version: 66.04
glider: 512
mission: 3
dive: 488
start: 10 7 112 1 40 9
data:
$ID,512
$MISSION,3
$DIVE,488
$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,35
$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,-63634.32
$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,26
$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
$GPS1,011606,2238.946,-15738.010,32,1.1,32,10.1
$_CALLS,5
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-81.3
$GPS2,013931,2238.945,-15737.858,15,1.6,15,10.1
$SPEED_LIMITS,0.143,0.248
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.117,0.218
$KALMAN_X,-58111.4,456.5,969.1,68138.8,-1198.1
$KALMAN_Y,62082.1,271.8,406.1,-96921.8,-260.0
$MHEAD_RNG_PITCHd_Wd,18.0,49226,-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,16,-0.53,-131.4,0.0,0.0,0,92,0.00,0.00,-74.07,0.000,2,0.000,0.000,13,2739,2689
$GC,97,-0.53,-131.4,2.3,-3.1,9,122,9.00,1.55,-8.27,0.000,4,0.202,0.039,2355,1665,3086
$GC,280,-0.53,-131.4,42.3,-17.2,35,283,0.00,1.62,0.00,0.000,6,0.000,0.037,2349,2740,3087
$GC,543,-0.53,-131.4,89.5,-15.2,60,546,0.00,1.55,0.00,0.000,4,0.000,0.021,2349,1664,3087
$GC,623,-0.53,-131.4,100.6,-13.7,67,626,0.00,1.58,0.00,0.000,6,0.000,0.038,2346,2684,3086
$GC,885,-0.53,-131.4,137.5,-13.2,92,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2684,3087
$GC,1143,-0.53,-131.4,170.5,-12.1,117,1146,0.00,1.45,0.00,0.000,4,0.000,0.021,2346,1669,3087
$GC,1182,-0.53,-131.4,175.2,-11.2,120,1190,0.00,1.52,0.00,0.000,6,0.000,0.037,2339,2665,3087
$GC,1436,-0.53,-131.4,206.5,-13.2,142,1439,0.00,1.42,0.00,0.000,4,0.000,0.021,2339,1665,3087
$GC,1464,-0.53,-131.4,210.4,-14.2,142,1467,0.00,1.52,0.00,0.000,6,0.000,0.037,2333,2659,3087
$GC,1724,-0.53,-131.4,245.3,-13.5,149,1727,0.00,1.70,0.00,0.000,4,0.000,0.044,2324,3789,3086
$GC,1758,-0.53,-131.4,249.9,-13.9,149,1761,0.08,1.62,0.00,0.000,6,0.098,0.019,2354,2658,3086
$GC,2015,-0.53,-131.4,276.5,-10.5,156,2017,0.00,1.38,0.00,0.000,4,0.000,0.021,2354,1665,3085
$GC,2107,-0.53,-131.4,285.6,-9.8,158,2111,0.00,1.52,0.00,0.000,6,0.000,0.037,2349,2659,3085
$GC,2389,-0.53,-131.4,310.0,-8.3,165,2392,0.00,1.42,0.00,0.000,4,0.000,0.021,2349,1662,3084
$GC,2435,-0.53,-131.4,313.6,-8.0,166,2438,0.00,1.48,0.00,0.000,6,0.000,0.038,2346,2621,3084
$GC,2722,-0.53,-131.4,337.6,-8.4,173,2725,0.00,1.35,0.00,0.000,4,0.000,0.021,2346,1671,3082
$GC,2777,-0.53,-131.4,342.3,-8.1,174,2780,0.00,1.40,0.00,0.000,6,0.000,0.038,2346,2581,3081
$GC,3056,-0.53,-131.4,365.7,-8.5,181,3058,0.00,1.85,0.00,0.000,4,0.000,0.048,2344,3792,3079
$GC,3084,-0.53,-131.4,368.2,-8.2,181,3087,0.00,1.77,0.00,0.000,6,0.000,0.019,2344,2545,3079
$GC,3344,-0.53,-131.4,390.7,-8.7,188,3347,0.00,1.25,-0.08,0.000,4,0.000,0.044,2344,1661,3099
$GC,3394,-0.53,-131.4,394.9,-7.9,189,3397,0.00,1.40,0.00,0.000,6,0.000,0.038,2337,2572,3099
