version: 66.04
glider: 512
mission: 3
dive: 485
start: 10 6 112 14 50 20
data:
$ID,512
$MISSION,3
$DIVE,485
$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,-63589.879
$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,65
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2540
$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
$GPS1,144200,2240.058,-15738.747,41,1.2,41,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-79.1
$GPS2,144942,2240.046,-15738.731,12,1.2,12,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,-0.134
$KALMAN_X,-57295.7,-470.7,808.0,66926.9,-2053.5
$KALMAN_Y,57648.5,-73.6,-15.3,-89693.5,853.6
$MHEAD_RNG_PITCHd_Wd,112.7,3125,-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,-74.00,0.000,2,0.000,0.000,46,2766,2714
$GC,96,-0.53,-131.4,2.5,-4.4,9,122,8.95,1.58,-7.43,0.000,4,0.205,0.052,2343,3783,3077
$GC,216,-0.53,-131.4,32.5,-15.0,28,224,0.00,1.58,0.00,0.000,6,0.000,0.019,2343,2716,3078
$GC,475,-0.53,-131.4,78.3,-15.7,53,477,0.00,1.48,0.00,0.000,4,0.000,0.022,2343,1675,3079
$GC,649,-0.53,-131.4,102.1,-11.8,69,651,0.00,1.48,0.00,0.000,6,0.000,0.035,2336,2636,3079
$GC,911,-0.53,-131.4,139.6,-14.2,94,914,0.00,1.38,0.00,0.000,4,0.000,0.021,2336,1674,3080
$GC,970,-0.53,-131.4,147.3,-13.8,99,972,0.00,1.45,0.00,0.000,6,0.000,0.037,2333,2619,3080
$GC,1234,-0.53,-131.4,183.9,-13.8,124,1237,0.00,1.35,0.00,0.000,4,0.000,0.020,2333,1666,3080
$GC,1251,-0.53,-131.4,187.0,-14.3,125,1259,0.00,1.45,0.00,0.000,6,0.000,0.035,2329,2619,3080
$GC,1513,-0.53,-131.4,223.2,-14.0,139,1516,0.00,1.35,0.00,0.000,4,0.000,0.020,2329,1670,3080
$GC,1530,-0.53,-131.4,225.7,-14.1,139,1534,0.08,1.42,0.00,0.000,6,0.118,0.035,2351,2607,3080
$GC,1803,-0.53,-131.4,255.8,-10.9,146,1806,0.00,1.75,0.00,0.000,4,0.000,0.044,2344,3767,3081
$GC,1820,-0.53,-131.4,257.7,-10.4,146,1823,0.00,1.65,0.00,0.000,6,0.000,0.019,2344,2602,3080
$GC,2091,-0.53,-131.4,282.3,-9.0,153,2094,0.00,1.30,0.00,0.000,4,0.000,0.021,2344,1659,3080
$GC,2141,-0.53,-131.4,286.6,-8.2,154,2144,0.00,1.45,0.00,0.000,6,0.000,0.037,2337,2610,3080
$GC,2424,-0.53,-131.4,312.6,-9.6,161,2427,0.00,1.33,0.00,0.000,4,0.000,0.021,2337,1673,3079
$GC,2517,-0.53,-131.4,322.2,-10.2,163,2520,0.00,1.38,0.00,0.000,6,0.000,0.037,2333,2572,3078
$GC,2798,-0.53,-131.4,352.1,-10.5,170,2801,0.00,1.27,0.00,0.000,4,0.000,0.021,2333,1673,3076
$GC,2845,-0.53,-131.4,356.5,-10.0,171,2848,0.00,1.35,0.00,0.000,6,0.000,0.038,2333,2547,3076
$GC,3132,-0.53,-131.4,381.5,-8.0,178,3135,0.00,1.88,0.00,0.000,4,0.000,0.048,2331,3769,3075
$GC,3171,-0.53,-131.4,384.1,-6.4,178,3176,0.00,1.75,0.00,0.000,6,0.000,0.021,2331,2549,3075
$GC,3420,-0.53,-131.4,402.6,-7.6,185,3423,0.00,1.23,0.00,0.000,4,0.000,0.023,2331,1667,3073
$GC,3476,-0.53,-131.4,407.3,-8.2,186,3478,0.00,1.35,0.00,0.000,6,0.000,0.039,2325,2541,3072
