version: 66.04
glider: 512
mission: 3
dive: 614
start: 10 26 112 20 32 15
data:
$ID,512
$MISSION,3
$DIVE,614
$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,-66156.875
$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,66
$R_STBD_OVSHOOT,60
$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
$GPS1,201156,2253.636,-15750.104,40,6.0,59,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-80.0
$GPS2,203137,2253.692,-15750.105,15,1.2,15,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.172,-0.166
$KALMAN_X,-173277.4,-307.2,334.6,163821.0,-822.1
$KALMAN_Y,93779.1,-164.1,432.3,-100905.9,332.3
$MHEAD_RNG_PITCHd_Wd,123.8,34989,-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,-74.47,0.000,2,0.000,0.000,12,2629,2645
$GC,101,-0.54,-121.7,2.2,-2.5,10,125,9.05,1.50,-8.55,0.000,4,0.201,0.053,2334,3637,3025
$GC,134,-0.54,-121.7,11.4,-24.9,14,141,0.00,1.52,0.00,0.000,6,0.000,0.020,2340,2588,3026
$GC,407,-0.54,-121.7,56.9,-17.2,49,410,0.00,1.48,0.00,0.000,4,0.000,0.023,2344,1538,3026
$GC,507,-0.54,-121.7,71.6,-12.4,58,510,0.00,1.50,0.00,0.000,6,0.000,0.037,2339,2520,3026
$GC,770,-0.54,-121.7,104.4,-11.8,83,773,0.00,1.65,0.00,0.000,4,0.000,0.043,2331,3626,3026
$GC,838,-0.54,-121.7,112.4,-12.0,89,841,0.00,1.52,0.00,0.000,6,0.000,0.020,2331,2555,3026
$GC,1101,-0.54,-121.7,144.1,-11.9,114,1104,0.00,1.40,0.00,0.000,4,0.000,0.021,2331,1543,3026
$GC,1147,-0.54,-121.7,149.4,-11.1,118,1150,0.00,1.50,0.00,0.000,6,0.000,0.037,2324,2532,3026
$GC,1410,-0.54,-121.7,181.9,-13.1,143,1414,0.00,1.65,0.00,0.000,4,0.000,0.044,2315,3617,3026
$GC,1478,-0.54,-121.7,190.5,-12.2,149,1482,0.08,1.48,0.00,0.000,6,0.117,0.018,2343,2562,3026
$GC,1735,-0.54,-121.7,216.4,-9.6,162,1739,0.00,1.65,0.00,0.000,4,0.000,0.042,2337,3626,3026
$GC,1769,-0.54,-121.7,219.8,-10.1,162,1772,0.00,1.40,0.00,0.000,6,0.000,0.019,2337,2632,3026
$GC,2023,-0.54,-121.7,244.3,-9.8,169,2026,0.00,1.50,0.00,0.000,4,0.000,0.021,2337,1549,3026
$GC,2095,-0.54,-121.7,250.9,-9.1,170,2098,0.00,1.58,0.00,0.000,6,0.000,0.039,2333,2579,3025
$GC,2355,-0.54,-121.7,276.1,-9.9,177,2358,0.00,1.62,0.00,0.000,4,0.000,0.045,2325,3662,3025
$GC,2405,-0.54,-121.7,281.2,-10.2,178,2407,0.00,1.50,0.00,0.000,6,0.000,0.019,2325,2608,3025
$GC,2686,-0.54,-121.7,308.4,-9.6,185,2689,0.00,1.48,0.00,0.000,4,0.000,0.021,2325,1542,3024
$GC,2733,-0.54,-121.7,312.3,-8.6,186,2736,0.12,1.62,0.00,0.000,6,0.116,0.038,2356,2620,3024
$GC,3020,-0.54,-121.7,334.2,-7.7,193,3023,0.00,1.58,0.00,0.000,4,0.000,0.047,2349,3648,3022
$GC,3043,-0.54,-121.7,336.0,-7.7,193,3045,0.00,1.50,0.00,0.000,6,0.000,0.021,2349,2590,3021
$GC,3309,-0.54,-121.7,355.4,-7.0,200,3311,0.00,1.65,0.00,0.000,4,0.000,0.048,2346,3656,3020
$GC,3406,-0.54,-121.7,362.8,-8.1,202,3410,0.00,1.35,0.00,0.000,6,0.000,0.021,2346,2682,3019
$GC,3682,-0.54,-121.7,382.7,-7.2,209,3685,0.00,1.60,-0.08,0.000,4,0.000,0.045,2346,1544,3039
$GC,3732,-0.54,-121.7,386.3,-7.6,210,3735,0.00,1.75,0.00,0.000,6,0.000,0.042,2346,2695,3040
