version: 66.04
glider: 512
mission: 3
dive: 289
start: 9 7 112 1 30 11
data:
$ID,512
$MISSION,3
$DIVE,289
$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,-58205.945
$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,76
$R_STBD_OVSHOOT,35
$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
$GPS1,010445,2251.049,-15818.000,14,3.3,34,10.0
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-77.0
$GPS2,012929,2250.996,-15818.300,50,1.1,66,10.0
$SPEED_LIMITS,0.139,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,0.128
$KALMAN_X,-215436.1,1780.1,-841.9,178744.5,-4379.3
$KALMAN_Y,-37690.4,226.4,-122.1,51666.6,-1169.7
$MHEAD_RNG_PITCHd_Wd,38.2,72926,-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,-87.6,0.0,0.0,0,91,0.00,0.00,-74.18,0.000,2,0.000,0.000,17,2781,2943
$GC,96,-0.66,-87.6,3.1,-3.8,9,114,8.62,1.58,-0.47,0.000,4,0.206,0.045,2299,3844,2968
$GC,214,-0.66,-87.6,49.4,-28.7,24,223,0.00,1.58,0.00,0.000,6,0.000,0.019,2302,2773,2969
$GC,473,-0.66,-87.6,115.8,-22.4,49,476,0.00,1.50,0.00,0.000,4,0.000,0.019,2310,1697,2970
$GC,552,-0.66,-87.6,131.6,-17.9,56,555,0.00,1.60,0.00,0.000,6,0.000,0.035,2304,2770,2970
$GC,815,-0.66,-87.6,185.4,-21.4,81,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2770,2970
$GC,1086,-0.66,-87.6,242.6,-20.8,93,1089,0.00,1.60,0.00,0.000,4,0.000,0.041,2296,3843,2970
$GC,1189,-0.66,-87.6,261.7,-18.8,95,1192,0.00,1.60,0.00,0.000,6,0.000,0.019,2302,2709,2970
$GC,1460,-0.66,-87.6,306.6,-15.9,102,1462,0.00,1.40,0.00,0.000,4,0.000,0.021,2309,1700,2968
$GC,1525,-0.66,-87.6,317.5,-15.6,103,1528,0.00,1.60,0.00,0.000,6,0.000,0.037,2303,2769,2968
$GC,1791,-0.66,-87.6,357.5,-14.9,110,1793,0.00,1.60,0.00,0.000,4,0.000,0.044,2295,3838,2967
$GC,1837,-0.66,-87.6,364.1,-14.5,111,1840,0.00,1.62,0.00,0.000,6,0.000,0.020,2301,2690,2967
$GC,2124,-0.66,-87.6,402.4,-12.9,118,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2683,2964
$GC,2366,-0.66,-87.6,435.0,-13.6,124,2369,0.00,1.75,0.00,0.000,4,0.000,0.044,2294,3825,2961
$GC,2458,-0.66,-87.6,448.5,-14.7,126,2461,0.00,1.62,0.00,0.000,6,0.000,0.021,2301,2688,2960
$GC,2740,-0.66,-87.6,486.4,-13.3,133,2741,0.00,0.00,-0.08,0.000,6,0.000,0.000,2301,2681,2983
$GC,2981,-0.66,-87.6,517.9,-12.7,139,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2681,2982
$GC,3223,-0.66,-87.6,548.3,-12.3,145,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2682,2979
$GC,3468,-0.66,-87.6,578.5,-12.7,151,3471,0.00,1.80,0.00,0.000,4,0.000,0.047,2294,3820,2977
$GC,3517,-0.66,-87.6,585.7,-14.1,152,3521,0.00,1.67,0.00,0.000,6,0.000,0.024,2301,2684,2977
$STATE,3632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3633,begin apogee
$GC,3643,-0.23,0.0,600.7,12.5,155,3722,0.45,0.00,77.18,1.046,6,0.117,0.000,2448,2398,2610
$STATE,3723,end apogee,CONTROL_FINISHED_OK
$STATE,3723,begin climb
$GC,3727,0.66,87.6,604.3,0.0,157,3817,0.82,0.00,82.28,0.985,6,0.061,0.000,2745,2398,2252
$GC,4040,0.66,87.6,576.2,12.3,165,4043,0.00,1.70,0.00,0.000,4,0.000,0.044,2745,3485,2244
$GC,4111,0.66,87.6,567.0,14.0,166,4114,0.00,1.58,0.00,0.000,6,0.000,0.025,2752,2434,2242
$GC,4371,0.66,87.6,535.6,12.0,173,4374,0.00,1.65,0.00,0.000,4,0.000,0.044,2752,3491,2240
$GC,4421,0.66,87.6,529.8,12.1,174,4424,0.00,1.60,0.00,0.000,6,0.000,0.024,2760,2391,2240
