version: 66.04
glider: 512
mission: 3
dive: 587
start: 10 22 112 8 39 19
data:
$ID,512
$MISSION,3
$DIVE,587
$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,-65595.586
$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,37
$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
$GPS1,083106,2302.003,-15800.767,55,1.1,55,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-79.8
$GPS2,083837,2302.000,-15800.820,14,1.5,14,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.103,-0.216
$KALMAN_X,-145382.5,2.8,-900.6,118578.5,-245.5
$KALMAN_Y,55138.1,-437.0,-321.5,-45853.0,1488.5
$MHEAD_RNG_PITCHd_Wd,144.3,58541,-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,-121.7,0.0,0.0,0,108,0.00,0.00,-90.50,0.000,2,0.000,0.000,14,2617,2902
$GC,113,-0.54,-121.7,2.9,-4.6,11,130,9.07,1.60,-2.42,0.000,4,0.204,0.045,2346,1535,3027
$GC,221,-0.54,-121.7,30.0,-14.3,30,230,0.00,1.62,0.00,0.000,6,0.000,0.037,2341,2584,3029
$GC,480,-0.54,-121.7,70.0,-13.4,55,482,0.00,1.52,0.00,0.000,4,0.000,0.023,2341,1532,3028
$GC,558,-0.54,-121.7,79.4,-10.1,62,561,0.00,1.52,0.00,0.000,6,0.000,0.035,2334,2526,3028
$GC,822,-0.54,-121.7,109.3,-12.1,87,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2526,3029
$GC,1080,-0.54,-121.7,143.8,-13.5,112,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2526,3029
$GC,1337,-0.54,-121.7,175.7,-11.6,137,1340,0.00,1.42,0.00,0.000,4,0.000,0.021,2334,1526,3029
$GC,1364,-0.54,-121.7,178.5,-11.2,139,1366,0.00,1.52,0.00,0.000,6,0.000,0.037,2332,2520,3029
$GC,1643,-0.54,-121.7,210.7,-12.2,160,1646,0.00,1.70,0.00,0.000,4,0.000,0.044,2323,3655,3030
$GC,1671,-0.54,-121.7,214.2,-12.0,160,1675,0.00,1.67,0.00,0.000,6,0.000,0.020,2323,2498,3029
$GC,1931,-0.54,-121.7,246.0,-12.1,167,1934,0.00,1.35,0.00,0.000,4,0.000,0.022,2323,1524,3029
$GC,1981,-0.54,-121.7,251.3,-10.4,168,1983,0.00,1.48,0.00,0.000,6,0.000,0.037,2319,2489,3029
$GC,2262,-0.54,-121.7,279.8,-9.7,175,2266,0.12,1.77,0.00,0.000,4,0.130,0.043,2347,3661,3029
$GC,2301,-0.54,-121.7,283.3,-8.3,175,2309,0.00,1.73,0.00,0.000,6,0.000,0.020,2346,2460,3028
$GC,2551,-0.54,-121.7,305.2,-8.8,182,2554,0.00,1.30,0.00,0.000,4,0.000,0.022,2346,1522,3028
$GC,2569,-0.54,-121.7,306.9,-8.9,182,2571,0.00,1.52,0.00,0.000,6,0.000,0.038,2346,2518,3028
$GC,2839,-0.54,-121.7,329.0,-8.0,189,2842,0.00,1.73,0.00,0.000,4,0.000,0.047,2338,3658,3027
$GC,2862,-0.54,-121.7,331.1,-9.0,189,2865,0.00,1.67,0.00,0.000,6,0.000,0.020,2338,2475,3027
$GC,3129,-0.54,-121.7,355.1,-9.1,196,3133,0.00,1.85,0.00,0.000,4,0.000,0.045,2329,3652,3025
$GC,3148,-0.54,-121.7,357.0,-8.9,196,3150,0.00,1.65,0.00,0.000,6,0.000,0.021,2329,2489,3024
$GC,3418,-0.54,-121.7,380.6,-8.6,203,3421,0.00,1.35,0.00,0.000,4,0.000,0.023,2329,1521,3022
$GC,3468,-0.54,-121.7,384.6,-8.4,204,3471,0.00,1.50,0.00,0.000,6,0.000,0.038,2322,2498,3021
$GC,3752,-0.54,-121.7,410.1,-9.5,211,3755,0.00,1.75,0.00,0.000,4,0.000,0.047,2313,3652,3019
$GC,3796,-0.54,-121.7,414.7,-9.0,212,3800,0.12,1.67,0.00,0.000,6,0.115,0.022,2350,2484,3019
