version: 66.04
glider: 512
mission: 3
dive: 634
start: 10 30 112 5 14 49
data:
$ID,512
$MISSION,3
$DIVE,634
$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,-66485.016
$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,55
$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
$GPS1,045706,2246.663,-15744.983,40,1.2,40,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-76.2
$GPS2,051406,2246.680,-15745.133,15,1.3,20,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.118,-0.208
$KALMAN_X,-196100.3,-320.3,-605.6,196082.9,-305.1
$KALMAN_Y,124329.7,182.8,-12.0,-144352.3,1156.1
$MHEAD_RNG_PITCHd_Wd,140.2,19526,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,16,-0.54,-121.7,0.0,0.0,0,108,0.00,0.00,-89.25,0.000,2,0.000,0.000,14,2617,2694
$GC,113,-0.54,-121.7,2.4,-3.9,12,136,9.02,1.58,-7.20,0.000,4,0.200,0.041,2350,1538,3026
$GC,167,-0.54,-121.7,16.6,-19.0,20,174,0.00,1.58,0.00,0.000,6,0.000,0.035,2344,2569,3026
$GC,439,-0.54,-121.7,58.5,-15.9,53,442,0.00,1.50,0.00,0.000,4,0.000,0.023,2344,1530,3026
$GC,489,-0.54,-121.7,66.6,-13.1,57,496,0.00,1.60,0.00,0.000,6,0.000,0.037,2338,2575,3025
$GC,747,-0.54,-121.7,100.2,-12.7,82,750,0.00,1.62,0.00,0.000,4,0.000,0.043,2330,3659,3026
$GC,783,-0.54,-121.7,105.1,-12.6,85,786,0.00,1.55,0.00,0.000,6,0.000,0.019,2330,2581,3026
$GC,1045,-0.54,-121.7,136.7,-12.0,110,1049,0.00,1.45,0.00,0.000,4,0.000,0.021,2330,1535,3026
$GC,1113,-0.54,-121.7,144.0,-10.3,116,1117,0.00,1.60,0.00,0.000,6,0.000,0.037,2323,2582,3026
$GC,1376,-0.54,-121.7,175.8,-12.1,141,1379,0.00,1.62,0.00,0.000,4,0.000,0.042,2314,3651,3026
$GC,1415,-0.54,-121.7,180.6,-11.1,144,1423,0.08,1.55,0.00,0.000,6,0.113,0.019,2343,2562,3026
$GC,1706,-0.54,-121.7,208.6,-9.7,166,1710,0.00,1.42,0.00,0.000,4,0.000,0.021,2344,1536,3026
$GC,1767,-0.54,-121.7,215.0,-9.1,167,1770,0.00,1.58,0.00,0.000,6,0.000,0.036,2338,2569,3026
$GC,2038,-0.54,-121.7,240.1,-9.2,174,2041,0.00,1.65,0.00,0.000,4,0.000,0.044,2330,3651,3026
$GC,2056,-0.54,-121.7,241.7,-9.3,174,2058,0.00,1.58,0.00,0.000,6,0.000,0.019,2330,2547,3026
$GC,2329,-0.54,-121.7,266.9,-9.3,181,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2538,3025
$GC,2568,-0.54,-121.7,288.7,-9.2,187,2571,0.00,1.40,0.00,0.000,4,0.000,0.022,2331,1540,3024
$GC,2640,-0.54,-121.7,295.3,-9.2,188,2643,0.00,1.58,0.00,0.000,6,0.000,0.037,2322,2574,3024
$GC,2900,-0.54,-121.7,319.2,-8.9,195,2903,0.00,1.62,0.00,0.000,4,0.000,0.045,2314,3655,3023
$GC,2955,-0.54,-121.7,324.2,-9.2,196,2958,0.08,1.55,0.00,0.000,6,0.092,0.020,2354,2565,3022
$GC,3232,-0.54,-121.7,342.9,-6.7,203,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2556,3021
$GC,3473,-0.54,-121.7,360.3,-7.3,209,3476,0.00,1.67,0.00,0.000,4,0.000,0.045,2348,3649,3019
$GC,3523,-0.54,-121.7,364.2,-7.8,210,3526,0.00,1.50,0.00,0.000,6,0.000,0.022,2347,2596,3018
$GC,3805,-0.54,-121.7,387.0,-8.1,217,3808,0.00,1.48,-0.08,0.000,4,0.000,0.041,2348,1545,3039
$GC,3844,-0.54,-121.7,390.4,-8.4,217,3849,0.00,1.88,0.00,0.000,6,0.000,0.043,2346,2773,3039
