version: 66.04
glider: 512
mission: 3
dive: 525
start: 10 12 112 17 44 49
data:
$ID,512
$MISSION,3
$DIVE,525
$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,-64331.633
$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,37
$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
$GPS1,173330,2254.827,-15746.521,39,1.7,39,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-80.3
$GPS2,174407,2254.864,-15746.553,13,1.2,13,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.190,-0.145
$KALMAN_X,-76404.2,149.0,245.9,72623.1,268.1
$KALMAN_Y,49049.4,-315.2,401.3,-53822.2,125.5
$MHEAD_RNG_PITCHd_Wd,222.6,42568,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.54,-121.7,0.0,0.0,0,99,0.00,0.00,-82.20,0.000,2,0.000,0.000,12,2648,2835
$GC,105,-0.54,-121.7,2.9,-4.2,10,123,9.05,1.55,-4.07,0.000,4,0.204,0.040,2348,1556,3047
$GC,246,-0.54,-121.7,37.1,-16.8,31,255,0.00,1.65,0.00,0.000,6,0.000,0.035,2342,2625,3048
$GC,504,-0.54,-121.7,81.8,-15.4,56,506,0.00,1.52,0.00,0.000,4,0.000,0.022,2342,1574,3048
$GC,583,-0.54,-121.7,93.3,-13.9,63,586,0.00,1.55,0.00,0.000,6,0.000,0.035,2336,2582,3048
$GC,846,-0.54,-121.7,132.1,-14.2,88,849,0.00,1.67,0.00,0.000,4,0.000,0.044,2328,3701,3049
$GC,883,-0.54,-121.7,137.0,-13.9,91,885,0.00,1.60,0.00,0.000,6,0.000,0.019,2328,2570,3048
$GC,1146,-0.54,-121.7,172.3,-13.3,116,1149,0.00,1.40,0.00,0.000,4,0.000,0.021,2328,1565,3048
$GC,1224,-0.54,-121.7,182.4,-12.1,123,1227,0.00,1.55,0.00,0.000,6,0.000,0.035,2321,2579,3049
$GC,1482,-0.54,-121.7,217.6,-13.5,139,1485,0.00,1.45,0.00,0.000,4,0.000,0.021,2322,1562,3048
$GC,1499,-0.54,-121.7,220.1,-13.3,139,1503,0.08,1.52,0.00,0.000,6,0.126,0.035,2344,2565,3049
$GC,1773,-0.54,-121.7,248.3,-10.2,146,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2565,3048
$GC,2012,-0.54,-121.7,273.6,-10.4,152,2015,0.00,1.42,0.00,0.000,4,0.000,0.021,2344,1566,3048
$GC,2110,-0.54,-121.7,283.1,-8.4,154,2113,0.00,1.50,0.00,0.000,6,0.000,0.039,2344,2542,3048
$GC,2388,-0.54,-121.7,307.0,-8.4,161,2391,0.00,1.73,0.00,0.000,4,0.000,0.045,2340,3690,3046
$GC,2417,-0.54,-121.7,309.5,-8.3,161,2419,0.00,1.65,0.00,0.000,6,0.000,0.021,2340,2524,3046
$GC,2677,-0.54,-121.7,332.2,-8.9,168,2680,0.00,1.35,0.00,0.000,4,0.000,0.024,2340,1560,3045
$GC,2742,-0.54,-121.7,338.2,-8.7,169,2745,0.00,1.45,0.00,0.000,6,0.000,0.037,2334,2511,3045
$GC,3010,-0.54,-121.7,363.4,-9.6,176,3013,0.00,1.77,0.00,0.000,4,0.000,0.045,2324,3689,3043
$GC,3060,-0.54,-121.7,368.1,-8.9,177,3063,0.00,1.67,0.00,0.000,6,0.000,0.021,2325,2516,3042
$GC,3341,-0.54,-121.7,394.9,-9.5,184,3344,0.00,1.33,0.00,0.000,4,0.000,0.023,2324,1567,3041
$GC,3407,-0.54,-121.7,401.1,-9.3,185,3410,0.08,1.45,0.00,0.000,6,0.110,0.038,2347,2511,3040
$GC,3673,-0.54,-121.7,421.2,-7.6,192,3676,0.00,1.80,0.00,0.000,4,0.000,0.048,2341,3692,3038
