version: 66.04
glider: 512
mission: 3
dive: 540
start: 10 15 112 0 42 3
data:
$ID,512
$MISSION,3
$DIVE,540
$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,-64626.094
$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,65
$R_STBD_OVSHOOT,38
$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
$GPS1,002956,2243.737,-15803.060,25,4.0,44,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-77.0
$GPS2,004121,2243.862,-15803.168,18,5.9,37,10.0
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HSW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.094,-0.220
$KALMAN_X,-70865.4,43.2,-49.3,39166.8,-25.7
$KALMAN_Y,54469.6,401.2,-517.6,-79417.5,1144.6
$MHEAD_RNG_PITCHd_Wd,193.3,7887,-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,-121.7,0.0,0.0,0,99,0.00,0.00,-82.40,0.000,2,0.000,0.000,14,2661,2920
$GC,105,-0.54,-121.7,3.3,-5.5,10,122,8.95,1.58,-2.40,0.000,4,0.199,0.040,2348,1567,3048
$GC,209,-0.54,-121.7,32.2,-16.2,28,218,0.00,1.62,0.00,0.000,6,0.000,0.035,2342,2621,3049
$GC,468,-0.54,-121.7,76.3,-16.2,53,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2621,3049
$GC,726,-0.54,-121.7,111.9,-12.4,78,729,0.00,1.52,0.00,0.000,4,0.000,0.021,2342,1560,3050
$GC,750,-0.54,-121.7,115.3,-13.8,80,753,0.00,1.62,0.00,0.000,6,0.000,0.036,2336,2615,3049
$GC,1014,-0.54,-121.7,150.1,-12.9,105,1017,0.00,1.62,0.00,0.000,4,0.000,0.043,2328,3707,3050
$GC,1030,-0.54,-121.7,152.0,-12.8,106,1033,0.00,1.62,0.00,0.000,6,0.000,0.019,2328,2562,3049
$GC,1293,-0.54,-121.7,186.8,-12.3,131,1296,0.00,1.38,0.00,0.000,4,0.000,0.021,2328,1572,3049
$GC,1339,-0.54,-121.7,192.6,-11.5,135,1342,0.00,1.58,0.00,0.000,6,0.000,0.036,2321,2599,3049
$GC,1608,-0.54,-121.7,225.4,-12.0,146,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2599,3049
$GC,1847,-0.54,-121.7,256.3,-12.9,152,1850,0.00,1.48,0.00,0.000,4,0.000,0.021,2322,1564,3050
$GC,1902,-0.54,-121.7,263.3,-12.0,153,1905,0.08,1.55,0.00,0.000,6,0.095,0.037,2356,2578,3049
$GC,2178,-0.54,-121.7,287.9,-8.3,160,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2578,3049
$GC,2422,-0.54,-121.7,305.9,-7.5,166,2425,0.00,1.45,0.00,0.000,4,0.000,0.021,2356,1560,3048
$GC,2503,-0.54,-121.7,312.5,-7.8,167,2508,0.00,1.50,0.00,0.000,6,0.000,0.038,2351,2538,3048
$GC,2753,-0.54,-121.7,334.9,-9.2,174,2755,0.00,1.75,0.00,0.000,4,0.000,0.045,2342,3696,3046
$GC,2776,-0.54,-121.7,337.0,-9.3,174,2779,0.00,1.67,0.00,0.000,6,0.000,0.021,2342,2533,3046
$GC,3043,-0.54,-121.7,362.8,-9.6,181,3046,0.00,1.35,0.00,0.000,4,0.000,0.023,2342,1564,3043
$GC,3098,-0.54,-121.7,367.9,-8.5,182,3101,0.00,1.50,0.00,0.000,6,0.000,0.038,2335,2539,3043
$GC,3375,-0.54,-121.7,390.1,-7.9,189,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2539,3042
$GC,3616,-0.54,-121.7,410.7,-8.8,195,3619,0.00,1.40,0.00,0.000,4,0.000,0.022,2336,1562,3039
