version: 66.04
glider: 512
mission: 3
dive: 461
start: 10 3 112 3 25 50
data:
$ID,512
$MISSION,3
$DIVE,461
$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,-63107.531
$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,29
$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
$GPS1,030559,2252.506,-15749.973,41,1.3,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-78.5
$GPS2,032512,2252.529,-15750.103,10,2.0,15,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.134,-0.208
$KALMAN_X,-41009.8,-75.0,-232.9,31892.6,-814.2
$KALMAN_Y,23504.2,317.5,-496.0,-32339.9,1522.1
$MHEAD_RNG_PITCHd_Wd,137.1,33288,-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,-131.4,0.0,0.0,0,99,0.00,0.00,-82.28,0.000,2,0.000,0.000,23,2743,2904
$GC,105,-0.53,-131.4,3.0,-5.0,10,122,9.02,1.55,-3.47,0.000,4,0.206,0.037,2354,1632,3087
$GC,133,-0.53,-131.4,15.8,-34.3,13,141,0.00,1.70,0.00,0.000,6,0.000,0.031,2347,2745,3087
$GC,393,-0.53,-131.4,72.9,-20.0,42,396,0.00,1.58,0.00,0.000,4,0.000,0.025,2352,1673,3088
$GC,460,-0.53,-131.4,84.3,-15.0,48,464,0.00,1.60,0.00,0.000,6,0.000,0.038,2347,2708,3088
$GC,725,-0.53,-131.4,120.6,-13.4,73,728,0.00,1.50,0.00,0.000,4,0.000,0.021,2352,1667,3088
$GC,763,-0.53,-131.4,126.3,-12.8,76,771,0.00,1.60,0.00,0.000,6,0.000,0.037,2346,2708,3088
$GC,1021,-0.53,-131.4,160.4,-13.7,101,1024,0.00,1.50,0.00,0.000,4,0.000,0.021,2347,1664,3088
$GC,1067,-0.53,-131.4,166.6,-12.5,105,1070,0.00,1.58,0.00,0.000,6,0.000,0.039,2346,2681,3088
$GC,1358,-0.53,-131.4,205.8,-13.1,130,1361,0.00,1.45,0.00,0.000,4,0.000,0.022,2346,1666,3088
$GC,1461,-0.53,-131.4,218.2,-11.9,132,1464,0.00,1.52,0.00,0.000,6,0.000,0.036,2339,2664,3088
$GC,1732,-0.53,-131.4,252.1,-12.4,139,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2664,3088
$GC,1974,-0.53,-131.4,279.0,-10.8,145,1977,0.00,1.42,0.00,0.000,4,0.000,0.021,2339,1663,3087
$GC,2045,-0.53,-131.4,286.1,-9.9,146,2047,0.00,1.52,0.00,0.000,6,0.000,0.037,2333,2659,3087
$GC,2304,-0.53,-131.4,312.8,-10.7,153,2307,0.00,1.42,0.00,0.000,4,0.000,0.022,2333,1665,3086
$GC,2397,-0.53,-131.4,322.8,-10.2,155,2399,0.00,1.48,0.00,0.000,6,0.000,0.038,2333,2623,3086
$GC,2678,-0.53,-131.4,350.5,-9.8,162,2681,0.00,1.38,0.00,0.000,4,0.000,0.022,2333,1661,3083
$GC,2717,-0.53,-131.4,354.5,-9.8,162,2722,0.00,1.50,0.00,0.000,6,0.000,0.039,2333,2634,3083
$GC,2966,-0.53,-131.4,379.9,-10.3,169,2969,0.00,1.40,0.00,0.000,4,0.000,0.022,2333,1655,3081
$GC,3011,-0.53,-131.4,384.5,-9.9,170,3014,0.00,1.48,0.00,0.000,6,0.000,0.040,2333,2606,3081
$GC,3298,-0.53,-131.4,412.4,-9.6,177,3301,0.00,1.38,-0.08,0.000,4,0.000,0.042,2333,1661,3101
