version: 66.04
glider: 512
mission: 3
dive: 466
start: 10 3 112 20 49 3
data:
$ID,512
$MISSION,3
$DIVE,466
$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,-63197.348
$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,58
$R_STBD_OVSHOOT,44
$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
$GPS1,203529,2250.356,-15747.206,41,1.6,47,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-79.8
$GPS2,204825,2250.377,-15747.238,11,1.7,11,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.087,-0.232
$KALMAN_X,-44194.5,-101.9,67.6,39680.0,196.6
$KALMAN_Y,30780.4,18.8,501.9,-44294.5,1100.4
$MHEAD_RNG_PITCHd_Wd,149.4,27137,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.53,-131.4,0.0,0.0,0,95,0.00,0.00,-73.97,0.000,2,0.000,0.000,12,2753,2659
$GC,101,-0.53,-131.4,2.0,-2.5,9,125,9.10,1.58,-9.15,0.000,4,0.206,0.040,2356,1643,3082
$GC,155,-0.53,-131.4,18.3,-26.4,17,164,0.00,1.67,0.00,0.000,6,0.000,0.037,2350,2723,3082
$GC,416,-0.53,-131.4,74.2,-20.7,46,419,0.00,1.52,0.00,0.000,4,0.000,0.023,2350,1672,3083
$GC,452,-0.53,-131.4,81.6,-20.2,49,455,0.00,1.60,0.00,0.000,6,0.000,0.038,2346,2701,3083
$GC,716,-0.53,-131.4,124.2,-14.5,74,719,0.00,1.50,0.00,0.000,4,0.000,0.021,2346,1658,3083
$GC,774,-0.53,-131.4,131.8,-12.2,79,777,0.00,1.58,0.00,0.000,6,0.000,0.038,2338,2682,3083
$GC,1037,-0.53,-131.4,169.0,-15.0,104,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2682,3084
$GC,1302,-0.53,-131.4,206.7,-14.1,127,1305,0.00,1.45,0.00,0.000,4,0.000,0.022,2338,1667,3084
$GC,1347,-0.53,-131.4,213.1,-13.9,128,1350,0.00,1.58,0.00,0.000,6,0.000,0.038,2333,2687,3084
$GC,1634,-0.53,-131.4,254.2,-14.2,135,1637,0.00,1.65,0.00,0.000,4,0.000,0.043,2324,3789,3084
$GC,1673,-0.53,-131.4,259.5,-12.9,135,1681,0.08,1.60,0.00,0.000,6,0.104,0.019,2353,2674,3084
$GC,1922,-0.53,-131.4,282.9,-8.8,142,1925,0.00,1.40,0.00,0.000,4,0.000,0.022,2353,1666,3084
$GC,2031,-0.53,-131.4,291.7,-8.0,144,2034,0.00,1.50,0.00,0.000,6,0.000,0.035,2348,2649,3084
$GC,2299,-0.53,-131.4,316.8,-9.9,151,2301,0.00,1.40,0.00,0.000,4,0.000,0.021,2348,1664,3082
$GC,2359,-0.53,-131.4,323.0,-9.4,152,2362,0.00,1.48,0.00,0.000,6,0.000,0.038,2346,2626,3083
$GC,2630,-0.53,-131.4,349.4,-9.8,159,2633,0.00,1.38,0.00,0.000,4,0.000,0.021,2346,1662,3081
$GC,2690,-0.53,-131.4,355.2,-9.0,160,2694,0.00,1.48,0.00,0.000,6,0.000,0.038,2346,2620,3080
$GC,2961,-0.53,-131.4,379.7,-9.1,167,2964,0.00,1.38,0.00,0.000,4,0.000,0.022,2346,1660,3078
$GC,3032,-0.53,-131.4,386.4,-9.3,168,3036,0.00,1.42,0.00,0.000,6,0.000,0.038,2339,2587,3078
$GC,3292,-0.53,-131.4,411.9,-9.9,175,3293,0.00,0.00,-0.08,0.000,6,0.000,0.000,2339,2587,3098
$GC,3536,-0.53,-131.4,434.3,-9.1,181,3540,0.00,1.33,0.00,0.000,4,0.000,0.023,2339,1667,3098
