version: 66.04
glider: 512
mission: 3
dive: 441
start: 9 30 112 6 10 57
data:
$ID,512
$MISSION,3
$DIVE,441
$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,30
$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,-62665.945
$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,60
$R_STBD_OVSHOOT,30
$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
$GPS1,055755,2304.183,-15804.263,34,5.7,54,10.1
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-79.3
$GPS2,061019,2304.290,-15804.211,18,1.7,18,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.123
$KALMAN_X,-28254.9,181.5,-100.2,-5316.4,-389.7
$KALMAN_Y,1914.2,122.0,235.9,10501.6,-841.5
$MHEAD_RNG_PITCHd_Wd,109.6,65591,-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,16,-0.53,-131.4,0.0,0.0,0,92,0.00,0.00,-74.05,0.000,2,0.000,0.000,14,2749,2659
$GC,97,-0.53,-131.4,2.7,-4.5,9,122,9.30,1.58,-8.57,0.000,4,0.216,0.040,2352,1665,3085
$GC,132,-0.53,-131.4,15.4,-31.5,13,141,0.00,1.65,0.00,0.000,6,0.000,0.033,2347,2738,3085
$GC,399,-0.53,-131.4,77.3,-22.5,43,401,0.00,1.60,0.00,0.000,4,0.000,0.042,2339,3799,3085
$GC,467,-0.53,-131.4,89.2,-15.2,49,469,0.00,1.55,0.00,0.000,6,0.000,0.020,2339,2737,3086
$GC,729,-0.53,-131.4,127.8,-14.2,74,732,0.00,1.50,0.00,0.000,4,0.000,0.023,2338,1675,3085
$GC,822,-0.53,-131.4,140.8,-13.1,82,830,0.00,1.60,0.00,0.000,6,0.000,0.038,2333,2710,3086
$GC,1079,-0.53,-131.4,179.9,-15.9,107,1082,0.00,1.62,0.00,0.000,4,0.000,0.042,2325,3794,3086
$GC,1105,-0.53,-131.4,183.8,-15.7,109,1108,0.05,1.52,0.00,0.000,6,0.129,0.020,2354,2726,3086
$GC,1363,-0.53,-131.4,216.6,-12.7,125,1366,0.00,1.45,0.00,0.000,4,0.000,0.021,2355,1689,3086
$GC,1429,-0.53,-131.4,224.5,-11.5,126,1432,0.00,1.60,0.00,0.000,6,0.000,0.038,2349,2753,3086
$GC,1694,-0.53,-131.4,255.8,-11.7,133,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2752,3086
$GC,1936,-0.53,-131.4,281.0,-10.2,139,1939,0.00,1.52,0.00,0.000,4,0.000,0.022,2349,1690,3085
$GC,2007,-0.53,-131.4,288.2,-9.5,140,2010,0.00,1.60,0.00,0.000,6,0.000,0.039,2346,2752,3085
$GC,2267,-0.53,-131.4,315.2,-10.5,147,2270,0.00,1.52,0.00,0.000,4,0.000,0.022,2346,1690,3084
$GC,2348,-0.53,-131.4,323.6,-10.3,148,2354,0.00,1.55,0.00,0.000,6,0.000,0.041,2346,2694,3084
$GC,2598,-0.53,-131.4,348.5,-9.9,155,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2694,3083
$GC,2842,-0.53,-131.4,370.0,-8.7,161,2845,0.00,1.45,0.00,0.000,4,0.000,0.021,2346,1682,3081
$GC,2918,-0.53,-131.4,376.4,-7.5,162,2921,0.00,1.55,0.00,0.000,6,0.000,0.041,2346,2680,3080
$GC,3173,-0.53,-131.4,396.5,-8.0,169,3176,0.00,1.42,0.00,0.000,4,0.000,0.023,2346,1690,3078
$GC,3228,-0.53,-131.4,401.1,-8.1,170,3231,0.00,1.50,0.00,0.000,6,0.000,0.041,2339,2659,3078
$GC,3504,-0.53,-131.4,424.9,-8.6,177,3505,0.00,0.00,-0.08,0.000,6,0.000,0.000,2339,2659,3099
