version: 66.04
glider: 512
mission: 3
dive: 458
start: 10 2 112 16 50 53
data:
$ID,512
$MISSION,3
$DIVE,458
$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,-63038.719
$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,68
$R_STBD_OVSHOOT,52
$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
$GPS1,163505,2254.290,-15751.550,31,1.5,31,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-79.7
$GPS2,165015,2254.274,-15751.665,13,5.6,32,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.066,-0.239
$KALMAN_X,-38756.0,-87.6,-588.9,27339.6,-221.1
$KALMAN_Y,20066.0,-166.4,-439.5,-25236.6,2170.4
$MHEAD_RNG_PITCHd_Wd,154.6,37481,-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,16,-0.53,-131.4,0.0,0.0,0,91,0.00,0.00,-74.07,0.000,2,0.000,0.000,30,2772,2855
$GC,97,-0.53,-131.4,2.9,-4.8,9,114,9.02,1.62,-4.38,0.000,4,0.206,0.038,2354,1670,3088
$GC,145,-0.53,-131.4,23.5,-38.0,16,153,0.00,1.60,0.00,0.000,6,0.000,0.035,2349,2705,3089
$GC,412,-0.53,-131.4,83.0,-17.8,43,415,0.00,1.50,0.00,0.000,4,0.000,0.021,2351,1668,3090
$GC,490,-0.53,-131.4,95.7,-15.4,50,493,0.00,1.58,0.00,0.000,6,0.000,0.035,2345,2689,3090
$GC,754,-0.53,-131.4,136.8,-14.2,75,757,0.00,1.45,0.00,0.000,4,0.000,0.021,2346,1676,3091
$GC,780,-0.53,-131.4,140.6,-14.1,77,782,0.00,1.52,0.00,0.000,6,0.000,0.035,2339,2673,3091
$GC,1042,-0.53,-131.4,177.9,-14.0,102,1045,0.00,1.70,0.00,0.000,4,0.000,0.043,2330,3786,3091
$GC,1059,-0.53,-131.4,180.6,-14.1,103,1066,0.00,1.62,0.00,0.000,6,0.000,0.018,2331,2664,3091
$GC,1312,-0.53,-131.4,218.3,-15.1,119,1315,0.00,1.38,0.00,0.000,4,0.000,0.021,2330,1675,3091
$GC,1361,-0.53,-131.4,225.2,-12.5,120,1365,0.08,1.50,0.00,0.000,6,0.111,0.036,2351,2654,3091
$GC,1642,-0.53,-131.4,257.1,-10.9,127,1645,0.00,1.73,0.00,0.000,4,0.000,0.044,2344,3799,3091
$GC,1676,-0.53,-131.4,260.7,-10.6,127,1679,0.00,1.65,0.00,0.000,6,0.000,0.020,2344,2637,3090
$GC,1930,-0.53,-131.4,286.5,-10.0,134,1933,0.00,1.33,0.00,0.000,4,0.000,0.022,2344,1678,3090
$GC,2012,-0.53,-131.4,294.1,-8.6,135,2019,0.00,1.48,0.00,0.000,6,0.000,0.035,2338,2641,3090
$GC,2261,-0.53,-131.4,318.9,-10.4,142,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2641,3089
$GC,2503,-0.53,-131.4,344.3,-10.5,148,2506,0.00,1.38,0.00,0.000,4,0.000,0.022,2337,1678,3088
$GC,2585,-0.53,-131.4,352.4,-9.7,149,2590,0.00,1.50,0.00,0.000,6,0.000,0.038,2333,2650,3086
$GC,2836,-0.53,-131.4,377.9,-10.3,156,2839,0.00,1.40,0.00,0.000,4,0.000,0.022,2333,1677,3085
$GC,2907,-0.53,-131.4,385.3,-9.9,157,2910,0.00,1.45,0.00,0.000,6,0.000,0.039,2333,2615,3084
$GC,3167,-0.53,-131.4,410.4,-9.5,164,3170,0.00,1.35,0.00,0.000,4,0.000,0.024,2333,1677,3082
$GC,3217,-0.53,-131.4,414.7,-8.4,165,3220,0.00,1.40,0.00,0.000,6,0.000,0.040,2333,2581,3082
