version: 66.04
glider: 512
mission: 3
dive: 558
start: 10 17 112 20 2 24
data:
$ID,512
$MISSION,3
$DIVE,558
$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,-65021.426
$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,76
$R_STBD_OVSHOOT,40
$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
$GPS1,195403,2256.184,-15809.064,8,2.4,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-81.2
$GPS2,200142,2256.216,-15809.049,12,1.8,23,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HNW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.139,0.195
$KALMAN_X,-96169.9,282.8,-133.1,54283.3,-921.2
$KALMAN_Y,53648.1,214.5,376.9,-56413.6,-865.2
$MHEAD_RNG_PITCHd_Wd,25.4,17088,-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,-74.05,0.000,2,0.000,0.000,26,2670,2721
$GC,96,-0.54,-121.7,2.4,-3.9,9,122,8.95,1.62,-6.80,0.000,4,0.202,0.052,2332,3718,3047
$GC,193,-0.54,-121.7,26.2,-14.4,25,202,0.00,1.58,0.00,0.000,6,0.000,0.021,2331,2642,3047
$GC,460,-0.54,-121.7,75.6,-18.1,52,463,0.00,1.50,0.00,0.000,4,0.000,0.023,2332,1585,3048
$GC,659,-0.54,-121.7,104.3,-13.1,70,661,0.00,1.55,0.00,0.000,6,0.000,0.036,2325,2594,3048
$GC,923,-0.54,-121.7,139.6,-13.2,95,926,0.00,1.45,0.00,0.000,4,0.000,0.021,2325,1581,3048
$GC,962,-0.54,-121.7,145.4,-12.9,98,971,0.08,1.50,0.00,0.000,6,0.121,0.035,2346,2562,3048
$GC,1219,-0.54,-121.7,175.8,-11.8,123,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2562,3049
$GC,1503,-0.54,-121.7,209.8,-11.7,145,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2562,3049
$GC,1748,-0.54,-121.7,237.8,-11.5,151,1751,0.00,1.40,0.00,0.000,4,0.000,0.021,2346,1575,3049
$GC,1825,-0.54,-121.7,245.9,-9.7,152,1828,0.00,1.48,0.00,0.000,6,0.000,0.038,2346,2538,3049
$GC,2079,-0.54,-121.7,271.2,-10.1,159,2082,0.00,1.38,0.00,0.000,4,0.000,0.021,2346,1572,3049
$GC,2140,-0.54,-121.7,276.7,-8.8,160,2143,0.00,1.38,0.00,0.000,6,0.000,0.038,2345,2472,3049
$GC,2411,-0.54,-121.7,301.5,-9.3,167,2414,0.00,1.88,0.00,0.000,4,0.000,0.047,2343,3709,3049
$GC,2455,-0.54,-121.7,305.3,-8.3,168,2458,0.00,1.77,0.00,0.000,6,0.000,0.020,2343,2464,3048
$GC,2742,-0.54,-121.7,329.7,-8.4,175,2746,0.00,1.23,0.00,0.000,4,0.000,0.022,2343,1572,3048
$GC,2797,-0.54,-121.7,334.0,-7.1,176,2800,0.00,1.33,0.00,0.000,6,0.000,0.038,2337,2440,3047
$GC,3073,-0.54,-121.7,356.0,-8.3,183,3076,0.00,1.92,0.00,0.000,4,0.000,0.047,2328,3700,3046
$GC,3133,-0.54,-121.7,361.2,-8.7,184,3137,0.00,1.83,0.00,0.000,6,0.000,0.021,2328,2448,3045
$GC,3407,-0.54,-121.7,385.4,-8.8,191,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2439,3044
$GC,3646,-0.54,-121.7,405.8,-8.4,197,3649,0.00,1.20,0.00,0.000,4,0.000,0.022,2327,1573,3042
$GC,3717,-0.54,-121.7,411.4,-7.4,198,3720,0.00,1.40,0.00,0.000,6,0.000,0.038,2322,2482,3042
$GC,3977,-0.54,-121.7,431.7,-7.9,205,3980,0.00,1.85,0.00,0.000,4,0.000,0.048,2312,3695,3039
