version: 66.04
glider: 512
mission: 3
dive: 464
start: 10 3 112 13 53 52
data:
$ID,512
$MISSION,3
$DIVE,464
$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,-63172.539
$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,59
$R_STBD_OVSHOOT,46
$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
$GPS1,134110,2250.750,-15748.241,14,2.9,33,10.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-78.1
$GPS2,135309,2250.739,-15748.360,12,2.9,31,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.200,-0.146
$KALMAN_X,-43288.9,50.9,239.3,36548.2,-1698.2
$KALMAN_Y,27640.9,-45.3,-245.1,-39675.4,871.6
$MHEAD_RNG_PITCHd_Wd,116.0,28838,-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,-131.4,0.0,0.0,0,90,0.00,0.00,-74.10,0.000,2,0.000,0.000,43,2764,2685
$GC,96,-0.53,-131.4,2.1,-3.0,9,121,9.00,1.58,-8.48,0.000,4,0.207,0.053,2344,3783,3090
$GC,137,-0.53,-131.4,16.6,-36.4,14,146,0.00,1.58,0.00,0.000,6,0.000,0.020,2350,2713,3090
$GC,403,-0.53,-131.4,72.0,-18.1,44,406,0.00,1.48,0.00,0.000,4,0.000,0.024,2356,1684,3091
$GC,533,-0.53,-131.4,91.6,-14.3,56,536,0.00,1.52,0.00,0.000,6,0.000,0.037,2351,2673,3091
$GC,797,-0.53,-131.4,130.6,-13.9,81,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2673,3091
$GC,1056,-0.53,-131.4,166.4,-13.1,106,1058,0.00,1.42,0.00,0.000,4,0.000,0.021,2352,1676,3091
$GC,1124,-0.53,-131.4,175.1,-12.2,112,1127,0.00,1.48,0.00,0.000,6,0.000,0.038,2346,2638,3091
$GC,1393,-0.53,-131.4,212.3,-13.8,132,1396,0.00,1.73,0.00,0.000,4,0.000,0.045,2343,3780,3091
$GC,1411,-0.53,-131.4,214.7,-13.7,132,1414,0.00,1.65,0.00,0.000,6,0.000,0.020,2343,2641,3091
$GC,1681,-0.53,-131.4,247.5,-11.6,139,1685,0.00,1.35,0.00,0.000,4,0.000,0.022,2343,1670,3091
$GC,1774,-0.53,-131.4,258.0,-10.7,141,1777,0.00,1.40,0.00,0.000,6,0.000,0.037,2337,2590,3091
$GC,2056,-0.53,-131.4,288.9,-10.9,148,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2589,3090
$GC,2298,-0.53,-131.4,313.1,-9.8,154,2301,0.00,1.30,0.00,0.000,4,0.000,0.022,2337,1676,3089
$GC,2337,-0.53,-131.4,317.1,-9.9,154,2342,0.00,1.38,0.00,0.000,6,0.000,0.038,2333,2572,3089
$GC,2588,-0.53,-131.4,341.0,-9.7,161,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2573,3088
$GC,2828,-0.53,-131.4,362.9,-9.2,167,2831,0.00,1.27,0.00,0.000,4,0.000,0.022,2333,1677,3087
$GC,2921,-0.53,-131.4,371.5,-9.3,169,2924,0.00,1.35,0.00,0.000,6,0.000,0.040,2333,2551,3085
$GC,3204,-0.53,-131.4,399.5,-10.2,176,3207,0.00,1.85,0.00,0.000,4,0.000,0.045,2324,3768,3083
$GC,3238,-0.53,-131.4,403.1,-10.2,176,3241,0.12,1.73,0.00,0.000,6,0.102,0.022,2363,2566,3083
$GC,3493,-0.53,-131.4,422.2,-7.3,183,3496,0.00,1.25,0.00,0.000,4,0.000,0.025,2363,1671,3081
$GC,3580,-0.53,-131.4,428.3,-6.9,185,3583,0.00,1.33,0.00,0.000,6,0.000,0.040,2359,2525,3080