$GC,3331,-0.53,-131.4,415.8,-9.4,177,3334,0.00,1.42,0.00,0.000,6,0.000,0.040,2333,2581,3101
$GC,3586,-0.53,-131.4,438.8,-9.0,184,3589,0.00,1.33,0.00,0.000,4,0.000,0.023,2333,1658,3100
$GC,3614,-0.53,-131.4,441.5,-9.5,184,3617,0.00,1.40,0.00,0.000,6,0.000,0.040,2333,2566,3100
$GC,3876,-0.53,-131.4,465.3,-9.2,191,3879,0.00,1.30,0.00,0.000,4,0.000,0.025,2333,1665,3097
$GC,3921,-0.53,-131.4,469.4,-9.1,192,3923,0.00,1.38,0.00,0.000,6,0.000,0.041,2333,2549,3097
$GC,4208,-0.53,-131.4,495.2,-9.0,199,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2549,3094
$GC,4449,-0.53,-131.4,516.0,-8.6,205,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2549,3093
$GC,4693,-0.53,-131.4,537.9,-9.3,211,4696,0.00,1.27,0.00,0.000,4,0.000,0.025,2333,1668,3091
$GC,4716,-0.53,-131.4,540.1,-9.4,211,4719,0.00,1.35,0.00,0.000,6,0.000,0.042,2333,2533,3091
$GC,4982,-0.53,-131.4,564.7,-9.2,218,4984,0.00,1.25,0.00,0.000,4,0.000,0.025,2333,1667,3088
$GC,5042,-0.53,-131.4,570.1,-8.9,219,5045,0.00,1.33,0.00,0.000,6,0.000,0.042,2333,2518,3088
$GC,5315,-0.53,-131.4,593.0,-8.4,226,5318,0.00,1.98,0.00,0.000,4,0.000,0.051,2324,3784,3086
$GC,5333,-0.53,-131.4,594.7,-8.4,226,5336,0.12,1.90,0.00,0.000,6,0.107,0.025,2361,2483,3086
$STATE,5437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5437,begin apogee
$GC,5447,-0.18,0.0,601.7,6.1,229,5567,0.32,0.00,117.65,1.052,6,0.087,0.000,2474,2336,2550
$STATE,5567,end apogee,CONTROL_FINISHED_OK
$STATE,5567,begin climb
$GC,5572,0.53,131.4,606.5,0.0,232,5704,0.57,1.77,121.05,0.998,4,0.033,0.044,2702,3415,2013
$GC,5817,0.53,131.4,586.3,14.9,237,5822,0.00,1.60,0.00,0.000,6,0.000,0.025,2708,2350,2007
$GC,6066,0.53,131.4,551.5,13.7,244,6069,0.00,1.52,0.00,0.000,4,0.000,0.028,2716,1308,2004
$GC,6100,0.53,131.4,547.2,12.8,244,6103,0.00,1.65,0.00,0.000,6,0.000,0.039,2716,2360,2002
$GC,6356,0.53,131.4,512.2,14.3,251,6359,0.00,1.65,0.00,0.000,4,0.000,0.046,2715,3432,2001
$GC,6443,0.53,131.4,499.1,14.7,253,6447,0.00,1.55,0.00,0.000,6,0.000,0.026,2722,2398,2000
$GC,6730,0.53,131.4,458.0,14.6,260,6733,0.00,1.62,0.00,0.000,4,0.000,0.045,2722,3435,2000
$GC,6758,0.53,131.4,453.9,15.0,260,6762,0.08,1.55,0.00,0.000,6,0.163,0.026,2699,2403,2000
$GC,7018,0.53,131.4,422.4,11.5,267,7021,0.00,1.60,0.00,0.000,4,0.000,0.029,2705,1309,1999
$GC,7057,0.53,131.4,418.3,10.7,267,7062,0.00,1.67,0.00,0.000,6,0.000,0.041,2702,2402,1998
$GC,7306,0.53,131.4,391.2,10.9,274,7309,0.00,1.60,0.00,0.000,4,0.000,0.048,2702,3423,1998
$GC,7447,0.53,131.4,373.7,11.7,277,7450,0.00,1.50,0.00,0.000,6,0.000,0.026,2708,2414,1998
$GC,7723,0.53,131.4,343.3,11.0,284,7726,0.00,1.62,0.00,0.000,4,0.000,0.031,2713,1292,1997
