version: 66.04
glider: 512
mission: 3
dive: 463
start: 10 3 112 10 24 33
data:
$ID,512
$MISSION,3
$DIVE,463
$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,-63139.469
$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,60
$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
$GPS1,100130,2251.558,-15748.821,40,1.7,40,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-78.1
$GPS2,102355,2251.623,-15748.879,12,1.5,12,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,-0.168
$KALMAN_X,-42255.8,132.8,405.6,34375.7,-632.7
$KALMAN_Y,26245.3,124.7,609.3,-37667.4,31.4
$MHEAD_RNG_PITCHd_Wd,122.6,30672,-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,-73.90,0.000,2,0.000,0.000,31,2786,2705
$GC,97,-0.53,-131.4,2.5,-3.2,9,122,8.98,1.52,-7.82,0.000,4,0.204,0.054,2343,3768,3088
$GC,138,-0.53,-131.4,17.0,-35.9,14,146,0.00,1.55,0.00,0.000,6,0.000,0.021,2346,2724,3088
$GC,399,-0.53,-131.4,71.8,-20.4,44,402,0.00,1.50,0.00,0.000,4,0.000,0.024,2347,1672,3088
$GC,479,-0.53,-131.4,86.5,-16.7,51,486,0.00,1.55,0.00,0.000,6,0.000,0.036,2341,2681,3088
$GC,736,-0.53,-131.4,125.7,-14.8,76,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2681,3088
$GC,986,-0.53,-131.4,162.2,-14.6,100,989,0.00,1.45,0.00,0.000,4,0.000,0.021,2341,1669,3088
$GC,1064,-0.53,-131.4,173.2,-13.1,107,1067,0.00,1.60,0.00,0.000,6,0.000,0.036,2335,2709,3088
$GC,1343,-0.53,-131.4,212.5,-13.8,128,1346,0.00,1.50,0.00,0.000,4,0.000,0.021,2335,1666,3088
$GC,1393,-0.53,-131.4,218.8,-11.7,129,1396,0.00,1.58,0.00,0.000,6,0.000,0.038,2333,2688,3088
$GC,1676,-0.53,-131.4,253.1,-11.9,136,1679,0.00,1.48,0.00,0.000,4,0.000,0.021,2333,1657,3088
$GC,1763,-0.53,-131.4,263.1,-10.3,138,1766,0.00,1.55,0.00,0.000,6,0.000,0.036,2328,2666,3088
$GC,2050,-0.53,-131.4,295.7,-11.2,145,2053,0.00,1.42,0.00,0.000,4,0.000,0.021,2328,1667,3087
$GC,2089,-0.53,-131.4,300.0,-11.0,145,2096,0.08,1.48,0.00,0.000,6,0.112,0.036,2349,2632,3087
$GC,2338,-0.53,-131.4,322.5,-9.0,152,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2631,3086
$GC,2580,-0.53,-131.4,342.7,-8.1,158,2583,0.00,1.38,0.00,0.000,4,0.000,0.022,2350,1670,3084
$GC,2652,-0.53,-131.4,347.8,-6.7,159,2654,0.00,1.48,0.00,0.000,6,0.000,0.038,2346,2628,3084
$GC,2914,-0.53,-131.4,366.8,-7.4,166,2917,0.00,1.38,0.00,0.000,4,0.000,0.022,2346,1668,3081
$GC,2947,-0.53,-131.4,369.7,-8.0,166,2950,0.00,1.45,0.00,0.000,6,0.000,0.040,2346,2606,3082
$GC,3202,-0.53,-131.4,392.4,-9.3,173,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2606,3079
$GC,3444,-0.53,-131.4,414.1,-8.8,179,3447,0.00,1.38,-0.08,0.000,4,0.000,0.042,2346,1670,3100
$GC,3478,-0.53,-131.4,416.9,-8.3,179,3480,0.00,1.40,0.00,0.000,6,0.000,0.041,2345,2576,3101
$GC,3734,-0.53,-131.4,436.6,-7.7,186,3737,0.00,1.33,0.00,0.000,4,0.000,0.023,2346,1655,3098
