version: 66.04
glider: 512
mission: 3
dive: 308
start: 9 9 112 12 45 42
data:
$ID,512
$MISSION,3
$DIVE,308
$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,-58723.16
$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,61
$R_STBD_OVSHOOT,32
$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
$GPS1,123706,2256.966,-15820.398,28,1.5,28,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-77.8
$GPS2,124500,2256.976,-15820.479,13,1.7,18,10.1
$SPEED_LIMITS,0.172,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,0.129
$KALMAN_X,-262458.6,457.1,501.0,222039.6,-5410.0
$KALMAN_Y,-37342.4,-129.2,158.9,62458.9,-400.7
$MHEAD_RNG_PITCHd_Wd,37.5,80493,-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,-65.68,0.000,2,0.000,0.000,25,2774,2695
$GC,88,-0.52,-87.6,2.1,-2.2,8,106,8.80,1.65,-6.00,0.000,4,0.205,0.052,2342,3846,2979
$GC,131,-0.52,-87.6,18.4,-35.6,14,140,0.00,1.60,0.00,0.000,6,0.000,0.019,2348,2755,2980
$GC,391,-0.52,-87.6,82.2,-20.5,42,394,0.00,1.65,0.00,0.000,4,0.000,0.039,2342,3827,2980
$GC,416,-0.52,-87.6,86.8,-18.3,44,419,0.00,1.55,0.00,0.000,6,0.000,0.019,2347,2757,2980
$GC,680,-0.52,-87.6,133.2,-16.5,69,683,0.00,1.48,0.00,0.000,4,0.000,0.021,2355,1705,2982
$GC,748,-0.52,-87.6,143.5,-14.0,75,750,0.00,1.60,0.00,0.000,6,0.000,0.038,2349,2766,2982
$GC,1012,-0.52,-87.6,186.2,-17.3,100,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2766,2983
$GC,1293,-0.52,-87.6,233.6,-16.1,113,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2766,2983
$GC,1535,-0.52,-87.6,267.6,-13.9,119,1538,0.00,1.50,0.00,0.000,4,0.000,0.020,2349,1710,2983
$GC,1595,-0.52,-87.6,274.8,-11.4,120,1598,0.00,1.60,0.00,0.000,6,0.000,0.040,2346,2768,2983
$GC,1866,-0.52,-87.6,304.9,-10.9,127,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2769,2982
$GC,2107,-0.52,-87.6,331.5,-11.1,133,2111,0.00,1.52,0.00,0.000,4,0.000,0.021,2346,1701,2981
$GC,2146,-0.52,-87.6,336.1,-11.4,133,2151,0.00,1.60,0.00,0.000,6,0.000,0.039,2338,2760,2981
$GC,2395,-0.52,-87.6,366.6,-12.5,140,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2760,2979
$GC,2639,-0.52,-87.6,396.6,-12.5,146,2642,0.00,1.50,0.00,0.000,4,0.000,0.022,2338,1712,2978
$GC,2705,-0.52,-87.6,405.2,-12.5,147,2708,0.00,1.58,0.00,0.000,6,0.000,0.041,2333,2730,2977
$GC,2970,-0.52,-87.6,439.1,-12.7,154,2973,0.00,1.65,0.00,0.000,4,0.000,0.048,2325,3819,2975
$GC,3036,-0.52,-87.6,447.0,-11.7,155,3039,0.08,1.55,0.00,0.000,6,0.123,0.023,2351,2746,2975
$GC,3300,-0.52,-87.6,471.6,-9.1,162,3303,0.00,1.45,0.00,0.000,4,0.000,0.024,2352,1719,2973
$GC,3339,-0.52,-87.6,475.2,-9.1,162,3344,0.00,1.60,0.00,0.000,6,0.000,0.041,2346,2769,2973
