version: 66.04
glider: 512
mission: 3
dive: 588
start: 10 22 112 12 26 39
data:
$ID,512
$MISSION,3
$DIVE,588
$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,-65614.266
$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,70
$R_STBD_OVSHOOT,48
$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
$GPS1,121456,2301.538,-15800.134,40,3.6,59,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-77.0
$GPS2,122601,2301.552,-15800.240,17,1.8,17,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.162,-0.175
$KALMAN_X,-146419.6,-478.9,365.9,119817.8,-645.6
$KALMAN_Y,56230.9,-744.2,644.8,-48431.6,656.8
$MHEAD_RNG_PITCHd_Wd,127.1,57259,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.54,-121.7,0.0,0.0,0,95,0.00,0.00,-73.88,0.000,2,0.000,0.000,12,2632,2637
$GC,100,-0.54,-121.7,2.2,-3.3,9,126,9.05,1.60,-8.62,0.000,4,0.201,0.041,2348,1540,3026
$GC,146,-0.54,-121.7,14.7,-27.4,15,155,0.00,1.58,0.00,0.000,6,0.000,0.032,2342,2573,3026
$GC,416,-0.54,-121.7,62.5,-16.2,47,419,0.00,1.50,0.00,0.000,4,0.000,0.023,2342,1537,3026
$GC,462,-0.54,-121.7,69.9,-13.5,51,465,0.00,1.60,0.00,0.000,6,0.000,0.035,2334,2601,3026
$GC,726,-0.54,-121.7,106.4,-14.1,76,729,0.00,1.52,0.00,0.000,4,0.000,0.021,2335,1538,3027
$GC,775,-0.54,-121.7,113.6,-13.7,80,783,0.00,1.58,0.00,0.000,6,0.000,0.035,2327,2568,3027
$GC,1034,-0.54,-121.7,149.7,-14.7,105,1037,0.00,1.48,0.00,0.000,4,0.000,0.021,2327,1537,3027
$GC,1082,-0.54,-121.7,156.5,-14.6,109,1085,0.00,1.55,0.00,0.000,6,0.000,0.035,2320,2548,3027
$GC,1345,-0.54,-121.7,192.9,-12.9,134,1352,0.10,0.00,0.00,0.000,6,0.142,0.000,2346,2548,3027
$GC,1619,-0.54,-121.7,221.1,-10.0,146,1621,0.00,1.45,0.00,0.000,4,0.000,0.021,2349,1532,3027
$GC,1641,-0.54,-121.7,223.8,-10.4,146,1644,0.00,1.52,0.00,0.000,6,0.000,0.038,2346,2525,3027
$GC,1906,-0.54,-121.7,253.6,-11.7,153,1909,0.00,1.70,0.00,0.000,4,0.000,0.045,2338,3658,3027
$GC,1951,-0.54,-121.7,258.7,-11.5,154,1954,0.00,1.62,0.00,0.000,6,0.000,0.020,2338,2506,3027
$GC,2240,-0.54,-121.7,285.1,-8.1,161,2243,0.00,1.35,0.00,0.000,4,0.000,0.021,2338,1527,3026
$GC,2258,-0.54,-121.7,286.5,-7.1,161,2261,0.00,1.55,0.00,0.000,6,0.000,0.037,2333,2540,3026
$GC,2528,-0.54,-121.7,307.4,-8.3,168,2532,0.00,1.70,0.00,0.000,4,0.000,0.045,2325,3650,3026
$GC,2557,-0.54,-121.7,310.4,-10.6,168,2560,0.00,1.60,0.00,0.000,6,0.000,0.021,2325,2517,3026
$GC,2817,-0.54,-121.7,338.7,-10.9,175,2819,0.00,1.38,0.00,0.000,4,0.000,0.022,2325,1526,3025
$GC,2850,-0.54,-121.7,342.2,-9.7,175,2853,0.05,1.55,0.00,0.000,6,0.083,0.038,2352,2533,3025
$GC,3105,-0.54,-121.7,362.2,-7.6,182,3108,0.00,1.73,0.00,0.000,4,0.000,0.046,2345,3654,3024
$GC,3160,-0.54,-121.7,366.6,-8.5,183,3163,0.00,1.60,0.00,0.000,6,0.000,0.021,2345,2536,3023
$GC,3436,-0.54,-121.7,388.1,-7.8,190,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2528,3021
$GC,3680,-0.54,-121.7,405.4,-7.0,196,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2527,3019
