version: 66.04
glider: 512
mission: 3
dive: 622
start: 10 28 112 4 28 32
data:
$ID,512
$MISSION,3
$DIVE,622
$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,522.72577
$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,-66289.891
$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,55
$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
$GPS1,040306,2250.969,-15747.299,40,1.0,40,10.1
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-79.1
$GPS2,042754,2250.943,-15747.416,11,1.2,16,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.027,-0.237
$KALMAN_X,-180496.2,-446.7,-641.3,176742.8,587.9
$KALMAN_Y,106411.9,302.9,-143.5,-118525.2,1578.6
$MHEAD_RNG_PITCHd_Wd,163.4,28162,-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,-121.7,0.0,0.0,0,91,0.00,0.00,-74.25,0.000,2,0.000,0.000,19,2614,2582
$GC,96,-0.54,-121.7,2.2,-3.9,10,120,9.07,1.62,-10.38,0.000,4,0.202,0.039,2345,1511,3027
$GC,178,-0.54,-121.7,17.6,-14.0,23,186,0.00,1.65,0.00,0.000,6,0.000,0.038,2345,2580,3027
$GC,445,-0.54,-121.7,58.3,-15.9,55,448,0.00,1.52,0.00,0.000,4,0.000,0.021,2345,1513,3027
$GC,470,-0.54,-121.7,63.0,-15.6,57,473,0.00,1.62,0.00,0.000,6,0.000,0.035,2338,2595,3028
$GC,733,-0.54,-121.7,101.6,-13.1,82,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2595,3027
$GC,991,-0.54,-121.7,132.5,-11.9,107,994,0.00,1.52,0.00,0.000,4,0.000,0.021,2339,1523,3027
$GC,1030,-0.54,-121.7,137.0,-10.7,110,1037,0.00,1.62,0.00,0.000,6,0.000,0.036,2333,2591,3028
$GC,1288,-0.54,-121.7,166.4,-11.7,135,1291,0.00,1.60,0.00,0.000,4,0.000,0.043,2326,3668,3027
$GC,1313,-0.54,-121.7,169.4,-11.8,137,1316,0.00,1.60,0.00,0.000,6,0.000,0.019,2325,2553,3027
$GC,1576,-0.54,-121.7,200.2,-11.3,162,1579,0.00,1.40,0.00,0.000,4,0.000,0.021,2325,1537,3027
$GC,1631,-0.54,-121.7,206.3,-10.3,163,1634,0.08,1.55,0.00,0.000,6,0.123,0.036,2346,2555,3027
$GC,1907,-0.54,-121.7,230.3,-8.5,170,1911,0.00,1.67,0.00,0.000,4,0.000,0.045,2339,3652,3027
$GC,1962,-0.54,-121.7,235.2,-8.3,171,1965,0.00,1.55,0.00,0.000,6,0.000,0.018,2339,2558,3026
$GC,2238,-0.54,-121.7,260.6,-9.6,178,2241,0.00,1.40,0.00,0.000,4,0.000,0.021,2340,1540,3026
$GC,2299,-0.54,-121.7,266.5,-9.7,179,2302,0.00,1.55,0.00,0.000,6,0.000,0.036,2333,2561,3026
$GC,2572,-0.54,-121.7,293.9,-10.1,186,2575,0.00,1.65,0.00,0.000,4,0.000,0.044,2325,3662,3024
$GC,2595,-0.54,-121.7,296.4,-9.9,186,2598,0.00,1.58,0.00,0.000,6,0.000,0.019,2325,2551,3025
$GC,2860,-0.54,-121.7,322.0,-9.3,193,2863,0.00,1.38,0.00,0.000,4,0.000,0.021,2325,1546,3024
$GC,2905,-0.54,-121.7,325.8,-8.2,194,2909,0.08,1.58,0.00,0.000,6,0.110,0.037,2348,2574,3023
$GC,3194,-0.54,-121.7,345.6,-6.7,201,3197,0.00,1.62,0.00,0.000,4,0.000,0.046,2341,3655,3021
$GC,3254,-0.54,-121.7,350.4,-7.9,202,3258,0.00,1.50,0.00,0.000,6,0.000,0.020,2341,2593,3021
$GC,3526,-0.54,-121.7,371.2,-7.6,209,3529,0.00,1.45,0.00,0.000,4,0.000,0.021,2341,1542,3019
$GC,3543,-0.54,-121.7,372.7,-7.7,209,3546,0.00,1.62,0.00,0.000,6,0.000,0.039,2333,2623,3019
