version: 66.04
glider: 512
mission: 3
dive: 534
start: 10 14 112 2 38 20
data:
$ID,512
$MISSION,3
$DIVE,534
$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,-64509.617
$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,55
$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
$GPS1,022905,2247.932,-15756.245,43,1.5,48,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-78.1
$GPS2,023742,2248.036,-15756.304,13,1.4,18,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.164,-0.174
$KALMAN_X,-71288.2,63.9,-203.4,51424.2,585.0
$KALMAN_Y,50348.2,521.5,-253.2,-67949.8,913.2
$MHEAD_RNG_PITCHd_Wd,213.3,21664,-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,-121.7,0.0,0.0,0,91,0.00,0.00,-74.00,0.000,2,0.000,0.000,16,2677,2700
$GC,96,-0.54,-121.7,2.2,-2.6,9,122,8.95,1.62,-7.30,0.000,4,0.199,0.038,2354,1562,3047
$GC,248,-0.54,-121.7,34.1,-15.9,33,251,0.00,1.60,0.00,0.000,6,0.000,0.035,2349,2622,3048
$GC,513,-0.54,-121.7,81.4,-16.9,58,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2623,3048
$GC,771,-0.54,-121.7,117.9,-13.3,83,774,0.00,1.52,0.00,0.000,4,0.000,0.021,2350,1565,3049
$GC,849,-0.54,-121.7,127.8,-11.4,90,852,0.00,1.62,0.00,0.000,6,0.000,0.037,2346,2624,3049
$GC,1114,-0.54,-121.7,159.9,-12.2,115,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2624,3049
$GC,1371,-0.54,-121.7,190.0,-11.5,140,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2625,3049
$GC,1624,-0.54,-121.7,219.1,-11.6,153,1627,0.00,1.50,0.00,0.000,4,0.000,0.021,2346,1570,3050
$GC,1668,-0.54,-121.7,224.1,-10.7,154,1671,0.00,1.60,0.00,0.000,6,0.000,0.038,2345,2611,3049
$GC,1957,-0.54,-121.7,255.3,-10.7,161,1960,0.00,1.48,0.00,0.000,4,0.000,0.021,2346,1573,3050
$GC,1996,-0.54,-121.7,259.7,-10.8,161,2001,0.00,1.58,0.00,0.000,6,0.000,0.036,2338,2603,3049
$GC,2246,-0.54,-121.7,286.2,-10.6,168,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2604,3049
$GC,2487,-0.54,-121.7,307.9,-8.6,174,2490,0.00,1.48,0.00,0.000,4,0.000,0.021,2338,1570,3048
$GC,2553,-0.54,-121.7,313.3,-7.8,175,2556,0.00,1.55,0.00,0.000,6,0.000,0.037,2333,2580,3048
$GC,2819,-0.54,-121.7,336.3,-8.8,182,2822,0.00,1.67,0.00,0.000,4,0.000,0.044,2325,3697,3047
$GC,2868,-0.54,-121.7,341.1,-9.3,183,2871,0.00,1.60,0.00,0.000,6,0.000,0.021,2325,2560,3047
$GC,3150,-0.54,-121.7,368.5,-9.5,190,3153,0.00,1.38,0.00,0.000,4,0.000,0.023,2325,1574,3045
$GC,3205,-0.54,-121.7,373.3,-8.2,191,3208,0.05,1.55,0.00,0.000,6,0.087,0.038,2351,2581,3045
$GC,3481,-0.54,-121.7,392.8,-7.1,198,3484,0.00,1.45,0.00,0.000,4,0.000,0.022,2351,1570,3043
$GC,3531,-0.54,-121.7,396.6,-6.8,199,3533,0.00,1.55,0.00,0.000,6,0.000,0.038,2346,2575,3043
$GC,3815,-0.54,-121.7,419.1,-8.2,206,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2575,3039
