version: 66.04
glider: 512
mission: 3
dive: 632
start: 10 29 112 21 21 19
data:
$ID,512
$MISSION,3
$DIVE,632
$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,-66441.969
$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,77
$R_STBD_OVSHOOT,29
$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
$GPS1,210306,2247.420,-15745.155,36,1.0,36,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-76.4
$GPS2,212036,2247.399,-15745.206,12,1.0,18,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,-0.191
$KALMAN_X,-192985.8,-172.6,-9.7,192090.3,-108.1
$KALMAN_Y,121222.5,413.0,425.5,-140574.8,219.4
$MHEAD_RNG_PITCHd_Wd,133.1,20642,-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,-74.45,0.000,2,0.000,0.000,12,2557,2704
$GC,97,-0.54,-121.7,2.3,-3.7,10,121,9.18,1.48,-7.03,0.000,4,0.204,0.041,2346,1540,3026
$GC,146,-0.54,-121.7,15.1,-20.1,17,153,0.00,1.62,0.00,0.000,6,0.000,0.035,2340,2597,3027
$GC,418,-0.54,-121.7,56.3,-15.2,51,421,0.00,1.52,0.00,0.000,4,0.000,0.023,2342,1540,3027
$GC,497,-0.54,-121.7,67.3,-12.0,58,500,0.00,1.52,0.00,0.000,6,0.000,0.035,2336,2540,3027
$GC,760,-0.54,-121.7,99.4,-11.5,83,763,0.00,1.42,0.00,0.000,4,0.000,0.021,2338,1533,3027
$GC,788,-0.54,-121.7,103.1,-12.2,85,796,0.00,1.52,0.00,0.000,6,0.000,0.035,2333,2534,3027
$GC,1046,-0.54,-121.7,134.8,-12.2,110,1049,0.00,1.70,0.00,0.000,4,0.000,0.055,2324,3659,3027
$GC,1074,-0.54,-121.7,138.7,-12.9,112,1081,0.00,1.62,0.00,0.000,6,0.000,0.019,2325,2527,3027
$GC,1332,-0.54,-121.7,168.7,-12.0,137,1335,0.00,1.38,0.00,0.000,4,0.000,0.021,2324,1530,3027
$GC,1379,-0.54,-121.7,174.0,-10.8,141,1382,0.08,1.48,0.00,0.000,6,0.120,0.035,2346,2499,3027
$GC,1676,-0.54,-121.7,204.9,-10.6,166,1679,0.00,1.73,0.00,0.000,4,0.000,0.044,2340,3648,3027
$GC,1726,-0.54,-121.7,211.0,-10.4,167,1729,0.00,1.62,0.00,0.000,6,0.000,0.020,2339,2496,3027
$GC,2007,-0.54,-121.7,240.1,-10.2,174,2010,0.00,1.33,0.00,0.000,4,0.000,0.021,2340,1531,3027
$GC,2041,-0.54,-121.7,243.0,-8.9,174,2044,0.00,1.50,0.00,0.000,6,0.000,0.036,2333,2515,3027
$GC,2298,-0.54,-121.7,266.2,-8.9,181,2301,0.00,1.73,0.00,0.000,4,0.000,0.044,2325,3644,3026
$GC,2337,-0.54,-121.7,270.0,-9.2,181,2342,0.00,1.60,0.00,0.000,6,0.000,0.020,2324,2507,3026
$GC,2586,-0.54,-121.7,295.0,-10.2,188,2589,0.00,1.33,0.00,0.000,4,0.000,0.022,2325,1544,3025
$GC,2642,-0.54,-121.7,300.2,-8.5,189,2645,0.08,1.42,0.00,0.000,6,0.113,0.036,2347,2479,3025
$GC,2920,-0.54,-121.7,321.8,-7.7,196,2923,0.00,1.77,0.00,0.000,4,0.000,0.046,2340,3651,3024
$GC,2986,-0.54,-121.7,327.2,-7.9,197,2988,0.00,1.62,0.00,0.000,6,0.000,0.021,2340,2498,3023
$GC,3251,-0.54,-121.7,347.1,-7.4,204,3255,0.00,1.33,0.00,0.000,4,0.000,0.021,2340,1536,3022
$GC,3280,-0.54,-121.7,349.3,-7.7,204,3283,0.00,1.50,0.00,0.000,6,0.000,0.038,2333,2515,3021
$GC,3542,-0.54,-121.7,369.7,-8.0,211,3545,0.00,1.73,0.00,0.000,4,0.000,0.047,2325,3654,3020
$GC,3565,-0.54,-121.7,372.0,-8.8,211,3568,0.00,1.67,0.00,0.000,6,0.000,0.021,2325,2494,3020
