version: 66.04
glider: 512
mission: 3
dive: 513
start: 10 10 112 22 2 27
data:
$ID,512
$MISSION,3
$DIVE,513
$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,130
$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,-64086.281
$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,2630
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2550
$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
$GPS1,215236,2305.520,-15736.037,39,1.3,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-80.8
$GPS2,220149,2305.552,-15736.125,12,1.3,12,10.1
$SPEED_LIMITS,0.143,0.243
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.125,-0.209
$KALMAN_X,-83702.0,-1049.6,111.4,99053.6,-981.5
$KALMAN_Y,48307.0,-37.8,-162.1,-33001.6,237.3
$MHEAD_RNG_PITCHd_Wd,200.9,68986,-18.9,-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,15,begin dive
$GC,20,-0.54,-126.5,0.0,0.0,0,87,0.00,0.00,-65.82,0.000,2,0.000,0.000,18,2688,2551
$GC,93,-0.54,-126.5,2.2,-3.3,8,119,9.05,1.62,-11.43,0.000,4,0.204,0.040,2354,1557,3068
$GC,179,-0.54,-126.5,23.1,-19.4,22,187,0.00,1.60,0.00,0.000,6,0.000,0.039,2348,2584,3068
$GC,446,-0.54,-126.5,75.1,-17.9,50,449,0.00,1.67,0.00,0.000,4,0.000,0.044,2340,3691,3069
$GC,472,-0.54,-126.5,79.4,-16.3,52,475,0.00,1.58,0.00,0.000,6,0.000,0.021,2340,2601,3069
$GC,736,-0.54,-126.5,123.0,-17.1,77,739,0.00,1.67,0.00,0.000,4,0.000,0.041,2333,3694,3070
$GC,785,-0.54,-126.5,131.4,-14.6,81,793,0.00,1.52,0.00,0.000,6,0.000,0.019,2333,2629,3069
$GC,1044,-0.54,-126.5,170.7,-15.7,106,1047,0.00,1.48,0.00,0.000,4,0.000,0.021,2333,1569,3069
$GC,1091,-0.54,-126.5,177.8,-13.6,110,1094,0.00,1.67,0.00,0.000,6,0.000,0.036,2325,2656,3069
$GC,1379,-0.54,-126.5,217.5,-13.5,129,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2655,3069
$GC,1621,-0.54,-126.5,248.0,-12.6,135,1624,0.00,1.55,0.00,0.000,4,0.000,0.021,2325,1578,3070
$GC,1703,-0.54,-126.5,256.7,-9.9,136,1708,0.12,1.60,0.00,0.000,6,0.121,0.038,2355,2637,3069
$GC,1952,-0.54,-126.5,279.3,-9.4,143,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2637,3069
$GC,2194,-0.54,-126.5,301.3,-8.9,149,2197,0.00,1.52,0.00,0.000,4,0.000,0.021,2356,1573,3069
$GC,2228,-0.54,-126.5,304.1,-7.9,149,2231,0.00,1.58,0.00,0.000,6,0.000,0.038,2351,2603,3069
$GC,2484,-0.54,-126.5,325.9,-8.8,156,2487,0.00,1.48,0.00,0.000,4,0.000,0.021,2350,1573,3067
$GC,2518,-0.54,-126.5,329.2,-9.2,156,2521,0.00,1.55,0.00,0.000,6,0.000,0.038,2346,2581,3067
$GC,2773,-0.54,-126.5,352.1,-8.8,163,2776,0.00,1.42,0.00,0.000,4,0.000,0.021,2346,1582,3066
$GC,2817,-0.54,-126.5,355.8,-7.5,164,2820,0.00,1.52,0.00,0.000,6,0.000,0.040,2346,2567,3065
$GC,3107,-0.54,-126.5,377.5,-7.6,171,3110,0.00,1.42,0.00,0.000,4,0.000,0.022,2346,1574,3063
$GC,3146,-0.54,-126.5,380.9,-7.3,171,3151,0.00,1.50,0.00,0.000,6,0.000,0.039,2346,2546,3063
$GC,3395,-0.54,-126.5,402.5,-8.8,178,3398,0.00,1.75,0.00,0.000,4,0.000,0.048,2346,3693,3061
