version: 66.04
glider: 512
mission: 3
dive: 469
start: 10 4 112 7 9 51
data:
$ID,512
$MISSION,3
$DIVE,469
$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,-63264.117
$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,62
$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
$GPS1,070035,2248.350,-15745.892,40,1.0,45,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-78.3
$GPS2,070913,2248.406,-15745.953,15,1.0,15,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.039,-0.244
$KALMAN_X,-46278.9,28.6,-678.2,44577.1,525.1
$KALMAN_Y,34543.8,42.9,253.6,-51489.3,1636.1
$MHEAD_RNG_PITCHd_Wd,160.9,22898,-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,-131.4,0.0,0.0,0,104,0.00,0.00,-82.22,0.000,2,0.000,0.000,42,2776,2728
$GC,109,-0.53,-131.4,2.4,-3.6,10,135,8.98,1.62,-7.30,0.000,4,0.207,0.039,2356,1655,3089
$GC,155,-0.53,-131.4,18.7,-35.8,16,163,0.00,1.62,0.00,0.000,6,0.000,0.038,2351,2694,3090
$GC,416,-0.53,-131.4,71.9,-17.0,45,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2695,3090
$GC,674,-0.53,-131.4,113.7,-15.8,70,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2695,3090
$GC,932,-0.53,-131.4,150.3,-14.4,95,935,0.00,1.48,0.00,0.000,4,0.000,0.021,2350,1665,3090
$GC,1046,-0.53,-131.4,165.9,-12.8,105,1054,0.00,1.62,0.00,0.000,6,0.000,0.037,2346,2723,3090
$GC,1304,-0.53,-131.4,200.7,-13.8,130,1307,0.00,1.52,0.00,0.000,4,0.000,0.021,2346,1656,3090
$GC,1351,-0.53,-131.4,206.9,-12.5,131,1354,0.00,1.62,0.00,0.000,6,0.000,0.038,2346,2729,3091
$GC,1638,-0.53,-131.4,243.4,-12.5,138,1640,0.00,1.52,0.00,0.000,4,0.000,0.021,2346,1661,3090
$GC,1789,-0.53,-131.4,261.1,-11.5,141,1791,0.00,1.50,0.00,0.000,6,0.000,0.037,2339,2642,3090
$GC,2054,-0.53,-131.4,289.6,-10.4,148,2056,0.00,1.40,0.00,0.000,4,0.000,0.021,2339,1660,3090
$GC,2141,-0.53,-131.4,297.5,-9.1,150,2144,0.00,1.45,0.00,0.000,6,0.000,0.036,2333,2602,3090
$GC,2428,-0.53,-131.4,326.8,-10.4,157,2431,0.00,1.35,0.00,0.000,4,0.000,0.021,2333,1654,3089
$GC,2456,-0.53,-131.4,329.9,-11.1,157,2459,0.00,1.45,0.00,0.000,6,0.000,0.038,2333,2594,3089
$GC,2716,-0.53,-131.4,359.0,-11.3,164,2719,0.00,1.85,0.00,0.000,4,0.000,0.046,2324,3789,3087
$GC,2739,-0.53,-131.4,361.6,-11.2,164,2742,0.12,1.75,0.00,0.000,6,0.103,0.021,2363,2565,3087
$GC,3006,-0.53,-131.4,380.4,-6.5,171,3009,0.00,1.25,0.00,0.000,4,0.000,0.023,2363,1661,3085
$GC,3077,-0.53,-131.4,384.7,-5.8,172,3080,0.00,1.40,0.00,0.000,6,0.000,0.038,2359,2570,3085
$GC,3337,-0.53,-131.4,400.8,-6.3,179,3340,0.00,1.30,0.00,0.000,4,0.000,0.022,2359,1658,3083
$GC,3365,-0.53,-131.4,402.7,-6.2,179,3368,0.00,1.40,0.00,0.000,6,0.000,0.040,2359,2563,3082
