version: 66.04
glider: 512
mission: 3
dive: 576
start: 10 20 112 15 25 33
data:
$ID,512
$MISSION,3
$DIVE,576
$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,125
$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,-65364.926
$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,2590
$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,2530
$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
$GPS1,151706,2304.680,-15805.256,35,1.1,35,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-80.5
$GPS2,152455,2304.658,-15805.329,12,1.6,12,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.105
$KALMAN_X,-130113.7,-462.6,-56.3,95246.6,-1500.8
$KALMAN_Y,44736.9,59.6,-451.1,-30892.7,160.2
$MHEAD_RNG_PITCHd_Wd,106.1,67408,-19.3,-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,15,-0.54,-121.7,0.0,0.0,0,91,0.00,0.00,-73.95,0.000,2,0.000,0.000,1,2617,2764
$GC,96,-0.54,-121.7,3.0,-5.7,9,114,9.10,1.62,-5.22,0.000,4,0.202,0.039,2346,1522,3028
$GC,145,-0.54,-121.7,19.0,-26.4,16,153,0.00,1.65,0.00,0.000,6,0.000,0.035,2340,2591,3029
$GC,411,-0.54,-121.7,63.2,-15.6,47,414,0.00,1.55,0.00,0.000,4,0.000,0.023,2340,1524,3030
$GC,489,-0.54,-121.7,75.4,-16.0,54,492,0.00,1.60,0.00,0.000,6,0.000,0.035,2334,2566,3030
$GC,752,-0.54,-121.7,113.2,-13.9,79,755,0.00,1.50,0.00,0.000,4,0.000,0.023,2334,1526,3030
$GC,831,-0.54,-121.7,123.2,-11.4,86,834,0.00,1.58,0.00,0.000,6,0.000,0.038,2333,2543,3029
$GC,1093,-0.54,-121.7,154.8,-11.3,111,1097,0.00,1.67,0.00,0.000,4,0.000,0.043,2324,3646,3030
$GC,1129,-0.54,-121.7,158.8,-11.4,114,1132,0.00,1.58,0.00,0.000,6,0.000,0.020,2324,2547,3030
$GC,1394,-0.54,-121.7,190.0,-12.1,139,1397,0.00,1.40,0.00,0.000,4,0.000,0.022,2325,1543,3030
$GC,1483,-0.54,-121.7,200.4,-10.4,147,1486,0.08,1.52,0.00,0.000,6,0.116,0.035,2346,2539,3030
$GC,1770,-0.54,-121.7,229.5,-9.9,154,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2539,3030
$GC,2011,-0.54,-121.7,251.2,-9.0,160,2014,0.00,1.42,0.00,0.000,4,0.000,0.021,2345,1538,3030
$GC,2050,-0.54,-121.7,254.5,-8.2,160,2055,0.00,1.50,0.00,0.000,6,0.000,0.039,2346,2514,3030
$GC,2299,-0.54,-121.7,275.9,-8.9,167,2302,0.00,1.73,0.00,0.000,4,0.000,0.044,2338,3661,3030
$GC,2328,-0.54,-121.7,278.7,-10.0,167,2331,0.00,1.65,0.00,0.000,6,0.000,0.021,2338,2496,3030
$GC,2588,-0.54,-121.7,305.7,-10.4,174,2590,0.00,1.33,0.00,0.000,4,0.000,0.022,2338,1540,3029
$GC,2653,-0.54,-121.7,312.7,-10.3,175,2656,0.00,1.48,0.00,0.000,6,0.000,0.038,2333,2498,3029
$GC,2918,-0.54,-121.7,338.6,-9.4,182,2921,0.00,1.75,0.00,0.000,4,0.000,0.046,2324,3658,3028
$GC,2942,-0.54,-121.7,340.8,-9.1,182,2945,0.00,1.73,0.00,0.000,6,0.000,0.021,2325,2472,3027
$GC,3207,-0.54,-121.7,363.6,-8.5,189,3210,0.00,1.30,0.00,0.000,4,0.000,0.023,2324,1538,3026
$GC,3230,-0.54,-121.7,365.4,-8.0,189,3233,0.08,1.42,0.00,0.000,6,0.107,0.038,2348,2465,3026
$GC,3498,-0.54,-121.7,385.0,-7.6,196,3501,0.00,1.80,0.00,0.000,4,0.000,0.047,2341,3649,3023
