version: 66.04
glider: 512
mission: 3
dive: 578
start: 10 20 112 22 56 37
data:
$ID,512
$MISSION,3
$DIVE,578
$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,-65400.582
$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,29
$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
$GPS1,224724,2304.633,-15804.072,58,1.2,58,10.1
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-75.4
$GPS2,225554,2304.668,-15804.120,13,1.6,18,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,-0.068
$KALMAN_X,-133145.9,280.9,250.2,99278.5,-909.7
$KALMAN_Y,46128.4,901.0,1015.4,-34576.0,-1163.2
$MHEAD_RNG_PITCHd_Wd,96.4,65995,-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,-74.05,0.000,2,0.000,0.000,12,2608,2677
$GC,96,-0.54,-121.7,2.3,-3.4,9,122,9.10,1.62,-7.47,0.000,4,0.206,0.053,2335,3662,3028
$GC,152,-0.54,-121.7,17.6,-19.9,17,161,0.00,1.58,0.00,0.000,6,0.000,0.021,2335,2592,3029
$GC,422,-0.54,-121.7,61.6,-15.4,49,425,0.00,1.52,0.00,0.000,4,0.000,0.025,2336,1522,3029
$GC,533,-0.54,-121.7,77.2,-11.8,59,536,0.00,1.58,0.00,0.000,6,0.000,0.037,2333,2543,3029
$GC,797,-0.54,-121.7,112.1,-12.6,84,800,0.00,1.65,0.00,0.000,4,0.000,0.042,2324,3653,3029
$GC,822,-0.54,-121.7,115.3,-12.5,86,825,0.00,1.62,0.00,0.000,6,0.000,0.020,2324,2506,3029
$GC,1086,-0.54,-121.7,148.8,-13.2,111,1089,0.00,1.38,0.00,0.000,4,0.000,0.022,2324,1520,3029
$GC,1168,-0.54,-121.7,159.4,-12.0,118,1175,0.00,1.52,0.00,0.000,6,0.000,0.035,2319,2519,3030
$GC,1425,-0.54,-121.7,194.5,-14.6,143,1429,0.12,1.70,0.00,0.000,4,0.141,0.041,2346,3658,3029
$GC,1443,-0.54,-121.7,197.3,-14.0,144,1452,0.00,1.70,0.00,0.000,6,0.000,0.020,2346,2477,3030
$GC,1713,-0.54,-121.7,230.3,-12.3,153,1716,0.00,1.33,0.00,0.000,4,0.000,0.022,2346,1525,3029
$GC,1736,-0.54,-121.7,233.0,-11.6,153,1739,0.00,1.50,0.00,0.000,6,0.000,0.038,2346,2506,3029
$GC,2001,-0.54,-121.7,257.3,-8.7,160,2004,0.00,1.73,0.00,0.000,4,0.000,0.044,2338,3657,3029
$GC,2029,-0.54,-121.7,259.5,-8.1,160,2032,0.00,1.65,0.00,0.000,6,0.000,0.019,2337,2485,3029
$GC,2290,-0.54,-121.7,280.3,-8.0,167,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2477,3029
$GC,2531,-0.54,-121.7,302.0,-9.3,173,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2477,3028
$GC,2773,-0.54,-121.7,325.8,-9.9,179,2776,0.00,1.80,0.00,0.000,4,0.000,0.044,2329,3658,3027
$GC,2801,-0.54,-121.7,328.7,-10.4,179,2804,0.00,1.67,0.00,0.000,6,0.000,0.021,2329,2497,3027
$GC,3064,-0.54,-121.7,353.7,-9.4,186,3067,0.00,1.35,0.00,0.000,4,0.000,0.023,2329,1527,3026
$GC,3124,-0.54,-121.7,359.2,-8.4,187,3127,0.00,1.48,0.00,0.000,6,0.000,0.038,2322,2490,3025
$GC,3395,-0.54,-121.7,380.7,-7.9,194,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2490,3023
$GC,3638,-0.54,-121.7,399.2,-7.5,200,3640,0.00,1.75,0.00,0.000,4,0.000,0.045,2313,3648,3021
$GC,3660,-0.54,-121.7,401.2,-8.6,200,3664,0.12,1.73,0.00,0.000,6,0.113,0.021,2350,2443,3021