$GC,3701,-0.54,-121.7,423.4,-7.9,192,3704,0.00,1.70,-0.08,0.000,6,0.000,0.022,2340,2505,3061
$GC,3961,-0.54,-121.7,445.5,-8.6,199,3964,0.00,1.33,0.00,0.000,4,0.000,0.025,2340,1567,3059
$GC,4021,-0.54,-121.7,451.0,-8.5,200,4024,0.00,1.45,0.00,0.000,6,0.000,0.040,2334,2504,3059
$GC,4292,-0.54,-121.7,475.2,-8.8,207,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2504,3057
$GC,4534,-0.54,-121.7,495.3,-8.3,213,4537,0.00,1.35,0.00,0.000,4,0.000,0.025,2333,1573,3056
$GC,4567,-0.54,-121.7,498.1,-8.4,213,4570,0.00,1.42,0.00,0.000,6,0.000,0.041,2333,2486,3056
$GC,4822,-0.54,-121.7,520.0,-8.8,220,4825,0.00,1.85,0.00,0.000,4,0.000,0.050,2324,3686,3054
$GC,4882,-0.54,-121.7,525.5,-9.6,221,4885,0.00,1.73,0.00,0.000,6,0.000,0.023,2324,2492,3054
$GC,5153,-0.54,-121.7,549.4,-8.7,228,5156,0.00,1.30,0.00,0.000,4,0.000,0.025,2324,1569,3051
$GC,5213,-0.54,-121.7,554.7,-7.8,229,5216,0.08,1.45,0.00,0.000,6,0.104,0.042,2349,2495,3051
$GC,5487,-0.54,-121.7,572.8,-6.5,236,5490,0.00,1.85,0.00,0.000,4,0.000,0.052,2346,3687,3048
$GC,5515,-0.54,-121.7,574.8,-6.7,236,5518,0.00,1.75,0.00,0.000,6,0.000,0.025,2346,2480,3049
$GC,5775,-0.54,-121.7,591.2,-6.2,243,5778,0.00,1.30,0.00,0.000,4,0.000,0.026,2346,1563,3048
$GC,5847,-0.54,-121.7,595.4,-6.1,244,5849,0.00,1.42,0.00,0.000,6,0.000,0.044,2346,2474,3048
$STATE,5940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5940,begin apogee
$GC,5951,-0.18,0.0,601.0,5.6,247,6064,0.38,0.00,110.82,1.051,6,0.087,0.000,2474,2334,2550
$STATE,6064,end apogee,CONTROL_FINISHED_OK
$STATE,6064,begin climb
$GC,6069,0.54,121.7,604.3,0.0,250,6194,0.60,1.52,113.12,0.996,4,0.038,0.025,2724,1316,2053
$GC,6282,0.54,121.7,589.4,12.8,255,6285,0.00,1.65,0.00,0.000,6,0.000,0.039,2724,2372,2047
$GC,6569,0.54,121.7,552.9,12.4,262,6572,0.00,1.62,0.00,0.000,4,0.000,0.046,2724,3421,2044
$GC,6640,0.54,121.7,543.8,13.1,263,6643,0.00,1.55,0.00,0.000,6,0.000,0.024,2732,2381,2043
$GC,6900,0.54,121.7,513.0,11.6,270,6903,0.00,1.65,0.00,0.000,4,0.000,0.045,2729,3412,2041
$GC,6960,0.54,121.7,505.5,12.3,271,6963,0.08,1.50,0.00,0.000,6,0.183,0.025,2705,2404,2041
$GC,7231,0.54,121.7,477.7,10.3,278,7234,0.00,1.62,0.00,0.000,4,0.000,0.048,2702,3434,2040
$GC,7318,0.54,121.7,467.0,12.8,280,7321,0.00,1.50,0.00,0.000,6,0.000,0.025,2708,2425,2039
$GC,7604,0.54,121.7,433.5,11.9,287,7607,0.00,1.62,0.00,0.000,4,0.000,0.028,2717,1293,2038
$GC,7692,0.54,121.7,423.7,10.8,289,7695,0.00,1.75,0.00,0.000,6,0.000,0.041,2715,2412,2038
$GC,7980,0.55,131.9,395.3,9.4,296,7993,0.00,1.60,7.72,0.793,4,0.000,0.048,2716,3417,2012
$GC,8066,0.55,140.0,386.7,9.6,298,8079,0.00,1.48,8.93,0.810,6,0.000,0.025,2721,2418,1980
$GC,8352,0.55,147.2,359.7,9.6,305,8366,0.00,1.62,8.30,0.783,4,0.000,0.046,2716,3419,1949
