version: 66.04
glider: 512
mission: 3
dive: 623
start: 10 28 112 8 41 8
data:
$ID,512
$MISSION,3
$DIVE,623
$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,-66301.758
$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,38
$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
$GPS1,081136,2250.414,-15746.844,36,0.8,36,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-78.6
$GPS2,084030,2250.372,-15747.072,11,1.4,11,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.122,-0.205
$KALMAN_X,-181333.3,-51.2,77.3,177050.7,241.3
$KALMAN_Y,107632.3,292.7,436.6,-121364.9,107.0
$MHEAD_RNG_PITCHd_Wd,139.2,26962,-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,15,begin dive
$GC,20,-0.54,-121.7,0.0,0.0,0,111,0.00,0.00,-89.47,0.000,2,0.000,0.000,12,2610,2683
$GC,117,-0.54,-121.7,2.2,-2.1,12,138,9.10,1.52,-7.60,0.000,4,0.206,0.047,2336,3657,3025
$GC,169,-0.54,-121.7,15.6,-18.4,20,176,0.00,1.55,0.00,0.000,6,0.000,0.019,2338,2584,3026
$GC,436,-0.54,-121.7,57.0,-15.9,53,439,0.00,1.48,0.00,0.000,4,0.000,0.022,2338,1531,3026
$GC,547,-0.54,-121.7,72.7,-12.4,63,550,0.00,1.50,0.00,0.000,6,0.000,0.035,2333,2520,3026
$GC,810,-0.54,-121.7,108.5,-13.0,88,813,0.00,1.70,0.00,0.000,4,0.000,0.043,2324,3638,3026
$GC,849,-0.54,-121.7,113.9,-13.0,91,856,0.00,1.58,0.00,0.000,6,0.000,0.018,2324,2534,3026
$GC,1106,-0.54,-121.7,147.0,-13.0,116,1109,0.00,1.38,0.00,0.000,4,0.000,0.021,2324,1537,3026
$GC,1175,-0.54,-121.7,155.0,-10.7,122,1178,0.08,1.45,0.00,0.000,6,0.120,0.035,2345,2497,3025
$GC,1442,-0.54,-121.7,181.0,-9.5,147,1445,0.00,1.73,0.00,0.000,4,0.000,0.044,2338,3648,3026
$GC,1510,-0.54,-121.7,187.9,-9.3,153,1513,0.00,1.58,0.00,0.000,6,0.000,0.019,2338,2541,3026
$GC,1799,-0.54,-121.7,215.7,-9.4,169,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2533,3026
$GC,2040,-0.54,-121.7,239.0,-9.5,175,2043,0.00,1.67,0.00,0.000,4,0.000,0.042,2330,3641,3024
$GC,2063,-0.54,-121.7,241.2,-9.6,175,2066,0.00,1.50,0.00,0.000,6,0.000,0.019,2330,2579,3025
$GC,2329,-0.54,-121.7,266.8,-9.6,182,2332,0.00,1.42,0.00,0.000,4,0.000,0.021,2331,1544,3024
$GC,2389,-0.54,-121.7,272.3,-9.1,183,2392,0.00,1.60,0.00,0.000,6,0.000,0.038,2322,2615,3024
$GC,2660,-0.54,-121.7,297.8,-9.5,190,2663,0.00,1.58,0.00,0.000,4,0.000,0.044,2315,3650,3022
$GC,2688,-0.54,-121.7,300.6,-9.9,190,2692,0.08,1.52,0.00,0.000,6,0.112,0.020,2355,2573,3022
$GC,2948,-0.54,-121.7,319.9,-7.2,197,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2565,3021
$GC,3190,-0.54,-121.7,337.1,-7.1,203,3193,0.00,1.65,0.00,0.000,4,0.000,0.044,2348,3650,3019
$GC,3229,-0.54,-121.7,340.0,-7.3,203,3235,0.00,1.50,0.00,0.000,6,0.000,0.021,2348,2585,3019
$GC,3479,-0.54,-121.7,357.7,-6.7,210,3482,0.00,1.65,-0.08,0.000,4,0.000,0.061,2341,3647,3039
$GC,3588,-0.54,-121.7,365.3,-6.9,212,3591,0.00,1.23,0.00,0.000,6,0.000,0.021,2341,2769,3038
$GC,3853,-0.54,-121.7,383.6,-6.9,219,3856,0.00,1.67,0.00,0.000,4,0.000,0.021,2341,1552,3037
