version: 66.04
glider: 512
mission: 3
dive: 610
start: 10 26 112 4 22 21
data:
$ID,512
$MISSION,3
$DIVE,610
$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,-66077.852
$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,62
$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
$GPS1,040935,2255.120,-15752.464,41,1.7,46,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-80.3
$GPS2,042143,2255.209,-15752.456,12,1.8,12,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.085,-0.223
$KALMAN_X,-170359.1,68.6,-193.1,157046.5,292.5
$KALMAN_Y,87645.2,438.3,236.5,-92373.0,1061.8
$MHEAD_RNG_PITCHd_Wd,149.0,39677,-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,-74.32,0.000,2,0.000,0.000,22,2606,2678
$GC,97,-0.54,-121.7,2.2,-2.7,10,121,9.10,1.62,-7.53,0.000,4,0.203,0.054,2334,3653,3026
$GC,151,-0.54,-121.7,16.8,-20.5,18,158,0.00,1.55,0.00,0.000,6,0.000,0.020,2334,2590,3026
$GC,419,-0.54,-121.7,62.3,-16.1,50,421,0.00,1.50,0.00,0.000,4,0.000,0.024,2334,1527,3027
$GC,511,-0.54,-121.7,75.6,-12.0,58,518,0.00,1.55,0.00,0.000,6,0.000,0.038,2333,2530,3027
$GC,769,-0.54,-121.7,109.8,-12.8,83,772,0.00,1.42,0.00,0.000,4,0.000,0.021,2333,1530,3027
$GC,805,-0.54,-121.7,114.3,-12.3,86,808,0.00,1.48,0.00,0.000,6,0.000,0.038,2333,2496,3027
$GC,1069,-0.54,-121.7,146.6,-12.4,111,1071,0.00,1.75,0.00,0.000,4,0.000,0.044,2324,3659,3027
$GC,1125,-0.54,-121.7,153.3,-11.8,116,1128,0.00,1.67,0.00,0.000,6,0.000,0.019,2324,2499,3027
$GC,1388,-0.54,-121.7,185.6,-12.3,141,1392,0.00,1.35,0.00,0.000,4,0.000,0.021,2324,1522,3027
$GC,1438,-0.54,-121.7,191.9,-11.3,145,1444,0.08,1.52,0.00,0.000,6,0.116,0.036,2345,2522,3027
$GC,1719,-0.54,-121.7,221.5,-10.5,158,1722,0.00,1.70,0.00,0.000,4,0.000,0.045,2339,3655,3027
$GC,1791,-0.54,-121.7,229.2,-11.1,159,1794,0.00,1.60,0.00,0.000,6,0.000,0.019,2338,2514,3027
$GC,2053,-0.54,-121.7,255.2,-9.8,166,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2505,3027
$GC,2293,-0.54,-121.7,278.2,-9.3,172,2296,0.00,1.75,0.00,0.000,4,0.000,0.044,2330,3655,3027
$GC,2321,-0.54,-121.7,280.7,-9.5,172,2324,0.00,1.58,0.00,0.000,6,0.000,0.019,2330,2549,3026
$GC,2582,-0.54,-121.7,303.5,-8.8,179,2585,0.00,1.40,0.00,0.000,4,0.000,0.021,2330,1538,3026
$GC,2637,-0.54,-121.7,308.5,-8.3,180,2640,0.00,1.55,0.00,0.000,6,0.000,0.038,2323,2550,3026
$GC,2913,-0.54,-121.7,334.2,-9.3,187,2916,0.00,1.65,0.00,0.000,4,0.000,0.046,2315,3647,3025
$GC,2974,-0.54,-121.7,339.8,-8.8,188,2977,0.08,1.55,0.00,0.000,6,0.100,0.021,2353,2555,3024
$GC,3244,-0.54,-121.7,358.7,-6.8,195,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2546,3023
$GC,3488,-0.54,-121.7,375.4,-6.9,201,3491,0.00,1.70,0.00,0.000,4,0.000,0.048,2346,3652,3022
$GC,3539,-0.54,-121.7,379.3,-7.3,202,3542,0.00,1.55,0.00,0.000,6,0.000,0.021,2346,2563,3021
$GC,3820,-0.54,-121.7,397.8,-6.2,209,3823,0.00,1.42,0.00,0.000,4,0.000,0.022,2346,1542,3018
