version: 66.04
glider: 512
mission: 3
dive: 619
start: 10 27 112 16 42 45
data:
$ID,512
$MISSION,3
$DIVE,619
$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,-66241.969
$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,60
$R_STBD_OVSHOOT,36
$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
$GPS1,160506,2251.766,-15748.155,41,0.8,41,10.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-80.1
$GPS2,164207,2251.992,-15748.301,15,1.6,15,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.090,-0.221
$KALMAN_X,-177623.6,90.4,-601.9,171783.8,222.2
$KALMAN_Y,101560.4,110.6,163.9,-111849.7,854.5
$MHEAD_RNG_PITCHd_Wd,147.8,30624,-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,16,-0.54,-121.7,0.0,0.0,0,99,0.00,0.00,-81.93,0.000,2,0.000,0.000,11,2610,2829
$GC,105,-0.54,-121.7,2.9,-4.5,11,122,9.12,1.60,-4.00,0.000,4,0.205,0.040,2345,1525,3028
$GC,136,-0.54,-121.7,14.4,-32.6,15,143,0.00,1.60,0.00,0.000,6,0.000,0.030,2339,2587,3029
$GC,408,-0.54,-121.7,58.0,-15.9,48,411,0.00,1.52,0.00,0.000,4,0.000,0.021,2340,1522,3029
$GC,458,-0.54,-121.7,66.4,-13.3,52,466,0.00,1.58,0.00,0.000,6,0.000,0.035,2334,2558,3029
$GC,716,-0.54,-121.7,101.0,-13.4,77,719,0.00,1.65,0.00,0.000,4,0.000,0.044,2326,3660,3029
$GC,741,-0.54,-121.7,104.5,-13.1,79,745,0.00,1.60,0.00,0.000,6,0.000,0.018,2326,2540,3029
$GC,1004,-0.54,-121.7,138.3,-12.8,104,1007,0.00,1.38,0.00,0.000,4,0.000,0.020,2326,1536,3029
$GC,1030,-0.54,-121.7,141.3,-12.3,106,1033,0.05,1.55,0.00,0.000,6,0.093,0.035,2350,2559,3029
$GC,1298,-0.54,-121.7,167.1,-9.4,131,1300,0.00,1.62,0.00,0.000,4,0.000,0.043,2343,3651,3029
$GC,1377,-0.54,-121.7,175.3,-9.9,138,1379,0.00,1.52,0.00,0.000,6,0.000,0.018,2343,2573,3029
$GC,1658,-0.54,-121.7,205.4,-10.9,162,1660,0.00,1.42,0.00,0.000,4,0.000,0.021,2343,1543,3029
$GC,1691,-0.54,-121.7,208.9,-9.9,162,1694,0.00,1.60,0.00,0.000,6,0.000,0.036,2336,2618,3029
$GC,1946,-0.54,-121.7,235.0,-10.2,169,1948,0.00,1.52,0.00,0.000,4,0.000,0.020,2335,1543,3028
$GC,1985,-0.54,-121.7,238.6,-9.1,169,1990,0.00,1.55,0.00,0.000,6,0.000,0.038,2333,2559,3029
$GC,2237,-0.54,-121.7,262.2,-9.6,176,2239,0.00,1.65,0.00,0.000,4,0.000,0.044,2325,3662,3028
$GC,2297,-0.54,-121.7,268.9,-10.8,177,2300,0.00,1.50,0.00,0.000,6,0.000,0.019,2325,2605,3027
$GC,2568,-0.54,-121.7,295.7,-9.7,184,2571,0.00,1.48,0.00,0.000,4,0.000,0.021,2325,1541,3027
$GC,2618,-0.54,-121.7,300.3,-9.7,185,2621,0.08,1.67,0.00,0.000,6,0.107,0.038,2348,2633,3027
$GC,2899,-0.54,-121.7,322.0,-7.6,192,2902,0.00,1.55,0.00,0.000,4,0.000,0.046,2342,3650,3025
$GC,2918,-0.54,-121.7,323.4,-7.5,192,2920,0.00,1.48,0.00,0.000,6,0.000,0.020,2342,2608,3024
$GC,3188,-0.54,-121.7,345.0,-7.9,199,3191,0.00,1.48,0.00,0.000,4,0.000,0.021,2342,1549,3022
$GC,3238,-0.54,-121.7,349.0,-8.2,200,3241,0.00,1.62,0.00,0.000,6,0.000,0.038,2334,2630,3022
$GC,3520,-0.54,-121.7,371.8,-8.0,207,3523,0.00,1.55,0.00,0.000,4,0.000,0.046,2326,3645,3020
$GC,3543,-0.54,-121.7,373.6,-7.5,207,3546,0.00,1.50,0.00,0.000,6,0.000,0.021,2327,2602,3020
$GC,3808,-0.54,-121.7,394.0,-7.6,214,3811,0.00,1.50,0.00,0.000,4,0.000,0.023,2326,1536,3018