$GC,4014,-0.54,-121.7,405.3,-6.6,217,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2694,3038
$GC,4256,-0.54,-121.7,419.9,-6.0,223,4259,0.00,1.65,0.00,0.000,4,0.000,0.022,2346,1530,3036
$GC,4306,-0.54,-121.7,423.4,-7.2,224,4309,0.00,1.73,0.00,0.000,6,0.000,0.044,2346,2659,3035
$GC,4590,-0.54,-121.7,444.0,-7.4,231,4592,0.00,1.52,0.00,0.000,4,0.000,0.050,2339,3643,3032
$GC,4714,-0.54,-121.7,454.7,-8.8,233,4719,0.00,1.30,0.00,0.000,6,0.000,0.025,2338,2724,3031
$GC,4964,-0.54,-121.7,473.7,-7.4,240,4967,0.00,1.45,0.00,0.000,4,0.000,0.050,2333,3641,3029
$GC,4992,-0.54,-121.7,475.7,-7.1,240,4995,0.00,1.15,0.00,0.000,6,0.000,0.025,2333,2825,3029
$GC,5252,-0.54,-121.7,494.6,-7.1,247,5255,0.00,1.30,0.00,0.000,4,0.000,0.050,2327,3641,3027
$GC,5361,-0.54,-121.7,502.6,-7.3,249,5364,0.00,1.30,0.00,0.000,6,0.000,0.024,2328,2725,3026
$GC,5629,-0.54,-121.7,522.4,-7.5,256,5632,0.00,1.65,0.00,0.000,4,0.000,0.024,2327,1542,3025
$GC,5727,-0.54,-121.7,530.6,-8.3,258,5730,0.10,1.75,0.00,0.000,6,0.120,0.045,2348,2679,3025
$GC,6003,-0.54,-121.7,550.0,-7.0,265,6006,0.00,1.62,0.00,0.000,4,0.000,0.025,2348,1541,3023
$GC,6053,-0.54,-121.7,553.9,-8.2,266,6056,0.00,2.03,0.00,0.000,6,0.000,0.046,2346,2846,3023
$GC,6334,-0.54,-121.7,575.7,-7.7,273,6337,0.00,1.25,0.00,0.000,4,0.000,0.053,2340,3645,3020
$GC,6374,-0.54,-121.7,578.9,-8.4,273,6379,0.00,1.42,0.00,0.000,6,0.000,0.026,2340,2655,3020
$GC,6623,-0.54,-121.7,597.1,-6.9,280,6626,0.00,1.58,0.00,0.000,4,0.000,0.051,2333,3642,3020
$STATE,6665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6665,begin apogee
$GC,6677,-0.18,0.0,600.2,6.9,281,6790,0.43,0.00,110.55,1.046,6,0.104,0.000,2471,2465,2530
$STATE,6790,end apogee,CONTROL_FINISHED_OK
$STATE,6790,begin climb
$GC,6796,0.54,121.7,605.4,0.0,284,6921,0.60,1.65,114.25,0.992,4,0.040,0.025,2716,1398,2032
$GC,6987,0.54,121.7,593.4,12.1,288,6990,0.00,1.67,0.00,0.000,6,0.000,0.041,2715,2471,2027
$GC,7253,0.54,121.7,560.9,12.1,295,7256,0.00,1.62,0.00,0.000,4,0.000,0.049,2715,3522,2025
$GC,7345,0.54,121.7,549.5,12.4,297,7348,0.00,1.52,0.00,0.000,6,0.000,0.024,2721,2487,2022
$GC,7626,0.54,121.7,517.6,11.1,304,7629,0.00,1.58,0.00,0.000,4,0.000,0.027,2730,1400,2021
$GC,7654,0.54,121.7,514.7,10.7,304,7657,0.00,1.67,0.00,0.000,6,0.000,0.041,2728,2496,2021
$GC,7917,0.54,121.7,486.8,10.7,311,7920,0.00,1.60,0.00,0.000,4,0.000,0.049,2728,3516,2020
$GC,8004,0.54,121.7,477.0,11.7,313,8007,0.10,1.52,0.00,0.000,6,0.185,0.024,2707,2484,2019
$GC,8290,0.55,142.4,451.5,8.9,320,8319,0.00,1.60,19.70,0.842,4,0.000,0.028,2713,1404,1948
$GC,8377,0.55,145.0,443.4,9.9,322,8380,0.00,1.67,0.00,0.000,6,0.000,0.041,2713,2488,1946
$GC,8663,0.56,149.8,415.2,9.7,329,8676,0.00,1.65,7.57,0.792,4,0.000,0.048,2713,3521,1919
$GC,8777,0.56,149.8,403.9,10.8,331,8780,0.00,1.50,0.00,0.000,6,0.000,0.025,2720,2506,1917
$GC,9037,0.57,175.9,381.0,8.6,338,9062,0.00,0.00,24.55,0.897,6,0.000,0.000,2721,2501,1812