$GC,4093,-0.54,-121.7,411.4,-8.3,224,4096,0.00,1.75,0.00,0.000,4,0.000,0.022,2346,1545,3038
$GC,4175,-0.54,-121.7,418.6,-9.0,225,4182,0.00,1.75,0.00,0.000,6,0.000,0.041,2346,2668,3037
$GC,4424,-0.54,-121.7,438.4,-7.9,232,4427,0.00,1.62,0.00,0.000,4,0.000,0.022,2346,1549,3035
$GC,4452,-0.54,-121.7,440.6,-7.5,232,4455,0.00,2.10,0.00,0.000,6,0.000,0.044,2346,2909,3034
$GC,4712,-0.54,-121.7,458.6,-6.7,239,4715,0.00,1.15,0.00,0.000,4,0.000,0.051,2341,3652,3032
$GC,4741,-0.54,-121.7,460.5,-6.6,239,4744,0.00,1.35,0.00,0.000,6,0.000,0.023,2340,2702,3032
$GC,5003,-0.54,-121.7,476.8,-6.1,246,5006,0.00,1.50,0.00,0.000,4,0.000,0.049,2333,3643,3029
$GC,5053,-0.54,-121.7,480.2,-7.0,247,5056,0.00,1.25,0.00,0.000,6,0.000,0.024,2333,2763,3029
$GC,5335,-0.54,-121.7,500.2,-7.3,254,5337,0.00,1.70,0.00,0.000,4,0.000,0.025,2333,1552,3027
$GC,5384,-0.54,-121.7,504.4,-8.2,255,5387,0.00,1.92,0.00,0.000,6,0.000,0.044,2333,2798,3027
$GC,5666,-0.54,-121.7,528.5,-8.7,262,5668,0.00,1.80,0.00,0.000,4,0.000,0.024,2333,1538,3025
$GC,5737,-0.54,-121.7,535.2,-8.7,263,5740,0.00,1.85,0.00,0.000,6,0.000,0.045,2333,2734,3025
$GC,5997,-0.54,-121.7,558.1,-8.5,270,6000,0.00,1.42,0.00,0.000,4,0.000,0.053,2326,3641,3024
$GC,6031,-0.54,-121.7,560.9,-8.5,270,6034,0.00,1.30,0.00,0.000,6,0.000,0.025,2326,2737,3023
$GC,6286,-0.54,-121.7,581.6,-7.9,277,6289,0.00,1.70,0.00,0.000,4,0.000,0.026,2326,1555,3021
$GC,6379,-0.54,-121.7,588.7,-7.5,279,6382,0.12,1.75,0.00,0.000,6,0.111,0.044,2357,2686,3021
$STATE,6614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6614,begin apogee
$GC,6625,-0.18,0.0,601.5,5.0,285,6738,0.32,0.00,111.12,1.042,6,0.077,0.000,2472,2496,2530
$STATE,6739,end apogee,CONTROL_FINISHED_OK
$STATE,6739,begin climb
$GC,6744,0.54,121.7,605.8,0.0,288,6869,0.60,1.73,114.25,0.989,4,0.039,0.026,2721,1390,2033
$GC,6904,0.54,121.7,597.6,12.0,291,6907,0.00,1.70,0.00,0.000,6,0.000,0.042,2716,2465,2030
$GC,7158,0.54,121.7,566.2,12.1,298,7161,0.00,1.65,0.00,0.000,4,0.000,0.048,2715,3528,2024
$GC,7278,0.54,121.7,551.0,13.2,300,7281,0.00,1.55,0.00,0.000,6,0.000,0.025,2721,2485,2023
$GC,7532,0.54,121.7,523.0,10.6,307,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2479,2022
$GC,7774,0.54,121.7,498.3,10.1,313,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2479,2021
$GC,8016,0.54,121.7,473.7,10.1,319,8019,0.00,1.62,0.00,0.000,4,0.000,0.049,2716,3518,2020
$GC,8045,0.54,121.7,470.9,10.8,319,8048,0.00,1.48,0.00,0.000,6,0.000,0.025,2722,2514,2020
$GC,8307,0.55,127.6,445.7,9.7,326,8315,0.00,1.62,4.10,0.608,4,0.000,0.048,2717,3515,2009
$GC,8351,0.55,127.6,441.0,10.3,327,8354,0.00,1.48,0.00,0.000,6,0.000,0.025,2723,2519,2009
$GC,8638,0.55,139.8,414.4,9.3,334,8661,0.00,1.62,14.82,0.769,4,0.000,0.028,2731,1399,1960
$GC,8687,0.55,140.4,409.8,10.0,335,8690,0.00,1.77,0.00,0.000,6,0.000,0.044,2729,2546,1960
$GC,8968,0.55,140.4,379.7,10.9,342,8971,0.00,1.52,0.00,0.000,4,0.000,0.051,2729,3517,1957
