version: 66.04
glider: 512
mission: 3
dive: 284
start: 9 6 112 10 38 3
data:
$ID,512
$MISSION,3
$DIVE,284
$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,-57134.867
$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,30
$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,49
$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
$GPS1,102236,2249.698,-15816.625,26,1.9,27,10.0
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-74.5
$GPS2,103725,2249.667,-15816.670,17,2.0,17,10.0
$SPEED_LIMITS,0.139,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.185,-0.049
$KALMAN_X,-204300.9,1089.8,915.3,169325.0,-9358.3
$KALMAN_Y,-36708.6,52.5,123.1,48127.4,-480.1
$MHEAD_RNG_PITCHd_Wd,94.8,69523,-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,-0.66,-87.6,0.0,0.0,0,95,0.00,0.00,-74.03,0.000,2,0.000,0.000,24,2792,2916
$GC,100,-0.66,-87.6,2.9,-3.0,9,118,8.52,1.58,-0.95,0.000,4,0.202,0.037,2315,1666,2966
$GC,138,-0.66,-87.6,20.6,-39.1,14,147,0.00,1.67,0.00,0.000,6,0.000,0.035,2308,2753,2967
$GC,405,-0.66,-87.6,104.8,-26.0,41,408,0.00,1.62,0.00,0.000,4,0.000,0.041,2300,3837,2967
$GC,440,-0.66,-87.6,113.4,-24.6,44,444,0.00,1.65,0.00,0.000,6,0.000,0.020,2299,2713,2967
$GC,704,-0.66,-87.6,173.2,-22.4,69,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2705,2968
$GC,956,-0.66,-87.6,226.6,-21.0,85,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2705,2969
$GC,1200,-0.66,-87.6,273.5,-19.1,91,1203,0.00,1.73,0.00,0.000,4,0.000,0.040,2293,3826,2969
$GC,1218,-0.66,-87.6,277.0,-18.1,91,1221,0.00,1.58,0.00,0.000,6,0.000,0.019,2294,2724,2969
$GC,1488,-0.66,-87.6,327.3,-19.2,98,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2717,2969
$GC,1730,-0.66,-87.6,369.4,-17.4,104,1733,0.00,1.67,0.00,0.000,4,0.000,0.041,2288,3822,2968
$GC,1791,-0.66,-87.6,380.4,-18.3,105,1794,0.00,1.55,0.00,0.000,6,0.000,0.020,2288,2746,2967
$GC,2061,-0.66,-87.6,424.4,-16.1,112,2064,0.00,1.45,0.00,0.000,4,0.000,0.022,2288,1713,2964
$GC,2106,-0.66,-87.6,431.5,-15.1,113,2109,0.00,1.58,0.00,0.000,6,0.000,0.038,2282,2739,2964
$GC,2393,-0.66,-87.6,478.2,-16.7,120,2395,0.00,1.62,0.00,0.000,4,0.000,0.044,2273,3822,2961
$GC,2439,-0.66,-87.6,485.9,-17.1,121,2442,0.08,1.58,0.00,0.000,6,0.133,0.021,2309,2727,2961
$GC,2726,-0.66,-87.6,526.0,-13.5,128,2729,0.00,1.42,0.00,0.000,4,0.000,0.025,2317,1716,2959
$GC,2803,1.12,-87.6,536.0,-12.9,129,2807,1.73,1.58,0.00,0.000,6,0.117,0.041,2885,2738,2958
$GC,3052,1.12,-87.6,575.0,-18.7,135,3055,0.00,1.65,0.00,0.000,4,0.000,0.050,2886,3822,2956
$GC,3123,1.12,-87.6,588.1,-16.8,136,3125,0.00,1.48,0.00,0.000,6,0.000,0.032,2894,2845,2955
$STATE,3216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3216,begin apogee
$GC,3227,-0.23,0.0,606.8,18.5,139,3303,1.62,0.00,73.00,1.045,6,0.197,0.000,2457,2430,2610
$STATE,3303,end apogee,CONTROL_FINISHED_OK
$STATE,3303,begin climb
$GC,3308,0.66,87.6,612.5,0.0,141,3400,0.75,1.65,81.80,0.986,4,0.042,0.025,2763,1365,2252
$GC,3643,0.66,87.6,581.6,14.8,149,3646,0.00,1.62,0.00,0.000,6,0.000,0.036,2763,2430,2244
$GC,3932,0.66,87.6,541.5,13.7,156,3935,0.00,1.58,0.00,0.000,4,0.000,0.026,2770,1369,2240
$GC,4180,0.66,87.6,510.8,12.6,161,4183,0.00,1.62,0.00,0.000,6,0.000,0.039,2768,2437,2238
