version: 66.04
glider: 512
mission: 3
dive: 355
start: 9 18 112 6 41 9
data:
$ID,512
$MISSION,3
$DIVE,355
$D_SURF,3
$D_FLARE,2
$D_TGT,600
$D_ABORT,950
$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,200
$T_MISSION,620
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,22
$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,-59735.371
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2518
$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,2735
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2580
$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
$GPS1,062959,2244.909,-15744.386,37,0.9,43,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-78.7
$GPS2,064031,2244.977,-15744.441,17,1.1,17,10.1
$SPEED_LIMITS,0.248,0.260
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,-0.238
$KALMAN_X,-74471.1,-44.8,-28.7,138709.9,-34.7
$KALMAN_Y,33773.6,-22.1,370.6,-64934.2,1580.1
$MHEAD_RNG_PITCHd_Wd,146.2,16387,-17.5,-10.000
$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,-0.51,-146.0,0.0,0.0,0,99,0.00,0.00,-82.15,0.000,2,0.000,0.000,35,2772,2664
$GC,104,-0.51,-146.0,2.1,-2.8,10,129,8.77,1.58,-10.75,0.000,4,0.204,0.038,2348,1652,3176
$GC,190,-0.51,-146.0,27.9,-22.1,24,199,0.00,1.67,0.00,0.000,6,0.000,0.039,2342,2726,3177
$GC,456,-0.51,-146.0,87.3,-17.4,50,459,0.00,1.62,0.00,0.000,4,0.000,0.043,2334,3805,3177
$GC,484,-0.51,-146.0,92.7,-19.1,52,492,0.00,1.58,0.00,0.000,6,0.000,0.019,2338,2719,3177
$GC,742,-0.51,-146.0,134.6,-16.5,77,745,0.00,1.45,0.00,0.000,4,0.000,0.022,2338,1683,3177
$GC,845,-0.51,-146.0,151.0,-14.9,86,852,0.00,1.60,0.00,0.000,6,0.000,0.039,2333,2720,3177
$GC,1102,-0.51,-146.0,195.4,-17.6,111,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2720,3177
$GC,1372,-0.51,-146.0,242.8,-17.2,120,1375,0.00,1.62,0.00,0.000,4,0.000,0.044,2325,3803,3177
$GC,1405,-0.51,-146.0,248.3,-16.1,120,1408,0.00,1.55,0.00,0.000,6,0.000,0.020,2325,2725,3177
$GC,1660,-0.51,-146.0,287.0,-14.9,127,1663,0.00,1.45,0.00,0.000,4,0.000,0.021,2325,1682,3177
$GC,1704,-0.51,-146.0,293.1,-12.6,128,1707,0.12,1.60,0.00,0.000,6,0.130,0.038,2354,2721,3177
$GC,1990,-0.51,-146.0,322.5,-10.2,135,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2721,3176
$GC,2235,-0.51,-146.0,347.4,-10.2,141,2238,0.00,1.48,0.00,0.000,4,0.000,0.021,2354,1687,3175
$GC,2268,-0.51,-146.0,351.1,-9.5,141,2271,0.00,1.58,0.00,0.000,6,0.000,0.040,2348,2707,3174
$GC,2522,-0.51,-146.0,376.9,-10.2,148,2525,0.00,1.48,0.00,0.000,4,0.000,0.022,2348,1677,3173
$GC,2551,-0.51,-146.0,379.6,-10.0,148,2553,0.00,1.58,0.00,0.000,6,0.000,0.041,2346,2694,3173
$GC,2811,-0.51,-146.0,406.1,-10.3,155,2813,0.00,1.67,0.00,0.000,4,0.000,0.050,2342,3791,3171
$GC,2833,-0.51,-146.0,408.6,-11.0,155,2836,0.00,1.60,0.00,0.000,6,0.000,0.023,2342,2688,3170
$GC,3098,-0.51,-146.0,436.1,-10.2,162,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2681,3168
$GC,3340,-0.51,-146.0,460.3,-9.9,168,3342,0.00,0.00,-0.08,0.000,6,0.000,0.000,2343,2681,3191
$GC,3583,-0.51,-146.0,483.9,-9.6,174,3586,0.00,1.42,0.00,0.000,4,0.000,0.025,2342,1689,3188
$GC,3638,-0.51,-146.0,489.1,-8.8,175,3641,0.00,1.58,0.00,0.000,6,0.000,0.043,2335,2701,3188
$GC,3913,-0.51,-146.0,516.6,-10.0,182,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2701,3186
$GC,4156,-0.51,-146.0,541.9,-10.6,188,4159,0.00,1.70,0.00,0.000,4,0.000,0.052,2327,3802,3184
$GC,4184,-0.51,-146.0,545.1,-11.1,188,4187,0.00,1.60,0.00,0.000,6,0.000,0.025,2327,2711,3184
$GC,4443,-0.51,-146.0,573.3,-10.8,195,4447,0.00,1.45,0.00,0.000,4,0.000,0.027,2327,1694,3182
$GC,4490,-0.51,-146.0,577.9,-9.9,196,4493,0.12,1.60,0.00,0.000,6,0.120,0.044,2356,2711,3182
$GC,4777,-0.51,-146.0,599.3,-7.1,203,4780,0.00,1.50,0.00,0.000,4,0.000,0.026,2355,1685,3180
