version: 66.04
glider: 512
mission: 3
dive: 440
start: 9 30 112 2 44 51
data:
$ID,512
$MISSION,3
$DIVE,440
$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,-62646.391
$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,55
$R_STBD_OVSHOOT,40
$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
$GPS1,023635,2302.750,-15804.269,64,1.4,64,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-81.1
$GPS2,024413,2302.795,-15804.303,16,1.4,16,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HNW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.048,0.243
$KALMAN_X,-27523.9,11.7,-251.3,-5883.7,-902.5
$KALMAN_Y,2361.9,329.4,-267.5,7586.2,-206.2
$MHEAD_RNG_PITCHd_Wd,1.0,3089,-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,-74.03,0.000,2,0.000,0.000,22,2766,2867
$GC,97,-0.53,-131.4,2.8,-4.3,9,114,9.15,1.62,-4.07,0.000,4,0.211,0.054,2340,3800,3087
$GC,258,-0.53,-131.4,46.6,-17.7,29,261,0.00,1.60,0.00,0.000,6,0.000,0.021,2340,2701,3089
$GC,521,-0.53,-131.4,101.0,-17.9,54,524,0.00,1.45,0.00,0.000,4,0.000,0.023,2340,1675,3090
$GC,568,-0.53,-131.4,108.1,-14.6,58,571,0.00,1.62,0.00,0.000,6,0.000,0.035,2332,2750,3090
$GC,832,-0.53,-131.4,150.8,-14.9,83,835,0.00,1.58,0.00,0.000,4,0.000,0.022,2332,1661,3091
$GC,871,-0.53,-131.4,157.2,-14.2,86,879,0.00,1.67,0.00,0.000,6,0.000,0.038,2325,2748,3091
$GC,1129,-0.53,-131.4,196.2,-14.9,111,1137,0.12,0.00,0.00,0.000,6,0.140,0.000,2357,2748,3091
$GC,1399,-0.53,-131.4,230.9,-12.7,120,1401,0.00,1.55,0.00,0.000,4,0.000,0.021,2358,1670,3091
$GC,1534,-0.53,-131.4,246.3,-11.4,123,1537,0.00,1.62,0.00,0.000,6,0.000,0.040,2357,2741,3091
$GC,1815,-0.53,-131.4,276.7,-10.3,130,1818,0.00,1.55,0.00,0.000,4,0.000,0.021,2357,1662,3091
$GC,1902,-0.53,-131.4,284.9,-8.6,132,1905,0.00,1.62,0.00,0.000,6,0.000,0.038,2351,2715,3091
$GC,2189,-0.53,-131.4,312.7,-9.9,139,2192,0.00,1.50,0.00,0.000,4,0.000,0.021,2351,1671,3090
$GC,2255,-0.53,-131.4,319.4,-9.8,140,2258,0.00,1.60,0.00,0.000,6,0.000,0.039,2346,2727,3090
$GC,2520,-0.53,-131.4,343.6,-9.0,147,2523,0.00,1.52,0.00,0.000,4,0.000,0.022,2346,1668,3088
$GC,2575,-0.53,-131.4,348.4,-8.3,148,2578,0.00,1.58,0.00,0.000,6,0.000,0.041,2346,2678,3089
$GC,2851,-0.53,-131.4,374.4,-9.9,155,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2679,3086
$GC,3095,-0.53,-131.4,400.5,-10.9,161,3098,0.00,1.48,0.00,0.000,4,0.000,0.023,2346,1661,3084
$GC,3150,-0.53,-131.4,406.3,-9.9,162,3153,0.00,1.55,0.00,0.000,6,0.000,0.041,2346,2657,3084
$GC,3426,-0.53,-131.4,434.3,-10.2,169,3429,0.00,1.73,0.00,0.000,4,0.000,0.048,2337,3787,3082
$GC,3459,-0.53,-131.4,437.6,-9.6,169,3463,0.00,1.65,0.00,0.000,6,0.000,0.022,2337,2657,3082
