version: 66.04
glider: 512
mission: 3
dive: 528
start: 10 13 112 4 40 14
data:
$ID,512
$MISSION,3
$DIVE,528
$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,-64385.285
$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,67
$R_STBD_OVSHOOT,61
$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
$GPS1,042335,2252.471,-15749.078,40,0.9,45,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-79.3
$GPS2,043936,2252.582,-15749.128,13,1.3,18,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.221,-0.090
$KALMAN_X,-73394.4,-29.9,-123.8,65781.9,1240.3
$KALMAN_Y,49460.3,405.2,228.6,-59004.5,-15.1
$MHEAD_RNG_PITCHd_Wd,237.7,36496,-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,-121.7,0.0,0.0,0,83,0.00,0.00,-65.75,0.000,2,0.000,0.000,12,2664,2552
$GC,89,-0.54,-121.7,2.0,-2.9,8,114,9.10,1.55,-11.25,0.000,4,0.206,0.039,2349,1569,3047
$GC,259,-0.54,-121.7,34.2,-14.7,36,262,0.00,1.58,0.00,0.000,6,0.000,0.034,2344,2599,3047
$GC,524,-0.54,-121.7,79.6,-15.4,61,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2599,3047
$GC,781,-0.54,-121.7,113.0,-12.5,86,784,0.00,1.48,0.00,0.000,4,0.000,0.021,2344,1563,3047
$GC,849,-0.54,-121.7,121.0,-11.5,92,851,0.00,1.60,0.00,0.000,6,0.000,0.035,2337,2632,3047
$GC,1112,-0.54,-121.7,153.5,-12.5,117,1115,0.00,1.52,0.00,0.000,4,0.000,0.021,2336,1564,3047
$GC,1161,-0.54,-121.7,159.8,-12.3,121,1169,0.00,1.58,0.00,0.000,6,0.000,0.036,2333,2592,3047
$GC,1419,-0.54,-121.7,191.9,-12.7,146,1422,0.00,1.45,0.00,0.000,4,0.000,0.021,2333,1573,3047
$GC,1455,-0.54,-121.7,196.3,-11.6,149,1458,0.00,1.58,0.00,0.000,6,0.000,0.038,2333,2596,3047
$GC,1730,-0.54,-121.7,229.7,-12.1,158,1733,0.00,1.65,0.00,0.000,4,0.000,0.043,2324,3704,3047
$GC,1811,-0.54,-121.7,239.2,-10.4,159,1817,0.00,1.58,0.00,0.000,6,0.000,0.019,2324,2601,3047
$GC,2063,-0.54,-121.7,268.8,-11.9,166,2066,0.00,1.42,0.00,0.000,4,0.000,0.021,2324,1574,3047
$GC,2160,-0.54,-121.7,280.3,-11.7,168,2163,0.05,1.55,0.00,0.000,6,0.099,0.035,2350,2589,3046
$GC,2436,-0.54,-121.7,304.7,-8.4,175,2439,0.00,1.65,0.00,0.000,4,0.000,0.044,2344,3691,3045
$GC,2460,-0.54,-121.7,306.7,-8.0,175,2463,0.00,1.60,0.00,0.000,6,0.000,0.021,2344,2549,3045
$GC,2725,-0.54,-121.7,327.7,-7.9,182,2728,0.00,1.35,0.00,0.000,4,0.000,0.023,2344,1578,3045
$GC,2828,-0.54,-121.7,336.1,-8.6,184,2831,0.00,1.52,0.00,0.000,6,0.000,0.038,2337,2577,3044
$GC,3101,-0.54,-121.7,362.6,-10.0,191,3104,0.00,1.42,0.00,0.000,4,0.000,0.022,2337,1575,3042
$GC,3140,-0.54,-121.7,366.8,-9.5,191,3145,0.00,1.50,0.00,0.000,6,0.000,0.036,2333,2556,3042
$GC,3389,-0.54,-121.7,389.0,-8.6,198,3392,0.00,1.40,0.00,0.000,4,0.000,0.021,2333,1574,3039
$GC,3439,-0.54,-121.7,393.0,-7.6,199,3442,0.00,1.45,0.00,0.000,6,0.000,0.038,2333,2520,3039
$GC,3723,-0.54,-121.7,415.5,-8.1,206,3726,0.00,1.80,-0.08,0.000,4,0.000,0.061,2325,3690,3060
