version: 66.04
glider: 512
mission: 3
dive: 359
start: 9 18 112 19 25 55
data:
$ID,512
$MISSION,3
$DIVE,359
$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,-59831.199
$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,2725
$C_ROLL_CLIMB,2340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,57
$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
$GPS1,191833,2242.694,-15742.288,14,2.9,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-78.0
$GPS2,192513,2242.719,-15742.325,11,2.0,11,10.1
$SPEED_LIMITS,0.248,0.260
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,-0.227
$KALMAN_X,-77272.1,-37.2,154.3,144929.1,-444.3
$KALMAN_Y,39679.6,48.2,541.2,-75263.2,1677.0
$MHEAD_RNG_PITCHd_Wd,141.0,10868,-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,-146.0,0.0,0.0,0,108,0.00,0.00,-90.53,0.000,2,0.000,0.000,25,2783,2726
$GC,113,-0.51,-146.0,2.5,-3.4,11,139,9.23,1.62,-8.88,0.000,4,0.219,0.039,2362,1661,3171
$GC,149,-0.51,-146.0,16.0,-33.4,15,157,0.00,1.60,0.00,0.000,6,0.000,0.033,2356,2706,3172
$GC,415,-0.51,-146.0,80.6,-21.0,44,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2706,3172
$GC,674,-0.51,-146.0,126.7,-17.0,69,677,0.00,1.62,0.00,0.000,4,0.000,0.044,2348,3783,3173
$GC,713,-0.51,-146.0,133.7,-16.6,72,721,0.00,1.58,0.00,0.000,6,0.000,0.020,2348,2697,3173
$GC,971,-0.51,-146.0,176.9,-17.5,97,974,0.00,1.42,0.00,0.000,4,0.000,0.022,2348,1675,3173
$GC,1017,-0.51,-146.0,184.8,-15.9,101,1020,0.00,1.58,0.00,0.000,6,0.000,0.040,2346,2688,3173
$GC,1274,-0.51,-146.0,228.4,-16.8,114,1277,0.00,1.65,0.00,0.000,4,0.000,0.044,2338,3786,3173
$GC,1318,-0.51,-146.0,235.1,-14.3,115,1321,0.00,1.58,0.00,0.000,6,0.000,0.019,2338,2697,3173
$GC,1605,-0.51,-146.0,274.4,-13.4,122,1608,0.00,1.42,0.00,0.000,4,0.000,0.021,2338,1672,3173
$GC,1670,-0.51,-146.0,282.2,-10.9,123,1673,0.00,1.58,0.00,0.000,6,0.000,0.040,2333,2691,3173
$GC,1935,-0.51,-146.0,314.6,-12.3,130,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2691,3172
$GC,2179,-0.51,-146.0,347.4,-13.4,136,2182,0.00,1.65,0.00,0.000,4,0.000,0.046,2325,3785,3171
$GC,2240,-0.51,-146.0,355.4,-11.9,137,2243,0.08,1.55,0.00,0.000,6,0.111,0.021,2353,2705,3170
$GC,2510,-0.51,-146.0,383.6,-10.2,144,2513,0.00,1.42,0.00,0.000,4,0.000,0.023,2354,1687,3169
$GC,2533,-0.51,-146.0,385.8,-9.7,144,2536,0.00,1.60,0.00,0.000,6,0.000,0.041,2347,2745,3169
$GC,2800,-0.51,-146.0,412.4,-9.9,151,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2745,3167
$GC,3040,-0.51,-146.0,436.3,-9.8,157,3043,0.00,1.52,-0.08,0.000,4,0.000,0.041,2347,1677,3189
$GC,3073,-0.51,-146.0,439.6,-9.9,157,3076,0.00,1.60,0.00,0.000,6,0.000,0.043,2346,2727,3188
$GC,3328,-0.51,-146.0,462.3,-8.7,164,3331,0.00,1.50,0.00,0.000,4,0.000,0.024,2346,1691,3187
$GC,3357,-0.51,-146.0,464.7,-8.4,164,3360,0.00,1.58,0.00,0.000,6,0.000,0.043,2346,2700,3187
$GC,3619,-0.51,-146.0,485.6,-7.9,171,3621,0.00,1.48,0.00,0.000,4,0.000,0.024,2346,1682,3185
$GC,3663,-0.51,-146.0,489.2,-7.8,172,3666,0.00,1.55,0.00,0.000,6,0.000,0.043,2346,2676,3185
$GC,3950,-0.51,-146.0,513.9,-9.0,179,3953,0.00,1.70,0.00,0.000,4,0.000,0.051,2338,3782,3182
$GC,3983,-0.51,-146.0,517.2,-9.5,179,3987,0.00,1.58,0.00,0.000,6,0.000,0.024,2338,2700,3182
$GC,4240,-0.51,-146.0,542.2,-9.8,186,4243,0.00,1.45,0.00,0.000,4,0.000,0.025,2338,1675,3180
$GC,4295,-0.51,-146.0,547.9,-9.3,187,4298,0.00,1.58,0.00,0.000,6,0.000,0.044,2333,2682,3179
$GC,4571,-0.51,-146.0,575.7,-10.1,194,4574,0.00,1.70,0.00,0.000,4,0.000,0.051,2325,3783,3177
$GC,4626,-0.51,-146.0,581.3,-10.4,195,4629,0.12,1.60,0.00,0.000,6,0.112,0.025,2362,2672,3176
$GC,4902,-0.51,-146.0,599.9,-6.3,202,4905,0.00,1.40,0.00,0.000,4,0.000,0.025,2363,1681,3174
$STATE,4909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4909,begin apogee
$GC,4921,-0.18,0.0,600.6,6.4,202,5049,0.28,0.00,126.43,1.035,6,0.087,0.000,2463,2350,2580