$GC,3751,-0.53,-131.4,434.4,-10.2,193,3754,0.12,1.25,0.00,0.000,4,0.120,0.022,2362,1674,3070
$GC,3785,-0.53,-131.4,437.6,-8.4,193,3788,0.00,1.30,0.00,0.000,6,0.000,0.039,2359,2517,3070
$GC,4040,-0.53,-131.4,458.5,-8.2,200,4041,0.00,0.00,-0.08,0.000,6,0.000,0.000,2359,2517,3092
$GC,4284,-0.53,-131.4,476.8,-7.4,206,4287,0.00,1.23,0.00,0.000,4,0.000,0.024,2359,1668,3091
$GC,4318,-0.53,-131.4,479.3,-7.2,206,4320,0.00,1.33,0.00,0.000,6,0.000,0.041,2359,2522,3091
$GC,4572,-0.53,-131.4,496.9,-7.1,213,4575,0.00,1.95,0.00,0.000,4,0.000,0.050,2350,3771,3089
$GC,4622,-0.53,-131.4,500.6,-7.1,214,4625,0.00,1.77,0.00,0.000,6,0.000,0.023,2350,2543,3088
$GC,4906,-0.53,-131.4,523.2,-8.1,221,4909,0.00,1.23,0.00,0.000,4,0.000,0.025,2350,1670,3087
$GC,4966,-0.53,-131.4,528.5,-8.9,222,4969,0.00,1.30,0.00,0.000,6,0.000,0.041,2346,2509,3087
$GC,5237,-0.53,-131.4,551.3,-8.4,229,5240,0.00,1.20,0.00,0.000,4,0.000,0.025,2346,1675,3085
$GC,5276,-0.53,-131.4,554.6,-8.0,229,5281,0.00,1.30,0.00,0.000,6,0.000,0.042,2346,2506,3085
$GC,5527,-0.53,-131.4,573.5,-7.4,236,5531,0.00,1.98,0.00,0.000,4,0.000,0.053,2346,3767,3083
$GC,5561,-0.53,-131.4,576.0,-6.9,236,5564,0.00,1.80,0.00,0.000,6,0.000,0.024,2346,2529,3082
$GC,5816,-0.53,-131.4,593.0,-6.6,243,5819,0.00,1.20,0.00,0.000,4,0.000,0.026,2346,1676,3081
$GC,5876,-0.53,-131.4,597.2,-7.4,244,5879,0.00,1.30,0.00,0.000,6,0.000,0.044,2346,2504,3081
$STATE,5942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5942,begin apogee
$GC,5953,-0.18,0.0,601.7,6.7,246,6074,0.38,0.00,119.00,1.060,6,0.087,0.000,2474,2348,2540
$STATE,6074,end apogee,CONTROL_FINISHED_OK
$STATE,6074,begin climb
$GC,6080,0.53,131.4,606.5,0.0,249,6212,0.57,1.60,121.20,1.006,4,0.039,0.025,2709,1317,2003
$GC,6245,0.53,131.4,598.8,12.9,252,6250,0.00,1.62,0.00,0.000,6,0.000,0.038,2705,2342,1998
$GC,6494,0.53,131.4,564.3,13.8,259,6497,0.00,1.67,0.00,0.000,4,0.000,0.044,2702,3423,1994
$GC,6576,0.53,131.4,552.1,15.3,260,6583,0.00,1.52,0.00,0.000,6,0.000,0.024,2709,2401,1993
$GC,6825,0.53,131.4,516.9,13.9,267,6828,0.00,1.60,0.00,0.000,4,0.000,0.025,2717,1309,1992
$GC,6901,0.53,131.4,506.8,13.2,268,6904,0.00,1.62,0.00,0.000,6,0.000,0.038,2716,2351,1990
$GC,7156,0.53,131.4,473.3,12.8,275,7159,0.00,1.67,0.00,0.000,4,0.000,0.047,2715,3418,1989
$GC,7343,0.53,131.4,449.0,13.0,279,7346,0.00,1.50,0.00,0.000,6,0.000,0.024,2722,2402,1989
$GC,7622,0.53,131.4,417.4,11.0,286,7625,0.00,1.58,0.00,0.000,4,0.000,0.026,2729,1320,1988
$GC,7666,0.53,131.4,412.2,11.5,287,7669,0.12,1.67,0.00,0.000,6,0.167,0.039,2698,2411,1988
$GC,7953,0.53,131.9,383.2,10.0,294,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2411,1988
$GC,8194,0.53,131.9,358.1,10.2,300,8197,0.00,1.58,0.00,0.000,4,0.000,0.048,2697,3416,1987