$GC,4006,-0.54,-121.7,434.0,-7.5,205,4009,0.12,1.77,0.00,0.000,6,0.111,0.021,2351,2457,3039
$GC,4266,-0.54,-121.7,449.0,-5.6,212,4269,0.00,1.95,0.00,0.000,4,0.000,0.048,2343,3707,3037
$GC,4300,-0.54,-121.7,450.9,-6.0,212,4303,0.00,1.73,-0.08,0.000,6,0.000,0.021,2344,2498,3061
$GC,4555,-0.54,-121.7,467.2,-6.6,219,4557,0.00,1.27,0.00,0.000,4,0.000,0.024,2344,1587,3060
$GC,4583,-0.54,-121.7,469.2,-7.4,219,4586,0.00,1.45,0.00,0.000,6,0.000,0.041,2337,2518,3060
$GC,4846,-0.54,-121.7,488.8,-7.7,226,4849,0.00,1.83,0.00,0.000,4,0.000,0.051,2333,3700,3057
$GC,4880,-0.54,-121.7,491.9,-8.4,226,4883,0.00,1.73,0.00,0.000,6,0.000,0.023,2333,2502,3057
$GC,5135,-0.54,-121.7,513.0,-8.5,233,5138,0.00,1.30,0.00,0.000,4,0.000,0.025,2333,1576,3056
$GC,5200,-0.54,-121.7,518.6,-8.7,234,5204,0.00,1.40,0.00,0.000,6,0.000,0.043,2333,2475,3056
$GC,5469,-0.54,-121.7,541.1,-8.6,241,5471,0.00,1.90,0.00,0.000,4,0.000,0.051,2333,3700,3054
$GC,5497,-0.54,-121.7,543.7,-8.2,241,5500,0.00,1.80,0.00,0.000,6,0.000,0.024,2333,2458,3054
$GC,5757,-0.54,-121.7,566.1,-8.7,248,5760,0.00,1.23,0.00,0.000,4,0.000,0.025,2333,1584,3052
$GC,5801,-0.54,-121.7,569.8,-8.0,249,5804,0.00,1.38,0.00,0.000,6,0.000,0.044,2333,2458,3052
$GC,6091,-0.54,-121.7,593.2,-8.1,256,6094,0.00,1.92,0.00,0.000,4,0.000,0.053,2332,3691,3050
$GC,6151,-0.54,-121.7,598.3,-8.0,257,6154,0.00,1.80,0.00,0.000,6,0.000,0.025,2333,2462,3049
$STATE,6169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6170,begin apogee
$GC,6180,-0.18,0.0,600.1,8.5,257,6294,0.38,0.00,112.20,1.047,6,0.094,0.000,2464,2349,2550
$STATE,6295,end apogee,CONTROL_FINISHED_OK
$STATE,6295,begin climb
$GC,6300,0.54,121.7,604.6,0.0,260,6425,0.62,1.80,113.47,0.998,4,0.039,0.044,2713,3417,2053
$GC,6481,0.54,121.7,597.8,12.9,264,6484,0.00,1.60,0.00,0.000,6,0.000,0.024,2720,2350,2049
$GC,6760,0.54,121.7,566.7,10.8,271,6763,0.00,1.73,0.00,0.000,4,0.000,0.047,2715,3421,2044
$GC,6852,0.54,121.7,555.4,12.5,273,6855,0.00,1.55,0.00,0.000,6,0.000,0.025,2721,2381,2043
$GC,7133,0.54,121.7,523.1,11.7,280,7136,0.00,1.65,0.00,0.000,4,0.000,0.047,2722,3414,2041
$GC,7167,0.54,121.7,519.0,13.0,280,7170,0.00,1.52,0.00,0.000,6,0.000,0.025,2729,2387,2041
$GC,7421,0.54,121.7,489.0,11.4,287,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2381,2040
$GC,7663,0.54,121.7,464.1,10.0,293,7666,0.00,1.62,0.00,0.000,4,0.000,0.048,2729,3416,2038
$GC,7708,0.54,121.7,459.4,10.8,294,7711,0.10,1.50,0.00,0.000,6,0.178,0.026,2697,2408,2039
$GC,7997,0.56,166.7,437.2,7.5,301,8046,0.00,1.62,40.28,0.911,4,0.000,0.049,2696,3415,1869
$GC,8166,0.56,166.7,420.7,11.3,304,8172,0.00,1.48,0.00,0.000,6,0.000,0.026,2702,2438,1866
$GC,8417,0.56,166.7,393.4,10.8,311,8420,0.00,1.62,0.00,0.000,4,0.000,0.029,2710,1303,1864
$GC,8462,0.56,166.7,388.3,10.9,312,8465,0.00,1.73,0.00,0.000,6,0.000,0.044,2710,2409,1862
$GC,8749,0.56,166.7,356.7,10.8,319,8751,0.00,1.60,0.00,0.000,4,0.000,0.051,2709,3419,1861