$GC,4434,0.66,87.6,479.2,12.4,168,4437,0.00,1.58,0.00,0.000,4,0.000,0.026,2774,1373,2237
$GC,4567,0.66,87.6,465.2,9.8,171,4570,0.05,1.55,0.00,0.000,6,0.177,0.038,2743,2377,2237
$GC,4853,0.66,87.6,438.6,8.8,178,4856,0.00,1.70,0.00,0.000,4,0.000,0.046,2742,3494,2235
$GC,5020,0.66,87.6,423.0,9.2,181,5023,0.00,1.62,0.00,0.000,6,0.000,0.025,2749,2393,2233
$GC,5274,0.66,87.6,399.8,9.2,188,5277,0.00,1.48,0.00,0.000,4,0.000,0.028,2756,1370,2233
$GC,5313,0.66,87.6,396.4,8.7,188,5318,0.00,1.55,0.00,0.000,6,0.000,0.039,2755,2371,2233
$GC,5562,0.66,87.6,375.5,8.2,195,5565,0.00,1.48,0.00,0.000,4,0.000,0.026,2761,1365,2232
$GC,5628,0.67,100.1,370.5,7.2,196,5641,0.00,1.50,8.75,0.828,6,0.000,0.039,2756,2341,2200
$GC,5893,0.67,100.1,346.3,9.1,203,5896,0.00,1.75,0.00,0.000,4,0.000,0.047,2755,3491,2197
$GC,6141,0.67,100.1,321.7,9.2,208,6144,0.00,1.62,0.00,0.000,6,0.000,0.025,2762,2375,2196
$GC,6395,0.68,117.4,302.9,6.9,215,6414,0.00,1.42,15.38,0.846,4,0.000,0.026,2769,1362,2132
$GC,6428,0.69,161.6,301.1,5.3,215,6471,0.00,1.58,39.10,0.860,6,0.000,0.039,2768,2375,1951
$GC,6720,0.69,161.6,258.6,17.0,223,6723,0.00,1.73,0.00,0.000,4,0.000,0.046,2767,3490,1944
$GC,6813,0.69,161.6,243.9,16.3,225,6816,0.00,1.60,0.00,0.000,6,0.000,0.025,2774,2401,1944
$GC,7094,0.69,161.6,204.5,12.8,232,7097,0.00,1.50,0.00,0.000,4,0.000,0.026,2781,1357,1943
$GC,7332,0.69,161.6,175.1,12.1,251,7335,0.08,1.65,0.00,0.000,6,0.175,0.040,2757,2417,1941
$GC,7598,0.69,161.6,145.6,10.9,276,7602,0.00,1.65,0.00,0.000,4,0.000,0.044,2755,3483,1940
$GC,7730,0.69,161.6,129.0,12.3,288,7732,0.00,1.52,0.00,0.000,6,0.000,0.024,2761,2442,1941
$GC,7998,0.69,161.6,98.2,10.9,313,8001,0.00,1.52,0.00,0.000,4,0.000,0.025,2769,1374,1941
$GC,8055,0.69,161.6,90.5,12.7,318,8058,0.00,1.58,0.00,0.000,6,0.000,0.039,2767,2393,1941
$GC,8323,0.70,165.2,66.8,7.8,343,8326,0.00,1.50,0.00,0.000,4,0.000,0.024,2773,1366,1941
$GC,8572,0.73,243.4,50.6,3.2,366,8642,0.00,1.55,65.15,0.633,6,0.000,0.037,2768,2380,1616
$GC,8890,0.73,243.4,11.1,17.1,407,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2380,1611
$STATE,8934,end climb,SURFACE_DEPTH_REACHED
$STATE,8934,begin surface coast
$FINISH,0.1,1.023361
$STATE,8949,end surface coast,CONTROL_FINISHED_OK
$STATE,8949,begin surface
$SM_CCo,8973,63.35,0.575,0,0,1058,380.21
$SM_GC,0.60,0.00,0.00,63.35,0.000,0.000,0.575,40,2772,1058,-7.77,0.37,380.21
$IRIDIUM_FIX,2239.35,-15817.13,011201,101039
$TT8_MAMPS,0.047554
$HUMID,2158
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.30
$XPDR_PINGS,6
$24V_AH,24.5,35.371
$10V_AH,10.6,31.757
$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,19.825,67.625,283.175,63.350,0.000,86.062,114.237,402.513,1.500,0.000,0.000,17.671,0.000,6242.890,367.367,2274.979,1023.458,33.345,1081.865,0.000,2024.841,0.000,0.545,0.000
$DEVICE_MAMPS,201.721,49.855,1044.654,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,282.680,978.455,1010.476,146.837,799.887,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35021,418
$CAP_FILE_SIZE,96893,0
$CFSIZE,260165632,245243904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,060912,130953,2249.162,-15816.693,31,1.2,42,10.0