version: 66.04
glider: 512
mission: 3
dive: 427
start: 9 28 112 6 36 25
data:
$ID,512
$MISSION,3
$DIVE,427
$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,30
$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,-61388.379
$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,62
$R_STBD_OVSHOOT,35
$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
$GPS1,062435,2248.478,-15807.446,34,1.1,34,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-79.4
$GPS2,063542,2248.502,-15807.506,10,1.2,21,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HNW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.123,0.215
$KALMAN_X,-7864.0,-233.2,-43.1,-30958.8,-1137.7
$KALMAN_Y,4951.2,31.0,100.3,-21546.4,-630.8
$MHEAD_RNG_PITCHd_Wd,19.6,29970,-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,-131.3,0.0,0.0,0,90,0.00,0.00,-73.97,0.000,2,0.000,0.000,24,2756,2652
$GC,96,-0.53,-131.4,2.2,-3.6,9,121,8.90,1.60,-9.20,0.000,4,0.203,0.051,2340,3794,3085
$GC,214,-0.53,-131.4,31.1,-16.3,29,223,0.00,1.58,0.00,0.000,6,0.000,0.021,2339,2735,3086
$GC,473,-0.53,-131.4,81.2,-17.4,54,476,0.00,1.52,0.00,0.000,4,0.000,0.025,2340,1663,3086
$GC,637,-0.53,-131.4,106.3,-14.7,69,640,0.00,1.58,0.00,0.000,6,0.000,0.036,2332,2686,3087
$GC,899,-0.53,-131.4,147.1,-14.9,94,902,0.00,1.65,0.00,0.000,4,0.000,0.042,2323,3789,3087
$GC,946,-0.53,-131.4,153.9,-14.4,98,949,0.12,1.60,0.00,0.000,6,0.126,0.019,2359,2659,3087
$GC,1213,-0.53,-131.4,183.6,-11.2,123,1216,0.00,1.40,0.00,0.000,4,0.000,0.023,2359,1661,3087
$GC,1313,-0.53,-131.4,194.6,-10.4,132,1316,0.00,1.55,0.00,0.000,6,0.000,0.038,2359,2665,3087
$GC,1569,-0.53,-131.4,225.0,-12.0,142,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2666,3087
$GC,1810,-0.53,-131.4,250.2,-10.0,148,1813,0.00,1.45,0.00,0.000,4,0.000,0.022,2359,1655,3087
$GC,1871,-0.53,-131.4,256.0,-9.5,149,1874,0.00,1.60,0.00,0.000,6,0.000,0.038,2351,2716,3086
$GC,2144,-0.53,-131.4,283.4,-10.4,156,2147,0.00,1.52,0.00,0.000,4,0.000,0.022,2351,1656,3086
$GC,2194,-0.53,-131.4,288.9,-10.3,157,2196,0.00,1.58,0.00,0.000,6,0.000,0.038,2346,2678,3086
$GC,2475,-0.53,-131.4,318.5,-10.1,164,2477,0.00,1.45,0.00,0.000,4,0.000,0.022,2346,1668,3085
$GC,2535,-0.53,-131.4,324.0,-9.1,165,2538,0.00,1.55,0.00,0.000,6,0.000,0.040,2346,2672,3084
$GC,2806,-0.53,-131.4,350.0,-9.7,172,2809,0.00,1.45,0.00,0.000,4,0.000,0.022,2346,1663,3083
$GC,2856,-0.53,-131.4,354.8,-9.0,173,2858,0.00,1.52,0.00,0.000,6,0.000,0.041,2345,2643,3083
$GC,3137,-0.53,-131.4,380.7,-9.1,180,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2644,3080
$GC,3381,-0.53,-131.4,403.1,-9.2,186,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2644,3078
