version: 66.04
glider: 512
mission: 3
dive: 501
start: 10 9 112 0 34 26
data:
$ID,512
$MISSION,3
$DIVE,501
$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,-63907.406
$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,34
$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
$GPS1,001936,2254.458,-15737.790,43,0.9,43,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-77.9
$GPS2,003348,2254.498,-15737.724,12,1.0,17,10.1
$SPEED_LIMITS,0.143,0.248
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.043,0.244
$KALMAN_X,-71363.5,-60.1,-424.0,83528.9,949.8
$KALMAN_Y,58375.7,110.0,510.0,-64349.3,-719.8
$MHEAD_RNG_PITCHd_Wd,339.8,20624,-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,-82.32,0.000,2,0.000,0.000,12,2753,2888
$GC,105,-0.53,-131.4,3.1,-5.3,10,122,8.98,1.52,-3.72,0.000,4,0.201,0.037,2355,1645,3086
$GC,255,-0.53,-131.4,38.5,-15.2,31,258,0.00,1.65,0.00,0.000,6,0.000,0.037,2348,2733,3087
$GC,518,-0.53,-131.4,83.1,-15.4,56,521,0.00,1.52,0.00,0.000,4,0.000,0.021,2349,1674,3088
$GC,597,-0.53,-131.4,92.8,-11.9,63,601,0.00,1.60,0.00,0.000,6,0.000,0.038,2346,2703,3088
$GC,860,-0.53,-131.4,124.9,-11.3,88,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2702,3088
$GC,1117,-0.53,-131.4,155.1,-11.6,113,1120,0.00,1.48,0.00,0.000,4,0.000,0.021,2346,1670,3088
$GC,1189,-0.53,-131.4,163.8,-10.8,119,1194,0.00,1.55,0.00,0.000,6,0.000,0.038,2339,2683,3088
$GC,1446,-0.53,-131.4,196.9,-12.8,144,1449,0.00,1.45,0.00,0.000,4,0.000,0.021,2339,1667,3088
$GC,1484,-0.53,-131.4,201.9,-11.9,146,1490,0.00,1.52,0.00,0.000,6,0.000,0.036,2333,2664,3088
$GC,1734,-0.53,-131.4,232.2,-12.2,153,1737,0.00,1.42,0.00,0.000,4,0.000,0.021,2333,1664,3087
$GC,1853,-0.53,-131.4,245.0,-10.4,155,1856,0.00,1.48,0.00,0.000,6,0.000,0.037,2331,2631,3088
$GC,2107,-0.53,-131.4,270.0,-9.7,162,2110,0.00,1.75,0.00,0.000,4,0.000,0.044,2322,3793,3088
$GC,2141,-0.53,-131.4,273.3,-10.4,162,2144,0.08,1.70,0.00,0.000,6,0.100,0.020,2353,2617,3087
$GC,2396,-0.53,-131.4,294.7,-8.7,169,2399,0.00,1.30,0.00,0.000,4,0.000,0.022,2353,1675,3086
$GC,2477,-0.53,-131.4,302.2,-8.7,170,2485,0.00,1.40,0.00,0.000,6,0.000,0.037,2348,2596,3086
$GC,2727,-0.53,-131.4,325.4,-9.2,177,2730,0.00,1.33,0.00,0.000,4,0.000,0.022,2349,1667,3085
$GC,2787,-0.53,-131.4,330.9,-8.8,178,2790,0.00,1.35,0.00,0.000,6,0.000,0.036,2346,2551,3085
$GC,3058,-0.53,-131.4,354.7,-8.8,185,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2551,3082
$GC,3302,-0.53,-131.4,374.2,-7.7,191,3305,0.00,1.25,0.00,0.000,4,0.000,0.022,2346,1669,3081
$GC,3363,-0.53,-131.4,378.8,-7.1,192,3366,0.00,1.33,0.00,0.000,6,0.000,0.038,2346,2531,3081
$GC,3633,-0.53,-131.4,399.4,-7.8,199,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2531,3078
$GC,3875,-0.53,-131.4,418.9,-8.0,205,3878,0.00,1.25,-0.08,0.000,4,0.000,0.044,2346,1671,3100
$GC,3915,-0.53,-131.4,421.9,-7.5,205,3922,0.00,1.30,0.00,0.000,6,0.000,0.038,2345,2515,3100
