version: 66.04
glider: 512
mission: 3
dive: 539
start: 10 14 112 21 1 38
data:
$ID,512
$MISSION,3
$DIVE,539
$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,-64587.031
$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,62
$R_STBD_OVSHOOT,36
$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
$GPS1,205330,2244.635,-15801.671,40,1.4,40,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-76.9
$GPS2,210100,2244.618,-15801.770,11,1.1,16,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.182,-0.155
$KALMAN_X,-70734.4,-42.4,93.3,41358.7,181.0
$KALMAN_Y,53485.8,190.5,242.7,-77574.9,-254.2
$MHEAD_RNG_PITCHd_Wd,219.4,10508,-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,-73.97,0.000,2,0.000,0.000,15,2647,2850
$GC,96,-0.54,-121.7,3.0,-4.8,9,114,8.95,1.55,-3.78,0.000,4,0.199,0.041,2346,1558,3047
$GC,210,-0.54,-121.7,32.9,-15.8,28,213,0.00,1.62,0.00,0.000,6,0.000,0.037,2340,2629,3049
$GC,474,-0.54,-121.7,78.6,-14.7,53,477,0.00,1.60,0.00,0.000,4,0.000,0.042,2332,3697,3049
$GC,490,-0.54,-121.7,81.0,-14.9,54,492,0.00,1.60,0.00,0.000,6,0.000,0.020,2332,2594,3049
$GC,753,-0.54,-121.7,116.2,-13.0,79,756,0.00,1.42,0.00,0.000,4,0.000,0.022,2332,1577,3049
$GC,801,-0.54,-121.7,122.2,-12.4,83,804,0.00,1.55,0.00,0.000,6,0.000,0.035,2325,2583,3050
$GC,1065,-0.54,-121.7,158.0,-14.3,108,1068,0.00,1.45,0.00,0.000,4,0.000,0.021,2324,1571,3050
$GC,1112,-0.54,-121.7,164.5,-13.0,112,1115,0.05,1.52,0.00,0.000,6,0.134,0.036,2349,2567,3050
$GC,1380,-0.54,-121.7,195.7,-10.8,137,1383,0.00,1.42,0.00,0.000,4,0.000,0.021,2350,1568,3050
$GC,1426,-0.54,-121.7,200.9,-10.1,141,1429,0.00,1.48,0.00,0.000,6,0.000,0.036,2346,2533,3050
$GC,1713,-0.54,-121.7,232.1,-10.6,148,1715,0.00,1.77,0.00,0.000,4,0.000,0.046,2345,3707,3050
$GC,1758,-0.54,-121.7,236.3,-8.9,149,1760,0.00,1.67,0.00,0.000,6,0.000,0.020,2345,2527,3050
$GC,2046,-0.54,-121.7,263.1,-9.2,156,2049,0.00,1.33,0.00,0.000,4,0.000,0.022,2346,1571,3050
$GC,2096,-0.54,-121.7,268.0,-9.0,157,2099,0.00,1.50,0.00,0.000,6,0.000,0.038,2338,2548,3050
$GC,2377,-0.54,-121.7,297.3,-10.3,164,2380,0.00,1.73,0.00,0.000,4,0.000,0.044,2329,3695,3048
$GC,2422,-0.54,-121.7,301.8,-10.2,165,2425,0.00,1.65,0.00,0.000,6,0.000,0.021,2330,2531,3048
$GC,2708,-0.54,-121.7,330.5,-10.0,172,2711,0.00,1.33,0.00,0.000,4,0.000,0.022,2330,1575,3047
$GC,2769,-0.54,-121.7,336.3,-9.2,173,2771,0.00,1.48,0.00,0.000,6,0.000,0.038,2323,2537,3047
$GC,3039,-0.54,-121.7,363.8,-10.6,180,3043,0.00,1.77,0.00,0.000,4,0.000,0.045,2314,3689,3045
$GC,3062,-0.54,-121.7,366.3,-10.7,180,3065,0.12,1.65,0.00,0.000,6,0.111,0.021,2352,2530,3045
$GC,3327,-0.54,-121.7,388.9,-8.2,187,3330,0.00,1.33,0.00,0.000,4,0.000,0.023,2352,1576,3043
$GC,3383,-0.54,-121.7,393.4,-8.2,188,3386,0.00,1.45,0.00,0.000,6,0.000,0.039,2347,2518,3043
$GC,3659,-0.54,-121.7,415.8,-8.1,195,3662,0.00,1.80,0.00,0.000,4,0.000,0.048,2339,3699,3041
