version: 66.04
glider: 512
mission: 3
dive: 311
start: 9 9 112 23 18 27
data:
$ID,512
$MISSION,3
$DIVE,311
$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,544.80243
$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,-58788.82
$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,63
$R_STBD_OVSHOOT,45
$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
$GPS1,225936,2258.830,-15820.640,29,1.3,29,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-77.5
$GPS2,231749,2258.909,-15820.772,17,1.4,17,10.1
$SPEED_LIMITS,0.172,0.191
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.124,0.146
$KALMAN_X,-270033.8,604.8,280.5,229187.7,-4864.1
$KALMAN_Y,-37929.7,105.0,396.4,66153.1,-647.4
$MHEAD_RNG_PITCHd_Wd,30.3,82519,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,16,-0.52,-87.6,0.0,0.0,0,109,0.00,0.00,-90.78,0.000,2,0.000,0.000,30,2798,2766
$GC,114,-0.52,-87.6,2.6,-2.9,11,132,8.70,1.52,-4.40,0.000,4,0.202,0.052,2348,3825,2978
$GC,218,-0.52,-87.6,35.8,-24.5,27,221,0.00,1.58,0.00,0.000,6,0.000,0.021,2347,2762,2979
$GC,481,-0.52,-87.6,93.8,-19.3,52,483,0.00,1.50,0.00,0.000,4,0.000,0.021,2352,1692,2979
$GC,559,-0.52,-87.6,106.8,-15.0,59,562,0.00,1.58,0.00,0.000,6,0.000,0.036,2347,2723,2979
$GC,823,-0.52,-87.6,153.1,-17.8,84,825,0.00,1.65,0.00,0.000,4,0.000,0.041,2338,3829,2979
$GC,870,-0.52,-87.6,162.1,-19.3,88,873,0.00,1.60,0.00,0.000,6,0.000,0.019,2338,2705,2980
$GC,1159,-0.52,-87.6,214.3,-16.9,110,1162,0.00,1.40,0.00,0.000,4,0.000,0.021,2338,1698,2979
$GC,1198,-0.52,-87.6,220.2,-14.9,110,1205,0.00,1.55,0.00,0.000,6,0.000,0.037,2333,2711,2979
$GC,1447,-0.52,-87.6,256.5,-14.8,117,1450,0.00,1.65,0.00,0.000,4,0.000,0.042,2324,3818,2978
$GC,1481,-0.52,-87.6,261.5,-14.6,117,1484,0.12,1.60,0.00,0.000,6,0.133,0.020,2359,2683,2978
$GC,1735,-0.52,-87.6,287.3,-9.8,124,1738,0.00,1.38,0.00,0.000,4,0.000,0.021,2359,1693,2978
$GC,1790,-0.52,-87.6,292.7,-9.6,125,1793,0.00,1.55,0.00,0.000,6,0.000,0.038,2354,2700,2977
$GC,2066,-0.52,-87.6,323.4,-11.5,132,2068,0.00,1.70,0.00,0.000,4,0.000,0.046,2346,3828,2976
$GC,2136,-0.52,-87.6,331.8,-11.3,133,2139,0.00,1.60,0.00,0.000,6,0.000,0.020,2346,2696,2976
$GC,2396,-0.52,-87.6,360.9,-11.1,140,2399,0.00,1.40,0.00,0.000,4,0.000,0.023,2346,1691,2974
$GC,2499,-0.52,-87.6,372.4,-10.6,142,2502,0.00,1.55,0.00,0.000,6,0.000,0.039,2339,2696,2974
$GC,2769,-0.52,-87.6,402.8,-11.2,149,2773,0.00,1.73,0.00,0.000,4,0.000,0.047,2330,3813,2971
$GC,2808,-0.52,-87.6,407.2,-11.6,149,2813,0.00,1.62,0.00,0.000,6,0.000,0.021,2330,2677,2971
$GC,3059,-0.52,-87.6,435.8,-11.4,156,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2671,2969
