version: 66.04
glider: 512
mission: 3
dive: 624
start: 10 28 112 12 39 45
data:
$ID,512
$MISSION,3
$DIVE,624
$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,-66315.258
$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,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
$GPS1,122306,2249.615,-15746.966,39,0.9,39,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-79.4
$GPS2,123907,2249.635,-15747.144,12,1.7,12,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.202,-0.129
$KALMAN_X,-182977.8,61.5,124.4,178426.3,-1509.2
$KALMAN_Y,109121.3,223.7,60.2,-123781.0,374.1
$MHEAD_RNG_PITCHd_Wd,112.4,25944,-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,-121.7,0.0,0.0,0,92,0.00,0.00,-74.38,0.000,2,0.000,0.000,12,2621,2692
$GC,97,-0.54,-121.7,2.6,-4.4,10,120,9.07,1.60,-7.15,0.000,4,0.202,0.043,2351,1533,3028
$GC,189,-0.54,-121.7,21.3,-12.9,25,196,0.00,1.62,0.00,0.000,6,0.000,0.038,2346,2585,3029
$GC,455,-0.54,-121.7,62.5,-15.3,55,458,0.00,1.50,0.00,0.000,4,0.000,0.021,2346,1535,3029
$GC,481,-0.54,-121.7,66.1,-14.5,57,484,0.00,1.60,0.00,0.000,6,0.000,0.036,2338,2604,3029
$GC,744,-0.54,-121.7,102.5,-13.0,82,746,0.00,1.52,0.00,0.000,4,0.000,0.021,2338,1530,3029
$GC,761,-0.54,-121.7,105.0,-12.8,83,768,0.00,1.60,0.00,0.000,6,0.000,0.038,2333,2574,3029
$GC,1019,-0.54,-121.7,137.3,-12.8,108,1022,0.00,1.62,0.00,0.000,4,0.000,0.043,2325,3666,3029
$GC,1055,-0.54,-121.7,141.9,-13.2,111,1058,0.00,1.58,0.00,0.000,6,0.000,0.019,2325,2567,3029
$GC,1317,-0.54,-121.7,175.0,-11.8,136,1321,0.00,1.42,0.00,0.000,4,0.000,0.021,2325,1537,3029
$GC,1335,-0.54,-121.7,177.5,-12.3,137,1341,0.08,1.62,0.00,0.000,6,0.109,0.036,2346,2606,3029
$GC,1605,-0.54,-121.7,204.2,-9.7,160,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2606,3029
$GC,1844,-0.54,-121.7,228.2,-10.0,166,1847,0.00,1.58,0.00,0.000,4,0.000,0.044,2341,3643,3029
$GC,1894,-0.54,-121.7,233.4,-10.3,167,1897,0.00,1.55,0.00,0.000,6,0.000,0.019,2340,2550,3029
$GC,2176,-0.54,-121.7,260.1,-9.4,174,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2542,3029
$GC,2418,-0.54,-121.7,281.9,-8.9,180,2420,0.00,1.67,0.00,0.000,4,0.000,0.042,2332,3650,3028
$GC,2483,-0.54,-121.7,287.9,-9.1,181,2486,0.00,1.50,0.00,0.000,6,0.000,0.020,2332,2593,3028
$GC,2749,-0.54,-121.7,310.7,-8.5,188,2752,0.00,1.45,0.00,0.000,4,0.000,0.022,2332,1549,3027
$GC,2799,-0.54,-121.7,314.8,-8.4,189,2802,0.00,1.58,0.00,0.000,6,0.000,0.038,2325,2581,3027
$GC,3082,-0.54,-121.7,340.8,-9.6,196,3085,0.00,1.60,0.00,0.000,4,0.000,0.045,2317,3648,3025
$GC,3138,-0.54,-121.7,346.8,-10.4,197,3141,0.08,1.50,0.00,0.000,6,0.115,0.021,2356,2579,3025
$GC,3414,-0.54,-121.7,367.4,-6.9,204,3417,0.00,1.42,0.00,0.000,4,0.000,0.021,2356,1547,3023
$GC,3512,-0.54,-121.7,373.9,-6.2,206,3515,0.00,1.83,0.00,0.000,6,0.000,0.041,2350,2734,3022
$GC,3788,-0.54,-121.7,391.8,-6.4,213,3791,0.00,1.65,0.00,0.000,4,0.000,0.022,2351,1562,3021
$GC,3892,-0.54,-121.7,399.7,-8.0,215,3894,0.00,1.98,0.00,0.000,6,0.000,0.042,2346,2858,3020
