version: 66.04
glider: 512
mission: 3
dive: 606
start: 10 25 112 12 25 15
data:
$ID,512
$MISSION,3
$DIVE,606
$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,-66022.461
$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,63
$R_STBD_OVSHOOT,30
$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
$GPS1,121306,2256.566,-15753.959,40,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-79.5
$GPS2,122437,2256.589,-15754.035,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.156,-0.181
$KALMAN_X,-166320.7,-108.5,-522.9,150822.3,-296.1
$KALMAN_Y,81465.0,233.2,67.9,-83266.2,268.3
$MHEAD_RNG_PITCHd_Wd,129.1,43366,-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,-121.7,0.0,0.0,0,107,0.00,0.00,-89.38,0.000,2,0.000,0.000,22,2614,2689
$GC,112,-0.54,-121.7,2.4,-3.7,12,135,9.12,0.00,-7.20,0.000,6,0.203,0.000,2361,2614,3025
$GC,391,-0.54,-121.7,49.3,-13.5,50,394,0.00,1.55,0.00,0.000,4,0.000,0.022,2360,1533,3025
$GC,473,-0.54,-121.7,59.5,-10.7,57,480,0.00,1.62,0.00,0.000,6,0.000,0.038,2359,2586,3026
$GC,731,-0.54,-121.7,87.9,-11.4,82,734,0.00,1.52,0.00,0.000,4,0.000,0.021,2359,1521,3026
$GC,767,-0.54,-121.7,91.6,-9.9,85,770,0.00,1.67,0.00,0.000,6,0.000,0.040,2359,2624,3026
$GC,1030,-0.54,-121.7,119.0,-10.3,110,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2624,3026
$GC,1287,-0.54,-121.7,146.5,-10.9,135,1291,0.00,1.58,0.00,0.000,4,0.000,0.021,2359,1521,3026
$GC,1337,-0.54,-121.7,152.1,-9.7,139,1345,0.00,1.65,0.00,0.000,6,0.000,0.038,2359,2595,3026
$GC,1595,-0.54,-121.7,178.2,-9.5,164,1598,0.00,1.62,0.00,0.000,4,0.000,0.044,2353,3657,3026
$GC,1621,-0.54,-121.7,180.5,-9.5,166,1623,0.00,1.58,0.00,0.000,6,0.000,0.019,2353,2552,3026
$GC,1910,-0.54,-121.7,207.6,-9.1,188,1913,0.00,1.40,0.00,0.000,4,0.000,0.022,2352,1545,3026
$GC,1955,-0.54,-121.7,211.2,-7.4,189,1958,0.00,1.60,0.00,0.000,6,0.000,0.037,2346,2588,3026
$GC,2244,-0.54,-121.7,237.5,-9.4,196,2247,0.00,1.60,0.00,0.000,4,0.000,0.044,2338,3657,3026
$GC,2289,-0.54,-121.7,242.1,-9.3,197,2292,0.08,1.50,0.00,0.000,6,0.117,0.019,2366,2595,3025
$GC,2576,-0.54,-121.7,267.5,-8.7,204,2579,0.00,1.45,0.00,0.000,4,0.000,0.021,2367,1549,3026
$GC,2615,-0.54,-121.7,271.2,-9.3,204,2620,0.00,1.62,0.00,0.000,6,0.000,0.039,2362,2630,3025
$GC,2866,-0.54,-121.7,291.5,-7.8,211,2869,0.00,1.55,0.00,0.000,4,0.000,0.048,2359,3638,3025
$GC,2905,-0.54,-121.7,294.5,-7.0,211,2910,0.00,1.42,0.00,0.000,6,0.000,0.020,2359,2616,3024
$GC,3155,-0.54,-121.7,311.2,-6.6,218,3158,0.00,1.48,0.00,0.000,4,0.000,0.021,2359,1560,3024
$GC,3247,-0.54,-121.7,318.0,-7.9,220,3250,0.00,1.88,0.00,0.000,6,0.000,0.041,2358,2794,3023
$GC,3529,-0.54,-121.7,337.4,-7.0,227,3531,0.00,1.30,0.00,0.000,4,0.000,0.050,2359,3639,3021
$GC,3552,-0.54,-121.7,338.8,-6.1,227,3555,0.00,1.45,0.00,0.000,6,0.000,0.021,2359,2613,3022
$GC,3817,-0.54,-121.7,356.8,-6.7,234,3820,0.00,1.48,0.00,0.000,4,0.000,0.021,2359,1549,3020
$GC,3856,-0.54,-121.7,359.7,-7.4,234,3861,0.00,1.92,0.00,0.000,6,0.000,0.041,2359,2809,3020
