version: 66.04
glider: 512
mission: 3
dive: 615
start: 10 27 112 0 40 2
data:
$ID,512
$MISSION,3
$DIVE,615
$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,-66184.078
$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,69
$R_STBD_OVSHOOT,28
$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
$GPS1,001324,2253.305,-15749.928,42,1.3,42,10.1
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-81.1
$GPS2,003924,2253.333,-15750.003,15,1.1,26,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.130,-0.201
$KALMAN_X,-174378.9,-482.0,-223.3,165835.4,-520.7
$KALMAN_Y,95350.9,3.0,-32.9,-102848.6,1044.9
$MHEAD_RNG_PITCHd_Wd,137.0,34352,-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,-74.65,0.000,2,0.000,0.000,13,2553,2615
$GC,101,-0.54,-121.7,2.1,-3.2,10,124,9.02,0.00,-9.43,0.000,6,0.201,0.000,2337,2554,3025
$GC,386,-0.54,-121.7,53.6,-16.5,49,389,0.00,1.45,0.00,0.000,4,0.000,0.023,2337,1542,3026
$GC,485,-0.54,-121.7,67.9,-12.6,58,489,0.00,1.60,0.00,0.000,6,0.000,0.037,2333,2590,3026
$GC,749,-0.54,-121.7,102.6,-12.4,83,752,0.00,1.50,0.00,0.000,4,0.000,0.021,2333,1534,3026
$GC,816,-0.54,-121.7,110.3,-10.3,89,819,0.00,1.55,0.00,0.000,6,0.000,0.039,2333,2546,3026
$GC,1079,-0.54,-121.7,141.9,-12.5,114,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2546,3026
$GC,1337,-0.54,-121.7,173.3,-11.5,139,1340,0.00,1.67,0.00,0.000,4,0.000,0.044,2326,3645,3026
$GC,1362,-0.54,-121.7,176.2,-11.7,141,1365,0.00,1.62,0.00,0.000,6,0.000,0.020,2326,2497,3026
$GC,1641,-0.54,-121.7,210.0,-12.1,162,1644,0.00,1.33,0.00,0.000,4,0.000,0.021,2326,1527,3026
$GC,1718,-0.54,-121.7,218.5,-10.6,163,1721,0.08,1.45,0.00,0.000,6,0.114,0.037,2347,2480,3026
$GC,1973,-0.54,-121.7,242.8,-9.3,170,1976,0.00,1.77,0.00,0.000,4,0.000,0.045,2340,3661,3025
$GC,2006,-0.54,-121.7,245.9,-9.6,170,2009,0.00,1.73,0.00,0.000,6,0.000,0.019,2340,2437,3025
$GC,2261,-0.54,-121.7,271.0,-9.9,177,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2429,3024
$GC,2503,-0.54,-121.7,294.6,-9.5,183,2506,0.00,1.88,0.00,0.000,4,0.000,0.043,2331,3660,3023
$GC,2569,-0.54,-121.7,300.8,-9.1,184,2572,0.00,1.70,0.00,0.000,6,0.000,0.019,2331,2482,3023
$GC,2836,-0.54,-121.7,323.5,-8.4,191,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2474,3022
$GC,3076,-0.54,-121.7,343.1,-8.1,197,3080,0.00,1.83,0.00,0.000,4,0.000,0.044,2322,3650,3020
$GC,3126,-0.54,-121.7,347.7,-9.4,198,3129,0.00,1.67,0.00,0.000,6,0.000,0.021,2322,2494,3020
$GC,3407,-0.54,-121.7,373.7,-9.4,205,3409,0.00,0.00,-0.08,0.000,6,0.000,0.000,2322,2486,3040
$GC,3652,-0.54,-121.7,396.2,-9.1,211,3655,0.00,1.83,0.00,0.000,4,0.000,0.044,2313,3654,3038
$GC,3696,-0.54,-121.7,400.5,-9.3,212,3700,0.10,1.65,0.00,0.000,6,0.106,0.021,2350,2514,3038
$GC,3983,-0.54,-121.7,420.1,-6.7,219,3986,0.00,1.77,0.00,0.000,4,0.000,0.045,2346,3659,3036
