version: 66.04
glider: 512
mission: 3
dive: 415
start: 9 26 112 14 33 14
data:
$ID,512
$MISSION,3
$DIVE,415
$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,-61139.059
$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,2730
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2550
$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
$GPS1,142420,2247.784,-15757.088,43,2.1,62,10.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-78.2
$GPS2,143231,2247.814,-15757.100,12,1.7,12,10.1
$SPEED_LIMITS,0.214,0.248
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.196,-0.152
$KALMAN_X,928.2,-106.0,-48.6,-22130.3,264.3
$KALMAN_Y,1610.9,-39.3,318.1,-19630.1,-42.1
$MHEAD_RNG_PITCHd_Wd,222.2,20367,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.53,-131.4,0.0,0.0,0,82,0.00,0.00,-65.78,0.000,2,0.000,0.000,15,2710,2639
$GC,87,-0.53,-131.4,2.2,-3.0,8,111,9.00,1.50,-9.30,0.000,4,0.206,0.041,2358,1669,3086
$GC,157,-0.53,-131.4,23.1,-23.5,19,165,0.00,1.65,0.00,0.000,6,0.000,0.037,2352,2730,3087
$GC,419,-0.53,-131.4,78.2,-20.1,46,422,0.00,1.52,0.00,0.000,4,0.000,0.022,2352,1682,3087
$GC,465,-0.53,-131.4,86.3,-15.9,50,468,0.00,1.60,0.00,0.000,6,0.000,0.036,2346,2717,3087
$GC,729,-0.53,-131.4,128.9,-16.2,75,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2718,3088
$GC,989,-0.53,-131.4,168.9,-15.1,100,992,0.00,1.50,0.00,0.000,4,0.000,0.021,2347,1675,3088
$GC,1069,-0.53,-131.4,180.9,-15.0,107,1077,0.00,1.58,0.00,0.000,6,0.000,0.038,2339,2694,3088
$GC,1332,-0.53,-131.4,218.1,-14.6,124,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2694,3088
$GC,1574,-0.53,-131.4,253.6,-14.3,130,1577,0.00,1.45,0.00,0.000,4,0.000,0.021,2339,1675,3088
$GC,1607,-0.53,-131.4,257.6,-11.3,130,1610,0.00,1.58,0.00,0.000,6,0.000,0.037,2333,2698,3088
$GC,1862,-0.53,-131.4,286.2,-11.5,137,1864,0.00,1.48,0.00,0.000,4,0.000,0.021,2333,1668,3088
$GC,1922,-0.53,-131.4,293.3,-11.8,138,1925,0.00,1.58,0.00,0.000,6,0.000,0.038,2333,2688,3088
$GC,2193,-0.53,-131.4,325.6,-12.0,145,2196,0.00,1.45,0.00,0.000,4,0.000,0.021,2333,1675,3088
$GC,2242,-0.53,-131.4,330.9,-9.9,146,2245,0.00,1.55,0.00,0.000,6,0.000,0.040,2333,2676,3088
$GC,2524,-0.53,-131.4,359.1,-9.8,153,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2677,3087
$GC,2766,-0.53,-131.4,384.0,-10.5,159,2768,0.00,1.45,0.00,0.000,4,0.000,0.022,2333,1668,3085
$GC,2842,-0.53,-131.4,392.2,-10.1,160,2845,0.00,1.52,0.00,0.000,6,0.000,0.041,2333,2649,3085
$GC,3096,-0.53,-131.4,417.3,-9.6,167,3099,0.00,1.75,0.00,0.000,4,0.000,0.047,2324,3800,3083
$GC,3146,-0.53,-131.4,422.0,-9.1,168,3149,0.12,1.65,0.00,0.000,6,0.114,0.021,2362,2647,3083
