version: 66.04
glider: 512
mission: 3
dive: 545
start: 10 15 112 18 47 44
data:
$ID,512
$MISSION,3
$DIVE,545
$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,-64749.695
$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,82
$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
$GPS1,183906,2242.631,-15806.585,28,1.7,28,10.0
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,3
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-79.9
$GPS2,184706,2242.636,-15806.660,11,1.6,16,10.0
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HNW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.015,0.238
$KALMAN_X,-72318.3,-119.6,-432.8,35217.5,110.1
$KALMAN_Y,59166.3,-20.5,117.6,-86580.8,410.9
$MHEAD_RNG_PITCHd_Wd,353.7,40563,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.54,-121.4,0.0,0.0,0,87,0.00,0.00,-65.80,0.000,2,0.000,0.000,12,2595,2596
$GC,92,-0.54,-121.7,2.1,-2.6,8,118,8.95,1.70,-9.80,0.000,4,0.200,0.051,2330,3697,3046
$GC,203,-0.54,-121.7,26.7,-15.3,27,212,0.00,1.55,0.00,0.000,6,0.000,0.021,2330,2642,3047
$GC,465,-0.54,-121.7,70.2,-15.8,53,468,0.00,1.52,0.00,0.000,4,0.000,0.024,2330,1569,3047
$GC,618,-0.54,-121.7,91.7,-13.0,67,621,0.00,1.60,0.00,0.000,6,0.000,0.035,2323,2635,3047
$GC,881,-0.54,-121.7,128.5,-13.1,92,884,0.00,1.52,0.00,0.000,4,0.000,0.022,2322,1575,3048
$GC,918,-0.54,-121.7,133.2,-13.1,95,921,0.12,1.55,0.00,0.000,6,0.131,0.036,2350,2590,3048
$GC,1185,-0.54,-121.7,163.1,-11.7,120,1188,0.00,1.48,0.00,0.000,4,0.000,0.023,2350,1566,3049
$GC,1221,-0.54,-121.7,167.7,-11.1,123,1224,0.00,1.52,0.00,0.000,6,0.000,0.037,2346,2556,3049
$GC,1485,-0.54,-121.7,197.3,-10.1,148,1488,0.00,1.73,0.00,0.000,4,0.000,0.048,2346,3694,3049
$GC,1529,-0.54,-121.7,201.8,-9.2,152,1532,0.00,1.70,0.00,0.000,6,0.000,0.020,2346,2521,3049
$GC,1816,-0.54,-121.7,228.3,-9.4,159,1819,0.00,1.33,0.00,0.000,4,0.000,0.022,2346,1565,3049
$GC,1877,-0.54,-121.7,234.2,-9.1,160,1879,0.00,1.48,0.00,0.000,6,0.000,0.038,2346,2524,3049
$GC,2147,-0.54,-121.7,259.5,-9.6,167,2150,0.00,1.77,0.00,0.000,4,0.000,0.046,2343,3701,3048
$GC,2208,-0.54,-121.7,265.4,-9.7,168,2211,0.00,1.67,0.00,0.000,6,0.000,0.020,2344,2519,3048
$GC,2478,-0.54,-121.7,291.2,-9.3,175,2481,0.00,1.33,0.00,0.000,4,0.000,0.023,2344,1566,3047
$GC,2517,-0.54,-121.7,294.8,-8.4,175,2525,0.00,1.48,0.00,0.000,6,0.000,0.037,2337,2530,3047
$GC,2767,-0.54,-121.7,315.8,-8.3,182,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2530,3046
$GC,3009,-0.54,-121.7,335.0,-8.1,188,3011,0.00,1.38,0.00,0.000,4,0.000,0.022,2337,1571,3046
$GC,3091,-0.54,-121.7,341.8,-8.1,189,3096,0.00,1.45,0.00,0.000,6,0.000,0.039,2333,2515,3045
$GC,3342,-0.54,-121.7,363.8,-8.9,196,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2515,3044
$GC,3582,-0.54,-121.7,385.0,-8.6,202,3585,0.00,1.35,0.00,0.000,4,0.000,0.023,2333,1574,3042
$GC,3637,-0.54,-121.7,389.4,-8.0,203,3640,0.00,1.42,0.00,0.000,6,0.000,0.039,2333,2496,3042
