version: 66.04
glider: 512
mission: 3
dive: 557
start: 10 17 112 16 21 3
data:
$ID,512
$MISSION,3
$DIVE,557
$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,-64992.941
$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,2640
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,45
$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
$GPS1,160224,2255.188,-15809.643,42,0.9,42,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-80.3
$GPS2,162025,2255.288,-15809.755,13,1.9,13,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HNW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,0.142
$KALMAN_X,-94745.2,114.0,-280.0,51976.2,-1041.7
$KALMAN_Y,54347.7,129.4,-288.0,-58088.4,714.0
$MHEAD_RNG_PITCHd_Wd,43.5,19165,-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,-73.93,0.000,2,0.000,0.000,15,2667,2719
$GC,96,-0.54,-121.7,2.3,-3.2,9,122,9.05,1.58,-6.95,0.000,4,0.203,0.051,2335,3694,3047
$GC,158,-0.54,-121.7,18.7,-17.6,18,166,0.00,1.55,0.00,0.000,6,0.000,0.021,2338,2636,3048
$GC,427,-0.54,-121.7,62.8,-16.4,49,430,0.00,1.48,0.00,0.000,4,0.000,0.023,2338,1590,3048
$GC,551,-0.54,-121.7,82.6,-13.4,60,560,0.00,1.55,0.00,0.000,6,0.000,0.036,2333,2600,3048
$GC,810,-0.54,-121.7,118.5,-13.6,85,812,0.00,1.45,0.00,0.000,4,0.000,0.021,2333,1585,3048
$GC,857,-0.54,-121.7,124.8,-13.8,89,860,0.00,1.52,0.00,0.000,6,0.000,0.035,2325,2584,3048
$GC,1121,-0.54,-121.7,159.0,-12.8,114,1124,0.00,1.67,0.00,0.000,4,0.000,0.042,2318,3703,3048
$GC,1168,-0.54,-121.7,164.8,-12.0,118,1171,0.12,1.62,0.00,0.000,6,0.117,0.019,2354,2550,3048
$GC,1435,-0.54,-121.7,192.0,-10.7,143,1438,0.00,1.35,0.00,0.000,4,0.000,0.021,2355,1575,3048
$GC,1494,-0.54,-121.7,198.2,-10.3,148,1497,0.00,1.50,0.00,0.000,6,0.000,0.036,2350,2555,3049
$GC,1761,-0.54,-121.7,229.4,-12.1,156,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2555,3049
$GC,2001,-0.54,-121.7,259.8,-12.6,162,2003,0.00,1.38,0.00,0.000,4,0.000,0.021,2350,1582,3048
$GC,2077,-0.54,-121.7,268.7,-11.3,163,2080,0.00,1.48,0.00,0.000,6,0.000,0.037,2346,2546,3048
$GC,2332,-0.54,-121.7,291.0,-8.1,170,2335,0.00,1.75,0.00,0.000,4,0.000,0.046,2339,3709,3048
$GC,2360,-0.54,-121.7,293.2,-8.1,170,2363,0.00,1.67,0.00,0.000,6,0.000,0.020,2339,2526,3048
$GC,2620,-0.54,-121.7,312.5,-7.4,177,2623,0.00,1.30,0.00,0.000,4,0.000,0.023,2339,1584,3047
$GC,2665,-0.54,-121.7,316.1,-7.4,178,2668,0.00,1.48,0.00,0.000,6,0.000,0.037,2333,2544,3047
$GC,2952,-0.54,-121.7,343.1,-9.9,185,2954,0.00,1.75,0.00,0.000,4,0.000,0.045,2325,3705,3045
$GC,3007,-0.54,-121.7,348.8,-10.3,186,3010,0.00,1.65,0.00,0.000,6,0.000,0.020,2325,2538,3045
$GC,3283,-0.54,-121.7,378.8,-10.8,193,3286,0.00,1.33,0.00,0.000,4,0.000,0.022,2324,1585,3042
$GC,3365,-0.54,-121.7,386.3,-8.1,194,3370,0.08,1.45,0.00,0.000,6,0.107,0.038,2349,2527,3042
$GC,3616,-0.54,-121.7,403.3,-6.6,201,3619,0.00,1.80,0.00,0.000,4,0.000,0.049,2346,3706,3040
