version: 66.04
glider: 512
mission: 3
dive: 533
start: 10 13 112 23 0 20
data:
$ID,512
$MISSION,3
$DIVE,533
$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,-64490.238
$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,72
$R_STBD_OVSHOOT,29
$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
$GPS1,225230,2248.599,-15755.069,40,1.2,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-81.1
$GPS2,225937,2248.605,-15755.160,14,1.2,14,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.178,-0.160
$KALMAN_X,-71641.5,-44.4,77.7,53554.5,123.5
$KALMAN_Y,49848.9,298.4,-377.0,-66044.8,287.9
$MHEAD_RNG_PITCHd_Wd,217.9,23842,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.54,-121.7,0.0,0.0,0,91,0.00,0.00,-74.10,0.000,2,0.000,0.000,17,2611,2768
$GC,96,-0.54,-121.7,2.8,-4.6,9,114,8.93,1.52,-5.53,0.000,4,0.202,0.038,2342,1561,3047
$GC,221,-0.54,-121.7,33.3,-15.9,30,224,0.00,1.62,0.00,0.000,6,0.000,0.035,2336,2632,3049
$GC,485,-0.54,-121.7,79.7,-15.7,55,487,0.00,1.52,0.00,0.000,4,0.000,0.021,2337,1580,3049
$GC,532,-0.54,-121.7,86.6,-14.4,59,535,0.00,1.58,0.00,0.000,6,0.000,0.036,2333,2605,3049
$GC,795,-0.54,-121.7,125.9,-14.9,84,798,0.00,1.62,0.00,0.000,4,0.000,0.042,2325,3695,3049
$GC,819,-0.54,-121.7,129.5,-14.5,86,822,0.00,1.58,0.00,0.000,6,0.000,0.019,2325,2603,3050
$GC,1082,-0.54,-121.7,166.7,-13.7,111,1085,0.00,1.42,0.00,0.000,4,0.000,0.021,2325,1576,3050
$GC,1149,-0.54,-121.7,175.3,-12.1,117,1152,0.08,1.55,0.00,0.000,6,0.124,0.035,2344,2588,3050
$GC,1424,-0.54,-121.7,205.6,-11.1,140,1427,0.00,1.45,0.00,0.000,4,0.000,0.021,2345,1570,3050
$GC,1463,-0.54,-121.7,210.6,-10.8,140,1470,0.00,1.55,0.00,0.000,6,0.000,0.037,2344,2577,3050
$GC,1713,-0.54,-121.7,237.8,-11.0,147,1715,0.00,1.42,0.00,0.000,4,0.000,0.021,2344,1574,3050
$GC,1767,-0.54,-121.7,243.7,-9.7,148,1770,0.00,1.52,0.00,0.000,6,0.000,0.038,2345,2568,3050
$GC,2044,-0.54,-121.7,270.2,-9.4,155,2047,0.00,1.70,0.00,0.000,4,0.000,0.046,2344,3696,3050
$GC,2067,-0.54,-121.7,272.5,-9.3,155,2070,0.00,1.60,0.00,0.000,6,0.000,0.020,2345,2556,3050
$GC,2332,-0.54,-121.7,295.8,-8.9,162,2335,0.00,1.35,0.00,0.000,4,0.000,0.022,2345,1579,3049
$GC,2441,-0.54,-121.7,305.3,-8.3,164,2444,0.00,1.48,0.00,0.000,6,0.000,0.037,2338,2543,3049
$GC,2709,-0.54,-121.7,330.1,-9.3,171,2711,0.00,1.73,0.00,0.000,4,0.000,0.044,2329,3690,3048
$GC,2748,-0.54,-121.7,333.9,-8.8,171,2753,0.00,1.65,0.00,0.000,6,0.000,0.021,2329,2527,3047
$GC,2997,-0.54,-121.7,356.4,-8.9,178,3000,0.00,1.33,0.00,0.000,4,0.000,0.022,2330,1574,3046
$GC,3031,-0.54,-121.7,359.3,-8.3,178,3034,0.00,1.45,0.00,0.000,6,0.000,0.035,2322,2523,3046
$GC,3285,-0.54,-121.7,381.4,-8.9,185,3289,0.00,1.35,0.00,0.000,4,0.000,0.022,2322,1578,3044
$GC,3356,-0.54,-121.7,387.5,-8.5,186,3359,0.08,1.35,0.00,0.000,6,0.107,0.038,2349,2458,3044
$GC,3617,-0.54,-121.7,407.1,-7.7,193,3620,0.00,1.90,0.00,0.000,4,0.000,0.048,2346,3697,3042
