version: 66.04
glider: 512
mission: 3
dive: 521
start: 10 12 112 3 10 51
data:
$ID,512
$MISSION,3
$DIVE,521
$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,-64239.504
$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,64
$R_STBD_OVSHOOT,58
$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
$GPS1,025436,2257.748,-15742.726,30,1.1,30,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-79.0
$GPS2,031013,2257.819,-15742.856,13,1.6,13,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.217,-0.101
$KALMAN_X,-78612.2,-377.2,-361.6,82287.0,1782.8
$KALMAN_Y,48835.1,459.5,-114.1,-48388.6,550.6
$MHEAD_RNG_PITCHd_Wd,234.9,50921,-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,-121.7,0.0,0.0,0,95,0.00,0.00,-74.18,0.000,2,0.000,0.000,14,2675,2820
$GC,101,-0.54,-121.7,2.7,-4.0,9,119,9.05,1.62,-4.45,0.000,4,0.204,0.037,2348,1557,3048
$GC,281,-0.54,-121.7,44.1,-16.2,34,284,0.00,1.60,0.00,0.000,6,0.000,0.036,2343,2617,3050
$GC,545,-0.54,-121.7,87.8,-15.4,59,548,0.00,1.50,0.00,0.000,4,0.000,0.021,2342,1575,3050
$GC,645,-0.54,-121.7,101.6,-12.5,68,648,0.00,1.58,0.00,0.000,6,0.000,0.035,2335,2599,3050
$GC,910,-0.54,-121.7,135.9,-13.7,93,913,0.00,1.48,0.00,0.000,4,0.000,0.021,2336,1566,3050
$GC,957,-0.54,-121.7,142.3,-13.0,97,960,0.00,1.55,0.00,0.000,6,0.000,0.038,2333,2571,3050
$GC,1220,-0.54,-121.7,179.0,-13.7,122,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2571,3050
$GC,1505,-0.54,-121.7,216.5,-12.6,141,1509,0.00,1.42,0.00,0.000,4,0.000,0.021,2333,1568,3050
$GC,1550,-0.54,-121.7,221.9,-10.9,142,1553,0.00,1.52,0.00,0.000,6,0.000,0.035,2327,2567,3051
$GC,1837,-0.54,-121.7,255.1,-11.6,149,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2567,3050
$GC,2079,-0.54,-121.7,282.5,-11.1,155,2082,0.00,1.42,0.00,0.000,4,0.000,0.022,2327,1569,3050
$GC,2144,-0.54,-121.7,289.5,-9.6,156,2147,0.00,1.52,0.00,0.000,6,0.000,0.036,2320,2571,3050
$GC,2410,-0.54,-121.7,318.6,-11.4,163,2413,0.10,1.42,0.00,0.000,4,0.135,0.021,2348,1554,3049
$GC,2465,-0.54,-121.7,324.1,-9.2,164,2468,0.00,1.50,0.00,0.000,6,0.000,0.038,2346,2535,3048
$GC,2743,-0.54,-121.7,348.3,-8.7,171,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2535,3047
$GC,2983,-0.54,-121.7,367.8,-7.8,177,2986,0.00,1.75,0.00,0.000,4,0.000,0.047,2343,3687,3044
$GC,3017,-0.54,-121.7,370.2,-7.3,177,3020,0.00,1.67,0.00,0.000,6,0.000,0.021,2342,2512,3044
$GC,3272,-0.54,-121.7,389.6,-7.6,184,3274,0.00,1.33,0.00,0.000,4,0.000,0.022,2342,1561,3042
$GC,3343,-0.54,-121.7,395.2,-7.7,185,3346,0.00,1.45,0.00,0.000,6,0.000,0.039,2336,2501,3042
$GC,3603,-0.54,-121.7,417.8,-8.9,192,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2501,3039
