version: 66.04
glider: 512
mission: 3
dive: 329
start: 9 12 112 21 4 9
data:
$ID,512
$MISSION,3
$DIVE,329
$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,-59230.113
$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,54
$R_STBD_OVSHOOT,41
$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
$GPS1,205229,2259.794,-15815.952,38,1.1,43,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-76.6
$GPS2,210324,2259.798,-15816.007,14,1.6,14,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,-0.073
$KALMAN_X,-28068.5,259.9,180.1,37992.2,-3584.7
$KALMAN_Y,3645.9,43.8,-124.3,-6930.8,805.3
$MHEAD_RNG_PITCHd_Wd,96.5,76197,-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,-97.3,0.0,0.0,0,74,0.00,0.00,-57.47,0.000,2,0.000,0.000,29,2791,2485
$GC,79,-0.49,-97.3,2.0,-2.5,7,104,8.88,0.00,-12.32,0.000,6,0.204,0.000,2356,2791,3007
$GC,356,-0.49,-97.3,73.0,-23.8,42,358,0.00,1.58,0.00,0.000,4,0.000,0.021,2356,1698,3009
$GC,413,-0.49,-97.3,85.1,-19.0,47,416,0.00,1.62,0.00,0.000,6,0.000,0.039,2350,2760,3009
$GC,676,-0.49,-97.3,132.2,-18.0,72,679,0.00,1.55,0.00,0.000,4,0.000,0.021,2349,1684,3009
$GC,734,-0.49,-97.3,142.1,-16.3,77,736,0.00,1.62,0.00,0.000,6,0.000,0.038,2343,2749,3009
$GC,996,-0.49,-97.3,187.0,-16.5,102,999,0.00,1.52,0.00,0.000,4,0.000,0.021,2344,1689,3010
$GC,1054,-0.49,-97.3,195.8,-14.5,107,1057,0.00,1.60,0.00,0.000,6,0.000,0.038,2338,2749,3010
$GC,1331,-0.49,-97.3,236.4,-14.0,116,1334,0.00,1.62,0.00,0.000,4,0.000,0.045,2330,3826,3010
$GC,1434,-0.49,-97.3,250.5,-13.1,118,1437,0.12,1.60,0.00,0.000,6,0.123,0.021,2365,2702,3010
$GC,1705,-0.49,-97.3,279.4,-10.7,125,1707,0.00,1.42,0.00,0.000,4,0.000,0.021,2365,1678,3010
$GC,1802,-0.49,-97.3,289.4,-9.5,127,1805,0.00,1.60,0.00,0.000,6,0.000,0.039,2359,2739,3009
$GC,2078,-0.49,-97.3,317.8,-10.1,134,2081,0.00,1.50,0.00,0.000,4,0.000,0.021,2359,1689,3008
$GC,2117,-0.49,-97.3,321.5,-9.2,134,2122,0.00,1.60,0.00,0.000,6,0.000,0.041,2359,2745,3008
$GC,2368,-0.49,-97.3,343.8,-8.9,141,2372,0.00,1.65,0.00,0.000,4,0.000,0.047,2351,3814,3007
$GC,2402,-0.49,-97.3,347.3,-10.0,141,2405,0.00,1.60,0.00,0.000,6,0.000,0.021,2351,2684,3006
$GC,2656,-0.49,-97.3,373.3,-10.5,148,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2676,3005
$GC,2899,-0.49,-97.3,399.3,-10.7,154,2901,0.00,1.40,0.00,0.000,4,0.000,0.023,2351,1687,3004
$GC,2937,-0.49,-97.3,403.3,-9.7,154,2943,0.00,1.58,0.00,0.000,6,0.000,0.041,2346,2701,3003
$GC,3188,-0.49,-97.3,429.3,-10.4,161,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2702,3002
$GC,3428,-0.49,-97.3,453.9,-10.0,167,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2702,2999
$GC,3671,-0.49,-97.3,476.6,-9.3,173,3674,0.00,1.75,-0.08,0.000,4,0.000,0.064,2338,3813,3023
