version: 66.04
glider: 512
mission: 3
dive: 419
start: 9 27 112 3 51 35
data:
$ID,512
$MISSION,3
$DIVE,419
$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,27
$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,-61226.781
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2527
$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,60
$R_STBD_OVSHOOT,56
$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
$GPS1,034251,2244.403,-15802.050,14,7.1,33,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-78.5
$GPS2,035057,2244.425,-15802.137,14,7.6,33,10.1
$SPEED_LIMITS,0.196,0.248
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.150,-0.197
$KALMAN_X,-265.2,39.3,100.6,-29823.0,-268.5
$KALMAN_Y,3950.5,241.4,316.4,-28525.4,92.3
$MHEAD_RNG_PITCHd_Wd,207.1,9820,-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,-131.4,0.0,0.0,0,91,0.00,0.00,-74.25,0.000,2,0.000,0.000,30,2775,2723
$GC,96,-0.53,-131.4,2.2,-3.2,9,122,8.88,1.62,-7.47,0.000,4,0.202,0.041,2356,1666,3089
$GC,249,-0.53,-131.4,39.9,-19.0,31,252,0.00,1.60,0.00,0.000,6,0.000,0.036,2350,2725,3090
$GC,513,-0.53,-131.4,91.1,-17.8,56,515,0.00,1.52,0.00,0.000,4,0.000,0.020,2350,1667,3090
$GC,558,-0.53,-131.4,98.3,-14.7,60,561,0.00,1.62,0.00,0.000,6,0.000,0.038,2343,2723,3090
$GC,822,-0.53,-131.4,141.8,-16.8,85,825,0.00,1.60,0.00,0.000,4,0.000,0.042,2335,3793,3091
$GC,870,-0.53,-131.4,149.3,-14.9,89,873,0.00,1.58,0.00,0.000,6,0.000,0.020,2335,2705,3091
$GC,1132,-0.53,-131.4,191.0,-15.8,114,1136,0.00,1.42,0.00,0.000,4,0.000,0.022,2335,1683,3091
$GC,1240,-0.53,-131.4,206.4,-12.8,121,1243,0.00,1.58,0.00,0.000,6,0.000,0.038,2333,2704,3091
$GC,1505,-0.53,-131.4,243.8,-14.4,128,1508,0.00,1.48,0.00,0.000,4,0.000,0.022,2333,1678,3091
$GC,1587,-0.53,-131.4,254.5,-12.8,129,1592,0.00,1.55,0.00,0.000,6,0.000,0.038,2328,2685,3090
$GC,1839,-0.53,-131.4,286.7,-12.9,136,1841,0.00,1.67,0.00,0.000,4,0.000,0.045,2320,3795,3091
$GC,1915,-0.53,-131.4,296.5,-11.6,137,1919,0.10,1.60,0.00,0.000,6,0.110,0.021,2355,2679,3090
$GC,2170,-0.53,-131.4,318.7,-8.5,144,2172,0.00,1.40,0.00,0.000,4,0.000,0.022,2355,1677,3089
$GC,2294,-0.53,-131.4,329.2,-8.3,146,2299,0.00,1.50,0.00,0.000,6,0.000,0.038,2349,2650,3089
$GC,2544,-0.53,-131.4,351.4,-9.0,153,2547,0.00,1.40,0.00,0.000,4,0.000,0.021,2349,1672,3087
$GC,2599,-0.53,-131.4,356.6,-9.3,154,2601,0.00,1.48,0.00,0.000,6,0.000,0.040,2346,2627,3087
$GC,2877,-0.53,-131.4,382.3,-9.2,161,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2627,3085
$GC,3117,-0.53,-131.4,404.6,-9.1,167,3120,0.00,1.35,0.00,0.000,4,0.000,0.023,2346,1686,3083