$GC,4006,-0.54,-121.7,421.6,-6.6,219,4010,0.00,1.60,0.00,0.000,6,0.000,0.021,2346,2544,3035
$GC,4274,-0.54,-121.7,439.9,-6.9,226,4277,0.00,1.40,0.00,0.000,4,0.000,0.023,2346,1540,3033
$GC,4302,-0.54,-121.7,442.3,-7.5,226,4305,0.00,1.90,0.00,0.000,6,0.000,0.044,2346,2793,3034
$GC,4562,-0.54,-121.7,460.7,-7.0,233,4565,0.00,1.80,0.00,0.000,4,0.000,0.023,2346,1549,3031
$GC,4607,-0.54,-121.7,463.9,-7.0,234,4610,0.00,1.85,0.00,0.000,6,0.000,0.044,2346,2730,3030
$GC,4896,-0.54,-121.7,483.5,-6.6,241,4899,0.00,1.42,0.00,0.000,4,0.000,0.051,2339,3648,3028
$GC,4908,-0.54,-121.7,484.5,-6.5,241,4911,0.00,1.20,0.00,0.000,6,0.000,0.025,2339,2804,3028
$GC,5185,-0.54,-121.7,502.9,-6.5,248,5188,0.00,1.77,0.00,0.000,4,0.000,0.025,2339,1544,3026
$GC,5293,-0.54,-121.7,510.9,-7.3,250,5296,0.00,1.67,0.00,0.000,6,0.000,0.042,2333,2640,3025
$GC,5558,-0.54,-121.7,530.7,-7.6,257,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2640,3024
$GC,5801,-0.54,-121.7,550.0,-8.0,263,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2640,3022
$GC,6042,-0.54,-121.7,569.7,-8.2,269,6045,0.00,1.60,0.00,0.000,4,0.000,0.025,2333,1526,3020
$GC,6076,-0.54,-121.7,572.5,-8.2,269,6079,0.00,1.70,0.00,0.000,6,0.000,0.046,2333,2626,3020
$GC,6333,-0.54,-121.7,592.1,-7.7,276,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2627,3019
$STATE,6447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6447,begin apogee
$GC,6458,-0.18,0.0,601.1,7.5,279,6571,0.40,0.00,110.12,1.047,6,0.094,0.000,2467,2466,2530
$STATE,6571,end apogee,CONTROL_FINISHED_OK
$STATE,6571,begin climb
$GC,6576,0.54,121.7,606.5,0.0,282,6700,0.62,1.65,113.47,0.992,4,0.038,0.025,2722,1400,2034
$GC,6782,0.54,121.7,594.6,11.1,286,6788,0.00,1.67,0.00,0.000,6,0.000,0.048,2717,2473,2027
$GC,7032,0.54,121.7,566.2,11.5,293,7034,0.00,1.62,0.00,0.000,4,0.000,0.049,2715,3522,2025
$GC,7124,0.54,121.7,555.3,11.3,295,7127,0.00,1.52,0.00,0.000,6,0.000,0.024,2721,2487,2023
$GC,7406,0.54,121.7,524.3,10.8,302,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2481,2022
$GC,7647,0.54,121.7,499.6,10.2,308,7650,0.00,1.65,0.00,0.000,4,0.000,0.047,2716,3523,2021
$GC,7718,0.55,125.2,492.4,9.8,309,7721,0.00,1.50,0.00,0.000,6,0.000,0.025,2722,2501,2020
$GC,7980,0.55,140.9,468.3,9.1,316,8004,0.00,0.00,18.42,0.838,6,0.000,0.000,2722,2495,1955
$GC,8220,0.55,140.9,443.9,10.4,322,8223,0.00,1.60,0.00,0.000,4,0.000,0.049,2722,3520,1952
$GC,8318,0.55,140.9,432.4,11.9,324,8321,0.00,1.48,0.00,0.000,6,0.000,0.025,2729,2517,1952
$GC,8596,0.55,140.9,402.2,10.9,331,8599,0.00,1.60,0.00,0.000,4,0.000,0.027,2737,1390,1951
$GC,8636,0.55,141.1,398.0,10.0,331,8641,0.12,1.77,0.00,0.000,6,0.160,0.042,2708,2547,1950
$GC,8885,0.56,166.8,376.0,8.6,338,8913,0.00,1.55,23.73,0.890,4,0.000,0.049,2702,3518,1848