$GC,3613,-0.53,-131.4,441.2,-8.2,182,3616,0.00,1.40,0.00,0.000,6,0.000,0.039,2333,2574,3097
$GC,3868,-0.53,-131.4,462.2,-8.2,189,3871,0.00,1.33,0.00,0.000,4,0.000,0.024,2333,1658,3094
$GC,3907,-0.53,-131.4,465.3,-8.2,189,3912,0.00,1.40,0.00,0.000,6,0.000,0.041,2333,2560,3094
$GC,4158,-0.53,-131.4,485.8,-8.4,196,4161,0.00,1.90,0.00,0.000,4,0.000,0.049,2324,3792,3093
$GC,4176,-0.53,-131.4,487.5,-8.6,196,4179,0.12,1.80,0.00,0.000,6,0.105,0.023,2362,2550,3092
$GC,4446,-0.53,-131.4,503.7,-5.7,203,4449,0.00,1.25,0.00,0.000,4,0.000,0.026,2362,1661,3090
$GC,4480,-0.53,-131.4,505.7,-5.2,203,4483,0.00,1.40,0.00,0.000,6,0.000,0.041,2359,2561,3090
$GC,4735,-0.53,-131.4,520.4,-5.8,210,4738,0.00,1.30,0.00,0.000,4,0.000,0.025,2359,1661,3088
$GC,4764,-0.53,-131.4,522.2,-6.1,210,4766,0.00,1.38,0.00,0.000,6,0.000,0.041,2359,2541,3088
$GC,5023,-0.53,-131.4,538.2,-6.5,217,5026,0.00,1.95,0.00,0.000,4,0.000,0.051,2350,3792,3086
$GC,5057,-0.53,-131.4,540.9,-7.4,217,5060,0.00,1.83,0.00,0.000,6,0.000,0.025,2350,2543,3086
$GC,5312,-0.53,-131.4,564.4,-9.6,224,5315,0.00,1.23,0.00,0.000,4,0.000,0.026,2350,1671,3084
$GC,5378,-0.53,-131.4,571.1,-10.0,225,5380,0.00,1.33,0.00,0.000,6,0.000,0.043,2346,2517,3084
$GC,5643,-0.53,-131.4,597.0,-9.6,232,5646,0.00,2.00,0.00,0.000,4,0.000,0.054,2345,3789,3082
$GC,5672,-0.53,-131.4,599.6,-9.1,232,5675,0.00,1.88,0.00,0.000,6,0.000,0.025,2345,2512,3082
$STATE,5679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5679,begin apogee
$GC,5690,-0.18,0.0,600.8,9.0,232,5808,0.32,0.00,116.55,1.051,6,0.094,0.000,2461,2334,2550
$STATE,5808,end apogee,CONTROL_FINISHED_OK
$STATE,5808,begin climb
$GC,5813,0.53,131.4,605.4,0.0,235,5946,0.62,1.83,120.45,1.004,4,0.038,0.045,2702,3420,2013
$GC,5979,0.53,131.4,599.8,15.0,238,5984,0.00,1.60,0.00,0.000,6,0.000,0.024,2708,2369,2010
$GC,6228,0.53,131.4,564.4,14.1,245,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2364,2005
$GC,6472,0.53,131.4,531.4,13.6,251,6475,0.00,1.67,0.00,0.000,4,0.000,0.047,2709,3425,2003
$GC,6544,0.53,131.4,520.2,15.0,252,6546,0.00,1.60,0.00,0.000,6,0.000,0.025,2717,2339,2002
$GC,6803,0.53,131.4,483.0,14.2,259,6806,0.00,1.73,0.00,0.000,4,0.000,0.047,2715,3430,2000
$GC,6874,0.53,131.4,472.2,15.8,260,6877,0.00,1.58,0.00,0.000,6,0.000,0.026,2721,2377,2000
$GC,7135,0.53,131.4,436.1,13.7,267,7138,0.00,1.55,0.00,0.000,4,0.000,0.028,2729,1316,1999
$GC,7190,0.53,131.4,428.8,12.8,268,7193,0.12,1.60,0.00,0.000,6,0.156,0.040,2696,2362,1999
$GC,7466,0.53,131.4,399.8,10.3,275,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2362,1999
$GC,7710,0.53,147.3,377.0,9.2,281,7724,0.00,0.00,12.88,0.860,6,0.000,0.000,2696,2362,1949
$GC,7950,0.53,147.3,352.7,10.1,287,7953,0.00,1.62,0.00,0.000,4,0.000,0.048,2696,3416,1945
$GC,8064,0.53,147.3,340.4,11.5,289,8067,0.00,1.60,0.00,0.000,6,0.000,0.027,2703,2332,1945