$GC,3428,-0.54,-126.5,405.3,-8.0,178,3431,0.00,1.65,0.00,0.000,6,0.000,0.022,2346,2554,3060
$GC,3683,-0.54,-126.5,426.3,-8.2,185,3686,0.00,1.38,0.00,0.000,4,0.000,0.024,2345,1575,3058
$GC,3765,-0.54,-126.5,433.2,-8.7,186,3770,0.00,1.45,0.00,0.000,6,0.000,0.041,2346,2509,3058
$GC,4014,-0.54,-126.5,453.5,-8.2,193,4015,0.00,0.00,-0.08,0.000,6,0.000,0.000,2346,2509,3081
$GC,4256,-0.54,-126.5,473.6,-8.2,199,4259,0.00,1.35,0.00,0.000,4,0.000,0.023,2346,1576,3080
$GC,4296,-0.54,-126.5,476.8,-8.0,199,4301,0.00,1.45,0.00,0.000,6,0.000,0.041,2346,2507,3080
$GC,4547,-0.54,-126.5,496.8,-8.1,206,4550,0.00,1.83,0.00,0.000,4,0.000,0.050,2342,3688,3079
$GC,4607,-0.54,-126.5,502.0,-8.3,207,4610,0.00,1.67,0.00,0.000,6,0.000,0.025,2342,2524,3077
$GC,4878,-0.54,-126.5,525.7,-8.9,214,4882,0.00,1.33,0.00,0.000,4,0.000,0.025,2342,1586,3075
$GC,4933,-0.54,-126.5,530.5,-8.4,215,4937,0.00,1.45,0.00,0.000,6,0.000,0.041,2335,2518,3075
$GC,5209,-0.54,-126.5,553.1,-8.1,222,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2518,3073
$GC,5452,-0.54,-126.5,571.6,-7.7,228,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2518,3072
$GC,5693,-0.54,-126.5,591.2,-8.2,234,5696,0.00,1.35,0.00,0.000,4,0.000,0.025,2336,1588,3071
$GC,5727,-0.54,-126.5,594.1,-8.6,234,5730,0.00,1.42,0.00,0.000,6,0.000,0.044,2333,2497,3071
$STATE,5815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5815,begin apogee
$GC,5826,-0.18,0.0,601.8,8.3,237,5943,0.40,0.00,115.47,1.054,6,0.094,0.000,2467,2358,2550
$STATE,5943,end apogee,CONTROL_FINISHED_OK
$STATE,5943,begin climb
$GC,5949,0.54,126.5,607.0,0.0,240,6076,0.60,1.62,117.07,1.004,4,0.032,0.028,2723,1318,2034
$GC,6145,0.54,126.5,595.8,12.6,244,6148,0.00,1.65,0.00,0.000,6,0.000,0.039,2723,2368,2027
$GC,6407,0.54,126.5,560.3,13.9,251,6410,0.00,1.62,0.00,0.000,4,0.000,0.046,2723,3418,2025
$GC,6494,0.54,126.5,546.8,16.0,253,6497,0.08,1.55,0.00,0.000,6,0.188,0.025,2701,2389,2023
$GC,6780,0.54,126.5,510.2,12.4,260,6783,0.00,1.62,0.00,0.000,4,0.000,0.047,2701,3419,2022
$GC,6814,0.54,126.5,506.0,13.4,260,6817,0.00,1.52,0.00,0.000,6,0.000,0.025,2707,2393,2021
$GC,7069,0.54,126.5,476.8,10.9,267,7072,0.00,1.65,0.00,0.000,4,0.000,0.048,2702,3418,2020
$GC,7130,0.54,126.5,469.9,10.6,268,7132,0.00,1.48,0.00,0.000,6,0.000,0.025,2708,2422,2020
$GC,7401,0.54,126.5,441.5,10.5,275,7403,0.00,1.62,0.00,0.000,4,0.000,0.028,2716,1291,2019
$GC,7455,0.54,134.2,436.0,9.6,276,7464,0.00,1.80,5.55,0.725,6,0.000,0.041,2716,2444,2003
$GC,7726,0.54,134.2,407.4,10.4,283,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2444,2002
$GC,7968,0.54,149.1,384.6,9.2,289,7986,0.00,1.55,14.90,0.877,4,0.000,0.048,2715,3418,1942
$GC,8081,0.54,149.1,372.0,11.9,291,8084,0.00,1.48,0.00,0.000,6,0.000,0.025,2721,2434,1941
$GC,8341,0.54,149.1,342.6,11.0,298,8343,0.00,1.62,0.00,0.000,4,0.000,0.028,2729,1294,1939
