version: 66.04
glider: 512
mission: 3
dive: 524
start: 10 12 112 14 5 14
data:
$ID,512
$MISSION,3
$DIVE,524
$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,-64317.059
$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,65
$R_STBD_OVSHOOT,32
$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
$GPS1,135315,2255.534,-15746.205,16,5.4,35,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-80.2
$GPS2,140436,2255.566,-15746.247,40,1.0,40,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.155,-0.182
$KALMAN_X,-77756.9,429.9,21.3,74446.5,-142.3
$KALMAN_Y,48727.1,-356.4,-109.6,-51650.4,521.1
$MHEAD_RNG_PITCHd_Wd,210.4,43795,-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,20,-0.54,-121.7,0.0,0.0,0,104,0.00,0.00,-82.20,0.000,2,0.000,0.000,13,2655,2782
$GC,109,-0.54,-121.7,2.5,-3.7,10,127,9.05,1.62,-5.28,0.000,4,0.204,0.041,2349,1558,3047
$GC,223,-0.54,-121.7,31.6,-16.2,30,225,0.00,1.62,0.00,0.000,6,0.000,0.036,2343,2632,3049
$GC,486,-0.54,-121.7,79.0,-16.4,55,489,0.00,1.52,0.00,0.000,4,0.000,0.021,2343,1577,3048
$GC,555,-0.54,-121.7,89.0,-14.1,61,558,0.00,1.58,0.00,0.000,6,0.000,0.038,2336,2599,3049
$GC,818,-0.54,-121.7,125.7,-13.2,86,821,0.00,1.65,0.00,0.000,4,0.000,0.044,2327,3697,3049
$GC,854,-0.54,-121.7,130.4,-13.1,89,857,0.00,1.58,0.00,0.000,6,0.000,0.019,2327,2604,3049
$GC,1118,-0.54,-121.7,165.7,-14.0,114,1120,0.00,1.42,0.00,0.000,4,0.000,0.021,2327,1578,3049
$GC,1185,-0.54,-121.7,175.1,-13.0,120,1188,0.10,1.60,0.00,0.000,6,0.136,0.038,2347,2618,3049
$GC,1475,-0.54,-121.7,210.4,-11.9,142,1478,0.00,1.50,0.00,0.000,4,0.000,0.021,2347,1572,3050
$GC,1535,-0.54,-121.7,217.1,-10.5,143,1538,0.00,1.55,0.00,0.000,6,0.000,0.038,2346,2582,3050
$GC,1806,-0.54,-121.7,244.5,-10.0,150,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2583,3050
$GC,2050,-0.54,-121.7,269.5,-10.1,156,2053,0.00,1.45,0.00,0.000,4,0.000,0.021,2346,1568,3049
$GC,2143,-0.54,-121.7,278.4,-9.2,158,2146,0.00,1.55,0.00,0.000,6,0.000,0.040,2346,2576,3048
$GC,2424,-0.54,-121.7,305.1,-9.6,165,2427,0.00,1.70,0.00,0.000,4,0.000,0.044,2337,3686,3048
$GC,2458,-0.54,-121.7,308.4,-9.2,165,2460,0.00,1.60,0.00,0.000,6,0.000,0.021,2337,2551,3047
$GC,2713,-0.54,-121.7,333.4,-9.8,172,2715,0.00,1.35,0.00,0.000,4,0.000,0.023,2338,1579,3046
$GC,2821,-0.54,-121.7,343.2,-9.2,174,2824,0.00,1.48,0.00,0.000,6,0.000,0.038,2333,2540,3046
$GC,3089,-0.54,-121.7,367.5,-9.1,181,3091,0.00,1.75,0.00,0.000,4,0.000,0.045,2324,3698,3043
$GC,3117,-0.54,-121.7,370.3,-9.1,181,3120,0.00,1.67,0.00,0.000,6,0.000,0.021,2324,2521,3043
$GC,3377,-0.54,-121.7,395.6,-9.8,188,3380,0.00,1.33,0.00,0.000,4,0.000,0.023,2324,1570,3041
$GC,3453,-0.54,-121.7,403.1,-9.7,189,3457,0.08,1.42,0.00,0.000,6,0.109,0.038,2348,2499,3042
