version: 66.04
glider: 512
mission: 3
dive: 506
start: 10 9 112 20 6 26
data:
$ID,512
$MISSION,3
$DIVE,506
$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,150
$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,-63976.824
$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,57
$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
$GPS1,195836,2258.693,-15737.672,41,1.2,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-79.2
$GPS2,200543,2258.734,-15737.715,11,1.7,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.166,0.200
$KALMAN_X,-75765.3,-863.8,163.5,88171.6,-1105.3
$KALMAN_Y,54061.4,-421.7,-511.7,-50642.0,425.0
$MHEAD_RNG_PITCHd_Wd,29.7,13003,-17.5,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.51,-146.0,0.0,0.0,0,99,0.00,0.00,-82.50,0.000,2,0.000,0.000,35,2792,2861
$GC,104,-0.51,-146.0,2.7,-4.0,10,123,8.95,1.67,-5.43,0.000,4,0.203,0.041,2357,1662,3149
$GC,296,-0.51,-146.0,48.8,-16.1,34,299,0.00,1.62,0.00,0.000,6,0.000,0.038,2352,2734,3150
$GC,561,-0.51,-146.0,91.3,-15.0,59,564,0.00,1.55,0.00,0.000,4,0.000,0.021,2352,1660,3150
$GC,630,-0.51,-146.0,100.0,-11.6,65,633,0.00,1.58,0.00,0.000,6,0.000,0.038,2347,2678,3150
$GC,893,-0.51,-146.0,134.0,-12.7,90,896,0.00,1.45,0.00,0.000,4,0.000,0.021,2347,1666,3151
$GC,930,-0.51,-146.0,138.3,-12.3,93,933,0.00,1.52,0.00,0.000,6,0.000,0.039,2346,2656,3151
$GC,1194,-0.51,-146.0,171.7,-12.4,118,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2657,3151
$GC,1469,-0.51,-146.0,205.0,-11.5,142,1472,0.00,1.42,0.00,0.000,4,0.000,0.021,2346,1663,3151
$GC,1514,-0.51,-146.0,209.6,-9.4,143,1517,0.00,1.52,0.00,0.000,6,0.000,0.038,2346,2654,3151
$GC,1800,-0.51,-146.0,240.0,-10.7,150,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2654,3151
$GC,2044,-0.51,-146.0,264.1,-9.7,156,2048,0.00,1.42,0.00,0.000,4,0.000,0.021,2346,1656,3151
$GC,2143,-0.51,-146.0,273.2,-8.8,158,2145,0.00,1.50,0.00,0.000,6,0.000,0.039,2345,2634,3151
$GC,2418,-0.51,-146.0,298.9,-9.4,165,2422,0.00,1.38,0.00,0.000,4,0.000,0.021,2346,1666,3150
$GC,2468,-0.51,-146.0,303.5,-9.1,166,2471,0.00,1.48,0.00,0.000,6,0.000,0.038,2339,2632,3150
$GC,2750,-0.51,-146.0,329.4,-9.1,173,2753,0.00,1.38,0.00,0.000,4,0.000,0.022,2339,1664,3149
$GC,2783,-0.51,-146.0,332.1,-7.9,173,2786,0.00,1.45,0.00,0.000,6,0.000,0.038,2333,2609,3148
$GC,3038,-0.51,-146.0,354.6,-9.1,180,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2609,3146
$GC,3282,-0.51,-146.0,378.6,-10.0,186,3285,0.00,1.35,0.00,0.000,4,0.000,0.022,2333,1666,3144
$GC,3332,-0.51,-146.0,383.9,-9.3,187,3335,0.08,1.42,0.00,0.000,6,0.100,0.040,2359,2590,3143
$GC,3613,-0.51,-146.0,405.5,-7.5,194,3616,0.00,1.85,0.00,0.000,4,0.000,0.049,2359,3793,3141
$GC,3631,-0.51,-146.0,406.9,-7.3,194,3634,0.00,1.77,0.00,0.000,6,0.000,0.022,2359,2558,3141
$GC,3904,-0.51,-146.0,424.7,-6.4,201,3907,0.00,1.25,0.00,0.000,4,0.000,0.023,2358,1653,3139