$GC,3499,-0.53,-131.4,440.2,-9.2,172,3502,0.00,1.85,0.00,0.000,4,0.000,0.047,2325,3791,3080
$GC,3521,-0.53,-131.4,442.5,-9.4,172,3525,0.08,1.77,0.00,0.000,6,0.096,0.022,2354,2582,3079
$GC,3787,-0.53,-131.4,461.1,-6.9,179,3790,0.00,1.30,-0.08,0.000,4,0.000,0.044,2354,1672,3102
$GC,3858,-0.53,-131.4,466.1,-7.7,180,3861,0.00,1.40,0.00,0.000,6,0.000,0.041,2350,2573,3101
$GC,4118,-0.53,-131.4,486.5,-8.1,187,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2573,3100
$GC,4360,-0.53,-131.4,506.9,-8.4,193,4363,0.00,1.30,0.00,0.000,4,0.000,0.025,2350,1676,3098
$GC,4405,-0.53,-131.4,510.6,-8.0,194,4407,0.00,1.38,0.00,0.000,6,0.000,0.042,2346,2556,3098
$GC,4694,-0.53,-131.4,534.8,-8.3,201,4697,0.00,1.27,0.00,0.000,4,0.000,0.025,2346,1673,3096
$GC,4749,-0.53,-131.4,539.5,-8.0,202,4752,0.00,1.35,0.00,0.000,6,0.000,0.044,2346,2535,3096
$GC,5025,-0.53,-131.4,561.0,-7.7,209,5028,0.00,1.95,0.00,0.000,4,0.000,0.053,2346,3781,3093
$GC,5053,-0.53,-131.4,563.2,-7.7,209,5056,0.00,1.80,0.00,0.000,6,0.000,0.025,2346,2543,3093
$GC,5315,-0.53,-131.4,581.9,-7.2,216,5319,0.00,1.20,0.00,0.000,4,0.000,0.025,2346,1684,3092
$GC,5370,-0.53,-131.4,586.0,-7.1,217,5373,0.00,1.33,0.00,0.000,6,0.000,0.044,2346,2529,3092
$STATE,5601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5601,begin apogee
$GC,5612,-0.18,0.0,602.2,6.9,223,5732,0.38,0.00,118.53,1.054,6,0.091,0.000,2473,2346,2550
$STATE,5733,end apogee,CONTROL_FINISHED_OK
$STATE,5733,begin climb
$GC,5738,0.53,131.4,605.9,0.0,226,5875,0.57,1.58,122.15,0.992,4,0.038,0.025,2710,1316,2013
$GC,5961,0.53,131.4,590.9,13.4,231,5964,0.00,1.65,0.00,0.000,6,0.000,0.037,2710,2373,2008
$GC,6232,0.53,131.4,550.7,15.0,238,6235,0.00,1.62,0.00,0.000,4,0.000,0.044,2710,3427,2004
$GC,6345,0.53,131.4,533.4,14.8,240,6348,0.00,1.55,0.00,0.000,6,0.000,0.025,2718,2392,2002
$GC,6605,0.53,131.4,498.1,13.3,247,6608,0.00,1.58,0.00,0.000,4,0.000,0.028,2726,1323,2001
$GC,6660,0.53,131.4,490.4,14.3,248,6663,0.00,1.62,0.00,0.000,6,0.000,0.041,2726,2383,2000
$GC,6936,0.53,131.4,450.7,14.4,255,6939,0.00,1.62,0.00,0.000,4,0.000,0.048,2726,3437,1999
$GC,7023,0.53,131.4,437.6,15.3,257,7026,0.08,1.55,0.00,0.000,6,0.176,0.025,2702,2402,1999
$GC,7310,0.53,131.4,404.1,11.5,264,7313,0.00,1.62,0.00,0.000,4,0.000,0.046,2702,3436,1999
$GC,7354,0.53,131.4,398.5,13.1,265,7357,0.00,1.52,0.00,0.000,6,0.000,0.025,2708,2416,1999
$GC,7641,0.53,131.4,367.5,10.6,272,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2410,1998
$GC,7883,0.53,141.1,344.1,9.5,278,7893,0.00,1.65,7.05,0.754,4,0.000,0.029,2717,1300,1974
$GC,7948,0.53,146.9,338.2,9.7,279,7958,0.00,1.75,7.05,0.747,6,0.000,0.041,2715,2417,1951