$GC,3677,-0.54,-121.7,412.3,-9.3,194,3680,0.00,1.77,0.00,0.000,6,0.000,0.021,2346,2476,3042
$GC,3950,-0.54,-121.7,435.7,-8.6,201,3953,0.00,1.25,0.00,0.000,4,0.000,0.023,2346,1574,3039
$GC,4016,-0.54,-121.7,441.6,-8.6,202,4019,0.00,1.38,0.00,0.000,6,0.000,0.041,2346,2460,3039
$GC,4281,-0.54,-121.7,463.0,-8.1,209,4285,0.00,1.92,-0.08,0.000,4,0.000,0.064,2346,3685,3062
$GC,4320,-0.54,-121.7,466.0,-7.7,209,4326,0.00,1.75,0.00,0.000,6,0.000,0.022,2346,2465,3062
$GC,4572,-0.54,-121.7,485.5,-7.8,216,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2458,3061
$GC,4812,-0.54,-121.7,503.7,-7.5,222,4814,0.00,1.92,0.00,0.000,4,0.000,0.050,2346,3686,3058
$GC,4866,-0.54,-121.7,507.6,-6.8,223,4869,0.00,1.73,0.00,0.000,6,0.000,0.023,2346,2491,3058
$GC,5143,-0.54,-121.7,527.2,-7.2,230,5146,0.00,1.27,0.00,0.000,4,0.000,0.025,2346,1580,3057
$GC,5181,-0.54,-121.7,530.1,-7.1,230,5189,0.00,1.42,0.00,0.000,6,0.000,0.042,2346,2492,3056
$GC,5431,-0.54,-121.7,548.1,-7.2,237,5434,0.00,1.88,0.00,0.000,4,0.000,0.052,2345,3679,3055
$GC,5475,-0.54,-121.7,551.5,-7.3,238,5478,0.00,1.73,0.00,0.000,6,0.000,0.024,2346,2509,3055
$GC,5762,-0.54,-121.7,571.2,-6.7,245,5765,0.00,1.30,0.00,0.000,4,0.000,0.025,2346,1585,3054
$GC,5796,-0.54,-121.7,573.5,-7.1,245,5799,0.00,1.42,0.00,0.000,6,0.000,0.042,2346,2495,3054
$GC,6051,-0.54,-121.7,590.1,-6.6,252,6054,0.00,1.88,0.00,0.000,4,0.000,0.054,2346,3695,3052
$GC,6106,-0.54,-121.7,593.7,-6.6,253,6109,0.00,1.73,0.00,0.000,6,0.000,0.025,2346,2503,3051
$STATE,6218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6218,begin apogee
$GC,6229,-0.18,0.0,601.2,6.4,256,6343,0.38,0.00,111.75,1.053,6,0.087,0.000,2473,2354,2550
$STATE,6343,end apogee,CONTROL_FINISHED_OK
$STATE,6343,begin climb
$GC,6348,0.54,121.7,606.4,0.0,259,6473,0.60,1.75,113.62,1.002,4,0.038,0.044,2709,3419,2053
$GC,6561,0.54,121.7,591.8,14.7,264,6564,0.00,1.60,0.00,0.000,6,0.000,0.024,2716,2346,2048
$GC,6850,0.54,121.7,555.7,12.3,271,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2338,2044
$GC,7090,0.54,121.7,527.2,11.7,277,7094,0.00,1.73,0.00,0.000,4,0.000,0.048,2716,3414,2043
$GC,7258,0.54,121.7,505.4,13.0,280,7265,0.00,1.58,0.00,0.000,6,0.000,0.025,2722,2353,2042
$GC,7507,0.54,121.7,476.4,11.6,287,7510,0.00,1.70,0.00,0.000,4,0.000,0.048,2722,3415,2040
$GC,7653,0.54,121.7,456.9,12.9,290,7656,0.00,1.50,0.00,0.000,6,0.000,0.025,2729,2403,2040
$GC,7923,0.54,121.7,424.1,12.0,297,7926,0.00,1.58,0.00,0.000,4,0.000,0.026,2738,1315,2040
$GC,7989,0.54,121.7,417.4,10.1,298,7992,0.12,1.65,0.00,0.000,6,0.159,0.041,2707,2394,2038
$GC,8255,0.56,164.0,395.9,7.7,305,8301,0.00,1.62,37.83,0.887,4,0.000,0.047,2703,3429,1880
$GC,8444,0.56,164.0,377.0,11.0,309,8447,0.00,1.48,0.00,0.000,6,0.000,0.025,2708,2447,1877
$GC,8717,0.56,165.7,350.1,9.9,316,8720,0.00,1.58,0.00,0.000,4,0.000,0.048,2708,3421,1875
