version: 66.04
glider: 512
mission: 3
dive: 607
start: 10 25 112 16 41 57
data:
$ID,512
$MISSION,3
$DIVE,607
$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,-66035.047
$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,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
$GPS1,161335,2256.382,-15753.344,34,1.0,34,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-80.6
$GPS2,164119,2256.512,-15753.325,11,1.5,11,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.128,-0.202
$KALMAN_X,-167189.3,-470.3,66.5,152674.1,-233.7
$KALMAN_Y,83462.8,-50.6,265.3,-85324.7,780.7
$MHEAD_RNG_PITCHd_Wd,137.4,42488,-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,-121.7,0.0,0.0,0,91,0.00,0.00,-74.35,0.000,2,0.000,0.000,20,2609,2649
$GC,97,-0.54,-121.7,2.2,-3.2,10,120,9.12,1.52,-8.43,0.000,4,0.201,0.041,2370,1527,3025
$GC,139,-0.54,-121.7,13.7,-25.0,16,147,0.00,1.62,0.00,0.000,6,0.000,0.035,2365,2585,3026
$GC,413,-0.54,-121.7,50.9,-13.8,52,416,0.00,1.52,0.00,0.000,4,0.000,0.021,2365,1524,3026
$GC,480,-0.54,-121.7,60.3,-11.0,58,483,0.00,1.58,0.00,0.000,6,0.000,0.037,2359,2552,3026
$GC,743,-0.54,-121.7,93.7,-11.8,83,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2552,3026
$GC,1001,-0.54,-121.7,122.7,-10.9,108,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2552,3026
$GC,1259,-0.54,-121.7,149.1,-9.0,133,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2552,3026
$GC,1517,-0.54,-121.7,172.6,-9.1,158,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2552,3026
$GC,1774,-0.54,-121.7,195.4,-9.4,183,1777,0.00,1.67,0.00,0.000,4,0.000,0.044,2351,3652,3026
$GC,1792,-0.54,-121.7,197.2,-9.4,184,1799,0.00,1.65,0.00,0.000,6,0.000,0.019,2351,2489,3026
$GC,2072,-0.54,-121.7,224.7,-9.8,194,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2489,3026
$GC,2314,-0.54,-121.7,248.2,-9.7,200,2317,0.00,1.77,0.00,0.000,4,0.000,0.044,2346,3655,3025
$GC,2342,-0.54,-121.7,250.9,-9.3,200,2345,0.00,1.62,0.00,0.000,6,0.000,0.019,2346,2496,3025
$GC,2602,-0.54,-121.7,273.2,-8.4,207,2605,0.00,1.33,0.00,0.000,4,0.000,0.021,2346,1528,3025
$GC,2636,-0.54,-121.7,275.8,-8.0,207,2639,0.00,1.55,0.00,0.000,6,0.000,0.039,2346,2537,3024
$GC,2891,-0.54,-121.7,295.3,-7.7,214,2894,0.00,1.67,0.00,0.000,4,0.000,0.044,2338,3654,3024
$GC,2951,-0.54,-121.7,300.1,-8.3,215,2955,0.08,1.60,0.00,0.000,6,0.107,0.019,2367,2525,3023
$GC,3222,-0.54,-121.7,317.2,-6.2,222,3225,0.00,1.38,0.00,0.000,4,0.000,0.020,2368,1522,3022
$GC,3293,-0.54,-121.7,322.2,-6.8,223,3296,0.00,1.88,0.00,0.000,6,0.000,0.040,2361,2742,3021
$GC,3553,-0.54,-121.7,341.6,-7.5,230,3556,0.00,1.73,0.00,0.000,4,0.000,0.020,2361,1531,3019
$GC,3636,-0.54,-121.7,347.9,-7.6,231,3642,0.00,1.70,0.00,0.000,6,0.000,0.040,2359,2654,3019
$GC,3885,-0.54,-121.7,364.1,-6.2,238,3888,0.00,1.55,-0.08,0.000,4,0.000,0.066,2358,3655,3040
$GC,3902,-0.54,-121.7,365.1,-5.6,238,3905,0.00,1.50,0.00,0.000,6,0.000,0.021,2358,2597,3039
$GC,4173,-0.54,-121.7,379.5,-5.1,245,4176,0.00,1.65,0.00,0.000,4,0.000,0.048,2358,3655,3038
