version: 66.04
glider: 512
mission: 3
dive: 577
start: 10 20 112 19 17 3
data:
$ID,512
$MISSION,3
$DIVE,577
$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,-65381.68
$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,59
$R_STBD_OVSHOOT,65
$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
$GPS1,185530,2304.761,-15804.819,65,1.2,65,10.1
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-77.1
$GPS2,191625,2304.852,-15804.957,16,1.2,16,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.121,-0.206
$KALMAN_X,-132011.9,-190.4,-361.9,97809.3,-603.3
$KALMAN_Y,45560.0,711.1,-349.5,-32119.2,1580.9
$MHEAD_RNG_PITCHd_Wd,139.5,67224,-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,-74.05,0.000,2,0.000,0.000,2,2637,2667
$GC,97,-0.54,-121.7,2.2,-3.2,9,122,9.05,1.62,-7.75,0.000,4,0.202,0.041,2349,1533,3027
$GC,153,-0.54,-121.7,17.5,-20.3,17,161,0.00,1.58,0.00,0.000,6,0.000,0.035,2344,2561,3028
$GC,423,-0.54,-121.7,60.9,-16.4,49,426,0.00,1.50,0.00,0.000,4,0.000,0.022,2343,1519,3027
$GC,449,-0.54,-121.7,65.9,-16.0,51,452,0.00,1.60,0.00,0.000,6,0.000,0.034,2337,2590,3027
$GC,712,-0.54,-121.7,104.4,-14.0,76,715,0.00,1.52,0.00,0.000,4,0.000,0.022,2337,1529,3028
$GC,770,-0.54,-121.7,111.5,-11.8,81,773,0.00,1.55,0.00,0.000,6,0.000,0.035,2333,2544,3028
$GC,1033,-0.54,-121.7,145.2,-12.7,106,1037,0.00,1.67,0.00,0.000,4,0.000,0.042,2325,3650,3028
$GC,1058,-0.54,-121.7,148.5,-13.3,108,1061,0.00,1.58,0.00,0.000,6,0.000,0.020,2324,2553,3028
$GC,1322,-0.54,-121.7,181.3,-11.6,133,1325,0.00,1.42,0.00,0.000,4,0.000,0.021,2324,1531,3028
$GC,1391,-0.54,-121.7,189.2,-10.8,139,1394,0.05,1.55,0.00,0.000,6,0.094,0.035,2349,2548,3028
$GC,1668,-0.54,-121.7,218.5,-10.8,154,1671,0.00,1.65,0.00,0.000,4,0.000,0.044,2343,3654,3028
$GC,1697,-0.54,-121.7,221.7,-11.8,154,1700,0.00,1.60,0.00,0.000,6,0.000,0.020,2343,2513,3028
$GC,1959,-0.54,-121.7,250.4,-10.6,161,1962,0.00,1.38,0.00,0.000,4,0.000,0.022,2342,1522,3027
$GC,2035,-0.54,-121.7,257.1,-7.6,162,2038,0.00,1.52,0.00,0.000,6,0.000,0.035,2335,2525,3027
$GC,2290,-0.54,-121.7,278.4,-8.7,169,2293,0.00,1.70,0.00,0.000,4,0.000,0.044,2327,3663,3027
$GC,2319,-0.54,-121.7,281.5,-11.3,169,2321,0.00,1.62,0.00,0.000,6,0.000,0.020,2327,2504,3026
$GC,2580,-0.54,-121.7,312.1,-11.7,176,2583,0.00,1.35,0.00,0.000,4,0.000,0.023,2327,1532,3025
$GC,2657,-0.54,-121.7,320.6,-10.8,177,2660,0.05,1.52,0.00,0.000,6,0.119,0.037,2353,2526,3025
$GC,2912,-0.54,-121.7,340.4,-7.3,184,2915,0.00,1.70,0.00,0.000,4,0.000,0.046,2346,3653,3024
$GC,2972,-0.54,-121.7,344.4,-7.0,185,2975,0.00,1.60,0.00,0.000,6,0.000,0.021,2346,2522,3023
$GC,3243,-0.54,-121.7,364.0,-7.5,192,3246,0.00,1.38,0.00,0.000,4,0.000,0.023,2346,1535,3021
$GC,3309,-0.54,-121.7,369.0,-7.8,193,3312,0.00,1.50,0.00,0.000,6,0.000,0.041,2346,2507,3021
