version: 66.04
glider: 512
mission: 3
dive: 278
start: 9 5 112 16 44 3
data:
$ID,512
$MISSION,3
$DIVE,278
$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,-56993.66
$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,59
$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
$GPS1,163535,2246.721,-15813.967,63,1.1,63,10.0
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-76.5
$GPS2,164325,2246.751,-15814.065,16,2.0,16,10.0
$SPEED_LIMITS,0.139,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.171,0.086
$KALMAN_X,-184532.0,301.7,88.9,155632.3,-5889.8
$KALMAN_Y,-35916.1,-29.4,-217.9,42377.4,-480.2
$MHEAD_RNG_PITCHd_Wd,53.3,63791,-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,-87.6,0.0,0.0,0,95,0.00,0.00,-74.03,0.000,6,0.000,0.000,31,2794,2968
$GC,100,-0.57,-87.6,3.2,-3.4,9,117,8.65,1.55,0.00,0.000,4,0.203,0.028,2324,3845,2969
$GC,158,-0.57,-87.6,29.7,-42.2,18,167,0.00,1.62,0.00,0.000,6,0.000,0.021,2329,2752,2970
$GC,417,-0.57,-87.6,104.4,-24.1,43,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2743,2971
$GC,674,-0.57,-87.6,157.1,-20.2,68,677,0.00,1.48,0.00,0.000,4,0.000,0.022,2329,1703,2972
$GC,753,-0.57,-87.6,170.7,-15.8,75,755,0.00,1.60,0.00,0.000,6,0.000,0.035,2323,2773,2973
$GC,1031,-0.57,-87.6,225.5,-20.7,93,1034,0.00,1.58,0.00,0.000,4,0.000,0.041,2315,3814,2973
$GC,1134,-0.57,-87.6,245.4,-18.3,95,1137,0.00,1.52,0.00,0.000,6,0.000,0.019,2315,2756,2972
$GC,1405,-0.57,-87.6,289.9,-16.4,102,1408,0.00,1.48,0.00,0.000,4,0.000,0.021,2317,1698,2973
$GC,1460,-0.57,-87.6,297.4,-13.4,103,1463,0.00,1.60,0.00,0.000,6,0.000,0.038,2311,2767,2973
$GC,1736,-0.57,-87.6,336.8,-14.4,110,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2767,2971
$GC,1980,-0.57,-87.6,372.0,-14.2,116,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2767,2971
$GC,2220,-0.57,-87.6,403.9,-13.0,122,2223,0.00,1.60,0.00,0.000,4,0.000,0.044,2303,3835,2969
$GC,2280,-0.57,-87.6,412.7,-14.2,123,2284,0.08,1.55,0.00,0.000,6,0.120,0.021,2341,2752,2969
$GC,2551,0.83,-87.6,442.0,-10.7,130,2555,1.30,1.42,0.00,0.000,4,0.104,0.021,2793,1719,2967
$GC,2601,0.83,-87.6,443.7,-8.6,131,2604,0.00,1.60,0.00,0.000,6,0.000,0.038,2792,2788,2967
$GC,2877,0.83,-87.6,488.2,-16.5,138,2879,0.00,1.58,0.00,0.000,4,0.000,0.045,2793,3811,2965
$GC,3125,0.83,-87.6,536.4,-18.4,143,3128,0.00,1.50,0.00,0.000,6,0.000,0.023,2803,2775,2962
$GC,3379,0.83,-87.6,577.2,-16.1,150,3382,0.00,1.60,0.00,0.000,4,0.000,0.043,2804,3814,2959
$GC,3429,0.83,-87.6,586.7,-19.8,151,3432,0.00,1.52,0.00,0.000,6,0.000,0.022,2813,2747,2959
$STATE,3503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3503,begin apogee
$GC,3514,-0.20,0.0,600.3,16.3,153,3591,1.38,0.00,73.88,1.038,6,0.218,0.000,2464,2409,2610
$STATE,3591,end apogee,CONTROL_FINISHED_OK
$STATE,3591,begin climb
$GC,3596,0.57,87.6,606.0,0.0,155,3686,0.65,0.00,81.88,0.989,6,0.039,0.000,2729,2409,2252
$GC,3928,0.57,87.6,576.8,14.2,163,3930,0.00,1.67,0.00,0.000,4,0.000,0.040,2729,3485,2243
$GC,3983,0.57,87.6,568.5,14.0,164,3985,0.00,1.50,0.00,0.000,6,0.000,0.023,2736,2475,2242
$GC,4261,0.57,87.6,533.3,12.3,171,4264,0.00,1.58,0.00,0.000,4,0.000,0.025,2744,1390,2240
$GC,4348,0.57,87.6,522.8,11.9,173,4352,0.10,1.67,0.00,0.000,6,0.156,0.038,2714,2472,2239
$GC,4635,0.57,87.6,494.1,9.7,180,4638,0.00,1.55,0.00,0.000,4,0.000,0.042,2714,3477,2237
