version: 66.04
glider: 512
mission: 3
dive: 608
start: 10 25 112 20 52 15
data:
$ID,512
$MISSION,3
$DIVE,608
$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,-66048.258
$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,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,65
$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
$GPS1,203930,2255.752,-15753.015,42,1.2,42,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-80.0
$GPS2,205137,2255.748,-15753.059,12,1.9,12,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.167,-0.171
$KALMAN_X,-168264.0,-545.7,191.9,154157.6,-798.2
$KALMAN_Y,84677.4,-176.5,178.7,-87727.9,572.2
$MHEAD_RNG_PITCHd_Wd,125.5,41101,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.54,-121.7,0.0,0.0,0,96,0.00,0.00,-74.62,0.000,2,0.000,0.000,15,2629,2675
$GC,101,-0.54,-121.7,2.1,-2.5,10,125,9.12,1.52,-7.70,0.000,4,0.203,0.054,2334,3625,3027
$GC,145,-0.54,-121.7,14.6,-27.0,16,152,0.00,1.52,0.00,0.000,6,0.000,0.021,2334,2588,3027
$GC,411,-0.54,-121.7,59.0,-17.0,49,414,0.00,1.50,0.00,0.000,4,0.000,0.024,2334,1529,3027
$GC,522,-0.54,-121.7,76.9,-14.8,59,526,0.00,1.48,0.00,0.000,6,0.000,0.035,2333,2496,3028
$GC,785,-0.54,-121.7,113.2,-12.8,84,788,0.00,1.70,0.00,0.000,4,0.000,0.042,2324,3614,3028
$GC,813,-0.54,-121.7,117.2,-13.5,86,821,0.05,1.55,0.00,0.000,6,0.127,0.020,2343,2527,3028
$GC,1071,-0.54,-121.7,145.9,-11.0,111,1074,0.00,1.40,0.00,0.000,4,0.000,0.021,2343,1517,3029
$GC,1107,-0.54,-121.7,149.6,-10.4,114,1110,0.00,1.50,0.00,0.000,6,0.000,0.035,2338,2507,3029
$GC,1370,-0.54,-121.7,178.0,-11.0,139,1373,0.00,1.67,0.00,0.000,4,0.000,0.043,2329,3627,3029
$GC,1417,-0.54,-121.7,183.1,-10.8,143,1420,0.00,1.58,0.00,0.000,6,0.000,0.020,2329,2531,3029
$GC,1685,-0.54,-121.7,213.7,-11.2,160,1688,0.00,1.40,0.00,0.000,4,0.000,0.021,2329,1516,3029
$GC,1732,-0.54,-121.7,218.3,-9.7,161,1735,0.00,1.50,0.00,0.000,6,0.000,0.036,2322,2498,3029
$GC,2018,-0.54,-121.7,249.3,-10.8,168,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2498,3029
$GC,2260,-0.54,-121.7,274.3,-10.2,174,2263,0.00,1.38,0.00,0.000,4,0.000,0.021,2322,1526,3029
$GC,2288,-0.54,-121.7,277.2,-9.5,174,2292,0.08,1.45,0.00,0.000,6,0.114,0.037,2347,2476,3028
$GC,2551,-0.54,-121.7,299.9,-8.8,181,2554,0.00,1.73,0.00,0.000,4,0.000,0.046,2340,3620,3027
$GC,2617,-0.54,-121.7,306.4,-9.8,182,2620,0.00,1.60,0.00,0.000,6,0.000,0.021,2340,2483,3027
$GC,2882,-0.54,-121.7,329.0,-8.1,189,2885,0.00,1.77,0.00,0.000,4,0.000,0.045,2333,3614,3026
$GC,2916,-0.54,-121.7,331.7,-7.9,189,2919,0.00,1.52,0.00,0.000,6,0.000,0.020,2333,2547,3026
$GC,3173,-0.54,-121.7,352.0,-8.0,196,3176,0.00,1.40,0.00,0.000,4,0.000,0.022,2333,1542,3025
$GC,3217,-0.54,-121.7,355.8,-7.9,197,3220,0.00,1.48,0.00,0.000,6,0.000,0.039,2333,2498,3024
$GC,3504,-0.54,-121.7,380.5,-8.7,204,3507,0.00,1.70,0.00,0.000,4,0.000,0.047,2325,3621,3022
$GC,3549,-0.54,-121.7,384.5,-8.8,205,3552,0.00,1.55,0.00,0.000,6,0.000,0.021,2324,2546,3022