$GC,3746,-0.53,-131.4,446.0,-8.7,183,3749,0.00,1.42,0.00,0.000,4,0.000,0.024,2339,1682,3098
$GC,3801,-0.53,-131.4,450.7,-7.8,184,3804,0.00,1.50,0.00,0.000,6,0.000,0.041,2334,2646,3098
$GC,4080,-0.53,-131.4,476.6,-9.6,191,4082,0.00,1.75,0.00,0.000,4,0.000,0.049,2325,3782,3095
$GC,4108,-0.53,-131.4,479.8,-10.5,191,4111,0.08,1.65,0.00,0.000,6,0.097,0.022,2355,2654,3095
$GC,4368,-0.53,-131.4,501.2,-8.1,198,4371,0.00,1.35,0.00,0.000,4,0.000,0.024,2355,1694,3093
$GC,4466,-0.53,-131.4,508.7,-7.2,200,4468,0.00,1.42,0.00,0.000,6,0.000,0.042,2350,2608,3093
$GC,4741,-0.53,-131.4,529.1,-7.3,207,4744,0.00,1.33,0.00,0.000,4,0.000,0.025,2350,1694,3090
$GC,4807,-0.53,-131.4,533.9,-7.0,208,4810,0.00,1.40,0.00,0.000,6,0.000,0.042,2346,2589,3090
$GC,5073,-0.53,-131.4,553.0,-7.2,215,5075,0.00,1.30,0.00,0.000,4,0.000,0.025,2346,1692,3088
$GC,5095,-0.53,-131.4,554.9,-8.3,215,5098,0.00,1.38,0.00,0.000,6,0.000,0.044,2346,2566,3088
$GC,5361,-0.53,-131.4,575.9,-8.1,222,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2566,3086
$GC,5603,-0.53,-131.4,594.7,-7.8,228,5605,0.00,1.27,0.00,0.000,4,0.000,0.026,2346,1690,3085
$GC,5642,-0.53,-131.4,597.7,-7.2,228,5647,0.00,1.35,0.00,0.000,6,0.000,0.045,2346,2543,3085
$STATE,5685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5685,begin apogee
$GC,5696,-0.18,0.0,601.3,7.5,230,5814,0.38,0.00,116.32,1.057,6,0.091,0.000,2473,2367,2550
$STATE,5814,end apogee,CONTROL_FINISHED_OK
$STATE,5814,begin climb
$GC,5819,0.53,131.4,605.6,0.0,233,5951,0.57,1.70,120.22,1.004,4,0.035,0.026,2717,1292,2013
$GC,6022,0.53,131.4,592.3,15.2,237,6025,0.00,1.70,0.00,0.000,6,0.000,0.038,2716,2372,2007
$GC,6276,0.53,131.4,552.3,15.8,244,6279,0.00,1.62,0.00,0.000,4,0.000,0.026,2722,1279,2004
$GC,6294,0.53,131.4,549.5,15.7,244,6297,0.00,1.65,0.00,0.000,6,0.000,0.038,2722,2352,2003
$GC,6566,0.53,131.4,506.5,15.8,251,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2352,2002
$GC,6806,0.53,131.4,469.8,15.0,257,6809,0.00,1.58,0.00,0.000,4,0.000,0.027,2730,1305,2001
$GC,6834,0.53,131.4,465.9,13.7,257,6838,0.12,1.60,0.00,0.000,6,0.162,0.039,2696,2354,2000
$GC,7094,0.53,131.4,434.7,11.8,264,7097,0.00,1.65,0.00,0.000,4,0.000,0.047,2697,3426,2000
$GC,7171,0.53,131.4,425.4,12.3,265,7174,0.00,1.60,0.00,0.000,6,0.000,0.025,2705,2336,1998
$GC,7425,0.53,131.4,395.9,11.1,272,7428,0.00,1.70,0.00,0.000,4,0.000,0.047,2702,3420,1998
$GC,7470,0.53,131.4,390.8,11.3,273,7472,0.00,1.52,0.00,0.000,6,0.000,0.025,2708,2393,1998
$GC,7756,0.53,131.4,360.1,10.8,280,7759,0.00,1.62,0.00,0.000,4,0.000,0.046,2703,3411,1997
$GC,7784,0.53,131.4,356.9,12.2,280,7787,0.00,1.52,0.00,0.000,6,0.000,0.025,2709,2383,1997
$GC,8044,0.53,131.4,329.0,10.7,287,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2378,1996
