version: 66.04
glider: 512
mission: 3
dive: 613
start: 10 26 112 16 30 57
data:
$ID,512
$MISSION,3
$DIVE,613
$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,-66140.547
$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,59
$R_STBD_OVSHOOT,29
$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
$GPS1,160506,2254.103,-15750.579,26,1.7,26,10.1
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-79.6
$GPS2,163015,2254.253,-15750.562,12,3.0,31,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.100,-0.217
$KALMAN_X,-172549.5,-27.1,-285.7,162648.0,74.6
$KALMAN_Y,92366.9,36.5,102.4,-98328.6,914.6
$MHEAD_RNG_PITCHd_Wd,145.3,36289,-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,-121.7,0.0,0.0,0,92,0.00,0.00,-74.35,0.000,2,0.000,0.000,12,2601,2620
$GC,97,-0.54,-121.7,2.1,-2.3,10,120,9.05,1.52,-9.18,0.000,4,0.202,0.041,2345,1519,3027
$GC,151,-0.54,-121.7,15.4,-19.3,18,158,0.00,1.65,0.00,0.000,6,0.000,0.035,2339,2594,3027
$GC,423,-0.54,-121.7,59.1,-15.7,51,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2594,3027
$GC,681,-0.54,-121.7,97.5,-13.7,76,684,0.00,1.52,0.00,0.000,4,0.000,0.021,2341,1524,3027
$GC,738,-0.54,-121.7,104.5,-10.6,81,741,0.00,1.60,0.00,0.000,6,0.000,0.038,2336,2572,3027
$GC,1001,-0.54,-121.7,136.0,-11.7,106,1004,0.00,1.62,0.00,0.000,4,0.000,0.044,2328,3644,3027
$GC,1051,-0.54,-121.7,142.2,-11.8,110,1058,0.00,1.52,0.00,0.000,6,0.000,0.020,2327,2576,3027
$GC,1308,-0.54,-121.7,173.7,-12.4,135,1311,0.00,1.45,0.00,0.000,4,0.000,0.022,2327,1533,3027
$GC,1354,-0.54,-121.7,179.3,-11.3,139,1357,0.00,1.58,0.00,0.000,6,0.000,0.036,2320,2565,3027
$GC,1644,-0.54,-121.7,215.7,-12.7,158,1647,0.10,1.60,0.00,0.000,4,0.140,0.041,2340,3648,3027
$GC,1682,-0.54,-121.7,220.5,-10.7,158,1688,0.00,1.58,0.00,0.000,6,0.000,0.019,2340,2542,3027
$GC,1931,-0.54,-121.7,246.8,-10.3,165,1935,0.00,1.38,0.00,0.000,4,0.000,0.021,2340,1543,3027
$GC,2008,-0.54,-121.7,253.5,-8.3,166,2011,0.00,1.45,0.00,0.000,6,0.000,0.038,2334,2496,3027
$GC,2263,-0.54,-121.7,274.1,-8.0,173,2266,0.00,1.75,0.00,0.000,4,0.000,0.045,2325,3658,3027
$GC,2323,-0.54,-121.7,279.7,-9.6,174,2327,0.00,1.62,0.00,0.000,6,0.000,0.019,2325,2519,3026
$GC,2597,-0.54,-121.7,306.4,-10.0,181,2600,0.00,1.73,0.00,0.000,4,0.000,0.043,2316,3648,3026
$GC,2641,-0.54,-121.7,311.4,-9.9,182,2645,0.12,1.60,0.00,0.000,6,0.117,0.020,2352,2528,3025
$GC,2928,-0.54,-121.7,333.1,-7.1,189,2931,0.00,1.73,0.00,0.000,4,0.000,0.045,2346,3652,3024
$GC,2962,-0.54,-121.7,335.4,-7.0,189,2965,0.00,1.58,0.00,0.000,6,0.000,0.021,2346,2546,3024
$GC,3219,-0.54,-121.7,352.5,-6.6,196,3222,0.00,1.40,0.00,0.000,4,0.000,0.021,2346,1536,3022
$GC,3253,-0.54,-121.7,355.0,-7.1,196,3256,0.00,1.58,0.00,0.000,6,0.000,0.041,2346,2558,3022
$GC,3508,-0.54,-121.7,373.7,-7.4,203,3511,0.00,1.65,0.00,0.000,4,0.000,0.048,2345,3648,3020
$GC,3584,-0.54,-121.7,379.8,-8.4,204,3587,0.00,1.50,0.00,0.000,6,0.000,0.021,2345,2589,3018
$GC,3841,-0.54,-121.7,399.0,-7.5,211,3842,0.00,0.00,-0.08,0.000,6,0.000,0.000,2345,2582,3040
