version: 66.04
glider: 512
mission: 3
dive: 612
start: 10 26 112 12 27 26
data:
$ID,512
$MISSION,3
$DIVE,612
$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,-66107.398
$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,57
$R_STBD_OVSHOOT,31
$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
$GPS1,120335,2254.462,-15751.287,45,1.4,45,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-80.1
$GPS2,122648,2254.435,-15751.361,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,-0.161
$KALMAN_X,-172110.1,212.6,-193.3,160517.2,-997.3
$KALMAN_Y,90720.9,371.3,-132.8,-96442.6,504.1
$MHEAD_RNG_PITCHd_Wd,122.2,37388,-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,19,-0.54,-121.7,0.0,0.0,0,96,0.00,0.00,-74.28,0.000,2,0.000,0.000,13,2612,2631
$GC,101,-0.54,-121.7,2.0,-2.7,10,124,9.02,1.58,-9.00,0.000,4,0.200,0.054,2336,3656,3025
$GC,155,-0.54,-121.7,15.1,-18.6,18,162,0.00,1.58,0.00,0.000,6,0.000,0.021,2340,2584,3026
$GC,422,-0.54,-121.7,56.8,-14.8,51,425,0.00,1.50,0.00,0.000,4,0.000,0.023,2342,1519,3026
$GC,532,-0.54,-121.7,71.8,-10.9,61,536,0.00,1.60,0.00,0.000,6,0.000,0.038,2336,2556,3025
$GC,796,-0.54,-121.7,103.7,-12.4,86,799,0.00,1.67,0.00,0.000,4,0.000,0.043,2328,3655,3025
$GC,824,-0.54,-121.7,107.6,-12.7,88,831,0.00,1.62,0.00,0.000,6,0.000,0.020,2328,2523,3025
$GC,1082,-0.54,-121.7,142.0,-13.8,113,1085,0.00,1.38,0.00,0.000,4,0.000,0.021,2328,1531,3025
$GC,1129,-0.54,-121.7,148.3,-13.0,117,1131,0.00,1.52,0.00,0.000,6,0.000,0.037,2321,2530,3026
$GC,1392,-0.54,-121.7,182.0,-12.4,142,1395,0.00,1.67,0.00,0.000,4,0.000,0.044,2312,3651,3025
$GC,1428,-0.54,-121.7,186.6,-12.7,145,1431,0.12,1.62,0.00,0.000,6,0.128,0.019,2347,2496,3025
$GC,1688,-0.54,-121.7,212.2,-9.8,161,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2488,3025
$GC,1927,-0.54,-121.7,237.4,-10.6,167,1930,0.00,1.77,0.00,0.000,4,0.000,0.044,2340,3657,3025
$GC,1961,-0.54,-121.7,241.0,-10.5,167,1964,0.00,1.60,0.00,0.000,6,0.000,0.020,2340,2515,3025
$GC,2215,-0.54,-121.7,268.1,-10.5,174,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2506,3025
$GC,2458,-0.54,-121.7,290.8,-9.1,180,2461,0.00,1.77,0.00,0.000,4,0.000,0.044,2332,3652,3024
$GC,2513,-0.54,-121.7,295.9,-9.5,181,2516,0.00,1.58,0.00,0.000,6,0.000,0.020,2331,2548,3024
$GC,2789,-0.54,-121.7,322.1,-9.5,188,2792,0.00,1.40,0.00,0.000,4,0.000,0.021,2331,1537,3023
$GC,2812,-0.54,-121.7,324.4,-10.0,188,2814,0.00,1.60,0.00,0.000,6,0.000,0.038,2324,2602,3023
$GC,3077,-0.54,-121.7,348.8,-9.1,195,3080,0.00,1.60,0.00,0.000,4,0.000,0.046,2316,3671,3021
$GC,3154,-0.54,-121.7,356.4,-10.0,196,3157,0.08,1.50,0.00,0.000,6,0.114,0.020,2355,2614,3020
$GC,3408,-0.54,-121.7,375.3,-7.0,203,3411,0.00,1.60,0.00,0.000,4,0.000,0.045,2349,3655,3018
$GC,3517,-0.54,-121.7,383.5,-7.7,205,3520,0.00,1.25,0.00,0.000,6,0.000,0.021,2349,2755,3017