$GC,4054,-0.54,-121.7,437.0,-7.2,212,4057,0.00,1.45,0.00,0.000,4,0.000,0.023,2346,1569,3038
$GC,4114,-0.54,-121.7,441.2,-6.8,213,4117,0.00,1.52,0.00,0.000,6,0.000,0.041,2346,2549,3037
$GC,4385,-0.54,-121.7,458.8,-6.5,220,4388,0.00,1.45,-0.08,0.000,4,0.000,0.042,2346,1567,3060
$GC,4414,-0.54,-121.7,460.7,-6.7,220,4416,0.00,1.50,0.00,0.000,6,0.000,0.041,2346,2529,3060
$GC,4674,-0.54,-121.7,478.2,-6.9,227,4677,0.00,1.80,0.00,0.000,4,0.000,0.051,2346,3689,3058
$GC,4708,-0.54,-121.7,480.7,-7.4,227,4711,0.00,1.70,0.00,0.000,6,0.000,0.024,2346,2507,3058
$GC,4963,-0.54,-121.7,500.1,-7.8,234,4966,0.00,1.33,0.00,0.000,4,0.000,0.026,2346,1571,3056
$GC,5034,-0.54,-121.7,506.1,-8.3,235,5037,0.00,1.45,0.00,0.000,6,0.000,0.044,2346,2500,3056
$GC,5294,-0.54,-121.7,528.6,-8.7,242,5297,0.00,1.85,0.00,0.000,4,0.000,0.051,2337,3697,3054
$GC,5317,-0.54,-121.7,530.5,-8.2,242,5320,0.00,1.75,0.00,0.000,6,0.000,0.023,2337,2505,3054
$GC,5583,-0.54,-121.7,553.4,-8.5,249,5586,0.00,1.33,0.00,0.000,4,0.000,0.027,2338,1573,3052
$GC,5654,-0.54,-121.7,559.0,-7.7,250,5656,0.00,1.40,0.00,0.000,6,0.000,0.041,2333,2472,3052
$GC,5913,-0.54,-121.7,576.7,-6.6,257,5917,0.00,1.92,0.00,0.000,4,0.000,0.051,2324,3716,3049
$GC,5953,-0.54,-121.7,579.1,-6.7,257,5958,0.00,1.80,0.00,0.000,6,0.000,0.025,2324,2480,3049
$GC,6202,-0.54,-121.7,596.3,-7.1,264,6205,0.00,1.27,0.00,0.000,4,0.000,0.027,2324,1579,3048
$STATE,6252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6252,begin apogee
$GC,6264,-0.18,0.0,600.2,7.0,265,6377,0.43,0.00,111.25,1.054,6,0.106,0.000,2463,2368,2550
$STATE,6377,end apogee,CONTROL_FINISHED_OK
$STATE,6378,begin climb
$GC,6383,0.54,121.7,603.9,0.0,268,6507,0.62,0.00,113.22,1.002,6,0.039,0.000,2710,2368,2055
$GC,6753,0.54,121.7,570.1,12.9,277,6756,0.00,1.65,0.00,0.000,4,0.000,0.049,2710,3425,2048
$GC,6878,0.54,121.7,552.5,14.5,279,6883,0.00,1.60,0.00,0.000,6,0.000,0.025,2718,2340,2046
$GC,7129,0.54,121.7,523.0,11.5,286,7132,0.00,1.73,0.00,0.000,4,0.000,0.048,2715,3428,2045
$GC,7205,0.54,121.7,513.6,11.4,287,7208,0.00,1.58,0.00,0.000,6,0.000,0.024,2722,2370,2044
$GC,7460,0.54,121.7,486.5,10.4,294,7463,0.00,1.67,0.00,0.000,4,0.000,0.048,2716,3430,2043
$GC,7488,0.54,121.7,483.4,11.9,294,7491,0.00,1.52,0.00,0.000,6,0.000,0.025,2722,2397,2043
$GC,7750,0.54,121.7,456.5,10.3,301,7753,0.00,1.62,0.00,0.000,4,0.000,0.048,2716,3414,2042
$GC,7821,0.54,121.7,448.1,12.0,302,7824,0.00,1.45,0.00,0.000,6,0.000,0.025,2722,2435,2042
$GC,8081,0.54,121.7,419.5,11.1,309,8084,0.00,1.62,0.00,0.000,4,0.000,0.027,2730,1294,2042
$GC,8171,0.54,121.7,410.1,10.8,311,8173,0.00,1.73,0.00,0.000,6,0.000,0.043,2729,2412,2039
$GC,8457,0.54,121.7,379.7,10.4,318,8460,0.00,1.58,0.00,0.000,4,0.000,0.049,2729,3414,2039
$GC,8705,0.54,121.7,353.0,10.3,323,8708,0.10,1.38,0.00,0.000,6,0.180,0.025,2708,2485,2039