$GC,3672,-0.54,-121.7,407.3,-7.1,202,3675,0.00,1.62,0.00,0.000,6,0.000,0.021,2346,2552,3040
$GC,3948,-0.54,-121.7,428.5,-8.0,209,3951,0.00,1.35,0.00,0.000,4,0.000,0.024,2346,1586,3038
$GC,4057,-0.54,-121.7,437.3,-7.7,211,4060,0.00,1.45,0.00,0.000,6,0.000,0.041,2346,2522,3037
$GC,4322,-0.54,-121.7,457.5,-7.5,218,4326,0.00,1.85,-0.08,0.000,4,0.000,0.064,2346,3701,3060
$GC,4377,-0.54,-121.7,461.8,-7.6,219,4380,0.00,1.70,0.00,0.000,6,0.000,0.022,2346,2513,3060
$GC,4657,-0.54,-121.7,481.4,-7.1,226,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2504,3058
$GC,4896,-0.54,-121.7,498.5,-7.0,232,4899,0.00,1.90,0.00,0.000,4,0.000,0.051,2345,3693,3056
$GC,4940,-0.54,-121.7,501.6,-6.9,233,4943,0.00,1.70,0.00,0.000,6,0.000,0.023,2346,2538,3056
$GC,5227,-0.54,-121.7,522.0,-7.1,240,5230,0.00,1.35,0.00,0.000,4,0.000,0.025,2345,1578,3054
$GC,5282,-0.54,-121.7,526.0,-7.4,241,5285,0.00,1.50,0.00,0.000,6,0.000,0.044,2346,2536,3054
$GC,5558,-0.54,-121.7,546.0,-7.3,248,5561,0.00,1.80,0.00,0.000,4,0.000,0.053,2346,3696,3051
$GC,5586,-0.54,-121.7,548.3,-7.3,248,5590,0.00,1.70,0.00,0.000,6,0.000,0.024,2346,2533,3051
$GC,5846,-0.54,-121.7,568.4,-7.9,255,5849,0.00,1.88,0.00,0.000,4,0.000,0.053,2346,3696,3050
$GC,5907,-0.54,-121.7,573.4,-8.5,256,5910,0.00,1.60,0.00,0.000,6,0.000,0.025,2346,2578,3049
$GC,6178,-0.54,-121.7,596.3,-8.4,263,6181,0.00,1.40,0.00,0.000,4,0.000,0.025,2346,1591,3048
$STATE,6217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6217,begin apogee
$GC,6229,-0.18,0.0,600.3,9.1,264,6342,0.38,0.00,110.93,1.050,6,0.094,0.000,2472,2361,2550
$STATE,6342,end apogee,CONTROL_FINISHED_OK
$STATE,6342,begin climb
$GC,6347,0.54,121.7,607.8,0.0,267,6485,0.62,1.75,117.32,0.973,4,0.038,0.047,2713,3418,2053
$GC,6623,0.54,121.7,590.3,12.8,273,6626,0.00,1.60,0.00,0.000,6,0.000,0.025,2721,2340,2048
$GC,6878,0.54,121.7,560.5,11.7,280,6881,0.00,1.73,0.00,0.000,4,0.000,0.048,2715,3430,2044
$GC,6959,0.54,121.7,550.3,12.3,281,6965,0.00,1.52,0.00,0.000,6,0.000,0.024,2721,2401,2043
$GC,7208,0.54,121.7,523.3,10.6,288,7211,0.00,1.62,0.00,0.000,4,0.000,0.047,2722,3431,2042
$GC,7242,0.54,121.7,519.4,11.7,288,7245,0.00,1.45,0.00,0.000,6,0.000,0.025,2729,2450,2041
$GC,7497,0.54,123.1,493.8,9.9,295,7500,0.00,1.55,0.00,0.000,4,0.000,0.048,2729,3418,2041
$GC,7589,0.54,123.1,483.6,11.1,297,7592,0.08,1.38,0.00,0.000,6,0.179,0.025,2712,2490,2040
$GC,7871,0.55,135.6,457.0,9.3,304,7894,0.00,1.52,13.32,0.767,4,0.000,0.047,2712,3423,1997
$GC,7930,0.55,135.6,450.9,10.3,305,7933,0.00,1.33,0.00,0.000,6,0.000,0.025,2717,2522,1996
$GC,8201,0.55,135.6,422.1,10.6,312,8203,0.00,1.42,0.00,0.000,4,0.000,0.049,2716,3413,1994
$GC,8245,0.55,135.6,417.1,12.0,313,8248,0.00,1.27,0.00,0.000,6,0.000,0.026,2720,2552,1994
$GC,8532,0.55,137.3,387.8,9.9,320,8535,0.00,1.80,0.00,0.000,4,0.000,0.029,2729,1307,1993
$GC,8592,0.56,156.4,382.1,8.9,321,8622,0.00,1.90,21.45,0.828,6,0.000,0.044,2728,2533,1912