$GC,4674,0.57,87.6,490.2,10.4,180,4681,0.00,1.42,0.00,0.000,6,0.000,0.024,2721,2502,2236
$GC,4923,0.57,87.6,467.3,9.1,187,4926,0.00,1.62,0.00,0.000,4,0.000,0.027,2728,1366,2235
$GC,5171,0.57,88.0,446.6,8.0,192,5174,0.00,1.62,0.00,0.000,6,0.000,0.038,2728,2441,2234
$GC,5426,0.57,88.0,423.5,9.0,199,5429,0.00,1.60,0.00,0.000,4,0.000,0.042,2728,3482,2233
$GC,5481,0.57,88.0,417.6,10.8,200,5484,0.00,1.50,0.00,0.000,6,0.000,0.024,2735,2460,2232
$GC,5757,0.57,88.0,393.1,8.8,207,5760,0.00,1.60,0.00,0.000,4,0.000,0.043,2735,3477,2232
$GC,6005,0.57,88.0,367.2,8.6,212,6008,0.00,1.50,0.00,0.000,6,0.000,0.025,2743,2459,2232
$GC,6260,0.58,108.2,349.9,6.8,219,6278,0.00,1.60,15.15,0.881,4,0.000,0.043,2743,3488,2168
$GC,6518,0.58,108.2,327.2,9.1,225,6521,0.10,1.48,0.00,0.000,6,0.172,0.024,2721,2493,2166
$GC,6805,0.58,112.3,305.7,7.7,232,6811,0.00,0.00,4.57,0.627,6,0.000,0.000,2721,2487,2151
$GC,7047,0.59,126.4,287.5,7.1,238,7065,0.00,1.65,13.88,0.824,4,0.000,0.027,2727,1362,2094
$GC,7257,0.59,126.4,269.4,9.0,242,7262,0.00,1.77,0.00,0.000,6,0.000,0.038,2727,2523,2091
$GC,7506,0.59,126.4,245.1,9.7,249,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2523,2090
$GC,7748,0.61,169.3,228.9,5.4,255,7791,0.00,1.50,36.55,0.826,4,0.000,0.044,2727,3475,1918
$GC,7943,0.61,169.3,209.2,10.9,259,7946,0.00,1.38,0.00,0.000,6,0.000,0.024,2734,2551,1915
$GC,8205,0.61,169.3,180.2,11.3,277,8208,0.00,1.48,0.00,0.000,4,0.000,0.044,2734,3481,1913
$GC,8283,0.61,169.3,170.3,13.6,284,8286,0.00,1.38,0.00,0.000,6,0.000,0.025,2741,2551,1913
$GC,8548,0.61,169.3,137.6,11.4,309,8551,0.00,1.73,0.00,0.000,4,0.000,0.026,2749,1362,1912
$GC,8638,0.61,169.3,126.7,10.6,317,8646,0.00,1.83,0.00,0.000,6,0.000,0.038,2749,2540,1911
$GC,8897,0.61,169.3,95.0,12.8,342,8899,0.00,1.70,0.00,0.000,4,0.000,0.025,2757,1364,1911
$GC,8988,0.61,169.3,85.3,8.6,350,8996,0.10,1.80,0.00,0.000,6,0.141,0.038,2724,2532,1912
$GC,9251,0.62,210.5,69.4,5.5,375,9292,0.00,1.73,33.30,0.663,4,0.000,0.024,2731,1373,1751
$GC,9342,-1.68,210.5,62.3,8.6,382,9349,2.20,1.80,0.00,0.000,6,0.113,0.036,1985,2530,1748
$GC,9605,-1.68,210.5,27.9,16.1,408,9613,0.00,1.73,0.00,0.000,4,0.000,0.021,1985,1336,1739
$STATE,9749,end climb,SURFACE_DEPTH_REACHED
$STATE,9749,begin surface coast
$FINISH,0.2,1.023459
$STATE,9769,end surface coast,CONTROL_FINISHED_OK
$STATE,9769,begin surface
$SM_CCo,9792,75.30,0.574,0,0,1059,380.21
$SM_GC,1.12,0.00,0.00,75.30,0.000,0.000,0.574,33,2768,1059,-7.79,0.23,380.21
$IRIDIUM_FIX,2237.01,-15812.78,301101,131321
$TT8_MAMPS,0.046787
$HUMID,2100
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.90
$XPDR_PINGS,4
$24V_AH,24.5,34.501
$10V_AH,10.6,30.995
$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,19.400,70.725,259.200,75.300,0.000,30.467,35.151,230.860,1.000,0.000,0.000,16.796,0.000,6845.409,383.121,2343.785,745.405,33.355,1122.580,0.000,2089.146,0.000,0.546,0.000
$DEVICE_MAMPS,217.828,45.253,1037.751,573.716,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,296.763,993.006,1024.172,144.202,772.192,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35216,439
$CAP_FILE_SIZE,94944,0
$CFSIZE,260165632,245542912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050912,192932,2247.612,-15814.246,10,4.3,29,10.0