$GC,3678,-0.53,-131.4,420.2,-9.0,196,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2572,3097
$GC,3918,-0.53,-131.4,441.3,-8.6,202,3921,0.00,1.30,0.00,0.000,4,0.000,0.024,2337,1669,3095
$GC,3984,-0.53,-131.4,447.1,-8.6,203,3986,0.00,1.35,0.00,0.000,6,0.000,0.040,2334,2542,3095
$GC,4249,-0.53,-131.4,469.2,-8.2,210,4252,0.00,1.92,0.00,0.000,4,0.000,0.048,2324,3792,3092
$GC,4288,-0.53,-131.4,472.4,-7.8,210,4296,0.08,1.83,0.00,0.000,6,0.099,0.022,2354,2543,3092
$GC,4537,-0.53,-131.4,488.7,-6.3,217,4540,0.00,1.23,0.00,0.000,4,0.000,0.025,2354,1671,3090
$GC,4592,-0.53,-131.4,492.3,-6.2,218,4595,0.00,1.38,0.00,0.000,6,0.000,0.041,2350,2558,3090
$GC,4868,-0.53,-131.4,510.7,-6.9,225,4872,0.00,1.27,0.00,0.000,4,0.000,0.024,2350,1670,3088
$GC,4902,-0.53,-131.4,513.3,-7.3,225,4905,0.00,1.35,0.00,0.000,6,0.000,0.041,2346,2535,3088
$GC,5156,-0.53,-131.4,534.0,-8.4,232,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2535,3086
$GC,5398,-0.53,-131.4,554.8,-8.5,238,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2535,3084
$GC,5641,-0.53,-131.4,573.9,-7.7,244,5644,0.00,1.25,0.00,0.000,4,0.000,0.025,2346,1666,3082
$GC,5685,-0.53,-131.4,577.3,-7.0,245,5688,0.00,1.35,0.00,0.000,6,0.000,0.044,2345,2521,3082
$GC,5972,-0.53,-131.4,598.5,-7.4,252,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2521,3080
$STATE,6007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6007,begin apogee
$GC,6018,-0.18,0.0,601.5,7.5,253,6137,0.38,0.00,116.88,1.060,6,0.087,0.000,2473,2353,2549
$STATE,6137,end apogee,CONTROL_FINISHED_OK
$STATE,6137,begin climb
$GC,6143,0.53,131.4,606.7,0.0,256,6274,0.57,1.58,121.20,1.007,4,0.039,0.025,2708,1318,2013
$GC,6306,0.53,131.4,600.2,12.1,260,6309,0.00,1.67,0.00,0.000,6,0.000,0.038,2708,2374,2009
$GC,6593,0.53,131.4,561.3,13.5,267,6596,0.00,1.62,0.00,0.000,4,0.000,0.044,2702,3429,2004
$GC,6696,0.53,131.4,546.7,13.6,269,6699,0.00,1.58,0.00,0.000,6,0.000,0.025,2710,2384,2003
$GC,6969,0.53,131.4,514.1,11.8,276,6972,0.00,1.62,0.00,0.000,4,0.000,0.044,2710,3419,2001
$GC,6992,0.53,131.4,511.1,12.1,276,6995,0.00,1.52,0.00,0.000,6,0.000,0.024,2718,2392,2000
$GC,7257,0.53,131.4,476.6,12.9,283,7260,0.00,1.58,0.00,0.000,4,0.000,0.028,2725,1312,2000
$GC,7365,0.53,131.4,463.5,11.2,285,7368,0.00,1.62,0.00,0.000,6,0.000,0.038,2725,2378,1999
$GC,7631,0.53,131.4,427.1,14.2,292,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2378,1999
$GC,7872,0.53,131.4,395.1,12.9,298,7875,0.00,1.62,0.00,0.000,4,0.000,0.047,2725,3417,1998
$GC,7922,0.53,131.4,388.6,13.7,299,7925,0.10,1.60,0.00,0.000,6,0.188,0.023,2704,2341,1998
$GC,8205,0.53,138.5,360.6,9.6,306,8213,0.00,1.73,4.68,0.648,4,0.000,0.047,2702,3412,1985
$GC,8389,0.53,138.5,340.3,10.2,310,8392,0.00,1.52,0.00,0.000,6,0.000,0.025,2708,2383,1985