$GC,3687,-0.54,-121.7,418.1,-7.8,195,3690,0.00,1.70,0.00,0.000,6,0.000,0.021,2339,2507,3040
$GC,3947,-0.54,-121.7,437.6,-7.3,202,3950,0.00,1.30,0.00,0.000,4,0.000,0.024,2339,1575,3038
$GC,3992,-0.54,-121.7,440.7,-6.8,203,3995,0.00,1.45,0.00,0.000,6,0.000,0.041,2333,2509,3038
$GC,4278,-0.54,-121.7,460.6,-7.0,210,4281,0.00,1.85,-0.08,0.000,4,0.000,0.063,2325,3696,3061
$GC,4312,-0.54,-121.7,463.0,-7.0,210,4315,0.00,1.73,0.00,0.000,6,0.000,0.022,2325,2495,3061
$GC,4567,-0.54,-121.7,483.5,-8.2,217,4570,0.00,1.30,0.00,0.000,4,0.000,0.025,2324,1574,3059
$GC,4616,-0.54,-121.7,487.7,-8.3,218,4619,0.08,1.45,0.00,0.000,6,0.109,0.041,2348,2504,3058
$GC,4898,-0.54,-121.7,508.3,-7.4,225,4901,0.00,1.88,0.00,0.000,4,0.000,0.052,2346,3692,3057
$GC,4953,-0.54,-121.7,512.6,-7.7,226,4956,0.00,1.70,0.00,0.000,6,0.000,0.024,2346,2511,3056
$GC,5229,-0.54,-121.7,534.1,-7.8,233,5232,0.00,1.33,0.00,0.000,4,0.000,0.025,2346,1574,3055
$GC,5273,-0.54,-121.7,537.5,-7.1,234,5276,0.00,1.50,0.00,0.000,6,0.000,0.045,2346,2524,3055
$GC,5563,-0.54,-121.7,557.3,-6.7,241,5566,0.00,1.83,0.00,0.000,4,0.000,0.053,2346,3697,3054
$GC,5591,-0.54,-121.7,559.2,-6.6,241,5594,0.00,1.73,0.00,0.000,6,0.000,0.025,2346,2503,3053
$GC,5851,-0.54,-121.7,577.0,-7.0,248,5854,0.00,1.33,0.00,0.000,4,0.000,0.027,2346,1571,3051
$GC,5879,-0.54,-121.7,579.1,-7.6,248,5883,0.00,1.50,0.00,0.000,6,0.000,0.046,2346,2522,3051
$GC,6140,-0.54,-121.7,597.3,-6.9,255,6143,0.00,1.85,0.00,0.000,4,0.000,0.054,2346,3687,3050
$STATE,6174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6174,begin apogee
$GC,6186,-0.18,0.0,600.1,7.3,255,6300,0.32,0.00,111.85,1.058,6,0.094,0.000,2462,2355,2550
$STATE,6300,end apogee,CONTROL_FINISHED_OK
$STATE,6300,begin climb
$GC,6305,0.54,121.7,604.7,0.0,258,6443,0.68,1.77,117.97,0.980,4,0.038,0.046,2723,3427,2054
$GC,6510,0.54,121.7,595.2,14.7,263,6513,0.00,1.65,0.00,0.000,6,0.000,0.023,2731,2350,2049
$GC,6770,0.54,121.7,559.5,13.3,270,6773,0.00,1.75,0.00,0.000,4,0.000,0.049,2729,3424,2044
$GC,6878,0.54,121.7,543.5,15.2,272,6881,0.08,1.55,0.00,0.000,6,0.166,0.025,2705,2389,2044
$GC,7143,0.54,121.7,512.3,11.4,279,7146,0.00,1.65,0.00,0.000,4,0.000,0.049,2702,3428,2042
$GC,7204,0.54,121.7,505.0,12.9,280,7206,0.00,1.52,0.00,0.000,6,0.000,0.025,2708,2399,2042
$GC,7474,0.54,121.7,475.4,10.8,287,7477,0.00,1.62,0.00,0.000,4,0.000,0.048,2702,3427,2040
$GC,7535,0.54,121.7,468.7,11.3,288,7537,0.00,1.50,0.00,0.000,6,0.000,0.025,2708,2415,2040
$GC,7805,0.55,128.9,442.9,9.6,295,7814,0.00,1.60,5.65,0.733,4,0.000,0.048,2702,3428,2024
$GC,7844,0.55,128.9,439.0,10.7,295,7851,0.00,1.48,0.00,0.000,6,0.000,0.024,2708,2424,2023
$GC,8093,0.55,131.9,414.0,9.8,302,8101,0.00,1.60,4.43,0.643,4,0.000,0.048,2703,3420,2012
$GC,8191,0.55,131.9,403.7,10.6,304,8193,0.00,1.42,0.00,0.000,6,0.000,0.024,2708,2449,2011
$GC,8469,0.55,148.5,378.0,9.1,311,8497,0.00,1.70,18.17,0.811,4,0.000,0.026,2716,1313,1944