$GC,4108,-0.54,-121.7,376.6,-6.7,241,4111,0.00,1.33,-0.08,0.000,4,0.000,0.069,2353,3651,3040
$GC,4222,-0.54,-121.7,385.1,-7.5,243,4225,0.00,1.42,0.00,0.000,6,0.000,0.022,2353,2645,3040
$GC,4482,-0.54,-121.7,404.2,-7.4,250,4485,0.00,1.52,0.00,0.000,4,0.000,0.021,2353,1557,3038
$GC,4564,-0.54,-121.7,410.9,-8.5,251,4569,0.00,1.95,0.00,0.000,6,0.000,0.042,2346,2830,3038
$GC,4813,-0.54,-121.7,431.6,-8.1,258,4816,0.00,1.83,0.00,0.000,4,0.000,0.022,2346,1553,3035
$GC,4900,-0.54,-121.7,438.7,-8.1,260,4903,0.00,1.80,0.00,0.000,6,0.000,0.042,2346,2724,3035
$GC,5187,-0.54,-121.7,460.1,-7.3,267,5190,0.00,1.42,0.00,0.000,4,0.000,0.051,2346,3641,3033
$GC,5285,-0.54,-121.7,468.0,-7.7,269,5288,0.00,1.25,0.00,0.000,6,0.000,0.024,2346,2761,3032
$GC,5563,-0.54,-121.7,488.6,-7.3,276,5566,0.00,1.40,0.00,0.000,4,0.000,0.048,2339,3648,3030
$GC,5576,-0.54,-121.7,489.6,-7.4,276,5579,0.05,1.52,0.00,0.000,6,0.109,0.023,2373,2588,3030
$GC,5852,-0.54,-121.7,506.7,-6.0,283,5855,0.00,1.48,0.00,0.000,4,0.000,0.023,2373,1539,3029
$GC,5896,-0.54,-121.7,509.4,-5.8,284,5899,0.00,1.90,0.00,0.000,6,0.000,0.044,2372,2771,3029
$GC,6186,-0.54,-121.7,525.3,-5.5,291,6189,0.00,1.75,0.00,0.000,4,0.000,0.023,2372,1551,3027
$GC,6214,-0.54,-121.7,527.0,-5.8,291,6217,0.00,2.12,0.00,0.000,6,0.000,0.045,2372,2920,3027
$GC,6474,-0.54,-121.7,541.1,-5.4,298,6477,0.00,1.12,0.00,0.000,4,0.000,0.053,2372,3642,3026
$GC,6641,-0.54,-121.7,550.3,-6.0,301,6644,0.00,1.33,0.00,0.000,6,0.000,0.025,2372,2717,3025
$GC,6896,-0.54,-121.7,566.0,-6.1,308,6899,0.00,1.48,0.00,0.000,4,0.000,0.051,2371,3641,3024
$GC,7004,-0.54,-121.7,572.9,-7.0,310,7007,0.00,1.52,0.00,0.000,6,0.000,0.025,2372,2586,3023
$GC,7270,-0.54,-121.7,589.2,-6.1,317,7273,0.00,1.67,0.00,0.000,4,0.000,0.054,2372,3644,3021
$STATE,7459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7459,begin apogee
$GC,7471,-0.18,0.0,600.2,5.9,321,7584,0.30,0.00,111.40,1.046,6,0.043,0.000,2515,2369,2530
$STATE,7584,end apogee,CONTROL_FINISHED_OK
$STATE,7584,begin climb
$GC,7590,0.54,121.7,605.4,0.0,324,7715,0.52,1.70,114.90,0.993,4,0.024,0.024,2775,1275,2033
$GC,7937,0.54,121.7,571.8,14.3,332,7941,0.12,1.70,0.00,0.000,6,0.160,0.038,2736,2361,2024
$GC,8219,0.54,121.7,536.0,12.5,339,8222,0.00,1.65,0.00,0.000,4,0.000,0.048,2736,3425,2021
$GC,8365,0.54,121.7,516.4,13.6,342,8368,0.00,1.58,0.00,0.000,6,0.000,0.024,2744,2367,2020
$GC,8635,0.54,121.7,484.1,11.7,349,8638,0.00,1.65,0.00,0.000,4,0.000,0.046,2744,3422,2019
$GC,8674,0.54,121.7,478.9,13.6,349,8679,0.00,1.50,0.00,0.000,6,0.000,0.024,2752,2411,2019
$GC,8925,0.54,121.7,448.5,12.1,356,8928,0.00,1.60,0.00,0.000,4,0.000,0.026,2760,1309,2019
$GC,8965,0.54,121.7,444.0,10.9,356,8970,0.12,1.70,0.00,0.000,6,0.170,0.041,2734,2420,2018
$GC,9214,0.54,121.7,417.2,10.9,363,9216,0.00,1.55,0.00,0.000,4,0.000,0.046,2732,3415,2017
$GC,9349,0.54,121.7,402.3,10.3,366,9351,0.00,1.40,0.00,0.000,6,0.000,0.025,2738,2464,2017
$GC,9631,0.55,129.1,375.1,9.6,373,9637,0.00,0.00,5.32,0.685,6,0.000,0.000,2739,2458,2003