$GC,3783,-0.54,-121.7,402.2,-6.9,212,3786,0.00,1.73,-0.08,0.000,4,0.000,0.038,2348,1543,3039
$GC,3860,-0.54,-121.7,408.1,-7.9,213,3862,0.00,1.88,0.00,0.000,6,0.000,0.042,2346,2772,3039
$GC,4114,-0.54,-121.7,427.6,-7.7,220,4117,0.00,1.75,0.00,0.000,4,0.000,0.022,2346,1545,3037
$GC,4185,-0.54,-121.7,433.3,-8.1,221,4188,0.00,1.73,0.00,0.000,6,0.000,0.042,2346,2676,3036
$GC,4445,-0.54,-121.7,452.1,-7.1,228,4448,0.00,1.60,0.00,0.000,4,0.000,0.022,2346,1549,3034
$GC,4511,-0.54,-121.7,456.8,-7.0,229,4515,0.00,1.65,0.00,0.000,6,0.000,0.042,2346,2610,3034
$GC,4779,-0.54,-121.7,474.5,-6.7,236,4782,0.00,1.60,0.00,0.000,4,0.000,0.050,2338,3663,3031
$GC,4808,-0.54,-121.7,476.6,-7.4,236,4810,0.00,1.52,0.00,0.000,6,0.000,0.023,2338,2608,3031
$GC,5068,-0.54,-121.7,494.7,-6.9,243,5071,0.00,1.62,0.00,0.000,4,0.000,0.051,2333,3647,3029
$GC,5102,-0.54,-121.7,497.2,-7.2,243,5105,0.00,1.42,0.00,0.000,6,0.000,0.024,2333,2654,3029
$GC,5356,-0.54,-121.7,517.2,-7.9,250,5359,0.00,1.58,0.00,0.000,4,0.000,0.025,2333,1548,3027
$GC,5417,-0.54,-121.7,522.0,-7.5,251,5420,0.00,1.67,0.00,0.000,6,0.000,0.044,2333,2640,3027
$GC,5688,-0.54,-121.7,541.3,-6.8,258,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2639,3026
$GC,5930,-0.54,-121.7,557.5,-6.6,264,5933,0.00,1.60,0.00,0.000,4,0.000,0.025,2333,1524,3025
$GC,5953,-0.54,-121.7,559.1,-7.0,264,5956,0.00,1.73,0.00,0.000,6,0.000,0.045,2333,2623,3025
$GC,6221,-0.54,-121.7,578.3,-7.5,271,6224,0.00,1.60,0.00,0.000,4,0.000,0.054,2333,3661,3022
$GC,6244,-0.54,-121.7,580.5,-8.5,271,6247,0.00,1.50,0.00,0.000,6,0.000,0.024,2333,2623,3022
$STATE,6504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6504,begin apogee
$GC,6515,-0.18,0.0,601.0,7.7,278,6630,0.40,0.00,111.05,1.039,6,0.092,0.000,2467,2467,2530
$STATE,6630,end apogee,CONTROL_FINISHED_OK
$STATE,6630,begin climb
$GC,6636,0.54,121.7,606.5,0.0,281,6761,0.60,1.62,114.68,0.989,4,0.038,0.026,2717,1403,2033
$GC,6785,0.54,121.7,600.6,11.5,284,6788,0.00,1.67,0.00,0.000,6,0.000,0.041,2715,2465,2029
$GC,7047,0.54,121.7,568.9,12.1,291,7051,0.00,1.65,0.00,0.000,4,0.000,0.048,2715,3516,2025
$GC,7162,0.54,121.7,554.0,12.9,293,7165,0.00,1.48,0.00,0.000,6,0.000,0.023,2720,2512,2024
$GC,7421,0.54,121.7,524.1,11.1,300,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2506,2022
$GC,7665,0.54,121.7,498.6,10.6,306,7669,0.00,1.60,0.00,0.000,4,0.000,0.047,2716,3519,2021
$GC,7721,0.54,121.7,492.2,11.3,307,7724,0.00,1.45,0.00,0.000,6,0.000,0.025,2721,2527,2020
$GC,7997,0.54,122.9,464.0,9.9,314,8000,0.00,1.62,0.00,0.000,4,0.000,0.028,2730,1391,2018
$GC,8073,0.54,122.9,456.1,10.9,315,8076,0.00,1.75,0.00,0.000,6,0.000,0.044,2729,2530,2018
$GC,8327,0.54,122.9,428.6,10.9,322,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2530,2018
$GC,8570,0.54,122.9,403.6,10.0,328,8573,0.00,1.55,0.00,0.000,4,0.000,0.048,2729,3522,2017
