version: 66.04
glider: 512
mission: 3
dive: 328
start: 9 12 112 15 57 3
data:
$ID,512
$MISSION,3
$DIVE,328
$D_SURF,3
$D_FLARE,2
$D_TGT,900
$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,300
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,22
$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,-59215.375
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2525
$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,2760
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2610
$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
$GPS1,154906,2300.160,-15817.122,42,1.2,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-74.7
$GPS2,155618,2300.181,-15817.174,14,1.2,31,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,-0.059
$KALMAN_X,-25274.9,114.8,67.7,33474.0,-3087.5
$KALMAN_Y,2933.6,35.4,237.2,-5868.0,216.3
$MHEAD_RNG_PITCHd_Wd,93.2,78272,-17.7,-10.000
$D_GRID,900
$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,-0.49,-97.3,0.0,0.0,0,82,0.00,0.00,-65.72,0.000,2,0.000,0.000,37,2785,2707
$GC,87,-0.49,-97.3,2.5,-3.6,8,105,8.82,0.00,-6.12,0.000,6,0.204,0.000,2357,2786,3009
$GC,366,-0.49,-97.3,78.7,-23.9,40,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2786,3011
$GC,624,-0.49,-97.3,128.6,-16.7,65,627,0.00,1.58,0.00,0.000,4,0.000,0.022,2357,1696,3012
$GC,682,-0.49,-97.3,137.7,-15.0,70,685,0.00,1.62,0.00,0.000,6,0.000,0.041,2357,2757,3012
$GC,945,-0.49,-97.3,178.0,-15.1,95,948,0.00,1.62,0.00,0.000,4,0.000,0.044,2351,3830,3012
$GC,994,-0.49,-97.3,185.3,-13.6,99,1002,0.00,1.62,0.00,0.000,6,0.000,0.020,2350,2703,3013
$GC,1266,-0.49,-97.3,223.3,-13.7,114,1269,0.00,1.42,0.00,0.000,4,0.000,0.021,2351,1689,3013
$GC,1310,-0.49,-97.3,229.1,-12.9,115,1313,0.00,1.62,0.00,0.000,6,0.000,0.039,2346,2754,3012
$GC,1596,-0.49,-97.3,268.2,-13.4,122,1599,0.00,1.62,0.00,0.000,4,0.000,0.045,2338,3829,3013
$GC,1625,-0.49,-97.3,271.9,-13.6,122,1628,0.00,1.62,0.00,0.000,6,0.000,0.021,2338,2687,3013
$GC,1884,-0.49,-97.3,305.6,-12.9,129,1887,0.00,1.40,0.00,0.000,4,0.000,0.022,2338,1681,3012
$GC,1944,-0.49,-97.3,313.0,-11.7,130,1948,0.12,1.60,0.00,0.000,6,0.124,0.040,2368,2738,3012
$GC,2215,-0.49,-97.3,340.1,-9.9,137,2218,0.00,1.50,0.00,0.000,4,0.000,0.021,2368,1689,3012
$GC,2238,-0.49,-97.3,342.4,-10.2,137,2241,0.00,1.58,0.00,0.000,6,0.000,0.041,2362,2705,3012
$GC,2503,-0.49,-97.3,368.1,-9.7,144,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2705,3009
$GC,2746,-0.49,-97.3,391.3,-9.6,150,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2705,3008
$GC,2989,-0.49,-97.3,413.5,-9.1,156,2992,0.00,1.48,0.00,0.000,4,0.000,0.023,2362,1685,3006
$GC,3012,-0.49,-97.3,415.8,-9.1,156,3015,0.00,1.60,0.00,0.000,6,0.000,0.043,2359,2731,3006
$GC,3277,-0.49,-97.3,439.0,-8.8,163,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2731,3004