$GC,4704,0.66,87.6,497.0,11.8,181,4707,0.00,1.73,0.00,0.000,4,0.000,0.044,2755,3495,2238
$GC,4738,0.66,87.6,492.8,12.0,181,4741,0.00,1.58,0.00,0.000,6,0.000,0.025,2761,2430,2237
$GC,4993,0.66,87.6,465.5,10.7,188,4996,0.00,1.52,0.00,0.000,4,0.000,0.027,2769,1375,2236
$GC,5144,0.66,87.6,451.0,8.7,191,5147,0.00,1.58,0.00,0.000,6,0.000,0.040,2768,2390,2235
$GC,5409,0.66,87.6,426.7,9.1,198,5412,0.00,1.67,0.00,0.000,4,0.000,0.046,2768,3494,2234
$GC,5657,0.66,87.6,400.7,10.6,203,5660,0.15,1.58,0.00,0.000,6,0.206,0.025,2741,2426,2234
$GC,5912,0.66,88.3,379.4,8.0,210,5915,0.00,1.65,0.00,0.000,4,0.000,0.044,2741,3492,2233
$GC,6155,0.66,88.3,357.7,8.7,215,6158,0.00,1.58,0.00,0.000,6,0.000,0.025,2747,2424,2232
$GC,6415,0.68,123.1,341.1,5.9,222,6448,0.00,1.58,27.80,0.894,4,0.000,0.027,2754,1361,2108
$GC,6516,0.68,123.1,332.9,10.5,224,6519,0.00,1.62,0.00,0.000,6,0.000,0.039,2754,2416,2105
$GC,6789,0.68,123.1,303.1,10.8,231,6792,0.00,1.55,0.00,0.000,4,0.000,0.026,2760,1379,2103
$GC,6925,0.68,123.1,287.6,11.3,234,6928,0.00,1.60,0.00,0.000,6,0.000,0.040,2755,2427,2102
$GC,7208,0.68,123.1,261.1,9.4,241,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2427,2101
$GC,7448,0.68,125.6,240.6,7.8,247,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2427,2101
$GC,7691,0.69,153.5,225.1,6.3,253,7720,0.00,1.62,25.80,0.795,4,0.000,0.044,2755,3484,1983
$GC,7889,0.69,153.5,204.4,13.1,257,7892,0.00,1.58,0.00,0.000,6,0.000,0.025,2761,2433,1980
$GC,8151,0.69,153.5,175.6,11.5,279,8154,0.00,1.65,0.00,0.000,4,0.000,0.043,2755,3476,1979
$GC,8263,0.69,153.5,161.5,12.4,289,8271,0.00,1.55,0.00,0.000,6,0.000,0.024,2762,2430,1979
$GC,8521,0.69,153.5,131.1,11.1,314,8524,0.00,1.62,0.00,0.000,4,0.000,0.044,2762,3481,1978
$GC,8771,0.69,153.5,103.0,10.9,337,8774,0.00,1.52,0.00,0.000,6,0.000,0.024,2769,2446,1979
$GC,9039,0.70,181.7,83.6,6.3,362,9067,0.00,0.00,24.05,0.652,6,0.000,0.000,2769,2440,1868
$GC,9318,0.70,181.7,58.0,8.7,389,9321,0.00,1.55,0.00,0.000,4,0.000,0.025,2777,1359,1865
$GC,9563,0.70,181.7,38.6,8.5,412,9565,0.00,1.70,0.00,0.000,6,0.000,0.035,2771,2491,1864
$GC,9828,0.70,181.7,16.0,8.3,451,9835,0.00,1.50,0.00,0.000,4,0.000,0.041,2768,3480,1865
$STATE,9951,end climb,SURFACE_DEPTH_REACHED
$STATE,9951,begin surface coast
$FINISH,-0.0,1.023317
$STATE,9982,end surface coast,CONTROL_FINISHED_OK
$STATE,9982,begin surface
$SM_CCo,10005,97.22,0.573,0,0,1059,380.21
$SM_GC,1.02,0.00,0.00,97.22,0.000,0.000,0.573,29,2762,1059,-7.80,0.06,380.21
$IRIDIUM_FIX,2244.02,-15822.33,021201,010143
$TT8_MAMPS,0.047554
$HUMID,2084
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.50
$XPDR_PINGS,5
$24V_AH,24.5,35.919
$10V_AH,10.6,32.414
$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,16.925,63.950,237.100,97.225,0.000,144.700,206.940,633.876,1.250,0.000,0.000,66.987,0.000,7157.618,390.967,2561.762,1464.110,33.357,1104.050,0.000,2264.616,0.000,0.545,0.000
$DEVICE_MAMPS,206.323,46.787,1046.188,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,324.735,1124.847,1185.719,155.555,988.244,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38339,479
$CAP_FILE_SIZE,103364,0
$CFSIZE,260165632,244998144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070912,042006,2251.453,-15818.700,59,1.0,59,10.0