version: 66.04
glider: 512
mission: 3
dive: 621
start: 10 28 112 0 26 33
data:
$ID,512
$MISSION,3
$DIVE,621
$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,-66272.227
$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,64
$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
$GPS1,001306,2251.046,-15747.507,33,1.2,33,10.1
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,3
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-79.3
$GPS2,002555,2251.045,-15747.588,16,1.9,16,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.166,-0.172
$KALMAN_X,-179526.6,-521.9,137.5,174777.3,-1176.9
$KALMAN_Y,104747.2,112.1,-117.5,-116502.1,942.2
$MHEAD_RNG_PITCHd_Wd,126.0,28489,-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,-121.7,0.0,0.0,0,103,0.00,0.00,-82.03,0.000,2,0.000,0.000,20,2613,2851
$GC,109,-0.54,-121.7,2.7,-3.7,11,126,9.05,1.60,-3.53,0.000,4,0.202,0.038,2347,1522,3028
$GC,177,-0.54,-121.7,21.2,-15.6,22,185,0.00,1.65,0.00,0.000,6,0.000,0.037,2346,2590,3029
$GC,444,-0.54,-121.7,62.9,-14.9,52,447,0.00,1.52,0.00,0.000,4,0.000,0.022,2346,1531,3029
$GC,494,-0.54,-121.7,70.0,-11.9,56,502,0.00,1.60,0.00,0.000,6,0.000,0.038,2346,2572,3029
$GC,752,-0.54,-121.7,100.6,-11.2,81,754,0.00,1.62,0.00,0.000,4,0.000,0.044,2338,3654,3029
$GC,799,-0.54,-121.7,106.1,-11.6,85,802,0.00,1.58,0.00,0.000,6,0.000,0.019,2338,2552,3029
$GC,1062,-0.54,-121.7,138.2,-12.5,110,1065,0.00,1.40,0.00,0.000,4,0.000,0.021,2338,1540,3029
$GC,1132,-0.54,-121.7,146.5,-10.4,116,1140,0.00,1.52,0.00,0.000,6,0.000,0.036,2333,2541,3030
$GC,1390,-0.54,-121.7,174.9,-9.9,141,1394,0.00,1.70,0.00,0.000,4,0.000,0.044,2324,3653,3029
$GC,1419,-0.54,-121.7,178.4,-11.3,143,1426,0.00,1.60,0.00,0.000,6,0.000,0.018,2324,2535,3030
$GC,1703,-0.54,-121.7,208.9,-11.0,165,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2526,3029
$GC,1948,-0.54,-121.7,237.1,-12.0,171,1951,0.00,1.38,0.00,0.000,4,0.000,0.021,2324,1540,3029
$GC,1998,-0.54,-121.7,242.9,-10.2,172,2001,0.08,1.42,0.00,0.000,6,0.117,0.035,2346,2480,3029
$GC,2279,-0.54,-121.7,269.8,-9.6,179,2282,0.00,1.80,0.00,0.000,4,0.000,0.047,2339,3650,3029
$GC,2393,-0.54,-121.7,280.9,-9.6,181,2396,0.00,1.60,0.00,0.000,6,0.000,0.020,2339,2506,3028
$GC,2653,-0.54,-121.7,303.4,-8.6,188,2656,0.00,1.33,0.00,0.000,4,0.000,0.021,2339,1542,3027
$GC,2692,-0.54,-121.7,306.6,-7.2,188,2697,0.00,1.45,0.00,0.000,6,0.000,0.038,2333,2493,3027
$GC,2942,-0.54,-121.7,328.0,-8.7,195,2945,0.00,1.75,0.00,0.000,4,0.000,0.047,2324,3651,3026
$GC,3035,-0.54,-121.7,336.2,-8.6,197,3037,0.00,1.60,0.00,0.000,6,0.000,0.020,2326,2508,3025
$GC,3316,-0.54,-121.7,360.9,-8.8,204,3319,0.00,1.35,0.00,0.000,4,0.000,0.022,2326,1532,3023
$GC,3345,-0.54,-121.7,363.6,-9.4,204,3348,0.00,1.52,0.00,0.000,6,0.000,0.038,2321,2528,3023
$GC,3607,-0.54,-121.7,388.3,-9.6,211,3610,0.00,1.70,0.00,0.000,4,0.000,0.047,2312,3653,3021
$GC,3668,-0.54,-121.7,394.5,-9.5,212,3671,0.12,1.60,0.00,0.000,6,0.123,0.021,2348,2511,3020