$GC,3519,-0.49,-97.3,459.6,-8.4,169,3522,0.00,1.50,0.00,0.000,4,0.000,0.024,2359,1695,3003
$GC,3558,-0.49,-97.3,462.8,-8.1,169,3564,0.00,1.55,0.00,0.000,6,0.000,0.044,2358,2684,3003
$GC,3810,-0.49,-97.3,483.9,-8.6,176,3813,0.00,1.75,0.00,0.000,4,0.000,0.051,2350,3820,3000
$GC,3854,-0.49,-97.3,488.2,-9.0,177,3857,0.00,1.65,0.00,0.000,6,0.000,0.025,2350,2678,3000
$GC,4141,-0.49,-97.3,514.6,-8.9,184,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2672,2998
$GC,4383,-0.49,-97.3,535.1,-8.4,190,4386,0.00,1.40,0.00,0.000,4,0.000,0.025,2350,1694,2996
$GC,4438,-0.49,-97.3,539.8,-7.9,191,4441,0.00,1.55,0.00,0.000,6,0.000,0.044,2346,2680,2996
$GC,4714,-0.49,-97.3,562.7,-8.5,198,4717,0.00,1.75,0.00,0.000,4,0.000,0.053,2338,3811,2994
$GC,4797,-0.49,-97.3,570.0,-9.3,199,4802,0.00,1.62,0.00,0.000,6,0.000,0.025,2338,2693,2993
$GC,5048,-0.49,-97.3,592.9,-9.3,206,5051,0.00,1.42,0.00,0.000,4,0.000,0.027,2338,1696,2993
$GC,5162,-0.49,-97.3,603.5,-8.8,208,5165,0.05,1.52,0.00,0.000,6,0.126,0.045,2363,2663,2992
$GC,5422,-0.49,-97.3,622.9,-7.3,215,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2662,2990
$GC,5666,-0.49,-97.3,640.6,-7.3,221,5669,0.00,1.80,0.00,0.000,4,0.000,0.055,2359,3813,2989
$GC,5700,-0.49,-97.3,643.4,-7.9,221,5702,0.00,1.70,0.00,0.000,6,0.000,0.027,2359,2654,2988
$GC,5954,-0.49,-97.3,663.5,-7.9,228,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2647,2987
$GC,6196,-0.49,-97.3,682.3,-7.8,234,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2647,2986
$GC,6438,-0.49,-97.3,701.1,-7.8,240,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2647,2985
$GC,6682,-0.49,-97.3,719.7,-7.6,246,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2647,2984
$GC,6922,-0.49,-97.3,737.5,-7.3,252,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2646,2983
$GC,7165,-0.49,-97.3,754.4,-6.9,258,7168,0.00,1.90,0.00,0.000,4,0.000,0.056,2350,3814,2983
$GC,7214,-0.49,-97.3,757.8,-6.8,259,7217,0.00,1.73,0.00,0.000,6,0.000,0.028,2350,2668,2982
$GC,7497,-0.49,-97.3,776.9,-6.7,266,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2660,2981
$GC,7738,-0.49,-97.3,793.0,-6.7,272,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2660,2981
$GC,7979,-0.49,-97.3,809.3,-6.8,278,7983,0.00,1.40,0.00,0.000,4,0.000,0.030,2350,1701,2980
$GC,8002,-0.49,-97.3,810.8,-7.0,278,8005,0.00,1.58,0.00,0.000,6,0.000,0.049,2346,2684,2980
$GC,8267,-0.49,-97.3,829.5,-7.1,285,8270,0.00,1.80,0.00,0.000,4,0.000,0.059,2346,3822,2979
$GC,8314,-0.49,-97.3,832.5,-7.1,286,8317,0.00,1.67,0.00,0.000,6,0.000,0.028,2346,2687,2979
$GC,8601,-0.49,-97.3,851.9,-6.8,293,8604,0.00,1.42,0.00,0.000,4,0.000,0.029,2346,1702,2978
$GC,8688,-0.49,-97.3,857.9,-7.4,295,8691,0.00,1.60,0.00,0.000,6,0.000,0.051,2346,2695,2978