$GC,9103,0.55,140.4,363.3,12.9,345,9106,0.00,1.42,0.00,0.000,6,0.000,0.025,2734,2546,1957
$GC,9385,0.55,140.4,333.2,10.3,352,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2539,1956
$GC,9627,0.55,140.4,308.9,10.1,358,9629,0.00,1.55,0.00,0.000,4,0.000,0.048,2729,3519,1956
$GC,9649,0.55,140.4,306.5,10.6,358,9652,0.00,1.42,0.00,0.000,6,0.000,0.025,2735,2545,1956
$GC,9915,0.56,172.2,283.3,8.2,365,9958,0.00,1.58,31.27,0.792,4,0.000,0.047,2729,3517,1827
$GC,9997,0.57,190.2,275.7,9.0,366,10017,0.00,1.38,17.38,0.786,6,0.000,0.025,2735,2588,1754
$GC,10283,0.58,202.7,249.2,9.3,374,10299,0.00,1.80,11.95,0.746,4,0.000,0.027,2743,1406,1702
$GC,10327,0.58,203.0,245.0,10.0,375,10330,0.00,1.90,0.00,0.000,6,0.000,0.043,2742,2622,1700
$GC,10608,0.58,203.0,216.8,10.0,382,10611,0.00,1.40,0.00,0.000,4,0.000,0.048,2742,3522,1699
$GC,10647,0.58,203.0,212.8,10.6,382,10652,0.10,1.35,0.00,0.000,6,0.154,0.025,2717,2609,1698
$GC,10901,0.59,243.1,192.1,7.8,395,10940,0.00,1.83,34.62,0.751,4,0.000,0.027,2725,1393,1537
$GC,10989,0.61,282.6,184.7,7.8,402,11027,0.00,1.92,34.40,0.728,6,0.000,0.041,2725,2610,1376
$GC,11280,0.62,316.4,160.8,8.1,429,11318,0.00,1.85,28.88,0.705,4,0.000,0.027,2725,1410,1238
$GC,11354,0.63,346.4,154.8,8.3,435,11383,0.00,1.88,26.17,0.683,6,0.000,0.039,2725,2593,1116
$GC,11636,0.65,381.7,132.2,8.1,461,11674,0.00,1.80,29.52,0.669,4,0.000,0.026,2725,1414,973
$GC,11735,0.67,427.8,123.9,7.4,469,11780,0.00,1.48,38.92,0.663,6,0.000,0.037,2725,2362,785
$GC,12030,0.67,445.0,96.9,9.0,497,12055,0.00,1.88,15.43,0.606,4,0.000,0.048,2725,3523,714
$GC,12123,0.68,451.2,88.0,9.7,505,12136,0.00,1.62,6.88,0.515,6,0.000,0.022,2725,2416,689
$GC,12391,0.68,451.2,62.7,10.1,530,12394,0.00,1.45,0.00,0.000,4,0.000,0.025,2725,1413,687
$GC,12642,0.68,451.2,33.8,11.5,553,12645,0.00,1.55,0.00,0.000,6,0.000,0.035,2725,2422,686
$GC,12909,0.68,451.2,5.0,13.9,599,12915,0.00,1.45,0.00,0.000,4,0.000,0.024,2725,1422,686
$STATE,12924,end climb,SURFACE_DEPTH_REACHED
$STATE,12924,begin surface coast
$FINISH,0.0,0.999745
$STATE,12951,end surface coast,CONTROL_FINISHED_OK
$STATE,12951,begin surface
$SM_CCo,12976,35.88,0.548,0,0,398,522.73
$SM_GC,0.64,0.00,0.00,35.88,0.000,0.000,0.548,40,2608,398,-7.77,0.51,522.73
$IRIDIUM_FIX,2239.35,-15744.57,240102,050552
$TT8_MAMPS,0.046787
$HUMID,2257
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,22.80
$XPDR_PINGS,44
$24V_AH,23.7,85.353
$10V_AH,10.4,82.707
$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,17.150,112.825,519.725,35.875,0.000,132.300,173.850,257.810,11.000,0.000,0.000,25.651,0.000,9533.777,561.849,2734.742,1184.745,33.354,1516.143,0.000,2398.712,0.000,0.545,0.000
$DEVICE_MAMPS,200.187,52.923,1041.586,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,407.359,1411.431,1474.043,187.028,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50955,607
$CAP_FILE_SIZE,124912,0
$CFSIZE,260165632,224395264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,301012,085253,2246.414,-15744.353,39,1.3,39,10.1