version: 66.04
glider: 512
mission: 3
dive: 530
start: 10 13 112 12 16 0
data:
$ID,512
$MISSION,3
$DIVE,530
$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,-64433.836
$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,63
$R_STBD_OVSHOOT,45
$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
$GPS1,115935,2250.672,-15751.801,34,1.6,34,10.1
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-78.6
$GPS2,121518,2250.696,-15751.938,18,1.5,34,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.181,-0.156
$KALMAN_X,-72724.3,-12.9,-138.0,60321.9,264.2
$KALMAN_Y,49195.0,-349.0,-445.6,-60804.8,369.0
$MHEAD_RNG_PITCHd_Wd,219.2,30562,-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,-65.62,0.000,2,0.000,0.000,12,2662,2650
$GC,88,-0.54,-121.7,2.4,-3.8,8,114,8.95,1.60,-8.38,0.000,4,0.200,0.040,2349,1558,3046
$GC,250,-0.54,-121.7,36.0,-15.9,33,253,0.00,1.60,0.00,0.000,6,0.000,0.035,2343,2625,3047
$GC,513,-0.54,-121.7,81.5,-15.7,58,516,0.00,1.52,0.00,0.000,4,0.000,0.021,2343,1568,3047
$GC,559,-0.54,-121.7,87.3,-11.4,62,562,0.00,1.60,0.00,0.000,6,0.000,0.036,2336,2605,3047
$GC,824,-0.54,-121.7,120.7,-13.2,87,827,0.00,1.48,0.00,0.000,4,0.000,0.021,2336,1570,3048
$GC,880,-0.54,-121.7,127.8,-11.2,92,883,0.00,1.55,0.00,0.000,6,0.000,0.036,2332,2580,3048
$GC,1144,-0.54,-121.7,161.0,-12.7,117,1147,0.00,1.45,0.00,0.000,4,0.000,0.021,2332,1561,3048
$GC,1169,-0.54,-121.7,164.3,-12.7,119,1171,0.00,1.55,0.00,0.000,6,0.000,0.035,2325,2576,3048
$GC,1432,-0.54,-121.7,199.7,-13.8,144,1435,0.00,1.67,0.00,0.000,4,0.000,0.043,2316,3695,3048
$GC,1466,-0.54,-121.7,204.8,-14.7,145,1469,0.12,1.60,0.00,0.000,6,0.111,0.020,2353,2559,3047
$GC,1720,-0.54,-121.7,231.0,-10.2,152,1723,0.00,1.38,0.00,0.000,4,0.000,0.021,2354,1568,3047
$GC,1813,-0.54,-121.7,239.6,-8.4,154,1816,0.00,1.52,0.00,0.000,6,0.000,0.036,2348,2570,3047
$GC,2096,-0.54,-121.7,265.5,-9.1,161,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2570,3047
$GC,2336,-0.54,-121.7,287.5,-9.1,167,2339,0.00,1.42,0.00,0.000,4,0.000,0.021,2348,1572,3047
$GC,2402,-0.54,-121.7,293.6,-8.9,168,2405,0.00,1.50,0.00,0.000,6,0.000,0.038,2346,2548,3047
$GC,2668,-0.54,-121.7,317.2,-8.8,175,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2548,3046
$GC,2911,-0.54,-121.7,337.4,-8.3,181,2914,0.00,1.40,0.00,0.000,4,0.000,0.022,2346,1568,3045
$GC,2966,-0.54,-121.7,342.3,-8.3,182,2969,0.00,1.50,0.00,0.000,6,0.000,0.040,2346,2542,3044
$GC,3243,-0.54,-121.7,364.9,-8.0,189,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2542,3043
$GC,3484,-0.54,-121.7,382.5,-7.3,195,3487,0.00,1.77,0.00,0.000,4,0.000,0.048,2346,3687,3040
$GC,3512,-0.54,-121.7,384.8,-7.7,195,3515,0.00,1.67,0.00,0.000,6,0.000,0.022,2346,2511,3039
$GC,3772,-0.54,-121.7,405.8,-8.3,202,3775,0.00,1.33,0.00,0.000,4,0.000,0.023,2346,1563,3038