$GC,4164,-0.53,-131.4,441.5,-7.8,212,4167,0.00,1.95,0.00,0.000,4,0.000,0.048,2337,3789,3099
$GC,4192,-0.53,-131.4,443.7,-7.8,212,4195,0.00,1.88,0.00,0.000,6,0.000,0.021,2336,2494,3098
$GC,4452,-0.53,-131.4,465.7,-8.6,219,4455,0.00,1.15,0.00,0.000,4,0.000,0.023,2337,1663,3096
$GC,4534,-0.53,-131.4,472.9,-8.5,220,4541,0.00,1.25,0.00,0.000,6,0.000,0.040,2333,2474,3096
$GC,4783,-0.53,-131.4,494.7,-8.8,227,4786,0.00,2.03,0.00,0.000,4,0.000,0.048,2324,3781,3094
$GC,4811,-0.53,-131.4,497.2,-8.7,227,4815,0.12,1.92,0.00,0.000,6,0.106,0.022,2362,2462,3094
$GC,5072,-0.53,-131.4,514.3,-6.4,234,5075,0.00,2.10,0.00,0.000,4,0.000,0.051,2359,3783,3092
$GC,5100,-0.53,-131.4,516.2,-6.6,234,5103,0.00,1.67,0.00,0.000,6,0.000,0.023,2359,2611,3092
$GC,5362,-0.53,-131.4,532.2,-6.0,241,5365,0.00,1.85,0.00,0.000,4,0.000,0.051,2359,3779,3090
$GC,5476,-0.53,-131.4,539.4,-6.2,243,5479,0.00,1.33,0.00,0.000,6,0.000,0.025,2359,2864,3090
$GC,5736,-0.53,-131.4,554.5,-5.8,250,5739,0.00,1.67,0.00,0.000,4,0.000,0.025,2359,1672,3088
$GC,5796,-0.53,-131.4,558.3,-6.7,251,5799,0.00,1.52,0.00,0.000,6,0.000,0.044,2359,2644,3087
$GC,6067,-0.53,-131.4,575.0,-6.2,258,6070,0.00,1.77,0.00,0.000,4,0.000,0.054,2359,3779,3086
$GC,6117,-0.53,-131.4,578.3,-6.8,259,6120,0.00,1.38,0.00,0.000,6,0.000,0.027,2359,2837,3086
$GC,6401,-0.53,-131.4,596.1,-6.2,266,6404,0.00,1.65,0.00,0.000,4,0.000,0.025,2359,1666,3084
$STATE,6457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6457,begin apogee
$GC,6469,-0.18,0.0,600.3,6.3,267,6588,0.30,0.00,117.45,1.058,6,0.091,0.000,2467,2360,2550
$STATE,6588,end apogee,CONTROL_FINISHED_OK
$STATE,6589,begin climb
$GC,6593,0.53,131.4,606.0,0.0,270,6726,0.60,1.67,120.62,1.011,4,0.041,0.025,2708,1300,2014
$GC,6763,0.53,131.4,599.4,12.5,274,6766,0.00,1.67,0.00,0.000,6,0.000,0.038,2702,2365,2009
$GC,7051,0.53,131.4,561.7,12.9,281,7054,0.00,1.65,0.00,0.000,4,0.000,0.048,2702,3427,2004
$GC,7154,0.53,131.4,547.1,14.5,283,7157,0.00,1.58,0.00,0.000,6,0.000,0.025,2709,2382,2003
$GC,7425,0.53,131.4,511.2,12.9,290,7428,0.00,1.65,0.00,0.000,4,0.000,0.045,2710,3430,2001
$GC,7437,0.53,131.4,509.7,12.2,290,7440,0.00,1.55,0.00,0.000,6,0.000,0.025,2718,2391,2001
$GC,7713,0.53,131.4,476.2,12.3,297,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2385,2000
$GC,7955,0.53,131.4,447.8,11.7,303,7958,0.00,1.62,0.00,0.000,4,0.000,0.046,2716,3424,1999
$GC,7979,0.53,131.4,445.0,12.0,303,7981,0.00,1.50,0.00,0.000,6,0.000,0.025,2721,2411,1999
$GC,8244,0.53,131.4,415.7,10.6,310,8247,0.00,1.62,0.00,0.000,4,0.000,0.047,2716,3443,1998
$GC,8261,0.53,131.4,413.8,11.0,310,8264,0.00,1.55,0.00,0.000,6,0.000,0.025,2722,2399,1998
$GC,8531,0.53,131.4,384.3,10.7,317,8534,0.00,1.62,0.00,0.000,4,0.000,0.045,2723,3438,1998
$GC,8597,0.53,131.4,376.0,13.7,318,8601,0.10,1.52,0.00,0.000,6,0.177,0.025,2703,2413,1998
$GC,8862,0.53,143.5,350.3,9.4,325,8873,0.00,0.00,9.20,0.803,6,0.000,0.000,2704,2405,1965
$GC,9107,0.54,165.7,328.3,8.9,331,9131,0.00,1.60,21.00,0.866,4,0.000,0.046,2702,3418,1873