$GC,8517,0.56,157.7,373.3,9.5,312,8530,0.00,1.80,9.85,0.812,6,0.000,0.041,2715,2475,1906
$GC,8798,0.57,176.2,347.6,9.0,319,8818,0.00,1.55,17.23,0.858,4,0.000,0.048,2716,3430,1831
$GC,8857,0.57,176.2,341.8,10.3,320,8860,0.00,1.45,0.00,0.000,6,0.000,0.025,2721,2472,1830
$GC,9123,0.57,176.2,313.8,10.9,327,9126,0.00,1.52,0.00,0.000,4,0.000,0.048,2721,3419,1827
$GC,9183,0.57,176.2,306.5,12.5,328,9186,0.00,1.38,0.00,0.000,6,0.000,0.025,2725,2500,1827
$GC,9453,0.57,176.2,276.2,10.9,335,9456,0.00,1.48,0.00,0.000,4,0.000,0.048,2726,3420,1826
$GC,9509,0.57,176.2,269.5,11.9,336,9512,0.00,1.35,0.00,0.000,6,0.000,0.024,2731,2498,1826
$GC,9785,0.57,197.1,243.7,8.8,343,9805,0.00,0.00,19.08,0.793,6,0.000,0.000,2731,2493,1746
$GC,10027,0.57,197.9,220.6,10.0,349,10030,0.00,1.48,0.00,0.000,4,0.000,0.048,2732,3417,1742
$GC,10087,0.57,197.9,213.7,12.1,350,10091,0.00,1.35,0.00,0.000,6,0.000,0.025,2739,2507,1742
$GC,10344,0.58,211.9,188.7,9.2,364,10360,0.00,1.73,13.70,0.718,4,0.000,0.025,2747,1317,1685
$GC,10401,0.59,236.5,183.1,8.6,368,10426,0.00,1.92,21.88,0.730,6,0.000,0.041,2747,2540,1586
$GC,10680,0.59,236.5,151.5,12.5,394,10683,0.00,1.38,0.00,0.000,4,0.000,0.046,2742,3423,1582
$GC,10717,0.59,236.5,146.5,14.5,397,10720,0.00,1.33,0.00,0.000,6,0.000,0.022,2747,2525,1581
$GC,10981,0.59,236.5,114.4,11.4,422,10984,0.12,1.45,0.00,0.000,4,0.158,0.044,2718,3429,1581
$GC,11017,0.59,238.2,110.5,9.9,425,11021,0.00,1.27,0.00,0.000,6,0.000,0.022,2725,2557,1581
$GC,11280,0.62,309.0,91.1,6.1,450,11346,0.00,1.85,60.58,0.660,4,0.000,0.025,2726,1306,1288
$GC,11450,0.64,366.4,80.7,6.8,464,11505,0.00,1.90,47.67,0.637,6,0.000,0.036,2726,2535,1055
$GC,11756,0.67,433.6,58.3,6.3,492,11814,0.00,1.85,54.95,0.613,4,0.000,0.022,2726,1310,781
$GC,12057,0.67,433.6,30.6,10.1,519,12060,0.00,1.75,0.00,0.000,6,0.000,0.035,2725,2462,777
$STATE,12316,end climb,SURFACE_DEPTH_REACHED
$STATE,12316,begin surface coast
$FINISH,0.1,0.998832
$STATE,12342,end surface coast,CONTROL_FINISHED_OK
$STATE,12342,begin surface
$SM_CCo,12425,0.00,0.000,0,0,775,435.40
$SM_GC,0.92,6.80,0.00,0.00,0.024,0.000,0.000,32,2651,775,-7.69,0.59,435.40
$IRIDIUM_FIX,2234.68,-15803.24,080102,171752
$TT8_MAMPS,0.046787
$HUMID,2206
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.50
$XPDR_PINGS,13
$24V_AH,23.9,70.392
$10V_AH,10.5,68.634
$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,17.200,113.950,503.000,0.000,0.000,23.781,34.854,206.919,3.250,0.000,0.000,16.310,0.000,8642.268,498.643,2875.365,832.390,33.347,1402.394,0.000,2561.250,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,62.894,1057.693,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,386.888,1321.105,1368.416,192.018,1077.312,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47688,572
$CAP_FILE_SIZE,115049,0
$CFSIZE,260165632,230436864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,151012,002956,2243.737,-15803.060,25,4.0,44,10.0