version: 66.04
glider: 512
mission: 3
dive: 559
start: 10 17 112 23 48 51
data:
$ID,512
$MISSION,3
$DIVE,559
$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,-65033.09
$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,2600
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,21
$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
$GPS1,233106,2256.733,-15808.762,35,1.0,35,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-81.5
$GPS2,234813,2256.638,-15808.856,10,1.5,10,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HNW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,0.155
$KALMAN_X,-97709.0,128.7,240.8,55933.4,-1796.8
$KALMAN_Y,52813.8,33.3,-135.2,-54103.5,-1094.1
$MHEAD_RNG_PITCHd_Wd,39.6,16242,-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,-74.12,0.000,2,0.000,0.000,21,2704,2667
$GC,96,-0.54,-121.7,2.1,-2.4,9,122,9.02,1.50,-8.25,0.000,4,0.202,0.054,2334,3682,3047
$GC,197,-0.54,-121.7,24.5,-15.3,26,206,0.00,1.60,0.00,0.000,6,0.000,0.020,2334,2589,3047
$GC,464,-0.54,-121.7,70.7,-17.3,54,467,0.00,1.48,0.00,0.000,4,0.000,0.023,2334,1546,3047
$GC,598,-0.54,-121.7,91.7,-15.2,66,606,0.00,1.65,0.00,0.000,6,0.000,0.038,2333,2611,3048
$GC,857,-0.54,-121.7,127.2,-13.4,91,859,0.00,1.55,0.00,0.000,4,0.000,0.021,2332,1537,3048
$GC,913,-0.54,-121.7,134.4,-12.0,96,916,0.00,1.58,0.00,0.000,6,0.000,0.038,2333,2565,3049
$GC,1178,-0.54,-121.7,165.7,-11.4,121,1181,0.00,1.67,0.00,0.000,4,0.000,0.044,2325,3663,3049
$GC,1224,-0.54,-121.7,171.1,-11.0,125,1227,0.00,1.58,0.00,0.000,6,0.000,0.019,2324,2565,3048
$GC,1515,-0.54,-121.7,205.8,-12.1,150,1518,0.00,1.42,0.00,0.000,4,0.000,0.021,2324,1541,3048
$GC,1645,-0.54,-121.7,221.5,-11.2,153,1648,0.08,1.52,0.00,0.000,6,0.113,0.036,2347,2532,3048
$GC,1932,-0.54,-121.7,249.7,-9.4,160,1934,0.00,1.70,0.00,0.000,4,0.000,0.046,2341,3660,3048
$GC,1971,-0.54,-121.7,253.3,-8.8,160,1978,0.00,1.60,0.00,0.000,6,0.000,0.019,2341,2533,3048
$GC,2220,-0.54,-121.7,274.5,-8.3,167,2223,0.00,1.40,0.00,0.000,4,0.000,0.021,2341,1537,3048
$GC,2259,-0.54,-121.7,277.6,-7.5,167,2264,0.00,1.55,0.00,0.000,6,0.000,0.038,2334,2544,3048
$GC,2508,-0.54,-121.7,298.9,-8.8,174,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2544,3047
$GC,2750,-0.54,-121.7,321.8,-9.7,180,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2544,3046
$GC,2995,-0.54,-121.7,345.8,-9.8,186,2998,0.00,1.42,0.00,0.000,4,0.000,0.023,2333,1552,3044
$GC,3044,-0.54,-121.7,350.8,-9.0,187,3048,0.00,1.48,0.00,0.000,6,0.000,0.040,2333,2509,3044
$GC,3326,-0.54,-121.7,375.2,-8.4,194,3329,0.00,1.75,0.00,0.000,4,0.000,0.047,2324,3662,3040
$GC,3376,-0.54,-121.7,379.4,-8.1,195,3379,0.00,1.60,0.00,0.000,6,0.000,0.021,2324,2532,3039
$GC,3657,-0.54,-121.7,402.5,-8.3,202,3660,0.00,1.38,0.00,0.000,4,0.000,0.024,2325,1552,3038
$GC,3739,-0.54,-121.7,409.4,-8.3,203,3744,0.08,1.48,0.00,0.000,6,0.112,0.039,2348,2507,3037
$GC,3989,-0.54,-121.7,427.1,-7.2,210,3992,0.00,1.80,-0.08,0.000,4,0.000,0.063,2341,3665,3059
$GC,4054,-0.54,-121.7,432.3,-8.0,211,4057,0.00,1.60,0.00,0.000,6,0.000,0.022,2341,2537,3059
$GC,4320,-0.54,-121.7,454.9,-8.6,218,4322,0.00,1.40,0.00,0.000,4,0.000,0.024,2341,1545,3057