$GC,3891,-0.54,-121.7,402.5,-6.2,210,3894,0.00,1.83,0.00,0.000,6,0.000,0.043,2346,2738,3018
$GC,4152,-0.54,-121.7,420.0,-6.9,217,4155,0.00,1.75,-0.08,0.000,4,0.000,0.038,2346,1546,3040
$GC,4185,-0.54,-121.7,422.8,-8.5,217,4188,0.00,1.77,0.00,0.000,6,0.000,0.042,2346,2708,3040
$GC,4440,-0.54,-121.7,443.1,-8.0,224,4443,0.00,1.45,0.00,0.000,4,0.000,0.051,2339,3640,3038
$GC,4506,-0.54,-121.7,448.8,-9.4,225,4509,0.00,1.67,0.00,0.000,6,0.000,0.023,2339,2480,3037
$GC,4771,-0.54,-121.7,470.1,-7.8,232,4774,0.00,1.30,0.00,0.000,4,0.000,0.024,2339,1548,3035
$GC,4810,-0.54,-121.7,473.0,-7.3,232,4816,0.00,1.73,0.00,0.000,6,0.000,0.041,2333,2678,3035
$GC,5060,-0.54,-121.7,491.7,-7.3,239,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2678,3033
$GC,5302,-0.54,-121.7,509.3,-7.4,245,5305,0.00,1.62,0.00,0.000,4,0.000,0.024,2333,1558,3032
$GC,5378,-0.54,-121.7,515.2,-7.6,246,5381,0.00,1.70,0.00,0.000,6,0.000,0.044,2333,2665,3031
$GC,5633,-0.54,-121.7,533.3,-7.4,253,5636,0.00,1.52,0.00,0.000,4,0.000,0.052,2326,3641,3029
$GC,5667,-0.54,-121.7,535.8,-7.6,253,5670,0.00,1.40,0.00,0.000,6,0.000,0.024,2326,2669,3028
$GC,5922,-0.54,-121.7,555.6,-7.7,260,5925,0.00,1.58,0.00,0.000,4,0.000,0.025,2326,1562,3027
$GC,5982,-0.54,-121.7,560.5,-8.1,261,5985,0.12,1.67,0.00,0.000,6,0.112,0.044,2356,2648,3027
$GC,6253,-0.54,-121.7,578.0,-6.4,268,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2648,3026
$GC,6495,-0.54,-121.7,593.9,-6.5,274,6498,0.00,1.58,0.00,0.000,4,0.000,0.054,2350,3649,3025
$GC,6566,-0.54,-121.7,598.7,-6.7,275,6569,0.00,1.12,0.00,0.000,6,0.000,0.028,2350,2872,3024
$STATE,6619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6619,begin apogee
$GC,6630,-0.18,0.0,602.7,6.9,277,6744,0.35,0.00,111.95,1.048,6,0.081,0.000,2472,2485,2530
$STATE,6744,end apogee,CONTROL_FINISHED_OK
$STATE,6744,begin climb
$GC,6750,0.54,121.7,608.7,0.0,280,6897,0.60,1.75,120.00,0.960,4,0.038,0.047,2710,3525,2033
$GC,6935,0.54,121.7,602.1,12.4,284,6938,0.00,1.60,0.00,0.000,6,0.000,0.023,2718,2450,2030
$GC,7208,0.54,121.7,571.0,11.3,291,7211,0.00,1.67,0.00,0.000,4,0.000,0.046,2716,3518,2026
$GC,7268,0.54,121.7,563.3,12.0,292,7271,0.00,1.52,0.00,0.000,6,0.000,0.024,2722,2486,2025
$GC,7539,0.54,121.7,532.9,11.0,299,7542,0.00,1.58,0.00,0.000,4,0.000,0.027,2730,1398,2023
$GC,7589,0.54,121.7,527.8,10.7,300,7592,0.00,1.67,0.00,0.000,6,0.000,0.042,2729,2492,2021
$GC,7870,0.54,121.7,495.4,11.4,307,7873,0.00,1.60,0.00,0.000,4,0.000,0.048,2729,3516,2021
$GC,8005,0.54,121.7,478.5,12.2,310,8009,0.10,1.52,0.00,0.000,6,0.177,0.024,2708,2481,2020
$GC,8287,0.55,125.5,449.9,9.8,317,8290,0.00,1.55,0.00,0.000,4,0.000,0.027,2717,1406,2019
$GC,8320,0.56,155.3,447.0,8.4,317,8360,0.00,1.67,30.95,0.894,6,0.000,0.042,2716,2502,1896
$GC,8611,0.56,157.4,418.8,9.9,325,8613,0.00,1.60,0.00,0.000,4,0.000,0.049,2716,3542,1891
$GC,8650,0.56,157.4,414.5,11.1,325,8658,0.00,1.52,0.00,0.000,6,0.000,0.026,2722,2509,1892