$GC,3715,-0.49,-97.3,480.9,-9.4,174,3718,0.00,1.65,0.00,0.000,6,0.000,0.023,2338,2691,3023
$GC,4004,-0.49,-97.3,509.2,-10.0,181,4007,0.00,1.77,0.00,0.000,4,0.000,0.048,2330,3822,3021
$GC,4038,-0.49,-97.3,513.2,-11.1,181,4041,0.12,1.62,0.00,0.000,6,0.117,0.024,2365,2688,3020
$GC,4292,-0.49,-97.3,533.1,-7.6,188,4295,0.00,1.80,0.00,0.000,4,0.000,0.051,2358,3826,3019
$GC,4310,-0.49,-97.3,534.4,-7.2,188,4313,0.00,1.62,0.00,0.000,6,0.000,0.024,2359,2698,3018
$GC,4580,-0.49,-97.3,554.6,-7.3,195,4583,0.00,1.42,0.00,0.000,4,0.000,0.025,2359,1690,3018
$GC,4609,-0.49,-97.3,556.6,-7.0,195,4612,0.00,1.60,0.00,0.000,6,0.000,0.045,2359,2727,3017
$GC,4869,-0.49,-97.3,574.5,-7.0,202,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2727,3015
$GC,5111,-0.49,-97.3,593.1,-7.9,208,5114,0.00,1.52,0.00,0.000,4,0.000,0.025,2359,1688,3013
$GC,5204,-0.49,-97.3,600.9,-8.2,210,5207,0.00,1.60,0.00,0.000,6,0.000,0.046,2359,2702,3013
$GC,5485,-0.49,-97.3,624.2,-8.3,217,5488,0.00,1.75,0.00,0.000,4,0.000,0.053,2351,3829,3011
$GC,5524,-0.49,-97.3,627.5,-8.8,217,5529,0.00,1.65,0.00,0.000,6,0.000,0.025,2350,2696,3011
$GC,5773,-0.49,-97.3,648.0,-8.3,224,5776,0.00,1.42,0.00,0.000,4,0.000,0.026,2350,1696,3010
$GC,5796,-0.49,-97.3,650.1,-9.0,224,5799,0.00,1.62,0.00,0.000,6,0.000,0.045,2346,2726,3009
$GC,6064,-0.49,-97.3,672.6,-8.6,231,6066,0.00,1.50,0.00,0.000,4,0.000,0.026,2346,1702,3008
$GC,6098,-0.49,-97.3,675.8,-8.6,231,6100,0.00,1.60,0.00,0.000,6,0.000,0.047,2346,2733,3008
$GC,6352,-0.49,-97.3,697.9,-8.7,238,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2734,3007
$GC,6594,-0.49,-97.3,718.9,-8.7,244,6597,0.00,1.52,0.00,0.000,4,0.000,0.027,2346,1698,3006
$GC,6633,-0.49,-97.3,722.4,-8.6,244,6638,0.00,1.60,0.00,0.000,6,0.000,0.048,2346,2724,3006
$GC,6884,-0.49,-97.3,743.0,-8.3,251,6887,0.00,1.75,0.00,0.000,4,0.000,0.057,2346,3819,3005
$GC,6907,-0.49,-97.3,745.1,-8.6,251,6910,0.00,1.65,0.00,0.000,6,0.000,0.027,2346,2696,3004
$GC,7172,-0.49,-97.3,766.0,-7.8,258,7175,0.00,1.42,0.00,0.000,4,0.000,0.027,2346,1702,3004
$GC,7217,-0.49,-97.3,769.5,-7.5,259,7219,0.00,1.62,0.00,0.000,6,0.000,0.048,2346,2741,3004
$GC,7505,-0.49,-97.3,791.5,-7.8,266,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2741,3002
$GC,7745,-0.49,-97.3,809.6,-7.4,272,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2741,3001
$GC,7987,-0.49,-97.3,827.1,-7.2,278,7990,0.00,1.55,0.00,0.000,4,0.000,0.028,2346,1695,3001
$GC,8026,-0.49,-97.3,830.0,-7.0,278,8032,0.00,1.60,0.00,0.000,6,0.000,0.049,2346,2716,3000
$GC,8276,-0.49,-97.3,848.1,-7.3,285,8279,0.00,1.77,0.00,0.000,4,0.000,0.059,2346,3815,2999
$GC,8293,-0.49,-97.3,849.4,-7.5,285,8296,0.00,1.65,0.00,0.000,6,0.000,0.028,2346,2697,3000