$GC,3830,-0.54,-121.7,395.4,-8.9,218,3834,0.00,1.33,0.00,0.000,4,0.000,0.022,2325,1539,3017
$GC,3880,-0.54,-121.7,400.0,-9.4,219,3884,0.08,1.45,-0.05,0.000,6,0.106,0.039,2349,2479,3037
$GC,4164,-0.54,-121.7,420.8,-7.4,226,4167,0.00,1.80,0.00,0.000,4,0.000,0.050,2346,3649,3035
$GC,4219,-0.54,-121.7,425.4,-8.0,227,4222,0.00,1.40,0.00,0.000,6,0.000,0.023,2346,2666,3034
$GC,4495,-0.54,-121.7,444.8,-6.6,234,4498,0.00,1.55,0.00,0.000,4,0.000,0.049,2346,3640,3032
$GC,4609,-0.54,-121.7,452.2,-6.6,236,4612,0.00,1.17,0.00,0.000,6,0.000,0.024,2346,2809,3031
$GC,4869,-0.54,-121.7,468.4,-6.1,243,4872,0.00,1.33,0.00,0.000,4,0.000,0.048,2341,3647,3029
$GC,4924,-0.54,-121.7,472.1,-7.3,244,4927,0.00,1.40,0.00,0.000,6,0.000,0.025,2341,2674,3028
$GC,5203,-0.54,-121.7,492.2,-7.4,251,5206,0.00,1.55,0.00,0.000,4,0.000,0.049,2334,3644,3026
$GC,5290,-0.54,-121.7,499.4,-8.1,253,5293,0.00,1.23,0.00,0.000,6,0.000,0.025,2333,2787,3025
$GC,5577,-0.54,-121.7,521.2,-7.3,260,5579,0.00,1.38,0.00,0.000,4,0.000,0.051,2333,3647,3024
$GC,5707,-0.54,-121.7,530.7,-6.9,263,5710,0.00,1.30,0.00,0.000,6,0.000,0.025,2333,2749,3023
$GC,5994,-0.54,-121.7,550.5,-6.7,270,5997,0.00,1.42,0.00,0.000,4,0.000,0.051,2328,3638,3021
$GC,6017,-0.54,-121.7,552.1,-7.1,270,6019,0.00,1.17,0.00,0.000,6,0.000,0.025,2327,2819,3021
$GC,6283,-0.54,-121.7,572.2,-7.6,277,6285,0.00,1.33,0.00,0.000,4,0.000,0.053,2321,3643,3020
$GC,6396,-0.54,-121.7,581.9,-8.6,279,6399,0.00,1.33,0.00,0.000,6,0.000,0.025,2323,2728,3019
$STATE,6653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6653,begin apogee
$GC,6665,-0.18,0.0,602.3,7.7,286,6777,0.43,0.00,110.15,1.048,6,0.094,0.000,2466,2468,2530
$STATE,6777,end apogee,CONTROL_FINISHED_OK
$STATE,6777,begin climb
$GC,6782,0.54,121.7,607.9,0.0,289,6907,0.62,1.70,113.45,0.995,4,0.038,0.048,2715,3515,2035
$GC,7033,0.54,121.7,589.0,12.7,294,7038,0.00,1.60,0.00,0.000,6,0.000,0.025,2722,2433,2030
$GC,7284,0.54,121.7,559.7,11.5,301,7287,0.00,1.73,0.00,0.000,4,0.000,0.049,2715,3527,2028
$GC,7356,0.54,121.7,551.0,12.1,302,7358,0.00,1.50,0.00,0.000,6,0.000,0.025,2722,2516,2027
$GC,7615,0.54,121.7,522.1,11.0,309,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2509,2026
$GC,7858,0.54,121.7,496.7,10.4,315,7861,0.00,1.62,0.00,0.000,4,0.000,0.028,2730,1401,2025
$GC,7886,0.54,121.7,493.8,10.9,315,7889,0.00,1.75,0.00,0.000,6,0.000,0.042,2729,2541,2023
$GC,8146,0.54,121.7,464.0,11.5,322,8148,0.00,1.65,0.00,0.000,4,0.000,0.026,2735,1408,2023
$GC,8179,0.54,121.7,460.1,11.8,322,8183,0.10,1.70,0.00,0.000,6,0.145,0.042,2705,2498,2022
$GC,8434,0.54,121.7,433.4,10.3,329,8437,0.00,1.60,0.00,0.000,4,0.000,0.049,2702,3516,2022
$GC,8548,0.54,121.7,421.4,10.2,331,8550,0.00,1.45,0.00,0.000,6,0.000,0.025,2709,2527,2021
$GC,8808,0.56,153.8,399.3,8.2,338,8846,0.00,0.00,30.10,0.866,6,0.000,0.000,2708,2521,1901
$GC,9091,0.57,176.5,375.4,8.7,345,9114,0.00,1.62,20.70,0.874,4,0.000,0.028,2716,1404,1811