$GC,8899,0.56,157.4,388.6,10.2,332,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2509,1890
$GC,9141,0.56,157.4,363.2,10.6,338,9144,0.00,1.60,0.00,0.000,4,0.000,0.051,2722,3536,1889
$GC,9180,0.56,157.4,359.0,11.1,338,9185,0.00,1.50,0.00,0.000,6,0.000,0.026,2729,2519,1888
$GC,9430,0.56,157.5,333.6,10.0,345,9432,0.00,1.60,0.00,0.000,4,0.000,0.051,2729,3538,1888
$GC,9517,0.56,157.5,324.2,11.0,347,9519,0.00,1.40,0.00,0.000,6,0.000,0.025,2734,2583,1888
$GC,9803,0.56,171.2,297.0,9.2,354,9828,0.00,1.70,16.35,0.737,4,0.000,0.028,2740,1412,1831
$GC,9889,0.57,177.4,289.1,9.7,356,9899,0.00,1.77,7.00,0.704,6,0.000,0.043,2739,2562,1806
$GC,10165,0.57,183.1,261.9,9.7,363,10175,0.00,1.70,6.70,0.677,4,0.000,0.025,2747,1397,1782
$GC,10247,0.57,194.8,254.8,9.4,365,10262,0.00,1.70,11.88,0.752,6,0.000,0.044,2742,2494,1735
$GC,10527,0.58,211.1,229.4,9.1,372,10545,0.00,1.60,15.38,0.752,4,0.000,0.048,2742,3528,1668
$GC,10645,0.58,211.1,216.9,11.5,374,10648,0.10,1.48,0.00,0.000,6,0.152,0.025,2707,2536,1667
$GC,10902,0.60,259.4,197.4,7.3,381,10953,0.00,1.67,41.42,0.755,4,0.000,0.028,2710,1417,1471
$GC,10993,0.61,295.3,190.2,8.0,388,11038,0.00,1.77,33.08,0.696,6,0.000,0.041,2710,2539,1326
$GC,11287,0.63,340.9,167.2,7.5,416,11330,0.00,1.70,38.72,0.709,4,0.000,0.026,2709,1408,1139
$GC,11425,0.65,393.0,157.5,7.1,427,11475,0.00,1.58,44.17,0.693,6,0.000,0.038,2710,2413,926
$GC,11724,0.66,398.8,131.7,9.7,455,11737,0.00,1.50,5.22,0.502,4,0.000,0.025,2710,1413,906
$GC,11980,0.66,399.8,105.3,9.9,478,11988,0.00,1.33,0.00,0.000,6,0.000,0.035,2710,2282,906
$GC,12238,0.66,416.5,81.1,9.1,503,12263,0.00,1.95,16.60,0.598,4,0.000,0.048,2710,3516,831
$GC,12508,0.66,416.5,53.4,10.7,527,12515,0.00,1.90,0.00,0.000,6,0.000,0.022,2710,2222,831
$GC,12766,0.66,416.5,25.3,10.8,555,12774,0.00,2.03,0.00,0.000,4,0.000,0.045,2710,3514,831
$STATE,12953,end climb,SURFACE_DEPTH_REACHED
$STATE,12953,begin surface coast
$FINISH,-0.0,1.002536
$STATE,12979,end surface coast,CONTROL_FINISHED_OK
$STATE,12980,begin surface
$SM_CCo,13063,0.00,0.000,0,0,830,416.76
$SM_GC,0.77,6.75,0.00,0.00,0.023,0.000,0.000,33,2555,830,-7.70,-0.96,416.76
$IRIDIUM_FIX,2248.70,-15753.23,200102,040420
$TT8_MAMPS,0.047554
$HUMID,2286
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.60
$XPDR_PINGS,32
$24V_AH,23.7,81.100
$10V_AH,10.4,79.579
$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,17.275,109.225,499.425,0.000,0.000,56.647,67.104,361.438,8.000,0.000,0.000,12.625,0.000,9454.663,523.482,2724.965,1061.246,33.350,1477.690,0.000,2408.830,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,54.457,1047.722,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,399.053,1355.510,1423.298,178.164,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47841,594
$CAP_FILE_SIZE,122491,0
$CFSIZE,260165632,225996800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,261012,080106,2254.780,-15751.947,35,1.3,35,10.1