$GC,8960,0.56,161.4,332.3,7.8,330,9004,0.00,1.55,35.92,0.850,4,0.000,0.047,2708,3420,1892
$GC,9049,0.56,161.4,324.4,10.5,332,9051,0.00,1.40,0.00,0.000,6,0.000,0.025,2716,2490,1889
$GC,9335,0.57,175.0,297.6,9.2,339,9349,0.00,0.00,12.98,0.802,6,0.000,0.000,2716,2484,1836
$GC,9577,0.57,179.8,274.5,9.7,345,9585,0.00,1.70,5.05,0.624,4,0.000,0.027,2724,1323,1818
$GC,9605,0.57,179.8,271.8,10.2,345,9608,0.00,1.85,0.00,0.000,6,0.000,0.043,2724,2510,1817
$GC,9865,0.57,179.8,244.8,10.5,352,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2511,1816
$GC,10107,0.58,203.6,223.5,8.7,358,10134,0.00,1.48,22.35,0.779,4,0.000,0.048,2723,3425,1718
$GC,10224,0.58,203.6,211.4,11.2,360,10227,0.00,1.40,0.00,0.000,6,0.000,0.025,2731,2486,1717
$GC,10485,0.58,207.9,185.4,9.8,376,10498,0.00,1.73,4.80,0.546,4,0.000,0.027,2739,1332,1701
$GC,10545,0.59,230.6,179.8,8.7,381,10571,0.00,1.77,20.75,0.728,6,0.000,0.041,2739,2460,1609
$GC,10826,0.59,231.0,151.8,10.0,407,10829,0.00,1.50,0.00,0.000,4,0.000,0.047,2739,3415,1606
$GC,10937,0.59,231.0,139.3,11.3,417,10940,0.00,1.38,0.00,0.000,6,0.000,0.025,2747,2489,1605
$GC,11201,0.59,231.0,111.9,10.4,442,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2483,1605
$GC,11459,0.59,232.4,86.3,9.9,467,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2483,1605
$GC,11719,0.60,271.6,63.2,7.8,492,11760,0.00,1.50,35.00,0.631,4,0.000,0.045,2747,3419,1441
$GC,11796,0.61,287.0,56.4,9.1,498,11814,0.00,1.42,14.27,0.584,6,0.000,0.023,2751,2462,1378
$GC,12073,0.62,316.5,33.5,8.4,523,12102,0.00,1.58,24.95,0.591,4,0.000,0.044,2752,3428,1258
$GC,12148,0.62,316.5,25.8,10.9,532,12156,0.00,1.40,0.00,0.000,6,0.000,0.022,2752,2492,1257
$STATE,12387,end climb,SURFACE_DEPTH_REACHED
$STATE,12387,begin surface coast
$FINISH,0.3,1.023177
$STATE,12413,end surface coast,CONTROL_FINISHED_OK
$STATE,12413,begin surface
$SM_CCo,12436,31.92,0.532,1,0,999,380.21
$SM_GC,0.88,0.00,0.00,31.92,0.000,0.000,0.532,36,2644,999,-7.78,0.40,380.21
$IRIDIUM_FIX,2241.69,-15757.16,070102,232319
$TT8_MAMPS,0.047554
$HUMID,2232
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.90
$XPDR_PINGS,11
$24V_AH,23.8,69.682
$10V_AH,10.5,67.855
$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,17.025,90.550,400.550,31.925,0.000,25.888,52.069,258.578,2.750,0.000,0.000,18.750,0.000,8783.033,456.713,2859.938,869.567,33.349,1334.982,0.000,2555.486,0.000,0.545,0.000
$DEVICE_MAMPS,198.653,59.059,1053.858,531.531,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,393.789,1353.599,1408.298,203.840,1113.966,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47654,583
$CAP_FILE_SIZE,109322,0
$CFSIZE,260165632,230744064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,141012,060729,2247.403,-15757.188,38,1.1,43,10.1