$GC,3913,-0.54,-121.7,410.3,-7.4,210,3916,0.00,1.33,0.00,0.000,4,0.000,0.023,2333,1570,3039
$GC,3952,-0.54,-121.7,413.3,-7.3,210,3960,0.00,1.38,0.00,0.000,6,0.000,0.040,2333,2463,3039
$GC,4202,-0.54,-121.7,433.4,-8.3,217,4205,0.00,1.92,-0.08,0.000,4,0.000,0.061,2324,3694,3061
$GC,4230,-0.54,-121.7,436.0,-8.8,217,4233,0.00,1.80,0.00,0.000,6,0.000,0.023,2323,2451,3061
$GC,4490,-0.54,-121.7,459.9,-9.3,224,4493,0.00,1.23,0.00,0.000,4,0.000,0.025,2324,1574,3060
$GC,4562,-0.54,-121.7,466.3,-8.3,225,4565,0.08,1.33,0.00,0.000,6,0.109,0.040,2348,2430,3059
$GC,4822,-0.54,-121.7,484.6,-7.1,232,4825,0.00,1.98,0.00,0.000,4,0.000,0.051,2345,3699,3058
$GC,4882,-0.54,-121.7,489.0,-7.5,233,4885,0.00,1.83,0.00,0.000,6,0.000,0.024,2346,2437,3057
$GC,5154,-0.54,-121.7,509.2,-7.4,240,5157,0.00,1.20,0.00,0.000,4,0.000,0.026,2345,1575,3056
$GC,5192,-0.54,-121.7,512.1,-6.8,240,5200,0.00,1.38,0.00,0.000,6,0.000,0.043,2345,2456,3056
$GC,5442,-0.54,-121.7,529.4,-6.9,247,5445,0.00,1.95,0.00,0.000,4,0.000,0.051,2336,3692,3054
$GC,5486,-0.54,-121.7,532.5,-6.8,248,5490,0.00,1.85,0.00,0.000,6,0.000,0.025,2336,2450,3054
$GC,5773,-0.54,-121.7,553.9,-7.5,255,5776,0.00,1.23,0.00,0.000,4,0.000,0.026,2336,1576,3052
$GC,5823,-0.54,-121.7,557.5,-6.3,256,5826,0.00,1.38,0.00,0.000,6,0.000,0.042,2333,2457,3052
$GC,6104,-0.54,-121.7,577.0,-6.9,263,6107,0.00,1.92,0.00,0.000,4,0.000,0.051,2324,3695,3050
$GC,6138,-0.54,-121.7,579.7,-7.8,263,6141,0.00,1.83,0.00,0.000,6,0.000,0.025,2324,2449,3050
$GC,6393,-0.54,-121.7,599.3,-7.8,270,6396,0.00,1.23,0.00,0.000,4,0.000,0.026,2324,1578,3049
$STATE,6400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6400,begin apogee
$GC,6412,-0.18,0.0,600.3,7.8,270,6525,0.43,0.00,111.25,1.055,6,0.098,0.000,2466,2368,2550
$STATE,6525,end apogee,CONTROL_FINISHED_OK
$STATE,6525,begin climb
$GC,6531,0.54,121.7,604.0,0.0,273,6663,0.62,1.77,115.28,0.992,4,0.035,0.047,2716,3425,2053
$GC,6722,0.54,121.7,591.6,15.1,277,6726,0.00,1.62,0.00,0.000,6,0.000,0.024,2722,2365,2049
$GC,6988,0.54,121.7,557.3,12.7,284,6991,0.00,1.70,0.00,0.000,4,0.000,0.048,2716,3410,2044
$GC,7096,0.54,121.7,542.0,13.9,286,7099,0.00,1.55,0.00,0.000,6,0.000,0.025,2722,2375,2043
$GC,7361,0.54,121.7,509.5,11.8,293,7364,0.00,1.65,0.00,0.000,4,0.000,0.049,2722,3418,2042
$GC,7502,0.54,121.7,491.3,13.2,296,7505,0.00,1.48,0.00,0.000,6,0.000,0.026,2730,2424,2041
$GC,7778,0.54,121.7,460.7,10.9,303,7781,0.00,1.60,0.00,0.000,4,0.000,0.048,2729,3415,2040
$GC,7844,0.54,121.7,453.1,12.2,304,7847,0.10,1.45,0.00,0.000,6,0.176,0.027,2706,2441,2040
$GC,8112,0.55,123.4,426.7,9.9,311,8115,0.00,1.55,0.00,0.000,4,0.000,0.048,2702,3406,2039
$GC,8231,0.55,123.4,412.2,12.6,313,8234,0.00,1.40,0.00,0.000,6,0.000,0.026,2708,2463,2039
$GC,8486,0.55,123.4,383.3,11.1,320,8489,0.00,1.67,0.00,0.000,4,0.000,0.029,2717,1291,2038
$GC,8533,0.55,129.7,379.0,9.6,321,8542,0.00,1.83,5.85,0.726,6,0.000,0.042,2716,2471,2021