$GC,9872,0.55,143.1,352.3,9.2,379,9895,0.00,0.00,16.75,0.768,6,0.000,0.000,2738,2458,1945
$GC,10114,0.56,161.0,330.0,9.0,385,10136,0.00,1.75,17.12,0.837,4,0.000,0.028,2739,1305,1872
$GC,10184,0.56,171.2,323.7,9.4,386,10199,0.00,1.80,10.32,0.773,6,0.000,0.043,2739,2460,1831
$GC,10443,0.56,171.2,296.4,10.5,393,10446,0.00,1.50,0.00,0.000,4,0.000,0.047,2739,3418,1827
$GC,10575,0.56,171.2,281.6,10.4,396,10578,0.00,1.38,0.00,0.000,6,0.000,0.025,2748,2498,1827
$GC,10862,0.57,194.2,254.2,8.7,403,10886,0.00,1.73,21.05,0.792,4,0.000,0.025,2757,1302,1737
$GC,10916,0.58,211.4,249.5,9.0,404,10935,0.00,1.80,16.05,0.757,6,0.000,0.041,2757,2463,1668
$GC,11180,0.58,211.4,221.0,10.9,410,11183,0.00,1.50,0.00,0.000,4,0.000,0.046,2757,3422,1664
$GC,11236,0.58,211.4,214.1,13.1,411,11238,0.00,1.45,0.00,0.000,6,0.000,0.024,2765,2444,1663
$GC,11496,0.58,211.4,184.4,11.5,425,11499,0.00,1.55,0.00,0.000,4,0.000,0.047,2764,3413,1663
$GC,11563,0.58,211.4,176.4,12.2,431,11567,0.10,1.38,0.00,0.000,6,0.170,0.024,2742,2487,1663
$GC,11832,0.58,222.3,151.7,9.4,456,11849,0.00,0.00,10.40,0.650,6,0.000,0.000,2743,2480,1622
$GC,12100,0.58,222.3,125.1,10.2,482,12103,0.00,1.48,0.00,0.000,4,0.000,0.044,2742,3420,1621
$GC,12139,0.58,222.3,120.6,11.6,485,12146,0.00,1.35,0.00,0.000,6,0.000,0.022,2748,2491,1621
$GC,12396,0.59,239.1,94.9,9.1,510,12420,0.00,1.50,15.25,0.627,4,0.000,0.044,2743,3425,1554
$GC,12457,0.59,239.1,89.0,10.0,515,12460,0.00,1.30,0.00,0.000,6,0.000,0.022,2748,2533,1554
$GC,12720,0.61,273.9,65.6,8.1,540,12757,0.00,1.80,29.85,0.620,4,0.000,0.025,2752,1314,1414
$GC,12793,0.62,311.4,59.8,7.9,546,12831,0.00,1.92,32.17,0.607,6,0.000,0.037,2752,2549,1259
$GC,13080,0.64,360.5,37.7,7.3,573,13128,0.00,0.00,40.62,0.591,6,0.000,0.000,2751,2549,1059
$GC,13387,0.66,415.7,14.8,6.9,620,13440,0.00,1.88,44.97,0.567,4,0.000,0.025,2751,1317,834
$GC,13492,0.67,425.8,6.6,9.4,636,13508,0.00,1.90,9.77,0.497,6,0.000,0.037,2751,2529,793
$STATE,13528,end climb,SURFACE_DEPTH_REACHED
$STATE,13528,begin surface coast
$FINISH,0.7,1.023303
$STATE,13555,end surface coast,CONTROL_FINISHED_OK
$STATE,13555,begin surface
$SM_CCo,13639,0.00,0.000,0,0,790,426.82
$SM_GC,0.99,6.93,0.00,0.00,0.023,0.000,0.000,38,2609,790,-7.77,0.51,426.82
$IRIDIUM_FIX,2246.36,-15756.28,190102,080835
$TT8_MAMPS,0.046787
$HUMID,2224
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.60
$XPDR_PINGS,37
$24V_AH,23.4,80.465
$10V_AH,10.4,79.074
$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,17.350,111.225,495.975,0.000,0.000,23.066,36.572,451.174,9.250,0.000,0.000,14.340,0.000,9661.831,523.683,3028.834,1086.458,33.354,1558.385,0.000,2681.623,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,82.836,1046.188,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,433.704,1525.367,1596.201,209.573,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50883,647
$CAP_FILE_SIZE,128672,0
$CFSIZE,260165632,226238464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,251012,161335,2256.382,-15753.344,34,1.0,34,10.1