version: 66.04
glider: 512
mission: 3
dive: 280
start: 9 5 112 22 43 27
data:
$ID,512
$MISSION,3
$DIVE,280
$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,120
$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,-57058.73
$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,64
$R_STBD_OVSHOOT,57
$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
$GPS1,223136,2248.472,-15814.632,30,0.9,31,10.0
$_CALLS,1
$_XMS_NAKs,35
$_XMS_TOUTs,2
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-75.4
$GPS2,224249,2248.498,-15814.755,12,1.7,12,10.0
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.050
$KALMAN_X,-191334.2,798.1,593.5,160252.0,-7971.5
$KALMAN_Y,-36406.7,15.4,67.0,45770.5,-1414.6
$MHEAD_RNG_PITCHd_Wd,93.4,65765,-16.0,-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,-0.51,-116.8,0.0,0.0,0,108,0.00,0.00,-90.78,0.000,2,0.000,0.000,29,2806,2782
$GC,113,-0.51,-116.8,2.9,-3.4,11,131,8.75,1.62,-5.97,0.000,4,0.206,0.038,2361,1675,3089
$GC,152,-0.51,-116.8,19.0,-34.0,16,161,0.00,1.65,0.00,0.000,6,0.000,0.038,2355,2734,3090
$GC,413,-0.51,-116.8,89.8,-26.6,44,416,0.00,1.65,0.00,0.000,4,0.000,0.043,2347,3830,3090
$GC,471,-0.51,-116.8,103.4,-19.6,49,474,0.00,1.58,0.00,0.000,6,0.000,0.020,2347,2743,3090
$GC,734,-0.51,-116.8,151.0,-17.2,74,737,0.00,1.45,0.00,0.000,4,0.000,0.020,2347,1699,3090
$GC,824,-0.51,-116.8,163.9,-13.7,82,827,0.00,1.60,0.00,0.000,6,0.000,0.038,2339,2765,3090
$GC,1103,-0.51,-116.8,214.2,-17.5,103,1106,0.00,1.50,0.00,0.000,4,0.000,0.020,2339,1709,3091
$GC,1148,-0.51,-116.8,221.2,-14.5,104,1151,0.00,1.58,0.00,0.000,6,0.000,0.038,2333,2734,3091
$GC,1437,-0.51,-116.8,268.2,-16.0,111,1440,0.00,1.62,0.00,0.000,4,0.000,0.044,2325,3820,3091
$GC,1519,-0.51,-116.8,281.2,-13.8,112,1524,0.12,1.58,0.00,0.000,6,0.140,0.020,2358,2712,3091
$GC,1768,1.53,-116.8,307.5,-10.2,119,1772,1.85,1.40,0.00,0.000,4,0.094,0.020,3025,1710,3090
$GC,1812,1.53,-116.8,308.6,-8.8,120,1815,0.00,1.55,0.00,0.000,6,0.000,0.031,3025,2751,3090
$GC,2093,1.53,-116.8,369.0,-21.1,127,2096,0.00,1.48,0.00,0.000,4,0.000,0.021,3035,1704,3088
$GC,2105,1.53,-116.8,371.2,-21.2,127,2108,0.00,1.48,0.00,0.000,6,0.000,0.038,3035,2671,3088
$GC,2381,1.53,-116.8,436.8,-23.6,134,2384,0.00,1.62,0.00,0.000,4,0.000,0.024,3039,3845,3085
$GC,2409,1.53,-116.8,443.6,-23.5,134,2413,0.10,1.75,0.00,0.000,6,0.160,0.023,3017,2664,3085
$GC,2672,1.53,-116.8,505.8,-24.1,141,2674,0.00,1.67,0.00,0.000,4,0.000,0.021,3014,3881,3083
$GC,2859,1.53,-116.8,551.7,-26.0,145,2862,0.00,1.77,0.00,0.000,6,0.000,0.024,3027,2638,3081
$STATE,3092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3092,begin apogee
$GC,3103,-0.20,0.0,605.4,21.6,151,3204,1.83,0.00,97.82,1.036,6,0.142,0.000,2461,2421,2610
$STATE,3204,end apogee,CONTROL_FINISHED_OK
$STATE,3204,begin climb
$GC,3209,0.51,116.8,612.0,0.0,153,3319,0.60,1.73,103.90,1.004,4,0.042,0.040,2696,3464,2133
$GC,3564,0.51,116.8,571.3,17.1,161,3567,0.00,1.55,0.00,0.000,6,0.000,0.023,2704,2426,2125
$GC,3834,0.51,116.8,529.5,15.1,168,3838,0.00,1.52,0.00,0.000,4,0.000,0.026,2712,1362,2121
$GC,3937,0.51,116.8,515.6,12.4,170,3940,0.00,1.58,0.00,0.000,6,0.000,0.037,2712,2382,2120
$GC,4208,0.51,116.8,478.5,13.7,177,4211,0.00,1.67,0.00,0.000,4,0.000,0.044,2712,3483,2119