$GC,8564,-0.49,-97.3,869.0,-7.2,292,8567,0.00,1.45,0.00,0.000,4,0.000,0.028,2346,1690,2999
$GC,8630,-0.49,-97.3,874.0,-7.7,293,8633,0.00,1.60,0.00,0.000,6,0.000,0.050,2346,2709,2999
$GC,8895,-0.49,-97.3,893.3,-7.3,300,8898,0.00,1.75,0.00,0.000,4,0.000,0.059,2345,3815,2998
$GC,8923,-0.49,-97.3,895.6,-7.9,300,8926,0.00,1.67,0.00,0.000,6,0.000,0.029,2345,2681,2998
$STATE,9016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9016,begin apogee
$GC,9027,-0.18,0.0,902.8,7.4,303,9117,0.38,0.00,88.35,1.293,6,0.095,0.000,2470,2412,2610
$STATE,9117,end apogee,CONTROL_FINISHED_OK
$STATE,9117,begin climb
$GC,9123,0.49,97.3,904.7,0.0,305,9240,0.55,0.00,99.60,1.191,6,0.028,0.000,2703,2412,2213
$GC,9490,0.49,97.3,868.4,15.0,313,9492,0.00,1.73,0.00,0.000,4,0.000,0.048,2702,3486,2203
$GC,9534,0.49,97.3,860.8,15.8,314,9537,0.00,1.62,0.00,0.000,6,0.000,0.027,2709,2416,2202
$GC,9823,0.49,97.3,818.4,14.8,321,9825,0.00,1.58,0.00,0.000,4,0.000,0.030,2717,1353,2200
$GC,9915,0.49,97.3,805.1,14.2,323,9918,0.12,1.70,0.00,0.000,6,0.162,0.043,2685,2442,2199
$GC,10196,0.49,97.3,769.9,12.4,330,10199,0.00,1.62,0.00,0.000,4,0.000,0.049,2685,3486,2198
$GC,10243,0.49,97.3,764.0,13.8,331,10246,0.00,1.60,0.00,0.000,6,0.000,0.027,2691,2432,2198
$GC,10529,0.49,97.3,729.5,11.7,338,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2426,2197
$GC,10771,0.49,97.3,702.5,11.2,344,10774,0.00,1.58,0.00,0.000,4,0.000,0.029,2698,1364,2197
$GC,10842,0.49,97.3,694.7,10.2,345,10845,0.00,1.70,0.00,0.000,6,0.000,0.044,2699,2455,2196
$GC,11102,0.49,97.3,665.9,10.9,352,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2455,2196
$GC,11344,0.49,97.3,638.3,11.5,358,11347,0.00,1.62,0.00,0.000,4,0.000,0.048,2699,3504,2196
$GC,11458,0.49,97.3,623.6,13.5,360,11461,0.00,1.60,0.00,0.000,6,0.000,0.028,2706,2421,2195
$GC,11717,0.49,97.3,592.8,11.9,367,11720,0.00,1.55,0.00,0.000,4,0.000,0.030,2714,1361,2195
$GC,11965,0.49,97.3,563.3,11.6,372,11969,0.08,1.60,0.00,0.000,6,0.165,0.043,2691,2378,2195
$GC,12220,0.50,122.1,539.4,8.8,379,12252,0.00,1.80,22.02,0.963,4,0.000,0.050,2686,3492,2111
$GC,12309,0.50,122.1,530.6,11.5,381,12312,0.00,1.67,0.00,0.000,6,0.000,0.027,2693,2377,2110
$GC,12590,0.50,122.1,501.3,10.4,388,12593,0.00,1.75,0.00,0.000,4,0.000,0.048,2687,3478,2108
$GC,12661,0.50,122.1,493.3,11.5,389,12664,0.00,1.60,0.00,0.000,6,0.000,0.028,2693,2406,2108
$GC,12923,0.50,122.1,463.6,11.6,396,12926,0.00,1.73,0.00,0.000,4,0.000,0.049,2689,3492,2107
$GC,13042,0.50,122.1,448.4,12.4,398,13046,0.00,1.55,0.00,0.000,6,0.000,0.027,2694,2460,2107
$GC,13297,0.50,122.1,419.7,11.0,405,13298,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2455,2106
$GC,13541,0.50,128.6,395.7,9.7,411,13551,0.00,1.65,6.72,0.801,4,0.000,0.029,2703,1350,2085
