version: 66.04
glider: 512
mission: 3
dive: 631
start: 10 29 112 17 21 21
data:
$ID,512
$MISSION,3
$DIVE,631
$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,-66423.18
$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,72
$R_STBD_OVSHOOT,33
$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
$GPS1,170736,2247.718,-15745.737,34,1.4,34,10.1
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-76.7
$GPS2,172043,2247.730,-15745.798,14,1.5,14,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.117,-0.209
$KALMAN_X,-192163.2,-136.5,-473.1,190688.6,-435.0
$KALMAN_Y,119858.1,313.2,24.9,-138103.7,1306.1
$MHEAD_RNG_PITCHd_Wd,140.7,21751,-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,-82.10,0.000,2,0.000,0.000,13,2606,2828
$GC,109,-0.54,-121.7,2.7,-4.2,11,126,9.15,1.58,-3.97,0.000,4,0.205,0.038,2347,1523,3028
$GC,215,-0.54,-121.7,28.2,-14.5,29,222,0.00,1.65,0.00,0.000,6,0.000,0.039,2346,2583,3029
$GC,480,-0.54,-121.7,67.4,-12.5,55,483,0.00,1.50,0.00,0.000,4,0.000,0.021,2346,1540,3029
$GC,538,-0.54,-121.7,74.1,-11.4,60,540,0.00,1.55,0.00,0.000,6,0.000,0.035,2339,2549,3030
$GC,801,-0.54,-121.7,104.8,-11.6,85,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2549,3030
$GC,1059,-0.54,-121.7,134.8,-11.5,110,1062,0.00,1.45,0.00,0.000,4,0.000,0.021,2339,1529,3030
$GC,1116,-0.54,-121.7,140.9,-10.0,115,1119,0.00,1.52,0.00,0.000,6,0.000,0.036,2333,2529,3029
$GC,1378,-0.54,-121.7,171.8,-11.4,140,1382,0.00,1.70,0.00,0.000,4,0.000,0.044,2324,3647,3030
$GC,1415,-0.54,-121.7,176.0,-11.7,143,1418,0.00,1.58,0.00,0.000,6,0.000,0.019,2324,2547,3029
$GC,1704,-0.54,-121.7,210.4,-11.6,165,1707,0.00,1.40,0.00,0.000,4,0.000,0.021,2324,1535,3030
$GC,1808,-0.54,-121.7,221.9,-10.8,167,1811,0.08,1.50,0.00,0.000,6,0.117,0.035,2346,2521,3030
$GC,2078,-0.54,-121.7,248.4,-9.7,174,2082,0.00,1.73,0.00,0.000,4,0.000,0.044,2339,3651,3029
$GC,2133,-0.54,-121.7,254.1,-10.4,175,2136,0.00,1.60,0.00,0.000,6,0.000,0.020,2340,2531,3029
$GC,2410,-0.54,-121.7,279.7,-8.9,182,2413,0.00,1.38,0.00,0.000,4,0.000,0.021,2340,1536,3029
$GC,2481,-0.54,-121.7,286.0,-8.6,183,2484,0.00,1.50,0.00,0.000,6,0.000,0.037,2333,2519,3029
$GC,2741,-0.54,-121.7,308.7,-8.8,190,2744,0.00,1.73,0.00,0.000,4,0.000,0.045,2325,3643,3028
$GC,2806,-0.54,-121.7,314.8,-9.1,191,2809,0.00,1.58,0.00,0.000,6,0.000,0.021,2325,2543,3028
$GC,3072,-0.54,-121.7,338.3,-8.8,198,3075,0.00,1.40,0.00,0.000,4,0.000,0.021,2325,1535,3027
$GC,3117,-0.54,-121.7,342.2,-8.6,199,3120,0.12,1.60,0.00,0.000,6,0.114,0.038,2355,2572,3027
$GC,3406,-0.54,-121.7,363.4,-7.4,206,3409,0.00,1.65,0.00,0.000,4,0.000,0.048,2348,3660,3024
$GC,3466,-0.54,-121.7,368.2,-7.9,207,3469,0.00,1.55,0.00,0.000,6,0.000,0.021,2348,2569,3024
$GC,3737,-0.54,-121.7,387.2,-6.7,214,3740,0.00,1.67,0.00,0.000,4,0.000,0.048,2345,3650,3021
$GC,3830,-0.54,-121.7,393.8,-7.4,216,3833,0.00,1.40,0.00,0.000,6,0.000,0.022,2346,2660,3021