$GC,8664,0.53,138.5,312.4,10.1,317,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2378,1984
$GC,8907,0.54,158.0,290.8,9.0,323,8930,0.00,1.67,19.08,0.842,4,0.000,0.047,2708,3416,1904
$GC,9009,0.54,158.0,280.9,10.6,325,9011,0.00,1.55,0.00,0.000,6,0.000,0.024,2717,2381,1902
$GC,9279,0.55,178.4,256.1,9.0,332,9302,0.00,1.58,18.58,0.808,4,0.000,0.027,2724,1304,1821
$GC,9365,0.55,178.4,248.1,10.0,334,9369,0.00,1.75,0.00,0.000,6,0.000,0.041,2724,2407,1819
$GC,9654,0.56,205.6,222.0,8.6,341,9682,0.00,1.62,24.17,0.783,4,0.000,0.047,2724,3425,1710
$GC,9756,0.56,205.6,210.9,11.6,343,9758,0.00,1.50,0.00,0.000,6,0.000,0.024,2731,2429,1709
$GC,10012,0.56,205.6,182.9,11.1,360,10015,0.00,1.60,0.00,0.000,4,0.000,0.046,2732,3423,1707
$GC,10047,0.56,205.6,178.8,12.0,363,10051,0.10,1.45,0.00,0.000,6,0.163,0.023,2709,2451,1706
$GC,10317,0.57,224.2,155.0,9.0,388,10342,0.00,1.67,16.65,0.697,4,0.000,0.027,2714,1314,1634
$GC,10357,0.57,224.2,150.8,10.5,391,10360,0.00,1.77,0.00,0.000,6,0.000,0.038,2713,2462,1632
$GC,10620,0.57,244.8,125.7,8.9,416,10647,0.00,1.50,17.73,0.670,4,0.000,0.042,2713,3420,1551
$GC,10672,0.57,244.8,120.7,10.6,420,10675,0.00,1.45,0.00,0.000,6,0.000,0.022,2717,2440,1551
$GC,10940,0.58,249.4,94.6,9.8,445,10953,0.00,0.00,5.22,0.502,6,0.000,0.000,2717,2434,1534
$GC,11205,0.61,337.7,72.8,5.5,470,11283,0.00,1.67,72.72,0.640,4,0.000,0.025,2722,1306,1172
$GC,11301,0.65,431.1,67.8,5.2,477,11381,0.00,1.83,75.53,0.621,6,0.000,0.034,2722,2466,791
$GC,11642,0.65,431.1,33.2,12.1,508,11645,0.00,1.70,0.00,0.000,4,0.000,0.025,2722,1310,787
$GC,11882,0.65,437.9,4.5,9.6,551,11898,0.00,1.75,6.53,0.463,6,0.000,0.034,2722,2450,763
$STATE,11903,end climb,SURFACE_DEPTH_REACHED
$STATE,11903,begin surface coast
$FINISH,-0.1,1.022899
$STATE,11933,end surface coast,CONTROL_FINISHED_OK
$STATE,11933,begin surface
$SM_CCo,12017,0.00,0.000,0,0,761,438.83
$SM_GC,0.84,6.85,0.00,0.00,0.026,0.000,0.000,42,2794,761,-7.69,1.81,438.83
$IRIDIUM_FIX,2232.34,-15738.97,010102,010116
$TT8_MAMPS,0.046787
$HUMID,2208
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.10
$XPDR_PINGS,10
$24V_AH,24.0,62.932
$10V_AH,10.5,60.854
$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,17.150,90.600,498.950,0.000,0.000,143.037,180.108,624.568,2.500,0.000,0.000,16.017,0.000,8660.616,471.794,2744.503,1519.443,33.351,1361.093,0.000,2453.885,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,48.321,1059.994,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,377.696,1303.009,1347.676,192.869,1035.774,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44468,560
$CAP_FILE_SIZE,121460,0
$CFSIZE,260165632,233480192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071012,050135,2239.633,-15738.017,37,0.9,42,10.1