$GC,3299,-0.52,-87.6,461.7,-10.5,162,3302,0.00,1.80,-0.08,0.000,4,0.000,0.061,2321,3827,2991
$GC,3327,-0.52,-87.6,464.8,-11.2,162,3330,0.12,1.60,0.00,0.000,6,0.122,0.022,2357,2698,2991
$GC,3587,-0.52,-87.6,488.4,-9.2,169,3590,0.00,1.40,0.00,0.000,4,0.000,0.024,2357,1706,2989
$GC,3663,-0.52,-87.6,495.8,-8.8,170,3666,0.00,1.55,0.00,0.000,6,0.000,0.041,2351,2702,2989
$GC,3917,-0.52,-87.6,523.7,-11.2,177,3920,0.00,1.73,0.00,0.000,4,0.000,0.051,2346,3824,2987
$GC,3962,-0.52,-87.6,528.5,-10.9,178,3965,0.00,1.62,0.00,0.000,6,0.000,0.024,2346,2699,2986
$GC,4248,-0.52,-87.6,561.1,-11.1,185,4251,0.00,1.40,0.00,0.000,4,0.000,0.025,2346,1707,2984
$GC,4308,-0.52,-87.6,567.5,-10.1,186,4311,0.00,1.58,0.00,0.000,6,0.000,0.044,2346,2707,2984
$GC,4578,-0.52,-87.6,593.5,-9.3,193,4581,0.00,1.70,0.00,0.000,4,0.000,0.052,2338,3811,2982
$STATE,4644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4644,begin apogee
$GC,4657,-0.18,0.0,600.0,9.1,194,4736,0.35,0.00,77.15,1.048,6,0.104,0.000,2459,2410,2620
$STATE,4736,end apogee,CONTROL_FINISHED_OK
$STATE,4736,begin climb
$GC,4741,0.52,87.6,602.0,0.0,196,4836,0.62,1.65,82.90,0.991,4,0.055,0.025,2700,1355,2261
$GC,4855,0.52,100.9,598.4,7.2,198,4874,0.00,1.70,12.95,0.900,6,0.000,0.038,2700,2426,2207
$GC,5154,0.52,100.9,560.2,12.9,206,5157,0.00,1.62,0.00,0.000,4,0.000,0.046,2700,3491,2200
$GC,5326,0.52,100.9,535.6,13.7,210,5329,0.00,1.55,0.00,0.000,6,0.000,0.024,2708,2450,2198
$GC,5613,0.52,100.9,500.2,11.8,217,5616,0.00,1.62,0.00,0.000,4,0.000,0.045,2702,3491,2196
$GC,5726,0.52,100.9,486.6,11.8,219,5729,0.00,1.50,0.00,0.000,6,0.000,0.025,2708,2479,2195
$GC,5988,0.52,100.9,461.0,9.6,226,5991,0.00,1.62,0.00,0.000,4,0.000,0.028,2716,1345,2194
$GC,6175,0.52,100.9,444.9,8.1,230,6179,0.00,1.70,0.00,0.000,6,0.000,0.040,2716,2440,2193
$GC,6451,0.52,100.9,421.1,8.6,237,6454,0.00,1.62,0.00,0.000,4,0.000,0.045,2715,3506,2192
$GC,6644,0.52,100.9,401.1,10.3,241,6647,0.00,1.55,0.00,0.000,6,0.000,0.025,2721,2463,2192
$GC,6914,0.52,100.9,377.0,8.2,248,6917,0.00,1.62,0.00,0.000,4,0.000,0.046,2722,3504,2191
$GC,7033,0.52,100.9,367.0,8.8,250,7036,0.08,1.52,0.00,0.000,6,0.173,0.025,2697,2477,2191
$GC,7288,0.53,119.2,349.9,6.9,257,7306,0.00,1.62,14.07,0.858,4,0.000,0.028,2704,1365,2134
$GC,7492,0.53,119.2,333.8,8.6,261,7495,0.00,1.62,0.00,0.000,6,0.000,0.040,2702,2426,2130
$GC,7746,0.53,119.2,310.3,9.5,268,7749,0.00,1.60,0.00,0.000,4,0.000,0.048,2702,3486,2129
$GC,7833,0.53,119.2,301.9,9.5,270,7836,0.00,1.52,0.00,0.000,6,0.000,0.025,2708,2457,2129
$GC,8120,0.53,119.2,275.3,8.9,277,8123,0.00,1.60,0.00,0.000,4,0.000,0.046,2702,3485,2129
