version: 66.04
glider: 512
mission: 3
dive: 548
start: 10 16 112 6 4 26
data:
$ID,512
$MISSION,3
$DIVE,548
$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,-64807.082
$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,61
$R_STBD_OVSHOOT,61
$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
$GPS1,054530,2246.525,-15808.334,35,1.6,46,10.0
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-76.3
$GPS2,060348,2246.595,-15808.414,11,1.2,22,10.0
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HNW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.087,0.223
$KALMAN_X,-77104.5,-636.4,-331.8,37430.2,-467.6
$KALMAN_Y,58748.2,-440.6,201.3,-78501.4,192.2
$MHEAD_RNG_PITCHd_Wd,11.3,33725,-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,-82.25,0.000,2,0.000,0.000,12,2643,2788
$GC,105,-0.54,-121.7,2.8,-4.7,10,123,9.00,1.60,-5.15,0.000,4,0.202,0.050,2333,3683,3050
$GC,138,-0.54,-121.7,16.0,-35.4,14,146,0.00,1.55,0.00,0.000,6,0.000,0.020,2338,2619,3049
$GC,399,-0.54,-121.7,66.7,-17.2,44,401,0.00,1.48,0.00,0.000,4,0.000,0.024,2339,1579,3050
$GC,456,-0.54,-121.7,75.1,-11.9,49,459,0.00,1.58,0.00,0.000,6,0.000,0.038,2333,2602,3051
$GC,719,-0.54,-121.7,109.8,-13.5,74,722,0.00,1.62,0.00,0.000,4,0.000,0.042,2325,3692,3050
$GC,747,-0.54,-121.7,113.7,-13.4,76,755,0.00,1.52,0.00,0.000,6,0.000,0.020,2325,2633,3050
$GC,1006,-0.54,-121.7,144.5,-11.8,101,1009,0.00,1.48,0.00,0.000,4,0.000,0.021,2325,1573,3050
$GC,1116,-0.54,-121.7,157.8,-11.8,111,1119,0.12,1.58,0.00,0.000,6,0.133,0.035,2353,2610,3051
$GC,1385,-0.54,-121.7,187.8,-11.7,136,1388,0.00,1.48,0.00,0.000,4,0.000,0.021,2353,1575,3050
$GC,1431,-0.54,-121.7,193.7,-10.3,140,1434,0.00,1.55,0.00,0.000,6,0.000,0.035,2347,2586,3050
$GC,1699,-0.54,-121.7,221.2,-9.8,151,1702,0.00,1.65,0.00,0.000,4,0.000,0.043,2339,3691,3050
$GC,1733,-0.54,-121.7,224.8,-9.7,151,1736,0.00,1.60,0.00,0.000,6,0.000,0.020,2339,2554,3049
$GC,1987,-0.54,-121.7,249.9,-9.7,158,1990,0.00,1.38,0.00,0.000,4,0.000,0.022,2339,1567,3050
$GC,2048,-0.54,-121.7,255.8,-9.3,159,2051,0.00,1.55,0.00,0.000,6,0.000,0.036,2333,2579,3049
$GC,2321,-0.54,-121.7,284.1,-10.7,166,2323,0.00,1.67,0.00,0.000,4,0.000,0.043,2324,3698,3048
$GC,2376,-0.54,-121.7,290.0,-10.1,167,2379,0.00,1.58,0.00,0.000,6,0.000,0.020,2324,2596,3048
$GC,2652,-0.54,-121.7,318.3,-10.1,174,2655,0.00,1.42,0.00,0.000,4,0.000,0.022,2324,1574,3047
$GC,2741,-0.54,-121.7,326.9,-8.8,176,2745,0.08,1.52,0.00,0.000,6,0.110,0.037,2347,2565,3047
$GC,3028,-0.54,-121.7,350.8,-8.2,183,3031,0.00,1.40,0.00,0.000,4,0.000,0.021,2348,1584,3044
$GC,3099,-0.54,-121.7,356.5,-7.2,184,3102,0.00,1.45,0.00,0.000,6,0.000,0.038,2346,2526,3043
$GC,3361,-0.54,-121.7,375.8,-7.4,191,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2526,3042
$GC,3602,-0.54,-121.7,395.8,-8.3,197,3605,0.00,1.35,0.00,0.000,4,0.000,0.023,2346,1580,3040
$GC,3646,-0.54,-121.7,399.6,-8.3,198,3649,0.00,1.45,0.00,0.000,6,0.000,0.041,2346,2514,3039