$GC,3800,-0.53,-131.4,442.1,-8.3,187,3804,0.00,1.40,0.00,0.000,6,0.000,0.041,2346,2557,3099
$GC,4066,-0.53,-131.4,463.5,-8.3,194,4068,0.00,1.27,0.00,0.000,4,0.000,0.023,2346,1668,3096
$GC,4088,-0.53,-131.4,465.7,-9.5,194,4091,0.00,1.35,0.00,0.000,6,0.000,0.041,2346,2537,3097
$GC,4356,-0.53,-131.4,487.4,-8.0,201,4359,0.00,1.95,0.00,0.000,4,0.000,0.049,2337,3775,3094
$GC,4384,-0.53,-131.4,489.9,-8.1,201,4387,0.00,1.80,0.00,0.000,6,0.000,0.024,2337,2537,3093
$GC,4644,-0.53,-131.4,511.0,-8.1,208,4647,0.00,1.23,0.00,0.000,4,0.000,0.025,2336,1661,3091
$GC,4716,-0.53,-131.4,516.7,-8.5,209,4719,0.00,1.35,0.00,0.000,6,0.000,0.041,2334,2530,3092
$GC,4978,-0.53,-131.4,537.7,-8.2,216,4981,0.00,1.95,0.00,0.000,4,0.000,0.049,2324,3789,3089
$GC,4995,-0.53,-131.4,539.4,-8.2,216,4998,0.12,1.85,0.00,0.000,6,0.104,0.024,2362,2520,3089
$GC,5266,-0.53,-131.4,556.3,-6.1,223,5269,0.00,1.20,0.00,0.000,4,0.000,0.025,2362,1663,3087
$GC,5316,-0.53,-131.4,559.4,-6.2,224,5319,0.00,1.33,0.00,0.000,6,0.000,0.041,2359,2512,3087
$GC,5599,-0.53,-131.4,577.4,-6.4,231,5602,0.00,2.00,0.00,0.000,4,0.000,0.053,2358,3786,3085
$GC,5649,-0.53,-131.4,580.7,-6.6,232,5652,0.00,1.88,0.00,0.000,6,0.000,0.025,2359,2503,3085
$GC,5931,-0.53,-131.4,598.0,-6.2,239,5934,0.00,1.17,0.00,0.000,4,0.000,0.026,2358,1665,3083
$STATE,5954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5954,begin apogee
$GC,5965,-0.18,0.0,600.0,7.1,239,6085,0.30,0.00,117.65,1.054,6,0.092,0.000,2467,2370,2550
$STATE,6085,end apogee,CONTROL_FINISHED_OK
$STATE,6085,begin climb
$GC,6090,0.53,131.4,605.4,0.0,242,6213,0.60,0.00,119.18,1.019,6,0.040,0.000,2700,2370,2014
$GC,6463,0.53,131.4,570.0,13.9,251,6466,0.00,1.65,0.00,0.000,4,0.000,0.045,2700,3432,2005
$GC,6507,0.53,131.4,562.3,15.8,252,6510,0.00,1.60,0.00,0.000,6,0.000,0.025,2709,2361,2004
$GC,6794,0.53,131.4,522.1,14.0,259,6797,0.00,1.55,0.00,0.000,4,0.000,0.028,2718,1299,2002
$GC,6822,0.53,131.4,518.2,13.6,259,6825,0.00,1.62,0.00,0.000,6,0.000,0.038,2716,2362,2001
$GC,7084,0.53,131.4,483.5,13.1,266,7087,0.00,1.65,0.00,0.000,4,0.000,0.048,2716,3414,2000
$GC,7150,0.53,131.4,474.0,14.3,267,7153,0.00,1.60,0.00,0.000,6,0.000,0.026,2722,2327,2000
$GC,7415,0.53,131.4,438.0,13.6,274,7418,0.00,1.73,0.00,0.000,4,0.000,0.045,2717,3425,1999
$GC,7460,0.53,131.4,431.7,14.5,275,7463,0.00,1.62,0.00,0.000,6,0.000,0.026,2724,2325,1999
$GC,7746,0.53,131.4,395.1,12.4,282,7749,0.00,1.73,0.00,0.000,4,0.000,0.048,2724,3418,1999
$GC,7823,0.53,131.4,384.6,14.7,283,7826,0.10,1.60,0.00,0.000,6,0.176,0.025,2704,2348,1998
$GC,8077,0.53,131.4,355.1,11.0,290,8080,0.00,1.70,0.00,0.000,4,0.000,0.045,2702,3410,1998
$GC,8124,0.53,131.4,350.3,11.0,291,8127,0.00,1.50,0.00,0.000,6,0.000,0.027,2708,2408,1998
