version: 66.04
glider: 512
mission: 3
dive: 499
start: 10 8 112 17 1 51
data:
$ID,512
$MISSION,3
$DIVE,499
$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,-63850.539
$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,66
$R_STBD_OVSHOOT,44
$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
$GPS1,165336,2251.885,-15738.330,32,1.1,32,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-75.1
$GPS2,170113,2251.906,-15738.352,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.248
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.187,0.163
$KALMAN_X,-69511.8,-514.5,621.0,80021.1,-1832.7
$KALMAN_Y,59558.4,-304.2,-456.8,-68956.4,81.2
$MHEAD_RNG_PITCHd_Wd,38.8,25540,-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,-74.10,0.000,2,0.000,0.000,10,2759,2742
$GC,97,-0.53,-131.4,2.5,-3.7,9,122,8.85,1.60,-6.93,0.000,4,0.196,0.039,2353,1659,3088
$GC,291,-0.53,-131.4,45.1,-17.3,35,293,0.00,1.62,0.00,0.000,6,0.000,0.037,2347,2734,3089
$GC,553,-0.53,-131.4,88.6,-13.2,60,556,0.00,1.52,0.00,0.000,4,0.000,0.022,2346,1679,3090
$GC,600,-0.53,-131.4,94.7,-12.7,64,603,0.00,1.58,0.00,0.000,6,0.000,0.037,2339,2706,3090
$GC,864,-0.53,-131.4,129.4,-13.6,89,867,0.00,1.48,0.00,0.000,4,0.000,0.021,2339,1676,3090
$GC,942,-0.53,-131.4,139.8,-12.6,96,945,0.00,1.50,0.00,0.000,6,0.000,0.036,2333,2656,3090
$GC,1206,-0.53,-131.4,176.4,-13.4,121,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2656,3090
$GC,1472,-0.53,-131.4,210.5,-12.6,141,1475,0.00,1.40,0.00,0.000,4,0.000,0.021,2333,1673,3090
$GC,1500,-0.53,-131.4,214.4,-12.1,141,1503,0.00,1.48,0.00,0.000,6,0.000,0.036,2326,2641,3090
$GC,1760,-0.53,-131.4,245.1,-11.9,148,1763,0.12,1.40,0.00,0.000,4,0.128,0.021,2361,1664,3090
$GC,1788,-0.53,-131.4,248.1,-9.9,148,1791,0.00,1.50,0.00,0.000,6,0.000,0.038,2359,2639,3090
$GC,2048,-0.53,-131.4,269.4,-8.3,155,2051,0.00,1.38,0.00,0.000,4,0.000,0.021,2359,1671,3089
$GC,2114,-0.53,-131.4,275.0,-8.3,156,2117,0.00,1.40,0.00,0.000,6,0.000,0.038,2359,2584,3090
$GC,2379,-0.53,-131.4,297.5,-8.5,163,2382,0.00,1.83,0.00,0.000,4,0.000,0.046,2350,3783,3089
$GC,2419,-0.53,-131.4,300.8,-8.3,163,2424,0.00,1.73,0.00,0.000,6,0.000,0.020,2350,2566,3089
$GC,2668,-0.53,-131.4,321.4,-7.9,170,2671,0.00,1.23,0.00,0.000,4,0.000,0.023,2350,1673,3087
$GC,2750,-0.53,-131.4,327.6,-7.7,171,2755,0.00,1.35,0.00,0.000,6,0.000,0.037,2346,2555,3087
$GC,2999,-0.53,-131.4,348.5,-8.7,178,3002,0.00,1.88,0.00,0.000,4,0.000,0.046,2337,3784,3085
$GC,3028,-0.53,-131.4,351.3,-9.4,178,3031,0.00,1.77,0.00,0.000,6,0.000,0.021,2338,2545,3085
$GC,3288,-0.53,-131.4,375.9,-9.4,185,3291,0.00,1.20,0.00,0.000,4,0.000,0.023,2337,1674,3083
$GC,3359,-0.53,-131.4,382.1,-8.6,186,3361,0.00,1.33,0.00,0.000,6,0.000,0.038,2333,2538,3083
$GC,3619,-0.53,-131.4,405.0,-8.7,193,3622,0.00,1.92,0.00,0.000,4,0.000,0.047,2324,3796,3081
$GC,3642,-0.53,-131.4,407.1,-9.1,193,3645,0.12,1.85,0.00,0.000,6,0.100,0.021,2363,2520,3080