$GC,4081,-0.54,-121.7,415.5,-6.6,217,4084,0.00,1.45,0.00,0.000,4,0.000,0.023,2345,1555,3039
$GC,4110,-0.54,-121.7,417.5,-6.7,217,4113,0.00,1.65,0.00,0.000,6,0.000,0.041,2337,2643,3039
$GC,4370,-0.54,-121.7,436.6,-7.4,224,4373,0.00,1.55,0.00,0.000,4,0.000,0.050,2333,3642,3036
$GC,4404,-0.54,-121.7,439.1,-7.6,224,4406,0.00,1.45,0.00,0.000,6,0.000,0.022,2333,2627,3036
$GC,4661,-0.54,-121.7,458.8,-7.8,231,4664,0.00,1.62,0.00,0.000,4,0.000,0.049,2331,3665,3034
$GC,4700,-0.54,-121.7,462.2,-8.8,231,4705,0.00,1.40,0.00,0.000,6,0.000,0.022,2331,2675,3034
$GC,4949,-0.54,-121.7,483.0,-8.3,238,4952,0.00,1.60,0.00,0.000,4,0.000,0.024,2332,1529,3032
$GC,5009,-0.54,-121.7,488.1,-8.4,239,5012,0.00,1.73,0.00,0.000,6,0.000,0.042,2324,2656,3031
$GC,5283,-0.54,-121.7,511.8,-8.9,246,5286,0.00,1.52,0.00,0.000,4,0.000,0.051,2316,3640,3029
$GC,5312,-0.54,-121.7,514.7,-9.2,246,5315,0.08,1.42,0.00,0.000,6,0.104,0.022,2346,2643,3029
$GC,5572,-0.54,-121.7,533.0,-6.7,253,5574,0.00,1.60,0.00,0.000,4,0.000,0.052,2345,3660,3027
$GC,5622,-0.54,-121.7,536.4,-7.1,254,5625,0.00,1.35,0.00,0.000,6,0.000,0.024,2346,2717,3027
$GC,5906,-0.54,-121.7,553.3,-5.9,261,5909,0.00,1.62,0.00,0.000,4,0.000,0.025,2346,1555,3026
$GC,5993,-0.54,-121.7,558.9,-6.7,263,5996,0.00,2.05,0.00,0.000,6,0.000,0.048,2346,2875,3025
$GC,6281,-0.54,-121.7,575.7,-5.7,270,6283,0.00,1.20,0.00,0.000,4,0.000,0.055,2346,3640,3024
$GC,6352,-0.54,-121.7,579.9,-6.5,271,6354,0.00,1.33,0.00,0.000,6,0.000,0.025,2346,2716,3023
$GC,6612,-0.54,-121.7,594.8,-5.7,278,6614,0.00,1.50,0.00,0.000,4,0.000,0.054,2345,3645,3021
$GC,6651,-0.54,-121.7,597.1,-6.0,278,6656,0.00,1.60,0.00,0.000,6,0.000,0.025,2345,2521,3021
$STATE,6694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6694,begin apogee
$GC,6704,-0.18,0.0,600.2,6.2,280,6818,0.35,0.00,110.95,1.051,6,0.077,0.000,2469,2519,2530
$STATE,6818,end apogee,CONTROL_FINISHED_OK
$STATE,6818,begin climb
$GC,6823,0.54,121.7,605.6,0.0,283,6948,0.65,1.70,113.95,0.995,4,0.039,0.048,2716,3530,2033
$GC,7017,0.54,121.7,593.2,13.0,287,7020,0.00,1.58,0.00,0.000,6,0.000,0.024,2722,2483,2029
$GC,7272,0.54,121.7,563.2,11.7,294,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2477,2025
$GC,7514,0.54,121.7,534.2,11.9,300,7517,0.00,1.65,0.00,0.000,4,0.000,0.048,2716,3515,2023
$GC,7580,0.54,121.7,526.1,12.3,301,7583,0.00,1.52,0.00,0.000,6,0.000,0.025,2723,2480,2023
$GC,7846,0.54,121.7,497.1,10.5,308,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2474,2021
$GC,8087,0.54,121.7,471.4,10.7,314,8090,0.00,1.65,0.00,0.000,4,0.000,0.049,2723,3531,2020
$GC,8147,0.54,121.7,464.8,11.2,315,8150,0.00,1.50,0.00,0.000,6,0.000,0.025,2730,2514,2020
$GC,8418,0.54,121.7,435.6,10.7,322,8421,0.00,1.60,0.00,0.000,4,0.000,0.028,2738,1412,2019
$GC,8462,0.54,121.7,430.8,10.2,323,8466,0.12,1.73,0.00,0.000,6,0.157,0.042,2707,2536,2018
$GC,8749,0.55,129.7,403.4,9.6,330,8758,0.00,1.52,6.07,0.739,4,0.000,0.047,2702,3531,2001
$GC,8899,0.55,143.8,389.1,9.2,333,8920,0.00,1.45,14.45,0.867,6,0.000,0.025,2708,2539,1944