$GC,3580,-0.54,-121.7,392.6,-9.6,197,3585,0.00,1.65,0.00,0.000,6,0.000,0.022,2341,2484,3022
$GC,3829,-0.54,-121.7,415.4,-9.1,204,3832,0.00,1.33,0.00,0.000,4,0.000,0.024,2341,1541,3020
$GC,3857,-0.54,-121.7,417.8,-8.4,204,3860,0.00,1.52,0.00,0.000,6,0.000,0.041,2334,2523,3021
$GC,4119,-0.54,-121.7,438.9,-7.9,211,4122,0.00,1.73,0.00,0.000,4,0.000,0.048,2326,3657,3019
$GC,4148,-0.54,-121.7,441.2,-7.5,211,4150,0.00,1.62,0.00,0.000,6,0.000,0.023,2326,2526,3018
$GC,4407,-0.54,-121.7,461.5,-7.9,218,4410,0.00,1.42,-0.08,0.000,4,0.000,0.043,2326,1545,3042
$GC,4495,-0.54,-121.7,468.4,-7.4,220,4498,0.08,1.45,0.00,0.000,6,0.105,0.041,2349,2474,3042
$GC,4782,-0.54,-121.7,489.9,-7.7,227,4785,0.00,1.83,0.00,0.000,4,0.000,0.050,2341,3656,3040
$GC,4863,-0.54,-121.7,497.5,-9.7,228,4869,0.00,1.67,0.00,0.000,6,0.000,0.024,2342,2484,3039
$GC,5113,-0.54,-121.7,521.8,-9.7,235,5116,0.00,1.35,0.00,0.000,4,0.000,0.025,2342,1533,3037
$GC,5136,-0.54,-121.7,524.2,-10.5,235,5139,0.00,1.55,0.00,0.000,6,0.000,0.042,2335,2526,3037
$GC,5401,-0.54,-121.7,547.5,-8.3,242,5404,0.00,1.77,0.00,0.000,4,0.000,0.052,2333,3650,3035
$GC,5425,-0.54,-121.7,549.2,-7.5,242,5427,0.00,1.67,0.00,0.000,6,0.000,0.025,2333,2497,3035
$GC,5690,-0.54,-121.7,569.1,-7.5,249,5693,0.00,1.35,0.00,0.000,4,0.000,0.026,2333,1547,3033
$GC,5756,-0.54,-121.7,574.1,-7.7,250,5759,0.00,1.45,0.00,0.000,6,0.000,0.044,2333,2470,3033
$GC,6021,-0.54,-121.7,594.9,-8.0,257,6024,0.00,1.83,0.00,0.000,4,0.000,0.052,2325,3647,3032
$GC,6076,-0.54,-121.7,599.6,-8.1,258,6079,0.00,1.67,0.00,0.000,6,0.000,0.025,2324,2500,3031
$STATE,6084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6084,begin apogee
$GC,6095,-0.18,0.0,600.7,8.5,258,6209,0.40,0.00,112.43,1.046,6,0.106,0.000,2461,2357,2530
$STATE,6209,end apogee,CONTROL_FINISHED_OK
$STATE,6210,begin climb
$GC,6215,0.54,121.7,605.8,0.0,261,6340,0.62,1.60,114.00,0.995,4,0.039,0.027,2717,1323,2034
$GC,6372,0.54,121.7,601.1,10.3,264,6374,0.00,1.65,0.00,0.000,6,0.000,0.041,2715,2364,2028
$GC,6628,0.54,121.7,572.5,11.1,271,6631,0.00,1.65,0.00,0.000,4,0.000,0.048,2715,3423,2025
$GC,6748,0.54,121.7,557.4,12.7,273,6751,0.00,1.52,0.00,0.000,6,0.000,0.025,2721,2402,2024
$GC,7002,0.54,121.7,529.7,10.7,280,7005,0.00,1.60,0.00,0.000,4,0.000,0.028,2730,1307,2022
$GC,7049,0.54,121.7,525.2,10.0,281,7052,0.00,1.70,0.00,0.000,6,0.000,0.042,2729,2387,2021
$GC,7336,0.54,121.7,494.2,10.8,288,7338,0.00,1.62,0.00,0.000,4,0.000,0.049,2729,3437,2020
$GC,7497,0.54,121.7,474.4,13.0,291,7500,0.08,1.55,0.00,0.000,6,0.168,0.026,2706,2402,2019
$GC,7752,0.54,121.7,447.7,10.2,298,7755,0.00,1.62,0.00,0.000,4,0.000,0.048,2702,3435,2019
$GC,7829,0.54,121.7,439.1,11.6,299,7832,0.00,1.52,0.00,0.000,6,0.000,0.027,2708,2409,2018
$GC,8085,0.55,133.3,414.4,9.4,306,8098,0.00,1.65,9.18,0.834,4,0.000,0.050,2703,3420,1986
$GC,8231,0.55,133.3,399.2,11.0,309,8234,0.00,1.45,0.00,0.000,6,0.000,0.026,2708,2449,1984
$GC,8504,0.55,142.1,373.3,9.5,316,8517,0.00,1.70,9.68,0.813,4,0.000,0.028,2717,1308,1950