$GC,3867,-0.53,-131.4,449.4,-7.4,192,3870,0.00,1.23,0.00,0.000,4,0.000,0.024,2359,1670,3078
$GC,3912,-0.53,-131.4,452.9,-7.5,193,3915,0.00,1.30,0.00,0.000,6,0.000,0.041,2359,2504,3078
$GC,4198,-0.53,-131.4,474.8,-7.7,200,4201,0.00,2.00,-0.08,0.000,4,0.000,0.063,2350,3774,3100
$GC,4237,-0.53,-131.4,477.8,-7.6,200,4244,0.00,1.88,0.00,0.000,6,0.000,0.025,2350,2503,3100
$GC,4487,-0.53,-131.4,497.8,-8.1,207,4489,0.00,1.17,0.00,0.000,4,0.000,0.025,2350,1676,3098
$GC,4563,-0.53,-131.4,504.0,-8.0,208,4566,0.00,1.25,0.00,0.000,6,0.000,0.042,2346,2475,3099
$GC,4817,-0.53,-131.4,522.3,-7.3,215,4821,0.00,2.03,0.00,0.000,4,0.000,0.051,2346,3774,3097
$GC,4857,-0.53,-131.4,524.9,-6.6,215,4864,0.00,1.92,0.00,0.000,6,0.000,0.025,2346,2478,3095
$GC,5106,-0.53,-131.4,543.0,-7.2,222,5109,0.00,1.12,0.00,0.000,4,0.000,0.027,2346,1682,3094
$GC,5161,-0.53,-131.4,546.8,-7.3,223,5164,0.00,1.23,0.00,0.000,6,0.000,0.044,2346,2465,3093
$GC,5437,-0.53,-131.4,566.3,-7.1,230,5440,0.00,2.05,0.00,0.000,4,0.000,0.051,2337,3776,3092
$GC,5471,-0.53,-131.4,568.8,-7.5,230,5474,0.00,1.90,0.00,0.000,6,0.000,0.025,2337,2485,3091
$GC,5725,-0.53,-131.4,590.4,-8.7,237,5728,0.00,1.12,0.00,0.000,4,0.000,0.027,2337,1682,3090
$GC,5775,-0.53,-131.4,595.0,-9.0,238,5778,0.00,1.23,0.00,0.000,6,0.000,0.044,2333,2463,3090
$STATE,5849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5849,begin apogee
$GC,5861,-0.18,0.0,602.5,9.6,240,5981,0.40,0.00,118.57,1.062,6,0.097,0.000,2466,2339,2550
$STATE,5982,end apogee,CONTROL_FINISHED_OK
$STATE,5982,begin climb
$GC,5987,0.53,131.4,608.6,0.0,243,6119,0.60,1.60,120.97,1.009,4,0.038,0.026,2710,1327,2013
$GC,6174,0.53,131.4,601.5,11.4,247,6177,0.00,1.65,0.00,0.000,6,0.000,0.038,2710,2351,2008
$GC,6444,0.53,131.4,563.7,14.0,254,6447,0.00,1.67,0.00,0.000,4,0.000,0.046,2710,3430,2004
$GC,6563,0.53,131.4,545.4,15.8,256,6566,0.00,1.50,0.00,0.000,6,0.000,0.026,2717,2434,2002
$GC,6818,0.53,131.4,508.8,14.5,263,6821,0.00,1.58,0.00,0.000,4,0.000,0.046,2716,3417,2001
$GC,6894,0.53,131.4,496.8,16.2,264,6897,0.00,1.42,0.00,0.000,6,0.000,0.025,2721,2460,2001
$GC,7151,0.53,131.4,462.1,13.4,271,7154,0.00,1.65,0.00,0.000,4,0.000,0.029,2729,1313,2000
$GC,7200,0.53,131.4,455.0,13.0,272,7203,0.12,1.75,0.00,0.000,6,0.160,0.041,2697,2448,2000
$GC,7482,0.53,131.4,420.2,12.3,279,7485,0.00,1.70,0.00,0.000,4,0.000,0.028,2704,1324,1999
$GC,7531,0.53,131.4,414.8,10.5,280,7534,0.00,1.73,0.00,0.000,6,0.000,0.042,2704,2423,1998
$GC,7812,0.53,131.4,384.0,10.7,287,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2423,1998
$GC,8055,0.53,131.4,359.1,10.4,293,8057,0.00,1.58,0.00,0.000,4,0.000,0.048,2702,3424,1998
