version: 66.04
glider: 512
mission: 3
dive: 330
start: 9 13 112 1 58 37
data:
$ID,512
$MISSION,3
$DIVE,330
$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,-59266.141
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2520
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2600
$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
$GPS1,014954,2259.368,-15814.929,40,1.5,40,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-76.2
$GPS2,015757,2259.384,-15814.993,15,2.2,34,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.242,-0.089
$KALMAN_X,-30428.1,195.6,-97.7,42419.2,-2774.0
$KALMAN_Y,4130.7,-7.5,-3.6,-8249.1,637.0
$MHEAD_RNG_PITCHd_Wd,100.0,74318,-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,16,-0.49,-97.3,0.0,0.0,0,75,0.00,0.00,-57.60,0.000,2,0.000,0.000,30,2772,2477
$GC,80,-0.49,-97.3,2.0,-2.5,7,106,8.85,1.55,-12.10,0.000,4,0.202,0.038,2365,1672,2997
$GC,232,-0.49,-97.3,34.7,-20.5,31,235,0.00,1.67,0.00,0.000,6,0.000,0.041,2359,2755,2998
$GC,495,-0.49,-97.3,95.8,-19.1,56,497,0.00,1.62,0.00,0.000,4,0.000,0.045,2351,3822,2999
$GC,531,-0.49,-97.3,102.5,-19.1,59,534,0.00,1.58,0.00,0.000,6,0.000,0.020,2351,2736,2999
$GC,794,-0.49,-97.3,150.2,-18.2,84,797,0.00,1.45,0.00,0.000,4,0.000,0.021,2351,1699,3000
$GC,833,-0.49,-97.3,157.1,-16.2,87,841,0.00,1.67,0.00,0.000,6,0.000,0.040,2343,2778,3000
$GC,1091,-0.49,-97.3,201.0,-17.5,112,1094,0.00,1.52,0.00,0.000,4,0.000,0.021,2343,1715,3000
$GC,1125,-0.49,-97.3,207.5,-16.6,112,1128,0.00,1.58,0.00,0.000,6,0.000,0.040,2337,2735,3000
$GC,1379,-0.49,-97.3,248.7,-16.1,119,1383,0.00,1.67,0.00,0.000,4,0.000,0.047,2329,3818,3000
$GC,1461,-0.49,-97.3,261.0,-14.2,120,1469,0.08,1.55,0.00,0.000,6,0.136,0.021,2353,2728,3000
$GC,1710,-0.49,-97.3,292.3,-12.2,127,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2726,3000
$GC,1952,-0.49,-97.3,318.7,-10.7,133,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2726,3000
$GC,2194,-0.49,-97.3,342.1,-9.6,139,2197,0.00,1.40,0.00,0.000,4,0.000,0.022,2353,1727,2999
$GC,2254,-0.49,-97.3,347.7,-9.0,140,2257,0.00,1.58,0.00,0.000,6,0.000,0.041,2347,2746,2999
$GC,2525,-0.49,-97.3,375.2,-10.6,147,2528,0.00,1.48,0.00,0.000,4,0.000,0.022,2347,1722,2996
$GC,2564,-0.49,-97.3,379.4,-10.5,147,2569,0.00,1.60,0.00,0.000,6,0.000,0.042,2346,2769,2996
$GC,2813,-0.49,-97.3,405.2,-10.2,154,2815,0.00,1.50,0.00,0.000,4,0.000,0.023,2346,1728,2995
$GC,2867,-0.49,-97.3,410.6,-9.6,155,2870,0.00,1.58,0.00,0.000,6,0.000,0.041,2346,2742,2995
$GC,3143,-0.49,-97.3,436.6,-9.4,162,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2742,2992
$GC,3386,-0.49,-97.3,459.6,-9.5,168,3388,0.00,1.48,0.00,0.000,4,0.000,0.023,2346,1723,2990
$GC,3419,-0.49,-97.3,462.9,-9.6,168,3422,0.00,1.58,0.00,0.000,6,0.000,0.044,2346,2728,2990
