version: 66.04
glider: 512
mission: 3
dive: 287
start: 9 6 112 19 17 17
data:
$ID,512
$MISSION,3
$DIVE,287
$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,-58120.508
$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,62
$R_STBD_OVSHOOT,48
$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
$GPS1,185855,2249.983,-15817.783,10,1.8,11,10.0
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-79.3
$GPS2,191639,2250.111,-15817.908,11,3.1,30,10.0
$SPEED_LIMITS,0.139,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,0.058
$KALMAN_X,-212605.5,841.5,1818.7,174851.2,-9610.2
$KALMAN_Y,-36182.1,-22.3,-117.3,48741.9,1263.3
$MHEAD_RNG_PITCHd_Wd,62.3,71788,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.66,-87.6,0.0,0.0,0,82,0.00,0.00,-65.82,0.000,2,0.000,0.000,28,2789,2684
$GC,88,-0.66,-87.6,2.2,-2.0,8,106,8.65,1.60,-6.18,0.000,4,0.206,0.051,2297,3824,2969
$GC,136,-0.66,-87.6,19.5,-37.5,15,144,0.00,1.58,0.00,0.000,6,0.000,0.019,2300,2758,2970
$GC,397,-0.66,-87.6,98.5,-24.8,42,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2751,2970
$GC,656,-0.66,-87.6,160.5,-22.8,67,658,0.00,1.60,0.00,0.000,4,0.000,0.037,2293,3816,2971
$GC,693,-0.66,-87.6,169.7,-25.7,70,696,0.00,1.55,0.00,0.000,6,0.000,0.018,2300,2734,2971
$GC,953,-0.66,-87.6,225.4,-20.6,86,956,0.00,1.42,0.00,0.000,4,0.000,0.021,2307,1711,2971
$GC,997,-0.66,-87.6,234.0,-17.9,87,1000,0.00,1.55,0.00,0.000,6,0.000,0.038,2301,2722,2971
$GC,1284,-0.66,-87.6,283.3,-16.3,94,1287,0.00,1.65,0.00,0.000,4,0.000,0.041,2292,3827,2971
$GC,1500,-0.66,-87.6,317.7,-15.5,99,1503,0.00,1.55,0.00,0.000,6,0.000,0.019,2298,2753,2971
$GC,1789,-0.66,-87.6,356.7,-13.7,106,1792,0.00,1.45,0.00,0.000,4,0.000,0.021,2306,1716,2969
$GC,1833,-0.66,-87.6,362.9,-11.8,107,1836,0.00,1.58,0.00,0.000,6,0.000,0.038,2300,2746,2969
$GC,2120,-0.66,-87.6,402.0,-14.1,114,2123,0.00,1.48,0.00,0.000,4,0.000,0.021,2305,1718,2966
$GC,2143,-0.66,-87.6,405.2,-14.3,114,2146,0.00,1.58,0.00,0.000,6,0.000,0.038,2300,2748,2966
$GC,2410,-0.66,-87.6,443.5,-14.5,121,2413,0.00,1.48,0.00,0.000,4,0.000,0.022,2305,1722,2964
$GC,2444,-0.66,-87.6,448.5,-13.3,121,2447,0.00,1.52,0.00,0.000,6,0.000,0.039,2300,2716,2964
$GC,2698,-0.66,-87.6,482.9,-13.5,128,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2716,2962
$GC,2941,-0.66,-87.6,516.1,-13.7,134,2943,0.00,1.67,0.00,0.000,4,0.000,0.048,2291,3822,2959
$GC,3017,-0.66,-87.6,526.6,-13.7,135,3020,0.00,1.62,0.00,0.000,6,0.000,0.022,2298,2709,2958
$GC,3271,-0.66,-87.6,559.4,-12.7,142,3274,0.00,1.40,0.00,0.000,4,0.000,0.025,2305,1720,2956
$GC,3305,-0.66,-87.6,563.8,-12.9,142,3308,0.00,1.52,0.00,0.000,6,0.000,0.041,2300,2705,2956
$GC,3560,-0.66,-87.6,596.6,-13.2,149,3563,0.00,1.70,0.00,0.000,4,0.000,0.050,2290,3818,2954
$STATE,3578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3578,begin apogee
$GC,3590,-0.23,0.0,600.0,14.3,149,3665,0.45,0.00,72.70,1.040,6,0.128,0.000,2442,2436,2610
$STATE,3665,end apogee,CONTROL_FINISHED_OK
$STATE,3665,begin climb
$GC,3670,0.66,87.6,604.5,0.0,151,3755,0.82,1.62,80.20,1.000,4,0.067,0.025,2749,1350,2253
$GC,3815,0.66,87.6,597.5,10.8,154,3819,0.00,1.70,0.00,0.000,6,0.000,0.038,2749,2418,2248
$GC,4083,0.66,87.6,564.3,12.3,161,4086,0.00,1.62,0.00,0.000,4,0.000,0.043,2749,3493,2244
$GC,4181,0.66,87.6,550.5,14.0,163,4184,0.00,1.60,0.00,0.000,6,0.000,0.024,2757,2399,2242
