version: 66.04
glider: 512
mission: 3
dive: 600
start: 10 24 112 11 16 26
data:
$ID,512
$MISSION,3
$DIVE,600
$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,-65879.289
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2550
$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,62
$R_STBD_OVSHOOT,66
$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
$GPS1,110235,2257.907,-15755.842,27,1.6,27,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-81.2
$GPS2,111548,2257.944,-15755.912,12,1.8,12,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.129,-0.201
$KALMAN_X,-159335.9,17.9,-723.0,140706.8,135.6
$KALMAN_Y,71984.8,-154.5,79.6,-70896.9,463.1
$MHEAD_RNG_PITCHd_Wd,137.3,47355,-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,-121.7,0.0,0.0,0,99,0.00,0.00,-81.95,0.000,2,0.000,0.000,12,2644,2776
$GC,104,-0.54,-121.7,2.6,-4.3,11,128,9.02,1.65,-5.12,0.000,4,0.198,0.041,2364,1525,3028
$GC,169,-0.54,-121.7,20.5,-14.9,21,174,0.00,1.58,0.00,0.000,6,0.000,0.035,2359,2549,3029
$GC,439,-0.54,-121.7,59.5,-13.9,52,442,0.00,1.48,0.00,0.000,4,0.000,0.022,2359,1526,3029
$GC,477,-0.54,-121.7,65.5,-12.9,55,485,0.00,1.62,0.00,0.000,6,0.000,0.040,2358,2577,3029
$GC,736,-0.54,-121.7,96.8,-12.1,80,738,0.00,1.62,0.00,0.000,4,0.000,0.045,2351,3660,3029
$GC,771,-0.54,-121.7,100.8,-10.9,83,774,0.00,1.60,0.00,0.000,6,0.000,0.019,2351,2522,3029
$GC,1034,-0.54,-121.7,127.9,-10.0,108,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2514,3029
$GC,1292,-0.54,-121.7,157.5,-12.1,133,1295,0.00,1.38,0.00,0.000,4,0.000,0.021,2351,1527,3030
$GC,1327,-0.54,-121.7,161.7,-11.5,136,1331,0.00,1.62,0.00,0.000,6,0.000,0.038,2346,2580,3030
$GC,1590,-0.54,-121.7,190.8,-10.2,161,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2580,3030
$GC,1844,-0.54,-121.7,215.8,-9.6,174,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2581,3029
$GC,2086,-0.54,-121.7,238.8,-9.8,180,2089,0.00,1.60,0.00,0.000,4,0.000,0.044,2338,3654,3029
$GC,2114,-0.54,-121.7,242.1,-10.8,180,2117,0.08,1.60,0.00,0.000,6,0.107,0.020,2368,2523,3029
$GC,2376,-0.54,-121.7,263.9,-8.2,187,2379,0.00,1.38,0.00,0.000,4,0.000,0.021,2368,1526,3029
$GC,2399,-0.54,-121.7,266.1,-8.4,187,2402,0.00,1.60,0.00,0.000,6,0.000,0.039,2362,2591,3029
$GC,2667,-0.54,-121.7,286.1,-7.4,194,2670,0.00,1.60,0.00,0.000,4,0.000,0.047,2359,3652,3028
$GC,2749,-0.54,-121.7,292.9,-8.1,195,2757,0.00,1.52,0.00,0.000,6,0.000,0.021,2358,2566,3028
$GC,3001,-0.54,-121.7,311.0,-6.9,202,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2566,3027
$GC,3243,-0.54,-121.7,328.6,-7.6,208,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2566,3026
$GC,3485,-0.54,-121.7,349.9,-8.8,214,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2566,3023
$GC,3728,-0.54,-121.7,367.9,-7.0,220,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2566,3022
$GC,3969,-0.54,-121.7,383.3,-6.3,226,3972,0.00,1.67,0.00,0.000,4,0.000,0.049,2352,3652,3021
