version: 66.04
glider: 512
mission: 3
dive: 596
start: 10 23 112 19 19 14
data:
$ID,512
$MISSION,3
$DIVE,596
$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,-65809.422
$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,77
$R_STBD_OVSHOOT,34
$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
$GPS1,184054,2258.640,-15757.106,42,1.2,42,10.1
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-79.9
$GPS2,191831,2258.843,-15757.299,15,1.8,15,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,-0.187
$KALMAN_X,-154765.5,-676.3,-197.1,133953.9,-959.6
$KALMAN_Y,65962.8,-2.9,-3.0,-63281.9,1302.4
$MHEAD_RNG_PITCHd_Wd,131.3,50169,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,16,-0.54,-121.7,0.0,0.0,0,92,0.00,0.00,-74.40,0.000,2,0.000,0.000,12,2536,2820
$GC,98,-0.54,-121.7,2.8,-4.3,10,114,9.00,1.48,-4.20,0.000,4,0.200,0.041,2347,1527,3028
$GC,193,-0.54,-121.7,26.2,-15.3,26,200,0.00,1.62,0.00,0.000,6,0.000,0.036,2345,2585,3029
$GC,459,-0.54,-121.7,68.7,-15.3,53,462,0.00,1.60,0.00,0.000,4,0.000,0.044,2336,3655,3029
$GC,484,-0.54,-121.7,72.6,-15.1,55,487,0.00,1.50,0.00,0.000,6,0.000,0.020,2336,2605,3029
$GC,747,-0.54,-121.7,104.7,-10.7,80,750,0.00,1.50,0.00,0.000,4,0.000,0.021,2336,1528,3029
$GC,869,-0.54,-121.7,116.6,-9.8,91,871,0.00,1.60,0.00,0.000,6,0.000,0.036,2333,2596,3029
$GC,1132,-0.54,-121.7,148.7,-13.6,116,1134,0.00,1.60,0.00,0.000,4,0.000,0.044,2325,3655,3029
$GC,1157,-0.54,-121.7,152.2,-13.9,118,1160,0.00,1.52,0.00,0.000,6,0.000,0.019,2325,2588,3029
$GC,1420,-0.54,-121.7,186.9,-12.9,143,1423,0.00,1.45,0.00,0.000,4,0.000,0.021,2325,1537,3029
$GC,1488,-0.54,-121.7,194.4,-10.5,149,1491,0.08,1.60,0.00,0.000,6,0.115,0.037,2347,2579,3028
$GC,1746,-0.54,-121.7,220.0,-10.0,159,1749,0.00,1.62,0.00,0.000,4,0.000,0.043,2340,3651,3028
$GC,1795,-0.54,-121.7,225.8,-10.4,160,1798,0.00,1.52,0.00,0.000,6,0.000,0.019,2340,2574,3028
$GC,2078,-0.54,-121.7,253.8,-9.8,167,2081,0.00,1.42,0.00,0.000,4,0.000,0.021,2340,1545,3027
$GC,2145,-0.54,-121.7,259.9,-8.8,168,2148,0.00,1.60,0.00,0.000,6,0.000,0.036,2333,2613,3027
$GC,2412,-0.54,-121.7,284.9,-9.3,175,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2613,3027
$GC,2654,-0.54,-121.7,307.9,-9.4,181,2657,0.00,1.52,0.00,0.000,4,0.000,0.021,2333,1544,3025
$GC,2710,-0.54,-121.7,313.3,-9.0,182,2713,0.00,1.60,0.00,0.000,6,0.000,0.038,2333,2584,3025
$GC,2988,-0.54,-121.7,336.2,-7.8,189,2991,0.00,1.62,0.00,0.000,4,0.000,0.045,2325,3648,3022
$GC,3035,-0.54,-121.7,339.9,-8.2,190,3038,0.00,1.50,0.00,0.000,6,0.000,0.021,2325,2596,3022
$GC,3324,-0.54,-121.7,363.8,-8.6,197,3327,0.00,1.48,0.00,0.000,4,0.000,0.022,2325,1539,3020
$GC,3379,-0.54,-121.7,369.5,-10.1,198,3382,0.12,1.60,0.00,0.000,6,0.118,0.038,2354,2600,3020
$GC,3657,-0.54,-121.7,392.5,-8.3,205,3660,0.00,1.60,0.00,0.000,4,0.000,0.047,2347,3660,3018
$GC,3704,-0.54,-121.7,396.4,-8.7,206,3708,0.00,1.50,0.00,0.000,6,0.000,0.021,2347,2605,3018
