version: 66.04
glider: 512
mission: 3
dive: 515
start: 10 11 112 5 13 15
data:
$ID,512
$MISSION,3
$DIVE,515
$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,-64120.934
$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,76
$R_STBD_OVSHOOT,24
$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
$GPS1,045836,2303.768,-15737.280,37,1.0,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-79.8
$GPS2,051237,2303.816,-15737.234,16,1.9,16,10.1
$SPEED_LIMITS,0.143,0.243
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.217,-0.110
$KALMAN_X,-83736.2,720.8,309.2,95216.6,22.2
$KALMAN_Y,47953.2,814.7,291.6,-37165.3,-958.1
$MHEAD_RNG_PITCHd_Wd,233.1,65430,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.54,-126.5,0.0,0.0,0,96,0.00,0.00,-74.00,0.000,2,0.000,0.000,13,2584,2673
$GC,101,-0.54,-126.5,2.5,-3.9,9,127,9.05,1.45,-8.20,0.000,4,0.205,0.038,2349,1533,3068
$GC,212,-0.54,-126.5,29.6,-16.7,28,220,0.00,1.73,0.00,0.000,6,0.000,0.039,2342,2639,3068
$GC,471,-0.54,-126.5,77.9,-17.3,53,474,0.00,1.52,0.00,0.000,4,0.000,0.021,2342,1583,3069
$GC,497,-0.54,-126.5,81.9,-15.2,55,500,0.00,1.60,0.00,0.000,6,0.000,0.035,2337,2622,3069
$GC,760,-0.54,-126.5,121.0,-14.0,80,763,0.00,1.62,0.00,0.000,4,0.000,0.043,2328,3690,3069
$GC,806,-0.54,-126.5,127.4,-13.3,84,809,0.00,1.52,0.00,0.000,6,0.000,0.019,2329,2628,3069
$GC,1070,-0.54,-126.5,162.3,-13.7,109,1073,0.00,1.45,0.00,0.000,4,0.000,0.021,2329,1586,3069
$GC,1173,-0.54,-126.5,175.8,-11.9,118,1178,0.08,1.58,0.00,0.000,6,0.126,0.035,2348,2619,3069
$GC,1440,-0.54,-126.5,205.0,-10.9,141,1442,0.00,1.48,0.00,0.000,4,0.000,0.021,2348,1582,3069
$GC,1473,-0.54,-126.5,208.9,-10.5,141,1476,0.00,1.58,0.00,0.000,6,0.000,0.037,2346,2611,3069
$GC,1728,-0.54,-126.5,236.1,-10.7,148,1731,0.00,1.48,0.00,0.000,4,0.000,0.021,2346,1577,3069
$GC,1815,-0.54,-126.5,244.5,-9.1,150,1818,0.00,1.55,0.00,0.000,6,0.000,0.038,2346,2585,3069
$GC,2102,-0.54,-126.5,271.3,-9.7,157,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2584,3069
$GC,2344,-0.54,-126.5,295.2,-9.9,163,2347,0.00,1.42,0.00,0.000,4,0.000,0.021,2346,1581,3068
$GC,2399,-0.54,-126.5,300.7,-9.4,164,2402,0.00,1.52,0.00,0.000,6,0.000,0.038,2346,2574,3068
$GC,2678,-0.54,-126.5,324.2,-8.3,171,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2574,3067
$GC,2918,-0.54,-126.5,343.6,-8.0,177,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2574,3065
$GC,3159,-0.54,-126.5,364.1,-8.3,183,3162,0.00,1.42,0.00,0.000,4,0.000,0.022,2346,1576,3063
$GC,3220,-0.54,-126.5,368.6,-7.5,184,3222,0.00,1.52,0.00,0.000,6,0.000,0.040,2346,2565,3063
$GC,3492,-0.54,-126.5,388.9,-7.6,191,3495,0.00,1.70,0.00,0.000,4,0.000,0.047,2339,3688,3061
$GC,3521,-0.54,-126.5,391.4,-8.1,191,3524,0.00,1.60,0.00,0.000,6,0.000,0.022,2339,2559,3060
$GC,3781,-0.54,-126.5,413.9,-8.7,198,3784,0.00,1.38,0.00,0.000,4,0.000,0.024,2339,1578,3058