$GC,4030,-0.54,-121.7,387.7,-6.9,227,4033,0.00,1.48,0.00,0.000,6,0.000,0.022,2352,2618,3020
$GC,4303,-0.54,-121.7,407.8,-7.4,234,4306,0.00,1.60,0.00,0.000,4,0.000,0.049,2346,3645,3018
$GC,4337,-0.54,-121.7,410.6,-7.4,234,4340,0.00,1.42,0.00,0.000,6,0.000,0.023,2346,2640,3018
$GC,4594,-0.54,-121.7,428.3,-6.7,241,4597,0.00,1.62,-0.08,0.000,4,0.000,0.065,2339,3644,3040
$GC,4708,-0.54,-121.7,437.1,-8.5,243,4711,0.08,1.20,0.00,0.000,6,0.097,0.024,2369,2800,3039
$GC,4970,-0.54,-121.7,454.6,-6.8,250,4973,0.00,1.75,0.00,0.000,4,0.000,0.025,2370,1563,3038
$GC,5017,-0.54,-121.7,458.1,-6.9,251,5020,0.00,1.60,0.00,0.000,6,0.000,0.044,2370,2588,3038
$GC,5306,-0.54,-121.7,479.5,-7.3,258,5308,0.00,1.65,0.00,0.000,4,0.000,0.053,2369,3657,3036
$GC,5396,-0.54,-121.7,485.6,-6.8,260,5399,0.00,1.23,0.00,0.000,6,0.000,0.025,2370,2800,3035
$GC,5684,-0.54,-121.7,502.8,-5.7,267,5687,0.00,1.75,0.00,0.000,4,0.000,0.025,2369,1563,3033
$GC,5755,-0.54,-121.7,507.0,-5.9,268,5758,0.00,1.65,0.00,0.000,6,0.000,0.045,2370,2637,3033
$GC,6018,-0.54,-121.7,520.8,-5.3,275,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2637,3032
$GC,6260,-0.54,-121.7,533.8,-5.5,281,6262,0.00,1.58,0.00,0.000,4,0.000,0.054,2370,3640,3029
$GC,6331,-0.54,-121.7,538.0,-5.4,282,6333,0.00,1.15,0.00,0.000,6,0.000,0.027,2370,2837,3029
$GC,6593,-0.54,-121.7,552.4,-5.5,289,6597,0.00,1.30,0.00,0.000,4,0.000,0.054,2370,3651,3028
$GC,6686,-0.54,-121.7,557.4,-5.3,291,6688,0.00,1.38,0.00,0.000,6,0.000,0.026,2370,2703,3027
$GC,6969,-0.54,-121.7,572.9,-5.6,298,6972,0.00,1.52,0.00,0.000,4,0.000,0.054,2370,3645,3026
$GC,7218,-0.54,-121.7,587.7,-6.6,303,7221,0.00,1.50,0.00,0.000,6,0.000,0.026,2370,2621,3025
$STATE,7470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7470,begin apogee
$GC,7480,-0.18,0.0,600.6,4.9,310,7594,0.32,0.00,111.93,1.049,6,0.038,0.000,2525,2361,2530
$STATE,7594,end apogee,CONTROL_FINISHED_OK
$STATE,7595,begin climb
$GC,7600,0.54,121.7,605.6,0.0,313,7729,0.50,1.77,114.82,0.996,4,0.024,0.048,2763,3420,2032
$GC,7948,0.54,121.7,567.7,16.5,321,7951,0.17,1.60,0.00,0.000,6,0.189,0.025,2729,2335,2026
$GC,8236,0.54,121.7,532.0,12.4,328,8239,0.00,1.73,0.00,0.000,4,0.000,0.048,2729,3425,2023
$GC,8388,0.54,121.7,511.6,13.1,331,8391,0.00,1.50,0.00,0.000,6,0.000,0.025,2735,2416,2022
$GC,8655,0.54,121.7,479.3,12.2,338,8658,0.00,1.60,0.00,0.000,4,0.000,0.048,2735,3413,2021
$GC,8721,0.54,121.7,470.2,14.5,339,8723,0.00,1.42,0.00,0.000,6,0.000,0.026,2743,2451,2021
$GC,8988,0.54,121.7,438.1,11.7,346,8991,0.00,1.65,0.00,0.000,4,0.000,0.028,2751,1301,2021
$GC,9038,0.54,121.7,432.5,10.9,347,9041,0.00,1.83,0.00,0.000,6,0.000,0.042,2751,2469,2019
$GC,9321,0.54,121.7,401.2,11.1,354,9324,0.00,1.48,0.00,0.000,4,0.000,0.047,2751,3416,2019
$GC,9467,0.54,121.7,384.6,11.3,357,9470,0.08,1.38,0.00,0.000,6,0.170,0.025,2735,2485,2018
$GC,9740,0.54,121.8,357.8,10.0,364,9743,0.00,1.70,0.00,0.000,4,0.000,0.030,2739,1303,2018