$GC,4261,-0.54,-121.7,384.2,-5.8,247,4264,0.00,1.65,0.00,0.000,6,0.000,0.021,2358,2488,3037
$GC,4547,-0.54,-121.7,401.8,-6.4,254,4550,0.00,1.80,0.00,0.000,4,0.000,0.048,2358,3647,3035
$GC,4630,-0.54,-121.7,407.4,-7.4,255,4637,0.00,1.33,0.00,0.000,6,0.000,0.023,2358,2702,3034
$GC,4879,-0.54,-121.7,424.5,-6.9,262,4882,0.00,1.48,0.00,0.000,4,0.000,0.048,2358,3638,3032
$GC,4918,-0.54,-121.7,427.3,-6.8,262,4923,0.00,1.60,0.00,0.000,6,0.000,0.021,2358,2491,3032
$GC,5167,-0.54,-121.7,444.2,-6.8,269,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2492,3030
$GC,5409,-0.54,-121.7,460.3,-6.6,275,5412,0.00,1.83,0.00,0.000,4,0.000,0.051,2358,3639,3029
$GC,5512,-0.54,-121.7,467.5,-7.0,277,5515,0.00,1.17,0.00,0.000,6,0.000,0.025,2358,2814,3027
$GC,5783,-0.54,-121.7,485.2,-6.5,284,5786,0.00,1.77,0.00,0.000,4,0.000,0.023,2358,1554,3026
$GC,5828,-0.54,-121.7,488.1,-7.1,285,5831,0.00,1.62,0.00,0.000,6,0.000,0.043,2358,2613,3026
$GC,6115,-0.54,-121.7,503.7,-5.0,292,6117,0.00,1.52,0.00,0.000,4,0.000,0.024,2358,1562,3024
$GC,6202,-0.54,-121.7,508.4,-5.0,294,6205,0.00,1.45,0.00,0.000,6,0.000,0.042,2358,2489,3025
$GC,6491,-0.54,-121.7,521.2,-4.3,301,6494,0.00,1.80,0.00,0.000,4,0.000,0.053,2358,3652,3022
$GC,6637,-0.54,-121.7,528.5,-5.6,304,6641,0.00,1.35,0.00,0.000,6,0.000,0.025,2358,2708,3021
$GC,6911,-0.54,-121.7,543.9,-5.9,311,6914,0.00,1.50,0.00,0.000,4,0.000,0.051,2355,3650,3020
$GC,6929,-0.54,-121.7,545.3,-6.4,311,6932,0.00,1.62,0.00,0.000,6,0.000,0.025,2355,2538,3020
$GC,7199,-0.54,-121.7,563.3,-6.7,318,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2530,3019
$GC,7441,-0.54,-121.7,579.4,-6.6,324,7444,0.00,1.77,0.00,0.000,4,0.000,0.052,2347,3655,3017
$GC,7531,-0.54,-121.7,585.1,-6.5,326,7534,0.00,1.27,0.00,0.000,6,0.000,0.025,2347,2770,3016
$STATE,7772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7772,begin apogee
$GC,7783,-0.18,0.0,601.2,6.3,332,7896,0.43,0.00,110.20,1.055,6,0.087,0.000,2490,2369,2530
$STATE,7896,end apogee,CONTROL_FINISHED_OK
$STATE,7896,begin climb
$GC,7901,0.54,121.7,606.4,0.0,335,8026,0.60,1.65,114.00,1.003,4,0.031,0.025,2764,1305,2033
$GC,8159,0.54,121.7,586.9,12.7,341,8163,0.15,1.65,0.00,0.000,6,0.171,0.041,2728,2361,2026
$GC,8446,0.54,121.7,552.6,11.8,348,8449,0.00,1.65,0.00,0.000,4,0.000,0.048,2728,3425,2023
$GC,8560,0.54,121.7,538.3,12.8,350,8563,0.00,1.55,0.00,0.000,6,0.000,0.025,2735,2387,2022
$GC,8820,0.54,121.7,507.3,11.8,357,8823,0.00,1.65,0.00,0.000,4,0.000,0.047,2735,3414,2021
$GC,8896,0.54,121.7,497.9,13.3,358,8899,0.00,1.50,0.00,0.000,6,0.000,0.026,2744,2407,2020
$GC,9151,0.54,121.7,470.3,10.6,365,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2400,2020
$GC,9395,0.54,121.7,443.3,11.0,371,9398,0.00,1.62,0.00,0.000,4,0.000,0.046,2743,3439,2019
$GC,9530,0.54,121.7,426.8,12.2,374,9533,0.00,1.50,0.00,0.000,6,0.000,0.025,2750,2430,2019
$GC,9814,0.54,121.7,395.8,11.0,381,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2422,2018
$GC,10053,0.54,121.7,371.1,10.2,387,10056,0.00,1.62,0.00,0.000,4,0.000,0.027,2758,1312,2018
$GC,10098,0.55,133.2,366.8,9.4,388,10111,0.08,1.77,8.90,0.802,6,0.161,0.040,2736,2449,1987