$GC,3757,-0.54,-121.7,418.8,-9.0,206,3760,0.00,1.70,0.00,0.000,6,0.000,0.022,2325,2521,3060
$GC,4011,-0.54,-121.7,441.9,-9.1,213,4014,0.00,1.33,0.00,0.000,4,0.000,0.024,2324,1575,3059
$GC,4088,-0.54,-121.7,449.3,-9.1,214,4091,0.08,1.42,0.00,0.000,6,0.110,0.038,2348,2501,3058
$GC,4345,-0.54,-121.7,469.8,-8.0,221,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2501,3056
$GC,4586,-0.54,-121.7,488.1,-7.6,227,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2500,3054
$GC,4828,-0.54,-121.7,506.4,-7.6,233,4831,0.00,1.33,0.00,0.000,4,0.000,0.025,2348,1583,3053
$GC,4882,-0.54,-121.7,510.7,-7.6,234,4886,0.00,1.42,0.00,0.000,6,0.000,0.041,2346,2498,3052
$GC,5160,-0.54,-121.7,530.3,-7.1,241,5163,0.00,1.85,0.00,0.000,4,0.000,0.052,2346,3691,3050
$GC,5189,-0.54,-121.7,532.3,-6.4,241,5191,0.00,1.73,0.00,0.000,6,0.000,0.024,2346,2494,3049
$GC,5449,-0.54,-121.7,549.1,-6.4,248,5452,0.00,1.27,0.00,0.000,4,0.000,0.025,2346,1586,3048
$GC,5531,-0.54,-121.7,554.8,-7.3,249,5536,0.00,1.40,0.00,0.000,6,0.000,0.042,2346,2482,3048
$GC,5783,-0.54,-121.7,571.7,-6.8,256,5785,0.00,1.88,0.00,0.000,4,0.000,0.051,2339,3690,3046
$GC,5811,-0.54,-121.7,573.8,-6.8,256,5814,0.00,1.75,0.00,0.000,6,0.000,0.025,2338,2485,3045
$GC,6071,-0.54,-121.7,593.6,-7.7,263,6074,0.00,1.27,0.00,0.000,4,0.000,0.027,2339,1582,3043
$GC,6142,-0.54,-121.7,599.3,-8.5,264,6145,0.00,1.38,0.00,0.000,6,0.000,0.042,2334,2463,3044
$STATE,6150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6150,begin apogee
$GC,6161,-0.18,0.0,600.2,8.0,264,6273,0.38,0.00,109.90,1.051,6,0.098,0.000,2463,2352,2550
$STATE,6273,end apogee,CONTROL_FINISHED_OK
$STATE,6273,begin climb
$GC,6278,0.54,121.7,604.3,0.0,267,6401,0.62,1.60,113.03,1.002,4,0.037,0.025,2721,1322,2053
$GC,6484,0.54,121.7,595.1,11.0,271,6489,0.00,1.65,0.00,0.000,6,0.000,0.041,2716,2368,2047
$GC,6733,0.54,121.7,565.6,11.9,278,6736,0.00,1.65,0.00,0.000,4,0.000,0.048,2716,3431,2043
$GC,6857,0.54,121.7,549.6,12.0,280,6865,0.00,1.52,0.00,0.000,6,0.000,0.025,2721,2407,2042
$GC,7107,0.54,121.7,520.9,11.4,287,7110,0.00,1.62,0.00,0.000,4,0.000,0.048,2716,3435,2041
$GC,7151,0.54,121.7,515.4,13.0,288,7154,0.00,1.52,0.00,0.000,6,0.000,0.025,2721,2413,2041
$GC,7438,0.54,121.7,483.5,10.9,295,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2406,2039
$GC,7682,0.54,121.7,456.4,11.2,301,7684,0.00,1.62,0.00,0.000,4,0.000,0.048,2716,3442,2038
$GC,7806,0.54,121.7,442.1,11.5,303,7812,0.00,1.50,0.00,0.000,6,0.000,0.024,2722,2426,2038
$GC,8056,0.54,123.3,417.0,9.9,310,8059,0.00,1.60,0.00,0.000,4,0.000,0.047,2716,3423,2037
$GC,8137,0.54,123.3,408.0,11.4,311,8142,0.00,1.42,0.00,0.000,6,0.000,0.024,2722,2451,2038
$GC,8387,0.54,123.3,381.5,10.7,318,8389,0.00,1.55,0.00,0.000,4,0.000,0.047,2717,3420,2037
$GC,8425,0.54,123.3,377.2,11.7,318,8430,0.00,1.40,0.00,0.000,6,0.000,0.024,2722,2462,2037