$GC,3921,-0.54,-121.7,422.1,-7.0,202,3922,0.00,0.00,-0.08,0.000,6,0.000,0.000,2345,2527,3041
$GC,4162,-0.54,-121.7,440.6,-7.7,208,4165,0.00,1.75,0.00,0.000,4,0.000,0.047,2337,3661,3040
$GC,4191,-0.54,-121.7,442.8,-7.9,208,4194,0.00,1.58,0.00,0.000,6,0.000,0.022,2337,2568,3039
$GC,4450,-0.54,-121.7,462.9,-7.6,215,4454,0.00,1.45,0.00,0.000,4,0.000,0.025,2337,1546,3038
$GC,4517,-0.54,-121.7,468.0,-7.5,216,4520,0.00,1.55,0.00,0.000,6,0.000,0.042,2333,2540,3037
$GC,4782,-0.54,-121.7,490.8,-8.9,223,4785,0.00,1.73,0.00,0.000,4,0.000,0.049,2325,3662,3035
$GC,4832,-0.54,-121.7,495.6,-9.7,224,4835,0.00,1.60,0.00,0.000,6,0.000,0.023,2325,2539,3035
$GC,5116,-0.54,-121.7,521.7,-9.1,231,5119,0.00,1.40,0.00,0.000,4,0.000,0.025,2325,1546,3033
$GC,5192,-0.54,-121.7,528.3,-8.0,232,5196,0.08,1.52,0.00,0.000,6,0.107,0.041,2348,2522,3032
$GC,5447,-0.54,-121.7,544.4,-6.1,239,5450,0.00,1.75,0.00,0.000,4,0.000,0.051,2341,3659,3030
$GC,5524,-0.54,-121.7,549.3,-6.1,240,5527,0.00,1.60,0.00,0.000,6,0.000,0.025,2341,2542,3029
$GC,5779,-0.54,-121.7,565.7,-6.3,247,5781,0.00,1.42,0.00,0.000,4,0.000,0.025,2341,1539,3028
$GC,5812,-0.54,-121.7,568.0,-6.8,247,5815,0.00,1.60,0.00,0.000,6,0.000,0.044,2334,2580,3027
$GC,6067,-0.54,-121.7,586.4,-7.4,254,6070,0.00,1.65,0.00,0.000,4,0.000,0.051,2325,3655,3026
$GC,6090,-0.54,-121.7,588.3,-7.9,254,6093,0.00,1.62,0.00,0.000,6,0.000,0.025,2325,2552,3026
$STATE,6270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6270,begin apogee
$GC,6280,-0.18,0.0,603.2,8.1,259,6394,0.43,0.00,110.45,1.055,6,0.098,0.000,2466,2363,2530
$STATE,6394,end apogee,CONTROL_FINISHED_OK
$STATE,6394,begin climb
$GC,6399,0.54,121.7,608.2,0.0,262,6521,0.62,0.00,112.97,0.999,6,0.036,0.000,2719,2363,2034
$GC,6772,0.54,121.7,575.4,12.4,271,6775,0.00,1.67,0.00,0.000,4,0.000,0.048,2716,3426,2025
$GC,6896,0.54,121.7,558.0,13.7,273,6901,0.00,1.50,0.00,0.000,6,0.000,0.025,2722,2420,2025
$GC,7146,0.54,121.7,527.6,12.2,280,7149,0.00,1.62,0.00,0.000,4,0.000,0.028,2730,1286,2023
$GC,7180,0.54,121.7,523.6,11.5,280,7183,0.00,1.80,0.00,0.000,6,0.000,0.043,2729,2451,2021
$GC,7434,0.54,121.7,493.0,11.8,287,7437,0.00,1.52,0.00,0.000,4,0.000,0.048,2729,3421,2021
$GC,7553,0.54,121.7,478.4,12.0,289,7557,0.10,1.45,0.00,0.000,6,0.176,0.025,2708,2442,2021
$GC,7810,0.54,121.7,451.8,10.2,296,7813,0.00,1.58,0.00,0.000,4,0.000,0.049,2703,3422,2019
$GC,7860,0.54,121.7,446.3,11.5,297,7862,0.00,1.40,0.00,0.000,6,0.000,0.026,2708,2473,2019
$GC,8141,0.54,121.7,418.0,10.0,304,8144,0.00,1.67,0.00,0.000,4,0.000,0.029,2717,1307,2018
$GC,8190,0.55,124.5,412.9,9.8,305,8193,0.00,1.80,0.00,0.000,6,0.000,0.044,2716,2476,2017
$GC,8472,0.55,124.5,384.6,10.0,312,8474,0.00,1.48,0.00,0.000,4,0.000,0.050,2716,3419,2017
$GC,8569,0.55,124.5,374.6,10.4,314,8572,0.00,1.42,0.00,0.000,6,0.000,0.027,2721,2458,2017