$GC,3621,-0.53,-131.4,424.9,-9.0,192,3624,0.00,1.45,-0.08,0.000,4,0.000,0.041,2346,1639,3099
$GC,3681,-0.53,-131.4,430.2,-8.6,193,3684,0.00,1.52,0.00,0.000,6,0.000,0.041,2346,2620,3100
$GC,3952,-0.53,-131.4,452.2,-8.2,200,3955,0.00,1.40,0.00,0.000,4,0.000,0.023,2346,1658,3098
$GC,3999,-0.53,-131.4,455.8,-7.7,201,4002,0.00,1.48,0.00,0.000,6,0.000,0.041,2346,2601,3098
$GC,4286,-0.53,-131.4,478.0,-7.6,208,4288,0.00,1.85,0.00,0.000,4,0.000,0.051,2345,3798,3096
$GC,4330,-0.53,-131.4,481.0,-6.7,209,4333,0.00,1.75,0.00,0.000,6,0.000,0.024,2346,2594,3095
$GC,4619,-0.53,-131.4,502.3,-7.5,216,4622,0.00,1.30,0.00,0.000,4,0.000,0.026,2346,1672,3093
$GC,4701,-0.53,-131.4,509.0,-7.7,217,4706,0.00,1.45,0.00,0.000,6,0.000,0.043,2346,2601,3093
$GC,4950,-0.53,-131.4,529.0,-8.0,224,4953,0.00,1.83,0.00,0.000,4,0.000,0.050,2338,3784,3091
$GC,4990,-0.53,-131.4,532.1,-8.0,224,4995,0.00,1.75,0.00,0.000,6,0.000,0.024,2338,2578,3090
$GC,5241,-0.53,-131.4,552.2,-7.9,231,5244,0.00,1.30,0.00,0.000,4,0.000,0.026,2338,1662,3089
$GC,5296,-0.53,-131.4,556.6,-7.4,232,5299,0.00,1.48,0.00,0.000,6,0.000,0.042,2333,2603,3088
$GC,5572,-0.53,-131.4,580.1,-8.8,239,5575,0.00,1.85,0.00,0.000,4,0.000,0.051,2325,3793,3087
$GC,5638,-0.53,-131.4,586.2,-9.4,240,5641,0.12,1.73,0.00,0.000,6,0.107,0.025,2362,2612,3086
$STATE,5859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5860,begin apogee
$GC,5870,-0.18,0.0,602.5,7.1,246,5989,0.30,0.00,117.18,1.061,6,0.084,0.000,2470,2353,2550
$STATE,5990,end apogee,CONTROL_FINISHED_OK
$STATE,5990,begin climb
$GC,5995,0.53,131.4,607.4,0.0,249,6128,0.57,1.83,120.82,1.010,4,0.035,0.044,2702,3422,2013
$GC,6203,0.53,131.4,591.6,17.2,253,6209,0.00,1.62,0.00,0.000,6,0.000,0.025,2709,2354,2009
$GC,6453,0.53,131.4,550.6,16.4,260,6456,0.00,1.73,0.00,0.000,4,0.000,0.044,2709,3422,2004
$GC,6465,0.53,131.4,548.4,16.6,260,6468,0.00,1.60,0.00,0.000,6,0.000,0.025,2717,2340,2004
$GC,6741,0.53,131.4,504.0,15.4,267,6744,0.00,1.70,0.00,0.000,4,0.000,0.045,2715,3419,2002
$GC,6774,0.53,131.4,498.7,16.3,267,6777,0.00,1.55,0.00,0.000,6,0.000,0.025,2722,2384,2001
$GC,7029,0.53,131.4,461.3,14.5,274,7032,0.00,1.67,0.00,0.000,4,0.000,0.046,2722,3425,2000
$GC,7073,0.53,131.4,454.3,16.5,275,7077,0.10,1.50,0.00,0.000,6,0.173,0.024,2701,2420,2000
$GC,7360,0.53,131.4,417.7,12.6,282,7363,0.00,1.62,0.00,0.000,4,0.000,0.028,2707,1311,1999
$GC,7495,0.53,131.4,400.4,13.5,285,7498,0.00,1.70,0.00,0.000,6,0.000,0.041,2702,2417,1998
$GC,7776,0.53,131.4,365.4,12.1,292,7779,0.00,1.55,0.00,0.000,4,0.000,0.046,2702,3408,1998
$GC,7959,0.53,131.4,344.6,12.3,296,7962,0.00,1.48,0.00,0.000,6,0.000,0.025,2707,2417,1997
$GC,8240,0.53,131.4,315.0,10.0,303,8242,0.00,1.62,0.00,0.000,4,0.000,0.028,2716,1282,1997