$GC,8411,0.53,131.4,320.7,10.1,298,8414,0.00,1.60,0.00,0.000,4,0.000,0.028,2716,1311,1997
$GC,8450,0.54,162.1,317.2,8.4,298,8485,0.00,1.67,26.92,0.823,6,0.000,0.040,2715,2407,1889
$GC,8737,0.54,162.1,285.2,11.1,306,8740,0.00,1.58,0.00,0.000,4,0.000,0.048,2715,3409,1884
$GC,8803,0.54,162.1,277.3,12.2,307,8805,0.00,1.40,0.00,0.000,6,0.000,0.027,2721,2474,1883
$GC,9068,0.54,168.1,250.0,9.7,314,9076,0.00,0.00,6.18,0.670,6,0.000,0.000,2721,2469,1864
$GC,9310,0.55,190.8,228.3,8.8,320,9334,0.00,1.70,20.60,0.784,4,0.000,0.029,2727,1303,1773
$GC,9509,0.56,204.3,209.1,9.3,324,9527,0.00,1.88,12.73,0.727,6,0.000,0.041,2727,2509,1717
$GC,9786,0.56,204.3,177.5,11.8,344,9789,0.00,1.42,0.00,0.000,4,0.000,0.045,2727,3423,1714
$GC,9865,0.56,204.3,167.2,12.7,351,9868,0.00,1.38,0.00,0.000,6,0.000,0.025,2734,2501,1713
$GC,10128,0.56,204.3,136.8,11.3,376,10131,0.00,1.73,0.00,0.000,4,0.000,0.029,2739,1311,1714
$GC,10195,0.56,204.3,129.9,10.0,382,10198,0.12,1.85,0.00,0.000,6,0.140,0.040,2706,2515,1713
$GC,10464,0.56,214.5,105.6,9.5,407,10478,0.00,1.85,10.15,0.618,4,0.000,0.026,2713,1294,1675
$GC,10502,0.57,243.1,101.7,8.5,410,10531,0.00,1.85,24.52,0.661,6,0.000,0.038,2713,2502,1560
$GC,10792,0.58,259.6,73.9,9.2,437,10811,0.00,0.00,15.02,0.613,6,0.000,0.000,2712,2503,1491
$GC,11061,0.61,340.4,55.0,5.9,463,11130,0.00,1.88,65.75,0.622,4,0.000,0.025,2712,1303,1161
$GC,11167,0.64,420.6,48.7,5.9,471,11236,0.00,1.83,64.82,0.604,6,0.000,0.035,2712,2479,834
$GC,11486,0.64,420.6,18.7,10.4,510,11493,0.00,1.75,0.00,0.000,4,0.000,0.025,2713,1311,830
$GC,11573,0.64,420.6,9.5,11.4,526,11582,0.00,1.77,0.00,0.000,6,0.000,0.037,2713,2452,830
$STATE,11627,end climb,SURFACE_DEPTH_REACHED
$STATE,11627,begin surface coast
$FINISH,-0.0,1.023319
$STATE,11653,end surface coast,CONTROL_FINISHED_OK
$STATE,11653,begin surface
$SM_CCo,11736,0.00,0.000,0,0,829,422.40
$SM_GC,0.93,6.82,0.00,0.00,0.027,0.000,0.000,47,2754,829,-7.68,0.68,422.40
$IRIDIUM_FIX,2241.69,-15746.73,281201,101041
$TT8_MAMPS,0.047554
$HUMID,2220
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.20
$XPDR_PINGS,7
$24V_AH,24.0,59.503
$10V_AH,10.5,57.221
$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,17.125,97.900,483.525,0.000,0.000,81.066,107.129,851.668,1.750,0.000,0.000,12.337,0.000,8370.203,458.230,2641.241,1586.128,33.356,1319.297,0.000,2361.580,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,53.690,1053.858,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,364.745,1250.268,1292.223,199.694,1018.441,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44660,541
$CAP_FILE_SIZE,118755,0
$CFSIZE,260165632,234930176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031012,134110,2250.750,-15748.241,14,2.9,33,10.1