$STATE,5049,end apogee,CONTROL_FINISHED_OK
$STATE,5049,begin climb
$GC,5054,0.51,146.0,604.6,0.0,205,5197,0.60,1.73,131.65,0.984,4,0.036,0.044,2702,3393,1983
$GC,5315,0.51,146.0,579.0,18.1,211,5318,0.00,1.60,0.00,0.000,6,0.000,0.025,2709,2332,1978
$GC,5596,0.51,146.0,532.1,16.5,218,5599,0.00,1.67,0.00,0.000,4,0.000,0.043,2709,3397,1974
$GC,5689,0.51,146.0,516.2,16.5,220,5692,0.00,1.55,0.00,0.000,6,0.000,0.025,2717,2366,1973
$GC,5970,0.51,146.0,470.3,16.7,227,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2359,1972
$GC,6212,0.51,146.0,430.3,16.4,233,6215,0.00,1.58,0.00,0.000,4,0.000,0.029,2725,1281,1970
$GC,6240,0.51,146.0,426.0,16.0,233,6243,0.12,1.65,0.00,0.000,6,0.151,0.041,2692,2361,1969
$GC,6500,0.51,146.0,394.8,11.7,240,6503,0.00,1.62,0.00,0.000,4,0.000,0.047,2686,3419,1968
$GC,6522,0.51,146.0,391.9,12.6,240,6525,0.00,1.58,0.00,0.000,6,0.000,0.026,2693,2368,1969
$GC,6787,0.51,146.0,361.0,11.4,247,6791,0.00,1.65,0.00,0.000,4,0.000,0.047,2693,3397,1968
$GC,6837,0.51,146.0,355.0,12.6,248,6840,0.00,1.50,0.00,0.000,6,0.000,0.026,2701,2387,1967
$GC,7118,0.51,146.0,323.3,10.9,255,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2381,1967
$GC,7362,0.51,146.0,297.9,10.4,261,7365,0.00,1.62,0.00,0.000,4,0.000,0.047,2701,3403,1967
$GC,7550,0.51,161.9,279.7,9.3,265,7565,0.00,1.48,12.20,0.782,6,0.000,0.025,2709,2401,1919
$GC,7819,0.52,171.0,255.3,9.6,272,7832,0.00,1.65,9.07,0.728,4,0.000,0.028,2717,1282,1881
$GC,7916,0.52,183.0,245.1,9.4,274,7931,0.00,1.75,11.35,0.739,6,0.000,0.040,2716,2424,1834
$GC,8188,0.52,183.0,214.9,11.2,281,8191,0.00,1.67,0.00,0.000,4,0.000,0.027,2722,1291,1830
$GC,8211,0.52,183.0,212.2,11.1,281,8214,0.00,1.75,0.00,0.000,6,0.000,0.039,2722,2437,1829
$GC,8471,0.52,183.0,182.0,11.6,296,8474,0.00,1.48,0.00,0.000,4,0.000,0.044,2722,3394,1829
$GC,8552,0.52,183.0,171.2,13.4,303,8560,0.10,1.42,0.00,0.000,6,0.153,0.025,2699,2431,1829
$GC,8814,0.52,185.6,144.0,9.9,328,8816,0.00,1.62,0.00,0.000,4,0.000,0.027,2708,1282,1829
$GC,8872,0.52,187.8,137.7,9.9,333,8884,0.00,1.77,5.32,0.542,6,0.000,0.038,2708,2454,1813
$GC,9139,0.52,187.8,109.0,10.8,358,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2454,1812
$GC,9398,0.55,254.5,87.3,6.9,383,9455,0.00,1.52,54.45,0.644,4,0.000,0.042,2708,3413,1541
$GC,9483,0.56,285.5,81.2,8.6,389,9512,0.00,1.48,26.25,0.614,6,0.000,0.024,2710,2430,1415
$GC,9777,0.58,334.7,57.6,7.7,416,9821,0.00,1.73,39.30,0.601,4,0.000,0.028,2709,1290,1214
$GC,9907,0.60,380.2,46.9,7.9,427,9948,0.00,1.73,36.47,0.584,6,0.000,0.035,2709,2421,1030
$GC,10199,0.62,417.5,22.9,8.3,462,10234,0.00,1.48,29.70,0.563,4,0.000,0.039,2709,3398,878
$GC,10249,0.63,443.0,18.5,8.8,468,10275,0.00,1.50,21.77,0.542,6,0.000,0.021,2709,2387,772
$STATE,10475,end climb,SURFACE_DEPTH_REACHED
$STATE,10475,begin surface coast
$FINISH,0.0,1.017955
$STATE,10522,end surface coast,CONTROL_FINISHED_OK
$STATE,10522,begin surface
$SM_CCo,10605,0.00,0.000,0,0,768,444.72
$SM_GC,1.03,6.75,0.00,0.00,0.021,0.000,0.000,27,2758,768,-7.70,0.93,444.72
$IRIDIUM_FIX,2232.34,-15741.13,131201,161613
$TT8_MAMPS,0.046787
$HUMID,2100
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,26.00
$XPDR_PINGS,4
$24V_AH,24.3,45.047
$10V_AH,10.6,42.541
$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,17.275,85.475,503.975,0.000,0.000,24.485,34.053,178.769,1.000,0.000,0.000,11.201,0.000,7278.369,466.834,2522.572,718.880,33.351,1300.697,0.000,2261.986,0.000,0.545,0.000
$DEVICE_MAMPS,218.595,51.389,1035.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,348.722,1248.626,1282.698,210.164,1054.873,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41335,519
$CAP_FILE_SIZE,96378,0
$CFSIZE,260165632,240852992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180912,222336,2242.072,-15741.434,29,2.0,30,10.1