version: 66.04
glider: 512
mission: 3
dive: 538
start: 10 14 112 17 22 21
data:
$ID,512
$MISSION,3
$DIVE,538
$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,-64570.094
$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,31
$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
$GPS1,171405,2245.600,-15800.991,37,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-77.2
$GPS2,172143,2245.645,-15801.019,12,1.1,13,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.142,-0.193
$KALMAN_X,-70909.5,-146.5,-40.9,43054.4,302.4
$KALMAN_Y,53048.5,-57.8,502.5,-75255.7,746.1
$MHEAD_RNG_PITCHd_Wd,206.2,12777,-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,-74.00,0.000,2,0.000,0.000,17,2650,2720
$GC,96,-0.54,-121.7,2.4,-3.4,9,122,8.85,1.60,-6.75,0.000,4,0.196,0.039,2348,1568,3047
$GC,223,-0.54,-121.7,32.4,-16.5,30,226,0.00,1.62,0.00,0.000,6,0.000,0.037,2342,2641,3048
$GC,487,-0.54,-121.7,78.8,-15.1,55,490,0.00,1.60,0.00,0.000,4,0.000,0.042,2335,3710,3048
$GC,523,-0.54,-121.7,83.5,-11.8,58,526,0.00,1.58,0.00,0.000,6,0.000,0.019,2334,2624,3048
$GC,787,-0.54,-121.7,116.7,-12.8,83,790,0.00,1.48,0.00,0.000,4,0.000,0.023,2334,1571,3048
$GC,848,-0.54,-121.7,124.4,-11.6,88,856,0.00,1.65,0.00,0.000,6,0.000,0.038,2333,2643,3049
$GC,1105,-0.54,-121.7,156.7,-13.0,113,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2643,3049
$GC,1362,-0.54,-121.7,190.5,-12.9,138,1365,0.00,1.52,0.00,0.000,4,0.000,0.021,2333,1576,3049
$GC,1452,-0.54,-121.7,201.3,-11.7,146,1455,0.00,1.65,0.00,0.000,6,0.000,0.038,2331,2646,3049
$GC,1738,-0.54,-121.7,233.1,-10.3,153,1741,0.00,1.52,0.00,0.000,4,0.000,0.021,2331,1580,3049
$GC,1782,-0.54,-121.7,237.3,-8.7,154,1785,0.00,1.58,0.00,0.000,6,0.000,0.037,2324,2608,3049
$GC,2072,-0.54,-121.7,268.4,-11.3,161,2074,0.00,1.48,0.00,0.000,4,0.000,0.021,2324,1576,3049
$GC,2105,-0.54,-121.7,272.2,-10.7,161,2108,0.05,1.55,0.00,0.000,6,0.094,0.037,2351,2593,3048
$GC,2360,-0.54,-121.7,295.1,-8.7,168,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2593,3048
$GC,2602,-0.54,-121.7,314.0,-7.6,174,2605,0.00,1.45,0.00,0.000,4,0.000,0.021,2351,1577,3047
$GC,2641,-0.54,-121.7,317.0,-7.4,174,2646,0.00,1.52,0.00,0.000,6,0.000,0.038,2346,2570,3047
$GC,2892,-0.54,-121.7,335.9,-7.6,181,2896,0.00,1.42,0.00,0.000,4,0.000,0.022,2346,1573,3046
$GC,2937,-0.54,-121.7,339.2,-7.1,182,2940,0.00,1.48,0.00,0.000,6,0.000,0.040,2346,2525,3045
$GC,3224,-0.54,-121.7,363.4,-8.9,189,3227,0.00,1.75,0.00,0.000,4,0.000,0.046,2339,3683,3043
$GC,3258,-0.54,-121.7,366.7,-9.9,189,3261,0.00,1.67,0.00,0.000,6,0.000,0.021,2339,2527,3043
$GC,3514,-0.54,-121.7,393.2,-10.5,196,3517,0.00,1.33,0.00,0.000,4,0.000,0.024,2339,1577,3041
$GC,3558,-0.54,-121.7,398.2,-10.6,197,3561,0.00,1.48,0.00,0.000,6,0.000,0.038,2333,2531,3040