$GC,3650,-0.54,-121.7,413.8,-8.8,195,3653,0.00,1.50,0.00,0.000,6,0.000,0.039,2333,2532,3039
$GC,3904,-0.54,-121.7,437.0,-9.1,202,3908,0.00,1.40,-0.08,0.000,4,0.000,0.042,2333,1574,3061
$GC,3949,-0.54,-121.7,440.9,-8.5,203,3953,0.00,1.45,0.00,0.000,6,0.000,0.040,2333,2510,3061
$GC,4236,-0.54,-121.7,462.9,-7.6,210,4239,0.00,1.80,0.00,0.000,4,0.000,0.048,2324,3684,3059
$GC,4269,-0.54,-121.7,465.5,-7.7,210,4272,0.00,1.70,0.00,0.000,6,0.000,0.022,2324,2499,3059
$GC,4524,-0.54,-121.7,485.8,-8.1,217,4527,0.00,1.30,0.00,0.000,4,0.000,0.024,2324,1573,3057
$GC,4574,-0.54,-121.7,489.8,-8.4,218,4577,0.08,1.45,0.00,0.000,6,0.108,0.039,2348,2508,3057
$GC,4855,-0.54,-121.7,507.8,-6.4,225,4859,0.00,1.85,0.00,0.000,4,0.000,0.051,2346,3687,3055
$GC,4879,-0.54,-121.7,509.4,-6.5,225,4882,0.00,1.70,0.00,0.000,6,0.000,0.024,2347,2506,3055
$GC,5144,-0.54,-121.7,528.5,-7.3,232,5147,0.00,1.30,0.00,0.000,4,0.000,0.025,2346,1575,3054
$GC,5199,-0.54,-121.7,532.6,-7.4,233,5202,0.00,1.42,0.00,0.000,6,0.000,0.042,2346,2489,3053
$GC,5475,-0.54,-121.7,551.6,-6.8,240,5478,0.00,1.85,0.00,0.000,4,0.000,0.052,2346,3682,3050
$GC,5498,-0.54,-121.7,553.1,-6.6,240,5501,0.00,1.73,0.00,0.000,6,0.000,0.023,2346,2487,3050
$GC,5763,-0.54,-121.7,570.1,-6.5,247,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2479,3048
$GC,6005,-0.54,-121.7,586.5,-6.8,253,6008,0.00,1.27,0.00,0.000,4,0.000,0.025,2346,1577,3047
$GC,6045,-0.54,-121.7,589.2,-6.4,253,6050,0.00,1.45,0.00,0.000,6,0.000,0.044,2346,2500,3047
$STATE,6208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6208,begin apogee
$GC,6219,-0.18,0.0,600.4,6.6,258,6334,0.38,0.00,110.65,1.055,6,0.086,0.000,2474,2343,2549
$STATE,6334,end apogee,CONTROL_FINISHED_OK
$STATE,6334,begin climb
$GC,6339,0.54,121.7,604.9,0.0,261,6469,0.60,1.58,115.12,0.986,4,0.037,0.025,2721,1297,2054
$GC,6508,0.54,121.7,596.8,13.5,265,6511,0.00,1.70,0.00,0.000,6,0.000,0.041,2722,2369,2049
$GC,6794,0.54,121.7,557.1,13.9,272,6797,0.00,1.62,0.00,0.000,4,0.000,0.046,2716,3419,2044
$GC,6908,0.54,121.7,540.5,15.1,274,6911,0.00,1.55,0.00,0.000,6,0.000,0.024,2721,2380,2043
$GC,7171,0.54,121.7,507.9,12.1,281,7173,0.00,1.55,0.00,0.000,4,0.000,0.026,2729,1308,2041
$GC,7193,0.54,121.7,505.0,11.5,281,7196,0.00,1.62,0.00,0.000,6,0.000,0.041,2729,2366,2040
$GC,7458,0.54,121.7,476.2,10.6,288,7461,0.00,1.62,0.00,0.000,4,0.000,0.048,2729,3423,2040
$GC,7599,0.54,121.7,460.6,11.4,291,7602,0.08,1.55,0.00,0.000,6,0.164,0.024,2706,2379,2039
$GC,7875,0.55,137.2,435.2,9.1,298,7898,0.00,1.67,14.50,0.782,4,0.000,0.048,2702,3415,1990
$GC,7977,0.55,137.2,424.2,11.2,300,7980,0.00,1.50,0.00,0.000,6,0.000,0.025,2708,2409,1989
$GC,8248,0.55,137.2,394.4,11.1,307,8251,0.00,1.60,0.00,0.000,4,0.000,0.027,2717,1313,1987
$GC,8297,0.55,137.2,388.9,11.6,308,8300,0.00,1.73,0.00,0.000,6,0.000,0.041,2715,2417,1987
$GC,8578,0.55,137.2,359.3,10.2,315,8581,0.00,1.58,0.00,0.000,4,0.000,0.048,2715,3423,1986
