version: 66.04
glider: 512
mission: 3
dive: 283
start: 9 6 112 7 49 20
data:
$ID,512
$MISSION,3
$DIVE,283
$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,-57116.566
$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,54
$R_STBD_OVSHOOT,33
$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
$GPS1,072835,2249.575,-15816.719,32,1.1,33,10.0
$_CALLS,2
$_XMS_NAKs,24
$_XMS_TOUTs,2
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-76.9
$GPS2,074842,2249.732,-15816.743,13,1.2,18,10.0
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.052
$KALMAN_X,-201496.7,1031.5,776.1,166587.1,-8330.5
$KALMAN_Y,-38000.1,267.8,319.3,49147.8,-2306.7
$MHEAD_RNG_PITCHd_Wd,93.8,69678,-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,-74.03,0.000,2,0.000,0.000,12,2782,2953
$GC,96,-0.51,-116.8,3.1,-3.7,9,114,8.90,1.60,-2.47,0.000,4,0.206,0.050,2352,3834,3088
$GC,129,-0.51,-116.8,20.6,-36.2,13,138,0.00,1.60,0.00,0.000,6,0.000,0.019,2352,2749,3089
$GC,392,-0.51,-116.8,94.2,-19.6,39,395,0.00,1.48,0.00,0.000,4,0.000,0.023,2355,1714,3089
$GC,490,-0.51,-116.8,110.5,-14.4,48,493,0.00,1.48,0.00,0.000,6,0.000,0.038,2350,2672,3089
$GC,754,-0.51,-116.8,158.7,-18.2,73,757,0.00,1.73,0.00,0.000,4,0.000,0.043,2342,3823,3090
$GC,846,-0.51,-116.8,176.0,-17.5,81,854,0.00,1.70,0.00,0.000,6,0.000,0.019,2341,2657,3090
$GC,1119,-0.51,-116.8,222.2,-16.9,99,1123,0.00,1.80,0.00,0.000,4,0.000,0.041,2333,3814,3090
$GC,1153,-0.51,-116.8,227.9,-16.8,99,1156,0.00,1.62,0.00,0.000,6,0.000,0.019,2333,2670,3090
$GC,1410,-0.51,-116.8,269.7,-17.3,106,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2662,3090
$GC,1650,-0.51,-116.8,308.5,-15.8,112,1653,0.00,1.80,0.00,0.000,4,0.000,0.044,2324,3820,3089
$GC,1694,-0.51,-116.8,314.9,-13.4,113,1697,0.10,1.60,0.00,0.000,6,0.127,0.020,2358,2699,3088
$GC,1980,1.23,-116.8,347.4,-11.2,120,1985,1.60,1.40,0.00,0.000,4,0.106,0.021,2922,1699,3088
$GC,2022,1.23,-116.8,348.3,-2.8,121,2025,0.00,1.55,0.00,0.000,6,0.000,0.031,2918,2737,3088
$GC,2309,1.23,-116.8,409.1,-21.0,128,2311,0.00,1.58,0.00,0.000,4,0.000,0.021,2922,3869,3085
$GC,2486,1.23,-116.8,449.1,-24.0,132,2489,0.00,1.60,0.00,0.000,6,0.000,0.022,2937,2773,3083
$GC,2772,1.23,-116.8,509.4,-20.8,139,2775,0.00,1.58,0.00,0.000,4,0.000,0.034,2939,3820,3081
$GC,2822,1.23,-116.8,520.1,-23.5,140,2825,0.00,1.52,0.00,0.000,6,0.000,0.027,2948,2790,3080
$GC,3103,1.23,-116.8,580.9,-20.9,147,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2784,3077
$STATE,3219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3219,begin apogee
$GC,3230,-0.20,0.0,605.3,20.1,150,3331,1.58,0.00,97.50,1.029,6,0.141,0.000,2464,2419,2610
$STATE,3331,end apogee,CONTROL_FINISHED_OK
$STATE,3331,begin climb
$GC,3336,0.51,116.8,611.5,0.0,152,3451,0.57,1.60,105.70,0.983,4,0.028,0.023,2718,1349,2133
$GC,3699,0.51,116.8,575.3,15.3,159,3702,0.00,1.62,0.00,0.000,6,0.000,0.038,2716,2407,2125
$GC,3962,0.51,116.8,535.7,14.8,166,3964,0.00,1.65,0.00,0.000,4,0.000,0.044,2715,3488,2122
$GC,4070,0.51,116.8,517.1,17.0,168,4074,0.12,1.60,0.00,0.000,6,0.183,0.024,2694,2387,2120
$GC,4336,0.51,116.8,482.9,12.6,175,4338,0.00,1.48,0.00,0.000,4,0.000,0.027,2699,1358,2117
$GC,4402,0.51,116.8,474.7,12.2,176,4405,0.00,1.65,0.00,0.000,6,0.000,0.039,2700,2443,2118