$GC,7863,0.53,131.4,329.4,10.2,287,7866,0.00,1.73,0.00,0.000,6,0.000,0.041,2713,2418,1996
$GC,8139,0.53,131.4,300.6,10.4,294,8142,0.00,1.55,0.00,0.000,4,0.000,0.046,2713,3415,1996
$GC,8228,0.53,131.4,291.0,10.8,296,8231,0.00,1.48,0.00,0.000,6,0.000,0.026,2721,2424,1996
$GC,8515,0.54,151.7,263.7,9.0,303,8543,0.00,1.67,17.90,0.736,4,0.000,0.028,2729,1293,1931
$GC,8649,0.55,189.0,252.0,8.1,306,8685,0.00,1.77,32.95,0.812,6,0.000,0.041,2729,2445,1779
$GC,8928,0.55,189.0,219.9,11.9,313,8931,0.00,1.52,0.00,0.000,4,0.000,0.046,2728,3416,1774
$GC,8962,0.55,189.0,215.4,13.2,313,8965,0.00,1.52,0.00,0.000,6,0.000,0.025,2735,2406,1773
$GC,9221,0.56,206.3,187.5,9.1,329,9241,0.00,0.00,15.38,0.724,6,0.000,0.000,2734,2400,1708
$GC,9491,0.56,206.3,159.3,11.3,355,9494,0.00,1.60,0.00,0.000,4,0.000,0.046,2735,3426,1704
$GC,9538,0.56,206.3,153.3,12.9,359,9541,0.10,1.50,0.00,0.000,6,0.160,0.025,2699,2439,1704
$GC,9805,0.57,238.0,129.8,8.4,384,9834,0.00,0.00,27.08,0.689,6,0.000,0.000,2699,2433,1578
$GC,10084,0.58,264.2,105.2,8.7,411,10111,0.00,1.55,22.45,0.657,4,0.000,0.044,2699,3428,1472
$GC,10138,0.59,287.7,100.6,8.8,415,10164,0.00,1.45,20.85,0.640,6,0.000,0.024,2705,2454,1377
$GC,10419,0.61,344.1,76.9,7.1,441,10474,0.00,1.73,46.10,0.637,4,0.000,0.028,2709,1305,1146
$GC,10521,0.65,428.0,70.4,5.7,449,10593,0.00,1.80,68.22,0.624,6,0.000,0.036,2709,2464,804
$GC,10853,0.65,428.0,42.5,10.4,479,10856,0.00,1.70,0.00,0.000,4,0.000,0.025,2709,1302,800
$GC,11097,0.65,428.0,15.1,11.7,514,11106,0.00,1.75,0.00,0.000,6,0.000,0.035,2708,2437,798
$STATE,11211,end climb,SURFACE_DEPTH_REACHED
$STATE,11211,begin surface coast
$FINISH,0.0,1.001026
$STATE,11246,end surface coast,CONTROL_FINISHED_OK
$STATE,11246,begin surface
$SM_CCo,11329,0.00,0.000,0,0,798,429.76
$SM_GC,0.89,6.72,0.00,0.00,0.022,0.000,0.000,42,2773,798,-7.68,1.22,429.76
$IRIDIUM_FIX,2246.36,-15748.90,281201,030342
$TT8_MAMPS,0.046787
$HUMID,2198
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.30
$XPDR_PINGS,5
$24V_AH,24.1,59.186
$10V_AH,10.5,56.925
$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,16.950,90.300,489.625,0.000,0.000,61.445,78.974,772.458,1.250,0.000,0.000,16.087,0.000,7874.758,466.671,2689.111,1426.245,33.358,1333.550,0.000,2411.573,0.000,0.545,0.000
$DEVICE_MAMPS,206.323,50.622,1051.557,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,365.044,1291.412,1332.237,194.860,1023.836,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44629,542
$CAP_FILE_SIZE,110479,0
$CFSIZE,260165632,235053056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,031012,063535,2252.176,-15749.541,29,0.9,29,10.1