$GC,8975,-0.49,-97.3,877.1,-6.7,302,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2695,2977
$GC,9217,-0.49,-97.3,892.9,-6.5,308,9220,0.00,1.80,0.00,0.000,4,0.000,0.060,2346,3805,2976
$GC,9250,-0.49,-97.3,895.2,-6.8,308,9253,0.00,1.62,0.00,0.000,6,0.000,0.028,2346,2702,2976
$STATE,9340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9340,begin apogee
$GC,9351,-0.18,0.0,901.2,6.4,311,9436,0.38,0.00,83.80,1.295,6,0.100,0.000,2470,2415,2610
$STATE,9437,end apogee,CONTROL_FINISHED_OK
$STATE,9437,begin climb
$GC,9442,0.49,97.3,902.3,0.0,313,9575,0.55,1.65,102.50,1.159,4,0.030,0.029,2705,1362,2213
$GC,9623,0.49,97.3,892.0,14.4,317,9626,0.00,1.73,0.00,0.000,6,0.000,0.041,2702,2426,2208
$GC,9899,0.49,97.3,848.1,16.0,324,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2427,2203
$GC,10141,0.49,97.3,810.6,15.5,330,10144,0.00,1.62,0.00,0.000,4,0.000,0.029,2709,1345,2202
$GC,10187,0.49,97.3,803.8,14.8,331,10190,0.00,1.70,0.00,0.000,6,0.000,0.044,2709,2405,2201
$GC,10474,0.49,97.3,760.6,14.7,338,10477,0.00,1.70,0.00,0.000,4,0.000,0.051,2709,3492,2200
$GC,10502,0.49,97.3,756.2,15.6,338,10505,0.15,1.60,0.00,0.000,6,0.206,0.027,2684,2416,2200
$GC,10762,0.49,97.3,722.3,12.6,345,10765,0.00,1.75,0.00,0.000,4,0.000,0.052,2682,3490,2199
$GC,10816,0.49,97.3,715.2,13.0,346,10819,0.00,1.60,0.00,0.000,6,0.000,0.027,2689,2410,2199
$GC,11093,0.49,97.3,680.4,12.6,353,11093,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2403,2198
$GC,11334,0.49,97.3,652.1,11.5,359,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2404,2198
$GC,11576,0.49,97.3,625.3,10.9,365,11579,0.00,1.75,0.00,0.000,4,0.000,0.050,2686,3487,2198
$GC,11701,0.49,97.3,611.1,11.7,367,11706,0.00,1.60,0.00,0.000,6,0.000,0.027,2693,2405,2197
$GC,11950,0.49,97.7,586.1,10.0,374,11951,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2398,2197
$GC,12192,0.49,97.7,561.0,10.7,380,12195,0.00,1.52,0.00,0.000,4,0.000,0.030,2700,1377,2197
$GC,12363,0.49,103.2,543.3,9.7,383,12369,0.00,1.65,0.00,0.000,6,0.000,0.044,2701,2444,2196
$GC,12612,0.49,103.2,516.4,10.4,390,12615,0.00,1.60,0.00,0.000,4,0.000,0.050,2700,3481,2196
$GC,12774,0.49,103.2,497.7,11.6,393,12777,0.00,1.50,0.00,0.000,6,0.000,0.028,2708,2481,2196
$GC,13029,0.49,103.2,470.6,10.5,400,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2475,2195
$GC,13272,0.51,134.9,449.0,8.5,406,13314,0.00,1.67,33.03,0.952,4,0.000,0.048,2702,3491,2060
$GC,13380,0.51,134.9,437.4,11.5,408,13383,0.00,1.52,0.00,0.000,6,0.000,0.026,2708,2493,2057
$GC,13645,0.51,134.9,405.4,11.5,415,13648,0.00,1.65,0.00,0.000,4,0.000,0.029,2716,1360,2055
$GC,13743,0.51,134.9,394.2,10.9,417,13746,0.00,1.77,0.00,0.000,6,0.000,0.044,2715,2492,2054
$GC,14018,0.51,134.9,362.0,11.4,424,14021,0.00,1.67,0.00,0.000,4,0.000,0.029,2722,1355,2054