$GC,8257,0.53,134.4,313.3,9.8,303,8260,0.00,1.75,0.00,0.000,6,0.000,0.041,2716,2418,1996
$GC,8528,0.54,171.0,290.1,8.1,310,8571,0.00,1.73,34.20,0.822,4,0.000,0.027,2722,1301,1851
$GC,8600,0.55,174.8,283.7,9.8,311,8608,0.00,1.70,4.72,0.599,6,0.000,0.040,2717,2393,1837
$GC,8860,0.55,174.8,255.7,10.8,318,8862,0.00,1.58,0.00,0.000,4,0.000,0.046,2716,3425,1833
$GC,8947,0.55,174.8,245.7,13.1,320,8949,0.00,1.58,0.00,0.000,6,0.000,0.023,2722,2378,1832
$GC,9234,0.55,188.2,218.1,9.3,327,9252,0.00,1.70,12.55,0.746,4,0.000,0.044,2722,3420,1782
$GC,9320,0.55,188.2,208.6,11.4,329,9322,0.00,1.55,0.00,0.000,6,0.000,0.024,2729,2389,1781
$GC,9583,0.55,188.2,178.8,11.5,348,9586,0.00,1.58,0.00,0.000,4,0.000,0.028,2738,1303,1779
$GC,9630,0.55,188.2,173.4,11.0,352,9633,0.12,1.65,0.00,0.000,6,0.138,0.039,2704,2376,1778
$GC,9898,0.55,194.5,147.2,9.7,377,9906,0.00,0.00,6.65,0.600,6,0.000,0.000,2704,2376,1756
$GC,10156,0.57,224.2,123.7,8.5,402,10185,0.00,0.00,26.05,0.686,6,0.000,0.000,2704,2376,1635
$GC,10435,0.57,224.2,96.4,10.5,429,10438,0.00,1.60,0.00,0.000,4,0.000,0.043,2704,3424,1632
$GC,10471,0.57,224.2,92.5,11.0,432,10474,0.00,1.58,0.00,0.000,6,0.000,0.022,2709,2376,1632
$GC,10735,0.60,318.7,74.5,5.2,457,10814,0.00,0.00,76.25,0.642,6,0.000,0.000,2709,2370,1250
$GC,11063,0.63,388.4,56.0,6.4,487,11123,0.00,1.62,55.97,0.612,4,0.000,0.025,2709,1305,965
$GC,11149,0.66,451.5,50.3,6.8,493,11205,0.00,1.77,50.60,0.597,6,0.000,0.035,2709,2449,709
$GC,11455,0.66,451.5,17.0,14.2,530,11464,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2448,705
$STATE,11554,end climb,SURFACE_DEPTH_REACHED
$STATE,11554,begin surface coast
$FINISH,0.6,1.023280
$STATE,11575,end surface coast,CONTROL_FINISHED_OK
$STATE,11575,begin surface
$SM_CCo,11657,0.00,0.000,0,0,704,452.82
$SM_GC,0.87,6.70,0.00,0.00,0.018,0.000,0.000,24,2762,704,-7.71,0.90,452.82
$IRIDIUM_FIX,2239.35,-15809.75,231201,060616
$TT8_MAMPS,0.047554
$HUMID,2162
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.90
$XPDR_PINGS,12
$24V_AH,24.1,54.296
$10V_AH,10.5,52.017
$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,16.950,90.050,505.000,0.000,0.000,59.709,67.390,296.940,3.000,0.000,0.000,21.748,0.000,8130.804,467.092,2750.721,956.643,33.349,1350.930,0.000,2476.949,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,51.389,1060.761,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,372.615,1311.182,1362.800,196.321,1055.941,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44550,553
$CAP_FILE_SIZE,106676,0
$CFSIZE,260165632,237006848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280912,095135,2249.398,-15807.761,16,1.7,26,10.1