$GC,8433,0.55,147.2,350.2,11.2,306,8439,0.00,1.42,0.00,0.000,6,0.000,0.025,2722,2457,1948
$GC,8682,0.55,147.2,324.0,10.5,313,8685,0.00,1.55,0.00,0.000,4,0.000,0.048,2722,3419,1946
$GC,8759,0.55,147.2,315.3,12.2,314,8762,0.00,1.38,0.00,0.000,6,0.000,0.025,2728,2491,1946
$GC,9016,0.55,147.2,288.1,10.4,321,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2485,1945
$GC,9256,0.56,161.5,265.2,9.2,327,9270,0.00,0.00,13.55,0.785,6,0.000,0.000,2729,2485,1891
$GC,9498,0.56,162.2,241.6,10.0,333,9501,0.00,1.70,0.00,0.000,4,0.000,0.028,2737,1318,1889
$GC,9558,0.56,163.3,235.9,9.9,334,9561,0.00,1.83,0.00,0.000,6,0.000,0.041,2737,2500,1888
$GC,9832,0.57,184.9,210.3,8.8,341,9856,0.00,1.42,21.05,0.765,4,0.000,0.048,2737,3419,1797
$GC,10003,0.57,184.9,192.2,11.5,348,10006,0.10,1.33,0.00,0.000,6,0.158,0.025,2714,2530,1795
$GC,10271,0.59,227.2,171.4,7.7,373,10309,0.00,0.00,36.95,0.736,6,0.000,0.000,2715,2523,1623
$GC,10564,0.60,259.1,147.8,8.2,401,10596,0.00,1.85,27.15,0.697,4,0.000,0.028,2722,1308,1492
$GC,10621,0.62,300.2,142.5,7.7,406,10661,0.00,1.92,35.40,0.693,6,0.000,0.040,2721,2534,1326
$GC,10911,0.62,311.9,115.6,9.4,433,10924,0.00,1.42,10.68,0.611,4,0.000,0.044,2721,3426,1278
$GC,10949,0.62,311.9,111.7,10.7,436,10952,0.00,1.35,0.00,0.000,6,0.000,0.023,2725,2530,1277
$GC,11213,0.62,312.9,85.4,9.9,461,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2524,1276
$GC,11472,0.64,358.8,64.6,7.5,486,11515,0.00,1.85,39.12,0.624,4,0.000,0.027,2725,1305,1086
$GC,11552,0.66,411.9,58.8,7.1,492,11607,0.00,1.90,43.80,0.608,6,0.000,0.035,2725,2542,869
$GC,11856,0.66,411.9,32.1,10.2,520,11859,0.00,1.83,0.00,0.000,4,0.000,0.025,2725,1302,865
$GC,12097,0.66,411.9,6.5,11.0,564,12106,0.00,1.83,0.00,0.000,6,0.000,0.035,2725,2490,865
$STATE,12131,end climb,SURFACE_DEPTH_REACHED
$STATE,12131,begin surface coast
$FINISH,0.2,0.998983
$STATE,12161,end surface coast,CONTROL_FINISHED_OK
$STATE,12161,begin surface
$SM_CCo,12245,0.00,0.000,0,0,863,413.81
$SM_GC,0.95,6.82,0.00,0.00,0.025,0.000,0.000,40,2656,863,-7.69,0.74,413.81
$IRIDIUM_FIX,2248.70,-15743.68,060102,171711
$TT8_MAMPS,0.047554
$HUMID,2212
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.40
$XPDR_PINGS,16
$24V_AH,24.0,68.464
$10V_AH,10.5,66.476
$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,17.250,98.175,476.600,0.000,0.000,52.510,69.350,277.392,4.000,0.000,0.000,13.945,0.000,8598.426,463.047,2846.362,952.175,33.350,1359.793,0.000,2540.748,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,52.156,1050.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,388.591,1347.424,1386.160,377.998,1070.529,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47733,576
$CAP_FILE_SIZE,113574,0
$CFSIZE,260165632,231276544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,121012,211030,2253.881,-15747.316,69,1.3,69,10.1