version: 66.04
glider: 512
mission: 3
dive: 553
start: 10 17 112 1 9 50
data:
$ID,512
$MISSION,3
$DIVE,553
$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,-64912.641
$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,2610
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,37
$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
$GPS1,004536,2251.524,-15809.491,45,1.2,45,10.1
$_CALLS,5
$_XMS_NAKs,28
$_XMS_TOUTs,1
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-78.5
$GPS2,010907,2251.502,-15809.837,12,1.5,12,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HNW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.184,0.152
$KALMAN_X,-87054.0,-265.9,-76.6,44326.8,-1603.3
$KALMAN_Y,55990.9,-49.1,-479.6,-66367.4,-225.8
$MHEAD_RNG_PITCHd_Wd,40.3,25631,-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,-121.6,0.0,0.0,0,91,0.00,0.00,-74.03,0.000,2,0.000,0.000,11,2632,2742
$GC,97,-0.54,-121.7,2.3,-3.2,9,115,8.98,1.62,-6.35,0.000,4,0.199,0.050,2334,3686,3048
$GC,175,-0.54,-121.7,22.6,-15.5,22,184,0.00,1.58,0.00,0.000,6,0.000,0.020,2334,2614,3048
$GC,442,-0.54,-121.7,71.3,-16.6,51,445,0.00,1.50,0.00,0.000,4,0.000,0.023,2334,1552,3048
$GC,573,-0.54,-121.7,89.0,-13.3,63,576,0.00,1.52,0.00,0.000,6,0.000,0.038,2333,2541,3048
$GC,836,-0.54,-121.7,124.2,-13.5,88,840,0.00,1.70,0.00,0.000,4,0.000,0.042,2324,3657,3049
$GC,883,-0.54,-121.7,130.3,-12.8,92,885,0.00,1.58,0.00,0.000,6,0.000,0.019,2324,2563,3049
$GC,1145,-0.54,-121.7,167.8,-15.0,117,1148,0.00,1.40,0.00,0.000,4,0.000,0.022,2324,1555,3049
$GC,1245,-0.54,-121.7,180.6,-12.2,126,1248,0.00,1.50,0.00,0.000,6,0.000,0.035,2319,2540,3048
$GC,1513,-0.54,-121.7,215.6,-12.9,143,1516,0.12,1.70,0.00,0.000,4,0.134,0.041,2347,3674,3049
$GC,1553,-0.54,-121.7,219.8,-9.7,143,1558,0.00,1.60,0.00,0.000,6,0.000,0.019,2347,2533,3049
$GC,1802,-0.54,-121.7,246.0,-10.9,150,1804,0.00,1.35,0.00,0.000,4,0.000,0.021,2347,1557,3049
$GC,1862,-0.54,-121.7,252.8,-10.8,151,1865,0.00,1.55,0.00,0.000,6,0.000,0.039,2346,2564,3049
$GC,2133,-0.54,-121.7,279.5,-9.5,158,2135,0.00,1.67,0.00,0.000,4,0.000,0.046,2345,3674,3048
$GC,2172,-0.54,-121.7,283.0,-8.4,158,2177,0.00,1.58,0.00,0.000,6,0.000,0.020,2345,2570,3048
$GC,2421,-0.54,-121.7,305.1,-8.9,165,2424,0.00,1.40,0.00,0.000,4,0.000,0.021,2345,1564,3048
$GC,2498,-0.54,-121.7,311.6,-8.7,166,2500,0.00,1.52,0.00,0.000,6,0.000,0.038,2338,2557,3048
$GC,2753,-0.54,-121.7,334.4,-9.0,173,2756,0.00,1.67,0.00,0.000,4,0.000,0.045,2329,3670,3046
$GC,2808,-0.54,-121.7,339.8,-10.1,174,2810,0.00,1.60,0.00,0.000,6,0.000,0.020,2329,2535,3046
$GC,3086,-0.54,-121.7,366.7,-9.8,181,3089,0.00,1.35,0.00,0.000,4,0.000,0.023,2329,1565,3044
$GC,3168,-0.54,-121.7,374.4,-9.0,182,3173,0.00,1.50,0.00,0.000,6,0.000,0.038,2323,2540,3043
$GC,3417,-0.54,-121.7,397.1,-9.0,189,3421,0.00,1.73,0.00,0.000,4,0.000,0.047,2314,3662,3041
$GC,3451,-0.54,-121.7,400.0,-8.9,189,3454,0.12,1.65,0.00,0.000,6,0.117,0.021,2352,2497,3041
