version: 66.04
glider: 512
mission: 3
dive: 580
start: 10 21 112 6 27 44
data:
$ID,512
$MISSION,3
$DIVE,580
$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,-65440.934
$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,58
$R_STBD_OVSHOOT,55
$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
$GPS1,061900,2303.998,-15803.317,67,1.5,67,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-76.7
$GPS2,062706,2303.986,-15803.349,18,1.1,24,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.170,-0.168
$KALMAN_X,-136352.0,174.4,-625.6,104793.4,-1249.9
$KALMAN_Y,47910.1,-124.4,-834.1,-34744.1,1169.6
$MHEAD_RNG_PITCHd_Wd,124.7,64173,-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,-74.05,0.000,2,0.000,0.000,12,2625,2725
$GC,96,-0.54,-121.7,2.5,-3.6,9,115,8.98,1.58,-6.28,0.000,4,0.199,0.052,2336,3638,3029
$GC,150,-0.54,-121.7,18.9,-24.2,17,158,0.00,1.55,0.00,0.000,6,0.000,0.020,2338,2572,3030
$GC,411,-0.54,-121.7,65.5,-17.4,47,414,0.00,1.48,0.00,0.000,4,0.000,0.024,2339,1535,3030
$GC,479,-0.54,-121.7,76.3,-13.2,53,482,0.00,1.52,0.00,0.000,6,0.000,0.035,2334,2528,3030
$GC,742,-0.54,-121.7,112.9,-13.9,78,744,0.00,1.65,0.00,0.000,4,0.000,0.041,2325,3638,3031
$GC,778,-0.54,-121.7,117.7,-13.1,81,781,0.00,1.58,0.00,0.000,6,0.000,0.020,2325,2542,3030
$GC,1043,-0.54,-121.7,153.6,-12.9,106,1046,0.00,1.40,0.00,0.000,4,0.000,0.022,2325,1539,3031
$GC,1145,-0.54,-121.7,166.6,-11.5,115,1153,0.08,1.40,0.00,0.000,6,0.114,0.035,2345,2457,3031
$GC,1408,-0.54,-121.7,194.6,-11.2,140,1411,0.00,1.75,0.00,0.000,4,0.000,0.044,2339,3624,3031
$GC,1468,-0.54,-121.7,202.6,-11.8,144,1471,0.00,1.60,0.00,0.000,6,0.000,0.021,2339,2490,3031
$GC,1741,-0.54,-121.7,234.4,-11.7,151,1743,0.00,1.33,0.00,0.000,4,0.000,0.021,2339,1532,3031
$GC,1785,-0.54,-121.7,239.2,-10.2,152,1788,0.00,1.45,0.00,0.000,6,0.000,0.038,2333,2474,3031
$GC,2072,-0.54,-121.7,265.3,-8.3,159,2075,0.00,1.73,0.00,0.000,4,0.000,0.044,2325,3627,3032
$GC,2122,-0.54,-121.7,269.7,-8.2,160,2124,0.00,1.60,0.00,0.000,6,0.000,0.021,2325,2489,3031
$GC,2403,-0.54,-121.7,298.2,-10.6,167,2406,0.00,1.33,0.00,0.000,4,0.000,0.022,2324,1536,3030
$GC,2458,-0.54,-121.7,304.3,-11.0,168,2461,0.08,1.42,0.00,0.000,6,0.120,0.036,2346,2468,3030
$GC,2734,-0.54,-121.7,327.4,-8.0,175,2737,0.00,1.77,0.00,0.000,4,0.000,0.046,2339,3621,3028
$GC,2781,-0.54,-121.7,330.9,-7.5,176,2784,0.00,1.62,0.00,0.000,6,0.000,0.021,2339,2474,3028
$GC,3068,-0.54,-121.7,355.2,-8.6,183,3071,0.00,1.30,0.00,0.000,4,0.000,0.023,2340,1535,3027
$GC,3096,-0.54,-121.7,357.7,-9.4,183,3099,0.00,1.45,0.00,0.000,6,0.000,0.039,2333,2477,3027
$GC,3356,-0.54,-121.7,380.7,-8.9,190,3359,0.00,1.75,0.00,0.000,4,0.000,0.046,2324,3636,3024
$GC,3390,-0.54,-121.7,383.7,-8.9,190,3393,0.00,1.62,0.00,0.000,6,0.000,0.021,2324,2492,3024
$GC,3644,-0.54,-121.7,406.9,-9.1,197,3647,0.00,1.35,0.00,0.000,4,0.000,0.024,2324,1528,3022
