version: 66.04
glider: 512
mission: 3
dive: 592
start: 10 23 112 3 45 36
data:
$ID,512
$MISSION,3
$DIVE,592
$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,-65739.219
$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,64
$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
$GPS1,032605,2259.785,-15758.540,39,1.1,50,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-77.2
$GPS2,034454,2259.847,-15758.640,15,1.1,20,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.239,0.002
$KALMAN_X,-150862.5,464.8,689.1,125730.4,-2108.0
$KALMAN_Y,60556.4,705.7,546.3,-57271.1,-867.2
$MHEAD_RNG_PITCHd_Wd,79.4,53083,-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,16,-0.54,-121.7,0.0,0.0,0,91,0.00,0.00,-73.95,0.000,2,0.000,0.000,12,2615,2744
$GC,97,-0.54,-121.7,2.4,-3.4,9,115,9.00,1.62,-6.00,0.000,4,0.200,0.049,2333,3670,3028
$GC,140,-0.54,-121.7,15.9,-28.6,15,149,0.00,1.58,0.00,0.000,6,0.000,0.021,2332,2598,3029
$GC,405,-0.54,-121.7,60.5,-16.3,47,408,0.00,1.52,0.00,0.000,4,0.000,0.024,2333,1523,3029
$GC,549,-0.54,-121.7,82.4,-13.7,60,558,0.00,1.50,0.00,0.000,6,0.000,0.036,2326,2506,3029
$GC,808,-0.54,-121.7,117.7,-13.7,85,811,0.00,1.70,0.00,0.000,4,0.000,0.042,2317,3643,3029
$GC,844,-0.54,-121.7,123.0,-14.1,88,847,0.08,1.70,0.00,0.000,6,0.110,0.020,2345,2464,3029
$GC,1107,-0.54,-121.7,153.6,-10.9,113,1110,0.00,1.30,0.00,0.000,4,0.000,0.022,2352,1521,3030
$GC,1143,-0.54,-121.7,157.1,-9.3,116,1146,0.00,1.40,0.00,0.000,6,0.000,0.035,2347,2449,3029
$GC,1406,-0.54,-121.7,182.9,-10.1,141,1409,0.00,1.80,0.00,0.000,4,0.000,0.046,2345,3641,3029
$GC,1463,-0.54,-121.7,188.8,-10.6,146,1466,0.00,1.70,0.00,0.000,6,0.000,0.020,2346,2443,3029
$GC,1731,-0.54,-121.7,218.9,-11.3,160,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2435,3029
$GC,1974,-0.54,-121.7,240.4,-8.3,166,1977,0.00,1.85,0.00,0.000,4,0.000,0.043,2337,3651,3029
$GC,2024,-0.54,-121.7,244.0,-6.6,167,2027,0.00,1.65,0.00,0.000,6,0.000,0.020,2337,2479,3028
$GC,2306,-0.54,-121.7,266.6,-8.6,174,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2472,3028
$GC,2547,-0.54,-121.7,291.1,-10.2,180,2550,0.00,1.80,0.00,0.000,4,0.000,0.044,2329,3650,3028
$GC,2575,-0.54,-121.7,294.0,-9.8,180,2578,0.00,1.60,0.00,0.000,6,0.000,0.021,2329,2517,3027
$GC,2835,-0.54,-121.7,318.0,-8.9,187,2838,0.00,1.40,0.00,0.000,4,0.000,0.022,2329,1512,3026
$GC,2869,-0.54,-121.7,320.7,-7.8,187,2872,0.00,1.58,0.00,0.000,6,0.000,0.038,2321,2542,3026
$GC,3124,-0.54,-121.7,342.3,-8.8,194,3127,0.00,1.67,0.00,0.000,4,0.000,0.045,2313,3656,3024
$GC,3147,-0.54,-121.7,344.6,-9.7,194,3150,0.12,1.60,0.00,0.000,6,0.114,0.021,2350,2524,3023
$GC,3415,-0.54,-121.7,366.5,-8.3,201,3418,0.00,1.42,0.00,0.000,4,0.000,0.024,2351,1508,3022
$GC,3470,-0.54,-121.7,371.4,-7.9,202,3473,0.00,1.58,0.00,0.000,6,0.000,0.040,2346,2530,3022
$GC,3745,-0.54,-121.7,393.3,-7.7,209,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2530,3020
