version: 66.04
glider: 512
mission: 3
dive: 468
start: 10 4 112 3 50 48
data:
$ID,512
$MISSION,3
$DIVE,468
$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,-63247.773
$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,61
$R_STBD_OVSHOOT,28
$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
$GPS1,033127,2248.421,-15746.087,14,5.3,33,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-81.3
$GPS2,035005,2248.495,-15746.327,16,1.3,32,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.131,-0.210
$KALMAN_X,-45659.4,32.8,-363.1,43006.7,-952.5
$KALMAN_Y,33026.9,59.5,-591.0,-48974.5,1741.9
$MHEAD_RNG_PITCHd_Wd,138.0,23422,-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,-73.93,0.000,2,0.000,0.000,36,2751,2784
$GC,96,-0.53,-131.4,2.6,-3.8,9,113,9.00,0.00,-6.05,0.000,6,0.206,0.000,2347,2751,3088
$GC,370,-0.53,-131.4,64.9,-18.4,42,372,0.00,1.55,0.00,0.000,4,0.000,0.021,2349,1672,3089
$GC,406,-0.53,-131.4,71.5,-15.6,45,408,0.00,1.62,0.00,0.000,6,0.000,0.038,2346,2742,3089
$GC,668,-0.53,-131.4,111.1,-14.5,70,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2743,3090
$GC,927,-0.53,-131.4,146.4,-13.3,95,930,0.00,1.55,0.00,0.000,4,0.000,0.021,2346,1661,3090
$GC,1026,-0.53,-131.4,159.3,-12.4,104,1029,0.00,1.65,0.00,0.000,6,0.000,0.037,2338,2735,3090
$GC,1289,-0.53,-131.4,196.0,-14.3,129,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2735,3090
$GC,1559,-0.53,-131.4,230.0,-12.0,138,1562,0.00,1.52,0.00,0.000,4,0.000,0.021,2338,1671,3090
$GC,1721,-0.53,-131.4,246.5,-9.0,141,1723,0.00,1.52,0.00,0.000,6,0.000,0.037,2333,2667,3090
$GC,1976,-0.53,-131.4,274.5,-11.5,148,1979,0.00,1.42,0.00,0.000,4,0.000,0.021,2333,1668,3090
$GC,2079,-0.53,-131.4,286.3,-11.5,150,2082,0.00,1.48,0.00,0.000,6,0.000,0.039,2333,2625,3089
$GC,2349,-0.53,-131.4,317.8,-11.6,157,2352,0.00,1.38,0.00,0.000,4,0.000,0.021,2333,1662,3088
$GC,2388,-0.53,-131.4,322.0,-10.9,157,2394,0.00,1.52,0.00,0.000,6,0.000,0.038,2332,2649,3088
$GC,2637,-0.53,-131.4,348.3,-10.5,164,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2650,3087
$GC,2880,-0.53,-131.4,370.9,-9.2,170,2883,0.00,1.40,0.00,0.000,4,0.000,0.022,2333,1671,3084
$GC,3010,-0.53,-131.4,383.2,-9.3,173,3013,0.00,1.50,0.00,0.000,6,0.000,0.040,2333,2635,3083
$GC,3297,-0.53,-131.4,411.0,-9.6,180,3300,0.00,1.40,0.00,0.000,4,0.000,0.023,2333,1663,3080
$GC,3343,-0.53,-131.4,415.3,-9.0,181,3346,0.00,1.48,0.00,0.000,6,0.000,0.040,2333,2613,3080
$GC,3631,-0.53,-131.4,442.0,-9.3,188,3633,0.00,1.38,0.00,0.000,4,0.000,0.023,2333,1661,3077
$GC,3653,-0.53,-131.4,444.1,-9.0,188,3656,0.00,1.45,0.00,0.000,6,0.000,0.041,2333,2595,3077
$GC,3919,-0.53,-131.4,467.9,-8.9,195,3922,0.00,1.38,-0.08,0.000,4,0.000,0.044,2333,1664,3100
$GC,3974,-0.53,-131.4,472.7,-8.3,196,3977,0.00,1.40,0.00,0.000,6,0.000,0.041,2333,2565,3100
$GC,4250,-0.53,-131.4,498.1,-9.3,203,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2566,3098
$GC,4492,-0.53,-131.4,520.9,-9.5,209,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2566,3096
$GC,4734,-0.53,-131.4,542.0,-8.6,215,4737,0.00,1.30,0.00,0.000,4,0.000,0.025,2333,1669,3094
$GC,4781,-0.53,-131.4,545.8,-8.0,216,4784,0.00,1.40,0.00,0.000,6,0.000,0.043,2333,2563,3094
$GC,5068,-0.53,-131.4,571.0,-8.8,223,5071,0.00,1.90,0.00,0.000,4,0.000,0.051,2324,3784,3092
$GC,5107,-0.53,-131.4,574.6,-9.1,223,5112,0.12,1.77,0.00,0.000,6,0.104,0.025,2362,2565,3092
$GC,5356,-0.53,-131.4,592.6,-7.2,230,5359,0.00,1.25,0.00,0.000,4,0.000,0.026,2362,1677,3090
$GC,5427,-0.53,-131.4,597.9,-7.9,231,5430,0.00,1.33,0.00,0.000,6,0.000,0.042,2359,2525,3090
$STATE,5480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5480,begin apogee
$GC,5491,-0.18,0.0,602.1,7.2,233,5611,0.32,0.00,118.22,1.063,6,0.084,0.000,2471,2342,2550
$STATE,5611,end apogee,CONTROL_FINISHED_OK