$GC,3907,-0.53,-131.4,425.8,-7.0,200,3910,0.00,1.17,0.00,0.000,4,0.000,0.023,2363,1667,3078
$GC,3953,-0.53,-131.4,428.9,-6.8,201,3956,0.00,1.33,0.00,0.000,6,0.000,0.038,2359,2524,3077
$GC,4240,-0.53,-131.4,449.8,-7.3,208,4244,0.00,2.00,-0.08,0.000,4,0.000,0.064,2358,3790,3100
$GC,4279,-0.53,-131.4,452.7,-7.2,208,4285,0.00,1.85,0.00,0.000,6,0.000,0.021,2358,2498,3100
$GC,4528,-0.53,-131.4,469.2,-6.6,215,4531,0.00,2.03,0.00,0.000,4,0.000,0.051,2358,3778,3099
$GC,4568,-0.53,-131.4,471.8,-6.5,215,4575,0.00,1.77,0.00,0.000,6,0.000,0.022,2359,2555,3099
$GC,4817,-0.53,-131.4,486.8,-6.0,222,4820,0.00,1.25,0.00,0.000,4,0.000,0.023,2358,1661,3097
$GC,4861,-0.53,-131.4,489.7,-6.8,223,4864,0.00,1.77,0.00,0.000,6,0.000,0.043,2359,2812,3097
$GC,5148,-0.53,-131.4,508.5,-6.6,230,5151,0.00,1.65,0.00,0.000,4,0.000,0.023,2358,1676,3095
$GC,5160,-0.53,-131.4,509.3,-6.6,230,5163,0.00,1.60,0.00,0.000,6,0.000,0.045,2358,2709,3095
$GC,5436,-0.53,-131.4,527.6,-6.5,237,5439,0.00,1.50,0.00,0.000,4,0.000,0.024,2358,1675,3093
$GC,5502,-0.53,-131.4,532.0,-6.8,238,5505,0.00,1.35,0.00,0.000,6,0.000,0.044,2358,2534,3092
$GC,5767,-0.53,-131.4,548.5,-6.0,245,5770,0.00,1.98,0.00,0.000,4,0.000,0.054,2359,3792,3091
$GC,5817,-0.53,-131.4,551.4,-5.8,246,5820,0.00,1.85,0.00,0.000,6,0.000,0.024,2358,2520,3091
$GC,6098,-0.53,-131.4,566.4,-5.3,253,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2512,3089
$GC,6341,-0.53,-131.4,580.6,-5.9,259,6344,0.00,2.05,0.00,0.000,4,0.000,0.054,2358,3796,3088
$GC,6423,-0.53,-131.4,586.1,-6.9,260,6430,0.00,1.60,0.00,0.000,6,0.000,0.026,2358,2705,3088
$STATE,6629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6629,begin apogee
$GC,6640,-0.18,0.0,600.1,6.7,266,6761,0.32,0.00,119.15,1.058,6,0.077,0.000,2474,2362,2550
$STATE,6761,end apogee,CONTROL_FINISHED_OK
$STATE,6761,begin climb
$GC,6767,0.53,131.4,606.8,0.0,269,6900,0.57,1.80,121.95,1.006,4,0.040,0.046,2701,3425,2013
$GC,7069,0.53,131.4,580.6,14.8,276,7072,0.00,1.60,0.00,0.000,6,0.000,0.024,2709,2352,2007
$GC,7356,0.53,131.4,540.0,13.9,283,7358,0.00,1.70,0.00,0.000,4,0.000,0.045,2709,3426,2003
$GC,7427,0.53,131.4,529.4,15.3,284,7430,0.00,1.55,0.00,0.000,6,0.000,0.024,2717,2388,2003
$GC,7688,0.53,131.4,493.8,13.6,291,7691,0.00,1.62,0.00,0.000,4,0.000,0.047,2715,3422,2002
$GC,7819,0.53,131.4,474.0,14.7,294,7822,0.00,1.50,0.00,0.000,6,0.000,0.024,2721,2416,2001
$GC,8107,0.53,131.4,437.1,12.4,301,8110,0.00,1.62,0.00,0.000,4,0.000,0.047,2721,3447,2000
$GC,8227,0.53,131.4,421.2,12.9,303,8230,0.10,1.48,0.00,0.000,6,0.176,0.025,2701,2457,1999
$GC,8481,0.53,132.1,395.0,10.0,310,8484,0.00,1.55,0.00,0.000,4,0.000,0.048,2701,3421,1998
$GC,8568,0.53,132.1,386.0,10.5,312,8571,0.00,1.38,0.00,0.000,6,0.000,0.025,2707,2489,1998
$GC,8855,0.53,144.9,359.2,9.3,319,8867,0.00,0.00,10.98,0.832,6,0.000,0.000,2707,2484,1959