$GC,3716,-0.53,-131.4,463.0,-9.9,176,3719,0.00,1.40,0.00,0.000,4,0.000,0.025,2337,1667,3080
$GC,3857,-0.53,-131.4,476.4,-8.7,179,3860,0.00,1.52,0.00,0.000,6,0.000,0.041,2333,2642,3079
$GC,4135,-0.53,-131.4,502.7,-9.5,186,4138,0.00,1.75,0.00,0.000,4,0.000,0.049,2324,3782,3077
$GC,4164,-0.53,-131.4,505.7,-9.7,186,4167,0.12,1.70,0.00,0.000,6,0.101,0.023,2364,2606,3076
$GC,4424,-0.53,-131.4,523.3,-6.5,193,4427,0.00,1.33,0.00,0.000,4,0.000,0.025,2365,1664,3075
$GC,4495,-0.53,-131.4,527.9,-6.2,194,4498,0.00,1.48,0.00,0.000,6,0.000,0.041,2360,2610,3075
$GC,4757,-0.53,-131.4,545.8,-6.9,201,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2610,3073
$GC,4997,-0.53,-131.4,562.1,-6.8,207,5000,0.00,1.38,0.00,0.000,4,0.000,0.025,2360,1668,3070
$GC,5025,-0.53,-131.4,564.3,-7.2,207,5028,0.00,1.48,0.00,0.000,6,0.000,0.044,2359,2604,3071
$GC,5285,-0.53,-131.4,581.6,-6.6,214,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2605,3069
$GC,5527,-0.53,-131.4,596.5,-6.1,220,5530,0.00,1.38,0.00,0.000,4,0.000,0.026,2359,1664,3068
$GC,5574,-0.53,-131.4,599.5,-6.6,221,5577,0.00,1.48,0.00,0.000,6,0.000,0.045,2359,2594,3068
$STATE,5581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5581,begin apogee
$GC,5592,-0.18,0.0,600.4,6.3,221,5707,0.30,0.00,112.62,1.056,6,0.091,0.000,2467,2342,2550
$STATE,5707,end apogee,CONTROL_FINISHED_OK
$STATE,5707,begin climb
$GC,5712,0.53,131.4,604.8,0.0,224,5841,0.60,0.00,120.90,1.006,6,0.034,0.000,2715,2343,2013
$GC,6077,0.53,131.4,567.4,15.2,233,6080,0.00,1.55,0.00,0.000,4,0.000,0.028,2722,1308,2005
$GC,6095,0.53,131.4,564.7,14.6,233,6098,0.00,1.65,0.00,0.000,6,0.000,0.038,2722,2373,2004
$GC,6365,0.53,131.4,524.2,14.9,240,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2373,2002
$GC,6610,0.53,131.4,487.6,15.0,246,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2373,2001
$GC,6849,0.53,131.4,452.2,14.5,252,6852,0.00,1.62,0.00,0.000,4,0.000,0.044,2716,3416,2000
$GC,6883,0.53,131.4,446.9,16.3,252,6886,0.00,1.60,0.00,0.000,6,0.000,0.025,2722,2325,2000
$GC,7137,0.53,131.4,409.9,14.3,259,7140,0.00,1.73,0.00,0.000,4,0.000,0.045,2722,3423,1999
$GC,7160,0.53,131.4,406.7,14.1,259,7163,0.12,1.58,0.00,0.000,6,0.182,0.024,2701,2366,1999
$GC,7427,0.53,131.4,376.6,10.8,266,7430,0.00,1.67,0.00,0.000,4,0.000,0.047,2701,3412,1999
$GC,7519,0.53,131.4,365.4,12.3,268,7522,0.00,1.52,0.00,0.000,6,0.000,0.025,2708,2389,1998
$GC,7801,0.53,131.4,335.2,10.4,275,7804,0.00,1.58,0.00,0.000,4,0.000,0.029,2716,1309,1998
$GC,7818,0.53,136.6,333.5,9.7,275,7821,0.00,1.65,0.00,0.000,6,0.000,0.040,2715,2385,1997