$GC,3172,-0.53,-131.4,409.5,-8.5,168,3175,0.00,1.45,0.00,0.000,6,0.000,0.041,2346,2621,3083
$GC,3448,-0.53,-131.4,433.3,-8.6,175,3451,0.00,1.35,0.00,0.000,4,0.000,0.023,2346,1682,3080
$GC,3503,-0.53,-131.4,438.0,-8.2,176,3506,0.00,1.45,0.00,0.000,6,0.000,0.041,2346,2611,3080
$GC,3779,-0.53,-131.4,463.2,-9.4,183,3780,0.00,0.00,-0.08,0.000,6,0.000,0.000,2346,2612,3102
$GC,4021,-0.53,-131.4,485.3,-9.0,189,4024,0.00,1.35,0.00,0.000,4,0.000,0.025,2346,1687,3100
$GC,4065,-0.53,-131.4,489.3,-8.8,190,4068,0.00,1.42,0.00,0.000,6,0.000,0.043,2346,2595,3100
$GC,4352,-0.53,-131.4,513.9,-8.6,197,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2595,3098
$GC,4594,-0.53,-131.4,534.1,-8.4,203,4597,0.00,1.33,0.00,0.000,4,0.000,0.025,2346,1681,3097
$GC,4649,-0.53,-131.4,538.8,-8.7,204,4652,0.00,1.40,0.00,0.000,6,0.000,0.044,2346,2575,3097
$GC,4927,-0.53,-131.4,561.1,-8.1,211,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2575,3095
$GC,5167,-0.53,-131.4,579.7,-7.6,217,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2575,3093
$GC,5409,-0.53,-131.4,597.1,-7.0,223,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2575,3091
$STATE,5484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5484,begin apogee
$GC,5495,-0.18,0.0,602.4,6.8,225,5614,0.38,0.00,117.60,1.064,6,0.091,0.000,2472,2380,2550
$STATE,5615,end apogee,CONTROL_FINISHED_OK
$STATE,5615,begin climb
$GC,5620,0.53,131.4,605.1,0.0,228,5749,0.57,0.00,120.75,1.012,6,0.035,0.000,2706,2380,2013
$GC,5986,0.53,131.4,565.4,15.0,237,5989,0.00,1.62,0.00,0.000,4,0.000,0.029,2713,1276,2005
$GC,6020,0.53,131.4,560.8,14.1,237,6023,0.00,1.70,0.00,0.000,6,0.000,0.041,2713,2365,2003
$GC,6274,0.53,131.4,522.5,15.3,244,6277,0.00,1.65,0.00,0.000,4,0.000,0.047,2713,3428,2001
$GC,6319,0.53,131.4,514.8,17.7,245,6322,0.00,1.62,0.00,0.000,6,0.000,0.025,2721,2337,2001
$GC,6605,0.53,131.4,469.7,15.6,252,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2330,2000
$GC,6847,0.53,131.4,434.7,14.4,258,6850,0.00,1.73,0.00,0.000,4,0.000,0.046,2722,3427,2000
$GC,6897,0.53,131.4,426.7,16.7,259,6900,0.12,1.60,0.00,0.000,6,0.189,0.026,2702,2342,1999
$GC,7180,0.53,131.4,389.6,12.9,266,7183,0.00,1.52,0.00,0.000,4,0.000,0.030,2708,1298,1998
$GC,7230,0.53,131.4,383.3,12.3,267,7232,0.00,1.60,0.00,0.000,6,0.000,0.041,2702,2340,1997
$GC,7511,0.53,131.4,350.7,11.2,274,7514,0.00,1.67,0.00,0.000,4,0.000,0.048,2702,3422,1997
$GC,7630,0.53,131.4,336.6,11.4,276,7633,0.00,1.60,0.00,0.000,6,0.000,0.025,2709,2334,1997
$GC,7885,0.53,147.7,312.6,9.2,283,7908,0.00,1.52,14.65,0.746,4,0.000,0.029,2716,1295,1946