$GC,3575,-0.54,-121.7,389.6,-8.0,200,3577,0.00,1.75,0.00,0.000,4,0.000,0.048,2342,3658,3020
$GC,3662,-0.54,-121.7,396.8,-8.2,202,3665,0.00,1.62,0.00,0.000,6,0.000,0.021,2343,2511,3019
$GC,3949,-0.54,-121.7,418.0,-7.4,209,3952,0.00,1.40,-0.08,0.000,4,0.000,0.042,2342,1532,3040
$GC,3972,-0.54,-121.7,419.9,-7.8,209,3975,0.00,1.60,0.00,0.000,6,0.000,0.041,2335,2566,3040
$GC,4240,-0.54,-121.7,443.7,-9.3,216,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2566,3038
$GC,4479,-0.54,-121.7,467.2,-9.9,222,4482,0.00,1.50,0.00,0.000,4,0.000,0.024,2335,1538,3036
$GC,4518,-0.54,-121.7,471.2,-10.3,222,4524,0.00,1.60,0.00,0.000,6,0.000,0.042,2333,2586,3036
$GC,4768,-0.54,-121.7,494.5,-9.2,229,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2586,3035
$GC,5010,-0.54,-121.7,514.9,-8.3,235,5013,0.00,1.52,0.00,0.000,4,0.000,0.025,2333,1540,3033
$GC,5057,-0.54,-121.7,518.3,-8.1,236,5060,0.00,1.60,0.00,0.000,6,0.000,0.043,2333,2562,3032
$GC,5344,-0.54,-121.7,540.8,-7.8,243,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2562,3030
$GC,5586,-0.54,-121.7,559.5,-7.7,249,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2562,3029
$GC,5828,-0.54,-121.7,577.2,-7.2,255,5831,0.00,1.50,0.00,0.000,4,0.000,0.025,2333,1538,3027
$GC,5875,-0.54,-121.7,580.3,-7.1,256,5878,0.00,1.62,0.00,0.000,6,0.000,0.044,2333,2587,3026
$STATE,6157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6157,begin apogee
$GC,6167,-0.18,0.0,601.5,7.5,263,6282,0.40,0.00,110.88,1.038,6,0.094,0.000,2467,2355,2530
$STATE,6283,end apogee,CONTROL_FINISHED_OK
$STATE,6283,begin climb
$GC,6288,0.54,121.7,606.7,0.0,266,6411,0.60,1.65,112.82,0.989,4,0.036,0.027,2721,1296,2033
$GC,6451,0.54,121.7,600.5,10.4,269,6456,0.00,1.70,0.00,0.000,6,0.000,0.041,2716,2374,2028
$GC,6702,0.54,121.7,571.8,11.3,276,6705,0.00,1.62,0.00,0.000,4,0.000,0.047,2716,3421,2025
$GC,6895,0.54,121.7,547.6,12.5,280,6898,0.00,1.50,0.00,0.000,6,0.000,0.025,2721,2413,2023
$GC,7166,0.54,121.7,514.9,11.8,287,7169,0.00,1.62,0.00,0.000,4,0.000,0.029,2729,1287,2021
$GC,7189,0.54,121.7,512.5,10.8,287,7192,0.00,1.75,0.00,0.000,6,0.000,0.043,2729,2402,2021
$GC,7454,0.54,121.7,483.0,10.9,294,7457,0.00,1.60,0.00,0.000,4,0.000,0.050,2728,3418,2020
$GC,7562,0.54,121.7,470.8,11.2,296,7566,0.10,1.45,0.00,0.000,6,0.190,0.026,2708,2443,2019
$GC,7828,0.55,146.3,447.5,8.6,303,7861,0.00,1.60,22.77,0.856,4,0.000,0.047,2703,3416,1932
$GC,7914,0.55,146.3,439.1,10.5,305,7917,0.00,1.42,0.00,0.000,6,0.000,0.026,2708,2470,1931
$GC,8200,0.56,150.1,410.7,9.8,312,8208,0.00,1.73,4.47,0.633,4,0.000,0.028,2717,1314,1917
$GC,8244,0.56,150.1,406.3,10.0,313,8247,0.00,1.80,0.00,0.000,6,0.000,0.042,2715,2473,1916
$GC,8531,0.56,150.1,376.8,10.5,320,8534,0.00,1.48,0.00,0.000,4,0.000,0.048,2715,3416,1915
$GC,8618,0.56,150.1,367.1,12.2,322,8621,0.00,1.42,0.00,0.000,6,0.000,0.026,2721,2461,1915