$GC,8848,0.55,138.2,348.5,9.2,321,8871,0.00,1.52,15.50,0.759,4,0.000,0.050,2722,3420,1965
$GC,8982,0.55,138.2,334.6,10.5,324,8984,0.00,1.38,0.00,0.000,6,0.000,0.028,2728,2496,1963
$GC,9266,0.55,147.8,308.0,9.5,331,9279,0.00,1.50,9.80,0.785,4,0.000,0.049,2728,3421,1927
$GC,9389,0.55,147.8,295.4,10.3,333,9395,0.00,1.30,0.00,0.000,6,0.000,0.026,2734,2541,1925
$GC,9639,0.56,163.6,272.4,9.1,340,9657,0.00,1.83,15.25,0.800,4,0.000,0.029,2739,1311,1862
$GC,9741,0.56,171.7,262.7,9.6,342,9754,0.00,1.95,8.30,0.716,6,0.000,0.044,2739,2559,1830
$GC,10011,0.58,213.0,240.8,7.7,349,10052,0.00,1.40,36.45,0.805,4,0.000,0.047,2739,3420,1661
$GC,10119,0.58,213.0,230.2,10.6,351,10122,0.08,1.30,0.00,0.000,6,0.153,0.025,2722,2554,1658
$GC,10384,0.59,241.2,206.7,8.4,358,10412,0.00,1.88,24.33,0.751,4,0.000,0.029,2730,1314,1545
$GC,10453,0.60,264.4,200.7,8.7,359,10483,0.00,1.98,20.62,0.731,6,0.000,0.042,2730,2573,1451
$GC,10737,0.61,282.4,174.2,9.0,385,10763,0.00,1.38,16.33,0.699,4,0.000,0.047,2730,3425,1377
$GC,10851,0.61,282.4,161.8,10.2,395,10854,0.00,1.23,0.00,0.000,6,0.000,0.025,2735,2594,1376
$GC,11114,0.61,282.4,135.3,11.0,420,11117,0.00,1.90,0.00,0.000,4,0.000,0.029,2739,1277,1374
$GC,11193,0.61,282.4,127.1,10.1,427,11196,0.00,2.05,0.00,0.000,6,0.000,0.042,2739,2598,1372
$GC,11456,0.62,317.2,101.5,8.1,452,11496,0.00,1.33,29.67,0.652,4,0.000,0.046,2739,3426,1236
$GC,11544,0.63,334.6,94.4,9.0,459,11570,0.00,1.23,15.73,0.611,6,0.000,0.024,2738,2588,1164
$GC,11825,0.64,358.4,72.0,8.7,485,11852,0.00,1.92,20.88,0.607,4,0.000,0.028,2739,1305,1067
$GC,11931,0.65,388.0,62.8,8.4,494,11961,0.00,1.95,25.35,0.603,6,0.000,0.037,2739,2580,946
$GC,12222,0.67,446.5,42.7,6.8,521,12276,0.00,1.92,48.20,0.593,4,0.000,0.025,2739,1294,708
$GC,12516,0.69,475.8,14.1,8.4,562,12551,0.00,2.00,24.42,0.550,6,0.000,0.037,2739,2583,588
$STATE,12641,end climb,SURFACE_DEPTH_REACHED
$STATE,12641,begin surface coast
$FINISH,-0.0,1.023272
$STATE,12687,end surface coast,CONTROL_FINISHED_OK
$STATE,12687,begin surface
$SM_CCo,12770,0.00,0.000,0,0,586,476.86
$SM_GC,0.83,6.90,0.00,0.00,0.025,0.000,0.000,39,2595,586,-7.68,0.14,476.86
$IRIDIUM_FIX,2253.38,-15759.74,160102,121244
$TT8_MAMPS,0.046787
$HUMID,2223
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.70
$XPDR_PINGS,17
$24V_AH,23.8,77.594
$10V_AH,10.5,76.259
$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,17.400,105.450,534.250,0.000,0.000,58.483,66.288,288.820,4.250,0.000,0.000,18.050,0.000,8976.667,516.802,2931.097,982.639,33.351,1475.458,0.000,2611.447,0.000,0.544,0.000
$DEVICE_MAMPS,200.954,50.622,1054.625,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,399.000,1369.403,1410.097,212.116,1111.435,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47735,592
$CAP_FILE_SIZE,118066,0
$CFSIZE,260165632,227434496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,221012,160036,2300.877,-15759.792,40,1.3,40,10.1