$GC,9279,0.57,178.0,357.4,9.9,344,9282,0.00,1.60,0.00,0.000,4,0.000,0.049,2715,3521,1808
$GC,9318,0.57,178.0,353.3,10.5,344,9324,0.00,1.50,0.00,0.000,6,0.000,0.025,2721,2511,1808
$GC,9569,0.57,178.0,328.3,10.1,351,9573,0.00,1.60,0.00,0.000,4,0.000,0.028,2729,1411,1806
$GC,9640,0.57,178.0,321.0,10.4,352,9643,0.00,1.70,0.00,0.000,6,0.000,0.043,2729,2518,1806
$GC,9900,0.57,178.0,295.3,10.0,359,9903,0.00,1.58,0.00,0.000,4,0.000,0.050,2728,3524,1805
$GC,9950,0.57,178.0,290.1,10.7,360,9953,0.00,1.52,0.00,0.000,6,0.000,0.025,2735,2490,1805
$GC,10231,0.57,179.4,261.5,9.9,367,10234,0.00,1.60,0.00,0.000,4,0.000,0.048,2735,3520,1805
$GC,10276,0.57,179.4,257.1,10.2,368,10279,0.10,1.48,0.00,0.000,6,0.161,0.024,2712,2521,1805
$GC,10563,0.59,223.8,234.4,7.5,375,10615,0.00,1.62,43.35,0.769,4,0.000,0.026,2720,1406,1616
$GC,10714,0.59,248.1,222.4,8.7,378,10739,0.00,1.70,21.48,0.753,6,0.000,0.042,2715,2503,1518
$GC,11014,0.61,290.7,199.4,7.6,386,11056,0.00,1.65,36.60,0.746,4,0.000,0.048,2716,3519,1345
$GC,11120,0.62,300.1,190.2,9.5,395,11133,0.00,1.50,9.80,0.656,6,0.000,0.024,2721,2514,1306
$GC,11388,0.63,331.0,168.2,8.3,420,11418,0.00,1.62,26.33,0.704,4,0.000,0.027,2723,1403,1181
$GC,11501,0.64,371.1,158.8,7.8,429,11538,0.00,1.65,34.50,0.696,6,0.000,0.038,2723,2461,1016
$GC,11792,0.66,413.5,137.6,7.7,456,11831,0.00,1.73,35.60,0.672,4,0.000,0.045,2723,3530,843
$GC,12075,0.66,413.5,109.5,10.5,481,12082,0.00,1.88,0.00,0.000,6,0.000,0.025,2723,2278,841
$GC,12332,0.67,439.8,84.7,8.5,506,12358,0.00,1.30,22.58,0.617,4,0.000,0.025,2723,1401,737
$GC,12495,0.67,439.8,69.5,10.3,520,12498,0.00,1.25,0.00,0.000,6,0.000,0.035,2723,2217,736
$GC,12758,0.67,439.8,40.3,11.3,545,12761,0.00,1.17,0.00,0.000,4,0.000,0.025,2722,1406,735
$GC,12808,0.67,439.8,34.2,12.3,549,12815,0.00,1.23,0.00,0.000,6,0.000,0.034,2723,2214,735
$GC,13075,0.67,439.8,4.2,11.3,595,13082,0.00,2.03,0.00,0.000,4,0.000,0.044,2723,3524,736
$STATE,13086,end climb,SURFACE_DEPTH_REACHED
$STATE,13086,begin surface coast
$FINISH,0.1,1.023221
$STATE,13115,end surface coast,CONTROL_FINISHED_OK
$STATE,13115,begin surface
$SM_CCo,13199,0.00,0.000,0,0,735,440.31
$SM_GC,0.92,6.80,0.00,0.00,0.023,0.000,0.000,25,2561,735,-7.70,-0.79,440.31
$IRIDIUM_FIX,2244.02,-15751.06,200102,202042
$TT8_MAMPS,0.046787
$HUMID,2259
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,22.80
$XPDR_PINGS,43
$24V_AH,23.7,81.813
$10V_AH,10.4,80.100
$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,17.375,115.000,506.850,0.000,0.000,55.793,75.770,800.160,10.750,0.000,0.000,15.706,0.000,9453.134,509.357,2855.788,1532.803,33.351,1494.054,0.000,2524.363,0.000,0.544,0.000
$DEVICE_MAMPS,200.954,52.923,1046.188,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,405.152,1383.698,1453.122,180.194,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50928,602
$CAP_FILE_SIZE,131832,0
$CFSIZE,260165632,225726464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,271012,001324,2253.305,-15749.928,42,1.3,42,10.1