$GC,4667,0.51,116.8,442.2,11.9,183,4670,0.00,1.60,0.00,0.000,4,0.000,0.045,2700,3476,2117
$GC,4799,0.51,116.8,426.8,12.0,186,4802,0.00,1.52,0.00,0.000,6,0.000,0.025,2708,2447,2116
$GC,5086,0.51,116.8,393.7,11.7,193,5089,0.00,1.55,0.00,0.000,4,0.000,0.028,2715,1373,2115
$GC,5157,0.51,116.8,385.6,11.4,194,5160,0.00,1.62,0.00,0.000,6,0.000,0.041,2715,2441,2114
$GC,5419,0.51,116.8,354.5,12.2,201,5422,0.00,1.60,0.00,0.000,4,0.000,0.045,2715,3479,2114
$GC,5618,0.51,116.8,330.8,11.0,205,5621,0.08,1.50,0.00,0.000,6,0.176,0.025,2689,2469,2113
$GC,5883,0.51,124.6,308.7,7.6,212,5891,0.00,1.60,4.00,0.568,4,0.000,0.027,2695,1353,2102
$GC,5916,0.52,154.8,306.4,6.6,212,5949,0.00,1.75,27.73,0.860,6,0.000,0.041,2695,2505,1978
$GC,6212,0.52,154.8,277.1,10.4,220,6214,0.00,1.67,0.00,0.000,4,0.000,0.027,2702,1359,1973
$GC,6336,0.52,154.8,263.9,10.8,222,6341,0.00,1.67,0.00,0.000,6,0.000,0.041,2702,2448,1972
$GC,6585,0.52,154.8,239.7,9.7,229,6588,0.00,1.60,0.00,0.000,4,0.000,0.047,2701,3501,1971
$GC,6720,0.52,154.8,224.1,10.0,232,6724,0.00,1.50,0.00,0.000,6,0.000,0.025,2708,2488,1970
$GC,6974,0.52,154.8,198.8,10.5,239,6977,0.00,1.58,0.00,0.000,4,0.000,0.045,2708,3482,1970
$GC,7020,0.52,154.8,193.5,11.8,243,7023,0.00,1.48,0.00,0.000,6,0.000,0.025,2716,2481,1970
$GC,7288,0.52,154.8,164.0,10.1,268,7291,0.00,1.62,0.00,0.000,4,0.000,0.028,2725,1329,1969
$GC,7466,0.52,154.8,148.8,9.4,284,7469,0.08,1.80,0.00,0.000,6,0.128,0.041,2698,2485,1969
$GC,7734,0.54,193.5,130.3,6.2,309,7773,0.00,1.55,31.40,0.701,4,0.000,0.044,2698,3481,1821
$GC,7853,0.54,193.5,119.6,11.0,319,7856,0.00,1.52,0.00,0.000,6,0.000,0.024,2704,2459,1820
$GC,8120,0.54,193.5,92.3,10.5,344,8123,0.00,1.58,0.00,0.000,4,0.000,0.027,2709,1373,1818
$GC,8208,0.54,193.5,82.8,9.9,352,8211,0.00,1.60,0.00,0.000,6,0.000,0.038,2710,2428,1818
$GC,8477,0.57,266.4,65.8,4.6,377,8545,0.00,1.67,59.20,0.637,4,0.000,0.045,2709,3477,1522
$GC,8592,0.57,266.4,58.1,8.1,386,8595,0.00,1.58,0.00,0.000,6,0.000,0.023,2713,2436,1520
$GC,8855,0.57,266.4,29.3,9.9,411,8864,0.00,1.55,0.00,0.000,4,0.000,0.025,2722,1358,1519
$GC,8904,-1.23,266.4,24.2,9.4,419,8913,1.70,1.67,0.00,0.000,6,0.096,0.035,2134,2445,1517
$STATE,9058,end climb,SURFACE_DEPTH_REACHED
$STATE,9058,begin surface coast
$FINISH,0.0,1.010672
$STATE,9068,end surface coast,CONTROL_FINISHED_OK
$STATE,9069,begin surface
$SM_CCo,9090,47.78,0.564,0,0,1059,380.21
$SM_GC,1.02,0.00,0.00,47.78,0.000,0.000,0.564,35,2792,1059,-7.78,0.90,380.21
$IRIDIUM_FIX,2241.69,-15814.09,011201,070714
$TT8_MAMPS,0.046787
$HUMID,2099
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.20
$XPDR_PINGS,4
$24V_AH,24.5,35.257
$10V_AH,10.6,31.639
$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,19.975,74.575,325.525,47.775,0.000,48.744,73.799,844.181,1.000,0.000,0.000,18.795,0.000,6115.172,393.379,2402.243,1415.244,33.355,1135.174,0.000,2144.266,0.000,0.546,0.000
$DEVICE_MAMPS,206.323,49.855,1029.314,563.745,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,303.757,1106.918,1136.984,158.118,877.699,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38245,450
$CAP_FILE_SIZE,104248,0
$CFSIZE,260165632,245280768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060912,102236,2249.698,-15816.625,26,1.9,27,10.0