$GC,3849,-0.54,-121.7,412.1,-7.9,203,3852,0.00,1.48,0.00,0.000,6,0.000,0.041,2346,2514,3037
$GC,4104,-0.54,-121.7,432.9,-8.1,210,4105,0.00,0.00,-0.08,0.000,6,0.000,0.000,2346,2514,3059
$GC,4348,-0.54,-121.7,451.9,-7.8,216,4351,0.00,1.38,0.00,0.000,4,0.000,0.024,2346,1564,3058
$GC,4376,-0.54,-121.7,454.2,-7.9,216,4379,0.00,1.48,0.00,0.000,6,0.000,0.041,2346,2513,3058
$GC,4636,-0.54,-121.7,474.1,-7.8,223,4639,0.00,1.83,0.00,0.000,4,0.000,0.049,2338,3697,3056
$GC,4686,-0.54,-121.7,478.3,-8.1,224,4689,0.00,1.70,0.00,0.000,6,0.000,0.023,2338,2511,3055
$GC,4970,-0.54,-121.7,500.9,-7.9,231,4973,0.00,1.33,0.00,0.000,4,0.000,0.025,2338,1570,3054
$GC,5014,-0.54,-121.7,504.6,-7.8,232,5017,0.00,1.48,0.00,0.000,6,0.000,0.042,2334,2514,3054
$GC,5301,-0.54,-121.7,527.0,-7.9,239,5304,0.00,1.35,0.00,0.000,4,0.000,0.025,2333,1575,3051
$GC,5329,-0.54,-121.7,529.4,-9.1,239,5332,0.00,1.45,0.00,0.000,6,0.000,0.042,2333,2503,3051
$GC,5591,-0.54,-121.7,551.6,-8.7,246,5595,0.00,1.85,0.00,0.000,4,0.000,0.051,2325,3682,3049
$GC,5625,-0.54,-121.7,555.0,-9.3,246,5628,0.00,1.73,0.00,0.000,6,0.000,0.025,2325,2491,3049
$GC,5879,-0.54,-121.7,579.4,-9.6,253,5882,0.00,1.30,0.00,0.000,4,0.000,0.025,2324,1569,3048
$GC,5972,-0.54,-121.7,588.0,-9.1,255,5975,0.08,1.42,0.00,0.000,6,0.109,0.043,2348,2476,3047
$STATE,6127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6127,begin apogee
$GC,6138,-0.18,0.0,600.5,7.6,259,6251,0.35,0.00,110.88,1.048,6,0.087,0.000,2470,2336,2550
$STATE,6252,end apogee,CONTROL_FINISHED_OK
$STATE,6252,begin climb
$GC,6257,0.54,121.7,606.5,0.0,262,6387,0.60,1.58,114.88,0.983,4,0.038,0.027,2717,1316,2053
$GC,6429,0.54,121.7,601.7,11.1,266,6432,0.00,1.65,0.00,0.000,6,0.000,0.040,2716,2360,2049
$GC,6715,0.54,121.7,566.3,12.4,273,6718,0.00,1.65,0.00,0.000,4,0.000,0.048,2715,3424,2044
$GC,6835,0.54,121.7,549.7,13.5,275,6838,0.00,1.55,0.00,0.000,6,0.000,0.024,2722,2382,2043
$GC,7089,0.54,121.7,517.8,12.3,282,7092,0.00,1.62,0.00,0.000,4,0.000,0.046,2716,3419,2041
$GC,7197,0.54,121.7,503.3,12.9,284,7200,0.00,1.48,0.00,0.000,6,0.000,0.025,2721,2416,2041
$GC,7465,0.54,121.7,471.8,11.7,291,7468,0.00,1.60,0.00,0.000,4,0.000,0.047,2716,3417,2040
$GC,7557,0.54,121.7,460.8,11.2,293,7560,0.00,1.42,0.00,0.000,6,0.000,0.025,2722,2446,2039
$GC,7838,0.54,121.7,432.4,10.1,300,7841,0.00,1.55,0.00,0.000,4,0.000,0.047,2716,3417,2039
$GC,7931,0.54,121.7,422.2,10.2,302,7934,0.00,1.40,0.00,0.000,6,0.000,0.025,2722,2461,2038
$GC,8212,0.54,121.7,393.2,10.5,309,8215,0.00,1.65,0.00,0.000,4,0.000,0.029,2730,1312,2038
$GC,8256,0.55,128.8,388.9,9.6,310,8264,0.00,1.80,4.85,0.669,6,0.000,0.042,2729,2480,2024
$GC,8543,0.55,146.1,362.2,9.0,317,8571,0.00,1.50,19.27,0.805,4,0.000,0.050,2728,3421,1954
$GC,8676,0.55,146.1,346.9,12.2,320,8679,0.00,1.35,0.00,0.000,6,0.000,0.025,2734,2510,1952