$GC,8089,0.53,144.7,307.9,9.6,282,8102,0.00,1.60,10.18,0.795,4,0.000,0.046,2715,3426,1959
$GC,8138,0.53,144.7,302.4,12.9,283,8140,0.00,1.55,0.00,0.000,6,0.000,0.026,2722,2391,1959
$GC,8419,0.54,151.3,272.1,9.7,290,8431,0.00,1.62,7.38,0.718,4,0.000,0.029,2730,1294,1933
$GC,8483,0.54,164.9,266.4,9.3,291,8504,0.00,1.65,13.62,0.785,6,0.000,0.040,2729,2367,1875
$GC,8747,0.54,173.5,240.9,9.6,298,8761,0.00,1.60,8.48,0.716,4,0.000,0.028,2738,1303,1841
$GC,8823,0.54,173.5,233.6,10.3,299,8827,0.10,1.58,0.00,0.000,6,0.137,0.039,2706,2308,1840
$GC,9081,0.56,199.8,211.2,8.7,306,9105,0.00,0.00,23.62,0.768,6,0.000,0.000,2706,2308,1735
$GC,9324,0.56,206.6,188.1,9.7,318,9337,0.00,1.73,7.00,0.630,4,0.000,0.044,2706,3428,1707
$GC,9473,0.56,206.6,172.1,11.0,331,9476,0.00,1.70,0.00,0.000,6,0.000,0.025,2713,2287,1707
$GC,9736,0.56,206.6,144.2,10.1,356,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2287,1706
$GC,9995,0.56,209.6,118.3,9.8,381,10003,0.00,0.00,4.38,0.474,6,0.000,0.000,2713,2286,1695
$GC,10253,0.57,236.4,94.1,8.6,406,10280,0.00,1.83,23.52,0.649,4,0.000,0.041,2713,3419,1584
$GC,10360,0.57,247.9,84.5,9.4,415,10376,0.00,1.70,10.90,0.593,6,0.000,0.024,2713,2289,1538
$GC,10641,0.61,327.7,65.4,5.9,441,10710,0.00,0.00,64.80,0.629,6,0.000,0.000,2713,2283,1213
$GC,10964,0.63,386.7,43.1,7.0,472,11019,0.00,1.83,47.35,0.600,4,0.000,0.040,2713,3417,973
$GC,11056,0.65,440.4,36.2,7.3,479,11110,0.00,1.67,43.33,0.584,6,0.000,0.022,2713,2290,752
$GC,11358,0.65,440.4,7.3,11.0,527,11367,0.00,1.42,0.00,0.000,4,0.000,0.026,2713,1312,750
$STATE,11392,end climb,SURFACE_DEPTH_REACHED
$STATE,11392,begin surface coast
$FINISH,0.1,1.004014
$STATE,11418,end surface coast,CONTROL_FINISHED_OK
$STATE,11418,begin surface
$SM_CCo,11503,0.00,0.000,0,0,748,442.02
$SM_GC,0.98,6.75,0.00,0.00,0.020,0.000,0.000,33,2740,748,-7.69,0.28,442.02
$IRIDIUM_FIX,2251.04,-15802.79,241201,232302
$TT8_MAMPS,0.04602
$HUMID,2152
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.50
$XPDR_PINGS,8
$24V_AH,24.1,56.071
$10V_AH,10.5,53.872
$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,17.275,83.625,498.075,0.000,0.000,25.119,37.132,224.164,2.000,0.000,0.000,16.147,0.000,8108.652,478.266,2577.031,773.316,33.353,1302.948,0.000,2299.023,0.000,0.544,0.000
$DEVICE_MAMPS,210.925,53.690,1056.159,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,362.176,1254.009,1287.299,189.737,1019.253,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44800,538
$CAP_FILE_SIZE,99440,0
$CFSIZE,260165632,236269568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300912,055755,2304.183,-15804.263,34,5.7,54,10.1