$GC,4111,-0.54,-121.7,413.3,-6.9,223,4114,0.00,1.58,0.00,0.000,4,0.000,0.049,2346,3650,3020
$GC,4193,-0.54,-121.7,419.3,-7.8,224,4198,0.00,1.25,0.00,0.000,6,0.000,0.023,2346,2754,3019
$GC,4445,-0.54,-121.7,437.4,-7.2,231,4448,0.00,1.75,-0.08,0.000,4,0.000,0.039,2346,1549,3041
$GC,4532,-0.54,-121.7,444.3,-7.9,233,4535,0.00,1.83,0.00,0.000,6,0.000,0.045,2346,2733,3041
$GC,4819,-0.54,-121.7,465.7,-7.4,240,4822,0.00,1.73,0.00,0.000,4,0.000,0.024,2346,1553,3039
$GC,4917,-0.54,-121.7,473.6,-8.3,242,4920,0.00,1.65,0.00,0.000,6,0.000,0.044,2346,2630,3039
$GC,5193,-0.54,-121.7,493.7,-6.9,249,5196,0.00,1.58,0.00,0.000,4,0.000,0.023,2346,1546,3036
$GC,5253,-0.54,-121.7,497.8,-6.9,250,5256,0.00,1.92,0.00,0.000,6,0.000,0.044,2346,2793,3036
$GC,5525,-0.54,-121.7,513.0,-5.3,257,5528,0.00,1.35,0.00,0.000,4,0.000,0.053,2345,3656,3035
$GC,5628,-0.54,-121.7,518.8,-5.4,259,5631,0.00,1.50,0.00,0.000,6,0.000,0.025,2345,2613,3034
$GC,5900,-0.54,-121.7,535.0,-6.1,266,5904,0.00,1.50,0.00,0.000,4,0.000,0.024,2345,1550,3032
$GC,5946,-0.54,-121.7,538.1,-7.0,267,5949,0.00,1.98,0.00,0.000,6,0.000,0.044,2336,2811,3032
$GC,6232,-0.54,-121.7,560.5,-7.9,274,6235,0.00,1.30,0.00,0.000,4,0.000,0.051,2329,3646,3030
$GC,6357,-0.54,-121.7,571.1,-8.8,276,6362,0.00,1.35,0.00,0.000,6,0.000,0.025,2329,2706,3029
$GC,6607,-0.54,-121.7,590.5,-7.7,283,6610,0.00,1.62,0.00,0.000,4,0.000,0.025,2329,1555,3028
$GC,6624,-0.54,-121.7,592.0,-7.7,283,6627,0.00,1.85,0.00,0.000,6,0.000,0.045,2321,2752,3028
$STATE,6730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6730,begin apogee
$GC,6741,-0.18,0.0,600.8,8.2,286,6856,0.45,0.00,112.78,1.039,6,0.097,0.000,2470,2485,2530
$STATE,6856,end apogee,CONTROL_FINISHED_OK
$STATE,6856,begin climb
$GC,6862,0.54,121.7,606.9,0.0,289,6987,0.60,1.67,114.15,0.989,4,0.039,0.025,2714,1408,2033
$GC,7032,0.54,121.7,600.6,10.3,293,7036,0.00,1.70,0.00,0.000,6,0.000,0.042,2713,2470,2029
$GC,7319,0.54,121.7,569.2,10.9,300,7322,0.00,1.62,0.00,0.000,4,0.000,0.048,2713,3521,2025
$GC,7449,0.54,121.7,553.1,13.0,303,7452,0.00,1.52,0.00,0.000,6,0.000,0.024,2721,2492,2024
$GC,7736,0.54,121.7,519.1,12.0,310,7739,0.00,1.62,0.00,0.000,4,0.000,0.047,2715,3530,2022
$GC,7783,0.54,121.7,513.6,13.3,311,7786,0.00,1.48,0.00,0.000,6,0.000,0.025,2721,2530,2022
$GC,8070,0.54,121.7,480.6,11.1,318,8073,0.00,1.62,0.00,0.000,4,0.000,0.028,2730,1389,2021
$GC,8093,0.54,122.6,478.4,10.0,318,8096,0.00,1.77,0.00,0.000,6,0.000,0.044,2729,2543,2020
$GC,8358,0.54,122.6,450.7,10.0,325,8361,0.00,1.52,0.00,0.000,4,0.000,0.050,2729,3517,2019
$GC,8456,0.55,126.9,440.4,9.8,327,8464,0.00,1.42,3.67,0.553,6,0.000,0.025,2734,2537,2012
$GC,8732,0.55,133.2,412.9,9.7,334,8745,0.12,1.60,7.78,0.785,4,0.182,0.049,2702,3520,1985
$GC,8797,0.55,136.9,406.5,9.8,335,8805,0.00,1.38,4.97,0.663,6,0.000,0.025,2708,2575,1972
$GC,9062,0.55,142.1,380.8,9.7,342,9072,0.00,1.75,6.55,0.737,4,0.000,0.029,2713,1415,1950
$GC,9181,0.56,159.4,369.4,9.0,344,9201,0.00,1.75,16.80,0.855,6,0.000,0.042,2713,2551,1880