$GC,9164,0.57,181.4,367.0,7.9,340,9207,0.00,1.60,34.15,0.893,4,0.000,0.049,2703,3516,1789
$GC,9257,0.57,195.8,359.2,9.2,342,9275,0.00,1.35,13.93,0.821,6,0.000,0.025,2708,2605,1731
$GC,9538,0.58,212.8,334.5,9.1,349,9557,0.00,1.75,15.68,0.822,4,0.000,0.029,2713,1407,1662
$GC,9608,0.58,212.8,327.6,10.8,350,9611,0.00,1.95,0.00,0.000,6,0.000,0.044,2713,2630,1659
$GC,9863,0.58,212.8,300.4,10.7,357,9866,0.00,1.38,0.00,0.000,4,0.000,0.049,2713,3513,1658
$GC,9918,0.58,212.8,294.0,11.6,358,9920,0.00,1.27,0.00,0.000,6,0.000,0.025,2719,2644,1657
$GC,10194,0.58,217.0,266.2,9.8,365,10202,0.00,1.83,4.60,0.583,4,0.000,0.029,2728,1411,1645
$GC,10241,0.59,226.7,261.9,9.5,366,10254,0.00,1.90,10.12,0.738,6,0.000,0.044,2728,2633,1605
$GC,10521,0.59,241.4,234.7,9.2,373,10538,0.00,0.00,13.82,0.747,6,0.000,0.000,2728,2633,1544
$GC,10806,0.60,262.1,209.6,8.9,380,10829,0.00,1.85,18.62,0.746,4,0.000,0.026,2736,1411,1461
$GC,10930,0.60,267.0,198.0,9.7,382,10939,0.00,1.83,5.72,0.588,6,0.000,0.042,2736,2589,1441
$GC,11198,0.61,286.0,172.9,8.9,407,11224,0.00,1.48,17.70,0.706,4,0.000,0.049,2736,3520,1362
$GC,11250,0.61,298.4,167.8,9.3,411,11266,0.00,1.42,12.32,0.668,6,0.000,0.024,2739,2560,1312
$GC,11531,0.62,318.1,143.0,8.9,437,11556,0.00,1.70,17.60,0.672,4,0.000,0.028,2739,1417,1231
$GC,11649,0.62,321.7,131.5,9.8,447,11657,0.00,1.77,4.43,0.470,6,0.000,0.040,2739,2552,1218
$GC,11911,0.64,350.5,108.8,8.4,472,11940,0.00,1.52,25.15,0.652,4,0.000,0.046,2739,3517,1100
$GC,11987,0.64,354.8,101.6,9.8,478,11996,0.00,1.42,5.47,0.493,6,0.000,0.023,2739,2553,1082
$GC,12249,0.66,408.4,81.5,7.0,503,12299,0.00,1.55,44.45,0.628,4,0.000,0.044,2738,3533,864
$GC,12346,0.66,418.8,73.2,9.4,511,12359,0.00,1.52,10.18,0.555,6,0.000,0.023,2739,2500,822
$GC,12608,0.67,428.2,48.4,9.5,536,12622,0.00,1.65,8.95,0.528,4,0.000,0.046,2739,3519,783
$GC,12870,0.67,428.6,22.5,10.0,566,12878,0.00,1.50,0.00,0.000,6,0.000,0.022,2739,2492,783
$STATE,13060,end climb,SURFACE_DEPTH_REACHED
$STATE,13060,begin surface coast
$FINISH,-0.0,1.011603
$STATE,13087,end surface coast,CONTROL_FINISHED_OK
$STATE,13088,begin surface
$SM_CCo,13171,0.00,0.000,0,0,783,428.53
$SM_GC,1.10,6.80,0.00,0.00,0.020,0.000,0.000,27,2629,783,-7.70,1.19,428.53
$IRIDIUM_FIX,2246.36,-15753.23,200102,161644
$TT8_MAMPS,0.046787
$HUMID,2289
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.50
$XPDR_PINGS,31
$24V_AH,23.8,81.634
$10V_AH,10.4,79.970
$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,17.275,110.575,508.325,0.000,0.000,87.867,114.163,977.971,7.750,0.000,0.000,32.518,0.000,9573.502,518.115,2765.015,1800.045,33.355,1456.973,0.000,2422.303,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,55.224,1050.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,407.440,1394.317,1467.885,187.547,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47826,606
$CAP_FILE_SIZE,133231,0
$CFSIZE,260165632,225796096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261012,201156,2253.636,-15750.104,40,6.0,59,10.1