$GC,3909,-0.54,-121.7,387.8,-7.6,220,3912,0.00,1.83,0.00,0.000,6,0.000,0.042,2333,2755,3036
$GC,4185,-0.54,-121.7,411.2,-8.7,227,4187,0.00,1.70,0.00,0.000,4,0.000,0.022,2333,1555,3033
$GC,4250,-0.54,-121.7,417.1,-8.7,228,4253,0.00,1.75,0.00,0.000,6,0.000,0.043,2333,2702,3033
$GC,4516,-0.54,-121.7,439.9,-8.6,235,4519,0.00,1.45,0.00,0.000,4,0.000,0.048,2326,3645,3031
$GC,4534,-0.54,-121.7,441.5,-8.6,235,4536,0.00,1.35,0.00,0.000,6,0.000,0.022,2326,2690,3030
$GC,4804,-0.54,-121.7,464.9,-8.5,242,4807,0.00,1.60,0.00,0.000,4,0.000,0.025,2326,1560,3027
$GC,4913,-0.54,-121.7,474.9,-9.0,244,4917,0.08,1.65,0.00,0.000,6,0.108,0.042,2348,2621,3027
$GC,5181,-0.54,-121.7,495.2,-7.4,251,5184,0.00,1.52,0.00,0.000,4,0.000,0.023,2348,1557,3026
$GC,5279,-0.54,-121.7,502.7,-7.3,253,5282,0.00,1.80,0.00,0.000,6,0.000,0.044,2346,2735,3025
$GC,5556,-0.54,-121.7,521.2,-6.4,260,5558,0.00,1.42,0.00,0.000,4,0.000,0.054,2346,3647,3023
$GC,5616,-0.54,-121.7,524.9,-6.5,261,5619,0.00,1.25,0.00,0.000,6,0.000,0.026,2346,2769,3022
$GC,5887,-0.54,-121.7,540.5,-5.6,268,5889,0.00,1.40,0.00,0.000,4,0.000,0.053,2346,3648,3020
$GC,5905,-0.54,-121.7,541.7,-5.5,268,5908,0.00,1.52,0.00,0.000,6,0.000,0.025,2346,2590,3020
$GC,6176,-0.54,-121.7,557.8,-6.2,275,6178,0.00,1.48,0.00,0.000,4,0.000,0.025,2346,1544,3019
$GC,6215,-0.54,-121.7,560.6,-6.8,275,6222,0.00,1.95,0.00,0.000,6,0.000,0.047,2346,2785,3019
$GC,6464,-0.54,-121.7,577.6,-6.7,282,6467,0.00,1.35,0.00,0.000,4,0.000,0.054,2346,3646,3017
$GC,6583,-0.54,-121.7,586.5,-7.7,284,6586,0.00,1.52,0.00,0.000,6,0.000,0.026,2345,2592,3016
$STATE,6792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6793,begin apogee
$GC,6803,-0.18,0.0,601.5,6.9,290,6916,0.38,0.00,109.62,1.048,6,0.084,0.000,2474,2467,2530
$STATE,6917,end apogee,CONTROL_FINISHED_OK
$STATE,6917,begin climb
$GC,6922,0.54,121.7,607.3,0.0,293,7048,0.60,1.80,114.43,0.994,4,0.039,0.048,2713,3537,2034
$GC,7200,0.54,121.7,584.0,14.1,299,7203,0.00,1.60,0.00,0.000,6,0.000,0.024,2721,2442,2028
$GC,7468,0.54,121.7,551.9,12.0,306,7470,0.00,1.73,0.00,0.000,4,0.000,0.047,2715,3537,2025
$GC,7528,0.54,121.7,543.9,13.3,307,7531,0.00,1.55,0.00,0.000,6,0.000,0.025,2721,2484,2025
$GC,7798,0.54,121.7,512.7,11.5,314,7801,0.00,1.55,0.00,0.000,4,0.000,0.027,2730,1408,2023
$GC,7827,0.54,121.7,509.4,11.1,314,7830,0.00,1.70,0.00,0.000,6,0.000,0.043,2729,2517,2022
$GC,8089,0.54,121.7,480.4,11.1,321,8092,0.00,1.58,0.00,0.000,4,0.000,0.049,2729,3524,2021
$GC,8165,0.54,121.7,471.1,11.8,322,8168,0.10,1.40,0.00,0.000,6,0.177,0.025,2706,2565,2020
$GC,8419,0.55,124.3,445.9,9.9,329,8422,0.00,1.65,0.00,0.000,4,0.000,0.028,2714,1407,2020
$GC,8465,0.55,126.0,441.5,9.9,330,8467,0.00,1.83,0.00,0.000,6,0.000,0.044,2713,2591,2019
$GC,8751,0.55,136.1,414.3,9.4,337,8774,0.00,1.48,13.85,0.759,4,0.000,0.050,2713,3525,1974
$GC,8922,0.55,136.1,395.9,11.0,340,8927,0.00,1.38,0.00,0.000,6,0.000,0.025,2720,2583,1973
$GC,9171,0.55,138.6,370.4,9.9,347,9174,0.00,1.67,0.00,0.000,4,0.000,0.028,2728,1400,1972