$GC,3588,-0.52,-87.6,497.7,-9.0,169,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2769,2971
$GC,3830,-0.52,-87.6,519.0,-8.6,175,3834,0.00,1.52,0.00,0.000,4,0.000,0.025,2346,1720,2969
$GC,3864,-0.52,-87.6,521.9,-8.6,175,3867,0.00,1.62,0.00,0.000,6,0.000,0.045,2346,2777,2968
$GC,4118,-0.52,-87.6,543.0,-8.4,182,4121,0.00,1.55,0.00,0.000,4,0.000,0.025,2346,1715,2966
$GC,4151,-0.52,-87.6,545.9,-8.2,182,4155,0.00,1.62,0.00,0.000,6,0.000,0.045,2346,2749,2965
$GC,4406,-0.52,-87.6,568.5,-9.1,189,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2749,2963
$GC,4648,-0.52,-87.6,592.1,-9.9,195,4650,0.00,1.50,0.00,0.000,4,0.000,0.026,2346,1722,2962
$GC,4718,-0.52,-87.6,599.2,-9.5,196,4721,0.00,1.60,0.00,0.000,6,0.000,0.046,2346,2755,2962
$STATE,4725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4726,begin apogee
$GC,4736,-0.18,0.0,600.2,9.0,196,4812,0.35,0.00,73.30,1.057,6,0.105,0.000,2464,2443,2620
$STATE,4812,end apogee,CONTROL_FINISHED_OK
$STATE,4812,begin climb
$GC,4817,0.52,87.6,602.6,0.0,198,4911,0.60,1.70,82.57,1.001,4,0.051,0.025,2700,1359,2261
$GC,4961,0.52,88.6,600.6,7.9,201,4964,0.00,1.70,0.00,0.000,6,0.000,0.039,2699,2430,2257
$GC,5232,0.52,88.6,570.2,11.3,208,5235,0.00,1.60,0.00,0.000,4,0.000,0.026,2708,1348,2252
$GC,5383,0.52,88.6,553.4,10.6,211,5386,0.00,1.62,0.00,0.000,6,0.000,0.040,2702,2402,2251
$GC,5648,0.52,88.6,525.3,10.4,218,5651,0.00,1.67,0.00,0.000,4,0.000,0.048,2702,3487,2249
$GC,5720,0.52,88.6,517.8,10.9,219,5722,0.00,1.60,0.00,0.000,6,0.000,0.025,2709,2393,2248
$GC,5981,0.52,88.6,492.6,9.4,226,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2387,2247
$GC,6221,0.52,88.6,469.4,9.3,232,6224,0.00,1.70,0.00,0.000,4,0.000,0.046,2702,3488,2246
$GC,6378,0.52,88.6,455.1,8.7,235,6381,0.00,1.60,0.00,0.000,6,0.000,0.025,2709,2391,2245
$GC,6638,0.52,101.1,435.3,7.2,242,6649,0.00,0.00,10.23,0.881,6,0.000,0.000,2709,2385,2206
$GC,6880,0.53,126.3,419.8,6.4,248,6908,0.00,1.77,23.17,0.940,4,0.000,0.047,2709,3484,2103
$GC,7024,0.53,126.3,406.0,11.4,251,7027,0.00,1.58,0.00,0.000,6,0.000,0.026,2717,2443,2100
$GC,7295,0.53,126.3,376.5,11.3,258,7298,0.00,1.58,0.00,0.000,4,0.000,0.028,2725,1355,2099
$GC,7537,0.53,126.3,349.1,12.6,263,7540,0.00,1.62,0.00,0.000,6,0.000,0.042,2725,2407,2098
$GC,7797,0.53,126.3,320.7,10.4,270,7800,0.00,1.65,0.00,0.000,4,0.000,0.048,2725,3487,2097
$GC,7878,0.53,126.3,310.5,11.9,271,7884,0.12,1.62,0.00,0.000,6,0.176,0.025,2704,2378,2097
$GC,8128,0.53,126.3,287.0,8.7,278,8131,0.00,1.48,0.00,0.000,4,0.000,0.028,2710,1360,2096
