version: 66.04
glider: 512
mission: 3
dive: 489
start: 10 7 112 5 13 26
data:
$ID,512
$MISSION,3
$DIVE,489
$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,-63653.586
$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,28
$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
$GPS1,050135,2239.633,-15738.017,37,0.9,42,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-80.9
$GPS2,051248,2239.600,-15738.021,13,1.2,18,10.1
$SPEED_LIMITS,0.143,0.248
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.164,0.186
$KALMAN_X,-58691.6,460.4,-117.1,69526.2,-1664.2
$KALMAN_Y,62471.3,-259.7,-826.7,-94326.9,1009.1
$MHEAD_RNG_PITCHd_Wd,31.3,48042,-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,-131.4,0.0,0.0,0,99,0.00,0.00,-82.30,0.000,2,0.000,0.000,38,2794,2863
$GC,105,-0.53,-131.4,2.9,-4.7,10,123,8.95,1.67,-4.20,0.000,4,0.204,0.037,2352,1643,3088
$GC,241,-0.53,-131.4,39.7,-17.1,29,243,0.00,1.67,0.00,0.000,6,0.000,0.038,2346,2745,3090
$GC,503,-0.53,-131.4,88.7,-13.8,54,506,0.00,1.55,0.00,0.000,4,0.000,0.020,2346,1663,3090
$GC,541,-0.53,-131.4,93.5,-13.3,57,544,0.00,1.65,0.00,0.000,6,0.000,0.040,2346,2728,3090
$GC,803,-0.53,-131.4,129.1,-13.8,82,806,0.00,1.52,0.00,0.000,4,0.000,0.021,2345,1665,3091
$GC,840,-0.53,-131.4,133.9,-13.8,85,843,0.00,1.58,0.00,0.000,6,0.000,0.037,2338,2692,3091
$GC,1103,-0.53,-131.4,171.9,-14.3,110,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2693,3091
$GC,1387,-0.53,-131.4,211.6,-13.0,132,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2693,3091
$GC,1629,-0.53,-131.4,241.2,-12.0,138,1632,0.00,1.48,0.00,0.000,4,0.000,0.020,2338,1659,3091
$GC,1690,-0.53,-131.4,247.9,-10.3,139,1693,0.00,1.55,0.00,0.000,6,0.000,0.036,2333,2671,3091
$GC,1963,-0.53,-131.4,277.7,-10.9,146,1966,0.00,1.42,0.00,0.000,4,0.000,0.020,2333,1666,3090
$GC,2002,-0.53,-131.4,282.0,-10.0,146,2008,0.00,1.48,0.00,0.000,6,0.000,0.038,2333,2627,3090
$GC,2251,-0.53,-131.4,306.7,-9.8,153,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2627,3089
$GC,2493,-0.53,-131.4,330.8,-9.9,159,2496,0.00,1.38,0.00,0.000,4,0.000,0.021,2333,1662,3088
$GC,2532,-0.53,-131.4,334.8,-10.0,159,2537,0.00,1.45,0.00,0.000,6,0.000,0.038,2333,2604,3088
$GC,2783,-0.53,-131.4,359.9,-10.1,166,2786,0.00,1.33,0.00,0.000,4,0.000,0.021,2333,1669,3086
$GC,2833,-0.53,-131.4,365.2,-9.3,167,2836,0.00,1.40,0.00,0.000,6,0.000,0.037,2333,2580,3086
$GC,3114,-0.53,-131.4,391.5,-9.2,174,3117,0.00,1.85,0.00,0.000,4,0.000,0.045,2324,3794,3083
$GC,3169,-0.53,-131.4,396.2,-8.4,175,3172,0.12,1.73,0.00,0.000,6,0.110,0.021,2362,2585,3082
$GC,3445,-0.53,-131.4,415.6,-7.0,182,3448,0.00,1.27,0.00,0.000,4,0.000,0.022,2362,1666,3081
$GC,3527,-0.53,-131.4,421.7,-7.6,183,3532,0.00,1.42,0.00,0.000,6,0.000,0.038,2359,2586,3080
