version: 66.04
glider: 512
mission: 3
dive: 630
start: 10 29 112 13 29 59
data:
$ID,512
$MISSION,3
$DIVE,630
$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,-66407.734
$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,62
$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
$GPS1,130230,2247.404,-15745.998,41,1.2,41,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-79.0
$GPS2,132921,2247.438,-15746.183,15,1.4,15,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,-0.124
$KALMAN_X,-191110.1,-66.2,199.2,188250.5,-1614.5
$KALMAN_Y,118148.0,109.6,-6.0,-136695.0,534.9
$MHEAD_RNG_PITCHd_Wd,111.3,21760,-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,-121.7,0.0,0.0,0,99,0.00,0.00,-82.03,0.000,2,0.000,0.000,11,2654,2818
$GC,104,-0.54,-121.7,2.8,-4.5,11,121,9.10,1.58,-4.28,0.000,4,0.202,0.053,2335,3667,3028
$GC,174,-0.54,-121.7,19.7,-12.3,22,181,0.00,1.58,0.00,0.000,6,0.000,0.021,2339,2588,3028
$GC,435,-0.54,-121.7,60.6,-16.0,53,438,0.00,1.50,0.00,0.000,4,0.000,0.024,2344,1525,3029
$GC,513,-0.54,-121.7,71.2,-11.8,60,516,0.00,1.58,0.00,0.000,6,0.000,0.036,2339,2557,3029
$GC,777,-0.54,-121.7,105.4,-12.4,85,780,0.00,1.65,0.00,0.000,4,0.000,0.042,2331,3643,3029
$GC,823,-0.54,-121.7,111.2,-12.2,89,826,0.00,1.55,0.00,0.000,6,0.000,0.019,2331,2561,3029
$GC,1087,-0.54,-121.7,143.6,-11.7,114,1090,0.00,1.42,0.00,0.000,4,0.000,0.021,2331,1531,3028
$GC,1147,-0.54,-121.7,150.6,-9.7,119,1155,0.00,1.58,0.00,0.000,6,0.000,0.037,2323,2568,3029
$GC,1405,-0.54,-121.7,180.4,-12.4,144,1407,0.00,1.62,0.00,0.000,4,0.000,0.043,2315,3660,3028
$GC,1444,-0.54,-121.7,185.5,-12.2,147,1450,0.10,1.52,0.00,0.000,6,0.119,0.019,2349,2573,3028
$GC,1707,-0.54,-121.7,212.6,-10.1,164,1709,0.00,1.42,0.00,0.000,4,0.000,0.021,2351,1542,3028
$GC,1756,-0.54,-121.7,217.3,-9.4,165,1759,0.00,1.58,0.00,0.000,6,0.000,0.038,2346,2573,3028
$GC,2038,-0.54,-121.7,241.9,-8.3,172,2041,0.00,1.62,0.00,0.000,4,0.000,0.044,2341,3658,3028
$GC,2098,-0.54,-121.7,246.9,-7.9,173,2101,0.00,1.50,0.00,0.000,6,0.000,0.019,2342,2601,3027
$GC,2369,-0.54,-121.7,269.7,-8.4,180,2372,0.00,1.48,0.00,0.000,4,0.000,0.021,2342,1537,3027
$GC,2430,-0.54,-121.7,275.1,-8.7,181,2433,0.00,1.60,0.00,0.000,6,0.000,0.038,2334,2607,3027
$GC,2701,-0.54,-121.7,300.1,-9.3,188,2703,0.00,1.60,0.00,0.000,4,0.000,0.048,2333,3667,3025
$GC,2745,-0.54,-121.7,304.5,-9.9,189,2748,0.00,1.58,0.00,0.000,6,0.000,0.020,2332,2567,3025
$GC,3035,-0.54,-121.7,330.2,-8.9,196,3038,0.00,1.42,0.00,0.000,4,0.000,0.022,2332,1543,3023
$GC,3095,-0.54,-121.7,335.8,-8.6,197,3098,0.00,1.58,0.00,0.000,6,0.000,0.038,2325,2575,3023
$GC,3366,-0.54,-121.7,360.0,-9.1,204,3369,0.00,1.62,0.00,0.000,4,0.000,0.045,2318,3656,3021
$GC,3416,-0.54,-121.7,364.6,-9.1,205,3419,0.05,1.52,0.00,0.000,6,0.125,0.021,2349,2582,3020
$GC,3697,-0.54,-121.7,384.7,-6.8,212,3700,0.00,1.45,0.00,0.000,4,0.000,0.022,2349,1544,3018
