version: 66.04
glider: 512
mission: 3
dive: 604
start: 10 25 112 3 47 17
data:
$ID,512
$MISSION,3
$DIVE,604
$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,-65986.609
$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,49
$R_STBD_OVSHOOT,32
$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
$GPS1,031705,2256.647,-15754.644,26,1.6,26,10.1
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-79.8
$GPS2,034639,2256.852,-15754.662,15,2.4,34,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,-0.193
$KALMAN_X,-163915.5,150.8,19.1,146547.7,53.7
$KALMAN_Y,78029.4,820.2,285.4,-80143.3,255.0
$MHEAD_RNG_PITCHd_Wd,133.7,44428,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.54,-121.7,0.0,0.0,0,91,0.00,0.00,-74.30,0.000,2,0.000,0.000,12,2551,2652
$GC,97,-0.54,-121.7,2.2,-2.8,10,120,9.20,1.50,-8.20,0.000,4,0.204,0.038,2371,1509,3025
$GC,129,-0.54,-121.7,12.0,-26.4,14,135,0.00,1.65,0.00,0.000,6,0.000,0.035,2365,2586,3026
$GC,401,-0.54,-121.7,50.7,-14.2,50,404,0.00,1.55,0.00,0.000,4,0.000,0.022,2365,1508,3026
$GC,426,-0.54,-121.7,54.8,-13.7,52,429,0.00,1.60,0.00,0.000,6,0.000,0.036,2359,2573,3026
$GC,689,-0.54,-121.7,87.6,-10.8,77,692,0.00,1.52,0.00,0.000,4,0.000,0.021,2359,1510,3026
$GC,728,-0.54,-121.7,91.8,-9.6,80,735,0.00,1.58,0.00,0.000,6,0.000,0.038,2359,2533,3026
$GC,986,-0.54,-121.7,118.3,-10.5,105,989,0.00,1.70,0.00,0.000,4,0.000,0.044,2350,3648,3026
$GC,1025,-0.54,-121.7,122.7,-10.5,108,1032,0.00,1.62,0.00,0.000,6,0.000,0.019,2350,2504,3025
$GC,1282,-0.54,-121.7,150.7,-11.1,133,1285,0.00,1.38,0.00,0.000,4,0.000,0.021,2350,1514,3026
$GC,1340,-0.54,-121.7,156.9,-9.9,138,1343,0.00,1.55,0.00,0.000,6,0.000,0.037,2346,2522,3026
$GC,1603,-0.54,-121.7,186.4,-11.1,163,1606,0.00,1.70,0.00,0.000,4,0.000,0.044,2338,3642,3026
$GC,1649,-0.54,-121.7,191.7,-11.2,167,1652,0.12,1.62,0.00,0.000,6,0.114,0.020,2375,2490,3026
$GC,1906,-0.54,-121.7,214.2,-8.4,180,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2483,3026
$GC,2150,-0.54,-121.7,232.1,-7.2,186,2153,0.00,1.77,0.00,0.000,4,0.000,0.044,2372,3649,3026
$GC,2205,-0.54,-121.7,236.1,-6.8,187,2208,0.00,1.67,0.00,0.000,6,0.000,0.020,2372,2473,3025
$GC,2481,-0.54,-121.7,255.2,-7.0,194,2484,0.00,1.33,0.00,0.000,4,0.000,0.020,2371,1500,3024
$GC,2510,-0.54,-121.7,257.4,-7.6,194,2513,0.00,1.85,0.00,0.000,6,0.000,0.040,2371,2705,3024
$GC,2772,-0.54,-121.7,276.1,-7.2,201,2775,0.00,1.45,0.00,0.000,4,0.000,0.048,2371,3649,3023