$GC,3673,-0.49,-97.3,488.5,-10.2,175,3675,0.00,0.00,-0.08,0.000,6,0.000,0.000,2346,2729,3014
$GC,3918,-0.49,-97.3,511.7,-9.4,181,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2728,3012
$GC,4158,-0.49,-97.3,532.9,-8.6,187,4160,0.00,1.70,0.00,0.000,4,0.000,0.053,2338,3828,3011
$GC,4186,-0.49,-97.3,535.4,-8.9,187,4189,0.00,1.60,0.00,0.000,6,0.000,0.025,2338,2717,3011
$GC,4445,-0.49,-97.3,558.5,-9.0,194,4448,0.00,1.75,0.00,0.000,4,0.000,0.051,2329,3822,3009
$GC,4495,-0.49,-97.3,563.6,-9.6,195,4498,0.12,1.60,0.00,0.000,6,0.122,0.025,2364,2711,3008
$GC,4776,-0.49,-97.3,585.0,-7.5,202,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2704,3007
$GC,5018,-0.49,-97.3,603.2,-7.4,208,5022,0.00,1.42,0.00,0.000,4,0.000,0.027,2366,1714,3006
$GC,5079,-0.49,-97.3,607.4,-7.2,209,5082,0.00,1.60,0.00,0.000,6,0.000,0.046,2360,2753,3005
$GC,5352,-0.49,-97.3,626.5,-7.0,216,5355,0.00,1.52,0.00,0.000,4,0.000,0.027,2360,1715,3004
$GC,5407,-0.49,-97.3,630.5,-6.8,217,5409,0.00,1.58,0.00,0.000,6,0.000,0.048,2358,2706,3003
$GC,5682,-0.49,-97.3,649.5,-7.0,224,5685,0.00,1.75,0.00,0.000,4,0.000,0.056,2351,3821,3001
$GC,5711,-0.49,-97.3,651.7,-7.7,224,5714,0.00,1.62,0.00,0.000,6,0.000,0.027,2351,2705,3001
$GC,5973,-0.49,-97.3,670.7,-7.3,231,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2698,3000
$GC,6213,-0.49,-97.3,688.6,-7.5,237,6216,0.00,1.42,0.00,0.000,4,0.000,0.028,2350,1712,2999
$GC,6247,-0.49,-97.3,691.1,-7.8,237,6249,0.00,1.55,0.00,0.000,6,0.000,0.048,2346,2689,2999
$GC,6501,-0.49,-97.3,710.9,-8.0,244,6504,0.00,1.77,0.00,0.000,4,0.000,0.058,2346,3813,2998
$GC,6551,-0.49,-97.3,715.1,-8.1,245,6553,0.00,1.62,0.00,0.000,6,0.000,0.028,2345,2703,2998
$GC,6832,-0.49,-97.3,738.1,-8.2,252,6835,0.00,1.42,0.00,0.000,4,0.000,0.027,2345,1708,2996
$GC,6866,-0.49,-97.3,740.9,-8.2,252,6869,0.00,1.60,0.00,0.000,6,0.000,0.049,2346,2710,2996
$GC,7120,-0.49,-97.3,761.0,-7.9,259,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2710,2995
$GC,7362,-0.49,-97.3,779.1,-7.5,265,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2710,2994
$GC,7606,-0.49,-97.3,796.4,-7.2,271,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2710,2993
$GC,7846,-0.49,-97.3,813.5,-7.0,277,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2710,2992
$GC,8088,-0.49,-97.3,829.9,-6.7,283,8091,0.00,1.77,0.00,0.000,4,0.000,0.058,2338,3811,2992
$GC,8111,-0.49,-97.3,831.5,-7.0,283,8114,0.00,1.62,0.00,0.000,6,0.000,0.028,2338,2707,2992
$GC,8376,-0.49,-97.3,850.1,-7.0,290,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2700,2991
$GC,8620,-0.49,-97.3,865.8,-6.5,296,8623,0.00,1.42,0.00,0.000,4,0.000,0.029,2337,1722,2991
$GC,8665,-0.49,-97.3,868.7,-6.3,297,8668,0.00,1.58,0.00,0.000,6,0.000,0.048,2334,2704,2991