$GC,3816,-0.54,-121.7,394.5,-8.0,216,3819,0.00,1.58,-0.08,0.000,4,0.000,0.064,2326,3653,3040
$GC,3866,-0.54,-121.7,398.8,-8.0,217,3869,0.00,1.45,0.00,0.000,6,0.000,0.021,2325,2630,3039
$GC,4148,-0.54,-121.7,423.5,-8.7,224,4151,0.00,1.52,0.00,0.000,4,0.000,0.022,2326,1544,3037
$GC,4208,-0.54,-121.7,429.0,-9.4,225,4212,0.08,1.65,0.00,0.000,6,0.108,0.040,2348,2614,3037
$GC,4479,-0.54,-121.7,449.4,-7.4,232,4482,0.00,1.52,0.00,0.000,4,0.000,0.021,2348,1548,3034
$GC,4502,-0.54,-121.7,451.2,-7.9,232,4505,0.00,1.95,0.00,0.000,6,0.000,0.043,2346,2820,3034
$GC,4768,-0.54,-121.7,470.7,-7.1,239,4771,0.00,1.27,0.00,0.000,4,0.000,0.050,2340,3647,3032
$GC,4888,-0.54,-121.7,479.1,-6.7,241,4890,0.00,1.38,0.00,0.000,6,0.000,0.024,2340,2681,3031
$GC,5142,-0.54,-121.7,494.8,-5.9,248,5145,0.00,1.52,0.00,0.000,4,0.000,0.049,2333,3644,3029
$GC,5267,-0.54,-121.7,503.3,-7.2,250,5274,0.00,1.15,0.00,0.000,6,0.000,0.026,2333,2833,3027
$GC,5516,-0.54,-121.7,520.9,-7.1,257,5519,0.00,1.30,0.00,0.000,4,0.000,0.051,2327,3654,3026
$GC,5577,-0.54,-121.7,525.5,-8.5,258,5580,0.00,1.42,0.00,0.000,6,0.000,0.023,2327,2658,3026
$GC,5847,-0.54,-121.7,546.9,-7.7,265,5850,0.00,1.58,0.00,0.000,4,0.000,0.025,2327,1549,3025
$GC,5919,-0.54,-121.7,552.2,-7.4,266,5922,0.12,1.67,0.00,0.000,6,0.110,0.043,2356,2641,3024
$GC,6179,-0.54,-121.7,565.8,-4.9,273,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2642,3022
$GC,6421,-0.54,-121.7,577.8,-4.9,279,6424,0.00,1.58,0.00,0.000,4,0.000,0.054,2349,3647,3020
$GC,6487,-0.54,-121.7,581.3,-5.7,280,6490,0.00,1.10,0.00,0.000,6,0.000,0.028,2350,2884,3020
$GC,6753,-0.54,-121.7,596.6,-5.9,287,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2884,3019
$STATE,6827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6828,begin apogee
$GC,6838,-0.18,0.0,601.1,5.6,289,6952,0.35,0.00,111.03,1.041,6,0.091,0.000,2468,2478,2530
$STATE,6952,end apogee,CONTROL_FINISHED_OK
$STATE,6952,begin climb
$GC,6957,0.54,121.7,605.9,0.0,292,7083,0.60,1.65,113.88,0.995,4,0.040,0.026,2713,1410,2033
$GC,7205,0.54,121.7,590.2,10.6,297,7210,0.00,1.65,0.00,0.000,6,0.000,0.043,2713,2469,2026
$GC,7454,0.54,121.7,563.1,10.8,304,7457,0.00,1.62,0.00,0.000,4,0.000,0.049,2713,3522,2024
$GC,7611,0.54,121.7,544.7,11.8,307,7614,0.00,1.50,0.00,0.000,6,0.000,0.024,2721,2501,2022
$GC,7871,0.54,121.7,516.8,10.5,314,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2494,2021
$GC,8113,0.54,121.7,491.3,10.6,320,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2495,2020
$GC,8358,0.54,122.1,466.4,10.0,326,8361,0.00,1.62,0.00,0.000,4,0.000,0.048,2716,3538,2019
$GC,8434,0.54,122.1,457.8,12.0,327,8437,0.00,1.45,0.00,0.000,6,0.000,0.025,2721,2540,2019
$GC,8689,0.54,122.1,431.6,10.3,334,8692,0.00,1.62,0.00,0.000,4,0.000,0.028,2729,1395,2018
$GC,8760,0.55,129.2,424.5,9.6,335,8768,0.00,1.73,5.50,0.716,6,0.000,0.044,2729,2520,2003
$GC,9016,0.55,129.2,398.3,10.2,341,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2520,2002