$STATE,5611,begin climb
$GC,5616,0.53,131.4,608.3,0.0,236,5747,0.57,1.58,120.68,1.006,4,0.038,0.026,2708,1319,2014
$GC,5831,0.53,131.4,595.6,13.5,241,5834,0.00,1.70,0.00,0.000,6,0.000,0.040,2708,2364,2008
$GC,6112,0.53,131.4,555.7,14.3,248,6115,0.00,1.65,0.00,0.000,4,0.000,0.046,2708,3428,2005
$GC,6237,0.53,131.4,536.6,14.8,250,6244,0.00,1.58,0.00,0.000,6,0.000,0.025,2715,2381,2002
$GC,6486,0.53,131.4,501.9,13.7,257,6489,0.00,1.67,0.00,0.000,4,0.000,0.046,2715,3423,2001
$GC,6578,0.53,131.4,488.3,14.5,259,6581,0.00,1.48,0.00,0.000,6,0.000,0.025,2721,2432,2001
$GC,6862,0.53,131.4,449.2,13.9,266,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2426,2000
$GC,7101,0.53,131.4,415.1,14.3,272,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2426,1999
$GC,7343,0.53,131.4,382.3,13.4,278,7346,0.00,1.58,0.00,0.000,4,0.000,0.046,2716,3417,1999
$GC,7361,0.53,131.4,380.2,12.3,278,7364,0.00,1.45,0.00,0.000,6,0.000,0.025,2722,2439,1999
$GC,7632,0.53,131.4,347.8,11.9,285,7635,0.00,1.65,0.00,0.000,4,0.000,0.029,2729,1297,1999
$GC,7735,0.53,131.4,336.1,10.5,287,7738,0.12,1.77,0.00,0.000,6,0.153,0.042,2696,2452,1998
$GC,8006,0.53,133.1,308.7,9.9,294,8009,0.00,1.52,0.00,0.000,4,0.000,0.049,2696,3421,1997
$GC,8188,0.53,145.6,291.3,9.4,298,8202,0.00,1.38,11.12,0.799,6,0.000,0.026,2702,2488,1956
$GC,8464,0.55,180.3,268.3,8.2,305,8498,0.00,1.75,30.95,0.833,4,0.000,0.028,2710,1302,1813
$GC,8554,0.56,203.1,260.5,8.8,306,8578,0.00,1.90,20.55,0.794,6,0.000,0.043,2710,2509,1722
$GC,8824,0.56,203.1,229.6,11.2,312,8826,0.00,1.42,0.00,0.000,4,0.000,0.047,2710,3417,1718
$GC,8911,0.56,203.1,219.7,12.1,314,8914,0.00,1.35,0.00,0.000,6,0.000,0.025,2717,2516,1717
$GC,9171,0.56,203.1,193.4,11.3,324,9174,0.00,1.77,0.00,0.000,4,0.000,0.028,2725,1293,1716
$GC,9238,0.56,203.1,186.5,10.0,330,9241,0.00,1.92,0.00,0.000,6,0.000,0.041,2725,2534,1714
$GC,9503,0.56,203.1,157.3,11.0,355,9506,0.00,1.38,0.00,0.000,4,0.000,0.045,2725,3417,1715
$GC,9581,0.56,203.1,147.9,11.4,362,9584,0.00,1.30,0.00,0.000,6,0.000,0.024,2732,2527,1714
$GC,9845,0.56,203.1,120.3,10.4,387,9848,0.00,1.77,0.00,0.000,4,0.000,0.029,2739,1300,1714
$GC,9957,0.56,203.1,108.7,10.1,397,9963,0.08,1.90,0.00,0.000,6,0.126,0.040,2713,2519,1714
$GC,10219,0.57,243.4,85.9,7.9,422,10257,0.00,0.00,33.28,0.660,6,0.000,0.000,2713,2519,1558
$GC,10512,0.58,271.9,59.5,8.5,449,10544,0.00,1.85,24.50,0.622,4,0.000,0.026,2713,1299,1441
$GC,10560,0.60,320.5,55.5,7.5,453,10604,0.00,1.92,40.80,0.620,6,0.000,0.039,2713,2539,1243
$GC,10865,0.64,399.5,35.6,5.9,481,10934,0.00,1.38,63.47,0.603,4,0.000,0.041,2713,3431,920
$GC,10950,0.66,471.3,30.2,6.3,487,11016,0.00,1.40,57.58,0.584,6,0.000,0.022,2712,2485,628
$STATE,11206,end climb,SURFACE_DEPTH_REACHED
$STATE,11206,begin surface coast
$FINISH,0.2,1.023318
$STATE,11232,end surface coast,CONTROL_FINISHED_OK
$STATE,11232,begin surface
$SM_CCo,11315,0.00,0.000,0,0,623,472.69
$SM_GC,0.88,6.85,0.00,0.00,0.025,0.000,0.000,44,2777,623,-7.69,1.33,472.69
$IRIDIUM_FIX,2239.35,-15747.62,291201,030343
$TT8_MAMPS,0.048321
$HUMID,2215
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.30
$XPDR_PINGS,7
$24V_AH,24.0,60.224
$10V_AH,10.5,57.940
$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,17.075,78.225,521.150,0.000,0.000,72.781,102.078,616.521,1.750,0.000,0.000,32.790,0.000,7930.144,470.005,2710.347,1302.498,33.361,1345.107,0.000,2418.341,0.000,0.544,0.000
$DEVICE_MAMPS,206.323,51.389,1063.062,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,360.915,1270.318,1311.896,235.084,1035.657,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44604,536
$CAP_FILE_SIZE,110526,0
$CFSIZE,260165632,234647552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041012,070035,2248.350,-15745.892,40,1.0,45,10.1