$GC,4365,0.51,116.8,455.6,14.6,180,4368,0.08,1.55,0.00,0.000,6,0.158,0.025,2687,2437,2118
$GC,4625,0.51,116.8,424.8,11.6,187,4628,0.00,1.62,0.00,0.000,4,0.000,0.046,2686,3478,2116
$GC,4664,0.51,116.8,420.0,12.8,187,4669,0.00,1.55,0.00,0.000,6,0.000,0.024,2692,2432,2116
$GC,4913,0.51,116.8,392.7,10.5,194,4916,0.00,1.55,0.00,0.000,4,0.000,0.027,2700,1359,2115
$GC,5021,0.51,116.8,382.1,8.2,196,5024,0.00,1.67,0.00,0.000,6,0.000,0.040,2700,2460,2114
$GC,5287,0.51,116.8,356.1,9.8,203,5290,0.00,1.58,0.00,0.000,4,0.000,0.044,2701,3481,2113
$GC,5390,0.51,116.8,343.1,13.6,205,5393,0.00,1.48,0.00,0.000,6,0.000,0.025,2708,2479,2113
$GC,5661,0.51,116.8,314.5,10.3,212,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2474,2113
$GC,5902,0.51,116.8,290.6,10.0,218,5906,0.00,1.58,0.00,0.000,4,0.000,0.044,2708,3479,2112
$GC,5931,0.51,116.8,287.6,10.9,218,5933,0.00,1.45,0.00,0.000,6,0.000,0.025,2716,2492,2112
$GC,6190,0.51,116.8,264.2,8.5,225,6193,0.00,1.58,0.00,0.000,4,0.000,0.044,2715,3491,2111
$GC,6238,0.51,136.1,261.0,7.1,226,6256,0.08,1.42,13.93,0.806,6,0.176,0.023,2698,2515,2054
$GC,6523,0.52,160.6,242.8,6.9,233,6548,0.00,1.58,21.75,0.809,4,0.000,0.043,2698,3491,1955
$GC,6701,0.52,160.6,224.9,11.3,237,6703,0.00,1.30,0.00,0.000,6,0.000,0.023,2703,2601,1951
$GC,6959,0.52,160.6,195.5,11.0,245,6962,0.00,1.77,0.00,0.000,4,0.000,0.026,2712,1357,1950
$GC,7113,0.52,160.6,181.9,8.5,259,7116,0.00,1.88,0.00,0.000,6,0.000,0.039,2712,2578,1949
$GC,7376,0.52,160.6,156.6,10.6,284,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2578,1948
$GC,7636,0.52,160.6,133.1,8.1,309,7639,0.00,1.77,0.00,0.000,4,0.000,0.025,2721,1369,1948
$GC,7865,0.52,160.6,111.0,10.2,330,7868,0.00,1.83,0.00,0.000,6,0.000,0.038,2721,2574,1948
$GC,8129,0.52,160.6,81.6,8.8,355,8132,0.00,1.77,0.00,0.000,4,0.000,0.024,2730,1360,1948
$GC,8221,0.53,167.8,73.4,7.7,363,8233,0.10,1.77,6.53,0.548,6,0.120,0.037,2694,2521,1926
$GC,8498,0.55,225.4,57.6,5.3,389,8553,0.00,1.73,47.58,0.639,4,0.000,0.025,2697,1372,1690
$GC,8621,1.86,262.8,50.5,6.3,399,8663,1.10,1.75,31.02,0.611,6,0.025,0.037,3157,2508,1537
$STATE,8770,end climb,SURFACE_DEPTH_REACHED
$STATE,8775,begin surface coast
$FINISH,0.4,1.023364
$STATE,8780,end surface coast,CONTROL_FINISHED_OK
$STATE,8780,begin surface
$SM_CCo,8804,56.78,0.575,0,0,1060,380.21
$SM_GC,1.12,0.00,0.00,56.78,0.000,0.000,0.575,32,2790,1060,-7.79,0.85,380.21
$IRIDIUM_FIX,2239.35,-15814.95,301101,202020
$TT8_MAMPS,0.047554
$HUMID,2147
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.40
$XPDR_PINGS,3
$24V_AH,24.5,34.807
$10V_AH,10.6,31.241
$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,22.800,71.375,322.525,56.775,0.000,23.841,31.911,470.976,0.750,0.000,0.000,12.914,0.000,5952.073,409.182,2244.271,911.466,33.337,1119.158,0.000,1999.943,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,46.020,1036.217,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,284.135,1011.457,1045.434,144.838,779.198,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35113,421
$CAP_FILE_SIZE,93089,0
$CFSIZE,260165632,245452800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060912,011225,2248.123,-15814.786,45,1.8,46,10.0