version: 66.04
glider: 512
mission: 3
dive: 481
start: 10 6 112 0 30 44
data:
$ID,512
$MISSION,3
$DIVE,481
$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,-63535.746
$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,62
$R_STBD_OVSHOOT,56
$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
$GPS1,002300,2242.240,-15740.313,41,1.6,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-80.0
$GPS2,003001,2242.240,-15740.318,14,1.7,14,10.1
$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,-54946.4,303.9,962.9,60934.9,-1326.1
$KALMAN_Y,51538.6,292.8,489.6,-80380.4,56.1
$MHEAD_RNG_PITCHd_Wd,116.0,8008,-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,-131.4,0.0,0.0,0,99,0.00,0.00,-82.30,0.000,2,0.000,0.000,29,2771,2780
$GC,104,-0.53,-131.4,2.4,-3.1,10,122,8.93,1.58,-6.12,0.000,4,0.202,0.051,2346,3782,3088
$GC,203,-0.53,-131.4,29.9,-15.9,27,212,0.00,1.55,0.00,0.000,6,0.000,0.020,2346,2726,3089
$GC,462,-0.53,-131.4,79.0,-17.4,52,465,0.00,1.48,0.00,0.000,4,0.000,0.022,2346,1680,3089
$GC,627,-0.53,-131.4,102.5,-14.0,67,630,0.00,1.52,0.00,0.000,6,0.000,0.035,2339,2677,3090
$GC,889,-0.53,-131.4,140.4,-14.3,92,892,0.00,1.42,0.00,0.000,4,0.000,0.021,2339,1677,3090
$GC,914,-0.53,-131.4,143.9,-13.7,94,917,0.00,1.50,0.00,0.000,6,0.000,0.035,2333,2655,3090
$GC,1177,-0.53,-131.4,180.7,-14.2,119,1180,0.00,1.40,0.00,0.000,4,0.000,0.021,2333,1676,3090
$GC,1216,-0.53,-131.4,186.3,-13.0,122,1223,0.00,1.45,0.00,0.000,6,0.000,0.038,2333,2624,3090
$GC,1488,-0.53,-131.4,222.1,-13.3,137,1491,0.00,1.35,0.00,0.000,4,0.000,0.020,2333,1668,3090
$GC,1559,-0.53,-131.4,231.2,-12.2,138,1562,0.00,1.42,0.00,0.000,6,0.000,0.036,2326,2604,3090
$GC,1819,-0.53,-131.4,265.5,-13.2,145,1822,0.10,1.75,0.00,0.000,4,0.136,0.041,2346,3763,3090
$GC,1852,-0.53,-131.4,269.2,-9.8,145,1855,0.00,1.62,0.00,0.000,6,0.000,0.018,2346,2609,3090
$GC,2107,-0.53,-131.4,291.2,-8.5,152,2110,0.00,1.30,0.00,0.000,4,0.000,0.021,2346,1661,3090
$GC,2168,-0.53,-131.4,296.3,-8.2,153,2170,0.00,1.40,0.00,0.000,6,0.000,0.038,2346,2577,3090
$GC,2438,-0.53,-131.4,319.3,-8.8,160,2441,0.00,1.83,0.00,0.000,4,0.000,0.045,2339,3759,3089
$GC,2456,-0.53,-131.4,320.8,-8.4,160,2459,0.00,1.67,0.00,0.000,6,0.000,0.019,2339,2574,3088
$GC,2727,-0.53,-131.4,347.1,-9.8,167,2729,0.00,1.25,0.00,0.000,4,0.000,0.022,2339,1667,3087
$GC,2830,-0.53,-131.4,355.9,-8.5,169,2833,0.00,1.30,0.00,0.000,6,0.000,0.037,2333,2519,3087
$GC,3103,-0.53,-131.4,379.7,-8.9,176,3106,0.00,1.90,0.00,0.000,4,0.000,0.046,2324,3766,3084
$GC,3131,-0.53,-131.4,382.3,-8.7,176,3134,0.12,1.75,0.00,0.000,6,0.104,0.020,2362,2540,3083
$GC,3391,-0.53,-131.4,398.9,-6.3,183,3394,0.00,1.20,0.00,0.000,4,0.000,0.022,2363,1667,3082
$GC,3446,-0.53,-131.4,402.5,-6.1,184,3449,0.00,1.30,0.00,0.000,6,0.000,0.038,2359,2512,3082