$GC,8951,-0.49,-97.3,887.8,-6.8,304,8954,0.00,1.77,0.00,0.000,4,0.000,0.059,2333,3825,2990
$GC,8985,-0.49,-97.3,890.2,-7.1,304,8988,0.00,1.65,0.00,0.000,6,0.000,0.028,2333,2721,2990
$STATE,9154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9154,begin apogee
$GC,9164,-0.18,0.0,902.3,6.9,309,9254,0.40,0.00,88.15,1.295,6,0.104,0.000,2463,2397,2600
$STATE,9255,end apogee,CONTROL_FINISHED_OK
$STATE,9255,begin climb
$GC,9259,0.49,97.3,903.4,0.0,311,9394,0.55,1.67,102.30,1.157,4,0.034,0.028,2699,1360,2202
$GC,9421,0.49,97.3,895.5,12.9,314,9426,0.00,1.70,0.00,0.000,6,0.000,0.041,2699,2404,2199
$GC,9672,0.49,97.3,857.9,15.1,321,9675,0.00,1.70,0.00,0.000,4,0.000,0.049,2699,3478,2194
$GC,9711,0.49,97.3,851.2,16.7,321,9716,0.00,1.60,0.00,0.000,6,0.000,0.027,2707,2416,2192
$GC,9960,0.49,97.3,813.4,14.9,328,9963,0.00,1.60,0.00,0.000,4,0.000,0.030,2714,1343,2192
$GC,10004,0.49,97.3,807.0,13.5,329,10008,0.12,1.70,0.00,0.000,6,0.164,0.042,2685,2427,2191
$GC,10293,0.49,97.3,769.9,12.6,336,10296,0.00,1.62,0.00,0.000,4,0.000,0.051,2684,3467,2190
$GC,10332,0.49,97.3,764.7,14.0,336,10337,0.00,1.60,0.00,0.000,6,0.000,0.026,2691,2390,2189
$GC,10581,0.49,97.3,733.4,12.4,343,10584,0.00,1.55,0.00,0.000,4,0.000,0.031,2699,1345,2189
$GC,10630,0.49,97.3,727.5,11.2,344,10633,0.00,1.67,0.00,0.000,6,0.000,0.044,2699,2419,2188
$GC,10914,0.49,97.3,692.5,12.6,351,10917,0.00,1.62,0.00,0.000,4,0.000,0.050,2698,3462,2188
$GC,10996,0.49,97.3,680.4,15.2,352,11001,0.00,1.58,0.00,0.000,6,0.000,0.026,2706,2415,2187
$GC,11245,0.49,97.3,647.0,13.1,359,11247,0.00,1.58,0.00,0.000,4,0.000,0.030,2714,1343,2187
$GC,11294,0.49,97.3,640.7,13.5,360,11297,0.12,1.67,0.00,0.000,6,0.164,0.042,2684,2425,2187
$GC,11575,0.49,97.3,605.6,12.6,367,11578,0.00,1.62,0.00,0.000,4,0.000,0.050,2684,3472,2186
$GC,11630,0.49,97.3,598.3,13.0,368,11633,0.00,1.58,0.00,0.000,6,0.000,0.026,2690,2421,2186
$GC,11906,0.49,97.3,565.2,11.8,375,11909,0.00,1.58,0.00,0.000,4,0.000,0.030,2696,1350,2186
$GC,12154,0.50,119.2,541.6,9.0,380,12184,0.00,1.60,19.80,0.950,6,0.000,0.043,2696,2386,2113
$GC,12451,0.50,119.2,509.3,11.0,388,12454,0.00,1.67,0.00,0.000,4,0.000,0.051,2696,3456,2110
$GC,12523,0.50,119.2,500.6,12.5,389,12526,0.00,1.60,0.00,0.000,6,0.000,0.027,2705,2383,2110
$GC,12784,0.50,119.2,468.2,12.5,396,12787,0.00,1.52,0.00,0.000,4,0.000,0.029,2712,1347,2109
$GC,12861,0.50,119.2,458.5,12.6,397,12864,0.00,1.60,0.00,0.000,6,0.000,0.043,2712,2378,2109
$GC,13116,0.50,119.2,424.8,13.3,404,13118,0.00,1.70,0.00,0.000,4,0.000,0.049,2713,3472,2108
$GC,13218,0.50,119.2,411.1,12.8,406,13222,0.15,1.65,0.00,0.000,6,0.196,0.026,2686,2360,2108
$GC,13489,0.51,150.5,386.6,8.5,413,13530,0.00,1.52,29.77,0.899,4,0.000,0.028,2692,1332,1986