$GC,8405,0.53,131.9,334.2,11.1,304,8410,0.00,1.50,0.00,0.000,6,0.000,0.025,2704,2402,1987
$GC,8656,0.54,161.2,312.5,8.5,311,8692,0.00,0.00,26.67,0.821,6,0.000,0.000,2704,2395,1881
$GC,8937,0.55,173.9,286.5,9.3,318,8952,0.00,1.65,11.80,0.792,4,0.000,0.027,2712,1299,1831
$GC,8985,0.55,173.9,281.5,10.4,319,8988,0.00,1.80,0.00,0.000,6,0.000,0.040,2712,2459,1828
$GC,9263,0.55,173.9,252.8,10.1,326,9266,0.00,1.50,0.00,0.000,4,0.000,0.044,2712,3422,1828
$GC,9394,0.55,175.9,238.7,9.9,329,9396,0.00,1.42,0.00,0.000,6,0.000,0.024,2719,2467,1828
$GC,9682,0.56,207.2,214.2,8.4,336,9713,0.00,0.00,29.55,0.787,6,0.000,0.000,2720,2461,1695
$GC,9926,0.56,212.5,190.5,9.7,348,9939,0.00,0.00,5.28,0.581,6,0.000,0.000,2720,2461,1675
$GC,10190,0.56,212.5,164.1,10.4,373,10193,0.00,1.52,0.00,0.000,4,0.000,0.044,2715,3424,1673
$GC,10228,0.56,212.5,159.5,11.2,376,10236,0.00,1.40,0.00,0.000,6,0.000,0.023,2721,2479,1673
$GC,10487,0.56,212.5,133.3,10.2,401,10490,0.00,1.67,0.00,0.000,4,0.000,0.027,2729,1305,1672
$GC,10556,0.56,212.5,126.1,10.6,407,10558,0.00,1.85,0.00,0.000,6,0.000,0.038,2728,2514,1672
$GC,10818,0.56,212.5,98.2,10.2,432,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2514,1672
$GC,11078,0.57,227.8,72.8,9.2,457,11096,0.00,1.38,14.70,0.623,4,0.000,0.041,2729,3425,1610
$GC,11144,0.57,238.7,66.7,9.4,462,11159,0.00,1.35,10.70,0.582,6,0.000,0.021,2734,2494,1565
$GC,11413,0.60,314.6,46.9,6.1,487,11482,0.00,1.77,62.20,0.617,4,0.000,0.025,2739,1314,1257
$GC,11550,0.63,383.2,37.3,6.5,498,11609,0.00,1.80,56.00,0.602,6,0.000,0.036,2739,2480,977
$GC,11861,0.65,432.3,13.5,7.5,546,11905,0.00,1.52,39.95,0.574,4,0.000,0.042,2739,3431,776
$GC,11981,0.66,457.2,4.1,8.7,565,11998,0.00,1.38,14.23,0.531,2,0.000,0.021,2738,2501,711
$STATE,11999,end climb,SURFACE_DEPTH_REACHED
$STATE,11999,begin surface coast
$FINISH,0.0,1.010000
$STATE,12034,end surface coast,CONTROL_FINISHED_OK
$STATE,12034,begin surface
$SM_CCo,12118,0.00,0.000,0,0,708,449.38
$SM_GC,0.88,6.90,0.00,0.00,0.021,0.000,0.000,33,2747,708,-7.71,0.48,449.38
$IRIDIUM_FIX,2230.01,-15741.13,311201,111118
$TT8_MAMPS,0.048321
$HUMID,2190
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.60
$XPDR_PINGS,11
$24V_AH,24.0,62.501
$10V_AH,10.5,60.416
$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,17.125,94.075,511.275,0.000,0.000,26.582,33.511,219.249,2.750,0.000,0.000,12.203,0.000,8399.255,509.645,2829.518,816.030,33.348,1411.958,0.000,2535.102,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,52.923,1059.994,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,386.423,1348.784,1388.661,211.038,1111.451,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47744,574
$CAP_FILE_SIZE,108924,0
$CFSIZE,260165632,233664512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,061012,181323,2240.004,-15738.273,38,2.0,38,10.1