$GC,9150,0.57,176.5,369.6,10.2,346,9153,0.00,1.83,0.00,0.000,6,0.000,0.044,2715,2567,1808
$GC,9415,0.57,176.5,341.6,10.5,353,9418,0.00,1.50,0.00,0.000,4,0.000,0.050,2716,3519,1807
$GC,9481,0.57,176.5,334.1,10.8,354,9484,0.00,1.42,0.00,0.000,6,0.000,0.025,2721,2557,1806
$GC,9749,0.57,176.5,306.8,10.0,361,9751,0.00,1.65,0.00,0.000,4,0.000,0.028,2729,1401,1805
$GC,9788,0.57,181.9,302.7,9.7,361,9797,0.00,1.83,5.82,0.677,6,0.000,0.044,2729,2578,1788
$GC,10075,0.57,191.9,275.0,9.4,369,10088,0.00,0.00,10.75,0.765,6,0.000,0.000,2728,2578,1746
$GC,10363,0.57,191.9,246.2,10.2,376,10366,0.00,1.73,0.00,0.000,4,0.000,0.026,2735,1405,1743
$GC,10391,0.57,195.7,243.4,9.8,376,10400,0.00,1.73,4.35,0.556,6,0.000,0.044,2736,2503,1732
$GC,10651,0.59,230.2,220.9,8.1,383,10686,0.00,1.60,31.20,0.775,4,0.000,0.048,2735,3527,1590
$GC,10742,0.59,231.7,212.7,9.9,384,10746,0.00,1.55,0.00,0.000,6,0.000,0.026,2739,2505,1588
$GC,11003,0.59,235.8,188.0,9.8,398,11011,0.00,0.00,5.75,0.588,6,0.000,0.000,2739,2500,1568
$GC,11262,0.59,246.2,162.5,9.4,423,11276,0.00,1.67,10.40,0.658,4,0.000,0.048,2739,3529,1526
$GC,11301,0.59,246.2,158.5,10.9,426,11304,0.00,1.58,0.00,0.000,6,0.000,0.025,2739,2487,1524
$GC,11570,0.60,260.5,134.0,9.2,451,11586,0.00,1.58,13.85,0.656,4,0.000,0.027,2739,1391,1466
$GC,11624,0.61,286.9,128.6,8.5,455,11651,0.00,1.75,23.33,0.671,6,0.000,0.040,2739,2509,1360
$GC,11904,0.62,301.4,103.3,9.2,481,11920,0.00,1.58,13.40,0.621,4,0.000,0.044,2739,3529,1300
$GC,11972,0.62,303.9,96.1,9.9,486,11980,0.00,1.50,3.78,0.406,6,0.000,0.024,2739,2524,1291
$GC,12234,0.63,334.4,73.7,8.3,511,12264,0.00,1.65,26.62,0.620,4,0.000,0.026,2739,1386,1165
$GC,12333,0.64,373.4,65.2,7.8,519,12371,0.00,1.77,32.97,0.611,6,0.000,0.038,2739,2526,1006
$GC,12621,0.67,445.9,45.7,6.0,546,12685,0.00,1.73,59.10,0.596,4,0.000,0.025,2738,1399,711
$GC,12934,0.67,445.9,15.9,10.5,585,12941,0.00,1.42,0.00,0.000,6,0.000,0.035,2739,2326,708
$STATE,13057,end climb,SURFACE_DEPTH_REACHED
$STATE,13057,begin surface coast
$FINISH,0.1,0.998622
$STATE,13095,end surface coast,CONTROL_FINISHED_OK
$STATE,13095,begin surface
$SM_CCo,13118,39.53,0.546,0,0,398,522.73
$SM_GC,0.82,0.00,0.00,39.53,0.000,0.000,0.546,32,2647,398,-7.79,1.64,522.73
$IRIDIUM_FIX,2237.01,-15745.45,230102,212119
$TT8_MAMPS,0.04602
$HUMID,2251
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.30
$XPDR_PINGS,41
$24V_AH,23.7,85.043
$10V_AH,10.4,82.455
$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,17.400,108.950,515.725,39.525,0.000,146.914,184.182,261.948,10.250,0.000,0.000,18.167,0.000,9600.084,551.240,2810.479,1226.821,33.354,1502.429,0.000,2483.539,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,55.224,1048.489,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,413.041,1436.464,1515.477,191.052,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50924,614
$CAP_FILE_SIZE,126327,0
$CFSIZE,260165632,224567296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,301012,010153,2246.634,-15744.941,27,0.9,44,10.1