$GC,2822,-0.54,-121.7,279.8,-7.2,202,2825,0.00,1.67,0.00,0.000,6,0.000,0.020,2372,2449,3024
$GC,3103,-0.54,-121.7,298.7,-6.5,209,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2443,3022
$GC,3345,-0.54,-121.7,314.3,-6.4,215,3348,0.00,1.88,0.00,0.000,4,0.000,0.047,2372,3656,3021
$GC,3422,-0.54,-121.7,319.5,-6.3,216,3424,0.00,1.42,0.00,0.000,6,0.000,0.021,2371,2638,3020
$GC,3677,-0.54,-121.7,334.9,-5.8,223,3680,0.00,1.50,0.00,0.000,4,0.000,0.021,2371,1557,3018
$GC,3737,-0.54,-121.7,338.4,-6.1,224,3740,0.00,2.05,0.00,0.000,6,0.000,0.043,2371,2897,3017
$GC,4010,-0.54,-121.7,352.6,-5.2,231,4013,0.00,1.17,-0.08,0.000,4,0.000,0.072,2371,3645,3037
$GC,4119,-0.54,-121.7,359.5,-6.4,233,4122,0.00,1.35,0.00,0.000,6,0.000,0.023,2372,2693,3037
$GC,4384,-0.54,-121.7,376.5,-6.4,240,4387,0.00,1.52,0.00,0.000,4,0.000,0.049,2371,3648,3035
$GC,4423,-0.54,-121.7,379.0,-6.4,240,4431,0.00,1.05,0.00,0.000,6,0.000,0.025,2371,2904,3035
$GC,4673,-0.54,-121.7,394.0,-6.0,247,4676,0.00,1.90,0.00,0.000,4,0.000,0.022,2371,1544,3033
$GC,4723,-0.54,-121.7,397.4,-6.8,248,4726,0.00,1.73,0.00,0.000,6,0.000,0.044,2371,2655,3032
$GC,5004,-0.54,-121.7,414.1,-6.0,255,5007,0.00,1.52,0.00,0.000,4,0.000,0.051,2365,3639,3030
$GC,5081,-0.54,-121.7,418.9,-6.0,256,5084,0.00,1.08,0.00,0.000,6,0.000,0.024,2366,2878,3029
$GC,5336,-0.54,-121.7,433.8,-5.7,263,5338,0.00,1.85,0.00,0.000,4,0.000,0.023,2365,1565,3028
$GC,5380,-0.54,-121.7,436.5,-6.0,264,5383,0.00,1.70,0.00,0.000,6,0.000,0.042,2359,2675,3028
$GC,5669,-0.54,-121.7,453.6,-5.8,271,5672,0.00,1.50,0.00,0.000,4,0.000,0.051,2352,3641,3026
$GC,5708,-0.54,-121.7,456.3,-6.5,271,5713,0.00,1.05,0.00,0.000,6,0.000,0.026,2352,2905,3026
$GC,5957,-0.54,-121.7,471.5,-5.9,278,5960,0.00,1.17,0.00,0.000,4,0.000,0.051,2346,3644,3024
$GC,5970,-0.54,-121.7,472.3,-6.0,278,5973,0.00,1.35,0.00,0.000,6,0.000,0.024,2347,2697,3024
$GC,6246,-0.54,-121.7,489.5,-6.3,285,6249,0.00,1.52,0.00,0.000,4,0.000,0.051,2346,3645,3022
$GC,6381,-0.54,-121.7,499.7,-8.4,288,6384,0.00,1.17,0.00,0.000,6,0.000,0.026,2346,2823,3021
$GC,6663,-0.54,-121.7,521.5,-7.8,295,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2819,3020
$GC,6907,-0.54,-121.7,540.4,-7.7,301,6910,0.00,1.80,0.00,0.000,4,0.000,0.026,2346,1577,3019
$GC,6946,-0.54,-121.7,543.5,-7.8,301,6951,0.00,1.67,0.00,0.000,6,0.000,0.046,2346,2660,3019
$GC,7195,-0.54,-121.7,560.2,-6.4,308,7198,0.00,1.55,0.00,0.000,4,0.000,0.054,2346,3642,3017