$GC,3926,-0.54,-121.7,420.3,-7.5,207,3929,0.00,1.90,0.00,0.000,4,0.000,0.046,2343,3649,3020
$GC,3965,-0.54,-121.7,423.6,-8.8,207,3970,0.00,1.67,0.00,0.000,6,0.000,0.022,2343,2472,3019
$GC,4214,-0.54,-121.7,445.1,-8.5,214,4217,0.00,1.83,0.00,0.000,4,0.000,0.046,2335,3656,3017
$GC,4253,-0.54,-121.7,448.3,-7.6,214,4259,0.00,1.65,-0.08,0.000,6,0.000,0.022,2335,2502,3042
$GC,4504,-0.54,-121.7,465.7,-6.7,221,4507,0.00,1.38,0.00,0.000,4,0.000,0.025,2335,1531,3041
$GC,4549,-0.54,-121.7,468.5,-5.5,222,4552,0.00,1.52,0.00,0.000,6,0.000,0.042,2333,2509,3041
$GC,4836,-0.54,-121.7,487.0,-6.7,229,4839,0.00,1.75,0.00,0.000,4,0.000,0.049,2325,3651,3038
$GC,4864,-0.54,-121.7,489.2,-7.4,229,4867,0.00,1.70,0.00,0.000,6,0.000,0.024,2325,2489,3038
$GC,5127,-0.54,-121.7,511.1,-8.6,236,5129,0.00,1.35,0.00,0.000,4,0.000,0.025,2325,1532,3036
$GC,5187,-0.54,-121.7,516.7,-8.9,237,5191,0.08,1.48,0.00,0.000,6,0.105,0.042,2348,2477,3036
$GC,5458,-0.54,-121.7,537.6,-7.6,244,5461,0.00,1.80,0.00,0.000,4,0.000,0.051,2346,3642,3034
$GC,5518,-0.54,-121.7,542.2,-7.3,245,5521,0.00,1.70,0.00,0.000,6,0.000,0.025,2346,2486,3033
$GC,5790,-0.54,-121.7,559.8,-6.1,252,5792,0.00,1.35,0.00,0.000,4,0.000,0.026,2346,1532,3032
$GC,5818,-0.54,-121.7,561.5,-5.9,252,5821,0.00,1.83,0.00,0.000,6,0.000,0.047,2346,2706,3032
$GC,6078,-0.54,-121.7,575.6,-5.2,259,6080,0.00,1.70,0.00,0.000,4,0.000,0.027,2346,1534,3030
$GC,6133,-0.54,-121.7,578.6,-5.5,260,6136,0.00,1.73,0.00,0.000,6,0.000,0.047,2346,2643,3030
$GC,6409,-0.54,-121.7,594.0,-5.8,267,6412,0.00,1.62,0.00,0.000,4,0.000,0.026,2346,1517,3028
$GC,6459,-0.54,-121.7,597.2,-6.0,268,6462,0.00,1.67,0.00,0.000,6,0.000,0.047,2346,2595,3027
$STATE,6533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6533,begin apogee
$GC,6544,-0.18,0.0,602.0,6.2,270,6658,0.38,0.00,111.75,1.052,6,0.084,0.000,2474,2350,2531
$STATE,6658,end apogee,CONTROL_FINISHED_OK
$STATE,6658,begin climb
$GC,6663,0.54,121.7,606.3,0.0,273,6789,0.60,1.58,113.62,0.997,4,0.038,0.025,2724,1302,2034
$GC,6845,0.54,121.7,595.2,12.7,277,6848,0.00,1.67,0.00,0.000,6,0.000,0.042,2724,2365,2029
$GC,7121,0.54,121.7,557.0,13.8,284,7124,0.00,1.65,0.00,0.000,4,0.000,0.048,2724,3430,2026
$GC,7213,0.54,121.7,543.2,14.7,286,7216,0.00,1.60,0.00,0.000,6,0.000,0.026,2732,2365,2024
$GC,7495,0.54,121.7,506.0,12.9,293,7498,0.00,1.67,0.00,0.000,4,0.000,0.048,2729,3424,2023
$GC,7555,0.54,121.7,497.9,13.6,294,7558,0.08,1.52,0.00,0.000,6,0.184,0.025,2706,2402,2022
$GC,7828,0.55,138.1,472.2,9.1,301,7850,0.00,0.00,16.25,0.815,6,0.000,0.000,2706,2395,1966
$GC,8068,0.56,152.2,450.1,9.2,307,8086,0.00,1.65,13.70,0.888,4,0.000,0.048,2702,3414,1908
$GC,8165,0.56,152.2,439.5,11.7,309,8168,0.00,1.50,0.00,0.000,6,0.000,0.027,2708,2419,1908
$GC,8443,0.56,152.2,409.7,10.8,316,8446,0.00,1.60,0.00,0.000,4,0.000,0.050,2708,3413,1905
$GC,8600,0.56,152.2,391.6,11.9,319,8602,0.00,1.40,0.00,0.000,6,0.000,0.028,2715,2474,1905