$GC,4163,-0.54,-121.7,421.1,-7.9,222,4166,0.00,1.25,-0.08,0.000,4,0.000,0.071,2340,3653,3041
$GC,4186,-0.54,-121.7,422.9,-7.4,222,4188,0.00,1.40,0.00,0.000,6,0.000,0.022,2340,2657,3041
$GC,4452,-0.54,-121.7,443.1,-7.3,229,4455,0.00,1.58,0.00,0.000,4,0.000,0.048,2333,3648,3039
$GC,4464,-0.54,-121.7,444.0,-7.0,229,4467,0.00,1.20,0.00,0.000,6,0.000,0.022,2333,2797,3039
$GC,4743,-0.54,-121.7,463.4,-6.7,236,4746,0.00,1.75,0.00,0.000,4,0.000,0.023,2333,1566,3037
$GC,4857,-0.54,-121.7,472.4,-7.9,238,4860,0.00,1.60,0.00,0.000,6,0.000,0.042,2333,2596,3036
$GC,5116,-0.54,-121.7,492.8,-7.9,245,5120,0.00,1.65,0.00,0.000,4,0.000,0.052,2333,3650,3034
$GC,5177,-0.54,-121.7,497.8,-8.4,246,5180,0.00,1.48,0.00,0.000,6,0.000,0.024,2333,2622,3034
$GC,5448,-0.54,-121.7,518.0,-7.3,253,5451,0.00,1.60,0.00,0.000,4,0.000,0.050,2325,3649,3032
$GC,5481,-0.54,-121.7,520.6,-7.8,253,5484,0.00,1.25,0.00,0.000,6,0.000,0.025,2325,2772,3032
$GC,5737,-0.54,-121.7,539.7,-7.4,260,5739,0.00,1.40,0.00,0.000,4,0.000,0.051,2319,3650,3029
$GC,5802,-0.54,-121.7,545.1,-8.4,261,5805,0.08,1.30,0.00,0.000,6,0.110,0.024,2348,2735,3029
$GC,6068,-0.54,-121.7,562.5,-6.5,268,6070,0.00,1.45,0.00,0.000,4,0.000,0.053,2346,3640,3028
$GC,6193,-0.54,-121.7,571.4,-7.5,270,6200,0.00,1.08,0.00,0.000,6,0.000,0.026,2346,2884,3027
$GC,6442,-0.54,-121.7,588.0,-6.5,277,6445,0.00,1.92,0.00,0.000,4,0.000,0.026,2346,1522,3026
$GC,6497,-0.54,-121.7,592.0,-7.5,278,6500,0.00,1.80,0.00,0.000,6,0.000,0.046,2346,2664,3026
$STATE,6647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6647,begin apogee
$GC,6658,-0.18,0.0,602.6,6.9,282,6772,0.35,0.00,112.25,1.045,6,0.078,0.000,2469,2491,2530
$STATE,6772,end apogee,CONTROL_FINISHED_OK
$STATE,6772,begin climb
$GC,6777,0.54,121.7,609.6,0.0,285,6925,0.60,1.75,120.00,0.956,4,0.038,0.048,2709,3529,2034
$GC,7059,0.54,121.7,591.8,11.2,291,7062,0.00,1.60,0.00,0.000,6,0.000,0.025,2717,2439,2028
$GC,7319,0.54,121.7,564.3,10.5,298,7322,0.00,1.50,0.00,0.000,4,0.000,0.027,2725,1401,2026
$GC,7363,0.54,121.7,559.8,10.0,299,7366,0.00,1.65,0.00,0.000,6,0.000,0.043,2725,2474,2023
$GC,7653,0.54,121.7,528.1,11.3,306,7656,0.00,1.62,0.00,0.000,4,0.000,0.049,2725,3532,2022
$GC,7741,0.54,121.7,516.9,13.1,308,7744,0.00,1.55,0.00,0.000,6,0.000,0.025,2732,2481,2022
$GC,8027,0.54,121.7,484.9,10.8,315,8030,0.00,1.62,0.00,0.000,4,0.000,0.048,2729,3518,2021
$GC,8074,0.54,121.7,479.9,11.5,316,8077,0.00,1.48,0.00,0.000,6,0.000,0.024,2735,2512,2021
$GC,8361,0.55,128.0,451.0,9.6,323,8368,0.12,0.00,4.68,0.670,6,0.173,0.000,2705,2506,2008
$GC,8647,0.56,151.1,426.4,8.7,330,8680,0.00,1.65,24.48,0.861,4,0.000,0.049,2702,3522,1914
$GC,8732,0.56,151.1,417.6,11.5,332,8735,0.00,1.45,0.00,0.000,6,0.000,0.025,2708,2547,1912
$GC,9019,0.56,156.8,389.0,9.7,339,9028,0.00,1.65,6.22,0.734,4,0.000,0.027,2717,1401,1891
$GC,9057,0.57,178.4,385.5,8.8,340,9082,0.00,1.80,20.85,0.879,6,0.000,0.044,2715,2562,1802