$GC,3933,-0.54,-121.7,420.7,-7.1,205,3936,0.00,1.83,-0.08,0.000,4,0.000,0.064,2346,3690,3060
$GC,4020,-0.54,-121.7,426.6,-6.6,207,4024,0.00,1.67,0.00,0.000,6,0.000,0.023,2346,2539,3060
$GC,4307,-0.54,-121.7,446.2,-6.9,214,4310,0.00,1.35,0.00,0.000,4,0.000,0.024,2346,1576,3058
$GC,4346,-0.54,-121.7,449.0,-6.8,214,4351,0.00,1.48,0.00,0.000,6,0.000,0.041,2346,2525,3058
$GC,4598,-0.54,-121.7,466.3,-7.0,221,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2525,3056
$GC,4837,-0.54,-121.7,481.7,-6.2,227,4840,0.00,1.38,0.00,0.000,4,0.000,0.024,2346,1575,3055
$GC,4871,-0.54,-121.7,483.6,-6.2,227,4873,0.00,1.45,0.00,0.000,6,0.000,0.042,2346,2506,3055
$GC,5125,-0.54,-121.7,498.3,-5.8,234,5128,0.00,1.83,0.00,0.000,4,0.000,0.051,2344,3690,3052
$GC,5181,-0.54,-121.7,501.7,-6.1,235,5184,0.00,1.67,0.00,0.000,6,0.000,0.025,2344,2528,3052
$GC,5457,-0.54,-121.7,520.0,-6.8,242,5459,0.00,1.33,0.00,0.000,4,0.000,0.026,2344,1591,3050
$GC,5512,-0.54,-121.7,524.0,-7.3,243,5514,0.00,1.45,0.00,0.000,6,0.000,0.042,2338,2520,3049
$GC,5788,-0.54,-121.7,546.1,-8.1,250,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2520,3048
$GC,6032,-0.54,-121.7,566.5,-8.5,256,6035,0.00,1.35,0.00,0.000,4,0.000,0.026,2337,1591,3047
$GC,6065,-0.54,-121.7,569.5,-8.5,256,6068,0.00,1.42,0.00,0.000,6,0.000,0.042,2333,2502,3047
$GC,6320,-0.54,-121.7,589.7,-7.9,263,6323,0.00,1.85,0.00,0.000,4,0.000,0.052,2324,3694,3045
$GC,6343,-0.54,-121.7,591.7,-8.5,263,6346,0.00,1.75,0.00,0.000,6,0.000,0.026,2325,2496,3045
$STATE,6444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6444,begin apogee
$GC,6454,-0.18,0.0,600.2,8.2,266,6567,0.45,0.00,110.60,1.052,6,0.096,0.000,2474,2350,2550
$STATE,6567,end apogee,CONTROL_FINISHED_OK
$STATE,6567,begin climb
$GC,6572,0.54,121.7,605.4,0.0,269,6710,0.60,1.80,116.93,0.973,4,0.037,0.046,2715,3420,2053
$GC,6840,0.54,121.7,585.5,14.6,275,6843,0.00,1.60,0.00,0.000,6,0.000,0.025,2722,2363,2048
$GC,7115,0.54,121.7,552.6,11.4,282,7118,0.00,1.67,0.00,0.000,4,0.000,0.047,2715,3420,2044
$GC,7240,0.54,121.7,537.2,13.2,284,7245,0.00,1.52,0.00,0.000,6,0.000,0.025,2722,2394,2043
$GC,7491,0.54,121.7,508.4,11.6,291,7495,0.00,1.65,0.00,0.000,4,0.000,0.048,2716,3419,2042
$GC,7562,0.54,121.7,499.3,12.2,292,7565,0.00,1.48,0.00,0.000,6,0.000,0.025,2722,2416,2042
$GC,7822,0.54,121.7,468.3,11.9,299,7825,0.00,1.60,0.00,0.000,4,0.000,0.049,2717,3410,2041
$GC,7904,0.54,121.7,457.9,12.9,300,7911,0.00,1.42,0.00,0.000,6,0.000,0.026,2722,2442,2040
$GC,8153,0.54,121.7,429.8,11.1,307,8156,0.00,1.62,0.00,0.000,4,0.000,0.028,2730,1311,2039
$GC,8165,0.54,121.7,428.6,10.9,307,8168,0.00,1.80,0.00,0.000,6,0.000,0.042,2729,2461,2039
$GC,8441,0.54,121.7,398.8,10.7,314,8444,0.00,1.50,0.00,0.000,4,0.000,0.048,2729,3421,2038
$GC,8587,0.54,121.7,382.0,11.3,317,8590,0.10,1.42,0.00,0.000,6,0.183,0.026,2708,2462,2038
$GC,8858,0.55,142.7,357.6,8.8,324,8886,0.00,1.55,19.35,0.805,4,0.000,0.049,2708,3415,1968
