version: 66.04
glider: 512
mission: 3
dive: 402
start: 9 24 112 20 30 39
data:
$ID,512
$MISSION,3
$DIVE,402
$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,135
$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,-60847.141
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2530
$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,2745
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2570
$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
$GPS1,200106,2258.156,-15743.564,26,1.8,26,10.1
$_CALLS,5
$_XMS_NAKs,31
$_XMS_TOUTs,2
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-79.2
$GPS2,203001,2258.109,-15743.698,38,1.8,38,10.1
$SPEED_LIMITS,0.214,0.248
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.165,0.184
$KALMAN_X,-107956.1,-33084.7,30256.5,175602.2,-80724.0
$KALMAN_Y,40540.1,-33686.4,30308.7,-44291.2,-80328.8
$MHEAD_RNG_PITCHd_Wd,31.8,50159,-18.5,-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,-0.53,-131.4,0.0,0.0,0,83,0.00,0.00,-65.72,0.000,2,0.000,0.000,12,2777,2651
$GC,88,-0.53,-131.4,2.2,-2.5,8,114,8.93,1.58,-9.85,0.000,4,0.200,0.053,2347,3798,3106
$GC,179,-0.53,-131.4,28.2,-21.9,23,188,0.00,1.55,0.00,0.000,6,0.000,0.020,2347,2742,3107
$GC,437,-0.53,-131.4,85.6,-17.6,48,440,0.00,1.48,0.00,0.000,4,0.000,0.020,2350,1684,3107
$GC,525,-0.53,-131.4,99.3,-14.1,56,529,0.00,1.58,0.00,0.000,6,0.000,0.038,2346,2697,3107
$GC,789,-0.53,-131.4,139.5,-16.0,81,792,0.00,1.67,0.00,0.000,4,0.000,0.043,2337,3809,3107
$GC,870,-0.53,-131.4,152.3,-14.5,88,877,0.00,1.58,0.00,0.000,6,0.000,0.018,2337,2711,3107
$GC,1127,-0.53,-131.4,193.3,-16.8,113,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2704,3107
$GC,1408,-0.53,-131.4,238.4,-15.5,123,1411,0.00,1.70,0.00,0.000,4,0.000,0.042,2329,3819,3107
$GC,1430,-0.53,-131.4,242.1,-16.1,123,1434,0.08,1.58,0.00,0.000,6,0.122,0.020,2355,2715,3107
$GC,1696,-0.53,-131.4,273.9,-11.5,130,1699,0.00,1.40,0.00,0.000,4,0.000,0.021,2354,1703,3107
$GC,1756,-0.53,-131.4,279.9,-9.4,131,1759,0.00,1.58,0.00,0.000,6,0.000,0.040,2349,2730,3107
$GC,2026,-0.53,-131.4,307.8,-10.4,138,2029,0.00,1.45,0.00,0.000,4,0.000,0.021,2349,1712,3106
$GC,2060,-0.53,-131.4,311.4,-10.5,138,2063,0.00,1.52,0.00,0.000,6,0.000,0.041,2347,2699,3106
$GC,2315,-0.53,-131.4,338.3,-10.7,145,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2699,3104
$GC,2559,-0.53,-131.4,363.8,-10.2,151,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2699,3101
$GC,2799,-0.53,-131.4,389.3,-10.5,157,2802,0.00,1.42,0.00,0.000,4,0.000,0.021,2346,1702,3100
$GC,2827,-0.53,-131.4,392.4,-11.1,157,2829,0.00,1.52,0.00,0.000,6,0.000,0.041,2346,2684,3100
$GC,3087,-0.53,-131.4,418.0,-9.6,164,3090,0.00,1.73,0.00,0.000,4,0.000,0.048,2338,3813,3098
$GC,3136,-0.53,-131.4,422.4,-8.7,165,3139,0.00,1.60,-0.08,0.000,6,0.000,0.022,2338,2693,3121
$GC,3418,-0.53,-131.4,449.5,-9.8,172,3420,0.00,1.38,0.00,0.000,4,0.000,0.024,2338,1716,3119
$GC,3548,-0.53,-131.4,462.1,-9.6,175,3551,0.00,1.48,0.00,0.000,6,0.000,0.042,2333,2660,3117
$GC,3834,-0.53,-131.4,492.0,-10.5,182,3837,0.00,1.38,0.00,0.000,4,0.000,0.024,2333,1712,3115
$GC,3884,-0.53,-131.4,497.0,-9.9,183,3887,0.00,1.45,0.00,0.000,6,0.000,0.044,2333,2638,3115
$GC,4165,-0.53,-131.4,524.0,-9.7,190,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2638,3112
$GC,4409,-0.53,-131.4,547.4,-9.6,196,4413,0.00,1.83,0.00,0.000,4,0.000,0.051,2324,3796,3110
$GC,4475,-0.53,-131.4,554.0,-9.5,197,4478,0.12,1.70,0.00,0.000,6,0.110,0.025,2361,2628,3110
$GC,4741,-0.53,-131.4,573.5,-7.3,204,4743,0.00,1.30,0.00,0.000,4,0.000,0.025,2361,1707,3109
$GC,4812,-0.53,-131.4,578.7,-7.3,205,4814,0.00,1.42,0.00,0.000,6,0.000,0.044,2359,2616,3108
$GC,5071,-0.53,-131.4,597.0,-7.2,212,5074,0.00,1.85,0.00,0.000,4,0.000,0.053,2350,3804,3104
$STATE,5111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5111,begin apogee
