version: 66.04
glider: 512
mission: 3
dive: 475
start: 10 5 112 3 43 55
data:
$ID,512
$MISSION,3
$DIVE,475
$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,-63412.137
$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,51
$R_STBD_OVSHOOT,33
$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
$GPS1,033523,2244.693,-15742.862,30,1.5,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-79.9
$GPS2,034312,2244.690,-15742.931,11,1.3,16,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.164,-0.186
$KALMAN_X,-50583.7,83.9,-65.2,53371.5,-1642.3
$KALMAN_Y,42866.0,90.1,-752.8,-65728.1,1810.2
$MHEAD_RNG_PITCHd_Wd,128.5,14295,-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,14,-0.53,-131.4,0.0,0.0,0,98,0.00,0.00,-82.20,0.000,2,0.000,0.000,29,2741,2860
$GC,104,-0.53,-131.4,3.1,-5.3,10,121,8.93,0.00,-4.25,0.000,6,0.205,0.000,2345,2740,3086
$GC,382,-0.53,-131.4,72.6,-19.7,42,385,0.00,1.55,0.00,0.000,4,0.000,0.023,2345,1663,3087
$GC,427,-0.53,-131.4,82.2,-17.5,46,431,0.00,1.65,0.00,0.000,6,0.000,0.041,2345,2725,3087
$GC,692,-0.53,-131.4,117.8,-13.1,71,694,0.00,1.52,0.00,0.000,4,0.000,0.021,2345,1661,3088
$GC,727,-0.53,-131.4,122.4,-12.1,74,730,0.00,1.67,0.00,0.000,6,0.000,0.039,2345,2748,3088
$GC,990,-0.53,-131.4,156.0,-13.5,99,993,0.00,1.58,0.00,0.000,4,0.000,0.021,2345,1649,3088
$GC,1071,-0.53,-131.4,167.3,-13.2,106,1078,0.00,1.62,0.00,0.000,6,0.000,0.038,2338,2705,3088
$GC,1346,-0.53,-131.4,206.3,-13.3,130,1349,0.00,1.65,0.00,0.000,4,0.000,0.044,2330,3800,3088
$GC,1369,-0.53,-131.4,209.5,-13.9,130,1372,0.00,1.60,0.00,0.000,6,0.000,0.020,2330,2674,3088
$GC,1634,-0.53,-131.4,242.6,-12.3,137,1637,0.00,1.42,0.00,0.000,4,0.000,0.021,2330,1648,3088
$GC,1673,-0.53,-131.4,246.9,-9.7,137,1679,0.12,1.60,0.00,0.000,6,0.117,0.037,2359,2715,3088
$GC,1922,-0.53,-131.4,266.1,-7.6,144,1925,0.00,1.50,0.00,0.000,4,0.000,0.021,2359,1659,3088
$GC,2020,-0.53,-131.4,273.7,-7.8,146,2023,0.00,1.48,0.00,0.000,6,0.000,0.038,2359,2618,3088
$GC,2296,-0.53,-131.4,297.1,-8.9,153,2299,0.00,1.38,0.00,0.000,4,0.000,0.021,2359,1652,3087
$GC,2351,-0.53,-131.4,302.4,-9.1,154,2354,0.00,1.45,0.00,0.000,6,0.000,0.038,2359,2594,3087
$GC,2630,-0.53,-131.4,325.5,-8.2,161,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2594,3085
$GC,2869,-0.53,-131.4,344.0,-7.5,167,2872,0.00,1.35,0.00,0.000,4,0.000,0.022,2359,1648,3083
$GC,2940,-0.53,-131.4,349.3,-7.8,168,2943,0.00,1.42,0.00,0.000,6,0.000,0.039,2358,2573,3083
$GC,3200,-0.53,-131.4,369.4,-7.9,175,3203,0.00,1.85,0.00,0.000,4,0.000,0.048,2351,3784,3081
$GC,3224,-0.53,-131.4,371.4,-8.6,175,3227,0.00,1.75,0.00,0.000,6,0.000,0.021,2351,2557,3080
$GC,3489,-0.53,-131.4,394.7,-8.7,182,3492,0.00,1.25,0.00,0.000,4,0.000,0.023,2351,1656,3079