$GC,3627,-0.53,-131.4,420.1,-6.9,186,3631,0.00,1.30,0.00,0.000,4,0.000,0.023,2359,1653,3080
$GC,3667,-0.53,-131.4,423.3,-7.3,186,3672,0.00,1.38,0.00,0.000,6,0.000,0.041,2359,2540,3080
$GC,3916,-0.53,-131.4,443.6,-8.4,193,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2540,3078
$GC,4158,-0.53,-131.4,463.2,-8.2,199,4161,0.00,1.95,-0.08,0.000,4,0.000,0.064,2350,3782,3101
$GC,4181,-0.53,-131.4,465.2,-8.4,199,4184,0.00,1.88,0.00,0.000,6,0.000,0.023,2350,2512,3101
$GC,4449,-0.53,-131.4,486.6,-8.0,206,4452,0.00,1.20,0.00,0.000,4,0.000,0.025,2350,1657,3099
$GC,4493,-0.53,-131.4,490.2,-7.2,207,4496,0.00,1.35,0.00,0.000,6,0.000,0.041,2346,2522,3099
$GC,4780,-0.53,-131.4,511.7,-7.5,214,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2522,3097
$GC,5022,-0.53,-131.4,530.3,-7.7,220,5025,0.00,1.98,0.00,0.000,4,0.000,0.051,2337,3791,3095
$GC,5040,-0.53,-131.4,531.8,-7.6,220,5043,0.00,1.88,0.00,0.000,6,0.000,0.025,2337,2510,3096
$GC,5310,-0.53,-131.4,553.6,-7.9,227,5314,0.00,1.20,0.00,0.000,4,0.000,0.027,2336,1658,3094
$GC,5377,-0.53,-131.4,558.6,-6.9,228,5380,0.00,1.33,0.00,0.000,6,0.000,0.041,2333,2508,3094
$GC,5642,-0.53,-131.4,579.1,-7.8,235,5645,0.00,2.00,0.00,0.000,4,0.000,0.053,2333,3778,3092
$GC,5688,-0.53,-131.4,582.7,-7.9,236,5692,0.00,1.90,0.00,0.000,6,0.000,0.025,2332,2509,3091
$STATE,5930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5930,begin apogee
$GC,5941,-0.18,0.0,603.1,8.3,242,6061,0.43,0.00,118.10,1.061,6,0.133,0.000,2470,2332,2549
$STATE,6061,end apogee,CONTROL_FINISHED_OK
$STATE,6061,begin climb
$GC,6066,0.53,131.4,607.9,0.0,245,6196,0.62,1.80,120.25,1.011,4,0.038,0.044,2711,3423,2014
$GC,6311,0.53,131.4,587.0,16.2,251,6314,0.00,1.60,0.00,0.000,6,0.000,0.025,2719,2361,2009
$GC,6587,0.53,131.4,546.5,14.4,258,6590,0.00,1.67,0.00,0.000,4,0.000,0.044,2715,3418,2004
$GC,6625,0.53,131.4,540.5,15.1,258,6631,0.00,1.55,0.00,0.000,6,0.000,0.025,2722,2388,2004
$GC,6874,0.53,131.4,504.1,14.4,265,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2382,2002
$GC,7119,0.53,131.4,472.0,12.8,271,7122,0.00,1.62,0.00,0.000,4,0.000,0.045,2716,3421,2001
$GC,7168,0.53,131.4,465.0,14.2,272,7171,0.00,1.52,0.00,0.000,6,0.000,0.025,2722,2398,2001
$GC,7449,0.53,131.4,426.3,13.6,279,7452,0.00,1.62,0.00,0.000,4,0.000,0.044,2716,3433,2000
$GC,7547,0.53,131.4,412.1,15.1,281,7550,0.00,1.50,0.00,0.000,6,0.000,0.026,2722,2430,2000
$GC,7823,0.53,131.4,377.3,12.2,288,7826,0.00,1.62,0.00,0.000,4,0.000,0.028,2730,1303,2000
$GC,7905,0.53,131.4,367.9,11.5,289,7910,0.12,1.70,0.00,0.000,6,0.153,0.041,2696,2412,1998
$GC,8156,0.53,142.2,343.3,9.4,296,8169,0.00,1.60,8.20,0.785,4,0.000,0.047,2696,3417,1969
$GC,8285,0.53,142.2,329.5,10.4,299,8288,0.00,1.42,0.00,0.000,6,0.000,0.026,2702,2466,1969