$GC,9097,0.53,144.9,334.2,10.6,325,9100,0.00,1.50,0.00,0.000,4,0.000,0.047,2707,3425,1956
$GC,9125,0.53,144.9,330.8,12.9,325,9128,0.00,1.40,0.00,0.000,6,0.000,0.025,2714,2485,1956
$GC,9385,0.53,145.1,304.1,10.0,332,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2480,1955
$GC,9627,0.55,180.8,283.8,8.2,338,9662,0.00,1.55,31.95,0.848,4,0.000,0.047,2714,3422,1812
$GC,9685,0.55,180.8,278.6,10.7,338,9688,0.00,1.40,0.00,0.000,6,0.000,0.025,2720,2494,1810
$GC,9950,0.55,183.0,252.1,9.9,345,9953,0.00,1.73,0.00,0.000,4,0.000,0.028,2729,1298,1807
$GC,10006,0.56,211.8,247.3,8.5,346,10037,0.00,1.95,27.12,0.806,6,0.000,0.042,2729,2549,1686
$GC,10280,0.56,211.8,219.7,10.2,353,10281,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2549,1681
$GC,10522,0.57,227.9,197.6,9.2,359,10543,0.00,0.00,14.10,0.723,6,0.000,0.000,2728,2549,1621
$GC,10794,0.57,227.9,170.8,10.5,385,10797,0.00,1.83,0.00,0.000,4,0.000,0.026,2736,1304,1618
$GC,10831,0.57,227.9,167.0,10.1,388,10834,0.00,1.88,0.00,0.000,6,0.000,0.041,2736,2512,1618
$GC,11096,0.57,227.9,137.2,11.2,413,11099,0.00,1.42,0.00,0.000,4,0.000,0.044,2736,3431,1618
$GC,11175,0.57,227.9,126.9,12.4,420,11178,0.08,1.35,0.00,0.000,6,0.160,0.025,2716,2526,1618
$GC,11443,0.57,244.7,100.9,9.1,445,11469,0.00,1.83,15.25,0.637,4,0.000,0.027,2724,1294,1551
$GC,11508,0.58,257.4,94.2,9.3,450,11530,0.00,1.95,12.32,0.607,6,0.000,0.039,2724,2541,1499
$GC,11785,0.59,282.3,68.0,8.7,476,11812,0.00,1.38,21.75,0.616,4,0.000,0.043,2724,3426,1399
$GC,11881,0.60,303.2,59.3,8.9,484,11909,0.00,1.27,18.55,0.595,6,0.000,0.022,2726,2551,1313
$GC,12163,0.62,355.6,39.0,7.3,510,12218,0.00,1.90,43.20,0.595,4,0.000,0.025,2726,1301,1099
$GC,12244,0.64,417.6,33.0,6.8,516,12303,0.00,1.98,50.38,0.584,6,0.000,0.036,2725,2573,847
$GC,12552,0.64,417.6,4.5,10.1,569,12561,0.00,1.90,0.00,0.000,4,0.000,0.024,2726,1294,843
$STATE,12566,end climb,SURFACE_DEPTH_REACHED
$STATE,12566,begin surface coast
$FINISH,0.2,1.010989
$STATE,12597,end surface coast,CONTROL_FINISHED_OK
$STATE,12597,begin surface
$SM_CCo,12682,0.00,0.000,0,0,842,419.21
$SM_GC,1.05,6.88,0.00,0.00,0.028,0.000,0.000,26,2740,842,-7.68,0.28,419.21
$IRIDIUM_FIX,2241.69,-15739.35,020102,131315
$TT8_MAMPS,0.047554
$HUMID,2223
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.30
$XPDR_PINGS,10
$24V_AH,24.0,64.508
$10V_AH,10.5,62.501
$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,17.050,107.425,486.700,0.000,0.000,30.681,31.618,216.875,2.500,0.000,0.000,13.027,0.000,8967.048,495.409,2821.325,827.409,33.347,1413.109,0.000,2517.830,0.000,0.544,0.000
$DEVICE_MAMPS,196.352,64.428,1058.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,388.779,1321.064,1357.193,201.328,1062.990,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47840,577
$CAP_FILE_SIZE,112799,0
$CFSIZE,260165632,232833024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081012,203406,2252.785,-15738.320,26,1.9,26,10.1