$GC,9338,0.57,190.2,359.2,9.3,347,9357,0.00,1.48,11.07,0.804,4,0.000,0.048,2716,3525,1756
$GC,9456,0.57,190.2,346.4,11.4,349,9461,0.00,1.38,0.00,0.000,6,0.000,0.025,2721,2594,1754
$GC,9708,0.57,190.2,319.6,10.8,356,9711,0.00,1.73,0.00,0.000,4,0.000,0.028,2729,1417,1753
$GC,9741,0.57,190.2,315.8,10.3,356,9744,0.00,1.80,0.00,0.000,6,0.000,0.044,2729,2582,1752
$GC,9996,0.57,190.2,287.4,10.9,363,9998,0.00,1.45,0.00,0.000,4,0.000,0.049,2729,3516,1751
$GC,10056,0.57,190.2,280.8,10.3,364,10059,0.00,1.38,0.00,0.000,6,0.000,0.023,2734,2571,1751
$GC,10329,0.57,192.4,254.3,9.9,371,10332,0.00,1.65,0.00,0.000,4,0.000,0.028,2739,1413,1751
$GC,10352,0.58,202.8,251.9,9.4,371,10372,0.00,1.85,12.45,0.759,6,0.000,0.044,2739,2595,1703
$GC,10616,0.58,220.4,227.8,9.0,378,10634,0.00,0.00,16.35,0.759,6,0.000,0.000,2739,2595,1632
$GC,10902,0.59,230.6,201.0,9.4,385,10915,0.00,1.42,10.27,0.693,4,0.000,0.047,2739,3527,1588
$GC,10935,0.59,230.6,197.6,10.8,385,10938,0.00,1.40,0.00,0.000,6,0.000,0.024,2746,2577,1587
$GC,11198,0.59,233.3,172.3,9.9,410,11201,0.00,1.67,0.00,0.000,4,0.000,0.027,2752,1407,1586
$GC,11277,0.59,236.4,164.8,9.8,417,11290,0.12,1.80,5.68,0.572,6,0.135,0.041,2720,2581,1568
$GC,11540,0.60,267.1,143.2,8.3,442,11577,0.00,1.50,27.98,0.696,4,0.000,0.046,2719,3522,1439
$GC,11595,0.61,283.4,138.4,9.1,446,11616,0.00,1.42,15.27,0.652,6,0.000,0.023,2723,2555,1373
$GC,11870,0.62,312.3,115.7,8.4,472,11899,0.00,1.70,25.08,0.660,4,0.000,0.026,2726,1415,1255
$GC,12011,0.63,331.8,103.7,8.9,484,12036,0.00,1.73,17.27,0.629,6,0.000,0.038,2725,2525,1176
$GC,12291,0.65,378.3,81.2,7.4,510,12339,0.00,1.70,39.17,0.630,4,0.000,0.025,2726,1398,986
$GC,12376,0.66,419.4,74.6,7.7,517,12414,0.00,1.45,34.62,0.614,6,0.000,0.035,2724,2336,819
$GC,12663,0.66,419.4,48.0,10.2,544,12666,0.00,1.35,0.00,0.000,4,0.000,0.025,2724,1412,816
$GC,12857,0.66,419.4,26.5,11.4,564,12865,0.00,1.40,0.00,0.000,6,0.000,0.035,2724,2330,815
$STATE,13063,end climb,SURFACE_DEPTH_REACHED
$STATE,13063,begin surface coast
$FINISH,0.0,1.023343
$STATE,13092,end surface coast,CONTROL_FINISHED_OK
$STATE,13092,begin surface
$SM_CCo,13175,0.00,0.000,0,0,814,420.93
$SM_GC,0.92,6.78,0.00,0.00,0.022,0.000,0.000,39,2629,814,-7.70,1.10,420.93
$IRIDIUM_FIX,2241.69,-15744.57,220102,121255
$TT8_MAMPS,0.047554
$HUMID,2249
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.60
$XPDR_PINGS,43
$24V_AH,23.7,83.585
$10V_AH,10.4,81.394
$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,17.275,109.925,503.700,0.000,0.000,52.505,71.065,593.942,10.750,0.000,0.000,12.864,0.000,9478.121,519.752,2809.776,1298.026,33.357,1493.419,0.000,2475.028,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,70.564,1044.654,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,408.255,1401.745,1466.922,185.980,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50975,607
$CAP_FILE_SIZE,128854,0
$CFSIZE,260165632,225099776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,281012,162029,2249.721,-15746.923,37,1.0,42,10.1