$GC,8174,0.53,131.4,345.4,11.7,295,8176,0.00,1.48,0.00,0.000,6,0.000,0.026,2708,2433,1997
$GC,8428,0.53,131.4,317.2,11.1,302,8431,0.00,1.62,0.00,0.000,4,0.000,0.029,2717,1320,1997
$GC,8499,0.53,131.4,309.5,10.8,303,8502,0.00,1.70,0.00,0.000,6,0.000,0.041,2715,2431,1997
$GC,8759,0.54,149.4,285.2,9.1,310,8777,0.00,0.00,14.20,0.816,6,0.000,0.000,2716,2430,1941
$GC,9044,0.54,159.9,259.3,9.5,317,9057,0.00,1.52,10.10,0.765,4,0.000,0.047,2715,3427,1900
$GC,9115,0.55,175.4,252.8,9.2,318,9133,0.00,1.48,15.55,0.787,6,0.000,0.026,2721,2437,1834
$GC,9419,0.55,175.4,220.6,11.1,326,9422,0.00,1.62,0.00,0.000,4,0.000,0.028,2729,1315,1830
$GC,9624,0.57,233.2,203.6,7.0,330,9678,0.00,1.67,48.75,0.775,6,0.000,0.039,2728,2405,1598
$GC,9930,0.57,233.2,172.5,11.9,356,9932,0.00,1.60,0.00,0.000,4,0.000,0.047,2728,3441,1593
$GC,9997,0.57,233.2,164.1,12.0,362,10000,0.00,1.55,0.00,0.000,6,0.000,0.025,2735,2419,1592
$GC,10261,0.57,233.2,131.1,12.9,387,10264,0.00,1.60,0.00,0.000,4,0.000,0.029,2739,1312,1592
$GC,10309,0.57,233.2,125.6,11.1,391,10312,0.00,1.62,0.00,0.000,6,0.000,0.038,2739,2378,1591
$GC,10572,0.57,233.2,96.1,11.2,416,10575,0.00,1.62,0.00,0.000,4,0.000,0.045,2739,3421,1591
$GC,10651,0.57,233.2,87.7,10.8,423,10654,0.00,1.58,0.00,0.000,6,0.000,0.025,2739,2370,1591
$GC,10920,0.59,298.2,66.4,6.7,448,10978,0.00,1.62,52.97,0.638,4,0.000,0.028,2739,1297,1333
$GC,11012,0.62,351.5,59.5,7.3,455,11067,0.00,1.65,44.15,0.615,6,0.000,0.035,2739,2368,1114
$GC,11317,0.62,351.5,28.9,11.5,483,11325,0.00,1.62,0.00,0.000,4,0.000,0.041,2739,3418,1112
$GC,11391,0.62,351.5,20.0,11.8,496,11400,0.00,1.55,0.00,0.000,6,0.000,0.023,2739,2384,1111
$STATE,11569,end climb,SURFACE_DEPTH_REACHED
$STATE,11569,begin surface coast
$FINISH,-0.2,1.013017
$STATE,11595,end surface coast,CONTROL_FINISHED_OK
$STATE,11595,begin surface
$SM_CCo,11618,13.20,0.525,0,0,999,380.21
$SM_GC,1.09,0.00,0.00,13.20,0.000,0.000,0.525,52,2755,999,-7.74,0.71,380.21
$IRIDIUM_FIX,2241.69,-15746.73,281201,101007
$TT8_MAMPS,0.048321
$HUMID,2222
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.80
$XPDR_PINGS,15
$24V_AH,24.0,59.643
$10V_AH,10.5,57.365
$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,17.175,93.725,425.275,13.200,0.000,28.878,37.048,462.930,3.750,0.000,0.000,32.443,0.000,8126.505,447.662,2708.688,1052.307,33.356,1315.162,0.000,2404.605,0.000,0.543,0.000
$DEVICE_MAMPS,207.090,62.894,1061.528,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,361.249,1232.114,1272.468,189.445,994.158,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44627,535
$CAP_FILE_SIZE,108506,0
$CFSIZE,260165632,234876928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031012,170859,2250.671,-15747.844,43,1.1,43,10.1