version: 66.04
glider: 512
mission: 3
dive: 306
start: 9 9 112 6 21 44
data:
$ID,512
$MISSION,3
$DIVE,306
$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,25
$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,-58646.203
$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,39
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,82
$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,2620
$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
$GPS1,060935,2255.903,-15820.605,40,0.9,40,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-80.3
$GPS2,062106,2255.914,-15820.680,13,1.0,18,10.1
$SPEED_LIMITS,0.172,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.189,0.032
$KALMAN_X,-256969.2,311.4,21.9,216830.6,-4362.3
$KALMAN_Y,-37459.8,62.4,-238.6,60819.8,190.8
$MHEAD_RNG_PITCHd_Wd,70.3,79996,-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,-0.52,-87.6,0.0,0.0,0,83,0.00,0.00,-65.78,0.000,2,0.000,0.000,13,2729,2689
$GC,88,-0.52,-87.6,2.1,-2.1,8,106,8.73,1.73,-6.28,0.000,4,0.200,0.051,2341,3836,2979
$GC,132,-0.52,-87.6,18.3,-34.0,14,140,0.00,1.58,0.00,0.000,6,0.000,0.019,2347,2766,2980
$GC,397,-0.52,-87.6,85.6,-19.3,42,400,0.00,1.48,0.00,0.000,4,0.000,0.020,2353,1704,2981
$GC,520,-0.52,-87.6,105.9,-14.2,53,523,0.00,1.60,0.00,0.000,6,0.000,0.037,2347,2745,2981
$GC,782,-0.52,-87.6,153.5,-19.3,78,785,0.00,1.62,0.00,0.000,4,0.000,0.041,2339,3835,2982
$GC,830,-0.52,-87.6,162.1,-18.3,82,832,0.00,1.58,0.00,0.000,6,0.000,0.019,2342,2745,2982
$GC,1089,-0.52,-87.6,207.8,-16.1,104,1093,0.00,1.45,0.00,0.000,4,0.000,0.020,2343,1696,2982
$GC,1155,-0.52,-87.6,217.6,-13.9,105,1158,0.00,1.60,0.00,0.000,6,0.000,0.037,2336,2763,2982
$GC,1420,-0.52,-87.6,258.2,-15.1,112,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2763,2983
$GC,1662,-0.52,-87.6,295.3,-15.0,118,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2762,2982
$GC,1904,-0.52,-87.6,326.3,-12.4,124,1907,0.00,1.50,0.00,0.000,4,0.000,0.020,2336,1706,2981
$GC,1927,-0.52,-87.6,328.9,-11.5,124,1930,0.00,1.58,0.00,0.000,6,0.000,0.038,2333,2734,2981
$GC,2194,-0.52,-87.6,360.9,-12.4,131,2197,0.00,1.48,0.00,0.000,4,0.000,0.021,2333,1700,2979
$GC,2254,-0.52,-87.6,368.9,-11.9,132,2257,0.00,1.55,0.00,0.000,6,0.000,0.040,2333,2704,2978
$GC,2525,-0.52,-87.6,403.7,-12.9,139,2528,0.00,1.70,0.00,0.000,4,0.000,0.047,2324,3825,2977
$GC,2601,-0.52,-87.6,414.1,-14.6,140,2604,0.12,1.60,0.00,0.000,6,0.129,0.021,2358,2693,2976
$GC,2856,-0.52,-87.6,441.4,-10.4,147,2859,0.00,1.38,0.00,0.000,4,0.000,0.023,2358,1711,2974
$GC,2911,-0.52,-87.6,446.8,-9.3,148,2913,0.00,1.55,0.00,0.000,6,0.000,0.042,2358,2707,2974
$GC,3186,-0.52,-87.6,471.1,-8.6,155,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2707,2971
$GC,3430,-0.52,-87.6,489.8,-7.5,161,3434,0.00,1.45,0.00,0.000,4,0.000,0.024,2358,1704,2969
$GC,3475,-0.52,-87.6,493.2,-7.5,162,3478,0.00,1.58,0.00,0.000,6,0.000,0.044,2358,2704,2969
$GC,3762,-0.52,-87.6,514.7,-7.4,169,3764,0.00,1.73,0.00,0.000,4,0.000,0.054,2358,3819,2966
$GC,3795,-0.52,-87.6,517.4,-7.7,169,3798,0.00,1.60,0.00,0.000,6,0.000,0.025,2357,2704,2965
$GC,4052,-0.52,-87.6,536.7,-7.7,176,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2697,2963
$GC,4291,-0.52,-87.6,555.4,-7.8,182,4294,0.00,1.40,0.00,0.000,4,0.000,0.025,2358,1715,2962
$GC,4362,-0.52,-87.6,560.9,-7.8,183,4365,0.00,1.52,0.00,0.000,6,0.000,0.044,2358,2686,2962
$GC,4622,-0.52,-87.6,582.8,-8.7,190,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2687,2961
$STATE,4819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4819,begin apogee
$GC,4830,-0.18,0.0,601.7,9.4,195,4904,0.32,0.00,72.38,1.059,6,0.099,0.000,2466,2420,2620