$GC,3988,-0.54,-121.7,410.3,-6.9,215,3991,0.00,1.75,-0.08,0.000,4,0.000,0.062,2338,3644,3041
$GC,4027,-0.54,-121.7,413.2,-7.4,215,4034,0.00,1.67,0.00,0.000,6,0.000,0.022,2338,2491,3041
$GC,4276,-0.54,-121.7,432.6,-7.8,222,4279,0.00,1.38,0.00,0.000,4,0.000,0.025,2338,1527,3039
$GC,4304,-0.54,-121.7,434.8,-7.7,222,4308,0.00,1.55,0.00,0.000,6,0.000,0.041,2333,2527,3039
$GC,4564,-0.54,-121.7,455.7,-8.0,229,4568,0.00,1.75,0.00,0.000,4,0.000,0.049,2325,3646,3037
$GC,4635,-0.54,-121.7,461.7,-8.3,230,4638,0.00,1.60,0.00,0.000,6,0.000,0.025,2325,2529,3036
$GC,4895,-0.54,-121.7,483.7,-8.5,237,4898,0.00,1.42,0.00,0.000,4,0.000,0.025,2325,1525,3034
$GC,4950,-0.54,-121.7,488.6,-8.4,238,4954,0.12,1.58,0.00,0.000,6,0.117,0.042,2355,2535,3034
$GC,5227,-0.54,-121.7,506.7,-6.4,245,5230,0.00,1.48,0.00,0.000,4,0.000,0.024,2355,1516,3032
$GC,5250,-0.54,-121.7,508.3,-6.6,245,5253,0.00,1.88,0.00,0.000,6,0.000,0.044,2347,2733,3032
$GC,5515,-0.54,-121.7,525.6,-6.5,252,5518,0.00,1.75,0.00,0.000,4,0.000,0.025,2347,1514,3029
$GC,5555,-0.54,-121.7,528.1,-6.5,252,5560,0.00,1.83,0.00,0.000,6,0.000,0.046,2346,2692,3029
$GC,5804,-0.54,-121.7,543.5,-6.0,259,5807,0.00,1.67,0.00,0.000,4,0.000,0.025,2346,1526,3028
$GC,5838,-0.54,-121.7,545.7,-6.6,259,5841,0.00,1.73,0.00,0.000,6,0.000,0.046,2346,2620,3028
$GC,6096,-0.54,-121.7,562.6,-6.9,266,6098,0.00,1.60,0.00,0.000,4,0.000,0.053,2338,3661,3026
$GC,6118,-0.54,-121.7,564.5,-7.5,266,6122,0.00,1.55,0.00,0.000,6,0.000,0.025,2338,2600,3026
$GC,6384,-0.54,-121.7,586.0,-8.3,273,6387,0.00,1.52,0.00,0.000,4,0.000,0.027,2339,1537,3025
$GC,6455,-0.54,-121.7,592.2,-8.8,274,6458,0.00,1.65,0.00,0.000,6,0.000,0.045,2333,2603,3025
$STATE,6548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6548,begin apogee
$GC,6560,-0.18,0.0,600.4,8.5,277,6673,0.40,0.00,111.45,1.054,6,0.093,0.000,2467,2353,2530
$STATE,6673,end apogee,CONTROL_FINISHED_OK
$STATE,6673,begin climb
$GC,6678,0.54,121.7,606.4,0.0,280,6803,0.62,1.62,113.75,0.997,4,0.038,0.025,2723,1306,2034
$GC,6843,0.54,121.7,600.6,10.2,283,6849,0.00,1.67,0.00,0.000,6,0.000,0.042,2723,2365,2029
$GC,7092,0.54,121.7,572.5,11.2,290,7096,0.00,1.67,0.00,0.000,4,0.000,0.048,2723,3422,2025
$GC,7255,0.54,121.7,551.9,13.2,293,7257,0.00,1.52,0.00,0.000,6,0.000,0.025,2731,2399,2024
$GC,7510,0.54,121.7,522.3,11.3,300,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2392,2022
$GC,7753,0.54,121.7,496.1,10.7,306,7756,0.00,1.58,0.00,0.000,4,0.000,0.028,2739,1316,2021
$GC,7792,0.55,128.0,491.9,9.6,306,7801,0.15,1.75,4.72,0.680,6,0.153,0.042,2701,2454,2009
$GC,8085,0.55,128.0,462.7,10.2,314,8088,0.00,1.52,0.00,0.000,4,0.000,0.050,2701,3422,2007
$GC,8295,0.55,128.0,438.3,11.1,318,8301,0.00,1.42,0.00,0.000,6,0.000,0.025,2707,2461,2006
$GC,8544,0.55,128.0,412.4,10.2,325,8548,0.00,1.52,0.00,0.000,4,0.000,0.048,2702,3414,2005
$GC,8627,0.55,128.0,403.3,11.5,326,8632,0.00,1.35,0.00,0.000,6,0.000,0.027,2708,2504,2005
$GC,8876,0.55,140.1,379.3,9.3,333,8893,0.00,1.52,12.68,0.856,4,0.000,0.050,2702,3428,1958