$GC,10384,0.56,154.3,341.4,8.8,395,10417,0.00,1.58,22.33,0.805,4,0.000,0.047,2736,3428,1901
$GC,10468,0.56,154.3,333.0,10.8,397,10471,0.00,1.40,0.00,0.000,6,0.000,0.025,2743,2497,1899
$GC,10755,0.56,154.3,302.3,10.6,404,10758,0.00,1.73,0.00,0.000,4,0.000,0.026,2751,1296,1897
$GC,10853,0.56,166.2,293.0,9.3,406,10868,0.00,1.88,11.75,0.789,6,0.000,0.041,2751,2492,1852
$GC,11123,0.56,171.7,266.1,9.7,413,11132,0.00,1.42,6.20,0.670,4,0.000,0.045,2751,3422,1829
$GC,11189,0.56,171.7,259.6,10.3,414,11192,0.00,1.33,0.00,0.000,6,0.000,0.025,2757,2527,1828
$GC,11451,0.57,179.4,234.4,9.6,421,11464,0.00,1.80,8.48,0.706,4,0.000,0.027,2766,1311,1798
$GC,11511,0.57,190.6,228.5,9.4,422,11526,0.12,1.90,11.52,0.731,6,0.156,0.041,2736,2540,1752
$GC,11776,0.58,201.0,203.6,9.4,429,11789,0.00,1.35,10.43,0.702,4,0.000,0.045,2736,3421,1709
$GC,11824,0.58,201.0,198.6,11.2,430,11832,0.00,1.30,0.00,0.000,6,0.000,0.025,2739,2548,1708
$GC,12082,0.58,221.9,174.7,8.8,455,12104,0.00,1.45,18.98,0.718,4,0.000,0.046,2739,3429,1624
$GC,12133,0.58,221.9,169.7,10.0,459,12140,0.00,1.27,0.00,0.000,6,0.000,0.024,2740,2574,1623
$GC,12391,0.58,221.9,144.3,10.2,484,12398,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2568,1621
$GC,12649,0.58,221.9,117.4,10.3,509,12652,0.00,1.83,0.00,0.000,4,0.000,0.028,2739,1309,1621
$GC,12698,0.59,223.7,112.2,9.9,513,12706,0.00,2.03,0.00,0.000,6,0.000,0.039,2739,2608,1620
$GC,12956,0.59,238.7,87.6,9.2,538,12974,0.00,1.30,15.07,0.620,4,0.000,0.044,2739,3431,1556
$GC,13042,0.59,238.7,79.4,10.2,545,13046,0.00,1.23,0.00,0.000,6,0.000,0.023,2739,2598,1555
$GC,13305,0.61,292.9,60.4,7.0,570,13357,0.00,1.85,45.42,0.620,4,0.000,0.025,2739,1315,1336
$GC,13415,0.64,354.9,52.7,6.6,579,13470,0.00,2.00,51.42,0.604,6,0.000,0.037,2739,2615,1082
$GC,13723,0.66,420.6,33.6,6.4,607,13787,0.00,2.00,53.10,0.582,4,0.000,0.024,2739,1309,814
$GC,14035,0.66,420.9,6.6,10.0,657,14042,0.00,1.70,0.00,0.000,6,0.000,0.037,2739,2407,811
$STATE,14068,end climb,SURFACE_DEPTH_REACHED
$STATE,14068,begin surface coast
$FINISH,0.1,0.999782
$STATE,14100,end surface coast,CONTROL_FINISHED_OK
$STATE,14100,begin surface
$SM_CCo,14184,0.00,0.000,0,0,809,422.40
$SM_GC,0.93,6.97,0.00,0.00,0.030,0.000,0.000,26,2633,809,-7.78,1.19,422.40
$IRIDIUM_FIX,2248.70,-15753.23,190102,161612
$TT8_MAMPS,0.046787
$HUMID,2236
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.90
$XPDR_PINGS,44
$24V_AH,23.7,80.654
$10V_AH,10.4,79.218
$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,17.550,106.350,487.800,0.000,0.000,122.317,137.939,1034.714,11.000,0.000,0.000,11.960,0.000,10422.311,509.262,3013.133,1874.126,33.345,1524.412,0.000,2668.639,0.000,0.545,0.000
$DEVICE_MAMPS,200.954,65.962,1055.392,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,449.565,1563.421,1637.878,209.025,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54180,669
$CAP_FILE_SIZE,137308,0
$CFSIZE,260165632,226160640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,251012,203930,2255.752,-15753.015,42,1.2,42,10.1