$GC,9220,0.54,165.7,317.0,10.9,333,9222,0.00,1.48,0.00,0.000,6,0.000,0.025,2708,2440,1871
$GC,9474,0.54,173.2,292.2,9.6,340,9486,0.00,1.60,7.72,0.736,4,0.000,0.045,2708,3419,1843
$GC,9519,0.54,173.2,287.3,11.9,341,9522,0.00,1.42,0.00,0.000,6,0.000,0.025,2715,2466,1843
$GC,9806,0.55,179.2,258.0,9.7,348,9816,0.00,1.55,6.60,0.680,4,0.000,0.045,2715,3417,1818
$GC,9919,0.55,179.2,245.9,11.0,350,9922,0.00,1.40,0.00,0.000,6,0.000,0.025,2720,2476,1817
$GC,10174,0.55,198.4,221.7,9.0,357,10202,0.00,1.73,19.75,0.709,4,0.000,0.028,2729,1292,1740
$GC,10281,0.56,213.6,211.7,9.2,359,10302,0.00,1.77,14.48,0.735,6,0.000,0.040,2728,2442,1678
$GC,10551,0.57,227.1,187.3,9.3,375,10568,0.00,1.58,12.48,0.701,4,0.000,0.045,2729,3427,1623
$GC,10602,0.57,227.1,182.0,11.7,379,10605,0.00,1.48,0.00,0.000,6,0.000,0.025,2734,2449,1623
$GC,10865,0.57,227.1,154.9,10.3,404,10868,0.00,1.55,0.00,0.000,4,0.000,0.044,2735,3420,1621
$GC,10893,0.57,227.1,151.4,12.8,406,10900,0.00,1.42,0.00,0.000,6,0.000,0.025,2740,2469,1621
$GC,11152,0.57,227.1,123.4,11.3,431,11159,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2464,1621
$GC,11410,0.57,227.1,94.3,11.6,456,11412,0.00,1.50,0.00,0.000,4,0.000,0.043,2739,3418,1621
$GC,11438,0.57,227.1,90.8,12.1,458,11447,0.00,1.42,0.00,0.000,6,0.000,0.024,2740,2460,1621
$GC,11697,0.58,253.4,64.5,8.7,483,11724,0.00,1.50,22.75,0.623,4,0.000,0.041,2740,3425,1517
$GC,11741,0.59,277.1,61.0,8.8,486,11768,0.00,1.40,21.33,0.605,6,0.000,0.023,2740,2475,1419
$GC,12023,0.60,314.6,37.3,8.1,512,12064,0.00,1.73,31.17,0.597,4,0.000,0.026,2739,1318,1265
$GC,12072,0.62,367.8,33.0,7.3,515,12120,0.00,1.83,43.78,0.590,6,0.000,0.036,2740,2484,1050
$GC,12371,0.64,410.4,11.8,7.8,567,12423,0.00,1.48,36.72,0.544,4,0.000,0.042,2739,3420,875
$GC,12469,0.67,489.3,3.8,6.0,581,12479,0.00,1.40,7.07,0.464,2,0.000,0.021,2739,2483,847
$STATE,12480,end climb,SURFACE_DEPTH_REACHED
$STATE,12480,begin surface coast
$FINISH,0.8,1.023199
$STATE,12525,end surface coast,CONTROL_FINISHED_OK
$STATE,12526,begin surface
$SM_CCo,12609,0.00,0.000,0,0,843,418.72
$SM_GC,0.82,6.90,0.00,0.00,0.023,0.000,0.000,37,2758,843,-7.70,0.79,418.72
$IRIDIUM_FIX,2246.36,-15736.30,030102,000020
$TT8_MAMPS,0.046787
$HUMID,2220
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.70
$XPDR_PINGS,10
$24V_AH,23.9,64.807
$10V_AH,10.5,62.812
$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,17.075,105.850,492.125,0.000,0.000,57.181,156.721,400.831,2.500,0.000,0.000,18.023,0.000,8903.854,491.273,2875.918,1163.452,33.346,1428.328,0.000,2564.750,0.000,0.544,0.000
$DEVICE_MAMPS,200.954,53.690,1058.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,397.905,1370.436,1409.037,212.823,1116.852,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47790,591
$CAP_FILE_SIZE,117421,0
$CFSIZE,260165632,232701952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,091012,040536,2255.602,-15737.697,34,1.6,34,10.1