$GC,3879,-0.54,-126.5,422.1,-9.0,200,3882,0.00,1.48,0.00,0.000,6,0.000,0.038,2333,2534,3057
$GC,4155,-0.54,-126.5,445.7,-8.7,207,4158,0.00,1.40,-0.08,0.000,4,0.000,0.042,2333,1579,3080
$GC,4210,-0.54,-126.5,450.4,-8.3,208,4213,0.00,1.42,0.00,0.000,6,0.000,0.039,2333,2503,3080
$GC,4486,-0.54,-126.5,472.7,-8.1,215,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2503,3079
$GC,4731,-0.54,-126.5,491.2,-7.6,221,4734,0.00,1.33,0.00,0.000,4,0.000,0.025,2333,1587,3076
$GC,4764,-0.54,-126.5,493.8,-7.5,221,4767,0.00,1.40,0.00,0.000,6,0.000,0.041,2333,2492,3076
$GC,5019,-0.54,-126.5,512.4,-7.4,228,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2493,3074
$GC,5261,-0.54,-126.5,531.6,-7.9,234,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2493,3073
$GC,5504,-0.54,-126.5,551.6,-8.3,240,5507,0.00,1.30,0.00,0.000,4,0.000,0.025,2333,1590,3070
$GC,5550,-0.54,-126.5,555.5,-8.8,241,5553,0.00,1.40,0.00,0.000,6,0.000,0.042,2333,2483,3071
$GC,5837,-0.54,-126.5,578.9,-8.0,248,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2483,3069
$GC,6079,-0.54,-126.5,598.3,-8.0,254,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2483,3067
$STATE,6114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6114,begin apogee
$GC,6125,-0.18,0.0,601.4,8.0,255,6242,0.40,0.00,114.57,1.060,6,0.095,0.000,2466,2359,2550
$STATE,6242,end apogee,CONTROL_FINISHED_OK
$STATE,6242,begin climb
$GC,6247,0.54,126.5,605.9,0.0,258,6375,0.62,1.60,117.00,1.008,4,0.039,0.027,2719,1327,2033
$GC,6391,0.54,126.5,601.5,11.8,261,6393,0.00,1.65,0.00,0.000,6,0.000,0.039,2719,2364,2030
$GC,6661,0.54,126.5,561.9,15.0,268,6664,0.00,1.65,0.00,0.000,4,0.000,0.045,2716,3429,2025
$GC,6743,0.54,126.5,549.3,15.5,269,6748,0.00,1.55,0.00,0.000,6,0.000,0.025,2722,2392,2025
$GC,6994,0.54,126.5,516.5,12.7,276,6996,0.00,1.62,0.00,0.000,4,0.000,0.047,2717,3426,2022
$GC,7022,0.54,126.5,512.7,13.7,276,7025,0.00,1.55,0.00,0.000,6,0.000,0.025,2722,2387,2022
$GC,7282,0.54,126.5,480.6,12.2,283,7285,0.00,1.62,0.00,0.000,4,0.000,0.045,2723,3424,2021
$GC,7390,0.54,126.5,466.4,13.0,285,7393,0.00,1.42,0.00,0.000,6,0.000,0.025,2729,2461,2020
$GC,7656,0.54,126.5,432.2,13.5,292,7659,0.00,1.65,0.00,0.000,4,0.000,0.029,2738,1313,2019
$GC,7721,0.54,126.5,424.1,11.5,293,7724,0.15,1.75,0.00,0.000,6,0.153,0.041,2700,2457,2017
$GC,7986,0.54,130.4,397.4,9.8,300,7989,0.00,1.50,0.00,0.000,4,0.000,0.050,2700,3419,2017
$GC,8047,0.54,130.4,391.4,10.1,301,8050,0.00,1.42,0.00,0.000,6,0.000,0.025,2705,2450,2017
$GC,8317,0.55,162.2,367.8,8.3,308,8358,0.00,0.00,31.75,0.866,6,0.000,0.000,2706,2444,1888
$GC,8602,0.55,162.2,339.6,10.4,315,8605,0.00,1.58,0.00,0.000,4,0.000,0.049,2702,3422,1883
$GC,8711,0.55,162.2,326.9,12.8,317,8714,0.00,1.38,0.00,0.000,6,0.000,0.025,2707,2496,1882