$GC,8180,0.53,119.2,269.9,8.7,278,8183,0.00,1.50,0.00,0.000,6,0.000,0.025,2708,2468,2129
$GC,8450,0.54,134.9,250.3,7.0,285,8468,0.00,1.60,14.30,0.785,4,0.000,0.027,2716,1370,2070
$GC,8569,0.55,153.9,241.9,6.8,287,8592,0.00,1.65,17.75,0.784,6,0.000,0.039,2715,2451,1991
$GC,8864,0.55,153.9,213.3,10.3,295,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2451,1987
$GC,9112,0.55,153.9,189.3,9.5,307,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2451,1986
$GC,9370,0.55,153.9,165.7,9.4,332,9372,0.00,1.60,0.00,0.000,4,0.000,0.045,2715,3504,1986
$GC,9428,0.55,153.9,160.0,9.4,337,9430,0.00,1.60,0.00,0.000,6,0.000,0.025,2722,2403,1985
$GC,9690,0.55,153.9,135.6,9.3,362,9693,0.00,1.67,0.00,0.000,4,0.000,0.043,2722,3488,1986
$GC,9727,0.55,153.9,132.0,10.9,365,9730,0.00,1.52,0.00,0.000,6,0.000,0.024,2730,2449,1986
$GC,9990,0.55,153.9,106.7,9.1,390,9993,0.00,1.60,0.00,0.000,4,0.000,0.043,2730,3489,1986
$GC,10069,0.55,153.9,98.5,10.1,397,10072,0.08,1.50,0.00,0.000,6,0.170,0.023,2704,2463,1986
$GC,10337,0.55,176.4,80.3,6.6,422,10364,0.00,1.60,19.17,0.638,4,0.000,0.042,2702,3478,1899
$GC,10453,0.56,184.0,71.5,7.5,432,10467,0.00,1.42,7.75,0.552,6,0.000,0.023,2708,2504,1870
$GC,10721,0.58,236.3,56.7,4.8,457,10776,0.00,1.73,43.38,0.622,4,0.000,0.025,2713,1358,1654
$GC,10844,0.59,260.5,49.7,6.5,467,10871,0.00,1.80,19.62,0.590,6,0.000,0.036,2713,2532,1558
$GC,11125,0.59,260.5,29.8,8.3,493,11134,0.00,1.73,0.00,0.000,4,0.000,0.025,2713,1377,1554
$GC,11174,0.59,273.0,25.7,7.2,501,11192,0.00,1.75,11.20,0.538,6,0.000,0.037,2713,2508,1506
$STATE,11427,end climb,SURFACE_DEPTH_REACHED
$STATE,11427,begin surface coast
$FINISH,0.1,1.023261
$STATE,11458,end surface coast,CONTROL_FINISHED_OK
$STATE,11458,begin surface
$SM_CCo,11480,128.62,0.556,0,0,398,544.80
$SM_GC,0.82,0.00,0.00,128.62,0.000,0.000,0.556,17,2784,398,-7.83,0.68,544.80
$IRIDIUM_FIX,2248.70,-15818.43,041201,232306
$TT8_MAMPS,0.047554
$HUMID,2037
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.80
$XPDR_PINGS,6
$24V_AH,24.4,38.260
$10V_AH,10.6,35.396
$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,16.750,96.575,320.250,128.625,0.000,132.863,196.866,316.206,1.500,0.000,0.000,17.413,0.000,8148.739,483.976,2866.903,1182.403,33.345,1372.379,0.000,2577.937,0.000,0.546,0.000
$DEVICE_MAMPS,201.721,61.360,1047.722,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,374.934,1324.070,1363.195,213.702,1104.592,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44699,555
$CAP_FILE_SIZE,111458,0
$CFSIZE,260165632,243793920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100912,023306,2259.494,-15821.036,38,0.9,38,10.1