$GC,4083,-0.54,-121.7,435.6,-6.9,219,4086,0.00,1.83,0.00,0.000,4,0.000,0.049,2346,3653,3018
$GC,4122,-0.54,-121.7,438.2,-6.7,219,4128,0.00,1.62,-0.08,0.000,6,0.000,0.022,2346,2500,3042
$GC,4375,-0.54,-121.7,453.3,-5.9,226,4378,0.00,1.80,0.00,0.000,4,0.000,0.051,2346,3654,3041
$GC,4387,-0.54,-121.7,454.1,-5.8,226,4390,0.00,1.42,0.00,0.000,6,0.000,0.022,2345,2658,3040
$GC,4663,-0.54,-121.7,471.6,-6.3,233,4666,0.00,1.60,0.00,0.000,4,0.000,0.025,2346,1532,3038
$GC,4686,-0.54,-121.7,473.2,-6.8,233,4689,0.00,1.80,0.00,0.000,6,0.000,0.044,2346,2701,3038
$GC,4952,-0.54,-121.7,491.1,-6.7,240,4955,0.00,1.48,0.00,0.000,4,0.000,0.051,2338,3643,3036
$GC,4975,-0.54,-121.7,492.6,-6.6,240,4977,0.00,1.60,0.00,0.000,6,0.000,0.025,2339,2520,3035
$GC,5240,-0.54,-121.7,512.0,-7.2,247,5244,0.00,1.40,0.00,0.000,4,0.000,0.025,2339,1529,3034
$GC,5263,-0.54,-121.7,513.8,-7.7,247,5266,0.00,1.58,0.00,0.000,6,0.000,0.043,2333,2537,3034
$GC,5529,-0.54,-121.7,532.5,-7.1,254,5531,0.00,1.70,0.00,0.000,4,0.000,0.051,2325,3642,3032
$GC,5578,-0.54,-121.7,536.2,-7.5,255,5581,0.00,1.58,0.00,0.000,6,0.000,0.025,2325,2561,3032
$GC,5860,-0.54,-121.7,557.9,-7.7,262,5863,0.00,1.45,0.00,0.000,4,0.000,0.026,2325,1542,3031
$GC,5920,-0.54,-121.7,562.5,-7.6,263,5924,0.12,1.60,0.00,0.000,6,0.115,0.044,2356,2583,3030
$GC,6191,-0.54,-121.7,577.9,-5.6,270,6194,0.00,1.67,0.00,0.000,4,0.000,0.054,2349,3646,3027
$GC,6241,-0.54,-121.7,580.7,-5.9,271,6244,0.00,1.25,0.00,0.000,6,0.000,0.027,2349,2785,3027
$GC,6522,-0.54,-121.7,597.5,-5.9,278,6525,0.00,1.38,0.00,0.000,4,0.000,0.053,2346,3646,3026
$GC,6540,-0.54,-121.7,598.6,-6.0,278,6543,0.00,1.50,0.00,0.000,6,0.000,0.027,2346,2619,3026
$STATE,6558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6558,begin apogee
$GC,6569,-0.18,0.0,600.0,6.4,278,6682,0.32,0.00,110.93,1.055,6,0.088,0.000,2464,2361,2530
$STATE,6682,end apogee,CONTROL_FINISHED_OK
$STATE,6682,begin climb
$GC,6687,0.54,121.7,603.7,0.0,281,6811,0.62,1.65,113.07,0.999,4,0.041,0.027,2718,1302,2034
$GC,6888,0.54,121.7,593.5,11.2,285,6891,0.00,1.67,0.00,0.000,6,0.000,0.043,2716,2365,2027
$GC,7142,0.54,121.7,565.5,10.9,292,7146,0.00,1.67,0.00,0.000,4,0.000,0.050,2716,3418,2025
$GC,7299,0.54,121.7,546.4,12.3,295,7302,0.00,1.50,0.00,0.000,6,0.000,0.026,2721,2410,2023
$GC,7559,0.54,121.7,516.8,11.4,302,7562,0.00,1.62,0.00,0.000,4,0.000,0.050,2722,3437,2022
$GC,7619,0.54,121.7,508.8,13.7,303,7622,0.00,1.48,0.00,0.000,6,0.000,0.027,2729,2442,2021
$GC,7890,0.54,121.7,477.6,11.4,310,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2436,2021
$GC,8134,0.54,121.7,452.6,10.0,316,8137,0.00,1.58,0.00,0.000,4,0.000,0.049,2728,3422,2020
$GC,8195,0.54,121.7,445.7,11.5,317,8198,0.10,1.40,0.00,0.000,6,0.179,0.026,2708,2474,2020
$GC,8465,0.56,154.7,422.1,8.2,324,8506,0.00,1.52,29.95,0.881,4,0.000,0.048,2708,3428,1898
$GC,8540,0.56,158.8,415.7,9.8,325,8553,0.00,1.35,5.18,0.676,6,0.000,0.026,2715,2520,1882