$GC,3570,-0.53,-131.4,401.4,-7.5,183,3576,0.00,1.38,0.00,0.000,6,0.000,0.038,2346,2552,3078
$GC,3820,-0.53,-131.4,420.2,-7.4,190,3821,0.00,0.00,-0.08,0.000,6,0.000,0.000,2346,2552,3100
$GC,4064,-0.53,-131.4,439.0,-8.0,196,4067,0.00,1.30,0.00,0.000,4,0.000,0.025,2346,1653,3099
$GC,4103,-0.53,-131.4,442.5,-8.2,196,4108,0.00,1.38,0.00,0.000,6,0.000,0.041,2346,2541,3098
$GC,4352,-0.53,-131.4,464.5,-8.9,203,4355,0.00,1.92,0.00,0.000,4,0.000,0.051,2346,3780,3097
$GC,4386,-0.53,-131.4,467.3,-8.4,203,4389,0.00,1.83,0.00,0.000,6,0.000,0.023,2346,2519,3096
$GC,4640,-0.53,-131.4,488.8,-8.2,210,4643,0.00,1.20,0.00,0.000,4,0.000,0.025,2346,1661,3094
$GC,4701,-0.53,-131.4,493.4,-7.3,211,4704,0.00,1.35,0.00,0.000,6,0.000,0.041,2346,2529,3094
$GC,4972,-0.53,-131.4,513.6,-7.6,218,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2529,3092
$GC,5213,-0.53,-131.4,534.3,-8.7,224,5216,0.00,1.25,0.00,0.000,4,0.000,0.025,2346,1661,3091
$GC,5274,-0.53,-131.4,540.0,-10.0,225,5276,0.00,1.33,0.00,0.000,6,0.000,0.041,2346,2514,3090
$GC,5545,-0.53,-131.4,564.1,-8.8,232,5548,0.00,1.98,0.00,0.000,4,0.000,0.052,2346,3778,3088
$GC,5573,-0.53,-131.4,566.5,-8.2,232,5576,0.00,1.88,0.00,0.000,6,0.000,0.025,2346,2515,3088
$GC,5833,-0.53,-131.4,587.1,-7.8,239,5835,0.00,1.20,0.00,0.000,4,0.000,0.027,2345,1660,3087
$GC,5882,-0.53,-131.4,590.8,-7.4,240,5885,0.00,1.35,0.00,0.000,6,0.000,0.043,2346,2525,3087
$STATE,6037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6037,begin apogee
$GC,6049,-0.18,0.0,602.3,7.2,244,6169,0.38,0.00,118.55,1.056,6,0.087,0.000,2474,2341,2550
$STATE,6169,end apogee,CONTROL_FINISHED_OK
$STATE,6169,begin climb
$GC,6174,0.53,131.4,606.9,0.0,247,6304,0.57,0.00,120.55,1.006,6,0.040,0.000,2701,2342,2014
$GC,6583,0.53,131.4,565.0,13.7,257,6586,0.00,1.70,0.00,0.000,4,0.000,0.048,2701,3421,2004
$GC,6686,0.53,131.4,549.8,15.3,259,6689,0.00,1.55,0.00,0.000,6,0.000,0.025,2709,2389,2003
$GC,6959,0.53,131.4,513.4,13.1,266,6962,0.00,1.58,0.00,0.000,4,0.000,0.028,2717,1320,2001
$GC,7008,0.53,131.4,507.0,12.3,267,7011,0.00,1.65,0.00,0.000,6,0.000,0.041,2715,2397,2000
$GC,7290,0.53,131.4,470.8,12.6,274,7292,0.00,1.60,0.00,0.000,4,0.000,0.046,2716,3419,2000
$GC,7425,0.53,131.4,452.4,14.5,277,7428,0.00,1.48,0.00,0.000,6,0.000,0.025,2721,2421,2000
$GC,7706,0.53,131.4,417.0,12.3,284,7709,0.00,1.62,0.00,0.000,4,0.000,0.029,2730,1288,1999
$GC,7739,0.53,131.4,413.1,11.8,284,7743,0.12,1.73,0.00,0.000,6,0.163,0.041,2695,2418,1998
$GC,7996,0.53,131.4,385.4,10.8,291,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2417,1998
$GC,8236,0.53,131.4,360.1,10.1,297,8239,0.00,1.58,0.00,0.000,4,0.000,0.048,2695,3422,1998