$GC,3845,-0.54,-121.7,439.0,-8.7,198,3848,0.00,1.83,0.00,0.000,4,0.000,0.048,2333,3696,3038
$GC,3873,-0.54,-121.7,441.3,-8.1,198,3876,0.00,1.73,-0.08,0.000,6,0.000,0.022,2333,2492,3061
$GC,4134,-0.54,-121.7,461.0,-7.5,205,4137,0.00,1.30,0.00,0.000,4,0.000,0.024,2333,1566,3060
$GC,4199,-0.54,-121.7,466.0,-7.1,206,4202,0.00,1.42,0.00,0.000,6,0.000,0.040,2333,2483,3059
$GC,4465,-0.54,-121.7,488.3,-8.8,213,4467,0.00,1.88,0.00,0.000,4,0.000,0.049,2324,3700,3058
$GC,4509,-0.54,-121.7,492.5,-9.3,214,4512,0.00,1.75,0.00,0.000,6,0.000,0.022,2324,2490,3057
$GC,4798,-0.54,-121.7,520.7,-9.7,221,4801,0.00,1.27,0.00,0.000,4,0.000,0.025,2324,1577,3056
$GC,4864,-0.54,-121.7,527.0,-8.8,222,4867,0.08,1.40,0.00,0.000,6,0.106,0.040,2348,2477,3056
$GC,5129,-0.54,-121.7,545.5,-6.8,229,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2477,3054
$GC,5371,-0.54,-121.7,562.7,-7.2,235,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2477,3052
$GC,5615,-0.54,-121.7,581.0,-7.6,241,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2477,3049
$GC,5855,-0.54,-121.7,598.1,-6.9,247,5858,0.00,1.88,0.00,0.000,4,0.000,0.052,2341,3686,3048
$STATE,5879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5879,begin apogee
$GC,5892,-0.18,0.0,600.1,7.5,247,6005,0.35,0.00,110.88,1.049,6,0.092,0.000,2464,2353,2551
$STATE,6005,end apogee,CONTROL_FINISHED_OK
$STATE,6005,begin climb
$GC,6010,0.54,121.7,604.3,0.0,250,6148,0.62,1.62,116.82,0.972,4,0.038,0.026,2720,1295,2053
$GC,6160,0.54,121.7,600.4,11.5,253,6163,0.00,1.70,0.00,0.000,6,0.000,0.038,2716,2362,2050
$GC,6425,0.54,121.7,564.9,13.4,260,6428,0.00,1.65,0.00,0.000,4,0.000,0.048,2715,3417,2044
$GC,6528,0.54,121.7,549.8,15.0,262,6531,0.00,1.55,0.00,0.000,6,0.000,0.025,2722,2380,2043
$GC,6798,0.54,121.7,514.9,12.8,269,6802,0.00,1.67,0.00,0.000,4,0.000,0.047,2716,3419,2041
$GC,6875,0.54,121.7,504.8,13.6,270,6877,0.00,1.50,0.00,0.000,6,0.000,0.025,2722,2407,2041
$GC,7129,0.54,121.7,474.2,11.7,277,7132,0.00,1.62,0.00,0.000,4,0.000,0.047,2717,3436,2040
$GC,7168,0.54,121.7,469.6,12.2,277,7173,0.00,1.52,0.00,0.000,6,0.000,0.025,2722,2408,2039
$GC,7417,0.54,121.7,442.2,10.9,284,7418,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2402,2038
$GC,7659,0.54,121.7,416.4,10.7,290,7662,0.00,1.62,0.00,0.000,4,0.000,0.048,2722,3417,2038
$GC,7735,0.54,121.7,407.5,12.3,291,7738,0.00,1.48,0.00,0.000,6,0.000,0.025,2729,2421,2038
$GC,7989,0.54,121.7,379.1,11.0,298,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2414,2037
$GC,8232,0.54,121.7,354.1,10.4,304,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2414,2037
$GC,8473,0.55,128.2,330.6,9.6,310,8481,0.00,1.62,4.10,0.580,4,0.000,0.047,2729,3423,2027