$GC,8609,0.54,122.9,399.5,11.0,328,8614,0.08,1.52,0.00,0.000,6,0.184,0.025,2704,2487,2017
$GC,8858,0.55,147.3,377.7,8.6,335,8891,0.00,1.67,23.48,0.830,4,0.000,0.048,2702,3518,1929
$GC,8986,0.55,147.3,365.3,10.1,338,8989,0.00,1.45,0.00,0.000,6,0.000,0.025,2708,2543,1926
$GC,9273,0.57,178.6,341.0,8.3,345,9303,0.00,0.00,28.23,0.864,6,0.000,0.000,2708,2536,1802
$GC,9552,0.57,184.6,314.9,9.7,352,9562,0.00,1.60,6.50,0.688,4,0.000,0.049,2703,3516,1777
$GC,9623,0.57,184.6,307.6,10.7,353,9627,0.00,1.40,0.00,0.000,6,0.000,0.025,2709,2573,1776
$GC,9878,0.58,205.5,283.9,8.8,360,9901,0.00,0.00,19.55,0.803,6,0.000,0.000,2709,2566,1691
$GC,10163,0.59,235.4,260.1,8.3,367,10191,0.00,0.00,26.38,0.795,6,0.000,0.000,2709,2566,1570
$GC,10406,0.60,264.4,239.5,8.4,373,10434,0.00,1.70,25.20,0.771,4,0.000,0.030,2710,1409,1453
$GC,10481,0.62,311.5,233.6,7.4,374,10526,0.00,1.85,41.40,0.768,6,0.000,0.042,2710,2594,1259
$GC,10773,0.63,341.8,209.4,8.3,381,10802,0.00,1.77,26.02,0.734,4,0.000,0.028,2710,1411,1135
$GC,10890,0.64,360.9,198.9,8.9,383,10912,0.00,1.65,17.17,0.700,6,0.000,0.039,2710,2484,1057
$GC,11172,0.66,405.2,176.5,7.5,410,11213,0.00,1.65,37.55,0.709,4,0.000,0.049,2710,3525,877
$GC,11460,0.66,412.9,150.5,9.6,436,11473,0.00,1.77,7.75,0.581,6,0.000,0.025,2710,2320,846
$GC,11728,0.67,434.1,126.8,8.8,461,11752,0.00,1.30,18.98,0.640,4,0.000,0.025,2710,1407,759
$GC,11997,0.67,434.1,98.6,10.7,485,12005,0.00,1.35,0.00,0.000,6,0.000,0.035,2710,2295,757
$GC,12254,0.67,434.1,73.7,10.4,510,12258,0.00,1.30,0.00,0.000,4,0.000,0.026,2710,1408,757
$GC,12505,0.67,434.1,46.8,10.6,533,12508,0.00,1.33,0.00,0.000,6,0.000,0.035,2710,2283,757
$GC,12769,0.67,434.1,17.7,12.4,567,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2283,758
$STATE,12892,end climb,SURFACE_DEPTH_REACHED
$STATE,12892,begin surface coast
$FINISH,0.1,0.998903
$STATE,12924,end surface coast,CONTROL_FINISHED_OK
$STATE,12924,begin surface
$SM_CCo,13007,0.00,0.000,0,0,758,434.91
$SM_GC,0.93,6.70,0.00,0.00,0.022,0.000,0.000,30,2594,758,-7.69,0.11,434.91
$IRIDIUM_FIX,2244.02,-15759.32,200102,121235
$TT8_MAMPS,0.048321
$HUMID,2281
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.40
$XPDR_PINGS,26
$24V_AH,23.7,81.444
$10V_AH,10.4,79.837
$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,17.000,95.975,503.925,0.000,0.000,119.261,193.591,711.486,6.500,0.000,0.000,12.244,0.000,9592.712,517.935,2672.913,1587.601,33.355,1405.453,0.000,2361.774,0.000,0.544,0.000
$DEVICE_MAMPS,200.187,54.457,1039.285,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,401.244,1361.901,1421.868,180.184,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47812,595
$CAP_FILE_SIZE,122085,0
$CFSIZE,260165632,225869824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,261012,160506,2254.103,-15750.579,26,1.7,26,10.1