$GC,8326,0.53,147.3,312.1,10.8,296,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2326,1944
$GC,8566,0.54,163.5,289.1,9.2,302,8582,0.00,0.00,15.05,0.819,6,0.000,0.000,2703,2326,1884
$GC,8808,0.55,175.9,265.9,9.4,308,8824,0.00,1.77,12.02,0.773,4,0.000,0.047,2701,3415,1832
$GC,8857,0.55,175.9,260.9,10.5,309,8860,0.00,1.60,0.00,0.000,6,0.000,0.025,2709,2336,1831
$GC,9135,0.55,197.6,234.6,8.9,316,9159,0.00,1.75,19.80,0.781,4,0.000,0.048,2709,3429,1744
$GC,9280,0.55,197.6,220.4,10.5,319,9284,0.00,1.55,0.00,0.000,6,0.000,0.025,2717,2401,1741
$GC,9533,0.56,204.0,196.9,9.7,327,9544,0.00,1.67,6.65,0.634,4,0.000,0.046,2716,3425,1719
$GC,9572,0.56,204.0,192.8,10.7,330,9580,0.00,1.50,0.00,0.000,6,0.000,0.024,2721,2422,1717
$GC,9831,0.56,206.4,166.8,9.9,355,9834,0.00,1.60,0.00,0.000,4,0.000,0.028,2729,1302,1716
$GC,9868,0.56,215.2,163.4,9.6,358,9884,0.00,1.75,11.15,0.674,6,0.000,0.040,2729,2417,1671
$GC,10148,0.56,215.2,135.4,10.4,384,10151,0.00,1.55,0.00,0.000,4,0.000,0.044,2729,3418,1670
$GC,10194,0.56,215.2,129.4,12.4,388,10197,0.00,1.50,0.00,0.000,6,0.000,0.024,2736,2410,1669
$GC,10459,0.56,215.2,98.5,11.3,413,10462,0.00,1.60,0.00,0.000,4,0.000,0.028,2739,1312,1670
$GC,10549,0.57,228.5,89.5,9.3,421,10565,0.00,1.67,12.57,0.617,6,0.000,0.037,2739,2412,1617
$GC,10830,0.58,267.6,64.1,8.0,447,10868,0.00,0.00,32.53,0.629,6,0.000,0.000,2739,2412,1459
$GC,11123,0.59,291.1,38.6,8.8,474,11149,0.00,1.65,20.45,0.590,4,0.000,0.025,2739,1295,1363
$GC,11175,0.59,298.1,33.5,9.6,478,11189,0.00,1.73,7.53,0.505,6,0.000,0.036,2739,2420,1334
$GC,11437,0.59,298.1,8.2,10.7,524,11446,0.00,1.55,0.00,0.000,4,0.000,0.043,2739,3420,1333
$STATE,11481,end climb,SURFACE_DEPTH_REACHED
$STATE,11481,begin surface coast
$FINISH,0.3,1.023261
$STATE,11502,end surface coast,CONTROL_FINISHED_OK
$STATE,11502,begin surface
$SM_CCo,11526,37.22,0.563,0,0,1000,380.21
$SM_GC,0.97,0.00,0.00,37.22,0.000,0.000,0.563,42,2683,1000,-7.76,-1.33,380.21
$IRIDIUM_FIX,2241.69,-15754.11,281201,202017
$TT8_MAMPS,0.047554
$HUMID,2203
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.60
$XPDR_PINGS,7
$24V_AH,24.1,59.925
$10V_AH,10.5,57.649
$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,17.275,93.900,387.625,37.225,0.000,55.243,76.126,405.770,1.750,0.000,0.000,11.699,0.000,8221.524,461.520,2550.110,1086.372,33.354,1251.853,0.000,2278.405,0.000,0.544,0.000
$DEVICE_MAMPS,206.323,54.457,1050.790,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,361.979,1234.865,1275.740,193.988,985.910,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44552,536
$CAP_FILE_SIZE,108176,0
$CFSIZE,260165632,234762240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041012,000300,2249.257,-15746.387,42,1.5,42,10.1