$GC,8202,0.53,146.9,312.8,10.3,285,8205,0.00,1.55,0.00,0.000,4,0.000,0.047,2715,3415,1949
$GC,8369,0.53,146.9,293.5,10.6,288,8375,0.00,1.45,0.00,0.000,6,0.000,0.025,2722,2442,1948
$GC,8619,0.54,166.3,270.3,9.0,295,8642,0.00,1.70,18.08,0.815,4,0.000,0.028,2729,1302,1870
$GC,8710,0.55,190.2,262.5,8.8,297,8735,0.00,1.77,21.62,0.803,6,0.000,0.040,2729,2453,1774
$GC,8984,0.55,190.2,234.3,10.7,304,8987,0.00,1.52,0.00,0.000,4,0.000,0.047,2729,3422,1770
$GC,9073,0.55,190.2,223.2,12.9,306,9076,0.00,1.42,0.00,0.000,6,0.000,0.025,2734,2471,1769
$GC,9335,0.55,190.2,192.0,11.8,316,9338,0.00,1.50,0.00,0.000,4,0.000,0.044,2729,3415,1769
$GC,9371,0.55,190.2,187.3,12.9,319,9374,0.00,1.40,0.00,0.000,6,0.000,0.025,2735,2471,1768
$GC,9635,0.55,190.2,157.3,10.8,344,9638,0.00,1.67,0.00,0.000,4,0.000,0.028,2739,1302,1768
$GC,9713,0.55,190.2,148.9,10.9,351,9716,0.12,1.80,0.00,0.000,6,0.137,0.038,2706,2481,1767
$GC,9980,0.57,237.5,127.0,7.6,376,10023,0.00,1.45,39.55,0.692,4,0.000,0.041,2706,3434,1580
$GC,10060,0.58,251.1,119.9,9.3,382,10077,0.00,1.45,12.45,0.627,6,0.000,0.024,2713,2467,1525
$GC,10341,0.58,251.1,91.3,10.4,408,10344,0.00,1.70,0.00,0.000,4,0.000,0.027,2712,1312,1523
$GC,10380,0.59,275.1,87.1,8.8,411,10405,0.00,1.80,20.80,0.631,6,0.000,0.036,2713,2469,1429
$GC,10671,0.60,314.0,62.6,8.0,438,10712,0.00,1.50,32.35,0.617,4,0.000,0.041,2713,3425,1270
$GC,10749,0.62,351.5,56.7,8.1,444,10790,0.00,1.42,31.20,0.602,6,0.000,0.022,2712,2468,1117
$GC,11040,0.65,425.1,38.6,6.2,471,11107,0.00,1.52,59.47,0.591,4,0.000,0.041,2713,3417,814
$GC,11144,0.65,440.2,31.6,9.2,479,11161,0.00,1.38,13.48,0.538,6,0.000,0.021,2713,2481,754
$STATE,11408,end climb,SURFACE_DEPTH_REACHED
$STATE,11408,begin surface coast
$FINISH,0.1,1.004036
$STATE,11435,end surface coast,CONTROL_FINISHED_OK
$STATE,11435,begin surface
$SM_CCo,11518,0.00,0.000,0,0,749,441.53
$SM_GC,1.01,6.85,0.00,0.00,0.025,0.000,0.000,39,2791,749,-7.70,1.70,441.53
$IRIDIUM_FIX,2244.02,-15741.52,271201,161650
$TT8_MAMPS,0.047554
$HUMID,2161
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.10
$XPDR_PINGS,18
$24V_AH,24.1,58.729
$10V_AH,10.5,56.479
$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,17.175,96.025,503.775,0.000,0.000,54.086,96.105,500.835,4.500,0.000,0.000,33.362,0.000,8060.343,475.066,2691.427,1175.870,33.353,1352.327,0.000,2388.647,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,52.923,1053.858,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,359.120,1240.309,1284.535,193.997,1022.514,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44751,533
$CAP_FILE_SIZE,112081,0
$CFSIZE,260165632,235220992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,021012,200359,2253.824,-15751.189,41,1.1,41,10.1