$GC,8917,0.56,166.7,337.3,12.1,322,8922,0.00,1.42,0.00,0.000,6,0.000,0.025,2717,2459,1861
$GC,9166,0.56,166.7,310.1,10.8,329,9169,0.00,1.55,0.00,0.000,4,0.000,0.050,2716,3418,1861
$GC,9183,0.56,166.7,308.2,10.8,329,9186,0.00,1.35,0.00,0.000,6,0.000,0.025,2721,2500,1861
$GC,9456,0.56,166.7,277.9,11.4,336,9459,0.00,1.48,0.00,0.000,4,0.000,0.048,2717,3418,1860
$GC,9474,0.56,166.7,275.7,10.8,336,9477,0.00,1.33,0.00,0.000,6,0.000,0.025,2722,2518,1860
$GC,9746,0.56,167.6,247.8,10.0,343,9748,0.00,1.45,0.00,0.000,4,0.000,0.048,2722,3424,1860
$GC,9891,0.57,193.6,233.4,8.6,346,9918,0.00,1.30,23.35,0.792,6,0.000,0.025,2729,2530,1760
$GC,10161,0.59,235.3,212.2,7.7,353,10202,0.00,1.80,35.45,0.776,4,0.000,0.027,2738,1301,1591
$GC,10220,0.60,256.3,207.4,8.8,354,10245,0.00,1.92,19.80,0.732,6,0.000,0.042,2738,2523,1503
$GC,10497,0.60,256.3,178.0,11.2,373,10501,0.00,1.42,0.00,0.000,4,0.000,0.049,2738,3424,1498
$GC,10575,0.60,256.3,168.4,11.7,380,10578,0.00,1.33,0.00,0.000,6,0.000,0.025,2739,2539,1498
$GC,10839,0.60,256.3,140.0,10.5,405,10842,0.00,1.80,0.00,0.000,4,0.000,0.028,2739,1317,1498
$GC,10854,0.60,256.3,138.3,10.4,406,10857,0.00,1.92,0.00,0.000,6,0.000,0.041,2739,2547,1496
$GC,11118,0.60,256.3,110.5,10.7,431,11121,0.00,1.38,0.00,0.000,4,0.000,0.048,2739,3424,1496
$GC,11144,0.60,256.3,107.6,11.5,433,11147,0.00,1.30,0.00,0.000,6,0.000,0.024,2739,2541,1496
$GC,11408,0.60,265.0,80.4,9.5,458,11417,0.00,0.00,7.88,0.561,6,0.000,0.000,2739,2534,1469
$GC,11666,0.62,315.1,57.9,7.2,483,11712,0.00,1.40,42.42,0.626,4,0.000,0.042,2739,3434,1264
$GC,11745,0.64,357.6,52.2,7.6,489,11787,0.00,1.25,35.95,0.604,6,0.000,0.022,2739,2580,1091
$GC,12037,0.67,424.3,33.0,6.3,516,12096,0.00,1.88,54.33,0.595,4,0.000,0.025,2739,1312,819
$GC,12332,0.67,424.3,5.4,10.7,566,12341,0.00,1.67,0.00,0.000,6,0.000,0.035,2739,2392,815
$STATE,12351,end climb,SURFACE_DEPTH_REACHED
$STATE,12351,begin surface coast
$FINISH,0.2,1.023197
$STATE,12377,end surface coast,CONTROL_FINISHED_OK
$STATE,12377,begin surface
$SM_CCo,12460,0.00,0.000,0,0,813,425.83
$SM_GC,0.86,6.90,0.00,0.00,0.025,0.000,0.000,34,2705,813,-7.71,1.84,425.83
$IRIDIUM_FIX,2246.36,-15811.05,110102,161651
$TT8_MAMPS,0.047554
$HUMID,2250
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.40
$XPDR_PINGS,11
$24V_AH,23.9,73.194
$10V_AH,10.5,71.587
$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,17.150,104.150,485.125,0.000,0.000,28.978,35.662,199.944,2.750,0.000,0.000,27.855,0.000,8738.675,474.728,2831.489,850.023,33.347,1389.488,0.000,2538.314,0.000,0.543,0.000
$DEVICE_MAMPS,201.721,52.923,1046.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,387.225,1327.663,1376.746,218.923,1080.895,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47799,574
$CAP_FILE_SIZE,111202,0
$CFSIZE,260165632,229277696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,171012,233106,2256.733,-15808.762,35,1.0,35,10.1