$GC,3836,-0.54,-121.7,410.0,-8.7,212,3839,0.00,1.42,0.00,0.000,4,0.000,0.023,2325,1532,3020
$GC,3869,-0.54,-121.7,413.0,-8.3,212,3873,0.05,1.52,0.00,0.000,6,0.120,0.040,2351,2519,3020
$GC,4125,-0.54,-121.7,430.7,-7.0,219,4128,0.00,1.70,-0.08,0.000,4,0.000,0.064,2345,3615,3042
$GC,4201,-0.54,-121.7,436.5,-8.0,220,4204,0.00,1.50,0.00,0.000,6,0.000,0.022,2345,2567,3041
$GC,4455,-0.54,-121.7,455.5,-7.3,227,4458,0.00,1.42,0.00,0.000,4,0.000,0.023,2345,1549,3039
$GC,4527,-0.54,-121.7,461.2,-8.2,228,4530,0.00,1.83,0.00,0.000,6,0.000,0.042,2336,2746,3039
$GC,4787,-0.54,-121.7,481.5,-7.8,235,4789,0.00,1.73,0.00,0.000,4,0.000,0.022,2336,1541,3037
$GC,4863,-0.54,-121.7,487.6,-8.1,236,4866,0.00,1.67,0.00,0.000,6,0.000,0.041,2333,2636,3036
$GC,5118,-0.54,-121.7,506.8,-7.5,243,5121,0.00,1.58,0.00,0.000,4,0.000,0.050,2326,3650,3035
$GC,5152,-0.54,-121.7,509.4,-7.6,243,5154,0.00,1.40,0.00,0.000,6,0.000,0.023,2326,2680,3034
$GC,5406,-0.54,-121.7,529.7,-8.0,250,5409,0.00,1.62,0.00,0.000,4,0.000,0.025,2326,1523,3033
$GC,5505,-0.54,-121.7,538.2,-8.4,252,5508,0.12,1.70,0.00,0.000,6,0.110,0.043,2356,2630,3032
$GC,5780,-0.54,-121.7,557.3,-6.8,259,5783,0.00,1.58,0.00,0.000,4,0.000,0.023,2356,1542,3029
$GC,5835,-0.54,-121.7,561.4,-7.8,260,5839,0.00,1.90,0.00,0.000,6,0.000,0.044,2349,2785,3029
$GC,6112,-0.54,-121.7,582.2,-7.5,267,6115,0.00,1.35,0.00,0.000,4,0.000,0.054,2346,3642,3028
$GC,6215,-0.54,-121.7,590.1,-7.9,269,6218,0.00,1.48,0.00,0.000,6,0.000,0.025,2346,2626,3027
$STATE,6359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6359,begin apogee
$GC,6370,-0.18,0.0,601.0,7.3,273,6485,0.35,0.00,111.90,1.045,6,0.080,0.000,2469,2469,2530
$STATE,6486,end apogee,CONTROL_FINISHED_OK
$STATE,6486,begin climb
$GC,6491,0.54,121.7,607.4,0.0,276,6617,0.60,1.62,114.30,0.994,4,0.040,0.026,2713,1413,2033
$GC,6723,0.54,121.7,594.3,10.7,281,6725,0.00,1.65,0.00,0.000,6,0.000,0.042,2713,2470,2027
$GC,6988,0.54,121.7,563.1,11.7,288,6991,0.00,1.62,0.00,0.000,4,0.000,0.048,2713,3523,2024
$GC,7075,0.54,121.7,551.8,13.0,290,7078,0.00,1.55,0.00,0.000,6,0.000,0.024,2722,2476,2022
$GC,7362,0.54,121.7,516.5,12.4,297,7365,0.00,1.55,0.00,0.000,4,0.000,0.027,2728,1401,2021
$GC,7401,0.54,121.7,512.0,11.7,297,7407,0.00,1.65,0.00,0.000,6,0.000,0.041,2729,2484,2020
$GC,7650,0.54,121.7,482.9,11.5,304,7653,0.00,1.60,0.00,0.000,4,0.000,0.048,2729,3510,2020
$GC,7769,0.54,121.7,468.3,11.6,306,7772,0.10,1.40,0.00,0.000,6,0.176,0.025,2706,2557,2019
$GC,8024,0.55,143.7,445.2,8.8,313,8051,0.00,0.00,20.83,0.848,6,0.000,0.000,2707,2551,1944
$GC,8266,0.57,175.9,425.3,8.2,319,8299,0.00,1.73,29.60,0.919,4,0.000,0.028,2713,1412,1812
$GC,8335,0.57,184.1,419.0,9.5,320,8352,0.00,1.85,8.45,0.785,6,0.000,0.044,2713,2590,1780
$GC,8595,0.57,184.1,393.6,10.0,327,8597,0.00,1.45,0.00,0.000,4,0.000,0.050,2713,3512,1777
$GC,8618,0.57,184.1,391.0,11.2,327,8620,0.00,1.40,0.00,0.000,6,0.000,0.025,2720,2565,1776
$GC,8883,0.57,184.1,360.8,11.5,334,8886,0.00,1.65,0.00,0.000,4,0.000,0.028,2728,1406,1775