$GC,3846,-0.54,-121.7,425.5,-9.1,204,3848,0.00,1.38,0.00,0.000,4,0.000,0.024,2334,1574,3038
$GC,3874,-0.54,-121.7,428.0,-9.0,204,3877,0.00,1.48,0.00,0.000,6,0.000,0.040,2333,2527,3038
$GC,4136,-0.54,-121.7,447.4,-7.3,211,4137,0.00,0.00,-0.08,0.000,6,0.000,0.000,2333,2527,3061
$GC,4376,-0.54,-121.7,464.8,-7.2,217,4379,0.00,1.38,0.00,0.000,4,0.000,0.025,2333,1576,3059
$GC,4415,-0.54,-121.7,467.6,-7.5,217,4420,0.00,1.42,0.00,0.000,6,0.000,0.041,2333,2495,3060
$GC,4664,-0.54,-121.7,487.8,-8.5,224,4667,0.00,1.83,0.00,0.000,4,0.000,0.049,2324,3682,3057
$GC,4687,-0.54,-121.7,490.0,-9.2,224,4690,0.00,1.73,0.00,0.000,6,0.000,0.023,2325,2509,3056
$GC,4955,-0.54,-121.7,515.1,-9.6,231,4958,0.00,1.30,0.00,0.000,4,0.000,0.025,2324,1584,3055
$GC,5031,-0.54,-121.7,522.6,-9.0,232,5035,0.08,1.40,0.00,0.000,6,0.103,0.041,2349,2481,3055
$GC,5286,-0.54,-121.7,542.0,-7.5,239,5289,0.00,1.88,0.00,0.000,4,0.000,0.052,2346,3692,3053
$GC,5315,-0.54,-121.7,544.2,-7.2,239,5318,0.00,1.75,0.00,0.000,6,0.000,0.025,2346,2481,3053
$GC,5577,-0.54,-121.7,562.1,-6.7,246,5580,0.00,1.92,0.00,0.000,4,0.000,0.053,2346,3676,3051
$GC,5599,-0.54,-121.7,563.8,-6.9,246,5602,0.00,1.70,0.00,0.000,6,0.000,0.025,2346,2499,3050
$GC,5865,-0.54,-121.7,579.8,-5.8,253,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2491,3049
$GC,6107,-0.54,-121.7,593.3,-5.5,259,6110,0.00,1.88,0.00,0.000,4,0.000,0.053,2346,3679,3048
$GC,6140,-0.54,-121.7,595.2,-5.6,259,6143,0.00,1.67,0.00,0.000,6,0.000,0.025,2346,2522,3048
$STATE,6228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6228,begin apogee
$GC,6239,-0.18,0.0,600.5,5.6,262,6352,0.38,0.00,110.78,1.055,6,0.081,0.000,2475,2366,2550
$STATE,6353,end apogee,CONTROL_FINISHED_OK
$STATE,6353,begin climb
$GC,6358,0.54,121.7,605.0,0.0,265,6509,0.60,1.73,120.78,0.953,4,0.037,0.045,2716,3418,2054
$GC,6630,0.54,121.7,585.6,14.0,271,6633,0.00,1.60,0.00,0.000,6,0.000,0.025,2722,2344,2048
$GC,6890,0.54,121.7,554.1,11.8,278,6893,0.00,1.70,0.00,0.000,4,0.000,0.048,2716,3413,2045
$GC,7004,0.54,121.7,539.0,14.5,280,7006,0.00,1.52,0.00,0.000,6,0.000,0.025,2722,2392,2045
$GC,7263,0.54,121.7,507.8,11.8,287,7266,0.00,1.62,0.00,0.000,4,0.000,0.049,2722,3418,2042
$GC,7313,0.54,121.7,501.3,13.8,288,7316,0.00,1.48,0.00,0.000,6,0.000,0.026,2729,2426,2042
$GC,7594,0.54,121.7,466.3,12.3,295,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2419,2042
$GC,7838,0.54,121.7,439.9,10.6,301,7841,0.00,1.58,0.00,0.000,4,0.000,0.047,2729,3411,2040
$GC,7963,0.54,121.7,425.5,12.1,303,7969,0.10,1.45,0.00,0.000,6,0.175,0.025,2708,2433,2040
$GC,8212,0.55,142.0,403.0,8.9,310,8241,0.00,1.60,19.08,0.827,4,0.000,0.048,2703,3412,1971
$GC,8266,0.55,142.0,398.0,10.3,311,8269,0.00,1.45,0.00,0.000,6,0.000,0.026,2708,2444,1969
$GC,8542,0.56,162.4,373.1,8.9,318,8571,0.00,1.55,21.15,0.821,4,0.000,0.048,2703,3414,1886