$GC,3689,-0.54,-121.7,410.8,-8.8,198,3692,0.00,1.48,0.00,0.000,6,0.000,0.039,2319,2478,3022
$GC,3976,-0.54,-121.7,438.2,-9.8,205,3979,0.12,1.75,0.00,0.000,4,0.124,0.046,2348,3639,3020
$GC,4036,-0.54,-121.7,443.5,-8.0,206,4039,0.00,1.62,0.00,0.000,6,0.000,0.023,2348,2497,3019
$GC,4307,-0.54,-121.7,464.9,-7.8,213,4308,0.00,0.00,-0.08,0.000,6,0.000,0.000,2348,2489,3043
$GC,4549,-0.54,-121.7,483.0,-7.4,219,4552,0.00,1.77,0.00,0.000,4,0.000,0.051,2346,3625,3042
$GC,4578,-0.54,-121.7,485.3,-7.2,219,4581,0.00,1.60,0.00,0.000,6,0.000,0.025,2346,2505,3041
$GC,4841,-0.54,-121.7,506.2,-8.0,226,4843,0.00,1.75,0.00,0.000,4,0.000,0.051,2346,3622,3040
$GC,4863,-0.54,-121.7,508.3,-8.1,226,4866,0.00,1.60,0.00,0.000,6,0.000,0.024,2346,2524,3039
$GC,5129,-0.54,-121.7,528.8,-7.6,233,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2517,3037
$GC,5371,-0.54,-121.7,545.9,-6.9,239,5373,0.00,1.73,0.00,0.000,4,0.000,0.051,2346,3620,3036
$GC,5426,-0.54,-121.7,549.8,-6.9,240,5428,0.00,1.55,0.00,0.000,6,0.000,0.025,2346,2551,3035
$GC,5702,-0.54,-121.7,569.2,-7.1,247,5705,0.00,1.67,0.00,0.000,4,0.000,0.051,2338,3619,3034
$GC,5736,-0.54,-121.7,572.1,-7.9,247,5739,0.00,1.50,0.00,0.000,6,0.000,0.025,2338,2587,3033
$GC,5990,-0.54,-121.7,593.4,-8.4,254,5993,0.00,1.50,0.00,0.000,4,0.000,0.026,2338,1541,3032
$GC,6040,-0.54,-121.7,597.7,-8.9,255,6043,0.00,1.58,0.00,0.000,6,0.000,0.044,2333,2540,3032
$STATE,6068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6068,begin apogee
$GC,6080,-0.18,0.0,600.5,8.6,255,6194,0.38,0.00,112.65,1.042,6,0.095,0.000,2464,2363,2530
$STATE,6195,end apogee,CONTROL_FINISHED_OK
$STATE,6195,begin climb
$GC,6200,0.54,121.7,605.7,0.0,258,6325,0.62,1.67,113.82,0.991,4,0.035,0.026,2726,1294,2033
$GC,6408,0.54,121.7,595.5,12.1,262,6413,0.00,1.70,0.00,0.000,6,0.000,0.041,2726,2375,2027
$GC,6657,0.54,121.7,564.3,12.5,269,6660,0.00,1.62,0.00,0.000,4,0.000,0.048,2726,3425,2025
$GC,6862,0.54,121.7,536.3,13.9,273,6865,0.08,1.50,0.00,0.000,6,0.186,0.025,2704,2419,2023
$GC,7117,0.54,121.7,509.8,10.1,280,7119,0.00,1.60,0.00,0.000,4,0.000,0.048,2702,3416,2022
$GC,7172,0.54,121.7,503.8,11.1,281,7174,0.00,1.40,0.00,0.000,6,0.000,0.026,2708,2469,2021
$GC,7448,0.55,130.2,477.3,9.5,288,7456,0.00,0.00,6.97,0.789,6,0.000,0.000,2708,2463,1999
$GC,7689,0.55,135.9,453.7,9.7,294,7697,0.00,0.00,6.78,0.777,6,0.000,0.000,2708,2463,1975
$GC,7931,0.56,155.5,432.1,8.9,300,7961,0.00,1.52,21.00,0.841,4,0.000,0.047,2702,3427,1895
$GC,8055,0.56,155.5,419.7,11.6,303,8058,0.00,1.42,0.00,0.000,6,0.000,0.026,2708,2479,1893
$GC,8341,0.56,167.7,392.9,9.3,310,8355,0.00,0.00,11.98,0.844,6,0.000,0.000,2708,2473,1846
$GC,8585,0.56,167.7,367.8,10.6,316,8589,0.00,1.73,0.00,0.000,4,0.000,0.029,2716,1308,1843
$GC,8630,0.56,167.7,363.2,10.4,317,8633,0.00,1.90,0.00,0.000,6,0.000,0.044,2715,2507,1842