$GC,3776,-0.53,-131.4,440.3,-7.5,190,3780,0.00,1.88,-0.08,0.000,4,0.000,0.064,2358,3785,3101
$GC,3805,-0.53,-131.4,442.5,-7.5,190,3808,0.00,1.75,0.00,0.000,6,0.000,0.021,2358,2562,3101
$GC,4065,-0.53,-131.4,461.9,-7.5,197,4068,0.00,1.25,0.00,0.000,4,0.000,0.023,2358,1666,3100
$GC,4141,-0.53,-131.4,467.7,-7.8,198,4144,0.00,1.38,0.00,0.000,6,0.000,0.041,2358,2554,3100
$GC,4396,-0.53,-131.4,487.0,-7.6,205,4399,0.00,1.90,0.00,0.000,4,0.000,0.048,2349,3782,3098
$GC,4435,-0.53,-131.4,490.1,-7.3,205,4443,0.00,1.83,0.00,0.000,6,0.000,0.022,2350,2529,3097
$GC,4684,-0.53,-131.4,509.5,-7.8,212,4688,0.00,1.20,0.00,0.000,4,0.000,0.024,2350,1670,3096
$GC,4729,-0.53,-131.4,513.1,-7.8,213,4732,0.00,1.38,0.00,0.000,6,0.000,0.041,2346,2552,3095
$GC,5016,-0.53,-131.4,535.9,-8.0,220,5019,0.00,1.27,0.00,0.000,4,0.000,0.024,2346,1667,3093
$GC,5063,-0.53,-131.4,539.3,-7.0,221,5065,0.00,1.35,0.00,0.000,6,0.000,0.041,2346,2527,3093
$GC,5349,-0.53,-131.4,559.1,-6.7,228,5352,0.00,1.95,0.00,0.000,4,0.000,0.050,2339,3783,3091
$GC,5388,-0.53,-131.4,561.7,-6.4,228,5394,0.00,1.83,0.00,0.000,6,0.000,0.023,2339,2527,3091
$GC,5638,-0.53,-131.4,579.2,-7.1,235,5641,0.00,1.20,0.00,0.000,4,0.000,0.025,2339,1667,3089
$GC,5684,-0.53,-131.4,582.4,-7.1,236,5687,0.00,1.35,0.00,0.000,6,0.000,0.041,2333,2529,3089
$STATE,5925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5925,begin apogee
$GC,5936,-0.18,0.0,601.5,7.8,242,6057,0.40,0.00,118.50,1.059,6,0.094,0.000,2467,2340,2550
$STATE,6057,end apogee,CONTROL_FINISHED_OK
$STATE,6057,begin climb
$GC,6062,0.53,131.4,606.2,0.0,245,6194,0.60,1.80,121.15,1.006,4,0.040,0.046,2702,3407,2014
$GC,6234,0.53,131.4,598.5,14.9,249,6237,0.00,1.60,0.00,0.000,6,0.000,0.024,2708,2353,2010
$GC,6523,0.53,131.4,557.9,13.9,256,6526,0.00,1.70,0.00,0.000,4,0.000,0.044,2709,3426,2005
$GC,6604,0.53,131.4,545.9,14.3,257,6610,0.00,1.58,0.00,0.000,6,0.000,0.023,2717,2373,2004
$GC,6853,0.53,131.4,511.7,13.7,264,6856,0.00,1.55,0.00,0.000,4,0.000,0.027,2724,1317,2002
$GC,6914,0.53,131.4,503.7,12.6,265,6916,0.00,1.60,0.00,0.000,6,0.000,0.039,2724,2363,2001
$GC,7184,0.53,131.4,469.1,12.4,272,7187,0.00,1.62,0.00,0.000,4,0.000,0.046,2725,3423,2000
$GC,7340,0.53,131.4,447.8,13.5,275,7344,0.10,1.52,0.00,0.000,6,0.185,0.025,2705,2398,2000
$GC,7600,0.53,131.4,417.4,11.6,282,7603,0.00,1.62,0.00,0.000,4,0.000,0.045,2702,3433,1999
$GC,7666,0.53,131.4,408.9,12.8,283,7669,0.00,1.52,0.00,0.000,6,0.000,0.025,2708,2404,1999
$GC,7931,0.53,131.4,378.1,11.3,290,7934,0.00,1.62,0.00,0.000,4,0.000,0.047,2702,3440,1999
$GC,8008,0.53,131.4,369.2,12.1,291,8010,0.00,1.48,0.00,0.000,6,0.000,0.024,2708,2441,1998
$GC,8262,0.53,131.4,342.3,10.2,298,8265,0.00,1.62,0.00,0.000,4,0.000,0.027,2717,1304,1998