$GC,7278,-0.54,-121.7,565.3,-6.7,309,7283,0.00,1.33,0.00,0.000,6,0.000,0.026,2346,2722,3016
$GC,7529,-0.54,-121.7,578.3,-5.1,316,7532,0.00,1.48,0.00,0.000,4,0.000,0.054,2346,3640,3015
$GC,7638,-0.54,-121.7,584.5,-6.0,318,7641,0.00,1.08,0.00,0.000,6,0.000,0.027,2346,2889,3015
$GC,7904,-0.54,-121.7,599.0,-5.5,325,7907,0.00,1.90,0.00,0.000,4,0.000,0.026,2346,1565,3014
$STATE,7916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7916,begin apogee
$GC,7928,-0.18,0.0,600.2,5.8,325,8039,0.43,0.00,109.60,1.057,6,0.091,0.000,2494,2367,2530
$STATE,8040,end apogee,CONTROL_FINISHED_OK
$STATE,8040,begin climb
$GC,8045,0.54,121.7,604.9,0.0,328,8191,0.62,1.70,121.03,0.966,4,0.026,0.045,2769,3421,2032
$GC,8291,0.54,121.7,586.9,15.3,333,8294,0.15,1.55,0.00,0.000,6,0.179,0.025,2727,2395,2027
$GC,8568,0.54,121.7,556.3,10.6,340,8571,0.00,1.65,0.00,0.000,4,0.000,0.048,2727,3416,2024
$GC,8666,0.54,121.7,544.7,11.9,342,8668,0.00,1.52,0.00,0.000,6,0.000,0.025,2733,2394,2023
$GC,8941,0.54,121.7,513.9,11.1,349,8944,0.00,1.62,0.00,0.000,4,0.000,0.048,2729,3423,2021
$GC,9066,0.54,121.7,497.9,13.6,351,9071,0.00,1.48,0.00,0.000,6,0.000,0.025,2735,2427,2020
$GC,9315,0.54,121.7,467.8,12.1,358,9318,0.00,1.60,0.00,0.000,4,0.000,0.049,2735,3418,2020
$GC,9461,0.54,121.7,448.6,12.6,361,9464,0.00,1.35,0.00,0.000,6,0.000,0.026,2742,2501,2019
$GC,9732,0.54,121.7,419.9,10.2,368,9735,0.00,1.73,0.00,0.000,4,0.000,0.028,2750,1296,2019
$GC,9814,0.55,139.1,412.1,9.0,369,9838,0.00,1.83,16.17,0.800,6,0.000,0.044,2750,2480,1963
$GC,10099,0.55,139.1,382.2,10.5,377,10102,0.00,1.48,0.00,0.000,4,0.000,0.050,2750,3418,1960
$GC,10208,0.55,139.1,369.8,12.5,379,10211,0.00,1.35,0.00,0.000,6,0.000,0.025,2757,2503,1960
$GC,10475,0.55,139.1,341.7,10.5,386,10478,0.00,1.48,0.00,0.000,4,0.000,0.050,2755,3421,1959
$GC,10541,0.55,139.1,334.0,11.1,387,10544,0.10,1.33,0.00,0.000,6,0.180,0.026,2732,2524,1959
$GC,10807,0.56,152.9,309.4,9.2,394,10831,0.00,1.77,15.43,0.736,4,0.000,0.028,2739,1303,1906
$GC,10845,0.56,158.9,305.8,9.7,395,10857,0.00,1.88,6.95,0.713,6,0.000,0.044,2739,2507,1882
$GC,11130,0.56,158.9,276.6,10.1,402,11133,0.00,1.75,0.00,0.000,4,0.000,0.026,2747,1321,1879
$GC,11180,0.56,170.4,272.0,9.4,403,11195,0.00,1.75,11.50,0.770,6,0.000,0.043,2747,2454,1835
$GC,11455,0.57,195.7,247.7,8.6,410,11483,0.00,1.55,23.45,0.793,4,0.000,0.048,2747,3421,1731