$GC,3993,-0.54,-121.7,419.4,-7.7,213,3996,0.00,1.48,-0.08,0.000,4,0.000,0.041,2347,1549,3038
$GC,4040,-0.54,-121.7,422.9,-7.2,214,4043,0.00,1.62,0.00,0.000,6,0.000,0.041,2346,2589,3038
$GC,4329,-0.54,-121.7,443.5,-7.0,221,4332,0.00,1.62,0.00,0.000,4,0.000,0.049,2338,3652,3035
$GC,4368,-0.54,-121.7,446.8,-8.1,221,4376,0.00,1.52,0.00,0.000,6,0.000,0.022,2338,2579,3036
$GC,4620,-0.54,-121.7,466.4,-7.9,228,4623,0.00,1.45,0.00,0.000,4,0.000,0.024,2338,1556,3034
$GC,4653,-0.54,-121.7,469.3,-8.1,228,4656,0.00,1.60,0.00,0.000,6,0.000,0.041,2333,2603,3034
$GC,4910,-0.54,-121.7,490.1,-8.3,235,4913,0.00,1.60,0.00,0.000,4,0.000,0.049,2325,3658,3032
$GC,4949,-0.54,-121.7,493.7,-8.4,235,4957,0.00,1.52,0.00,0.000,6,0.000,0.022,2326,2598,3031
$GC,5201,-0.54,-121.7,513.5,-7.9,242,5204,0.00,1.50,0.00,0.000,4,0.000,0.025,2325,1545,3029
$GC,5251,-0.54,-121.7,517.8,-7.7,243,5255,0.08,1.62,0.00,0.000,6,0.109,0.042,2347,2583,3029
$GC,5535,-0.54,-121.7,535.6,-6.2,250,5538,0.00,1.67,0.00,0.000,4,0.000,0.053,2346,3649,3027
$GC,5611,-0.54,-121.7,540.7,-6.7,251,5614,0.00,1.50,0.00,0.000,6,0.000,0.025,2346,2615,3026
$GC,5868,-0.54,-121.7,557.4,-6.4,258,5871,0.00,1.65,0.00,0.000,4,0.000,0.054,2346,3660,3025
$GC,5987,-0.54,-121.7,565.3,-6.1,260,5990,0.00,1.33,0.00,0.000,6,0.000,0.025,2346,2737,3024
$GC,6244,-0.54,-121.7,581.4,-6.4,267,6247,0.00,1.48,0.00,0.000,4,0.000,0.053,2346,3654,3023
$GC,6283,-0.54,-121.7,584.0,-6.7,267,6291,0.00,1.17,0.00,0.000,6,0.000,0.027,2346,2837,3022
$STATE,6530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6530,begin apogee
$GC,6541,-0.18,0.0,600.9,6.7,274,6654,0.38,0.00,110.57,1.056,6,0.084,0.000,2474,2356,2530
$STATE,6654,end apogee,CONTROL_FINISHED_OK
$STATE,6654,begin climb
$GC,6659,0.54,121.7,607.1,0.0,277,6788,0.60,1.80,114.00,0.998,4,0.037,0.048,2716,3426,2032
$GC,6844,0.54,121.7,598.0,12.7,281,6847,0.00,1.60,0.00,0.000,6,0.000,0.025,2722,2352,2030
$GC,7122,0.54,121.7,568.2,10.5,288,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2346,2024
$GC,7364,0.54,121.7,543.0,10.4,294,7367,0.00,1.70,0.00,0.000,4,0.000,0.048,2722,3427,2023
$GC,7484,0.54,121.7,529.1,11.3,296,7487,0.00,1.58,0.00,0.000,6,0.000,0.025,2730,2368,2022
$GC,7740,0.54,121.7,501.8,10.7,303,7743,0.00,1.67,0.00,0.000,4,0.000,0.049,2729,3428,2021
$GC,7853,0.54,121.7,488.5,11.1,305,7857,0.10,1.48,0.00,0.000,6,0.176,0.025,2696,2425,2020
$GC,8116,0.55,139.8,464.7,9.0,312,8134,0.00,1.60,15.40,0.916,4,0.000,0.048,2695,3433,1959
$GC,8197,0.55,139.8,456.1,11.2,313,8204,0.00,1.45,0.00,0.000,6,0.000,0.026,2702,2459,1958
$GC,8448,0.55,139.8,428.8,10.9,320,8451,0.00,1.65,0.00,0.000,4,0.000,0.028,2710,1306,1956
$GC,8495,0.55,139.8,423.9,10.4,321,8498,0.00,1.83,0.00,0.000,6,0.000,0.044,2710,2464,1955
$GC,8784,0.55,148.0,395.5,9.5,328,8797,0.00,1.55,8.45,0.811,4,0.000,0.048,2710,3438,1926
$GC,8860,0.55,148.0,387.7,11.1,329,8862,0.00,1.40,0.00,0.000,6,0.000,0.026,2717,2491,1925