$GC,3939,-0.54,-121.7,412.3,-6.0,219,3942,0.00,1.35,0.00,0.000,4,0.000,0.022,2349,1533,3019
$GC,3967,-0.54,-121.7,413.9,-5.7,219,3970,0.00,1.85,0.00,0.000,6,0.000,0.043,2346,2750,3019
$GC,4229,-0.54,-121.7,427.5,-5.1,226,4232,0.00,1.42,-0.08,0.000,4,0.000,0.069,2340,3651,3041
$GC,4284,-0.54,-121.7,430.9,-6.2,227,4287,0.00,1.25,0.00,0.000,6,0.000,0.023,2340,2762,3040
$GC,4561,-0.54,-121.7,449.6,-6.9,234,4564,0.00,1.70,0.00,0.000,4,0.000,0.024,2340,1544,3038
$GC,4589,-0.54,-121.7,451.7,-7.5,234,4592,0.00,1.98,0.00,0.000,6,0.000,0.043,2333,2816,3038
$GC,4851,-0.54,-121.7,471.8,-7.7,241,4854,0.00,1.83,0.00,0.000,4,0.000,0.023,2333,1535,3036
$GC,4907,-0.54,-121.7,476.3,-8.0,242,4910,0.00,1.88,0.00,0.000,6,0.000,0.043,2324,2764,3036
$GC,5183,-0.54,-121.7,498.5,-8.0,249,5186,0.00,1.77,0.00,0.000,4,0.000,0.024,2324,1542,3034
$GC,5244,-0.54,-121.7,503.5,-8.2,250,5247,0.12,1.77,0.00,0.000,6,0.115,0.043,2355,2701,3034
$GC,5515,-0.54,-121.7,521.4,-6.5,257,5518,0.00,1.67,0.00,0.000,4,0.000,0.024,2355,1539,3032
$GC,5543,-0.54,-121.7,523.6,-7.4,257,5546,0.00,2.08,0.00,0.000,6,0.000,0.045,2347,2887,3032
$GC,5803,-0.54,-121.7,543.0,-7.6,264,5806,0.00,1.17,0.00,0.000,4,0.000,0.054,2346,3641,3029
$GC,5831,-0.54,-121.7,545.2,-8.1,264,5834,0.00,1.40,0.00,0.000,6,0.000,0.025,2346,2667,3029
$GC,6094,-0.54,-121.7,565.2,-7.6,271,6097,0.00,1.60,0.00,0.000,4,0.000,0.025,2346,1522,3028
$GC,6160,-0.54,-121.7,570.9,-8.3,272,6163,0.00,2.10,0.00,0.000,6,0.000,0.047,2346,2874,3027
$GC,6425,-0.54,-121.7,591.2,-7.6,279,6428,0.00,1.20,0.00,0.000,4,0.000,0.054,2346,3641,3026
$GC,6460,-0.54,-121.7,593.7,-7.8,279,6462,0.00,1.42,0.00,0.000,6,0.000,0.025,2345,2653,3026
$STATE,6548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6548,begin apogee
$GC,6558,-0.18,0.0,600.7,7.4,282,6672,0.38,0.00,112.15,1.041,6,0.078,0.000,2477,2472,2530
$STATE,6673,end apogee,CONTROL_FINISHED_OK
$STATE,6673,begin climb
$GC,6678,0.54,121.7,606.8,0.0,285,6803,0.57,1.77,114.38,0.992,4,0.035,0.047,2714,3526,2033
$GC,6827,0.54,121.7,600.8,12.3,288,6830,0.00,1.62,0.00,0.000,6,0.000,0.023,2722,2438,2031
$GC,7092,0.54,121.7,569.0,12.0,295,7095,0.00,1.73,0.00,0.000,4,0.000,0.048,2716,3530,2025
$GC,7158,0.54,121.7,560.5,13.1,296,7161,0.00,1.52,0.00,0.000,6,0.000,0.023,2722,2496,2025
$GC,7423,0.54,121.7,530.0,11.4,303,7426,0.00,1.58,0.00,0.000,4,0.000,0.026,2730,1401,2023
$GC,7451,0.54,121.7,526.8,10.9,303,7454,0.00,1.73,0.00,0.000,6,0.000,0.042,2729,2530,2021
$GC,7711,0.54,121.7,498.7,10.7,310,7714,0.00,1.55,0.00,0.000,4,0.000,0.049,2729,3523,2021
$GC,7825,0.54,121.7,485.4,12.1,312,7829,0.10,1.42,0.00,0.000,6,0.178,0.024,2706,2547,2020
$GC,8085,0.55,131.0,460.5,9.5,319,8094,0.00,0.00,7.62,0.802,6,0.000,0.000,2706,2540,1995
$GC,8327,0.55,132.0,436.5,9.9,325,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2540,1992
$GC,8572,0.56,151.5,414.5,8.9,331,8602,0.00,1.70,21.65,0.833,4,0.000,0.028,2715,1398,1912
$GC,8668,0.56,165.9,405.8,9.2,333,8686,0.00,1.77,14.50,0.858,6,0.000,0.043,2714,2546,1852