$GC,3427,-0.53,-131.4,443.1,-7.5,175,3430,0.00,1.38,0.00,0.000,4,0.000,0.024,2363,1669,3079
$GC,3531,-0.53,-131.4,450.8,-6.5,177,3534,0.00,1.50,0.00,0.000,6,0.000,0.040,2359,2633,3079
$GC,3801,-0.53,-131.4,470.2,-7.4,184,3805,0.00,1.42,-0.08,0.000,4,0.000,0.043,2359,1670,3102
$GC,3835,-0.53,-131.4,472.8,-7.7,184,3838,0.00,1.50,0.00,0.000,6,0.000,0.042,2359,2627,3102
$GC,4092,-0.53,-131.4,492.4,-8.0,191,4095,0.00,1.40,0.00,0.000,4,0.000,0.024,2359,1667,3100
$GC,4158,-0.53,-131.4,498.2,-8.5,192,4161,0.00,1.45,0.00,0.000,6,0.000,0.043,2359,2596,3099
$GC,4423,-0.53,-131.4,520.6,-8.6,199,4426,0.00,1.85,0.00,0.000,4,0.000,0.052,2359,3783,3098
$GC,4468,-0.53,-131.4,523.8,-6.8,200,4470,0.00,1.73,0.00,0.000,6,0.000,0.024,2359,2595,3098
$GC,4754,-0.53,-131.4,542.7,-6.1,207,4757,0.00,1.30,0.00,0.000,4,0.000,0.026,2358,1676,3096
$GC,4804,-0.53,-131.4,545.8,-6.6,208,4807,0.00,1.48,0.00,0.000,6,0.000,0.046,2359,2608,3096
$GC,5085,-0.53,-131.4,563.9,-6.7,215,5088,0.00,1.85,0.00,0.000,4,0.000,0.053,2352,3778,3093
$GC,5119,-0.53,-131.4,566.4,-7.2,215,5122,0.00,1.70,0.00,0.000,6,0.000,0.025,2351,2606,3092
$GC,5374,-0.53,-131.4,589.1,-9.1,222,5376,0.00,1.33,0.00,0.000,4,0.000,0.025,2351,1672,3091
$GC,5418,-0.53,-131.4,593.3,-9.8,223,5421,0.00,1.45,0.00,0.000,6,0.000,0.043,2346,2592,3091
$STATE,5498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5498,begin apogee
$GC,5509,-0.18,0.0,601.4,9.8,225,5628,0.38,0.00,116.95,1.057,6,0.092,0.000,2472,2357,2550
$STATE,5628,end apogee,CONTROL_FINISHED_OK
$STATE,5628,begin climb
$GC,5633,0.53,131.4,608.1,0.0,228,5763,0.60,1.67,120.30,1.003,4,0.035,0.027,2722,1301,2013
$GC,5823,0.53,131.4,599.1,14.4,232,5826,0.00,1.73,0.00,0.000,6,0.000,0.040,2717,2366,2008
$GC,6088,0.53,131.4,555.4,16.7,239,6091,0.00,1.67,0.00,0.000,4,0.000,0.046,2715,3422,2004
$GC,6116,0.53,131.4,550.5,17.9,239,6119,0.00,1.60,0.00,0.000,6,0.000,0.025,2722,2343,2003
$GC,6378,0.53,131.4,507.9,15.8,246,6381,0.00,1.73,0.00,0.000,4,0.000,0.045,2716,3433,2001
$GC,6449,0.53,131.4,496.7,15.3,247,6452,0.00,1.58,0.00,0.000,6,0.000,0.026,2722,2389,2001
$GC,6709,0.53,131.4,459.0,14.5,254,6712,0.00,1.60,0.00,0.000,4,0.000,0.029,2730,1299,2000
$GC,6785,0.53,131.4,448.7,13.9,255,6788,0.00,1.70,0.00,0.000,6,0.000,0.041,2729,2406,2000
$GC,7040,0.53,131.4,412.0,14.8,262,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2406,1999
$GC,7282,0.53,131.4,378.3,13.7,268,7285,0.00,1.58,0.00,0.000,4,0.000,0.048,2728,3411,1998
$GC,7327,0.53,131.4,371.5,15.6,269,7330,0.10,1.52,0.00,0.000,6,0.186,0.027,2707,2397,1998
$GC,7616,0.53,131.4,339.2,10.9,276,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2390,1997