$GC,8231,0.54,148.7,280.0,6.6,280,8258,0.00,1.58,19.15,0.833,6,0.000,0.040,2710,2370,2013
$GC,8500,0.54,148.7,256.2,9.3,287,8503,0.00,1.50,0.00,0.000,4,0.000,0.027,2718,1360,2010
$GC,8528,0.54,148.7,253.4,11.0,287,8531,0.00,1.50,0.00,0.000,6,0.000,0.041,2715,2314,2009
$GC,8788,0.54,148.7,229.7,9.3,294,8791,0.00,1.80,0.00,0.000,4,0.000,0.046,2715,3485,2009
$GC,8843,0.54,148.7,223.8,11.1,295,8846,0.00,1.75,0.00,0.000,6,0.000,0.025,2722,2302,2008
$GC,9118,0.54,148.7,199.6,8.3,302,9121,0.00,1.35,0.00,0.000,4,0.000,0.028,2730,1364,2008
$GC,9145,0.54,148.7,197.8,8.2,304,9148,0.08,1.45,0.00,0.000,6,0.155,0.039,2707,2297,2008
$GC,9412,0.55,173.0,179.7,6.5,329,9439,0.00,1.83,20.80,0.740,4,0.000,0.045,2702,3492,1916
$GC,9508,0.55,173.0,170.6,10.0,337,9511,0.00,1.80,0.00,0.000,6,0.000,0.024,2709,2277,1914
$GC,9771,0.55,173.0,142.9,10.9,362,9773,0.00,1.90,0.00,0.000,4,0.000,0.045,2709,3492,1914
$GC,9862,0.55,173.0,131.3,12.9,370,9870,0.00,1.77,0.00,0.000,6,0.000,0.023,2718,2305,1914
$GC,10121,0.55,173.0,106.2,9.2,395,10124,0.00,1.85,0.00,0.000,4,0.000,0.044,2716,3494,1914
$GC,10201,0.55,173.0,98.2,9.4,402,10210,0.00,1.73,0.00,0.000,6,0.000,0.023,2722,2330,1914
$GC,10461,0.55,173.0,73.5,9.7,427,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2324,1913
$GC,10719,0.57,226.5,58.7,4.7,452,10774,0.00,1.85,44.92,0.629,4,0.000,0.042,2722,3482,1695
$GC,10892,0.57,226.5,45.0,9.5,466,10900,0.00,1.75,0.00,0.000,6,0.000,0.023,2726,2323,1693
$GC,11153,0.57,226.5,24.4,9.2,497,11161,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2316,1692
$STATE,11360,end climb,SURFACE_DEPTH_REACHED
$STATE,11360,begin surface coast
$FINISH,0.0,1.011668
$STATE,11386,end surface coast,CONTROL_FINISHED_OK
$STATE,11387,begin surface
$SM_CCo,11409,68.53,0.565,0,0,1069,380.21
$SM_GC,0.95,0.00,0.00,68.53,0.000,0.000,0.565,28,2774,1069,-7.80,0.37,380.21
$IRIDIUM_FIX,2248.70,-15815.39,041201,090959
$TT8_MAMPS,0.047554
$HUMID,2074
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.40
$XPDR_PINGS,7
$24V_AH,24.4,37.895
$10V_AH,10.6,34.943
$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,16.800,85.575,274.150,68.525,0.000,24.108,42.323,203.087,1.750,0.000,0.000,22.712,0.000,8076.592,399.263,2640.616,821.505,33.344,1191.091,0.000,2379.944,0.000,0.545,0.000
$DEVICE_MAMPS,204.789,52.156,1056.926,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,366.621,1274.918,1323.146,201.595,1037.852,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44660,542
$CAP_FILE_SIZE,97431,0
$CFSIZE,260165632,244031488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090912,155804,2257.481,-15820.615,17,1.1,32,10.1