$GC,8333,0.54,169.6,336.0,8.0,299,8368,0.00,1.73,31.95,0.888,6,0.000,0.040,2716,2412,1858
$GC,8629,0.54,169.6,306.2,10.5,307,8631,0.00,1.58,0.00,0.000,4,0.000,0.047,2715,3415,1852
$GC,8710,0.54,169.6,297.4,11.8,308,8715,0.00,1.45,0.00,0.000,6,0.000,0.024,2721,2438,1852
$GC,8959,0.54,169.6,270.3,10.8,315,8962,0.00,1.58,0.00,0.000,4,0.000,0.047,2721,3417,1851
$GC,9009,0.54,169.6,264.1,12.5,316,9012,0.00,1.40,0.00,0.000,6,0.000,0.024,2728,2473,1851
$GC,9290,0.54,169.6,233.6,10.6,323,9293,0.00,1.67,0.00,0.000,4,0.000,0.026,2737,1305,1850
$GC,9303,0.54,170.0,232.5,10.0,323,9306,0.10,1.83,0.00,0.000,6,0.137,0.041,2690,2472,1849
$GC,9578,0.58,249.9,215.6,5.9,330,9649,0.00,1.55,66.40,0.792,4,0.000,0.048,2689,3422,1530
$GC,9728,0.58,270.7,204.7,8.9,333,9753,0.00,1.40,18.90,0.735,6,0.000,0.024,2694,2490,1445
$GC,10010,0.59,295.9,180.7,8.7,355,10036,0.00,1.80,21.85,0.719,4,0.000,0.027,2696,1310,1342
$GC,10052,0.59,295.9,176.5,10.2,358,10055,0.00,1.92,0.00,0.000,6,0.000,0.040,2696,2531,1341
$GC,10315,0.59,295.9,151.2,10.2,383,10318,0.00,1.38,0.00,0.000,4,0.000,0.046,2696,3410,1339
$GC,10372,0.59,295.9,145.4,11.2,388,10375,0.00,1.33,0.00,0.000,6,0.000,0.025,2697,2520,1339
$GC,10636,0.61,345.3,123.2,7.5,413,10688,0.00,1.83,40.95,0.684,4,0.000,0.026,2697,1314,1140
$GC,10715,0.64,420.4,117.8,6.2,419,10782,0.05,1.90,62.22,0.667,6,0.051,0.038,2786,2518,835
$GC,11042,0.64,420.4,59.2,14.8,449,11045,0.17,1.80,0.00,0.000,4,0.117,0.025,2737,1304,832
$GC,11091,0.67,491.0,54.7,6.4,453,11154,0.00,1.83,56.70,0.619,6,0.000,0.036,2737,2474,546
$GC,11409,0.68,516.6,23.7,8.7,487,11436,0.00,1.73,21.00,0.571,4,0.000,0.024,2737,1311,443
$STATE,11601,end climb,SURFACE_DEPTH_REACHED
$STATE,11601,begin surface coast
$FINISH,0.1,1.023245
$STATE,11626,end surface coast,CONTROL_FINISHED_OK
$STATE,11626,begin surface
$SM_CCo,11711,0.00,0.000,0,0,440,517.57
$SM_GC,0.76,6.85,0.00,0.00,0.025,0.000,0.000,41,2748,440,-7.68,0.54,517.57
$IRIDIUM_FIX,2230.01,-15738.97,010102,050521
$TT8_MAMPS,0.048321
$HUMID,2226
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.40
$XPDR_PINGS,7
$24V_AH,24.0,63.089
$10V_AH,10.5,60.993
$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,17.350,101.925,559.625,0.000,0.000,57.693,66.847,301.377,1.750,0.000,0.000,18.631,0.000,8265.407,535.895,2600.450,955.923,33.347,1407.037,0.000,2314.916,0.000,0.543,0.000
$DEVICE_MAMPS,204.022,63.661,1059.227,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,354.518,1195.908,1237.648,178.192,931.793,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44519,527
$CAP_FILE_SIZE,108958,0
$CFSIZE,260165632,233431040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071012,082936,2240.997,-15737.976,32,1.6,32,10.1