$GC,8794,0.57,185.3,394.1,8.5,332,8820,0.00,0.00,24.73,0.897,6,0.000,0.000,2715,2520,1773
$GC,9036,0.57,185.3,367.8,11.5,338,9039,0.00,1.77,0.00,0.000,4,0.000,0.031,2724,1301,1769
$GC,9107,0.57,185.3,359.6,11.6,339,9110,0.00,1.95,0.00,0.000,6,0.000,0.045,2724,2553,1767
$GC,9370,0.57,185.3,328.7,11.7,346,9373,0.00,1.35,0.00,0.000,4,0.000,0.050,2724,3415,1767
$GC,9494,0.57,185.3,313.9,11.3,348,9499,0.00,1.23,0.00,0.000,6,0.000,0.027,2730,2583,1766
$GC,9743,0.58,207.5,290.7,8.8,355,9766,0.00,1.88,19.67,0.821,4,0.000,0.029,2739,1311,1683
$GC,9824,0.59,225.2,283.4,9.0,356,9844,0.00,1.92,16.58,0.795,6,0.000,0.045,2739,2540,1611
$GC,10110,0.59,225.2,250.5,11.4,364,10113,0.00,1.38,0.00,0.000,4,0.000,0.049,2739,3418,1606
$GC,10192,0.59,225.2,240.7,13.0,365,10199,0.00,1.27,0.00,0.000,6,0.000,0.026,2746,2548,1605
$GC,10441,0.59,225.3,214.8,10.0,372,10444,0.00,1.80,0.00,0.000,4,0.000,0.029,2752,1311,1605
$GC,10475,0.59,239.0,211.6,9.2,372,10493,0.12,1.98,12.27,0.722,6,0.128,0.044,2719,2580,1555
$GC,10750,0.61,275.6,189.2,8.0,386,10786,0.00,1.30,32.05,0.742,4,0.000,0.048,2719,3427,1405
$GC,10836,0.61,275.6,180.9,10.5,393,10845,0.00,1.27,0.00,0.000,6,0.000,0.025,2724,2568,1403
$GC,11095,0.62,308.0,159.2,8.2,418,11134,0.00,1.92,27.77,0.703,4,0.000,0.029,2726,1315,1272
$GC,11216,0.63,346.3,149.4,7.9,428,11253,0.00,1.92,32.35,0.686,6,0.000,0.041,2726,2534,1119
$GC,11513,0.65,380.3,124.8,8.1,456,11553,0.00,1.42,29.08,0.662,4,0.000,0.045,2725,3418,979
$GC,11568,0.66,414.3,120.2,8.1,460,11607,0.00,1.38,29.33,0.645,6,0.000,0.023,2726,2495,840
$GC,11858,0.67,429.3,97.0,9.2,487,11874,0.00,1.45,13.73,0.601,4,0.000,0.044,2725,3422,779
$GC,12117,0.67,429.3,69.9,11.5,510,12124,0.00,1.50,0.00,0.000,6,0.000,0.024,2726,2398,778
$GC,12377,0.67,429.3,42.3,10.2,535,12380,0.00,1.58,0.00,0.000,4,0.000,0.026,2726,1327,777
$GC,12622,0.67,429.3,15.9,10.5,569,12631,0.00,1.58,0.00,0.000,6,0.000,0.036,2726,2356,776
$STATE,12736,end climb,SURFACE_DEPTH_REACHED
$STATE,12736,begin surface coast
$FINISH,0.0,1.011011
$STATE,12767,end surface coast,CONTROL_FINISHED_OK
$STATE,12767,begin surface
$SM_CCo,12850,0.00,0.000,0,0,775,430.49
$SM_GC,0.80,6.85,0.00,0.00,0.029,0.000,0.000,35,2623,775,-7.70,0.93,430.49
$IRIDIUM_FIX,2255.72,-15801.91,160102,050518
$TT8_MAMPS,0.047554
$HUMID,2238
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.40
$XPDR_PINGS,22
$24V_AH,23.8,77.447
$10V_AH,10.4,76.103
$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,17.475,111.175,496.675,0.000,0.000,29.088,38.269,206.647,5.500,0.000,0.000,14.607,0.000,8937.883,519.397,2958.226,862.742,33.356,1478.345,0.000,2646.366,0.000,0.543,0.000
$DEVICE_MAMPS,204.022,53.690,1055.392,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,401.282,1382.765,1433.736,197.395,1091.242,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47770,596
$CAP_FILE_SIZE,117907,0
$CFSIZE,260165632,227495936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,221012,121456,2301.538,-15800.134,40,3.6,59,10.1