$GC,8937,0.56,165.9,378.9,10.2,340,8940,0.00,1.52,0.00,0.000,4,0.000,0.050,2715,3517,1847
$GC,9057,0.56,165.9,364.6,12.6,342,9060,0.00,1.40,0.00,0.000,6,0.000,0.024,2721,2557,1847
$GC,9311,0.56,165.9,336.5,10.9,349,9314,0.00,1.65,0.00,0.000,4,0.000,0.027,2729,1399,1846
$GC,9356,0.56,165.9,331.9,10.4,350,9359,0.00,1.80,0.00,0.000,6,0.000,0.041,2729,2573,1845
$GC,9643,0.56,167.4,302.9,9.9,357,9646,0.00,1.48,0.00,0.000,4,0.000,0.049,2729,3522,1845
$GC,9687,0.56,167.4,298.3,10.6,358,9690,0.00,1.38,0.00,0.000,6,0.000,0.024,2734,2579,1845
$GC,9974,0.57,176.9,270.6,9.5,365,9987,0.00,1.70,10.02,0.750,4,0.000,0.027,2739,1400,1808
$GC,10140,0.58,212.7,257.3,8.0,368,10177,0.00,1.83,32.35,0.805,6,0.000,0.041,2739,2571,1662
$GC,10437,0.58,217.2,229.3,9.7,376,10445,0.00,1.73,5.12,0.581,4,0.000,0.025,2748,1401,1644
$GC,10481,0.58,217.2,224.6,10.8,377,10484,0.00,1.70,0.00,0.000,6,0.000,0.042,2742,2502,1643
$GC,10740,0.58,217.2,197.3,10.6,384,10743,0.00,1.58,0.00,0.000,4,0.000,0.049,2742,3511,1642
$GC,10865,0.58,217.2,183.8,10.3,395,10873,0.10,1.45,0.00,0.000,6,0.148,0.023,2717,2517,1642
$GC,11127,0.60,271.1,165.4,7.0,420,11179,0.00,1.62,46.38,0.720,4,0.000,0.025,2725,1399,1423
$GC,11207,0.62,315.3,158.9,7.6,426,11251,0.00,1.77,37.83,0.696,6,0.000,0.040,2725,2525,1243
$GC,11502,0.63,332.6,132.8,9.0,454,11527,0.00,1.60,15.38,0.644,4,0.000,0.045,2725,3528,1173
$GC,11545,0.63,336.0,128.6,9.8,457,11553,0.00,1.52,4.62,0.466,6,0.000,0.024,2725,2508,1159
$GC,11807,0.65,390.5,107.8,7.0,482,11858,0.00,1.65,45.83,0.650,4,0.000,0.026,2725,1407,936
$GC,11913,0.67,447.6,100.3,6.8,491,11964,0.00,1.42,47.40,0.635,6,0.000,0.036,2725,2321,704
$GC,12213,0.67,447.6,71.8,10.1,519,12216,0.00,1.35,0.00,0.000,4,0.000,0.027,2725,1415,701
$GC,12463,0.67,447.6,43.5,11.4,542,12466,0.00,1.40,0.00,0.000,6,0.000,0.036,2726,2333,700
$GC,12727,0.67,447.6,13.2,12.1,579,12735,0.00,1.35,0.00,0.000,4,0.000,0.025,2725,1407,700
$STATE,12814,end climb,SURFACE_DEPTH_REACHED
$STATE,12814,begin surface coast
$FINISH,0.0,1.023243
$STATE,12841,end surface coast,CONTROL_FINISHED_OK
$STATE,12841,begin surface
$SM_CCo,12926,0.00,0.000,0,0,698,449.14
$SM_GC,0.91,6.82,0.00,0.00,0.025,0.000,0.000,37,2616,698,-7.71,0.71,449.14
$IRIDIUM_FIX,2244.02,-15748.90,210102,202024
$TT8_MAMPS,0.046787
$HUMID,2252
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.20
$XPDR_PINGS,40
$24V_AH,23.7,83.029
$10V_AH,10.4,80.998
$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,17.350,115.125,515.225,0.000,0.000,28.279,32.602,528.371,10.000,0.000,0.000,16.702,0.000,9224.136,512.677,2758.854,1171.339,33.349,1468.364,0.000,2430.809,0.000,0.543,0.000
$DEVICE_MAMPS,201.721,69.030,1040.819,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,403.078,1395.599,1460.324,180.876,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47907,600
$CAP_FILE_SIZE,124004,0
$CFSIZE,260165632,225300480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,281012,040306,2250.969,-15747.299,40,1.0,40,10.1