$GC,8962,0.55,144.7,371.2,9.7,335,8970,0.00,1.23,5.72,0.701,6,0.000,0.026,2708,2600,1940
$GC,9249,0.56,167.1,346.0,8.8,342,9282,0.00,1.98,22.88,0.811,4,0.000,0.028,2717,1295,1848
$GC,9323,0.56,167.1,338.3,10.4,343,9326,0.00,2.10,0.00,0.000,6,0.000,0.046,2717,2623,1846
$GC,9578,0.56,167.1,308.4,12.0,350,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2623,1844
$GC,9822,0.57,189.1,285.5,8.8,356,9846,0.00,1.95,20.08,0.825,4,0.000,0.027,2724,1313,1758
$GC,9860,0.59,233.8,282.4,7.5,357,9904,0.00,2.03,39.55,0.828,6,0.000,0.044,2724,2600,1575
$GC,10187,0.59,240.2,253.0,9.6,365,10197,0.00,1.95,5.97,0.637,4,0.000,0.028,2726,1305,1549
$GC,10210,0.59,240.2,250.6,10.6,365,10213,0.00,2.05,0.00,0.000,6,0.000,0.043,2726,2612,1548
$GC,10470,0.59,240.2,222.7,10.7,372,10473,0.00,1.25,0.00,0.000,4,0.000,0.050,2726,3416,1548
$GC,10525,0.59,240.2,216.4,11.6,373,10528,0.00,1.23,0.00,0.000,6,0.000,0.026,2732,2584,1547
$GC,10785,0.60,257.9,191.5,9.0,384,10803,0.00,0.00,16.27,0.729,6,0.000,0.000,2732,2577,1477
$GC,11053,0.61,281.2,168.3,8.7,410,11080,0.00,0.00,20.62,0.712,6,0.000,0.000,2732,2577,1383
$GC,11333,0.61,281.2,141.1,10.3,437,11336,0.00,1.88,0.00,0.000,4,0.000,0.028,2739,1318,1381
$GC,11359,0.61,285.2,138.4,9.8,439,11372,0.00,2.00,4.78,0.505,6,0.000,0.041,2739,2614,1367
$GC,11626,0.61,285.2,109.5,10.9,464,11629,0.00,1.25,0.00,0.000,4,0.000,0.046,2739,3427,1366
$GC,11705,0.61,285.2,100.2,11.8,471,11708,0.00,1.17,0.00,0.000,6,0.000,0.024,2739,2621,1366
$GC,11969,0.62,318.3,76.6,8.2,496,12002,0.00,1.90,28.80,0.634,4,0.000,0.028,2739,1316,1233
$GC,12064,0.64,367.1,68.7,7.3,503,12114,0.00,2.08,40.95,0.624,6,0.000,0.040,2739,2636,1032
$GC,12364,0.66,408.2,46.6,7.7,531,12405,0.00,2.03,34.33,0.596,4,0.000,0.025,2739,1311,865
$GC,12645,0.66,408.2,19.7,10.3,566,12654,0.00,1.70,0.00,0.000,6,0.000,0.035,2739,2408,862
$STATE,12799,end climb,SURFACE_DEPTH_REACHED
$STATE,12804,begin surface coast
$FINISH,0.1,1.010060
$STATE,12840,end surface coast,CONTROL_FINISHED_OK
$STATE,12840,begin surface
$SM_CCo,12924,0.00,0.000,0,0,861,409.40
$SM_GC,0.94,6.88,0.00,0.00,0.026,0.000,0.000,42,2609,861,-7.69,0.54,409.40
$IRIDIUM_FIX,2248.70,-15758.45,170102,030313
$TT8_MAMPS,0.046787
$HUMID,2241
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.60
$XPDR_PINGS,14
$24V_AH,23.8,78.258
$10V_AH,10.4,76.903
$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,17.375,108.900,482.550,0.000,0.000,83.406,106.881,620.815,3.500,0.000,0.000,20.415,0.000,9204.590,484.076,2924.528,1415.305,33.349,1407.111,0.000,2615.115,0.000,0.545,0.000
$DEVICE_MAMPS,200.187,62.127,1053.858,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,406.929,1400.109,1453.839,213.599,1116.223,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50996,603
$CAP_FILE_SIZE,125078,0
$CFSIZE,260165632,227172352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,231012,072206,2259.810,-15758.047,39,0.9,39,10.1