$GC,8574,0.54,151.4,300.8,9.5,306,8587,0.00,1.67,9.73,0.785,4,0.000,0.029,2710,1315,1932
$GC,8683,0.55,194.2,291.0,7.8,308,8726,0.00,1.75,37.58,0.851,6,0.000,0.041,2710,2452,1758
$GC,8990,0.55,194.2,259.2,10.8,316,8993,0.00,1.52,0.00,0.000,4,0.000,0.048,2710,3417,1752
$GC,9066,0.55,194.2,250.5,11.1,317,9069,0.00,1.40,0.00,0.000,6,0.000,0.025,2717,2481,1751
$GC,9321,0.55,194.2,224.6,10.2,324,9324,0.00,1.70,0.00,0.000,4,0.000,0.030,2725,1307,1750
$GC,9370,0.55,195.6,219.5,9.9,325,9373,0.00,1.83,0.00,0.000,6,0.000,0.041,2725,2487,1749
$GC,9625,0.56,203.2,193.5,9.6,335,9638,0.00,1.42,7.75,0.662,4,0.000,0.043,2726,3422,1722
$GC,9705,0.56,203.2,185.2,10.8,342,9708,0.00,1.35,0.00,0.000,6,0.000,0.024,2732,2510,1722
$GC,9969,0.56,203.2,157.7,10.1,367,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2505,1721
$GC,10227,0.56,203.2,131.8,10.5,392,10230,0.00,1.73,0.00,0.000,4,0.000,0.028,2739,1309,1721
$GC,10327,0.56,222.7,122.6,9.0,401,10354,0.00,1.85,18.30,0.671,6,0.000,0.039,2739,2518,1641
$GC,10608,0.56,222.7,94.9,10.5,427,10611,0.00,1.77,0.00,0.000,4,0.000,0.025,2747,1300,1639
$GC,10668,0.56,222.7,88.2,10.0,432,10676,0.10,1.83,0.00,0.000,6,0.113,0.039,2713,2472,1638
$GC,10931,0.59,285.5,69.3,6.8,457,10987,0.00,1.52,51.53,0.634,4,0.000,0.044,2713,3422,1385
$GC,11065,0.61,330.8,59.1,7.7,468,11107,0.00,1.38,37.88,0.609,6,0.000,0.022,2713,2496,1200
$GC,11356,0.64,404.6,41.2,6.2,495,11423,0.00,1.77,59.50,0.595,4,0.000,0.026,2713,1322,898
$GC,11661,0.64,404.6,14.1,10.4,538,11670,0.00,1.88,0.00,0.000,6,0.000,0.035,2713,2524,895
$STATE,11770,end climb,SURFACE_DEPTH_REACHED
$STATE,11770,begin surface coast
$FINISH,0.0,1.020590
$STATE,11811,end surface coast,CONTROL_FINISHED_OK
$STATE,11811,begin surface
$SM_CCo,11893,0.00,0.000,0,0,894,406.21
$SM_GC,1.00,6.72,0.00,0.00,0.019,0.000,0.000,34,2777,894,-7.70,1.33,406.21
$IRIDIUM_FIX,2241.69,-15746.73,291201,030315
$TT8_MAMPS,0.046787
$HUMID,2162
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.30
$XPDR_PINGS,11
$24V_AH,24.0,60.357
$10V_AH,10.5,58.090
$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,17.100,92.575,468.800,0.000,0.000,25.716,39.352,276.912,2.750,0.000,0.000,15.716,0.000,8240.301,478.098,2815.227,852.253,33.354,1374.577,0.000,2518.687,0.000,0.544,0.000
$DEVICE_MAMPS,207.090,63.661,1060.761,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,381.039,1335.719,1375.841,207.452,1104.497,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47751,566
$CAP_FILE_SIZE,105870,0
$CFSIZE,260165632,234590208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041012,102905,2247.755,-15745.449,34,1.5,34,10.1