$GC,8948,0.55,142.7,348.4,10.6,326,8951,0.00,1.40,0.00,0.000,6,0.000,0.027,2715,2476,1967
$GC,9230,0.56,162.9,322.3,8.9,333,9253,0.00,1.73,18.95,0.848,4,0.000,0.028,2723,1324,1884
$GC,9316,0.57,182.3,314.7,8.9,335,9339,0.00,1.80,18.10,0.826,6,0.000,0.043,2723,2454,1806
$GC,9602,0.57,196.3,287.7,9.2,342,9620,0.00,1.58,13.27,0.788,4,0.000,0.051,2723,3423,1748
$GC,9694,0.57,196.3,278.4,11.1,344,9696,0.00,1.42,0.00,0.000,6,0.000,0.025,2730,2474,1747
$GC,9977,0.57,196.3,248.9,10.8,351,9980,0.00,1.52,0.00,0.000,4,0.000,0.049,2729,3419,1745
$GC,10053,0.57,196.3,239.5,13.1,352,10056,0.00,1.33,0.00,0.000,6,0.000,0.025,2734,2521,1745
$GC,10308,0.58,201.1,212.9,9.7,359,10314,0.00,0.00,4.82,0.572,6,0.000,0.000,2734,2515,1731
$GC,10554,0.58,223.4,191.5,8.8,371,10580,0.00,1.42,20.58,0.743,4,0.000,0.048,2729,3420,1639
$GC,10637,0.59,225.1,183.2,9.9,378,10640,0.00,1.30,0.00,0.000,6,0.000,0.025,2734,2546,1638
$GC,10902,0.59,225.1,157.2,10.0,403,10905,0.00,1.83,0.00,0.000,4,0.000,0.029,2739,1306,1636
$GC,10939,0.59,232.9,153.5,9.6,406,10952,0.00,1.95,9.32,0.645,6,0.000,0.043,2739,2557,1600
$GC,11207,0.59,237.4,127.0,9.7,431,11220,0.00,1.35,5.50,0.535,4,0.000,0.044,2739,3422,1582
$GC,11236,0.59,237.4,123.5,10.6,433,11239,0.00,1.30,0.00,0.000,6,0.000,0.024,2747,2535,1581
$GC,11499,0.59,246.4,97.4,9.5,458,11510,0.00,0.00,9.32,0.595,6,0.000,0.000,2747,2529,1545
$GC,11759,0.59,246.4,70.7,10.6,483,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2529,1543
$GC,12017,0.61,295.0,48.2,7.3,508,12062,0.00,1.42,41.08,0.613,4,0.000,0.044,2747,3414,1346
$GC,12138,0.62,301.1,37.8,9.7,518,12152,0.00,1.30,6.40,0.487,6,0.000,0.023,2752,2529,1323
$GC,12401,0.64,362.2,16.1,6.6,560,12462,0.00,1.83,50.20,0.584,4,0.000,0.025,2752,1316,1072
$GC,12488,0.65,390.5,9.3,8.4,571,12522,0.00,1.98,23.88,0.558,6,0.000,0.037,2752,2571,957
$STATE,12553,end climb,SURFACE_DEPTH_REACHED
$STATE,12553,begin surface coast
$FINISH,0.0,1.023291
$STATE,12584,end surface coast,CONTROL_FINISHED_OK
$STATE,12584,begin surface
$SM_CCo,12667,0.00,0.000,0,0,953,391.49
$SM_GC,0.95,6.97,0.00,0.00,0.025,0.000,0.000,38,2634,953,-7.70,0.11,391.49
$IRIDIUM_FIX,2239.35,-15807.58,100102,060622
$TT8_MAMPS,0.047554
$HUMID,2223
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.60
$XPDR_PINGS,19
$24V_AH,23.9,71.677
$10V_AH,10.5,70.022
$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,17.325,102.575,468.300,0.000,0.000,150.858,215.040,288.193,4.750,0.000,0.000,22.766,0.000,9114.324,473.811,2912.746,1237.633,33.347,1419.789,0.000,2607.505,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,83.603,1051.557,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,395.631,1360.503,1408.380,204.961,1096.125,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47645,587
$CAP_FILE_SIZE,118842,0
$CFSIZE,260165632,229888000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,161012,093636,2247.754,-15808.449,35,1.1,35,10.1