$GC,9467,0.56,159.9,340.9,10.0,352,9470,0.00,1.52,0.00,0.000,4,0.000,0.049,2713,3522,1876
$GC,9565,0.56,159.9,330.2,11.3,354,9567,0.00,1.42,0.00,0.000,6,0.000,0.025,2721,2558,1875
$GC,9843,0.57,180.3,304.5,8.9,361,9873,0.00,1.67,21.25,0.763,4,0.000,0.027,2729,1402,1794
$GC,9988,0.57,193.0,290.6,9.3,364,10008,0.00,1.75,12.52,0.772,6,0.000,0.044,2729,2511,1743
$GC,10254,0.58,200.3,265.2,9.6,371,10266,0.00,1.62,7.78,0.696,4,0.000,0.048,2728,3524,1713
$GC,10324,0.58,200.3,257.3,11.2,372,10327,0.00,1.48,0.00,0.000,6,0.000,0.025,2735,2532,1712
$GC,10584,0.58,204.7,231.4,9.8,379,10593,0.00,1.62,5.50,0.609,4,0.000,0.028,2739,1411,1695
$GC,10618,0.58,217.8,228.5,9.3,379,10636,0.00,1.80,13.10,0.729,6,0.000,0.041,2739,2579,1642
$GC,10909,0.59,236.8,201.6,9.0,387,10928,0.00,0.00,17.33,0.728,6,0.000,0.000,2739,2579,1564
$GC,11158,0.59,240.9,179.1,9.8,408,11171,0.00,1.75,4.90,0.538,4,0.000,0.026,2747,1422,1546
$GC,11190,0.59,244.2,176.0,9.8,410,11198,0.00,1.77,4.57,0.511,6,0.000,0.041,2747,2553,1534
$GC,11452,0.60,257.4,151.8,9.3,435,11468,0.00,1.50,12.95,0.661,4,0.000,0.046,2742,3529,1480
$GC,11558,0.60,257.4,140.5,10.0,444,11565,0.00,1.38,0.00,0.000,6,0.000,0.024,2747,2586,1479
$GC,11815,0.60,257.4,116.0,10.1,469,11818,0.00,1.70,0.00,0.000,4,0.000,0.028,2752,1407,1478
$GC,11905,0.60,263.1,106.9,9.7,477,11917,0.08,1.77,6.38,0.541,6,0.123,0.039,2725,2555,1456
$GC,12172,0.61,296.9,86.1,8.1,502,12211,0.00,1.52,29.60,0.634,4,0.000,0.045,2725,3519,1318
$GC,12268,0.62,316.1,77.7,8.9,510,12294,0.00,1.38,17.45,0.601,6,0.000,0.022,2726,2576,1239
$GC,12549,0.63,345.9,55.0,8.4,536,12578,0.00,1.73,25.23,0.593,4,0.000,0.025,2726,1407,1119
$GC,12654,0.65,394.8,46.7,7.3,545,12704,0.00,1.55,40.80,0.590,6,0.000,0.038,2726,2398,919
$GC,12960,0.66,416.6,21.0,8.8,582,12983,0.00,1.73,18.45,0.547,4,0.000,0.043,2726,3528,832
$STATE,13130,end climb,SURFACE_DEPTH_REACHED
$STATE,13130,begin surface coast
$FINISH,0.1,1.010241
$STATE,13156,end surface coast,CONTROL_FINISHED_OK
$STATE,13156,begin surface
$SM_CCo,13241,0.00,0.000,0,0,830,417.00
$SM_GC,0.98,6.90,0.00,0.00,0.030,0.000,0.000,47,2563,830,-7.68,-0.74,417.00
$IRIDIUM_FIX,2239.35,-15744.57,230102,131354
$TT8_MAMPS,0.048321
$HUMID,2244
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.60
$XPDR_PINGS,43
$24V_AH,23.7,84.886
$10V_AH,10.4,82.327
$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,17.500,114.825,504.500,0.000,0.000,26.388,33.689,543.586,10.750,0.000,0.000,14.810,0.000,9338.598,517.292,2945.511,1196.884,33.354,1530.359,0.000,2613.232,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,52.923,1039.285,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,414.745,1439.702,1519.812,192.474,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50850,617
$CAP_FILE_SIZE,129594,0
$CFSIZE,260165632,224649216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,291012,210306,2247.420,-15745.155,36,1.0,36,10.1