$GC,3708,-0.54,-121.7,416.8,-6.5,196,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2489,3039
$GC,3948,-0.54,-121.7,432.9,-6.7,202,3949,0.00,0.00,-0.08,0.000,6,0.000,0.000,2352,2489,3060
$GC,4190,-0.54,-121.7,449.9,-7.1,208,4192,0.00,1.83,0.00,0.000,4,0.000,0.048,2346,3663,3059
$GC,4218,-0.54,-121.7,451.9,-7.0,208,4221,0.00,1.60,0.00,0.000,6,0.000,0.023,2346,2534,3059
$GC,4478,-0.54,-121.7,472.2,-7.9,215,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2526,3057
$GC,4723,-0.54,-121.7,491.7,-8.1,221,4725,0.00,1.77,0.00,0.000,4,0.000,0.049,2337,3666,3056
$GC,4756,-0.54,-121.7,494.6,-8.6,221,4759,0.00,1.60,0.00,0.000,6,0.000,0.023,2337,2546,3055
$GC,5011,-0.54,-121.7,514.6,-7.7,228,5014,0.00,1.38,0.00,0.000,4,0.000,0.026,2337,1574,3054
$GC,5072,-0.54,-121.7,519.1,-7.0,229,5075,0.00,1.50,0.00,0.000,6,0.000,0.043,2333,2534,3053
$GC,5345,-0.54,-121.7,537.6,-6.7,236,5348,0.00,1.75,0.00,0.000,4,0.000,0.051,2325,3669,3051
$GC,5373,-0.54,-121.7,539.6,-6.5,236,5376,0.00,1.67,0.00,0.000,6,0.000,0.025,2325,2530,3050
$GC,5633,-0.54,-121.7,558.5,-7.5,243,5636,0.00,1.35,0.00,0.000,4,0.000,0.026,2325,1574,3049
$GC,5694,-0.54,-121.7,563.4,-8.5,244,5697,0.08,1.45,0.00,0.000,6,0.110,0.044,2348,2500,3048
$GC,5967,-0.54,-121.7,583.0,-7.4,251,5969,0.00,1.83,0.00,0.000,4,0.000,0.053,2346,3673,3047
$GC,6032,-0.54,-121.7,588.4,-7.6,252,6035,0.00,1.65,0.00,0.000,6,0.000,0.025,2346,2527,3047
$STATE,6174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6174,begin apogee
$GC,6185,-0.18,0.0,600.4,8.3,256,6298,0.38,0.00,110.90,1.051,6,0.085,0.000,2474,2370,2550
$STATE,6298,end apogee,CONTROL_FINISHED_OK
$STATE,6298,begin climb
$GC,6303,0.54,121.7,607.5,0.0,259,6435,0.60,1.67,115.60,0.986,4,0.038,0.025,2725,1298,2053
$GC,6510,0.54,121.7,599.2,11.6,263,6515,0.00,1.67,0.00,0.000,6,0.000,0.041,2725,2363,2047
$GC,6759,0.54,121.7,568.5,12.6,270,6762,0.00,1.65,0.00,0.000,4,0.000,0.048,2725,3425,2043
$GC,6889,0.54,121.7,549.7,15.5,273,6891,0.00,1.55,0.00,0.000,6,0.000,0.025,2732,2389,2042
$GC,7176,0.54,121.7,512.8,12.5,280,7178,0.00,1.62,0.00,0.000,4,0.000,0.048,2729,3418,2041
$GC,7222,0.54,121.7,507.2,13.0,281,7225,0.08,1.55,0.00,0.000,6,0.174,0.025,2707,2379,2040
$GC,7509,0.55,125.5,477.5,9.8,288,7512,0.00,1.65,0.00,0.000,4,0.000,0.048,2702,3430,2039
$GC,7618,0.55,125.5,466.0,10.8,290,7620,0.00,1.48,0.00,0.000,6,0.000,0.025,2708,2429,2039
$GC,7883,0.55,133.5,440.2,9.6,297,7896,0.00,1.60,9.43,0.849,4,0.000,0.049,2702,3414,2004
$GC,8049,0.55,133.5,422.3,11.2,300,8051,0.00,1.40,0.00,0.000,6,0.000,0.025,2708,2471,2003
$GC,8303,0.55,139.5,396.8,9.7,307,8313,0.00,1.73,6.90,0.768,4,0.000,0.028,2716,1320,1981
$GC,8363,0.56,164.8,391.2,8.6,308,8392,0.00,1.77,23.67,0.901,6,0.000,0.042,2716,2473,1878
$GC,8673,0.56,164.8,359.0,10.4,316,8676,0.00,1.50,0.00,0.000,4,0.000,0.050,2716,3423,1873
$GC,8749,0.56,165.1,350.7,10.0,317,8752,0.00,1.38,0.00,0.000,6,0.000,0.025,2721,2494,1872
