version: 66.04
glider: 512
mission: 3
dive: 282
start: 9 6 112 4 34 3
data:
$ID,512
$MISSION,3
$DIVE,282
$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,-57097.137
$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,40
$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
$GPS1,041105,2248.452,-15815.689,30,1.4,31,10.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-80.1
$GPS2,043325,2248.761,-15815.995,16,1.8,16,10.0
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.106,0.190
$KALMAN_X,-198922.6,1103.5,364.1,165642.1,-9258.8
$KALMAN_Y,-36755.9,398.2,42.2,46252.1,-640.7
$MHEAD_RNG_PITCHd_Wd,19.2,67937,-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,-116.8,0.0,0.0,0,91,0.00,0.00,-74.03,0.000,2,0.000,0.000,14,2790,2930
$GC,96,-0.51,-116.8,3.1,-3.4,9,114,8.85,1.55,-2.95,0.000,4,0.206,0.050,2346,3837,3088
$GC,286,-0.51,-116.8,61.7,-23.1,31,289,0.00,1.58,0.00,0.000,6,0.000,0.019,2347,2755,3089
$GC,549,-0.51,-116.8,115.4,-21.0,56,552,0.00,1.48,0.00,0.000,4,0.000,0.021,2346,1703,3090
$GC,693,-0.51,-116.8,143.3,-19.3,69,696,0.00,1.60,0.00,0.000,6,0.000,0.037,2339,2748,3090
$GC,956,-0.51,-116.8,197.1,-19.9,94,959,0.00,1.60,0.00,0.000,4,0.000,0.042,2331,3822,3090
$GC,1011,-0.51,-116.8,208.7,-18.3,96,1015,0.05,1.55,0.00,0.000,6,0.119,0.019,2359,2737,3090
$GC,1287,-0.51,-116.8,249.2,-13.6,103,1290,0.00,1.42,0.00,0.000,4,0.000,0.020,2360,1708,3090
$GC,1364,0.50,-116.8,257.5,-10.1,104,1368,0.88,1.55,0.00,0.000,6,0.089,0.039,2682,2718,3090
$GC,1613,0.50,-116.8,271.7,-7.0,110,1617,0.00,1.65,0.00,0.000,4,0.000,0.035,2683,3829,3089
$GC,1652,0.50,-116.8,276.0,-10.6,110,1660,0.00,1.75,0.00,0.000,6,0.000,0.020,2683,2626,3089
$GC,1901,0.50,-116.8,302.3,-10.4,117,1905,0.00,1.25,0.00,0.000,4,0.000,0.020,2690,1688,3087
$GC,2062,0.50,-116.8,319.3,-9.0,120,2065,0.00,1.48,0.00,0.000,6,0.000,0.041,2691,2651,3086
$GC,2322,0.50,-116.8,344.3,-9.2,127,2325,0.00,1.77,0.00,0.000,4,0.000,0.050,2689,3814,3084
$GC,2479,0.50,-116.8,362.8,-13.7,130,2482,0.00,1.77,0.00,0.000,6,0.000,0.021,2693,2603,3082
$GC,2739,0.50,-116.8,391.3,-11.1,137,2742,0.00,1.23,0.00,0.000,4,0.000,0.022,2699,1703,3080
$GC,2756,0.50,-116.8,393.1,-10.4,137,2760,0.00,1.40,0.00,0.000,6,0.000,0.043,2700,2611,3080
$GC,3027,0.50,-116.8,424.3,-11.6,144,3030,0.00,1.27,0.00,0.000,4,0.000,0.023,2700,1717,3078
$GC,3082,0.50,-116.8,430.7,-11.6,145,3085,0.00,1.48,0.00,0.000,6,0.000,0.044,2700,2668,3078
$GC,3358,0.50,-116.8,464.1,-12.1,152,3361,0.00,1.38,-0.08,0.000,4,0.000,0.044,2700,1714,3100
$GC,3606,0.50,-116.8,492.8,-14.3,157,3609,0.00,1.55,0.00,0.000,6,0.000,0.039,2701,2730,3098
$GC,3861,0.50,-116.8,519.7,-10.6,164,3864,0.00,1.65,0.00,0.000,4,0.000,0.051,2702,3808,3096
$GC,3932,0.50,-116.8,527.8,-11.7,165,3935,0.00,1.62,0.00,0.000,6,0.000,0.024,2709,2684,3094
$GC,4192,0.50,-116.8,557.1,-11.4,172,4195,0.00,1.70,0.00,0.000,4,0.000,0.034,2709,3833,3093
$GC,4311,0.50,-116.8,574.6,-16.1,174,4314,0.15,1.65,0.00,0.000,6,0.235,0.022,2688,2669,3092
$GC,4567,0.50,-116.8,598.5,-8.4,181,4570,0.00,1.77,0.00,0.000,4,0.000,0.042,2690,3826,3091
$STATE,4580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4580,begin apogee
$GC,4592,-0.20,0.0,600.4,9.1,181,4698,0.65,0.00,101.25,1.058,6,0.101,0.000,2467,2415,2610
$STATE,4698,end apogee,CONTROL_FINISHED_OK
$STATE,4699,begin climb
$GC,4703,0.51,116.8,605.5,0.0,184,4821,0.55,1.77,106.25,1.002,4,0.025,0.041,2708,3478,2132
$GC,4889,0.51,116.8,594.3,16.0,188,4892,0.00,1.60,0.00,0.000,6,0.000,0.024,2716,2412,2127
$GC,5160,0.51,116.8,553.4,14.4,195,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2406,2124
$GC,5404,0.51,116.8,520.4,13.5,201,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2405,2122