$GC,8905,0.56,150.1,336.3,10.5,329,8907,0.00,1.65,0.00,0.000,4,0.000,0.029,2729,1311,1914
$GC,8944,0.56,151.3,332.5,9.9,329,8949,0.00,1.80,0.00,0.000,6,0.000,0.043,2729,2477,1913
$GC,9195,0.56,161.1,307.9,9.5,336,9209,0.00,1.73,10.85,0.782,4,0.000,0.026,2735,1315,1872
$GC,9249,0.57,196.1,303.3,8.1,337,9285,0.00,1.73,31.90,0.834,6,0.000,0.043,2735,2433,1730
$GC,9555,0.57,196.1,273.1,10.1,345,9559,0.00,1.55,0.00,0.000,4,0.000,0.051,2734,3411,1724
$GC,9567,0.57,196.1,271.6,10.3,345,9570,0.00,1.40,0.00,0.000,6,0.000,0.026,2739,2478,1724
$GC,9843,0.57,196.1,239.1,12.0,352,9846,0.00,1.67,0.00,0.000,4,0.000,0.028,2747,1316,1723
$GC,9968,0.58,203.0,226.9,9.6,354,9978,0.00,1.83,6.60,0.640,6,0.000,0.042,2742,2497,1702
$GC,10255,0.58,223.1,201.0,8.9,362,10278,0.00,1.48,18.48,0.728,4,0.000,0.048,2742,3424,1619
$GC,10376,0.58,223.1,188.9,10.8,370,10379,0.10,1.40,0.00,0.000,6,0.150,0.024,2716,2487,1618
$GC,10643,0.59,230.9,164.2,9.6,395,10656,0.00,1.45,7.68,0.612,4,0.000,0.045,2716,3419,1589
$GC,10724,0.59,238.5,155.7,9.6,402,10738,0.00,1.30,8.27,0.613,6,0.000,0.024,2722,2526,1558
$GC,10993,0.61,276.3,133.2,7.9,427,11031,0.00,1.40,32.85,0.680,4,0.000,0.042,2722,3431,1403
$GC,11048,0.62,301.6,128.4,8.6,431,11073,0.00,1.25,22.48,0.649,6,0.000,0.023,2726,2582,1300
$GC,11328,0.63,337.8,105.5,8.0,457,11367,0.00,1.92,30.55,0.643,4,0.000,0.028,2725,1316,1151
$GC,11457,0.65,384.7,95.6,7.4,468,11500,0.00,1.95,39.30,0.634,6,0.000,0.037,2725,2584,960
$GC,11761,0.66,420.0,74.4,8.0,496,11793,0.00,1.35,29.35,0.604,4,0.000,0.043,2726,3429,817
$GC,11980,0.66,420.0,53.1,10.3,515,11988,0.00,1.35,0.00,0.000,6,0.000,0.021,2725,2496,815
$GC,12241,0.66,420.0,24.9,11.2,544,12250,0.00,1.75,0.00,0.000,4,0.000,0.027,2725,1298,814
$STATE,12426,end climb,SURFACE_DEPTH_REACHED
$STATE,12426,begin surface coast
$FINISH,0.1,1.023127
$STATE,12451,end surface coast,CONTROL_FINISHED_OK
$STATE,12451,begin surface
$SM_CCo,12536,0.00,0.000,0,0,812,421.42
$SM_GC,0.87,6.78,0.00,0.00,0.021,0.000,0.000,26,2613,812,-7.71,0.68,421.42
$IRIDIUM_FIX,2255.72,-15809.31,140102,191902
$TT8_MAMPS,0.047554
$HUMID,2235
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.10
$XPDR_PINGS,17
$24V_AH,23.8,76.022
$10V_AH,10.5,74.565
$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,17.125,104.500,489.250,0.000,0.000,102.774,158.461,615.955,4.250,0.000,0.000,16.125,0.000,8920.008,481.602,2906.469,1455.524,33.346,1405.289,0.000,2591.771,0.000,0.545,0.000
$DEVICE_MAMPS,201.721,50.622,1037.751,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,394.167,1362.818,1405.370,198.833,1071.890,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47810,584
$CAP_FILE_SIZE,125943,0
$CFSIZE,260165632,228102144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,201012,224724,2304.633,-15804.072,58,1.2,58,10.1