$GC,8917,0.57,180.2,335.7,9.3,324,8932,0.00,1.48,12.07,0.814,4,0.000,0.049,2716,3425,1795
$GC,9008,0.57,183.7,326.9,9.8,326,9016,0.00,1.35,4.78,0.619,6,0.000,0.026,2721,2513,1781
$GC,9284,0.57,186.6,300.1,9.8,333,9293,0.00,1.45,4.07,0.557,4,0.000,0.048,2721,3415,1769
$GC,9323,0.57,186.6,295.6,11.2,333,9328,0.00,1.30,0.00,0.000,6,0.000,0.027,2725,2545,1769
$GC,9572,0.57,187.2,270.2,10.0,340,9575,0.00,1.80,0.00,0.000,4,0.000,0.030,2726,1311,1768
$GC,9606,0.58,206.9,267.2,8.9,340,9637,0.00,1.95,21.42,0.742,6,0.000,0.044,2726,2563,1685
$GC,9905,0.58,213.2,238.0,9.7,348,9914,0.00,1.38,6.75,0.656,4,0.000,0.048,2725,3421,1660
$GC,9991,0.58,213.2,228.5,10.9,350,9994,0.00,1.23,0.00,0.000,6,0.000,0.026,2732,2591,1660
$GC,10273,0.58,221.6,200.6,9.5,357,10286,0.00,1.92,8.82,0.674,4,0.000,0.029,2739,1304,1625
$GC,10343,0.60,252.7,194.5,8.3,360,10376,0.00,2.03,27.35,0.739,6,0.000,0.044,2739,2582,1499
$GC,10632,0.60,254.7,166.8,9.9,387,10634,0.00,1.30,0.00,0.000,4,0.000,0.046,2739,3419,1495
$GC,10657,0.60,259.1,163.7,9.8,389,10670,0.00,1.27,6.40,0.584,6,0.000,0.025,2746,2545,1474
$GC,10924,0.60,259.1,135.4,11.0,414,10927,0.00,1.80,0.00,0.000,4,0.000,0.028,2752,1307,1473
$GC,10993,0.60,261.5,128.0,9.9,420,11007,0.12,1.95,3.60,0.416,6,0.133,0.041,2721,2572,1464
$GC,11256,0.61,277.2,103.9,9.1,445,11282,0.00,1.35,15.40,0.631,4,0.000,0.046,2721,3425,1398
$GC,11361,0.61,277.2,93.4,10.6,454,11363,0.00,1.20,0.00,0.000,6,0.000,0.024,2726,2601,1398
$GC,11625,0.62,320.3,71.1,7.6,479,11666,0.00,1.90,36.20,0.627,4,0.000,0.026,2725,1295,1224
$GC,11735,0.65,379.6,63.7,6.7,488,11790,0.00,2.00,49.08,0.615,6,0.000,0.037,2725,2597,981
$GC,12040,0.65,388.5,38.6,9.5,516,12054,0.00,1.92,8.20,0.511,4,0.000,0.025,2726,1295,946
$GC,12293,0.65,388.5,11.9,11.0,555,12302,0.00,1.98,0.00,0.000,6,0.000,0.038,2726,2561,945
$STATE,12383,end climb,SURFACE_DEPTH_REACHED
$STATE,12383,begin surface coast
$FINISH,0.2,1.023365
$STATE,12428,end surface coast,CONTROL_FINISHED_OK
$STATE,12428,begin surface
$SM_CCo,12512,0.00,0.000,0,0,942,389.53
$SM_GC,0.78,6.82,0.00,0.00,0.023,0.000,0.000,43,2566,942,-7.70,-0.76,389.53
$IRIDIUM_FIX,2255.72,-15804.08,150102,020244
$TT8_MAMPS,0.046787
$HUMID,2230
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.50
$XPDR_PINGS,17
$24V_AH,23.8,76.429
$10V_AH,10.5,75.028
$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,17.275,105.200,477.350,0.000,0.000,30.113,35.131,233.269,4.250,0.000,0.000,24.217,0.000,8736.123,484.728,2882.441,866.546,33.349,1400.006,0.000,2562.030,0.000,0.543,0.000
$DEVICE_MAMPS,198.653,52.156,1042.353,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,391.546,1347.424,1386.918,209.607,1078.158,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47919,580
$CAP_FILE_SIZE,115763,0
$CFSIZE,260165632,227926016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,211012,095712,2303.868,-15802.686,12,1.9,29,10.1