$GC,3869,-0.54,-121.7,398.8,-8.1,215,3872,0.10,1.60,0.00,0.000,6,0.119,0.039,2348,2597,3018
$GC,4140,-0.54,-121.7,417.0,-6.6,222,4143,0.00,1.67,-0.08,0.000,4,0.000,0.065,2346,3651,3039
$GC,4259,-0.54,-121.7,425.5,-6.8,224,4262,0.00,1.42,0.00,0.000,6,0.000,0.023,2346,2647,3038
$GC,4517,-0.54,-121.7,442.0,-6.3,231,4520,0.00,1.60,0.00,0.000,4,0.000,0.051,2346,3647,3036
$GC,4594,-0.54,-121.7,447.6,-7.3,232,4597,0.00,1.27,0.00,0.000,6,0.000,0.024,2345,2752,3036
$GC,4849,-0.54,-121.7,464.4,-6.4,239,4852,0.00,1.70,0.00,0.000,4,0.000,0.024,2346,1534,3034
$GC,4910,-0.54,-121.7,468.7,-7.3,240,4913,0.00,1.88,0.00,0.000,6,0.000,0.044,2346,2753,3034
$GC,5180,-0.54,-121.7,486.3,-6.3,247,5183,0.00,1.40,0.00,0.000,4,0.000,0.053,2346,3650,3032
$GC,5284,-0.54,-121.7,493.4,-7.2,249,5287,0.00,1.17,0.00,0.000,6,0.000,0.026,2346,2831,3031
$GC,5557,-0.54,-121.7,510.8,-6.4,256,5560,0.00,1.83,0.00,0.000,4,0.000,0.025,2346,1542,3029
$GC,5634,-0.54,-121.7,516.6,-7.5,257,5637,0.00,1.67,0.00,0.000,6,0.000,0.045,2346,2632,3028
$GC,5888,-0.54,-121.7,534.3,-6.9,264,5891,0.00,1.58,0.00,0.000,4,0.000,0.024,2346,1544,3027
$GC,5934,-0.54,-121.7,537.6,-7.7,265,5937,0.00,2.00,0.00,0.000,6,0.000,0.046,2346,2833,3026
$GC,6220,-0.54,-121.7,557.2,-6.7,272,6223,0.00,1.27,0.00,0.000,4,0.000,0.054,2346,3648,3025
$GC,6232,-0.54,-121.7,557.9,-6.4,272,6235,0.00,1.48,0.00,0.000,6,0.000,0.025,2346,2627,3025
$GC,6508,-0.54,-121.7,574.9,-6.1,279,6512,0.00,1.52,0.00,0.000,4,0.000,0.025,2346,1553,3024
$GC,6548,-0.54,-121.7,577.3,-6.1,279,6553,0.00,2.00,0.00,0.000,6,0.000,0.047,2346,2840,3024
$GC,6799,-0.54,-121.7,592.6,-6.0,286,6803,0.00,1.27,0.00,0.000,4,0.000,0.055,2346,3652,3022
$GC,6866,-0.54,-121.7,596.9,-7.0,287,6868,0.00,1.50,0.00,0.000,6,0.000,0.025,2346,2619,3022
$STATE,6924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6924,begin apogee
$GC,6935,-0.18,0.0,600.9,6.2,289,7049,0.35,0.00,111.43,1.047,6,0.079,0.000,2469,2466,2530
$STATE,7049,end apogee,CONTROL_FINISHED_OK
$STATE,7049,begin climb
$GC,7054,0.54,121.7,605.8,0.0,292,7201,0.65,1.77,119.95,0.955,4,0.038,0.046,2716,3523,2033
$GC,7249,0.54,121.7,595.1,13.3,296,7254,0.00,1.60,0.00,0.000,6,0.000,0.023,2722,2445,2029
$GC,7498,0.54,121.7,564.3,12.2,303,7501,0.00,1.73,0.00,0.000,4,0.000,0.048,2723,3533,2025
$GC,7547,0.54,121.7,557.9,12.8,304,7550,0.00,1.55,0.00,0.000,6,0.000,0.024,2731,2488,2025
$GC,7831,0.54,121.7,525.3,11.4,311,7834,0.00,1.58,0.00,0.000,4,0.000,0.026,2739,1401,2023
$GC,7854,0.54,121.7,522.5,11.5,311,7858,0.10,1.73,0.00,0.000,6,0.146,0.042,2709,2509,2021
$GC,8119,0.54,121.7,495.5,10.0,318,8123,0.00,1.58,0.00,0.000,4,0.000,0.048,2702,3518,2021
$GC,8185,0.54,121.7,488.2,11.4,319,8188,0.00,1.50,0.00,0.000,6,0.000,0.025,2708,2495,2020
$GC,8453,0.54,121.7,460.7,10.5,326,8456,0.00,1.62,0.00,0.000,4,0.000,0.047,2702,3536,2019
$GC,8481,0.54,121.7,457.2,11.4,326,8484,0.00,1.48,0.00,0.000,6,0.000,0.025,2708,2528,2019
$GC,8741,0.55,126.2,431.2,9.7,333,8744,0.00,1.60,0.00,0.000,4,0.000,0.028,2717,1394,2019
$GC,8775,0.55,139.7,428.0,9.3,333,8800,0.00,1.77,17.05,0.810,6,0.000,0.044,2715,2549,1959