$GC,9221,0.55,138.6,365.3,10.9,348,9224,0.00,1.88,0.00,0.000,6,0.000,0.044,2729,2615,1971
$GC,9502,0.55,138.6,336.4,10.1,355,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2615,1971
$GC,9747,0.56,166.4,315.5,8.5,361,9787,0.00,1.80,30.08,0.817,4,0.000,0.026,2736,1394,1850
$GC,9895,0.57,176.4,302.0,9.4,364,9908,0.00,1.90,9.90,0.759,6,0.000,0.044,2736,2593,1810
$GC,10168,0.57,176.4,273.6,10.5,371,10171,0.00,1.73,0.00,0.000,4,0.000,0.027,2739,1414,1806
$GC,10180,0.57,176.4,272.2,10.4,371,10183,0.00,1.83,0.00,0.000,6,0.000,0.043,2739,2594,1806
$GC,10456,0.57,182.8,245.8,9.6,378,10465,0.00,1.50,6.70,0.669,4,0.000,0.048,2739,3537,1784
$GC,10489,0.57,193.5,242.8,9.4,378,10503,0.10,1.38,10.98,0.734,6,0.163,0.024,2717,2596,1741
$GC,10784,0.58,222.2,219.1,8.4,386,10813,0.00,1.73,25.40,0.768,4,0.000,0.027,2722,1402,1625
$GC,10932,0.59,247.6,206.6,8.6,389,10961,0.00,1.88,22.98,0.742,6,0.000,0.042,2723,2597,1520
$GC,11215,0.60,261.4,180.7,9.2,409,11236,0.00,1.77,12.75,0.684,4,0.000,0.026,2732,1426,1463
$GC,11254,0.60,266.0,177.0,9.7,412,11264,0.00,1.83,5.72,0.565,6,0.000,0.041,2733,2587,1444
$GC,11529,0.61,291.4,152.4,8.6,438,11555,0.00,1.50,22.45,0.691,4,0.000,0.047,2732,3525,1341
$GC,11623,0.61,291.4,142.5,10.9,446,11626,0.00,1.35,0.00,0.000,6,0.000,0.023,2739,2609,1341
$GC,11887,0.62,308.2,118.0,9.1,471,11912,0.00,1.80,15.35,0.640,4,0.000,0.027,2739,1401,1271
$GC,12012,0.63,324.9,106.3,9.1,482,12036,0.00,1.85,15.20,0.624,6,0.000,0.038,2739,2593,1204
$GC,12292,0.63,343.8,80.3,9.0,508,12310,0.00,0.00,16.80,0.607,6,0.000,0.000,2739,2592,1128
$GC,12560,0.65,378.2,57.0,8.1,534,12598,0.00,1.77,29.10,0.602,4,0.000,0.025,2739,1401,987
$GC,12657,0.66,421.9,49.5,7.6,542,12698,0.00,1.75,36.45,0.594,6,0.000,0.037,2739,2555,810
$GC,12957,0.67,424.4,22.7,9.9,576,12963,0.00,1.67,0.00,0.000,4,0.000,0.024,2738,1413,806
$STATE,13136,end climb,SURFACE_DEPTH_REACHED
$STATE,13136,begin surface coast
$FINISH,0.1,0.997951
$STATE,13168,end surface coast,CONTROL_FINISHED_OK
$STATE,13168,begin surface
$SM_CCo,13252,0.00,0.000,0,0,804,423.38
$SM_GC,0.90,6.82,0.00,0.00,0.022,0.000,0.000,39,2615,804,-7.69,0.65,423.38
$IRIDIUM_FIX,2244.02,-15748.90,220102,080813
$TT8_MAMPS,0.047554
$HUMID,2255
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.30
$XPDR_PINGS,34
$24V_AH,23.7,83.424
$10V_AH,10.4,81.266
$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,17.325,112.800,497.750,0.000,0.000,78.857,110.810,1234.705,8.500,0.000,0.000,11.232,0.000,9564.598,516.271,2838.211,2037.743,33.352,1493.456,0.000,2513.930,0.000,0.545,0.000
$DEVICE_MAMPS,205.556,61.360,1048.489,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,413.322,1424.175,1497.624,189.973,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51150,615
$CAP_FILE_SIZE,138976,0
$CFSIZE,260165632,225157120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,281012,122306,2249.615,-15746.966,39,0.9,39,10.1