$GC,9257,0.55,131.5,374.2,9.9,347,9260,0.00,1.55,0.00,0.000,4,0.000,0.050,2729,3515,2001
$GC,9354,0.55,136.1,363.7,9.7,349,9367,0.10,1.48,7.88,0.778,6,0.177,0.024,2696,2500,1975
$GC,9632,0.57,179.8,342.1,7.6,356,9683,0.00,1.60,42.08,0.850,4,0.000,0.026,2704,1398,1796
$GC,9712,0.58,215.9,335.7,8.0,358,9752,0.00,1.77,32.83,0.848,6,0.000,0.042,2702,2530,1648
$GC,9996,0.59,231.4,309.8,9.1,365,10015,0.00,1.58,13.68,0.788,4,0.000,0.048,2702,3515,1586
$GC,10104,0.59,234.0,299.2,9.9,367,10107,0.00,1.35,0.00,0.000,6,0.000,0.025,2707,2605,1584
$GC,10369,0.60,255.1,275.6,8.8,374,10403,0.00,1.75,23.27,0.748,4,0.000,0.027,2709,1422,1488
$GC,10524,0.61,298.6,263.4,7.6,377,10567,0.00,1.75,38.05,0.800,6,0.000,0.041,2709,2555,1311
$GC,10829,0.63,334.7,238.0,8.0,385,10863,0.00,1.52,30.92,0.771,4,0.000,0.048,2709,3528,1164
$GC,10936,0.63,334.7,228.5,10.0,386,10939,0.00,1.65,0.00,0.000,6,0.000,0.025,2709,2423,1163
$GC,11196,0.65,388.1,209.4,7.0,393,11245,0.00,1.52,45.10,0.748,4,0.000,0.027,2709,1396,946
$GC,11292,0.67,432.8,202.6,7.5,395,11338,0.00,1.27,38.35,0.726,6,0.000,0.040,2709,2204,763
$GC,11587,0.67,432.8,172.2,10.8,421,11590,0.00,2.03,0.00,0.000,4,0.000,0.048,2702,3516,760
$GC,11838,0.67,432.8,145.1,10.9,444,11841,0.12,1.88,0.00,0.000,6,0.094,0.024,2751,2234,760
$GC,12106,0.68,463.5,123.8,8.3,469,12135,0.00,1.17,25.90,0.651,4,0.000,0.027,2752,1402,639
$GC,12243,0.68,463.5,110.7,11.9,481,12245,0.00,1.52,0.00,0.000,6,0.000,0.037,2752,2390,637
$GC,12505,0.68,463.5,83.3,10.5,506,12509,0.00,1.75,0.00,0.000,4,0.000,0.047,2752,3518,637
$GC,12587,0.69,483.0,75.5,8.9,513,12608,0.00,1.58,17.23,0.593,6,0.000,0.022,2752,2435,560
$GC,12862,0.69,483.0,49.4,10.7,539,12865,0.00,1.67,0.00,0.000,4,0.000,0.044,2752,3524,559
$GC,13114,0.69,483.0,17.9,11.8,570,13121,0.00,1.60,0.00,0.000,6,0.000,0.021,2751,2408,559
$STATE,13242,end climb,SURFACE_DEPTH_REACHED
$STATE,13242,begin surface coast
$FINISH,0.3,1.023314
$STATE,13269,end surface coast,CONTROL_FINISHED_OK
$STATE,13269,begin surface
$SM_CCo,13292,22.55,0.534,0,0,398,522.73
$SM_GC,0.81,0.00,0.00,22.55,0.000,0.000,0.534,24,2613,398,-7.82,0.65,522.73
$IRIDIUM_FIX,2244.02,-15748.90,220102,040427
$TT8_MAMPS,0.047554
$HUMID,2305
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,22.10
$XPDR_PINGS,26
$24V_AH,23.7,83.222
$10V_AH,10.4,81.129
$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,17.450,103.625,545.675,22.550,0.000,152.114,223.618,666.404,6.500,0.000,0.000,17.034,0.000,9732.077,565.985,2832.860,1649.870,33.351,1544.568,0.000,2503.253,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,63.661,1040.819,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,403.066,1354.026,1423.509,178.083,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47767,598
$CAP_FILE_SIZE,133259,0
$CFSIZE,260165632,225214464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,281012,081136,2250.414,-15746.844,36,0.8,36,10.1