$GC,9117,0.55,148.0,362.7,10.0,336,9120,0.00,1.70,0.00,0.000,4,0.000,0.028,2725,1307,1924
$GC,9183,0.55,148.0,355.4,10.7,337,9186,0.00,1.85,0.00,0.000,6,0.000,0.044,2726,2501,1922
$GC,9450,0.55,148.0,326.7,10.6,344,9453,0.00,1.45,0.00,0.000,4,0.000,0.050,2726,3426,1922
$GC,9540,0.55,148.0,317.4,10.5,346,9543,0.00,1.42,0.00,0.000,6,0.000,0.025,2733,2465,1922
$GC,9829,0.57,178.8,292.4,8.3,353,9862,0.00,1.75,27.73,0.845,4,0.000,0.028,2739,1309,1800
$GC,9941,0.57,184.6,282.4,9.7,355,9950,0.00,1.77,6.53,0.683,6,0.000,0.043,2739,2447,1777
$GC,10197,0.57,184.6,256.6,10.4,361,10201,0.00,1.52,0.00,0.000,4,0.000,0.048,2739,3418,1774
$GC,10343,0.57,184.6,240.5,10.9,364,10346,0.10,1.40,0.00,0.000,6,0.153,0.026,2716,2479,1774
$GC,10616,0.59,242.1,220.2,6.8,371,10669,0.00,1.80,49.33,0.782,4,0.000,0.028,2724,1299,1542
$GC,10713,0.61,277.3,212.7,8.1,373,10749,0.00,1.85,30.92,0.747,6,0.000,0.041,2724,2478,1399
$GC,11008,0.61,287.3,186.4,9.4,390,11021,0.00,1.52,9.60,0.654,4,0.000,0.047,2724,3424,1358
$GC,11081,0.61,287.3,178.1,11.0,396,11089,0.00,1.38,0.00,0.000,6,0.000,0.025,2726,2505,1357
$GC,11339,0.63,337.1,157.2,7.2,421,11390,0.00,1.80,42.10,0.706,4,0.000,0.029,2734,1317,1154
$GC,11416,0.65,388.1,151.6,7.2,427,11467,0.00,1.90,43.00,0.683,6,0.000,0.039,2734,2529,947
$GC,11717,0.66,414.0,126.9,8.6,455,11743,0.00,1.45,22.45,0.651,4,0.000,0.045,2734,3430,841
$GC,11769,0.67,427.8,122.2,9.2,459,11785,0.00,1.67,12.98,0.605,6,0.000,0.023,2735,2294,785
$GC,12049,0.67,427.8,94.7,10.0,485,12052,0.00,1.42,0.00,0.000,4,0.000,0.026,2736,1312,782
$GC,12064,0.67,441.5,93.1,9.2,486,12080,0.00,1.58,12.57,0.593,6,0.000,0.035,2735,2338,729
$GC,12344,0.67,441.5,64.3,10.8,512,12347,0.00,1.52,0.00,0.000,4,0.000,0.025,2736,1308,727
$GC,12594,0.67,441.5,34.1,11.6,535,12597,0.00,1.48,0.00,0.000,6,0.000,0.035,2736,2278,726
$GC,12861,0.67,441.5,4.3,12.1,580,12869,0.00,1.42,0.00,0.000,4,0.000,0.025,2736,1304,726
$STATE,12873,end climb,SURFACE_DEPTH_REACHED
$STATE,12873,begin surface coast
$FINISH,-0.1,1.010089
$STATE,12900,end surface coast,CONTROL_FINISHED_OK
$STATE,12900,begin surface
$SM_CCo,12985,0.00,0.000,0,0,725,442.51
$SM_GC,0.83,6.70,0.00,0.00,0.020,0.000,0.000,26,2595,725,-7.70,0.14,442.51
$IRIDIUM_FIX,2251.04,-15753.23,170102,191958
$TT8_MAMPS,0.046787
$HUMID,2244
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.30
$XPDR_PINGS,30
$24V_AH,23.8,78.901
$10V_AH,10.4,77.536
$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,17.150,114.050,505.625,0.000,0.000,135.006,198.034,1477.033,7.500,0.000,0.000,15.288,0.000,9170.250,492.724,3130.911,2425.521,33.354,1464.896,0.000,2812.461,0.000,0.544,0.000
$DEVICE_MAMPS,200.187,53.690,1056.159,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,396.798,1933.866,2021.185,260.002,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50971,587
$CAP_FILE_SIZE,141630,0
$CFSIZE,260165632,226906112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231012,225636,2258.863,-15756.689,30,1.7,30,10.1