$GC,9069,0.55,148.0,399.7,9.5,341,9082,0.00,1.52,8.85,0.808,4,0.000,0.049,2715,3514,1926
$GC,9112,0.55,148.0,394.8,10.8,342,9115,0.00,1.42,0.00,0.000,6,0.000,0.025,2721,2552,1925
$GC,9399,0.56,149.2,366.0,9.9,349,9402,0.00,1.65,0.00,0.000,4,0.000,0.028,2728,1421,1924
$GC,9508,0.57,177.2,356.5,8.5,351,9538,0.00,1.73,26.83,0.880,6,0.000,0.044,2728,2540,1807
$GC,9809,0.57,177.2,325.7,10.4,359,9813,0.00,1.52,0.00,0.000,4,0.000,0.050,2728,3511,1802
$GC,9886,0.57,177.2,316.9,11.2,360,9889,0.00,1.35,0.00,0.000,6,0.000,0.025,2735,2595,1801
$GC,10140,0.57,177.2,289.1,10.8,367,10144,0.00,1.73,0.00,0.000,4,0.000,0.029,2739,1419,1800
$GC,10211,0.57,181.2,282.0,9.8,368,10219,0.00,1.83,3.90,0.534,6,0.000,0.044,2740,2597,1791
$GC,10472,0.57,181.2,255.4,10.1,375,10474,0.00,1.42,0.00,0.000,4,0.000,0.049,2739,3518,1790
$GC,10542,0.57,181.2,247.3,11.0,376,10545,0.10,1.42,0.00,0.000,6,0.159,0.024,2717,2545,1790
$GC,10802,0.58,220.5,226.3,7.8,383,10848,0.00,1.70,37.25,0.758,4,0.000,0.028,2723,1416,1631
$GC,10883,0.60,250.3,219.7,8.4,385,10913,0.00,1.77,26.42,0.759,6,0.000,0.043,2723,2554,1509
$GC,11166,0.60,268.4,194.1,9.0,395,11191,0.00,1.52,16.45,0.719,4,0.000,0.047,2723,3516,1434
$GC,11209,0.60,271.3,189.7,9.8,398,11217,0.00,1.40,4.00,0.477,6,0.000,0.025,2726,2575,1424
$GC,11472,0.62,301.7,167.5,8.3,423,11502,0.00,1.73,26.58,0.713,4,0.000,0.028,2726,1404,1299
$GC,11613,0.63,333.8,155.4,8.2,435,11651,0.00,1.77,27.80,0.698,6,0.000,0.038,2726,2538,1168
$GC,11900,0.65,380.1,132.3,7.4,462,11943,0.00,1.52,38.95,0.680,4,0.000,0.044,2726,3520,979
$GC,11972,0.67,436.3,126.8,6.9,467,12030,0.00,1.77,47.42,0.668,6,0.000,0.023,2726,2337,749
$GC,12279,0.67,436.3,99.7,11.1,496,12283,0.00,1.88,0.00,0.000,4,0.000,0.047,2725,3516,746
$GC,12532,0.67,438.1,73.9,9.9,519,12535,0.00,1.62,0.00,0.000,6,0.000,0.023,2726,2395,746
$GC,12796,0.67,438.1,47.3,11.4,544,12798,0.00,1.75,0.00,0.000,4,0.000,0.044,2726,3526,746
$GC,13048,0.67,438.1,18.3,12.5,576,13055,0.00,1.65,0.00,0.000,6,0.000,0.021,2726,2384,746
$STATE,13182,end climb,SURFACE_DEPTH_REACHED
$STATE,13182,begin surface coast
$FINISH,0.0,1.010073
$STATE,13213,end surface coast,CONTROL_FINISHED_OK
$STATE,13213,begin surface
$SM_CCo,13297,0.00,0.000,0,0,745,437.85
$SM_GC,1.04,6.82,0.00,0.00,0.026,0.000,0.000,40,2624,745,-7.69,0.96,437.85
$IRIDIUM_FIX,2241.69,-15824.51,210102,161658
$TT8_MAMPS,0.047554
$HUMID,2281
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,22.90
$XPDR_PINGS,42
$24V_AH,23.8,82.716
$10V_AH,10.4,80.750
$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,17.375,124.275,512.875,0.000,0.000,146.688,183.722,1447.814,10.500,0.000,0.000,15.274,0.000,9693.741,536.724,2829.594,2430.436,33.354,1523.721,0.000,2502.122,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,65.195,1046.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,407.574,1390.276,1467.392,179.276,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51073,606
$CAP_FILE_SIZE,148582,0
$CFSIZE,260165632,225394688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,271012,202530,2251.623,-15747.876,40,1.6,40,10.1