$GC,8976,0.55,169.6,300.1,9.6,324,8986,0.00,1.52,7.10,0.728,4,0.000,0.048,2707,3428,1858
$GC,9041,0.55,170.7,293.7,9.9,325,9044,0.00,1.33,0.00,0.000,6,0.000,0.025,2714,2532,1857
$GC,9301,0.55,172.3,269.0,9.9,332,9309,0.00,1.80,3.88,0.532,4,0.000,0.028,2723,1327,1847
$GC,9335,0.55,172.3,265.6,10.3,332,9337,0.00,1.88,0.00,0.000,6,0.000,0.044,2723,2540,1846
$GC,9589,0.56,185.7,240.4,9.3,339,9604,0.00,0.00,13.52,0.771,6,0.000,0.000,2723,2540,1792
$GC,9831,0.57,201.3,218.2,9.2,345,9847,0.00,0.00,14.82,0.749,6,0.000,0.000,2723,2540,1728
$GC,10077,0.57,201.3,191.2,10.8,354,10080,0.00,1.85,0.00,0.000,4,0.000,0.027,2732,1300,1725
$GC,10156,0.57,202.9,183.3,9.9,361,10158,0.00,1.90,0.00,0.000,6,0.000,0.044,2732,2520,1723
$GC,10419,0.58,224.7,157.6,8.8,386,10446,0.00,1.40,20.38,0.711,4,0.000,0.046,2732,3416,1635
$GC,10503,0.58,224.7,149.2,11.1,393,10506,0.00,1.33,0.00,0.000,6,0.000,0.025,2739,2530,1634
$GC,10766,0.58,224.7,121.3,10.7,418,10769,0.00,1.75,0.00,0.000,4,0.000,0.028,2739,1315,1632
$GC,10803,0.58,231.1,117.7,9.7,421,10816,0.00,1.90,7.03,0.578,6,0.000,0.040,2739,2547,1607
$GC,11070,0.58,249.3,93.6,9.0,446,11091,0.00,1.35,16.38,0.639,4,0.000,0.044,2739,3433,1533
$GC,11120,0.59,250.1,88.3,10.0,450,11128,0.00,1.35,0.00,0.000,6,0.000,0.025,2739,2524,1533
$GC,11378,0.60,281.2,65.0,8.3,475,11415,0.00,1.80,27.58,0.628,4,0.000,0.027,2739,1315,1402
$GC,11441,0.62,326.0,59.8,7.6,480,11482,0.00,1.88,37.58,0.619,6,0.000,0.038,2739,2532,1220
$GC,11731,0.63,371.1,37.0,7.6,507,11773,0.00,1.42,37.05,0.598,4,0.000,0.042,2739,3425,1036
$GC,11820,0.64,384.4,29.5,9.3,514,11838,0.00,1.33,12.20,0.545,6,0.000,0.022,2739,2527,982
$GC,12088,0.67,449.6,10.0,6.5,564,12150,0.00,1.83,52.58,0.572,4,0.000,0.024,2738,1311,715
$STATE,12170,end climb,SURFACE_DEPTH_REACHED
$STATE,12170,begin surface coast
$FINISH,0.0,1.001832
$STATE,12200,end surface coast,CONTROL_FINISHED_OK
$STATE,12201,begin surface
$SM_CCo,12286,0.00,0.000,0,0,711,450.85
$SM_GC,0.88,6.90,0.00,0.00,0.021,0.000,0.000,38,2653,711,-7.69,0.65,450.85
$IRIDIUM_FIX,2253.38,-15737.57,050102,050522
$TT8_MAMPS,0.046787
$HUMID,2180
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.20
$XPDR_PINGS,12
$24V_AH,24.0,67.037
$10V_AH,10.5,64.971
$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,17.200,90.675,513.400,0.000,0.000,55.354,73.157,470.203,3.000,0.000,0.000,16.979,0.000,8744.678,488.140,2731.464,1136.693,33.349,1356.683,0.000,2445.019,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,49.855,1059.994,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,391.337,1357.983,1398.006,209.506,1110.086,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47822,581
$CAP_FILE_SIZE,112589,0
$CFSIZE,260165632,231854080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,111012,083906,2302.750,-15738.296,38,0.9,38,10.1