$GC,8296,0.53,131.4,353.5,11.5,298,8299,0.00,1.52,0.00,0.000,6,0.000,0.026,2702,2393,1998
$GC,8567,0.54,166.0,329.2,8.2,305,8600,0.00,1.60,28.48,0.880,4,0.000,0.029,2710,1313,1872
$GC,8647,0.55,182.1,322.3,9.2,306,8666,0.00,1.65,15.48,0.825,6,0.000,0.041,2710,2377,1806
$GC,8938,0.55,182.1,289.5,11.3,314,8941,0.00,1.62,0.00,0.000,4,0.000,0.048,2710,3426,1802
$GC,9047,0.55,182.1,277.0,11.7,316,9050,0.00,1.55,0.00,0.000,6,0.000,0.025,2717,2398,1801
$GC,9313,0.55,192.9,250.6,9.4,323,9326,0.00,1.58,10.12,0.746,4,0.000,0.028,2725,1309,1762
$GC,9415,0.56,204.0,240.2,9.4,325,9429,0.00,1.62,10.85,0.743,6,0.000,0.041,2725,2362,1718
$GC,9679,0.56,204.0,211.3,11.0,332,9682,0.00,1.62,0.00,0.000,4,0.000,0.048,2725,3419,1715
$GC,9810,0.56,204.0,196.9,11.1,335,9813,0.00,1.50,0.00,0.000,6,0.000,0.025,2733,2416,1715
$GC,10073,0.56,204.0,168.9,10.8,360,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2409,1714
$GC,10332,0.56,204.0,139.7,10.6,385,10335,0.00,1.62,0.00,0.000,4,0.000,0.029,2739,1304,1714
$GC,10411,0.56,217.6,132.0,9.3,392,10428,0.12,1.73,13.05,0.673,6,0.137,0.040,2705,2434,1661
$GC,10688,0.57,243.0,107.9,8.7,418,10715,0.00,1.52,21.73,0.670,4,0.000,0.045,2705,3423,1558
$GC,10786,0.58,261.0,98.7,9.1,426,10807,0.00,1.45,16.75,0.641,6,0.000,0.023,2712,2446,1484
$GC,11063,0.60,299.9,74.7,8.0,452,11104,0.00,1.70,32.50,0.640,4,0.000,0.028,2713,1309,1328
$GC,11162,0.62,361.3,66.7,6.9,460,11218,0.00,1.70,50.90,0.629,6,0.000,0.038,2713,2414,1075
$GC,11467,0.64,421.9,48.0,6.9,488,11521,0.00,1.60,48.72,0.604,4,0.000,0.044,2713,3419,829
$GC,11762,0.64,421.9,18.4,10.8,525,11771,0.00,1.55,0.00,0.000,6,0.000,0.022,2713,2366,828
$STATE,11906,end climb,SURFACE_DEPTH_REACHED
$STATE,11906,begin surface coast
$FINISH,-0.0,1.010218
$STATE,11941,end surface coast,CONTROL_FINISHED_OK
$STATE,11941,begin surface
$SM_CCo,12025,0.00,0.000,0,0,826,422.89
$SM_GC,1.03,6.80,0.00,0.00,0.025,0.000,0.000,33,2758,826,-7.70,0.79,422.89
$IRIDIUM_FIX,2237.01,-15745.45,301201,000015
$TT8_MAMPS,0.04602
$HUMID,2201
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.10
$XPDR_PINGS,11
$24V_AH,24.0,61.155
$10V_AH,10.5,58.946
$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,17.050,91.100,487.675,0.000,0.000,29.257,41.970,202.689,2.750,0.000,0.000,21.051,0.000,8418.544,466.623,2768.563,820.429,33.360,1357.752,0.000,2473.802,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,52.156,1056.159,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,376.936,1297.988,1336.715,198.180,1037.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44699,559
$CAP_FILE_SIZE,106594,0
$CFSIZE,260165632,234246144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,051012,070530,2244.595,-15742.612,42,1.7,42,10.1