$GC,8958,0.55,146.1,317.1,10.2,327,8961,0.00,1.73,0.00,0.000,4,0.000,0.028,2743,1313,1951
$GC,9008,0.56,171.7,312.8,8.6,328,9036,0.12,1.85,23.25,0.850,6,0.159,0.042,2710,2513,1850
$GC,9287,0.58,206.2,290.1,8.1,335,9330,0.00,1.42,32.75,0.796,4,0.000,0.048,2710,3422,1709
$GC,9397,0.58,206.2,278.6,12.6,337,9400,0.00,1.40,0.00,0.000,6,0.000,0.025,2717,2489,1708
$GC,9662,0.58,214.0,252.2,9.6,344,9675,0.00,1.52,8.15,0.701,4,0.000,0.047,2716,3418,1676
$GC,9764,0.58,214.0,241.9,10.6,346,9767,0.00,1.30,0.00,0.000,6,0.000,0.025,2720,2540,1674
$GC,10035,0.58,222.3,216.0,9.5,353,10048,0.00,1.83,8.50,0.676,4,0.000,0.028,2729,1313,1643
$GC,10084,0.59,236.9,211.6,9.2,354,10102,0.00,1.90,13.65,0.727,6,0.000,0.041,2729,2542,1583
$GC,10360,0.59,236.9,184.2,10.5,369,10363,0.00,1.38,0.00,0.000,4,0.000,0.049,2729,3418,1581
$GC,10427,0.59,236.9,176.1,12.7,375,10430,0.00,1.27,0.00,0.000,6,0.000,0.024,2734,2551,1580
$GC,10690,0.59,236.9,145.0,11.4,400,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2544,1580
$GC,10949,0.59,236.9,116.4,11.0,425,10952,0.00,1.77,0.00,0.000,4,0.000,0.028,2739,1318,1580
$GC,10988,0.60,251.3,112.3,9.2,428,11009,0.00,1.95,13.35,0.637,6,0.000,0.041,2739,2568,1524
$GC,11264,0.60,263.4,84.2,9.3,454,11278,0.00,1.35,11.57,0.601,4,0.000,0.045,2739,3420,1475
$GC,11378,0.60,268.7,72.9,9.7,464,11392,0.00,1.20,6.28,0.514,6,0.000,0.023,2739,2595,1453
$GC,11646,0.62,322.2,53.0,7.0,489,11701,0.00,1.92,44.72,0.616,4,0.000,0.026,2739,1313,1234
$GC,11738,0.64,363.3,45.5,7.7,496,11779,0.00,2.03,34.35,0.598,6,0.000,0.037,2739,2623,1068
$GC,12031,0.65,396.9,22.6,8.1,532,12065,0.00,1.23,27.40,0.572,4,0.000,0.041,2738,3419,933
$GC,12091,0.66,406.6,17.2,9.5,540,12108,0.00,1.50,9.52,0.505,6,0.000,0.021,2738,2391,893
$STATE,12258,end climb,SURFACE_DEPTH_REACHED
$STATE,12258,begin surface coast
$FINISH,0.1,1.022900
$STATE,12290,end surface coast,CONTROL_FINISHED_OK
$STATE,12290,begin surface
$SM_CCo,12373,0.00,0.000,0,0,889,407.44
$SM_GC,1.09,6.88,0.00,0.00,0.025,0.000,0.000,32,2656,889,-7.68,0.74,407.44
$IRIDIUM_FIX,2241.69,-15749.78,070102,121216
$TT8_MAMPS,0.047554
$HUMID,2200
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.10
$XPDR_PINGS,13
$24V_AH,24.0,69.172
$10V_AH,10.5,67.252
$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,17.100,99.800,483.375,0.000,0.000,83.291,105.791,428.740,3.250,0.000,0.000,34.104,0.000,8753.467,470.042,2896.552,1173.593,33.354,1396.707,0.000,2572.069,0.000,0.544,0.000
$DEVICE_MAMPS,200.187,50.622,1047.722,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,389.552,1340.848,1379.275,212.960,1096.894,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47681,577
$CAP_FILE_SIZE,120801,0
$CFSIZE,260165632,230969344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,131012,154323,2250.212,-15752.960,26,1.5,43,10.1