,2195
$GC,5101,0.58,101.6,403.1,9.1,199,5104,0.00,1.58,0.00,0.000,6,0.000,0.038,2716,2389,2193
$GC,5384,0.58,101.6,375.5,9.7,206,5387,0.00,1.65,0.00,0.000,4,0.000,0.045,2716,3478,2191
$GC,5633,0.58,101.6,348.7,9.5,211,5635,0.00,1.52,0.00,0.000,6,0.000,0.026,2721,2450,2189
$GC,5887,0.58,111.2,328.4,7.4,218,5900,0.00,1.60,9.05,0.797,4,0.000,0.028,2729,1350,2156
$GC,5979,0.59,120.5,321.7,7.4,220,5992,0.00,1.65,9.80,0.797,6,0.000,0.039,2729,2435,2118
$GC,6260,0.59,120.5,296.7,9.4,227,6263,0.00,1.60,0.00,0.000,4,0.000,0.045,2729,3489,2115
$GC,6406,0.59,120.5,280.1,11.8,230,6409,0.00,1.58,0.00,0.000,6,0.000,0.025,2735,2428,2114
$GC,6677,0.59,120.5,251.7,10.0,237,6679,0.00,1.65,0.00,0.000,4,0.000,0.044,2735,3493,2113
$GC,6753,0.59,120.5,244.7,8.8,238,6756,0.00,1.52,0.00,0.000,6,0.000,0.025,2743,2461,2113
$GC,7007,0.61,172.3,229.7,4.8,245,7055,0.00,1.65,43.92,0.808,4,0.000,0.028,2750,1363,1907
$GC,7240,0.61,172.3,201.3,14.0,250,7242,0.00,1.62,0.00,0.000,6,0.000,0.038,2750,2420,1901
$GC,7509,0.61,172.3,165.3,11.9,274,7512,0.00,1.65,0.00,0.000,4,0.000,0.044,2751,3487,1899
$GC,7724,0.61,172.3,136.5,13.0,294,7727,0.08,1.52,0.00,0.000,6,0.166,0.024,2725,2455,1899
$GC,7993,0.61,172.3,110.1,10.2,319,7996,0.00,1.58,0.00,0.000,4,0.000,0.025,2732,1370,1898
$GC,8070,0.61,172.3,102.1,9.4,326,8074,0.00,1.65,0.00,0.000,6,0.000,0.038,2729,2444,1898
$GC,8335,0.61,172.3,75.1,8.8,351,8337,0.00,1.60,0.00,0.000,4,0.000,0.042,2729,3488,1898
$GC,8524,0.62,196.4,58.5,6.5,368,8552,0.00,1.50,19.80,0.622,6,0.000,0.022,2735,2451,1809
$GC,8806,0.62,196.4,38.7,8.4,394,8809,0.00,1.55,0.00,0.000,4,0.000,0.025,2739,1376,1807
$GC,8969,0.62,196.4,22.8,9.8,416,8978,0.00,1.65,0.00,0.000,6,0.000,0.035,2739,2454,1806
$STATE,9177,end climb,SURFACE_DEPTH_REACHED
$STATE,9177,begin surface coast
$FINISH,0.1,1.023761
$STATE,9214,end surface coast,CONTROL_FINISHED_OK
$STATE,9214,begin surface
$SM_CCo,9236,84.62,0.571,0,0,1059,380.21
$SM_GC,0.89,0.00,0.00,84.62,0.000,0.000,0.571,37,2778,1059,-7.77,0.54,380.21
$IRIDIUM_FIX,2234.68,-15812.78,301101,101013
$TT8_MAMPS,0.047554
$HUMID,2100
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.20
$XPDR_PINGS,7
$24V_AH,24.5,34.300
$10V_AH,10.6,30.740
$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,21.450,70.625,247.775,84.625,0.000,75.138,135.209,515.725,1.750,0.000,0.000,35.184,0.000,6276.136,376.536,2510.663,1172.433,33.339,1110.698,0.000,2242.395,0.000,0.545,0.000
$DEVICE_MAMPS,243.906,51.389,1028.547,570.648,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,313.539,1130.004,1166.206,184.524,973.984,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38421,463
$CAP_FILE_SIZE,102416,0
$CFSIZE,260165632,245641216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,050912,130727,2246.400,-15813.146,19,4.8,39,10.0