$STATE,4784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4784,begin apogee
$GC,4796,-0.18,0.0,600.1,6.8,203,4925,0.30,0.00,127.53,1.027,6,0.091,0.000,2458,2367,2580
$STATE,4926,end apogee,CONTROL_FINISHED_OK
$STATE,4926,begin climb
$GC,4931,0.51,146.0,603.6,0.0,206,5063,0.57,0.00,130.07,0.992,6,0.040,0.000,2688,2366,1984
$GC,5296,0.51,146.0,563.2,15.4,215,5299,0.00,1.65,0.00,0.000,4,0.000,0.048,2686,3420,1975
$GC,5342,0.51,146.0,556.0,17.0,216,5345,0.00,1.58,0.00,0.000,6,0.000,0.026,2692,2379,1975
$GC,5629,0.51,146.0,515.1,13.5,223,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2374,1972
$GC,5871,0.51,146.0,483.2,13.3,229,5874,0.00,1.65,0.00,0.000,4,0.000,0.046,2686,3425,1971
$GC,5915,0.51,146.0,476.9,14.7,230,5918,0.00,1.58,0.00,0.000,6,0.000,0.026,2693,2382,1971
$GC,6202,0.51,146.0,438.4,13.4,237,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2376,1970
$GC,6444,0.51,146.0,405.4,13.8,243,6447,0.00,1.65,0.00,0.000,4,0.000,0.048,2686,3411,1969
$GC,6631,0.51,146.0,379.7,14.3,247,6634,0.00,1.50,0.00,0.000,6,0.000,0.027,2693,2405,1968
$GC,6907,0.51,146.0,345.7,11.7,254,6910,0.00,1.60,0.00,0.000,4,0.000,0.029,2701,1312,1967
$GC,6973,0.51,152.2,338.7,9.7,255,6976,0.00,1.67,0.00,0.000,6,0.000,0.041,2700,2389,1966
$GC,7238,0.51,152.2,310.2,10.5,262,7241,0.00,1.60,0.00,0.000,4,0.000,0.048,2701,3433,1966
$GC,7362,0.51,152.2,294.4,12.4,264,7368,0.00,1.50,0.00,0.000,6,0.000,0.026,2709,2427,1966
$GC,7614,0.51,152.2,267.0,10.7,271,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2421,1966
$GC,7853,0.52,189.3,246.5,8.3,277,7893,0.00,0.00,34.12,0.802,6,0.000,0.000,2709,2421,1807
$GC,8137,0.52,189.3,217.4,10.1,284,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2421,1803
$GC,8382,0.52,189.3,190.7,11.6,293,8389,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2421,1803
$GC,8640,0.52,189.3,159.2,11.7,318,8643,0.00,1.60,0.00,0.000,4,0.000,0.028,2717,1297,1803
$GC,8665,0.52,189.3,156.2,11.9,320,8668,0.00,1.77,0.00,0.000,6,0.000,0.041,2715,2452,1802
$GC,8930,0.52,189.3,124.6,11.7,345,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2452,1802
$GC,9187,0.54,217.5,98.0,8.7,370,9215,0.00,1.75,23.90,0.650,4,0.000,0.026,2723,1289,1692
$GC,9295,0.55,263.7,89.1,7.9,379,9337,0.00,1.75,37.67,0.639,6,0.000,0.036,2723,2436,1505
$GC,9597,0.55,263.7,57.1,10.7,407,9600,0.00,1.52,0.00,0.000,4,0.000,0.042,2723,3423,1500
$GC,9634,0.55,263.7,53.4,10.5,410,9637,0.10,1.48,0.00,0.000,6,0.134,0.023,2686,2425,1500
$GC,9903,0.59,364.1,40.3,5.4,435,9986,0.00,1.70,79.12,0.594,4,0.000,0.025,2686,1305,1094
$GC,10033,0.64,471.5,33.7,5.0,445,10123,0.12,1.73,83.38,0.574,6,0.085,0.034,2751,2426,656
$GC,10374,0.64,471.5,5.3,11.5,501,10383,0.00,1.52,0.00,0.000,4,0.000,0.041,2752,3417,652
$STATE,10393,end climb,SURFACE_DEPTH_REACHED
$STATE,10393,begin surface coast
$FINISH,0.1,1.023293
$STATE,10418,end surface coast,CONTROL_FINISHED_OK
$STATE,10419,begin surface
$SM_CCo,10503,0.00,0.000,0,0,651,473.18
$SM_GC,0.99,6.93,0.00,0.00,0.023,0.000,0.000,34,2695,651,-7.67,-1.10,473.18
$IRIDIUM_FIX,2239.35,-15744.57,131201,060639
$TT8_MAMPS,0.047554
$HUMID,2088
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.60
$XPDR_PINGS,4
$24V_AH,24.2,44.447
$10V_AH,10.6,41.978
$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,17.050,68.850,515.800,0.000,0.000,58.206,136.985,206.666,1.000,0.000,0.000,18.056,0.000,7415.658,482.763,2365.112,848.749,33.357,1244.131,0.000,2124.240,0.000,0.545,0.000
$DEVICE_MAMPS,204.022,52.156,1027.013,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,341.850,1214.985,1248.870,194.325,1020.616,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41408,509
$CAP_FILE_SIZE,87258,0
$CFSIZE,260165632,241086464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180912,093705,2244.385,-15743.683,10,1.6,26,10.1