$GC,8532,0.56,152.3,370.5,9.4,316,8547,0.00,1.83,10.50,0.817,6,0.000,0.044,2716,2485,1909
$GC,8791,0.56,160.9,345.7,9.5,323,8804,0.00,1.50,8.90,0.782,4,0.000,0.049,2716,3423,1873
$GC,8926,0.56,160.9,331.1,10.7,326,8929,0.00,1.35,0.00,0.000,6,0.000,0.026,2721,2516,1872
$GC,9207,0.56,160.9,303.0,10.3,333,9210,0.00,1.75,0.00,0.000,4,0.000,0.028,2729,1313,1870
$GC,9240,0.56,160.9,299.6,10.8,333,9243,0.00,1.90,0.00,0.000,6,0.000,0.043,2729,2540,1869
$GC,9495,0.56,160.9,271.5,11.0,340,9498,0.00,1.83,0.00,0.000,4,0.000,0.028,2736,1293,1869
$GC,9542,0.56,170.8,267.3,9.5,341,9555,0.00,1.90,9.90,0.752,6,0.000,0.044,2736,2512,1833
$GC,9828,0.58,205.9,242.2,8.1,348,9862,0.00,1.42,31.27,0.798,4,0.000,0.047,2737,3425,1691
$GC,9925,0.58,205.9,233.2,11.0,349,9928,0.00,1.40,0.00,0.000,6,0.000,0.027,2739,2505,1688
$GC,10197,0.58,205.9,205.0,10.9,356,10200,0.00,1.75,0.00,0.000,4,0.000,0.030,2740,1305,1686
$GC,10225,0.58,205.9,201.7,11.0,356,10229,0.00,1.88,0.00,0.000,6,0.000,0.043,2740,2489,1685
$GC,10484,0.58,205.9,173.1,11.8,380,10487,0.00,1.45,0.00,0.000,4,0.000,0.048,2740,3418,1685
$GC,10562,0.58,205.9,163.5,12.3,387,10566,0.10,1.40,0.00,0.000,6,0.149,0.025,2715,2472,1684
$GC,10831,0.60,257.6,142.7,7.1,412,10884,0.00,1.58,43.53,0.706,4,0.000,0.045,2715,3425,1478
$GC,10951,0.61,290.5,132.8,8.2,422,10990,0.00,1.33,28.58,0.680,6,0.000,0.024,2721,2530,1344
$GC,11240,0.62,310.2,109.9,8.9,449,11267,0.00,1.85,17.33,0.638,4,0.000,0.028,2723,1307,1263
$GC,11346,0.63,347.5,101.1,7.9,458,11386,0.00,1.85,31.65,0.644,6,0.000,0.037,2723,2514,1112
$GC,11636,0.66,423.5,81.6,5.8,485,11702,0.00,1.83,62.17,0.629,4,0.000,0.026,2723,1308,802
$GC,11919,0.66,423.5,55.9,11.0,510,11922,0.00,1.58,0.00,0.000,6,0.000,0.035,2723,2325,798
$GC,12177,0.66,423.5,28.1,11.4,536,12186,0.00,1.50,0.00,0.000,4,0.000,0.025,2723,1308,798
$GC,12256,0.66,423.5,18.9,11.9,550,12264,0.00,1.52,0.00,0.000,6,0.000,0.035,2723,2308,798
$STATE,12391,end climb,SURFACE_DEPTH_REACHED
$STATE,12391,begin surface coast
$FINISH,0.0,1.011193
$STATE,12421,end surface coast,CONTROL_FINISHED_OK
$STATE,12421,begin surface
$SM_CCo,12505,0.00,0.000,0,0,797,424.85
$SM_GC,0.91,6.80,0.00,0.00,0.025,0.000,0.000,2,2638,797,-7.70,1.19,424.85
$IRIDIUM_FIX,2258.07,-15804.08,140102,111145
$TT8_MAMPS,0.047554
$HUMID,2220
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.20
$XPDR_PINGS,17
$24V_AH,23.6,75.858
$10V_AH,10.5,74.405
$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,17.325,115.450,489.100,0.000,0.000,31.142,32.339,230.013,4.250,0.000,0.000,12.946,0.000,8657.114,473.020,2951.400,864.508,33.349,1433.564,0.000,2634.742,0.000,0.543,0.000
$DEVICE_MAMPS,202.488,52.156,1046.188,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,391.983,1358.750,1406.100,192.685,1058.705,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47878,581
$CAP_FILE_SIZE,117944,0
$CFSIZE,260165632,228175872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201012,185530,2304.761,-15804.819,65,1.2,65,10.1