$GC,3725,-0.53,-131.4,421.7,-7.3,191,3728,0.00,1.92,0.00,0.000,4,0.000,0.048,2351,3765,3079
$GC,3763,-0.53,-131.4,425.0,-8.0,191,3769,0.00,1.80,0.00,0.000,6,0.000,0.021,2351,2508,3079
$GC,4013,-0.53,-131.4,446.6,-8.8,198,4016,0.00,1.17,-0.08,0.000,4,0.000,0.046,2351,1674,3101
$GC,4063,-0.53,-131.4,451.1,-8.6,199,4065,0.00,1.27,0.00,0.000,6,0.000,0.038,2346,2503,3101
$GC,4346,-0.53,-131.4,476.6,-9.0,206,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2503,3099
$GC,4586,-0.53,-131.4,495.8,-7.7,212,4589,0.00,1.20,0.00,0.000,4,0.000,0.024,2346,1670,3098
$GC,4620,-0.53,-131.4,498.2,-7.5,212,4623,0.00,1.27,0.00,0.000,6,0.000,0.041,2346,2490,3098
$GC,4874,-0.53,-131.4,514.0,-6.1,219,4877,0.00,1.98,0.00,0.000,4,0.000,0.051,2346,3760,3096
$GC,4897,-0.53,-131.4,515.3,-5.3,219,4900,0.00,1.83,0.00,0.000,6,0.000,0.022,2346,2498,3096
$GC,5165,-0.53,-131.4,531.1,-6.1,226,5168,0.00,1.15,0.00,0.000,4,0.000,0.025,2346,1667,3094
$GC,5226,-0.53,-131.4,535.8,-7.0,227,5229,0.00,1.27,0.00,0.000,6,0.000,0.042,2346,2484,3094
$GC,5497,-0.53,-131.4,558.2,-8.6,234,5500,0.00,2.00,0.00,0.000,4,0.000,0.052,2346,3765,3092
$GC,5514,-0.53,-131.4,559.9,-8.9,234,5517,0.00,1.83,0.00,0.000,6,0.000,0.023,2346,2509,3092
$GC,5787,-0.53,-131.4,583.5,-8.7,241,5790,0.00,1.17,0.00,0.000,4,0.000,0.025,2346,1668,3090
$GC,5847,-0.53,-131.4,589.1,-8.8,242,5850,0.00,1.23,0.00,0.000,6,0.000,0.044,2346,2451,3090
$STATE,5994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5994,begin apogee
$GC,6005,-0.18,0.0,600.8,7.9,246,6125,0.38,0.00,118.82,1.053,6,0.085,0.000,2474,2337,2550
$STATE,6126,end apogee,CONTROL_FINISHED_OK
$STATE,6126,begin climb
$GC,6131,0.53,131.4,606.1,0.0,249,6264,0.57,1.60,120.55,1.003,4,0.038,0.025,2710,1322,2013
$GC,6307,0.53,131.4,596.3,14.3,253,6310,0.00,1.60,0.00,0.000,6,0.000,0.037,2710,2337,2009
$GC,6588,0.53,131.4,552.7,15.5,260,6592,0.00,1.70,0.00,0.000,4,0.000,0.044,2710,3416,2004
$GC,6718,0.53,131.4,530.9,16.7,263,6721,0.00,1.48,0.00,0.000,6,0.000,0.024,2717,2426,2002
$GC,7005,0.53,131.4,490.9,13.3,270,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2419,2001
$GC,7249,0.53,131.4,461.2,12.3,276,7252,0.00,1.58,0.00,0.000,4,0.000,0.043,2715,3418,2001
$GC,7283,0.53,131.4,456.8,13.3,276,7285,0.00,1.45,0.00,0.000,6,0.000,0.024,2721,2436,2000
$GC,7537,0.53,131.4,424.8,12.7,283,7540,0.00,1.62,0.00,0.000,4,0.000,0.028,2729,1305,2000
$GC,7661,0.53,131.4,409.8,11.1,285,7669,0.08,1.70,0.00,0.000,6,0.155,0.041,2706,2396,1999
$GC,7911,0.53,131.8,384.0,10.0,292,7914,0.00,1.58,0.00,0.000,4,0.000,0.044,2703,3410,1998
$GC,7998,0.53,131.8,374.1,11.5,294,8001,0.00,1.45,0.00,0.000,6,0.000,0.025,2708,2432,1998
$GC,8286,0.53,131.8,341.7,11.6,301,8289,0.00,1.60,0.00,0.000,4,0.000,0.028,2717,1337,1998