$GC,7856,0.53,131.4,311.8,11.2,282,7859,0.00,1.62,0.00,0.000,4,0.000,0.047,2702,3414,1997
$GC,7975,0.53,131.4,298.3,11.1,284,7978,0.00,1.52,0.00,0.000,6,0.000,0.026,2708,2391,1996
$GC,8232,0.53,131.4,273.0,10.3,291,8234,0.00,1.62,0.00,0.000,4,0.000,0.048,2702,3422,1996
$GC,8260,0.53,131.4,270.1,10.2,291,8263,0.00,1.52,0.00,0.000,6,0.000,0.025,2708,2395,1996
$GC,8520,0.54,168.4,248.7,8.1,298,8553,0.00,1.62,29.77,0.815,4,0.000,0.029,2716,1306,1862
$GC,8650,0.54,168.4,235.3,11.9,301,8653,0.00,1.73,0.00,0.000,6,0.000,0.041,2715,2393,1859
$GC,8937,0.54,168.4,204.8,10.3,308,8939,0.00,1.60,0.00,0.000,4,0.000,0.046,2715,3432,1858
$GC,8995,0.54,168.4,198.3,11.5,310,8998,0.00,1.55,0.00,0.000,6,0.000,0.025,2721,2403,1857
$GC,9258,0.55,197.5,175.1,8.5,335,9288,0.00,1.62,25.20,0.740,4,0.000,0.028,2729,1302,1743
$GC,9313,0.56,209.8,169.7,9.4,339,9335,0.00,1.75,11.95,0.681,6,0.000,0.040,2728,2409,1693
$GC,9590,0.56,209.8,138.0,12.4,365,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2409,1690
$GC,9848,0.56,209.8,108.8,11.1,390,9851,0.00,1.62,0.00,0.000,4,0.000,0.027,2735,1302,1689
$GC,9894,0.56,209.8,103.6,10.8,394,9897,0.00,1.70,0.00,0.000,6,0.000,0.039,2735,2390,1689
$GC,10158,0.56,209.8,75.0,10.4,419,10161,0.00,1.60,0.00,0.000,4,0.000,0.044,2735,3438,1689
$GC,10358,0.58,271.2,58.9,6.9,437,10413,0.00,1.48,50.00,0.634,6,0.000,0.024,2739,2439,1443
$GC,10663,0.58,271.2,31.2,10.3,465,10666,0.00,1.65,0.00,0.000,4,0.000,0.028,2739,1299,1440
$GC,10704,0.61,334.8,28.6,6.7,470,10765,0.00,1.80,51.25,0.597,6,0.000,0.038,2739,2447,1184
$STATE,10940,end climb,SURFACE_DEPTH_REACHED
$STATE,10940,begin surface coast
$FINISH,0.1,1.023229
$STATE,10967,end surface coast,CONTROL_FINISHED_OK
$STATE,10967,begin surface
$SM_CCo,10990,21.25,0.551,0,0,999,380.21
$SM_GC,1.10,0.00,0.00,21.25,0.000,0.000,0.551,40,2775,999,-7.78,1.27,380.21
$IRIDIUM_FIX,2239.35,-15757.16,211201,111104
$TT8_MAMPS,0.047554
$HUMID,2198
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.60
$XPDR_PINGS,6
$24V_AH,24.1,52.598
$10V_AH,10.5,50.310
$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,17.150,89.300,405.425,21.250,0.000,22.589,33.241,268.926,1.500,0.000,0.000,13.103,0.000,7713.494,419.676,2523.987,832.264,33.341,1228.198,0.000,2268.658,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,52.923,1056.926,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,348.088,1200.582,1249.483,185.091,980.184,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41594,516
$CAP_FILE_SIZE,100188,0
$CFSIZE,260165632,237711360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260912,173759,2246.907,-15758.486,36,1.3,42,10.1