$GC,3932,-0.51,-146.0,426.9,-7.3,201,3935,0.00,1.75,0.00,0.000,6,0.000,0.044,2359,2794,3139
$GC,4192,-0.51,-146.0,443.7,-6.5,208,4195,0.00,1.55,0.00,0.000,4,0.000,0.051,2358,3778,3136
$GC,4215,-0.51,-146.0,445.1,-5.9,208,4218,0.00,1.80,-0.08,0.000,6,0.000,0.024,2359,2521,3162
$GC,4480,-0.51,-146.0,461.5,-6.1,215,4483,0.00,1.20,0.00,0.000,4,0.000,0.023,2359,1657,3160
$GC,4589,-0.51,-146.0,468.8,-7.1,217,4592,0.00,1.73,0.00,0.000,6,0.000,0.044,2359,2762,3160
$GC,4854,-0.51,-146.0,486.3,-6.9,224,4857,0.00,1.60,0.00,0.000,4,0.000,0.024,2358,1659,3157
$GC,4979,-0.51,-146.0,495.9,-8.6,226,4984,0.00,1.70,0.00,0.000,6,0.000,0.044,2358,2768,3157
$GC,5228,-0.51,-146.0,514.0,-7.1,233,5231,0.00,1.60,0.00,0.000,4,0.000,0.055,2359,3792,3155
$GC,5309,-0.51,-146.0,519.7,-7.2,234,5315,0.00,1.80,0.00,0.000,6,0.000,0.025,2358,2540,3154
$GC,5562,-0.51,-146.0,535.5,-6.1,241,5564,0.00,1.25,0.00,0.000,4,0.000,0.025,2358,1653,3153
$GC,5600,-0.51,-146.0,538.2,-5.7,241,5606,0.00,1.80,0.00,0.000,6,0.000,0.046,2358,2813,3152
$GC,5850,-0.51,-146.0,551.9,-5.5,248,5852,0.00,1.55,0.00,0.000,4,0.000,0.055,2359,3783,3151
$GC,5910,-0.51,-146.0,555.3,-5.8,249,5913,0.00,1.73,0.00,0.000,6,0.000,0.026,2359,2586,3151
$GC,6183,-0.51,-146.0,571.1,-6.0,256,6186,0.00,1.30,0.00,0.000,4,0.000,0.025,2358,1660,3150
$GC,6340,-0.51,-146.0,581.6,-7.1,259,6343,0.00,1.42,0.00,0.000,6,0.000,0.046,2358,2563,3148
$GC,6603,-0.51,-146.0,599.7,-7.1,266,6606,0.00,1.92,0.00,0.000,4,0.000,0.056,2358,3778,3147
$STATE,6610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6610,begin apogee
$GC,6623,-0.18,0.0,600.8,7.2,266,6757,0.30,0.00,132.15,1.062,6,0.080,0.000,2471,2332,2550
$STATE,6757,end apogee,CONTROL_FINISHED_OK
$STATE,6757,begin climb
$GC,6762,0.51,146.0,609.0,0.0,269,6907,0.57,1.55,134.40,1.009,4,0.041,0.025,2702,1309,1953
$GC,6978,0.51,146.0,600.6,11.1,274,6980,0.00,1.67,0.00,0.000,6,0.000,0.040,2702,2368,1947
$GC,7261,0.51,146.0,565.4,12.3,281,7264,0.00,1.67,0.00,0.000,4,0.000,0.047,2702,3423,1944
$GC,7364,0.51,146.0,550.3,15.4,283,7367,0.00,1.58,0.00,0.000,6,0.000,0.025,2708,2380,1942
$GC,7635,0.51,146.0,514.1,13.2,290,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2374,1941
$GC,7879,0.51,146.0,484.2,12.2,296,7882,0.00,1.67,0.00,0.000,4,0.000,0.047,2703,3419,1940
$GC,8046,0.51,146.0,462.6,11.5,299,8051,0.00,1.55,0.00,0.000,6,0.000,0.025,2709,2382,1940
$GC,8297,0.51,146.0,436.7,10.2,306,8300,0.00,1.67,0.00,0.000,4,0.000,0.049,2709,3415,1939
$GC,8411,0.51,146.0,423.0,12.3,308,8414,0.00,1.48,0.00,0.000,6,0.000,0.025,2717,2425,1939
$GC,8671,0.51,146.0,394.2,10.9,315,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2419,1938
$GC,8915,0.51,146.0,366.6,11.3,321,8918,0.00,1.60,0.00,0.000,4,0.000,0.048,2716,3417,1938
$GC,8954,0.51,146.0,361.6,12.7,321,8959,0.00,1.42,0.00,0.000,6,0.000,0.025,2721,2454,1938
$GC,9203,0.51,146.0,333.3,11.3,328,9206,0.12,1.52,0.00,0.000,4,0.159,0.046,2690,3420,1938