$GC,4457,0.66,87.6,517.6,11.6,170,4460,0.00,1.70,0.00,0.000,4,0.000,0.041,2754,3492,2241
$GC,4475,0.66,87.6,515.3,12.1,170,4477,0.00,1.58,0.00,0.000,6,0.000,0.024,2761,2427,2240
$GC,4745,0.66,87.6,482.1,12.2,177,4749,0.00,1.67,0.00,0.000,4,0.000,0.044,2755,3482,2239
$GC,4880,0.66,87.6,463.9,13.0,180,4883,0.00,1.52,0.00,0.000,6,0.000,0.025,2761,2454,2238
$GC,5162,0.66,87.6,429.5,12.0,187,5165,0.00,1.58,0.00,0.000,4,0.000,0.027,2769,1371,2237
$GC,5410,0.66,87.6,403.5,8.9,192,5413,0.00,1.67,0.00,0.000,6,0.000,0.039,2767,2455,2236
$GC,5664,0.67,96.7,383.5,7.4,199,5674,0.00,1.62,6.45,0.763,4,0.000,0.047,2767,3488,2214
$GC,5832,0.67,96.7,369.8,8.2,203,5835,0.10,1.45,0.00,0.000,6,0.196,0.025,2746,2510,2213
$GC,6119,0.67,96.7,346.5,8.3,210,6122,0.00,1.65,0.00,0.000,4,0.000,0.028,2753,1361,2212
$GC,6179,0.67,108.8,342.0,7.3,211,6194,0.00,1.73,11.60,0.841,6,0.000,0.039,2753,2496,2166
$GC,6443,0.67,108.8,318.2,9.4,218,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2496,2163
$GC,6686,0.67,111.0,299.2,7.9,224,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2496,2162
$GC,6927,0.67,111.0,279.6,8.3,230,6930,0.00,1.67,0.00,0.000,4,0.000,0.027,2760,1366,2161
$GC,6974,0.67,111.0,276.1,8.6,231,6977,0.00,1.73,0.00,0.000,6,0.000,0.041,2755,2494,2161
$GC,7261,0.69,154.3,260.4,5.3,238,7305,0.00,1.58,38.85,0.835,4,0.000,0.044,2755,3477,1980
$GC,7550,0.69,154.3,228.2,12.8,244,7552,0.00,1.45,0.00,0.000,6,0.000,0.025,2760,2506,1976
$GC,7806,0.69,154.3,199.1,10.9,251,7810,0.00,1.67,0.00,0.000,4,0.000,0.028,2768,1357,1974
$GC,7951,0.69,154.3,182.2,10.8,264,7960,0.00,1.73,0.00,0.000,6,0.000,0.039,2768,2466,1973
$GC,8210,0.69,154.3,152.9,12.8,289,8213,0.00,1.60,0.00,0.000,4,0.000,0.025,2774,1366,1973
$GC,8460,0.69,154.3,124.5,11.8,312,8464,0.00,1.62,0.00,0.000,6,0.000,0.037,2768,2421,1973
$GC,8729,0.69,154.3,98.6,8.0,337,8732,0.00,1.55,0.00,0.000,4,0.000,0.025,2773,1362,1973
$GC,8777,0.70,168.7,94.7,7.1,341,8792,0.00,1.62,12.43,0.634,6,0.000,0.037,2768,2423,1922
$GC,9057,0.70,168.7,67.2,8.8,367,9060,0.00,1.60,0.00,0.000,4,0.000,0.043,2768,3488,1920
$GC,9247,0.71,195.5,53.4,6.3,384,9275,0.00,1.55,23.42,0.617,6,0.000,0.022,2774,2417,1812
$GC,9529,0.71,195.5,30.9,9.9,410,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2417,1809
$STATE,9766,end climb,SURFACE_DEPTH_REACHED
$STATE,9766,begin surface coast
$FINISH,0.1,1.023394
$STATE,9797,end surface coast,CONTROL_FINISHED_OK
$STATE,9797,begin surface
$SM_CCo,9820,86.18,0.573,0,0,1059,380.21
$SM_GC,0.96,0.00,0.00,86.18,0.000,0.000,0.573,37,2768,1059,-7.77,0.23,380.21
$IRIDIUM_FIX,2241.69,-15832.75,011201,191931
$TT8_MAMPS,0.047554
$HUMID,2089
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.10
$XPDR_PINGS,8
$24V_AH,24.5,35.688
$10V_AH,10.6,32.140
$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,16.975,74.225,245.650,86.175,0.000,88.082,110.054,568.351,2.000,0.000,0.000,31.756,0.000,6936.617,370.628,2433.310,1214.039,33.338,1097.256,0.000,2163.163,0.000,0.544,0.000
$DEVICE_MAMPS,206.323,59.826,1040.052,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,313.021,1080.588,1113.292,173.521,897.035,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38211,462
$CAP_FILE_SIZE,104729,0
$CFSIZE,260165632,245096448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060912,220335,2250.662,-15817.687,40,0.9,41,10.0