$GC,8820,0.56,165.7,338.1,11.4,318,8823,0.00,1.42,0.00,0.000,6,0.000,0.025,2716,2463,1874
$GC,9091,0.56,169.5,311.3,9.8,325,9099,0.00,1.52,5.45,0.669,4,0.000,0.047,2715,3427,1858
$GC,9183,0.56,169.5,301.9,10.6,327,9186,0.00,1.38,0.00,0.000,6,0.000,0.025,2720,2499,1857
$GC,9465,0.57,193.5,276.8,8.7,334,9492,0.00,1.80,22.08,0.826,4,0.000,0.027,2729,1309,1761
$GC,9517,0.58,215.7,272.3,8.8,335,9541,0.00,1.85,20.73,0.799,6,0.000,0.043,2729,2493,1670
$GC,9789,0.58,215.7,245.3,10.1,341,9792,0.00,1.45,0.00,0.000,4,0.000,0.048,2729,3413,1665
$GC,9834,0.58,215.7,240.3,11.4,342,9837,0.00,1.38,0.00,0.000,6,0.000,0.025,2734,2498,1665
$GC,10120,0.58,215.7,210.4,10.4,349,10121,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2492,1664
$GC,10370,0.58,215.7,184.7,10.4,364,10373,0.00,1.48,0.00,0.000,4,0.000,0.048,2734,3418,1664
$GC,10408,0.58,215.7,179.9,11.4,367,10415,0.00,1.35,0.00,0.000,6,0.000,0.025,2739,2510,1663
$GC,10666,0.59,226.2,154.1,9.4,392,10679,0.00,1.50,9.40,0.648,4,0.000,0.044,2739,3432,1627
$GC,10708,0.59,226.2,149.8,10.5,395,10715,0.08,1.35,0.00,0.000,6,0.143,0.024,2724,2523,1627
$GC,10970,0.60,252.5,128.0,8.5,420,10999,0.00,0.00,22.83,0.680,6,0.000,0.000,2724,2518,1522
$GC,11253,0.61,275.0,102.4,8.8,447,11280,0.00,1.45,20.62,0.647,4,0.000,0.042,2724,3425,1427
$GC,11309,0.62,302.1,96.8,8.5,451,11341,0.00,1.33,23.45,0.640,6,0.000,0.025,2726,2533,1319
$GC,11592,0.64,358.0,74.0,6.9,478,11646,0.00,1.83,46.65,0.632,4,0.000,0.026,2726,1321,1089
$GC,11685,0.66,421.3,67.5,6.5,485,11741,0.00,1.92,51.97,0.619,6,0.000,0.036,2725,2548,831
$GC,11994,0.66,421.3,39.9,10.6,513,11997,0.00,1.83,0.00,0.000,4,0.000,0.025,2726,1316,828
$GC,12237,0.66,421.3,13.0,11.1,550,12246,0.00,1.83,0.00,0.000,6,0.000,0.033,2726,2506,826
$STATE,12337,end climb,SURFACE_DEPTH_REACHED
$STATE,12337,begin surface coast
$FINISH,0.2,1.016837
$STATE,12367,end surface coast,CONTROL_FINISHED_OK
$STATE,12367,begin surface
$SM_CCo,12450,0.00,0.000,0,0,824,423.14
$SM_GC,0.97,6.78,0.00,0.00,0.023,0.000,0.000,37,2677,824,-7.69,1.33,423.14
$IRIDIUM_FIX,2241.69,-15754.99,070102,191911
$TT8_MAMPS,0.047554
$HUMID,2202
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.60
$XPDR_PINGS,13
$24V_AH,23.9,69.558
$10V_AH,10.5,67.703
$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,17.025,104.350,486.375,0.000,0.000,31.548,34.689,186.829,3.250,0.000,0.000,19.455,0.000,8676.154,477.815,2880.608,821.238,33.351,1414.311,0.000,2578.636,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,63.661,1053.091,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,386.828,1328.980,1374.385,198.391,1060.056,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47665,574
$CAP_FILE_SIZE,113567,0
$CFSIZE,260165632,230797312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,141012,022905,2247.932,-15756.245,43,1.5,48,10.1