$GC,3711,-0.54,-121.7,423.6,-8.0,196,3714,0.00,1.83,0.00,0.000,4,0.000,0.048,2346,3694,3039
$GC,3734,-0.54,-121.7,425.6,-7.8,196,3737,0.00,1.75,0.00,0.000,6,0.000,0.022,2346,2492,3039
$GC,3999,-0.54,-121.7,446.0,-7.6,203,4002,0.00,1.30,-0.08,0.000,4,0.000,0.044,2346,1577,3061
$GC,4054,-0.54,-121.7,450.3,-7.8,204,4057,0.00,1.42,0.00,0.000,6,0.000,0.041,2346,2494,3062
$GC,4332,-0.54,-121.7,470.5,-7.3,211,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2495,3059
$GC,4572,-0.54,-121.7,487.1,-6.8,217,4574,0.00,1.33,0.00,0.000,4,0.000,0.023,2345,1576,3057
$GC,4616,-0.54,-121.7,490.1,-6.6,218,4619,0.00,1.40,0.00,0.000,6,0.000,0.041,2346,2475,3057
$GC,4903,-0.54,-121.7,510.2,-7.1,225,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2475,3055
$GC,5147,-0.54,-121.7,528.2,-7.5,231,5150,0.00,1.90,0.00,0.000,4,0.000,0.051,2344,3682,3054
$GC,5180,-0.54,-121.7,530.9,-7.2,231,5183,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2470,3054
$GC,5435,-0.54,-121.7,551.1,-8.0,238,5438,0.00,1.25,0.00,0.000,4,0.000,0.026,2344,1579,3052
$GC,5474,-0.54,-121.7,554.2,-7.5,238,5479,0.00,1.38,0.00,0.000,6,0.000,0.042,2338,2464,3051
$GC,5723,-0.54,-121.7,573.7,-7.8,245,5726,0.00,1.90,0.00,0.000,4,0.000,0.051,2333,3687,3050
$GC,5757,-0.54,-121.7,576.4,-8.0,245,5760,0.00,1.77,0.00,0.000,6,0.000,0.025,2333,2468,3049
$GC,6012,-0.54,-121.7,596.9,-8.0,252,6015,0.00,1.25,0.00,0.000,4,0.000,0.026,2333,1578,3048
$STATE,6046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6046,begin apogee
$GC,6057,-0.18,0.0,600.1,8.2,252,6171,0.38,0.00,111.57,1.048,6,0.092,0.000,2465,2365,2550
$STATE,6171,end apogee,CONTROL_FINISHED_OK
$STATE,6171,begin climb
$GC,6176,0.54,121.7,603.3,0.0,255,6299,0.65,0.00,113.72,0.998,6,0.039,0.000,2715,2366,2054
$GC,6555,0.54,121.7,569.5,12.5,265,6558,0.00,1.67,0.00,0.000,4,0.000,0.047,2715,3419,2045
$GC,6663,0.54,121.7,554.3,13.6,267,6666,0.00,1.58,0.00,0.000,6,0.000,0.025,2722,2370,2044
$GC,6929,0.54,121.7,522.1,11.9,274,6932,0.00,1.67,0.00,0.000,4,0.000,0.048,2716,3427,2042
$GC,7000,0.54,121.7,513.2,12.9,275,7003,0.00,1.58,0.00,0.000,6,0.000,0.024,2722,2368,2042
$GC,7260,0.54,121.7,482.6,11.8,282,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2362,2041
$GC,7501,0.54,121.7,455.2,11.3,288,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2362,2040
$GC,7744,0.54,121.7,429.2,10.5,294,7747,0.00,1.67,0.00,0.000,4,0.000,0.048,2717,3429,2039
$GC,7804,0.54,121.7,422.4,11.6,295,7807,0.00,1.58,0.00,0.000,6,0.000,0.025,2722,2371,2039
$GC,8075,0.55,131.5,396.3,9.5,302,8087,0.00,1.73,7.75,0.799,4,0.000,0.048,2717,3424,2013
$GC,8166,0.55,131.5,386.8,10.5,304,8169,0.00,1.55,0.00,0.000,6,0.000,0.025,2723,2382,2012
$GC,8450,0.55,137.4,359.7,9.7,311,8459,0.00,1.65,6.38,0.739,4,0.000,0.047,2723,3429,1991
$GC,8520,0.55,137.4,351.7,11.1,312,8523,0.00,1.52,0.00,0.000,6,0.000,0.025,2731,2403,1990