$GC,5644,0.51,116.8,490.3,11.8,207,5647,0.00,1.52,0.00,0.000,4,0.000,0.028,2723,1371,2121
$GC,5683,0.51,116.8,485.8,11.4,207,5689,0.12,1.60,0.00,0.000,6,0.152,0.039,2691,2423,2120
$GC,5932,0.51,116.8,458.9,10.7,214,5935,0.00,1.62,0.00,0.000,4,0.000,0.046,2689,3488,2118
$GC,5950,0.51,116.8,456.9,10.9,214,5953,0.00,1.58,0.00,0.000,6,0.000,0.025,2695,2425,2118
$GC,6223,0.51,116.8,425.0,12.1,221,6226,0.00,1.65,0.00,0.000,4,0.000,0.047,2695,3490,2117
$GC,6267,0.51,116.8,418.9,13.8,222,6270,0.00,1.55,0.00,0.000,6,0.000,0.024,2702,2448,2117
$GC,6554,0.51,116.8,380.8,13.4,229,6556,0.00,1.58,0.00,0.000,4,0.000,0.028,2710,1359,2116
$GC,6625,0.51,116.8,371.8,12.3,230,6628,0.00,1.65,0.00,0.000,6,0.000,0.040,2710,2442,2116
$GC,6885,0.51,116.8,342.2,11.1,237,6888,0.00,1.60,0.00,0.000,4,0.000,0.045,2710,3478,2115
$GC,7057,0.51,116.8,324.7,9.6,240,7064,0.08,1.52,0.00,0.000,6,0.178,0.025,2696,2447,2115
$GC,7306,0.52,146.8,307.3,6.6,247,7334,0.00,1.62,23.33,0.868,4,0.000,0.028,2703,1360,2011
$GC,7397,0.52,146.8,299.1,10.2,249,7400,0.00,1.65,0.00,0.000,6,0.000,0.040,2702,2415,2009
$GC,7680,0.52,146.8,269.1,11.3,256,7683,0.00,1.62,0.00,0.000,4,0.000,0.046,2702,3478,2006
$GC,7857,0.52,146.8,248.7,10.0,260,7860,0.00,1.58,0.00,0.000,6,0.000,0.025,2708,2425,2005
$GC,8144,0.52,146.8,218.3,11.0,267,8147,0.00,1.52,0.00,0.000,4,0.000,0.028,2717,1357,2005
$GC,8215,0.52,146.8,212.2,8.5,268,8218,0.00,1.58,0.00,0.000,6,0.000,0.040,2716,2373,2004
$GC,8469,0.52,147.1,191.8,8.0,280,8472,0.00,1.70,0.00,0.000,4,0.000,0.045,2715,3492,2004
$GC,8527,0.52,151.0,187.1,7.8,285,8540,0.00,1.65,3.88,0.506,6,0.000,0.023,2722,2374,1996
$GC,8795,0.52,162.1,166.3,7.5,310,8811,0.00,1.75,11.52,0.704,4,0.000,0.044,2722,3478,1948
$GC,8983,0.52,162.1,146.7,10.3,327,8986,0.15,1.62,0.00,0.000,6,0.166,0.024,2693,2363,1947
$GC,9250,0.52,162.1,123.8,9.0,352,9253,0.00,1.75,0.00,0.000,4,0.000,0.044,2687,3489,1946
$GC,9266,0.52,162.1,122.1,8.8,353,9269,0.00,1.65,0.00,0.000,6,0.000,0.023,2693,2373,1946
$GC,9533,0.54,216.0,101.7,5.5,378,9586,0.00,1.77,44.70,0.683,4,0.000,0.041,2693,3481,1728
$GC,9601,0.56,242.1,97.5,6.8,383,9628,0.00,1.60,22.52,0.647,6,0.000,0.023,2696,2401,1621
$GC,9882,-1.46,246.0,75.0,7.8,409,9896,1.85,1.50,3.28,0.360,4,0.094,0.024,2057,1365,1604
$GC,9944,-1.46,246.0,71.2,15.9,414,9947,0.00,1.50,0.00,0.000,6,0.000,0.032,2049,2343,1604
$GC,10206,-1.46,246.0,23.3,18.6,442,10214,0.00,1.73,0.00,0.000,4,0.000,0.029,2038,3518,1600
$GC,10229,-1.46,246.0,18.0,18.6,445,10238,0.00,1.75,0.00,0.000,6,0.000,0.020,2045,2274,1601
$STATE,10313,end climb,SURFACE_DEPTH_REACHED
$STATE,10313,begin surface coast
$FINISH,0.2,0.999218
$STATE,10329,end surface coast,CONTROL_FINISHED_OK
$STATE,10329,begin surface
$SM_CCo,10350,57.95,0.573,0,0,1060,380.21
$SM_GC,0.94,0.00,0.00,57.95,0.000,0.000,0.573,31,2776,1060,-7.79,0.45,380.21
$IRIDIUM_FIX,2239.35,-15814.95,011201,040407
$TT8_MAMPS,0.046787
$HUMID,2142
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.60
$XPDR_PINGS,6
$24V_AH,24.4,35.111
$10V_AH,10.6,31.506
$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,18.350,90.375,316.725,57.950,0.000,90.818,102.023,864.781,1.500,0.000,0.000,16.228,0.000,7326.084,406.722,2465.056,1533.235,33.346,1202.447,0.000,2179.986,0.000,0.545,0.000
$DEVICE_MAMPS,234.702,51.389,1057.693,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,313.709,1060.816,1093.232,135.775,781.906,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38354,464
$CAP_FILE_SIZE,117852,0
$CFSIZE,260165632,245329920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060912,072835,2249.575,-15816.719,32,1.1,33,10.0