$GC,9322,0.51,146.0,319.6,10.8,330,9325,0.00,1.38,0.00,0.000,6,0.000,0.026,2695,2490,1938
$GC,9577,0.51,160.7,295.6,9.3,337,9591,0.00,1.70,11.00,0.802,4,0.000,0.028,2697,1303,1895
$GC,9600,0.52,188.3,293.8,8.7,337,9629,0.00,1.85,25.75,0.843,6,0.000,0.042,2697,2501,1782
$GC,9896,0.54,235.1,270.0,7.8,345,9939,0.00,1.52,40.25,0.829,4,0.000,0.049,2697,3426,1590
$GC,9978,0.55,244.2,263.1,9.6,346,9992,0.00,1.40,9.25,0.714,6,0.000,0.025,2703,2504,1553
$GC,10271,0.56,275.6,237.0,8.6,354,10303,0.00,1.85,27.15,0.783,4,0.000,0.028,2710,1305,1425
$GC,10317,0.57,291.7,232.7,9.3,355,10336,0.00,1.92,15.10,0.737,6,0.000,0.042,2709,2522,1360
$GC,10598,0.57,291.7,203.9,10.7,362,10600,0.00,1.42,0.00,0.000,4,0.000,0.048,2709,3423,1355
$GC,10677,0.57,291.7,194.8,12.4,366,10680,0.00,1.33,0.00,0.000,6,0.000,0.025,2713,2543,1355
$GC,10941,0.57,291.7,167.0,10.2,391,10944,0.00,1.83,0.00,0.000,4,0.000,0.028,2721,1296,1354
$GC,10967,0.57,297.5,164.5,9.7,393,10980,0.00,1.98,5.15,0.551,6,0.000,0.041,2721,2565,1338
$GC,11233,0.57,297.5,136.4,10.9,418,11237,0.00,1.33,0.00,0.000,4,0.000,0.047,2721,3417,1338
$GC,11280,0.57,297.5,130.6,12.2,422,11282,0.00,1.27,0.00,0.000,6,0.000,0.025,2726,2556,1338
$GC,11544,0.57,297.5,98.7,12.4,447,11548,0.00,1.83,0.00,0.000,4,0.000,0.028,2726,1306,1337
$GC,11583,0.57,297.5,94.0,10.1,450,11591,0.00,1.95,0.00,0.000,6,0.000,0.040,2726,2556,1337
$GC,11842,0.57,297.5,67.0,10.0,475,11845,0.00,1.83,0.00,0.000,4,0.000,0.026,2726,1306,1337
$GC,11868,0.58,317.7,64.6,9.1,477,11896,0.00,1.90,18.67,0.615,6,0.000,0.039,2726,2526,1254
$GC,12150,0.61,403.3,44.0,6.0,503,12223,0.00,1.40,69.78,0.608,4,0.000,0.042,2726,3432,904
$GC,12274,0.64,478.6,35.8,6.5,512,12338,0.00,1.35,60.65,0.591,6,0.000,0.022,2726,2521,598
$GC,12585,0.64,478.6,4.9,11.8,563,12593,0.00,1.80,0.00,0.000,4,0.000,0.026,2726,1309,594
$STATE,12599,end climb,SURFACE_DEPTH_REACHED
$STATE,12599,begin surface coast
$FINISH,0.2,1.011787
$STATE,12624,end surface coast,CONTROL_FINISHED_OK
$STATE,12624,begin surface
$SM_CCo,12709,0.00,0.000,0,0,592,480.04
$SM_GC,0.84,6.88,0.00,0.00,0.025,0.000,0.000,36,2752,592,-7.71,0.62,480.04
$IRIDIUM_FIX,2248.70,-15730.19,030102,161644
$TT8_MAMPS,0.046787
$HUMID,2177
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.80
$XPDR_PINGS,11
$24V_AH,23.9,65.683
$10V_AH,10.5,63.609
$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,16.900,108.950,549.300,0.000,0.000,22.872,32.160,198.627,2.750,0.000,0.000,15.710,0.000,8917.353,520.790,2861.498,812.771,33.344,1471.740,0.000,2561.445,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,55.991,1062.295,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,384.404,1290.363,1332.991,193.398,1025.487,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47934,570
$CAP_FILE_SIZE,113852,0
$CFSIZE,260165632,232394752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091012,233935,2300.022,-15737.495,42,1.1,53,10.1