$GC,8286,0.53,138.7,305.6,9.6,293,8294,0.00,1.65,4.57,0.617,4,0.000,0.046,2709,3410,1984
$GC,8436,0.53,138.7,288.8,11.4,296,8439,0.00,1.50,0.00,0.000,6,0.000,0.025,2717,2400,1984
$GC,8702,0.54,167.8,265.0,8.5,303,8732,0.00,1.65,26.92,0.828,4,0.000,0.027,2724,1301,1864
$GC,8760,0.54,167.8,258.7,11.2,304,8763,0.00,1.70,0.00,0.000,6,0.000,0.039,2725,2400,1862
$GC,9028,0.54,167.8,231.8,10.1,311,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2401,1859
$GC,9268,0.55,184.4,209.9,9.1,317,9284,0.00,0.00,14.75,0.745,6,0.000,0.000,2724,2401,1798
$GC,9515,0.55,184.4,183.5,10.9,332,9518,0.00,1.58,0.00,0.000,4,0.000,0.044,2724,3414,1795
$GC,9561,0.55,184.4,177.8,12.9,336,9564,0.00,1.60,0.00,0.000,6,0.000,0.023,2732,2343,1794
$GC,9825,0.55,184.4,148.5,11.2,361,9828,0.00,1.67,0.00,0.000,4,0.000,0.044,2733,3418,1794
$GC,9893,0.55,184.4,140.3,11.5,367,9896,0.08,1.55,0.00,0.000,6,0.133,0.023,2708,2372,1795
$GC,10161,0.55,189.3,115.0,9.8,392,10175,0.00,1.55,5.50,0.537,4,0.000,0.025,2718,1297,1777
$GC,10265,0.56,211.8,104.9,8.8,401,10292,0.00,1.62,20.27,0.655,6,0.000,0.035,2718,2372,1686
$GC,10546,0.58,260.0,81.2,7.5,427,10589,0.00,1.62,40.35,0.644,4,0.000,0.041,2718,3425,1488
$GC,10686,0.61,334.7,71.3,6.2,439,10754,0.00,1.55,60.03,0.631,6,0.000,0.022,2723,2386,1186
$GC,11005,0.62,369.7,46.9,8.2,468,11037,0.00,1.62,29.05,0.598,4,0.000,0.026,2725,1314,1041
$GC,11076,0.64,416.8,40.9,7.6,473,11124,0.00,1.65,38.55,0.590,6,0.000,0.032,2726,2376,848
$GC,11374,0.65,444.1,16.6,8.6,516,11401,0.00,1.65,22.25,0.559,4,0.000,0.040,2725,3417,738
$GC,11421,0.66,456.8,12.2,9.3,522,11438,0.00,1.58,11.80,0.517,6,0.000,0.021,2726,2357,686
$STATE,11569,end climb,SURFACE_DEPTH_REACHED
$STATE,11569,begin surface coast
$FINISH,0.1,1.023308
$STATE,11610,end surface coast,CONTROL_FINISHED_OK
$STATE,11610,begin surface
$SM_CCo,11693,0.00,0.000,0,0,682,457.97
$SM_GC,0.94,6.80,0.00,0.00,0.019,0.000,0.000,27,2784,682,-7.70,1.53,457.97
$IRIDIUM_FIX,2255.72,-15801.91,251201,060635
$TT8_MAMPS,0.046787
$HUMID,2144
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.80
$XPDR_PINGS,11
$24V_AH,24.1,56.217
$10V_AH,10.5,54.020
$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,17.375,91.000,510.600,0.000,0.000,58.069,76.925,367.499,2.750,0.000,0.000,18.923,0.000,8252.251,476.797,2665.038,1018.886,33.358,1334.763,0.000,2371.033,0.000,0.547,0.000
$DEVICE_MAMPS,215.527,49.088,1056.926,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,374.884,1308.498,1340.522,211.115,1075.491,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44672,557
$CAP_FILE_SIZE,109145,0
$CFSIZE,260165632,236204032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300912,092706,2303.942,-15802.835,49,1.2,49,10.1