$GC,14068,0.51,134.9,356.7,10.1,425,14071,0.00,1.70,0.00,0.000,6,0.000,0.043,2716,2445,2054
$GC,14349,0.51,134.9,324.0,11.9,432,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2445,2053
$GC,14591,0.51,134.9,296.5,11.4,438,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2445,2053
$GC,14833,0.52,162.7,274.0,8.7,444,14861,0.00,1.65,24.50,0.851,4,0.000,0.029,2722,1362,1946
$GC,15037,0.52,166.2,255.0,9.8,448,15047,0.00,1.67,3.70,0.521,6,0.000,0.041,2716,2436,1933
$GC,15291,0.52,166.2,225.9,11.6,455,15294,0.00,1.62,0.00,0.000,4,0.000,0.048,2715,3487,1932
$GC,15486,0.52,166.2,202.5,10.8,459,15488,0.00,1.55,0.00,0.000,6,0.000,0.025,2721,2457,1931
$GC,15748,0.53,190.3,178.0,8.9,480,15773,0.00,1.65,21.95,0.751,4,0.000,0.046,2716,3479,1833
$GC,15806,0.53,190.3,172.0,10.7,485,15809,0.00,1.58,0.00,0.000,6,0.000,0.025,2722,2445,1832
$GC,16069,0.53,190.3,143.3,10.9,510,16072,0.00,1.58,0.00,0.000,4,0.000,0.026,2729,1371,1830
$GC,16149,0.53,190.3,134.6,10.6,517,16157,0.08,1.60,0.00,0.000,6,0.138,0.038,2702,2393,1829
$GC,16411,0.53,197.9,110.2,9.6,542,16424,0.00,1.50,7.45,0.597,4,0.000,0.025,2708,1365,1803
$GC,16463,0.54,212.2,105.0,9.3,546,16484,0.00,1.55,13.88,0.646,6,0.000,0.038,2708,2360,1742
$GC,16739,0.56,263.5,80.6,7.6,572,16784,0.00,1.75,42.10,0.653,4,0.000,0.043,2708,3481,1534
$GC,16833,0.57,281.0,72.2,9.2,579,16852,0.00,1.62,15.48,0.607,6,0.000,0.025,2709,2395,1464
$GC,17110,0.57,296.1,47.1,9.3,604,17128,0.00,0.00,12.82,0.575,6,0.000,0.000,2709,2395,1404
$GC,17380,0.57,297.4,20.6,9.9,639,17386,0.00,1.50,0.00,0.000,4,0.000,0.026,2713,1369,1402
$GC,17426,0.58,321.6,16.4,8.9,647,17453,0.00,1.65,21.80,0.568,6,0.000,0.038,2712,2424,1298
$STATE,17564,end climb,SURFACE_DEPTH_REACHED
$STATE,17564,begin surface coast
$FINISH,0.1,1.010856
$STATE,17599,end surface coast,CONTROL_FINISHED_OK
$STATE,17599,begin surface
$SM_CCo,17623,28.55,0.555,0,0,1060,380.21
$SM_GC,1.21,0.00,0.00,28.55,0.000,0.000,0.555,36,2791,1060,-7.78,0.88,380.21
$IRIDIUM_FIX,2248.70,-15558.92,071201,111155
$TT8_MAMPS,0.047554
$HUMID,2042
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.40
$XPDR_PINGS,4
$24V_AH,23.9,40.446
$10V_AH,10.5,37.813
$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,16.950,113.975,383.000,28.550,0.000,30.283,33.521,181.693,1.000,0.000,0.000,35.428,0.000,13557.839,452.083,3152.521,904.970,33.337,1486.620,0.000,2765.151,0.000,0.545,0.000
$DEVICE_MAMPS,206.323,59.826,1294.696,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,460.348,1308.164,1350.429,190.874,953.307,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54091,678
$CAP_FILE_SIZE,136767,0
$CFSIZE,260165632,242814976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,120912,205229,2259.794,-15815.952,38,1.1,43,10.1