$GC,8428,0.54,149.1,333.3,10.7,300,8430,0.00,1.75,0.00,0.000,6,0.000,0.041,2729,2425,1937
$GC,8715,0.55,150.0,304.4,10.0,307,8717,0.00,1.55,0.00,0.000,4,0.000,0.048,2729,3415,1937
$GC,8889,0.55,150.0,285.0,12.1,311,8893,0.08,1.40,0.00,0.000,6,0.172,0.025,2712,2475,1937
$GC,9176,0.56,181.1,258.7,8.3,318,9206,0.00,0.00,28.48,0.819,6,0.000,0.000,2712,2469,1811
$GC,9418,0.58,225.3,240.0,7.6,324,9459,0.00,1.58,38.40,0.796,4,0.000,0.048,2712,3415,1631
$GC,9515,0.58,231.5,231.8,9.7,326,9524,0.00,1.40,6.55,0.633,6,0.000,0.025,2717,2484,1606
$GC,9785,0.58,239.0,206.1,9.6,333,9794,0.00,0.00,7.80,0.650,6,0.000,0.000,2718,2484,1575
$GC,10033,0.58,242.2,182.7,9.8,351,10047,0.00,1.75,4.12,0.489,4,0.000,0.028,2725,1316,1561
$GC,10073,0.59,261.3,179.1,9.0,354,10099,0.00,1.88,17.55,0.707,6,0.000,0.039,2725,2525,1484
$GC,10354,0.59,261.3,149.8,10.6,380,10357,0.00,1.38,0.00,0.000,4,0.000,0.045,2725,3413,1481
$GC,10391,0.59,261.3,145.3,11.8,383,10394,0.00,1.33,0.00,0.000,6,0.000,0.024,2732,2517,1481
$GC,10654,0.59,261.3,115.5,11.4,408,10657,0.00,1.75,0.00,0.000,4,0.000,0.027,2739,1302,1481
$GC,10691,0.59,261.3,111.2,11.7,411,10694,0.00,1.88,0.00,0.000,6,0.000,0.041,2739,2522,1480
$GC,10954,0.60,284.0,83.2,8.8,436,10981,0.00,1.40,20.05,0.628,4,0.000,0.044,2739,3420,1391
$GC,11081,0.61,310.9,72.1,8.6,447,11110,0.00,1.30,23.50,0.621,6,0.000,0.023,2739,2529,1281
$GC,11364,0.62,325.8,49.3,9.2,473,11385,0.00,1.80,13.57,0.574,4,0.000,0.027,2739,1318,1219
$GC,11401,0.63,354.5,45.7,8.5,476,11429,0.00,1.88,24.80,0.591,6,0.000,0.037,2738,2538,1103
$GC,11681,0.64,388.2,23.9,8.2,509,11715,0.00,1.38,28.00,0.573,4,0.000,0.041,2739,3418,966
$GC,11736,0.66,427.4,19.8,7.9,516,11771,0.00,1.30,32.67,0.566,6,0.000,0.021,2739,2525,807
$STATE,11946,end climb,SURFACE_DEPTH_REACHED
$STATE,11946,begin surface coast
$FINISH,0.1,1.022918
$STATE,11977,end surface coast,CONTROL_FINISHED_OK
$STATE,11977,begin surface
$SM_CCo,12061,0.00,0.000,0,0,801,428.78
$SM_GC,1.16,6.82,0.00,0.00,0.020,0.000,0.000,30,2658,801,-7.71,0.79,428.78
$IRIDIUM_FIX,2253.38,-15736.68,040102,181837
$TT8_MAMPS,0.046787
$HUMID,2162
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.60
$XPDR_PINGS,7
$24V_AH,24.0,66.742
$10V_AH,10.5,64.663
$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,17.150,93.900,498.500,0.000,0.000,30.821,36.048,313.426,1.750,0.000,0.000,12.670,0.000,8516.210,487.256,2668.076,916.053,33.350,1336.150,0.000,2383.369,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,54.457,1053.858,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,377.221,1289.778,1333.514,214.795,1068.395,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44641,560
$CAP_FILE_SIZE,108524,0
$CFSIZE,260165632,231981056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111012,012436,2304.389,-15736.646,41,1.7,41,10.1