$GC,8674,0.55,125.8,351.9,9.9,325,8677,0.00,1.65,0.00,0.000,4,0.000,0.027,2730,1302,2036
$GC,8703,0.55,128.4,349.4,9.9,325,8711,0.00,1.80,4.32,0.616,6,0.000,0.041,2729,2474,2025
$GC,8963,0.56,148.9,326.0,8.9,332,8991,0.00,0.00,22.23,0.805,6,0.000,0.000,2729,2474,1942
$GC,9204,0.56,151.7,302.4,9.8,338,9207,0.00,1.70,0.00,0.000,4,0.000,0.026,2735,1315,1939
$GC,9291,0.56,165.9,294.5,9.2,340,9310,0.00,1.75,15.82,0.815,6,0.000,0.042,2729,2442,1873
$GC,9572,0.57,178.9,268.4,9.3,347,9589,0.00,1.58,12.40,0.774,4,0.000,0.048,2729,3420,1819
$GC,9775,0.57,178.9,246.5,10.9,351,9778,0.00,1.40,0.00,0.000,6,0.000,0.024,2734,2479,1818
$GC,10030,0.57,192.7,222.8,9.2,358,10044,0.00,0.00,13.30,0.747,6,0.000,0.000,2734,2474,1764
$GC,10271,0.58,205.8,200.6,9.3,364,10289,0.00,1.55,12.55,0.719,4,0.000,0.046,2729,3427,1710
$GC,10371,0.58,205.8,190.6,11.1,370,10373,0.00,1.40,0.00,0.000,6,0.000,0.023,2734,2483,1709
$GC,10634,0.58,205.8,162.0,11.1,395,10641,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2477,1708
$GC,10892,0.58,207.8,134.7,9.9,420,10895,0.00,1.50,0.00,0.000,4,0.000,0.045,2729,3424,1708
$GC,10938,0.58,207.8,129.4,12.0,424,10941,0.00,1.35,0.00,0.000,6,0.000,0.023,2734,2505,1708
$GC,11203,0.59,225.1,104.9,9.0,449,11222,0.00,0.00,17.60,0.652,6,0.000,0.000,2734,2500,1632
$GC,11472,0.59,228.4,80.7,9.8,475,11484,0.00,0.00,4.35,0.446,6,0.000,0.000,2734,2499,1618
$GC,11735,0.60,269.2,57.7,7.7,500,11775,0.00,1.48,34.62,0.621,4,0.000,0.043,2729,3426,1452
$GC,11833,0.62,303.0,49.5,8.1,508,11865,0.00,1.35,29.15,0.603,6,0.000,0.021,2734,2502,1313
$GC,12123,0.63,340.4,28.1,7.9,535,12158,0.00,0.00,30.92,0.585,6,0.000,0.000,2734,2502,1161
$GC,12409,0.65,388.3,8.4,7.3,587,12452,0.00,0.00,39.08,0.568,6,0.000,0.000,2734,2502,966
$STATE,12478,end climb,SURFACE_DEPTH_REACHED
$STATE,12478,begin surface coast
$FINISH,0.0,0.997767
$STATE,12519,end surface coast,CONTROL_FINISHED_OK
$STATE,12519,begin surface
$SM_CCo,12602,0.00,0.000,0,0,962,389.53
$SM_GC,0.87,6.95,0.00,0.00,0.028,0.000,0.000,47,2670,962,-7.68,1.13,389.53
$IRIDIUM_FIX,2244.02,-15751.94,070102,040407
$TT8_MAMPS,0.047554
$HUMID,2204
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.20
$XPDR_PINGS,16
$24V_AH,24.0,68.869
$10V_AH,10.5,66.938
$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,17.175,89.475,459.275,0.000,0.000,80.628,113.576,443.802,4.000,0.000,0.000,18.168,0.000,8934.976,468.332,2932.475,1200.674,33.351,1365.389,0.000,2627.907,0.000,0.545,0.000
$DEVICE_MAMPS,205.556,60.593,1050.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,408.111,1428.919,1471.624,232.436,1195.369,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50830,605
$CAP_FILE_SIZE,119115,0
$CFSIZE,260165632,231084032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,131012,081129,2251.670,-15750.164,40,0.9,45,10.1