$GC,5124,-0.18,0.0,600.2,7.3,213,5241,0.38,0.00,115.18,1.039,6,0.092,0.000,2477,2377,2570
$STATE,5241,end apogee,CONTROL_FINISHED_OK
$STATE,5241,begin climb
$GC,5246,0.53,131.4,605.1,0.0,216,5375,0.60,1.73,119.07,0.987,4,0.030,0.043,2715,3428,2033
$GC,5480,0.53,131.4,584.5,17.4,222,5483,0.00,1.62,0.00,0.000,6,0.000,0.025,2722,2353,2029
$GC,5766,0.53,131.4,536.1,16.9,229,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2346,2025
$GC,6008,0.53,131.4,499.4,15.0,235,6011,0.00,1.52,0.00,0.000,4,0.000,0.028,2729,1310,2024
$GC,6074,0.53,131.4,489.9,13.2,236,6077,0.00,1.58,0.00,0.000,6,0.000,0.040,2728,2317,2022
$GC,6339,0.53,131.4,454.6,13.2,243,6342,0.00,1.52,0.00,0.000,4,0.000,0.028,2735,1293,2021
$GC,6351,0.53,131.4,453.1,13.3,243,6354,0.00,1.62,0.00,0.000,6,0.000,0.040,2729,2335,2021
$GC,6627,0.53,131.4,415.8,13.7,250,6630,0.00,1.55,0.00,0.000,4,0.000,0.026,2734,1295,2020
$GC,6655,0.53,131.4,412.1,13.7,250,6658,0.00,1.62,0.00,0.000,6,0.000,0.040,2729,2360,2019
$GC,6915,0.53,131.4,378.0,13.3,257,6918,0.00,1.62,0.00,0.000,4,0.000,0.048,2728,3420,2019
$GC,7050,0.53,131.4,358.3,14.3,260,7053,0.15,1.60,0.00,0.000,6,0.191,0.025,2700,2330,2018
$GC,7331,0.53,144.6,330.0,9.3,267,7342,0.00,0.00,10.18,0.803,6,0.000,0.000,2700,2324,1980
$GC,7573,0.54,159.6,307.1,9.2,273,7591,0.00,1.75,14.30,0.817,4,0.000,0.047,2700,3410,1919
$GC,7728,0.54,159.6,290.6,10.8,276,7731,0.00,1.52,0.00,0.000,6,0.000,0.025,2707,2395,1916
$GC,7993,0.54,161.6,263.0,9.9,283,7996,0.00,1.58,0.00,0.000,4,0.000,0.029,2716,1313,1915
$GC,8064,0.54,161.6,256.3,10.1,284,8067,0.00,1.67,0.00,0.000,6,0.000,0.041,2715,2404,1914
$GC,8326,0.55,184.7,232.1,8.8,291,8349,0.00,0.00,22.17,0.777,6,0.000,0.000,2715,2405,1816
$GC,8566,0.55,190.6,208.8,9.7,297,8575,0.00,1.58,6.35,0.625,4,0.000,0.045,2715,3430,1792
$GC,8599,0.55,190.6,205.6,10.5,297,8604,0.00,1.58,0.00,0.000,6,0.000,0.025,2722,2383,1792
$GC,8856,0.55,190.6,179.5,10.6,316,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2378,1791
$GC,9114,0.55,190.6,150.0,12.0,341,9117,0.00,1.62,0.00,0.000,4,0.000,0.044,2716,3426,1790
$GC,9149,0.55,190.6,145.6,12.5,344,9152,0.00,1.55,0.00,0.000,6,0.000,0.024,2722,2382,1790
$GC,9413,0.55,190.6,112.9,12.4,369,9416,0.00,1.62,0.00,0.000,4,0.000,0.044,2722,3426,1790
$GC,9439,0.55,190.6,109.4,13.2,371,9442,0.00,1.55,0.00,0.000,6,0.000,0.024,2730,2380,1790
$GC,9703,0.55,190.6,77.8,10.4,396,9707,0.00,1.65,0.00,0.000,4,0.000,0.043,2729,3424,1790
$GC,9771,0.55,190.6,70.3,11.0,402,9774,0.00,1.48,0.00,0.000,6,0.000,0.022,2735,2416,1790
$GC,10035,0.59,294.7,53.4,4.7,427,10131,0.00,1.67,84.55,0.611,4,0.000,0.027,2738,1313,1366
$GC,10157,0.60,320.2,45.0,8.7,436,10184,0.00,1.75,21.12,0.572,6,0.000,0.035,2739,2441,1265
$GC,10435,0.60,320.2,14.6,12.5,474,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2441,1262
$STATE,10529,end climb,SURFACE_DEPTH_REACHED
$STATE,10529,begin surface coast
$FINISH,0.0,1.023179
$STATE,10550,end surface coast,CONTROL_FINISHED_OK
$STATE,10550,begin surface
$SM_CCo,10573,28.90,0.542,0,0,1018,380.21
$SM_GC,0.83,0.00,0.00,28.90,0.000,0.000,0.542,35,2763,1018,-7.80,0.51,380.21
$IRIDIUM_FIX,2248.70,-15742.79,191201,202025
$TT8_MAMPS,0.046787
$HUMID,2200
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.70
$XPDR_PINGS,7
$24V_AH,24.2,50.924
$10V_AH,10.5,48.553
$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,17.100,79.900,392.925,28.900,0.000,145.940,248.679,882.925,1.750,0.000,0.000,38.628,0.000,7683.903,448.027,2412.589,1773.566,33.350,1186.197,0.000,2144.707,0.000,0.545,0.000
$DEVICE_MAMPS,200.187,52.923,1039.285,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,334.904,1149.807,1186.220,173.084,926.923,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41494,496
$CAP_FILE_SIZE,108635,0
$CFSIZE,260165632,238415872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240912,232830,2259.433,-15743.189,37,1.5,37,10.1