$GC,3774,-0.54,-121.7,390.2,-7.2,213,3777,0.00,1.85,0.00,0.000,6,0.000,0.041,2346,2744,3019
$GC,4029,-0.54,-121.7,409.4,-7.7,220,4030,0.00,0.00,-0.08,0.000,6,0.000,0.000,2345,2745,3039
$GC,4272,-0.54,-121.7,426.7,-7.2,226,4275,0.00,1.40,0.00,0.000,4,0.000,0.050,2346,3643,3038
$GC,4397,-0.54,-121.7,436.7,-8.1,228,4402,0.00,1.33,0.00,0.000,6,0.000,0.023,2346,2700,3036
$GC,4646,-0.54,-121.7,454.4,-7.0,235,4650,0.00,1.50,0.00,0.000,4,0.000,0.051,2346,3641,3035
$GC,4750,-0.54,-121.7,462.1,-7.3,237,4752,0.00,1.10,0.00,0.000,6,0.000,0.025,2345,2866,3034
$GC,5020,-0.54,-121.7,481.3,-6.9,244,5023,0.00,1.23,0.00,0.000,4,0.000,0.049,2340,3643,3032
$GC,5044,-0.54,-121.7,482.9,-7.0,244,5047,0.00,1.35,0.00,0.000,6,0.000,0.024,2340,2700,3032
$GC,5311,-0.54,-121.7,501.2,-6.7,251,5314,0.00,1.50,0.00,0.000,4,0.000,0.050,2333,3643,3030
$GC,5447,-0.54,-121.7,511.7,-7.3,254,5450,0.00,1.10,0.00,0.000,6,0.000,0.026,2333,2870,3028
$GC,5731,-0.54,-121.7,532.8,-7.4,261,5734,0.00,1.23,0.00,0.000,4,0.000,0.053,2333,3638,3027
$GC,5770,-0.54,-121.7,536.1,-7.7,261,5775,0.00,1.25,0.00,0.000,6,0.000,0.025,2333,2753,3026
$GC,6019,-0.54,-121.7,554.6,-7.3,268,6022,0.00,1.42,0.00,0.000,4,0.000,0.052,2333,3644,3025
$GC,6047,-0.54,-121.7,556.7,-7.5,268,6050,0.00,1.17,0.00,0.000,6,0.000,0.026,2333,2828,3025
$GC,6308,-0.54,-121.7,576.6,-7.8,275,6311,0.00,1.30,0.00,0.000,4,0.000,0.053,2327,3638,3024
$GC,6357,-0.54,-121.7,580.7,-9.0,276,6361,0.00,1.38,0.00,0.000,6,0.000,0.025,2327,2684,3024
$STATE,6593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6593,begin apogee
$GC,6605,-0.18,0.0,601.4,8.6,282,6717,0.43,0.00,110.78,1.047,6,0.093,0.000,2469,2483,2530
$STATE,6718,end apogee,CONTROL_FINISHED_OK
$STATE,6718,begin climb
$GC,6723,0.54,121.7,608.6,0.0,285,6848,0.60,1.70,114.07,0.990,4,0.038,0.025,2713,1389,2034
$GC,6877,0.55,140.3,605.0,9.0,288,6900,0.00,1.70,17.95,0.925,6,0.000,0.042,2713,2466,1956
$GC,7181,0.55,140.3,572.7,10.8,296,7184,0.00,1.62,0.00,0.000,4,0.000,0.048,2713,3519,1949
$GC,7338,0.55,140.3,552.2,13.2,299,7341,0.00,1.55,0.00,0.000,6,0.000,0.025,2721,2475,1948
$GC,7600,0.55,140.3,520.0,12.3,306,7603,0.00,1.65,0.00,0.000,4,0.000,0.048,2715,3527,1946
$GC,7655,0.55,140.3,512.5,13.4,307,7658,0.00,1.48,0.00,0.000,6,0.000,0.025,2721,2524,1946
$GC,7931,0.55,140.3,479.5,11.8,314,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2518,1945
$GC,8173,0.55,140.3,453.0,10.8,320,8175,0.00,1.60,0.00,0.000,4,0.000,0.049,2717,3524,1945
$GC,8260,0.55,140.3,443.4,11.6,322,8263,0.00,1.45,0.00,0.000,6,0.000,0.025,2721,2541,1944
$GC,8547,0.55,140.3,414.4,10.1,329,8550,0.00,1.62,0.00,0.000,4,0.000,0.028,2730,1404,1943
$GC,8607,0.56,150.3,408.7,9.4,330,8620,0.00,1.70,7.80,0.792,6,0.000,0.044,2728,2513,1917
$GC,8877,0.56,150.3,381.3,10.4,337,8880,0.00,1.58,0.00,0.000,4,0.000,0.048,2729,3522,1915