$GC,8899,0.56,156.4,350.4,10.1,329,8901,0.00,1.38,0.00,0.000,4,0.000,0.049,2729,3413,1908
$GC,8965,0.56,156.4,343.0,11.0,330,8968,0.00,1.27,0.00,0.000,6,0.000,0.027,2733,2552,1908
$GC,9230,0.56,164.5,316.6,9.5,337,9239,0.00,0.00,8.15,0.755,6,0.000,0.000,2734,2546,1879
$GC,9472,0.56,167.3,292.8,9.8,343,9480,0.00,1.40,4.25,0.574,4,0.000,0.048,2729,3419,1867
$GC,9517,0.56,167.3,288.5,10.3,344,9519,0.00,1.27,0.00,0.000,6,0.000,0.025,2735,2556,1866
$GC,9806,0.57,179.4,261.7,9.3,351,9819,0.00,0.00,12.30,0.769,6,0.000,0.000,2735,2549,1817
$GC,10045,0.58,202.0,241.1,8.7,357,10069,0.00,1.83,20.75,0.782,4,0.000,0.028,2739,1313,1726
$GC,10137,0.59,226.1,233.1,8.7,359,10162,0.00,1.95,21.70,0.765,6,0.000,0.042,2739,2561,1628
$GC,10406,0.59,232.2,207.3,9.7,365,10415,0.00,1.33,6.22,0.614,4,0.000,0.044,2739,3423,1603
$GC,10447,0.59,232.2,203.2,11.7,366,10450,0.00,1.33,0.00,0.000,6,0.000,0.024,2745,2533,1602
$GC,10717,0.59,232.2,174.9,11.2,388,10720,0.00,1.42,0.00,0.000,4,0.000,0.046,2742,3423,1602
$GC,10754,0.59,232.2,170.0,12.0,391,10757,0.08,1.25,0.00,0.000,6,0.146,0.024,2723,2572,1601
$GC,11022,0.59,234.4,144.2,9.9,416,11025,0.00,1.83,0.00,0.000,4,0.000,0.027,2730,1313,1601
$GC,11047,0.59,240.8,141.3,9.6,418,11061,0.00,1.92,8.77,0.618,6,0.000,0.040,2730,2569,1567
$GC,11315,0.59,243.0,114.7,9.9,443,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2569,1566
$GC,11573,0.61,295.7,91.5,7.1,468,11626,0.00,1.35,46.53,0.650,4,0.000,0.045,2730,3426,1344
$GC,11664,0.63,342.0,85.3,7.4,475,11706,0.00,1.30,39.20,0.625,6,0.000,0.023,2735,2542,1154
$GC,11960,0.66,412.5,66.4,6.1,502,12028,0.00,1.45,57.42,0.614,4,0.000,0.044,2736,3424,867
$GC,12195,0.66,417.6,46.1,9.7,522,12209,0.00,1.50,5.43,0.451,6,0.000,0.022,2736,2398,847
$GC,12459,0.66,417.6,19.1,10.6,557,12468,0.00,1.58,0.00,0.000,4,0.000,0.025,2736,1311,845
$STATE,12614,end climb,SURFACE_DEPTH_REACHED
$STATE,12614,begin surface coast
$FINISH,0.1,0.999660
$STATE,12640,end surface coast,CONTROL_FINISHED_OK
$STATE,12640,begin surface
$SM_CCo,12725,0.00,0.000,0,0,843,418.47
$SM_GC,0.95,6.78,0.00,0.00,0.021,0.000,0.000,31,2667,843,-7.69,0.74,418.47
$IRIDIUM_FIX,2246.36,-15808.88,110102,161602
$TT8_MAMPS,0.048321
$HUMID,2208
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,21
$24V_AH,23.9,73.062
$10V_AH,10.5,71.438
$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,17.175,105.625,493.750,0.000,0.000,86.283,108.760,579.381,5.250,0.000,0.000,13.864,0.000,8962.021,511.879,2941.786,1362.558,33.350,1442.683,0.000,2632.351,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,64.428,1050.023,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,398.811,1377.073,1431.101,209.970,1121.650,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47813,591
$CAP_FILE_SIZE,125630,0
$CFSIZE,260165632,229330944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,171012,195403,2256.184,-15809.064,8,2.4,27,10.1