$GC,8862,0.56,153.1,364.9,10.0,326,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2469,1904
$GC,9101,0.56,153.6,341.2,10.0,332,9105,0.00,1.52,0.00,0.000,4,0.000,0.051,2715,3422,1903
$GC,9151,0.56,153.6,336.2,10.5,333,9154,0.00,1.38,0.00,0.000,6,0.000,0.027,2721,2494,1903
$GC,9433,0.57,184.0,311.6,8.3,340,9476,0.00,0.00,30.27,0.815,6,0.000,0.000,2721,2488,1778
$GC,9717,0.57,184.0,282.6,10.5,347,9720,0.00,1.50,0.00,0.000,4,0.000,0.048,2717,3426,1774
$GC,9788,0.57,184.0,274.4,12.1,348,9791,0.00,1.40,0.00,0.000,6,0.000,0.026,2722,2485,1774
$GC,10048,0.57,184.0,246.9,10.4,355,10051,0.00,1.50,0.00,0.000,4,0.000,0.049,2722,3420,1773
$GC,10130,0.57,184.0,238.4,10.9,356,10135,0.00,1.27,0.00,0.000,6,0.000,0.026,2729,2553,1773
$GC,10379,0.57,192.6,214.4,9.5,363,10392,0.00,1.85,8.23,0.683,4,0.000,0.028,2738,1306,1743
$GC,10428,0.57,192.6,209.7,10.1,364,10431,0.00,1.92,0.00,0.000,6,0.000,0.044,2738,2545,1742
$GC,10685,0.57,192.6,182.0,11.2,380,10687,0.00,1.38,0.00,0.000,4,0.000,0.048,2738,3427,1741
$GC,10711,0.57,192.6,179.1,11.7,382,10714,0.00,1.30,0.00,0.000,6,0.000,0.025,2739,2544,1741
$GC,10974,0.58,217.0,153.3,8.7,407,11001,0.00,1.45,22.05,0.705,4,0.000,0.046,2739,3431,1644
$GC,11037,0.58,220.3,147.1,9.8,412,11051,0.08,1.30,4.40,0.489,6,0.159,0.025,2722,2544,1631
$GC,11300,0.60,248.7,124.6,8.4,437,11328,0.00,0.00,24.73,0.676,6,0.000,0.000,2722,2544,1515
$GC,11582,0.60,273.1,100.0,8.6,464,11606,0.00,0.00,21.67,0.645,6,0.000,0.000,2722,2544,1416
$GC,11857,0.62,318.9,77.5,7.5,490,11899,0.00,1.90,38.40,0.635,4,0.000,0.028,2722,1301,1228
$GC,11926,0.64,372.1,72.4,7.1,495,11981,0.00,1.98,44.22,0.619,6,0.000,0.038,2723,2571,1011
$GC,12230,0.66,410.9,50.7,7.9,523,12272,0.00,1.92,31.75,0.596,4,0.000,0.026,2723,1310,854
$GC,12512,0.66,410.9,22.4,10.2,555,12520,0.00,1.77,0.00,0.000,6,0.000,0.032,2723,2470,851
$STATE,12690,end climb,SURFACE_DEPTH_REACHED
$STATE,12690,begin surface coast
$FINISH,0.3,1.023317
$STATE,12716,end surface coast,CONTROL_FINISHED_OK
$STATE,12716,begin surface
$SM_CCo,12799,0.00,0.000,0,0,849,412.10
$SM_GC,0.99,6.80,0.00,0.00,0.025,0.000,0.000,41,2646,849,-7.69,1.58,412.10
$IRIDIUM_FIX,2255.72,-15759.74,140102,191904
$TT8_MAMPS,0.047554
$HUMID,2249
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.40
$XPDR_PINGS,13
$24V_AH,23.8,76.155
$10V_AH,10.5,74.719
$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,17.350,103.200,481.050,0.000,0.000,30.887,31.983,262.055,3.250,0.000,0.000,18.273,0.000,9014.002,487.341,2870.147,914.394,33.381,1410.632,0.000,2570.210,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,52.923,1051.557,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,400.455,1377.082,1427.895,213.807,1108.008,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47917,594
$CAP_FILE_SIZE,114675,0
$CFSIZE,260165632,228052992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,211012,023106,2304.111,-15803.197,43,1.0,43,10.1