$GC,8507,0.55,128.2,326.9,11.9,310,8510,0.10,1.48,0.00,0.000,6,0.184,0.025,2707,2430,2027
$GC,8762,0.56,160.8,305.4,8.2,317,8803,0.00,1.65,32.12,0.819,4,0.000,0.048,2702,3423,1893
$GC,8880,0.56,160.8,294.0,10.6,319,8883,0.00,1.42,0.00,0.000,6,0.000,0.025,2707,2472,1892
$GC,9136,0.57,178.7,271.0,9.0,326,9154,0.00,0.00,16.73,0.799,6,0.000,0.000,2708,2467,1821
$GC,9377,0.58,201.0,249.9,8.8,332,9409,0.00,1.58,22.23,0.737,4,0.000,0.048,2702,3420,1729
$GC,9499,0.58,220.6,238.2,8.9,334,9521,0.00,1.35,18.38,0.766,6,0.000,0.025,2707,2512,1649
$GC,9789,0.60,250.6,213.7,8.3,342,9816,0.00,0.00,25.73,0.760,6,0.000,0.000,2707,2512,1528
$GC,10036,0.60,269.4,192.0,9.0,354,10062,0.00,1.50,16.92,0.718,4,0.000,0.048,2702,3422,1450
$GC,10101,0.61,284.1,185.9,9.2,359,10120,0.00,1.35,14.18,0.697,6,0.000,0.024,2708,2514,1390
$GC,10375,0.61,296.2,162.4,9.3,385,10392,0.00,0.00,11.35,0.660,6,0.000,0.000,2708,2515,1341
$GC,10644,0.62,307.3,137.2,9.4,411,10658,0.00,1.48,10.57,0.634,4,0.000,0.046,2708,3418,1296
$GC,10737,0.62,307.3,127.6,10.3,419,10740,0.00,1.33,0.00,0.000,6,0.000,0.024,2709,2535,1295
$GC,11000,0.63,337.0,103.7,8.4,444,11030,0.00,0.00,25.92,0.653,6,0.000,0.000,2709,2528,1175
$GC,11280,0.65,385.5,83.2,7.3,471,11323,0.00,1.40,40.25,0.638,4,0.000,0.042,2709,3419,977
$GC,11530,0.65,397.0,62.1,9.4,493,11544,0.00,1.30,10.93,0.563,6,0.000,0.022,2709,2529,930
$GC,11798,0.65,397.0,37.6,10.1,518,11801,0.00,1.75,0.00,0.000,4,0.000,0.025,2709,1313,928
$GC,12041,0.65,397.0,12.1,11.4,557,12049,0.00,1.85,0.00,0.000,6,0.000,0.036,2709,2507,927
$STATE,12130,end climb,SURFACE_DEPTH_REACHED
$STATE,12130,begin surface coast
$FINISH,0.1,0.999055
$STATE,12165,end surface coast,CONTROL_FINISHED_OK
$STATE,12165,begin surface
$SM_CCo,12248,0.00,0.000,0,0,927,398.12
$SM_GC,0.91,6.75,0.00,0.00,0.022,0.000,0.000,37,2674,927,-7.68,1.24,398.12
$IRIDIUM_FIX,2248.70,-15743.68,060102,030355
$TT8_MAMPS,0.047554
$HUMID,2218
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.00
$XPDR_PINGS,9
$24V_AH,23.9,67.894
$10V_AH,10.5,65.874
$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,17.050,78.000,477.100,0.000,0.000,86.657,119.439,422.839,2.250,0.000,0.000,13.337,0.000,8776.162,484.405,2725.105,1173.892,33.350,1306.542,0.000,2449.114,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,52.923,1049.256,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,391.792,1361.962,1404.794,203.807,1071.430,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47878,580
$CAP_FILE_SIZE,110229,0
$CFSIZE,260165632,231514112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,121012,063606,2257.086,-15743.641,40,1.3,40,10.1