$STATE,4904,end apogee,CONTROL_FINISHED_OK
$STATE,4904,begin climb
$GC,4909,0.52,87.6,605.5,0.0,197,5003,0.57,1.65,82.53,1.002,4,0.045,0.026,2699,1370,2262
$GC,5033,0.55,165.1,607.6,3.2,199,5104,0.00,1.67,68.20,1.006,6,0.000,0.039,2698,2424,1946
$GC,5360,0.55,165.1,560.9,16.0,208,5363,0.00,1.65,0.00,0.000,4,0.000,0.046,2699,3485,1938
$GC,5415,0.55,165.1,551.8,16.9,209,5418,0.00,1.62,0.00,0.000,6,0.000,0.025,2706,2389,1937
$GC,5694,0.55,165.1,503.1,18.0,216,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2383,1935
$GC,5933,0.55,165.1,458.2,18.6,222,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2382,1934
$GC,6175,0.55,165.1,418.5,16.1,228,6178,0.00,1.73,0.00,0.000,4,0.000,0.047,2702,3488,1933
$GC,6220,0.55,165.1,411.3,15.9,229,6222,0.00,1.62,0.00,0.000,6,0.000,0.025,2709,2384,1932
$GC,6509,0.55,165.1,370.1,13.8,236,6512,0.00,1.73,0.00,0.000,4,0.000,0.045,2709,3489,1931
$GC,6526,0.55,165.1,367.0,14.1,236,6529,0.00,1.60,0.00,0.000,6,0.000,0.025,2717,2413,1931
$GC,6796,0.55,165.1,328.0,15.1,243,6799,0.00,1.52,0.00,0.000,4,0.000,0.029,2725,1358,1931
$GC,6878,0.55,165.1,314.9,15.4,244,6883,0.00,1.62,0.00,0.000,6,0.000,0.041,2725,2419,1930
$GC,7129,0.55,165.1,280.0,13.5,251,7132,0.00,1.62,0.00,0.000,4,0.000,0.046,2725,3485,1930
$GC,7205,0.55,165.1,270.3,12.6,252,7208,0.00,1.52,0.00,0.000,6,0.000,0.025,2732,2453,1929
$GC,7460,0.55,165.1,242.9,10.6,259,7463,0.00,1.58,0.00,0.000,4,0.000,0.028,2739,1376,1929
$GC,7601,0.55,165.1,229.3,9.6,262,7604,0.12,1.58,0.00,0.000,6,0.159,0.041,2708,2388,1929
$GC,7876,0.55,165.1,200.8,10.7,269,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2388,1928
$GC,8126,0.55,165.1,175.3,10.1,290,8129,0.00,1.67,0.00,0.000,4,0.000,0.046,2702,3492,1929
$GC,8247,0.55,165.1,163.0,9.9,301,8250,0.00,1.62,0.00,0.000,6,0.000,0.024,2709,2373,1928
$GC,8510,0.55,165.1,139.1,9.8,326,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2366,1928
$GC,8759,0.55,165.1,115.8,8.5,350,8762,0.00,1.73,0.00,0.000,4,0.000,0.043,2709,3491,1928
$GC,8924,0.55,165.1,99.7,9.3,365,8931,0.00,1.67,0.00,0.000,6,0.000,0.022,2718,2346,1929
$GC,9182,0.57,222.5,82.9,4.5,390,9235,0.00,0.00,45.05,0.654,6,0.000,0.000,2718,2345,1712
$GC,9486,0.57,222.5,59.8,8.3,419,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2345,1709
$GC,9744,0.57,222.5,35.6,9.5,444,9747,0.00,1.40,0.00,0.000,4,0.000,0.025,2726,1365,1709
$GC,9817,0.57,222.5,29.2,8.3,451,9825,0.00,1.55,0.00,0.000,6,0.000,0.035,2725,2375,1708
$GC,10075,0.57,224.2,7.2,7.9,500,10084,0.00,1.70,0.00,0.000,4,0.000,0.041,2725,3485,1709
$STATE,10114,end climb,SURFACE_DEPTH_REACHED
$STATE,10114,begin surface coast
$FINISH,0.0,1.023237
$STATE,10140,end surface coast,CONTROL_FINISHED_OK
$STATE,10140,begin surface
$SM_CCo,10163,70.38,0.565,0,0,1068,380.21
$SM_GC,1.04,0.00,0.00,70.38,0.000,0.000,0.565,29,2729,1068,-7.80,-0.88,380.21
$IRIDIUM_FIX,2246.36,-15821.47,041201,060612
$TT8_MAMPS,0.046787
$HUMID,2087
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.70
$XPDR_PINGS,3
$24V_AH,24.4,37.699
$10V_AH,10.6,34.660
$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,16.725,69.725,268.150,70.375,0.000,55.555,65.509,330.218,0.750,0.000,0.000,18.841,0.000,7197.979,374.234,2435.829,898.200,33.352,1067.287,0.000,2193.400,0.000,0.546,0.000
$DEVICE_MAMPS,200.187,53.690,1059.227,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,346.361,1245.271,1293.582,197.330,1042.578,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41410,512
$CAP_FILE_SIZE,90143,0
$CFSIZE,260165632,244146176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,090912,091320,2256.375,-15820.465,10,2.4,29,10.1