$GC,9039,0.56,169.2,361.2,9.9,341,9042,0.00,1.35,0.00,0.000,6,0.000,0.025,2707,2605,1846
$GC,9304,0.57,180.7,336.3,9.4,348,9322,0.00,1.77,13.27,0.824,4,0.000,0.028,2713,1411,1793
$GC,9391,0.58,203.4,328.5,8.7,350,9424,0.00,1.88,23.00,0.786,6,0.000,0.043,2713,2617,1701
$GC,9675,0.58,203.4,300.0,10.0,357,9678,0.00,1.40,0.00,0.000,4,0.000,0.049,2713,3516,1697
$GC,9693,0.58,206.4,298.3,9.8,357,9702,0.00,1.38,3.92,0.535,6,0.000,0.025,2720,2578,1688
$GC,9964,0.58,222.1,272.9,9.1,364,9980,0.00,0.00,15.18,0.786,6,0.000,0.000,2720,2578,1624
$GC,10206,0.59,242.0,251.6,8.9,370,10229,0.00,1.55,17.98,0.778,4,0.000,0.048,2715,3528,1543
$GC,10244,0.59,247.1,248.2,9.7,370,10255,0.00,1.35,6.05,0.624,6,0.000,0.025,2721,2613,1522
$GC,10538,0.60,262.3,221.2,9.2,378,10556,0.00,1.80,14.25,0.736,4,0.000,0.030,2726,1413,1460
$GC,10705,0.61,282.2,206.5,8.9,381,10729,0.00,1.83,18.42,0.737,6,0.000,0.042,2726,2594,1377
$GC,10988,0.62,309.3,183.0,8.5,402,11016,0.00,1.80,23.88,0.726,4,0.000,0.028,2726,1412,1267
$GC,11049,0.63,339.7,177.7,8.3,407,11079,0.00,1.83,26.45,0.708,6,0.000,0.041,2726,2563,1144
$GC,11332,0.64,368.9,154.0,8.4,433,11360,0.00,1.48,25.38,0.687,4,0.000,0.046,2726,3517,1026
$GC,11375,0.65,384.9,150.1,9.1,436,11395,0.00,1.45,15.10,0.650,6,0.000,0.022,2726,2538,959
$GC,11651,0.66,416.3,126.8,8.3,462,11680,0.00,1.65,26.62,0.664,4,0.000,0.025,2726,1407,831
$GC,11927,0.66,416.3,99.0,10.2,486,11935,0.00,1.40,0.00,0.000,6,0.000,0.036,2726,2314,828
$GC,12185,0.67,433.3,75.8,9.1,511,12209,0.00,1.92,15.07,0.595,4,0.000,0.044,2726,3530,762
$GC,12453,0.67,433.3,48.5,11.1,535,12460,0.00,1.90,0.00,0.000,6,0.000,0.024,2726,2238,762
$GC,12718,0.67,433.3,19.6,10.8,568,12725,0.00,2.00,0.00,0.000,4,0.000,0.044,2726,3517,762
$STATE,12852,end climb,SURFACE_DEPTH_REACHED
$STATE,12852,begin surface coast
$FINISH,0.1,0.999307
$STATE,12882,end surface coast,CONTROL_FINISHED_OK
$STATE,12882,begin surface
$SM_CCo,12966,0.00,0.000,0,0,760,433.93
$SM_GC,0.87,6.80,0.00,0.00,0.025,0.000,0.000,45,2560,760,-7.69,-0.85,433.93
$IRIDIUM_FIX,2246.36,-15805.83,210102,000008
$TT8_MAMPS,0.047554
$HUMID,2275
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.90
$XPDR_PINGS,37
$24V_AH,23.5,81.998
$10V_AH,10.4,80.230
$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,17.150,94.875,510.325,0.000,0.000,141.833,217.735,759.430,9.250,0.000,0.000,26.572,0.000,9590.982,521.258,2696.229,1689.301,33.351,1423.023,0.000,2369.184,0.000,0.545,0.000
$DEVICE_MAMPS,200.954,50.622,1046.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,402.687,1380.401,1442.721,183.098,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47952,598
$CAP_FILE_SIZE,123085,0
$CFSIZE,260165632,225673216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,271012,041705,2253.236,-15749.416,29,1.1,29,10.1