$GC,13692,0.51,150.5,367.3,10.6,417,13695,0.00,1.60,0.00,0.000,6,0.000,0.043,2687,2352,1982
$GC,13946,0.51,150.5,337.3,12.0,424,13949,0.00,1.75,0.00,0.000,4,0.000,0.050,2687,3469,1980
$GC,14007,0.51,150.5,329.8,11.7,425,14010,0.00,1.70,0.00,0.000,6,0.000,0.025,2693,2334,1979
$GC,14277,0.52,174.5,304.1,8.9,432,14300,0.00,0.00,21.12,0.863,6,0.000,0.000,2693,2328,1888
$GC,14519,0.52,174.5,280.0,10.1,438,14522,0.00,1.80,0.00,0.000,4,0.000,0.047,2689,3457,1884
$GC,14633,0.52,174.5,266.6,12.0,440,14636,0.00,1.67,0.00,0.000,6,0.000,0.026,2695,2344,1884
$GC,14893,0.52,174.5,235.4,11.8,447,14894,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2338,1883
$GC,15135,0.53,182.8,210.8,9.6,453,15148,0.00,1.80,8.23,0.702,4,0.000,0.048,2696,3451,1854
$GC,15217,0.53,182.8,202.8,10.3,454,15222,0.00,1.65,0.00,0.000,6,0.000,0.025,2702,2346,1853
$GC,15473,0.53,192.6,180.3,9.5,476,15486,0.00,1.50,10.02,0.696,4,0.000,0.028,2710,1331,1813
$GC,15543,0.53,196.7,173.7,9.8,482,15555,0.00,1.62,5.00,0.558,6,0.000,0.039,2710,2360,1797
$GC,15812,0.53,197.6,146.2,10.0,507,15815,0.00,1.73,0.00,0.000,4,0.000,0.046,2710,3459,1797
$GC,15932,0.53,197.6,131.3,11.9,518,15935,0.00,1.62,0.00,0.000,6,0.000,0.024,2713,2366,1796
$GC,16196,0.53,197.6,103.1,10.5,543,16200,0.00,1.48,0.00,0.000,4,0.000,0.026,2721,1344,1796
$GC,16330,0.53,202.9,88.6,9.7,555,16341,0.00,1.60,6.85,0.565,6,0.000,0.038,2717,2375,1773
$GC,16606,0.57,294.6,66.5,5.7,581,16691,0.00,1.60,74.72,0.640,4,0.000,0.025,2722,1327,1396
$GC,16709,0.59,336.3,58.7,8.0,589,16746,0.00,1.67,33.88,0.611,6,0.000,0.036,2723,2380,1229
$GC,16994,0.59,336.3,29.2,11.8,616,17003,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2380,1225
$STATE,17207,end climb,SURFACE_DEPTH_REACHED
$STATE,17207,begin surface coast
$FINISH,0.1,1.023243
$STATE,17228,end surface coast,CONTROL_FINISHED_OK
$STATE,17228,begin surface
$SM_CCo,17251,21.48,0.547,0,0,1049,380.21
$SM_GC,1.03,0.00,0.00,21.48,0.000,0.000,0.547,37,2809,1049,-7.76,1.39,380.21
$IRIDIUM_FIX,2251.04,-15815.39,071201,212157
$TT8_MAMPS,0.046787
$HUMID,2067
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.00
$XPDR_PINGS,5
$24V_AH,23.9,40.707
$10V_AH,10.5,38.119
$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,17.225,129.750,399.850,21.475,0.000,30.288,33.418,227.668,1.250,0.000,0.000,35.399,0.000,13163.337,476.330,3148.545,945.991,33.341,1522.575,0.000,2752.205,0.000,0.543,0.000
$DEVICE_MAMPS,201.721,59.059,1295.463,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,448.687,1271.656,1311.362,178.859,941.525,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54008,661
$CAP_FILE_SIZE,141140,0
$CFSIZE,260165632,242679808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,130912,064830,2258.943,-15813.830,88,0.9,88,10.1