$GC,11562,0.57,195.7,237.4,10.3,412,11565,0.00,1.38,0.00,0.000,6,0.000,0.025,2754,2502,1729
$GC,11827,0.57,195.7,208.2,11.2,419,11830,0.00,1.73,0.00,0.000,4,0.000,0.028,2762,1301,1728
$GC,11850,0.57,195.7,205.7,10.4,419,11853,0.00,1.90,0.00,0.000,6,0.000,0.043,2763,2523,1726
$GC,12113,0.57,195.8,177.7,10.0,440,12116,0.00,1.40,0.00,0.000,4,0.000,0.049,2762,3418,1726
$GC,12160,0.57,195.8,172.3,11.4,444,12163,0.10,1.35,0.00,0.000,6,0.163,0.024,2740,2505,1725
$GC,12427,0.58,221.1,149.8,8.6,469,12454,0.00,1.50,22.27,0.703,4,0.000,0.046,2740,3423,1627
$GC,12472,0.58,221.1,145.2,10.5,472,12479,0.00,1.35,0.00,0.000,6,0.000,0.025,2740,2517,1627
$GC,12729,0.58,221.1,119.1,10.3,497,12733,0.00,1.77,0.00,0.000,4,0.000,0.028,2740,1311,1624
$GC,12797,0.58,221.1,112.6,10.1,503,12800,0.00,1.88,0.00,0.000,6,0.000,0.040,2740,2512,1623
$GC,13061,0.59,240.3,88.5,8.9,528,13086,0.00,1.42,17.00,0.626,4,0.000,0.045,2740,3420,1549
$GC,13157,0.59,247.6,79.3,9.6,536,13168,0.00,1.30,7.97,0.550,6,0.000,0.022,2746,2525,1519
$GC,13433,0.61,285.2,56.8,7.9,562,13470,0.00,1.77,31.60,0.614,4,0.000,0.025,2752,1312,1367
$GC,13560,0.63,330.3,46.6,7.5,573,13601,0.00,1.92,38.05,0.602,6,0.000,0.040,2751,2553,1183
$GC,13861,0.64,362.1,23.3,8.2,608,13892,0.00,1.90,26.80,0.573,4,0.000,0.025,2751,1315,1052
$GC,13907,0.65,395.2,19.7,8.2,614,13938,0.00,1.90,28.00,0.564,6,0.000,0.036,2751,2532,917
$STATE,14112,end climb,SURFACE_DEPTH_REACHED
$STATE,14112,begin surface coast
$FINISH,0.0,1.023271
$STATE,14145,end surface coast,CONTROL_FINISHED_OK
$STATE,14145,begin surface
$SM_CCo,14228,0.00,0.000,0,0,912,396.89
$SM_GC,0.82,6.95,0.00,0.00,0.025,0.000,0.000,40,2642,912,-7.76,1.47,396.89
$IRIDIUM_FIX,2248.70,-15753.23,190102,030335
$TT8_MAMPS,0.048321
$HUMID,2249
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.60
$XPDR_PINGS,26
$24V_AH,23.2,80.095
$10V_AH,10.4,78.794
$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,17.675,125.200,475.825,0.000,0.000,82.895,108.541,1221.606,6.500,0.000,0.000,35.461,0.000,10351.531,500.179,3064.392,2055.832,33.353,1538.332,0.000,2679.262,0.000,0.545,0.000
$DEVICE_MAMPS,204.022,72.098,1056.926,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,441.040,1513.759,1585.547,203.065,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54051,656
$CAP_FILE_SIZE,147308,0
$CFSIZE,260165632,226349056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,251012,074535,2256.591,-15754.270,36,1.3,42,10.1