$GC,8709,0.56,153.8,347.1,9.1,318,8728,0.00,1.50,15.98,0.858,6,0.000,0.024,2721,2406,1922
$GC,8989,0.56,170.7,322.1,9.1,325,9016,0.00,1.67,17.60,0.761,4,0.000,0.048,2722,3425,1853
$GC,9148,0.56,170.7,304.9,11.2,328,9151,0.00,1.42,0.00,0.000,6,0.000,0.025,2728,2475,1851
$GC,9408,0.56,170.7,275.5,11.0,335,9410,0.00,1.52,0.00,0.000,4,0.000,0.048,2728,3420,1849
$GC,9457,0.56,170.7,270.4,10.6,336,9460,0.00,1.38,0.00,0.000,6,0.000,0.023,2734,2488,1850
$GC,9739,0.57,190.2,244.2,8.9,343,9762,0.00,1.75,18.02,0.787,4,0.000,0.028,2739,1322,1773
$GC,9841,0.58,220.6,235.6,8.3,345,9872,0.00,1.77,27.45,0.785,6,0.000,0.041,2739,2468,1650
$GC,10156,0.58,220.6,203.6,10.5,353,10159,0.00,1.67,0.00,0.000,4,0.000,0.025,2747,1329,1645
$GC,10336,0.58,220.6,183.4,10.7,366,10345,0.08,1.90,0.00,0.000,6,0.129,0.042,2722,2534,1643
$GC,10600,0.59,247.2,159.2,8.5,391,10626,0.00,1.42,22.45,0.708,4,0.000,0.045,2722,3425,1542
$GC,10693,0.60,260.3,150.4,9.3,399,10710,0.00,1.30,13.10,0.662,6,0.000,0.023,2726,2544,1487
$GC,10976,0.60,267.5,126.0,9.6,425,10989,0.00,1.83,6.78,0.565,4,0.000,0.027,2725,1321,1459
$GC,11027,0.61,291.9,120.5,8.6,429,11053,0.00,1.90,22.20,0.661,6,0.000,0.039,2726,2532,1359
$GC,11307,0.62,305.0,94.0,9.3,455,11323,0.00,1.40,12.23,0.603,4,0.000,0.044,2726,3427,1305
$GC,11358,0.62,308.0,89.2,9.8,459,11370,0.00,1.30,3.97,0.417,6,0.000,0.021,2733,2535,1294
$GC,11626,0.64,351.3,65.6,7.6,484,11668,0.00,1.80,36.17,0.621,4,0.000,0.025,2736,1311,1118
$GC,11694,0.66,410.8,60.0,6.7,490,11749,0.00,1.95,49.28,0.612,6,0.000,0.037,2736,2573,874
$GC,11999,0.66,416.2,34.5,9.7,518,12013,0.00,1.88,5.43,0.449,4,0.000,0.024,2735,1323,851
$GC,12249,0.67,433.9,10.1,9.0,561,12268,0.00,1.83,15.77,0.542,6,0.000,0.036,2731,2504,781
$STATE,12329,end climb,SURFACE_DEPTH_REACHED
$STATE,12329,begin surface coast
$FINISH,0.7,1.023187
$STATE,12365,end surface coast,CONTROL_FINISHED_OK
$STATE,12365,begin surface
$SM_CCo,12448,0.00,0.000,0,0,777,434.91
$SM_GC,0.92,6.82,0.00,0.00,0.023,0.000,0.000,34,2656,777,-7.71,0.74,434.91
$IRIDIUM_FIX,2234.68,-15801.07,090102,000040
$TT8_MAMPS,0.047554
$HUMID,2194
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.40
$XPDR_PINGS,15
$24V_AH,23.9,70.533
$10V_AH,10.5,68.788
$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,17.050,101.850,506.700,0.000,0.000,55.932,68.330,297.170,3.750,0.000,0.000,38.434,0.000,8736.977,492.312,2893.019,987.950,33.351,1426.447,0.000,2563.814,0.000,0.543,0.000
$DEVICE_MAMPS,199.420,60.593,1055.392,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,391.594,1349.046,1385.572,206.934,1088.753,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47850,581
$CAP_FILE_SIZE,117042,0
$CFSIZE,260165632,230375424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,151012,041036,2243.166,-15804.071,38,0.9,38,10.0