$GC,8938,0.57,184.1,354.4,11.7,335,8940,0.00,1.83,0.00,0.000,6,0.000,0.045,2728,2585,1774
$GC,9214,0.57,184.1,322.8,11.0,342,9217,0.00,1.45,0.00,0.000,4,0.000,0.048,2728,3518,1773
$GC,9307,0.57,184.1,312.1,11.2,344,9309,0.00,1.38,0.00,0.000,6,0.000,0.025,2734,2578,1773
$GC,9590,0.57,191.5,284.3,9.6,351,9602,0.00,1.75,7.35,0.714,4,0.000,0.028,2739,1407,1749
$GC,9660,0.58,205.5,277.8,9.2,352,9678,0.00,1.85,14.07,0.786,6,0.000,0.042,2739,2592,1691
$GC,9962,0.58,205.5,248.1,10.0,360,9965,0.00,1.75,0.00,0.000,4,0.000,0.027,2747,1413,1688
$GC,10001,0.59,225.1,244.5,8.9,360,10029,0.00,1.77,19.90,0.719,6,0.000,0.044,2742,2547,1611
$GC,10290,0.59,225.1,215.3,10.1,368,10292,0.00,1.52,0.00,0.000,4,0.000,0.051,2742,3519,1608
$GC,10339,0.59,225.1,209.9,10.9,369,10342,0.08,1.42,0.00,0.000,6,0.148,0.025,2724,2551,1607
$GC,10600,0.60,261.2,188.0,8.0,385,10637,0.00,1.65,31.15,0.741,4,0.000,0.026,2731,1411,1465
$GC,10687,0.61,293.3,180.5,8.2,392,10720,0.00,1.77,28.38,0.719,6,0.000,0.042,2728,2538,1333
$GC,10975,0.62,316.7,156.7,8.7,419,11000,0.00,1.50,20.23,0.685,4,0.000,0.045,2728,3519,1240
$GC,11036,0.62,318.6,150.6,9.9,424,11048,0.00,1.48,3.53,0.405,6,0.000,0.023,2735,2525,1231
$GC,11303,0.62,318.6,123.9,10.6,449,11306,0.00,1.62,0.00,0.000,4,0.000,0.028,2737,1392,1230
$GC,11374,0.62,318.8,116.0,10.0,455,11381,0.00,1.77,0.00,0.000,6,0.000,0.040,2736,2532,1228
$GC,11632,0.64,350.7,92.3,8.2,480,11669,0.00,1.58,27.77,0.636,4,0.000,0.046,2736,3523,1098
$GC,11684,0.65,382.4,87.9,8.3,484,11714,0.00,1.50,27.20,0.624,6,0.000,0.023,2738,2502,970
$GC,11967,0.67,439.1,66.4,6.9,510,12015,0.00,0.00,46.78,0.614,6,0.000,0.000,2739,2502,740
$GC,12269,0.68,449.8,39.8,9.4,538,12283,0.00,1.62,10.00,0.528,4,0.000,0.025,2739,1410,696
$GC,12531,0.68,449.8,10.7,12.2,577,12538,0.00,1.48,0.00,0.000,6,0.000,0.034,2739,2379,694
$STATE,12596,end climb,SURFACE_DEPTH_REACHED
$STATE,12596,begin surface coast
$FINISH,-0.0,1.023277
$STATE,12622,end surface coast,CONTROL_FINISHED_OK
$STATE,12623,begin surface
$SM_CCo,12706,0.00,0.000,0,0,693,450.61
$SM_GC,0.78,6.88,0.00,0.00,0.025,0.000,0.000,36,2642,693,-7.68,1.47,450.61
$IRIDIUM_FIX,2244.02,-15821.47,190102,161629
$TT8_MAMPS,0.047554
$HUMID,2240
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.80
$XPDR_PINGS,37
$24V_AH,23.7,80.811
$10V_AH,10.4,79.341
$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,17.425,111.200,521.425,0.000,0.000,31.558,33.176,484.245,9.250,0.000,0.000,12.580,0.000,9027.485,526.695,2734.538,1114.782,33.350,1470.404,0.000,2409.414,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,63.661,1045.421,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,398.990,1387.586,1451.979,181.633,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47638,594
$CAP_FILE_SIZE,122209,0
$CFSIZE,260165632,226119680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,261012,002506,2255.415,-15752.795,38,1.0,38,10.1