$GC,8775,0.55,137.4,325.8,10.0,319,8778,0.00,1.62,0.00,0.000,4,0.000,0.047,2729,3418,1989
$GC,8835,0.55,137.4,319.2,10.7,320,8838,0.00,1.50,0.00,0.000,6,0.000,0.025,2735,2408,1989
$GC,9106,0.56,163.8,295.0,8.5,327,9141,0.00,1.58,26.60,0.798,4,0.000,0.026,2743,1317,1882
$GC,9164,0.57,186.0,290.2,8.8,327,9189,0.12,1.70,20.75,0.812,6,0.144,0.041,2709,2410,1791
$GC,9466,0.58,213.7,264.9,8.5,335,9494,0.00,0.00,24.70,0.802,6,0.000,0.000,2709,2410,1677
$GC,9751,0.58,219.9,238.3,9.7,342,9760,0.00,1.62,6.47,0.648,4,0.000,0.048,2702,3417,1653
$GC,9875,0.58,219.9,226.1,10.6,345,9878,0.00,1.55,0.00,0.000,6,0.000,0.025,2708,2390,1651
$GC,10161,0.60,255.6,203.0,8.0,352,10195,0.00,1.65,30.85,0.755,4,0.000,0.048,2709,3419,1506
$GC,10302,0.60,255.6,190.9,10.2,358,10305,0.00,1.52,0.00,0.000,6,0.000,0.025,2712,2420,1505
$GC,10565,0.60,271.3,166.7,9.1,383,10582,0.00,1.60,14.12,0.684,4,0.000,0.044,2712,3430,1444
$GC,10640,0.60,271.3,159.0,11.4,389,10643,0.00,1.48,0.00,0.000,6,0.000,0.025,2713,2456,1443
$GC,10903,0.61,290.6,134.8,8.9,414,10931,0.00,0.00,19.25,0.613,6,0.000,0.000,2713,2450,1365
$GC,11187,0.63,325.4,111.2,8.1,441,11226,0.00,1.58,30.00,0.660,4,0.000,0.044,2713,3423,1221
$GC,11284,0.63,332.1,102.5,9.6,449,11296,0.00,1.45,7.30,0.547,6,0.000,0.024,2713,2458,1195
$GC,11551,0.65,396.8,84.3,6.4,474,11609,0.00,1.58,53.17,0.637,4,0.000,0.043,2713,3426,931
$GC,11633,0.68,449.1,78.3,7.1,481,11687,0.00,1.45,43.78,0.621,6,0.000,0.022,2713,2452,717
$GC,11937,0.68,449.1,46.2,11.4,509,11940,0.00,1.65,0.00,0.000,4,0.000,0.028,2713,1314,715
$GC,12181,0.68,449.1,18.1,11.7,542,12190,0.00,1.77,0.00,0.000,6,0.000,0.036,2712,2465,713
$STATE,12316,end climb,SURFACE_DEPTH_REACHED
$STATE,12316,begin surface coast
$FINISH,-0.0,0.998163
$STATE,12346,end surface coast,CONTROL_FINISHED_OK
$STATE,12346,begin surface
$SM_CCo,12430,0.00,0.000,0,0,712,450.61
$SM_GC,0.96,6.78,0.00,0.00,0.026,0.000,0.000,41,2639,712,-7.69,0.25,450.61
$IRIDIUM_FIX,2248.70,-15748.01,060102,141458
$TT8_MAMPS,0.046787
$HUMID,2228
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.70
$XPDR_PINGS,10
$24V_AH,24.0,68.328
$10V_AH,10.5,66.324
$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,17.150,94.175,516.425,0.000,0.000,58.899,69.985,279.824,2.500,0.000,0.000,40.931,0.000,8807.788,492.280,2834.612,950.509,33.350,1391.160,0.000,2505.360,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,51.389,1048.489,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,386.997,1327.659,1368.858,193.087,1037.191,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47816,573
$CAP_FILE_SIZE,113179,0
$CFSIZE,260165632,231337984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,121012,173330,2254.827,-15746.521,39,1.7,39,10.1