$GC,8970,0.56,150.3,370.5,12.1,339,8973,0.00,1.42,0.00,0.000,6,0.000,0.025,2734,2552,1915
$GC,9253,0.56,151.9,342.0,9.9,346,9256,0.00,1.55,0.00,0.000,4,0.000,0.050,2729,3524,1915
$GC,9282,0.56,151.9,338.8,10.9,346,9285,0.00,1.40,0.00,0.000,6,0.000,0.025,2735,2568,1915
$GC,9542,0.56,165.6,314.5,9.2,353,9567,0.00,1.75,17.00,0.747,4,0.000,0.028,2743,1404,1855
$GC,9649,0.58,199.9,305.6,8.1,355,9685,0.00,1.83,31.38,0.839,6,0.000,0.044,2742,2579,1715
$GC,9953,0.58,202.3,276.2,9.9,363,9956,0.00,1.48,0.00,0.000,4,0.000,0.048,2742,3521,1711
$GC,9998,0.58,202.3,271.4,11.3,364,10001,0.10,1.45,0.00,0.000,6,0.156,0.025,2718,2551,1710
$GC,10286,0.59,235.3,246.9,8.2,371,10320,0.00,1.67,30.58,0.788,4,0.000,0.028,2725,1392,1572
$GC,10404,0.61,275.3,237.5,7.8,372,10443,0.00,1.77,35.60,0.772,6,0.000,0.044,2725,2528,1407
$GC,10695,0.62,298.9,212.5,8.7,380,10719,0.00,1.55,20.90,0.733,4,0.000,0.048,2725,3520,1310
$GC,10765,0.62,298.9,205.8,10.2,381,10768,0.00,1.48,0.00,0.000,6,0.000,0.025,2726,2539,1310
$GC,11026,0.63,325.6,182.5,8.5,400,11053,0.00,1.70,23.40,0.712,4,0.000,0.028,2725,1417,1202
$GC,11100,0.64,349.3,176.1,8.7,406,11126,0.00,1.73,21.08,0.693,6,0.000,0.040,2726,2532,1106
$GC,11380,0.65,379.6,152.6,8.3,432,11409,0.00,1.52,26.25,0.683,4,0.000,0.045,2726,3518,981
$GC,11452,0.66,407.1,146.1,8.5,438,11481,0.00,1.73,24.25,0.667,6,0.000,0.023,2726,2346,869
$GC,11741,0.67,424.8,119.7,9.0,465,11766,0.00,1.90,15.57,0.625,4,0.000,0.049,2726,3515,797
$GC,12009,0.67,429.2,94.6,9.8,489,12018,0.00,1.60,5.43,0.482,6,0.000,0.023,2726,2422,780
$GC,12271,0.67,429.2,69.7,10.2,514,12274,0.00,1.45,0.00,0.000,4,0.000,0.026,2726,1421,779
$GC,12522,0.67,439.9,44.5,9.4,537,12535,0.00,1.55,10.38,0.535,6,0.000,0.037,2726,2433,736
$GC,12792,0.67,439.9,15.8,11.0,573,12799,0.00,1.48,0.00,0.000,4,0.000,0.025,2726,1428,735
$STATE,12889,end climb,SURFACE_DEPTH_REACHED
$STATE,12889,begin surface coast
$FINISH,0.1,1.023359
$STATE,12910,end surface coast,CONTROL_FINISHED_OK
$STATE,12910,begin surface
$SM_CCo,12995,0.00,0.000,0,0,734,440.55
$SM_GC,0.92,6.78,0.00,0.00,0.024,0.000,0.000,40,2610,734,-7.70,0.57,440.55
$IRIDIUM_FIX,2237.01,-15747.62,230102,131327
$TT8_MAMPS,0.048321
$HUMID,2271
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,22.80
$XPDR_PINGS,31
$24V_AH,23.7,84.733
$10V_AH,10.4,82.198
$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,17.150,107.350,512.400,0.000,0.000,75.873,107.260,1106.381,7.750,0.000,0.000,15.680,0.000,9352.149,508.609,2834.902,1880.978,33.354,1483.112,0.000,2512.670,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,52.923,1046.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,400.471,1368.723,1440.807,184.237,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47727,595
$CAP_FILE_SIZE,135135,0
$CFSIZE,260165632,224714752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,291012,170736,2247.718,-15745.737,34,1.4,34,10.1