$GC,9822,0.54,121.8,349.4,10.4,365,9829,0.00,1.83,0.00,0.000,6,0.000,0.043,2739,2468,2017
$GC,10073,0.55,137.2,325.8,9.1,372,10096,0.00,0.00,14.45,0.726,6,0.000,0.000,2739,2468,1970
$GC,10361,0.56,168.3,300.8,8.3,379,10394,0.00,1.52,28.83,0.844,4,0.000,0.048,2739,3417,1843
$GC,10462,0.56,168.3,291.4,10.1,381,10465,0.00,1.50,0.00,0.000,6,0.000,0.025,2747,2421,1841
$GC,10735,0.56,168.3,264.6,10.3,388,10738,0.00,1.60,0.00,0.000,4,0.000,0.048,2746,3434,1838
$GC,10817,0.56,168.3,255.2,11.2,389,10824,0.00,1.38,0.00,0.000,6,0.000,0.026,2754,2504,1838
$GC,11068,0.56,168.3,228.7,10.2,396,11071,0.00,1.45,0.00,0.000,4,0.000,0.048,2754,3417,1836
$GC,11157,0.56,168.3,219.4,10.4,398,11160,0.00,1.30,0.00,0.000,6,0.000,0.025,2760,2533,1836
$GC,11417,0.57,197.3,197.7,8.4,405,11449,0.00,0.00,25.58,0.749,6,0.000,0.000,2760,2527,1723
$GC,11700,0.57,197.3,167.3,12.0,432,11702,0.00,1.77,0.00,0.000,4,0.000,0.028,2768,1302,1720
$GC,11747,0.57,197.3,161.8,12.0,436,11750,0.12,1.95,0.00,0.000,6,0.144,0.041,2735,2560,1719
$GC,12014,0.58,212.4,135.2,9.2,461,12031,0.00,1.33,13.70,0.659,4,0.000,0.044,2736,3428,1663
$GC,12079,0.58,212.4,128.2,10.2,466,12082,0.00,1.27,0.00,0.000,6,0.000,0.024,2739,2562,1663
$GC,12342,0.59,246.0,105.3,8.1,491,12379,0.00,1.40,29.20,0.657,4,0.000,0.045,2739,3426,1525
$GC,12405,0.60,260.8,99.8,9.2,496,12421,0.00,1.25,13.73,0.607,6,0.000,0.023,2739,2569,1467
$GC,12680,0.60,272.1,77.0,9.4,521,12694,0.00,1.90,10.80,0.579,4,0.000,0.027,2739,1318,1419
$GC,12741,0.61,293.2,71.2,8.8,526,12766,0.00,2.00,18.62,0.602,6,0.000,0.038,2739,2611,1334
$GC,13021,0.63,325.5,47.6,8.2,552,13058,0.00,2.00,27.52,0.594,4,0.000,0.025,2739,1311,1202
$GC,13084,0.65,382.5,42.6,6.8,557,13135,0.00,1.92,47.10,0.589,6,0.000,0.037,2739,2565,969
$GC,13392,0.66,412.3,16.9,8.4,599,13423,0.00,1.88,24.58,0.558,4,0.000,0.024,2739,1300,849
$STATE,13549,end climb,SURFACE_DEPTH_REACHED
$STATE,13549,begin surface coast
$FINISH,2.0,1.023306
$STATE,13554,end surface coast,CONTROL_FINISHED_OK
$STATE,13554,begin surface
$SM_CCo,13639,0.00,0.000,0,0,845,413.08
$SM_GC,0.99,6.90,0.00,0.00,0.027,0.000,0.000,35,2604,845,-7.76,0.37,413.08
$IRIDIUM_FIX,2251.04,-15755.40,180102,111137
$TT8_MAMPS,0.046787
$HUMID,2212
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.70
$XPDR_PINGS,39
$24V_AH,23.7,79.485
$10V_AH,10.5,78.166
$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,17.275,98.175,480.850,0.000,0.000,60.115,70.213,393.048,9.750,0.000,0.000,12.240,0.000,9541.519,483.400,3253.087,1123.381,33.350,1471.553,0.000,2938.071,0.000,0.544,0.000
$DEVICE_MAMPS,197.886,65.195,1049.256,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,423.030,2063.849,2155.001,279.722,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54257,627
$CAP_FILE_SIZE,124333,0
$CFSIZE,260165632,226648064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,241012,150453,2257.537,-15755.483,24,1.2,41,10.1