$GC,9004,0.56,172.4,325.9,9.6,324,9016,0.00,1.52,7.38,0.742,4,0.000,0.047,2717,3425,1847
$GC,9079,0.56,172.4,318.8,10.4,325,9082,0.00,1.30,0.00,0.000,6,0.000,0.025,2721,2543,1846
$GC,9333,0.57,185.9,295.1,9.2,332,9352,0.00,1.83,13.70,0.802,4,0.000,0.028,2730,1310,1791
$GC,9414,0.57,185.9,286.9,10.3,333,9419,0.00,1.88,0.00,0.000,6,0.000,0.044,2729,2512,1788
$GC,9664,0.57,185.9,258.9,11.4,340,9667,0.00,1.42,0.00,0.000,4,0.000,0.048,2729,3422,1787
$GC,9782,0.57,185.9,245.4,11.5,342,9785,0.00,1.33,0.00,0.000,6,0.000,0.025,2734,2520,1787
$GC,10037,0.58,199.5,221.0,9.2,349,10054,0.00,1.48,12.80,0.741,4,0.000,0.048,2731,3420,1735
$GC,10166,0.58,202.1,208.8,9.9,352,10169,0.00,1.30,0.00,0.000,6,0.000,0.025,2736,2542,1734
$GC,10427,0.58,207.4,185.2,9.7,368,10440,0.00,1.77,7.90,0.650,4,0.000,0.027,2739,1309,1705
$GC,10456,0.58,207.4,182.5,10.1,370,10459,0.00,1.95,0.00,0.000,6,0.000,0.041,2739,2567,1704
$GC,10719,0.58,207.4,154.6,10.7,395,10722,0.00,1.33,0.00,0.000,4,0.000,0.047,2739,3423,1704
$GC,10747,0.58,207.4,151.3,12.0,397,10755,0.08,1.30,0.00,0.000,6,0.145,0.024,2721,2528,1703
$GC,11010,0.60,255.4,130.1,7.3,422,11054,0.00,1.48,41.65,0.690,4,0.000,0.044,2721,3432,1507
$GC,11081,0.61,278.4,124.4,8.7,427,11107,0.00,1.25,20.70,0.653,6,0.000,0.024,2726,2588,1414
$GC,11362,0.62,302.2,99.6,8.7,453,11389,0.00,1.88,21.02,0.635,4,0.000,0.027,2726,1306,1315
$GC,11437,0.63,324.4,92.7,8.8,459,11463,0.00,1.98,18.92,0.621,6,0.000,0.039,2726,2578,1229
$GC,11719,0.65,390.9,71.8,6.3,485,11777,0.00,1.30,55.35,0.624,4,0.000,0.044,2726,3419,956
$GC,11810,0.68,456.3,65.7,6.4,492,11868,0.00,1.55,53.80,0.608,6,0.000,0.022,2726,2378,689
$GC,12129,0.68,456.3,32.8,11.3,521,12132,0.00,1.55,0.00,0.000,4,0.000,0.025,2725,1326,685
$GC,12369,0.68,456.3,5.2,13.4,565,12378,0.00,1.65,0.00,0.000,6,0.000,0.034,2725,2403,684
$STATE,12383,end climb,SURFACE_DEPTH_REACHED
$STATE,12383,begin surface coast
$FINISH,0.1,1.023238
$STATE,12403,end surface coast,CONTROL_FINISHED_OK
$STATE,12404,begin surface
$SM_CCo,12487,0.00,0.000,0,0,683,457.97
$SM_GC,0.85,6.88,0.00,0.00,0.030,0.000,0.000,35,2634,683,-7.71,0.68,457.97
$IRIDIUM_FIX,2244.02,-15811.05,110102,010139
$TT8_MAMPS,0.047554
$HUMID,2228
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.30
$XPDR_PINGS,9
$24V_AH,23.9,72.448
$10V_AH,10.5,70.797
$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,17.300,107.400,519.725,0.000,0.000,136.698,297.956,536.285,2.250,0.000,0.000,12.671,0.000,8955.244,495.518,2865.160,1559.640,33.348,1434.910,0.000,2557.732,0.000,0.544,0.000
$DEVICE_MAMPS,198.653,52.923,1050.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,384.729,1314.496,1358.435,197.340,1036.461,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47862,571
$CAP_FILE_SIZE,125062,0
$CFSIZE,260165632,229572608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,171012,043906,2252.376,-15809.979,42,1.1,42,10.1