$GC,7981,0.53,147.7,302.6,10.6,285,7984,0.00,1.60,0.00,0.000,6,0.000,0.041,2715,2335,1945
$GC,8257,0.53,147.7,271.6,11.0,292,8260,0.00,1.70,0.00,0.000,4,0.000,0.048,2716,3415,1944
$GC,8429,0.55,173.9,255.0,8.7,295,8456,0.00,1.60,23.73,0.826,6,0.000,0.025,2723,2343,1840
$GC,8717,0.55,174.7,226.6,10.0,303,8720,0.00,1.52,0.00,0.000,4,0.000,0.028,2729,1313,1835
$GC,8825,0.55,174.7,214.5,11.5,305,8828,0.00,1.60,0.00,0.000,6,0.000,0.041,2729,2353,1834
$GC,9085,0.55,174.7,186.2,10.1,320,9088,0.00,1.65,0.00,0.000,4,0.000,0.046,2728,3425,1833
$GC,9131,0.55,174.7,181.3,11.5,324,9135,0.10,1.65,0.00,0.000,6,0.163,0.024,2707,2330,1833
$GC,9400,0.57,228.3,160.1,7.3,349,9452,0.00,1.52,44.70,0.743,4,0.000,0.027,2713,1303,1621
$GC,9480,0.58,253.3,152.7,8.7,355,9506,0.00,1.65,22.48,0.704,6,0.000,0.038,2713,2347,1516
$GC,9759,0.58,253.3,119.3,12.6,381,9763,0.00,1.67,0.00,0.000,4,0.000,0.043,2713,3416,1512
$GC,9807,0.58,253.3,112.9,13.4,385,9810,0.00,1.60,0.00,0.000,6,0.000,0.024,2719,2355,1511
$GC,10070,0.58,253.3,83.3,10.0,410,10073,0.00,1.52,0.00,0.000,4,0.000,0.027,2727,1304,1511
$GC,10119,0.60,299.8,79.1,7.6,414,10168,0.00,1.60,38.47,0.658,6,0.000,0.037,2727,2335,1326
$GC,10418,0.61,325.9,53.4,8.7,442,10446,0.00,1.70,21.67,0.614,4,0.000,0.043,2727,3414,1221
$GC,10504,0.61,331.9,45.0,9.7,449,10518,0.00,1.62,6.88,0.515,6,0.000,0.022,2736,2318,1196
$GC,10768,0.61,344.3,17.8,9.4,485,10786,0.00,1.48,11.23,0.552,4,0.000,0.026,2739,1310,1145
$GC,10833,0.62,351.2,11.4,9.6,495,10850,0.00,1.58,7.35,0.497,6,0.000,0.035,2739,2331,1118
$STATE,10905,end climb,SURFACE_DEPTH_REACHED
$STATE,10905,begin surface coast
$FINISH,0.9,1.023226
$STATE,10926,end surface coast,CONTROL_FINISHED_OK
$STATE,10926,begin surface
$SM_CCo,10949,14.85,0.548,0,0,998,380.21
$SM_GC,0.94,0.00,0.00,14.85,0.000,0.000,0.548,45,2773,998,-7.76,1.22,380.21
$IRIDIUM_FIX,2239.35,-15802.37,221201,000029
$TT8_MAMPS,0.047554
$HUMID,2183
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.60
$XPDR_PINGS,15
$24V_AH,24.1,53.153
$10V_AH,10.5,50.874
$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,17.075,81.750,429.500,14.850,0.000,30.927,38.005,223.612,3.750,0.000,0.000,34.424,0.000,7665.166,438.233,2531.535,795.661,33.350,1244.068,0.000,2248.176,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,48.321,1063.829,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,345.505,1189.076,1231.088,189.350,965.159,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41464,512
$CAP_FILE_SIZE,98874,0
$CFSIZE,260165632,237477888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270912,065535,2243.139,-15803.043,38,0.9,43,10.0