$GC,13696,0.53,196.9,383.8,6.8,414,13762,0.00,1.75,60.03,0.943,6,0.000,0.044,2702,2473,1806
$GC,14044,0.53,196.9,341.3,13.1,423,14047,0.00,1.60,0.00,0.000,4,0.000,0.049,2702,3474,1801
$GC,14104,0.53,196.9,331.7,15.5,424,14107,0.00,1.50,0.00,0.000,6,0.000,0.027,2708,2495,1800
$GC,14377,0.53,196.9,289.7,15.9,431,14380,0.00,1.65,0.00,0.000,4,0.000,0.030,2713,1373,1798
$GC,14458,0.53,196.9,277.5,14.2,432,14464,0.00,1.75,0.00,0.000,6,0.000,0.044,2713,2486,1797
$GC,14707,0.53,196.9,245.4,12.3,439,14710,0.00,1.55,0.00,0.000,4,0.000,0.048,2713,3474,1797
$GC,14768,0.53,196.9,238.1,11.6,440,14771,0.00,1.48,0.00,0.000,6,0.000,0.025,2721,2492,1797
$GC,15038,0.53,196.9,205.8,12.3,447,15041,0.00,1.58,0.00,0.000,4,0.000,0.047,2717,3474,1797
$GC,15082,0.53,196.9,199.9,13.8,448,15085,0.00,1.40,0.00,0.000,6,0.000,0.025,2723,2536,1797
$GC,15346,0.53,196.9,163.4,13.3,473,15349,0.00,1.70,0.00,0.000,4,0.000,0.027,2730,1356,1797
$GC,15477,0.53,196.9,148.3,10.4,485,15480,0.12,1.83,0.00,0.000,6,0.143,0.040,2695,2543,1796
$GC,15745,0.55,234.9,124.2,8.2,510,15785,0.00,1.80,31.00,0.700,4,0.000,0.027,2702,1365,1651
$GC,15803,0.55,248.8,118.5,9.3,514,15824,0.00,1.80,12.52,0.645,6,0.000,0.038,2702,2507,1594
$GC,16079,0.55,248.8,89.2,11.2,540,16082,0.00,1.70,0.00,0.000,4,0.000,0.025,2709,1358,1591
$GC,16137,0.55,248.8,82.6,10.4,545,16140,0.00,1.75,0.00,0.000,6,0.000,0.037,2709,2499,1590
$GC,16401,0.56,254.1,56.0,9.8,570,16410,0.00,0.00,5.43,0.495,6,0.000,0.000,2709,2499,1573
$GC,16659,0.57,285.2,34.4,8.5,595,16688,0.00,0.00,26.52,0.596,6,0.000,0.000,2709,2499,1447
$GC,16935,0.57,285.2,8.3,11.6,644,16944,0.00,1.70,0.00,0.000,4,0.000,0.025,2713,1353,1443
$STATE,16979,end climb,SURFACE_DEPTH_REACHED
$STATE,16979,begin surface coast
$FINISH,0.7,1.023218
$STATE,17004,end surface coast,CONTROL_FINISHED_OK
$STATE,17005,begin surface
$SM_CCo,17029,43.53,0.566,0,0,1058,380.21
$SM_GC,0.90,0.00,0.00,43.53,0.000,0.000,0.566,39,2762,1058,-7.77,0.06,380.21
$IRIDIUM_FIX,2253.38,-15815.39,071201,212108
$TT8_MAMPS,0.047554
$HUMID,2063
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.10
$XPDR_PINGS,5
$24V_AH,23.9,40.579
$10V_AH,10.5,37.967
$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,17.175,133.975,352.200,43.525,0.000,52.950,71.871,297.069,1.250,0.000,0.000,14.105,0.000,13015.646,447.270,3141.079,1108.410,33.347,1484.427,0.000,2780.767,0.000,0.546,0.000
$DEVICE_MAMPS,204.022,64.428,1293.162,566.046,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,446.811,1274.935,1318.886,191.593,961.583,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54070,657
$CAP_FILE_SIZE,143349,0
$CFSIZE,260165632,242745344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,130912,014954,2259.368,-15814.929,40,1.5,40,10.1