$GC,8813,0.56,150.8,353.5,8.8,328,8837,0.00,1.48,20.52,0.876,4,0.000,0.049,2716,3419,1934
$GC,8905,0.56,150.8,344.2,11.0,330,8908,0.00,1.45,0.00,0.000,6,0.000,0.026,2721,2455,1933
$GC,9186,0.56,153.3,315.7,9.9,337,9190,0.00,1.67,0.00,0.000,4,0.000,0.029,2729,1318,1930
$GC,9220,0.56,166.1,312.5,9.3,337,9238,0.00,1.77,14.48,0.825,6,0.000,0.044,2729,2461,1871
$GC,9516,0.56,166.1,282.2,10.1,345,9520,0.00,1.50,0.00,0.000,4,0.000,0.048,2729,3413,1868
$GC,9657,0.56,166.1,267.0,12.0,348,9660,0.00,1.40,0.00,0.000,6,0.000,0.027,2735,2476,1868
$GC,9933,0.56,166.1,237.8,10.4,355,9936,0.00,1.52,0.00,0.000,4,0.000,0.049,2735,3422,1867
$GC,10009,0.56,171.7,230.0,9.7,356,10020,0.10,1.38,5.65,0.635,6,0.173,0.027,2710,2498,1849
$GC,10264,0.59,239.7,213.3,6.2,363,10324,0.00,0.00,58.58,0.788,6,0.000,0.000,2710,2498,1572
$GC,10554,0.60,271.0,192.7,8.3,376,10584,0.00,1.48,26.42,0.745,4,0.000,0.047,2710,3420,1446
$GC,10632,0.60,271.0,185.3,10.7,382,10635,0.00,1.38,0.00,0.000,6,0.000,0.025,2714,2513,1445
$GC,10895,0.61,280.3,160.4,9.5,407,10909,0.00,1.50,9.45,0.645,4,0.000,0.047,2714,3422,1407
$GC,10945,0.61,280.3,155.4,10.6,411,10948,0.00,1.33,0.00,0.000,6,0.000,0.025,2720,2533,1406
$GC,11208,0.61,280.3,128.5,10.2,436,11216,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2526,1405
$GC,11467,0.62,312.8,104.8,8.2,461,11498,0.00,1.48,28.23,0.662,4,0.000,0.047,2721,3426,1274
$GC,11555,0.63,323.8,97.0,9.4,468,11570,0.00,1.33,10.82,0.597,6,0.000,0.024,2724,2533,1229
$GC,11824,0.64,362.4,77.1,7.9,493,11865,0.00,1.42,32.42,0.630,4,0.000,0.044,2723,3416,1072
$GC,11883,0.66,401.2,71.9,7.8,497,11920,0.00,1.30,33.03,0.617,6,0.000,0.022,2723,2535,914
$GC,12174,0.67,424.7,49.0,8.7,524,12201,0.00,1.42,19.67,0.586,4,0.000,0.045,2723,3419,820
$GC,12440,0.67,424.7,21.9,11.1,556,12449,0.00,1.40,0.00,0.000,6,0.000,0.021,2724,2457,819
$STATE,12625,end climb,SURFACE_DEPTH_REACHED
$STATE,12625,begin surface coast
$FINISH,-0.0,1.006025
$STATE,12651,end surface coast,CONTROL_FINISHED_OK
$STATE,12651,begin surface
$SM_CCo,12734,0.00,0.000,0,0,816,425.10
$SM_GC,0.97,6.80,0.00,0.00,0.021,0.000,0.000,35,2648,816,-7.70,0.51,425.10
$IRIDIUM_FIX,2232.34,-15808.45,090102,151508
$TT8_MAMPS,0.046787
$HUMID,2220
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.10
$XPDR_PINGS,13
$24V_AH,23.8,71.251
$10V_AH,10.5,69.555
$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,17.200,104.275,491.650,0.000,0.000,22.625,34.428,245.643,3.250,0.000,0.000,16.346,0.000,8860.767,475.679,2990.056,859.749,33.353,1436.351,0.000,2668.061,0.000,0.544,0.000
$DEVICE_MAMPS,200.187,61.360,1055.392,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,402.262,1390.251,1435.001,211.118,1102.411,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50995,596
$CAP_FILE_SIZE,118055,0
$CFSIZE,260165632,230068224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,151012,222106,2243.811,-15807.166,41,1.3,41,10.0