$GC,8342,0.53,131.8,335.3,11.1,302,8345,0.00,1.65,0.00,0.000,6,0.000,0.040,2716,2399,1997
$GC,8618,0.53,131.8,305.5,10.7,309,8620,0.00,1.60,0.00,0.000,4,0.000,0.046,2716,3422,1997
$GC,8662,0.53,131.8,300.7,12.0,310,8665,0.00,1.45,0.00,0.000,6,0.000,0.025,2721,2442,1996
$GC,8949,0.54,152.4,274.5,8.9,317,8977,0.00,1.58,18.75,0.752,4,0.000,0.044,2721,3418,1927
$GC,9056,0.54,152.4,264.0,10.5,319,9058,0.00,1.40,0.00,0.000,6,0.000,0.024,2728,2474,1926
$GC,9323,0.55,175.9,239.1,8.8,326,9347,0.00,1.67,21.02,0.795,4,0.000,0.026,2737,1317,1833
$GC,9409,0.55,194.5,230.9,9.0,328,9432,0.08,1.83,17.45,0.766,6,0.140,0.040,2713,2472,1757
$GC,9689,0.56,213.9,205.2,9.0,335,9711,0.00,1.52,17.35,0.745,4,0.000,0.045,2713,3421,1678
$GC,9763,0.56,217.5,198.8,9.8,336,9774,0.00,1.38,5.00,0.558,6,0.000,0.023,2719,2501,1662
$GC,10031,0.56,218.5,173.9,10.0,361,10038,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2500,1660
$GC,10288,0.56,218.5,144.9,11.6,386,10291,0.00,1.70,0.00,0.000,4,0.000,0.027,2728,1325,1659
$GC,10347,0.56,218.5,138.8,10.3,391,10350,0.00,1.77,0.00,0.000,6,0.000,0.038,2728,2479,1658
$GC,10610,0.56,221.0,110.3,9.9,416,10623,0.00,0.00,4.12,0.457,6,0.000,0.000,2728,2479,1649
$GC,10874,0.57,233.2,85.2,9.4,441,10887,0.00,0.00,11.93,0.613,6,0.000,0.000,2728,2480,1599
$GC,11137,0.60,311.4,63.9,6.0,466,11207,0.00,1.73,64.30,0.633,4,0.000,0.024,2735,1335,1278
$GC,11233,0.62,372.2,57.9,6.9,473,11289,0.00,1.73,49.95,0.613,6,0.000,0.037,2735,2446,1031
$GC,11538,0.65,426.4,36.3,7.2,501,11593,0.00,1.58,43.97,0.594,4,0.000,0.043,2735,3426,809
$GC,11735,0.65,439.3,18.2,9.3,529,11752,0.00,1.42,11.70,0.532,6,0.000,0.021,2735,2453,758
$STATE,11888,end climb,SURFACE_DEPTH_REACHED
$STATE,11888,begin surface coast
$FINISH,0.0,1.000811
$STATE,11919,end surface coast,CONTROL_FINISHED_OK
$STATE,11919,begin surface
$SM_CCo,12003,0.00,0.000,0,0,755,440.31
$SM_GC,0.94,6.88,0.00,0.00,0.025,0.000,0.000,39,2752,755,-7.68,0.62,440.31
$IRIDIUM_FIX,2237.01,-15740.24,301201,212148
$TT8_MAMPS,0.047554
$HUMID,2195
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.60
$XPDR_PINGS,9
$24V_AH,24.0,61.943
$10V_AH,10.5,59.815
$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,17.125,95.975,504.925,0.000,0.000,28.042,38.431,182.565,2.250,0.000,0.000,14.941,0.000,8343.544,487.538,2783.349,789.081,33.358,1392.843,0.000,2501.996,0.000,0.543,0.000
$DEVICE_MAMPS,202.488,52.156,1053.091,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,379.537,1317.786,1360.181,205.120,1076.051,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47682,563
$CAP_FILE_SIZE,107964,0
$CFSIZE,260165632,233897984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,061012,035159,2241.375,-15739.648,35,1.2,45,10.1