$GC,8690,0.56,162.4,358.5,10.8,321,8693,0.00,1.45,0.00,0.000,6,0.000,0.026,2709,2450,1884
$GC,8955,0.56,163.2,331.8,10.0,328,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2444,1882
$GC,9198,0.56,163.2,307.0,10.1,334,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2445,1881
$GC,9439,0.56,163.2,283.0,10.0,340,9443,0.00,1.55,0.00,0.000,4,0.000,0.048,2709,3415,1880
$GC,9585,0.56,163.2,266.2,11.2,343,9588,0.00,1.42,0.00,0.000,6,0.000,0.026,2716,2454,1880
$GC,9856,0.57,174.3,240.1,9.4,350,9869,0.00,0.00,10.98,0.752,6,0.000,0.000,2716,2449,1839
$GC,10142,0.59,241.9,220.2,6.3,357,10205,0.00,1.62,57.53,0.795,4,0.000,0.048,2715,3417,1562
$GC,10257,0.59,242.4,211.3,10.0,359,10260,0.00,1.45,0.00,0.000,6,0.000,0.025,2721,2464,1560
$GC,10517,0.59,242.4,186.3,10.2,375,10520,0.00,1.67,0.00,0.000,4,0.000,0.028,2729,1303,1557
$GC,10553,0.59,242.4,182.7,10.4,378,10556,0.00,1.83,0.00,0.000,6,0.000,0.042,2729,2455,1556
$GC,10817,0.59,242.4,154.5,10.3,403,10820,0.00,1.50,0.00,0.000,4,0.000,0.048,2729,3410,1556
$GC,10888,0.59,242.4,146.1,11.7,409,10895,0.00,1.40,0.00,0.000,6,0.000,0.025,2736,2472,1555
$GC,11146,0.59,248.2,120.6,9.7,434,11160,0.00,1.52,5.53,0.538,4,0.000,0.045,2736,3422,1539
$GC,11217,0.59,248.2,112.8,10.8,440,11220,0.00,1.35,0.00,0.000,6,0.000,0.025,2739,2514,1539
$GC,11481,0.60,258.0,86.5,9.5,465,11499,0.00,0.00,10.40,0.600,6,0.000,0.000,2739,2508,1497
$GC,11750,0.61,287.2,62.8,8.4,491,11779,0.00,1.80,25.48,0.627,4,0.000,0.027,2739,1324,1378
$GC,11826,0.63,340.1,57.0,7.1,497,11881,0.00,1.88,44.03,0.623,6,0.000,0.038,2739,2530,1161
$GC,12131,0.65,391.1,34.7,7.2,525,12177,0.00,1.83,41.72,0.599,4,0.000,0.024,2739,1308,954
$GC,12414,0.65,391.1,10.1,10.3,571,12423,0.00,1.83,0.00,0.000,6,0.000,0.038,2739,2479,951
$STATE,12488,end climb,SURFACE_DEPTH_REACHED
$STATE,12488,begin surface coast
$FINISH,0.3,1.023210
$STATE,12519,end surface coast,CONTROL_FINISHED_OK
$STATE,12519,begin surface
$SM_CCo,12602,0.00,0.000,0,0,948,392.96
$SM_GC,0.89,6.85,0.00,0.00,0.024,0.000,0.000,35,2636,948,-7.68,0.17,392.96
$IRIDIUM_FIX,2237.01,-15758.03,080102,131348
$TT8_MAMPS,0.047554
$HUMID,2237
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.20
$XPDR_PINGS,22
$24V_AH,23.9,70.257
$10V_AH,10.5,68.484
$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,16.900,95.400,467.425,0.000,0.000,31.124,32.338,221.171,5.500,0.000,0.000,13.372,0.000,8873.946,497.824,2843.860,818.161,33.355,1385.620,0.000,2549.254,0.000,0.545,0.000
$DEVICE_MAMPS,196.352,52.923,1055.392,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,399.230,1373.776,1417.354,212.651,1122.475,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47927,591
$CAP_FILE_SIZE,109879,0
$CFSIZE,260165632,230502400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,141012,205330,2244.635,-15801.671,40,1.4,40,10.1