$GC,4370,-0.54,-121.7,459.3,-7.8,219,4373,0.00,1.55,0.00,0.000,6,0.000,0.041,2334,2539,3057
$GC,4653,-0.54,-121.7,483.5,-8.5,226,4656,0.00,1.45,0.00,0.000,4,0.000,0.024,2333,1544,3055
$GC,4693,-0.54,-121.7,487.1,-8.1,226,4698,0.00,1.52,0.00,0.000,6,0.000,0.041,2334,2519,3055
$GC,4942,-0.54,-121.7,507.1,-8.1,233,4945,0.00,1.40,0.00,0.000,4,0.000,0.024,2333,1551,3053
$GC,4982,-0.54,-121.7,510.4,-7.8,233,4987,0.00,1.45,0.00,0.000,6,0.000,0.042,2333,2478,3053
$GC,5231,-0.54,-121.7,531.4,-8.6,240,5234,0.00,1.85,0.00,0.000,4,0.000,0.051,2325,3657,3050
$GC,5259,-0.54,-121.7,533.9,-8.9,240,5262,0.00,1.73,0.00,0.000,6,0.000,0.024,2325,2464,3050
$GC,5520,-0.54,-121.7,556.3,-8.5,247,5522,0.00,1.30,0.00,0.000,4,0.000,0.026,2324,1545,3049
$GC,5564,-0.54,-121.7,559.8,-7.3,248,5567,0.08,1.42,0.00,0.000,6,0.104,0.041,2349,2457,3049
$GC,5851,-0.54,-121.7,576.7,-5.6,255,5854,0.00,1.88,0.00,0.000,4,0.000,0.053,2346,3659,3047
$GC,5949,-0.54,-121.7,582.4,-6.4,257,5952,0.00,1.70,0.00,0.000,6,0.000,0.025,2346,2503,3046
$STATE,6220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6220,begin apogee
$GC,6231,-0.18,0.0,600.4,6.8,264,6344,0.38,0.00,111.03,1.058,6,0.088,0.000,2474,2363,2550
$STATE,6344,end apogee,CONTROL_FINISHED_OK
$STATE,6344,begin climb
$GC,6349,0.54,121.7,606.0,0.0,267,6474,0.60,1.75,114.00,1.004,4,0.038,0.045,2714,3409,2053
$GC,6532,0.54,121.7,598.2,12.7,271,6535,0.00,1.60,0.00,0.000,6,0.000,0.025,2722,2349,2049
$GC,6802,0.54,121.7,566.8,11.3,278,6805,0.00,1.70,0.00,0.000,4,0.000,0.048,2721,3415,2044
$GC,6879,0.54,121.7,557.1,13.7,279,6882,0.00,1.55,0.00,0.000,6,0.000,0.026,2729,2379,2043
$GC,7136,0.54,121.7,525.6,12.2,286,7139,0.00,1.65,0.00,0.000,4,0.000,0.048,2730,3426,2042
$GC,7271,0.54,121.7,507.1,13.6,289,7274,0.10,1.45,0.00,0.000,6,0.186,0.025,2708,2452,2041
$GC,7555,0.54,121.7,475.9,11.0,296,7558,0.00,1.67,0.00,0.000,4,0.000,0.028,2717,1308,2039
$GC,7599,0.54,121.7,471.0,10.3,297,7602,0.00,1.80,0.00,0.000,6,0.000,0.044,2715,2450,2038
$GC,7886,0.54,121.7,440.1,10.6,304,7889,0.00,1.52,0.00,0.000,4,0.000,0.049,2716,3420,2038
$GC,7952,0.54,121.7,432.8,10.8,305,7955,0.00,1.40,0.00,0.000,6,0.000,0.025,2721,2467,2038
$GC,8217,0.54,121.7,404.7,10.6,312,8220,0.00,1.52,0.00,0.000,4,0.000,0.047,2721,3418,2037
$GC,8240,0.54,121.7,402.2,11.0,312,8243,0.00,1.40,0.00,0.000,6,0.000,0.026,2728,2465,2037
$GC,8505,0.54,123.5,375.1,9.9,319,8508,0.00,1.67,0.00,0.000,4,0.000,0.028,2737,1305,2036
$GC,8555,0.55,140.4,370.6,9.1,320,8582,0.12,1.80,17.05,0.794,6,0.156,0.044,2706,2473,1976
$GC,8834,0.56,168.0,345.9,8.5,327,8862,0.00,1.48,25.50,0.882,4,0.000,0.048,2702,3418,1864
$GC,8988,0.57,176.2,332.0,9.5,330,9001,0.00,1.40,8.88,0.769,6,0.000,0.026,2708,2472,1830
$GC,9253,0.57,182.5,306.0,9.6,337,9262,0.00,1.55,6.57,0.703,4,0.000,0.050,2708,3418,1805
$GC,9323,0.57,182.5,298.3,11.4,338,9326,0.00,1.33,0.00,0.000,6,0.000,0.026,2715,2526,1804
$GC,9578,0.57,182.5,270.0,11.0,345,9581,0.00,1.42,0.00,0.000,4,0.000,0.051,2715,3413,1803
$GC,9595,0.57,182.5,268.2,10.2,345,9598,0.00,1.23,0.00,0.000,6,0.000,0.026,2720,2582,1803
$GC,9866,0.58,204.9,243.7,8.8,352,9888,0.00,0.00,20.83,0.793,6,0.000,0.000,2720,2576,1714
$GC,10108,0.59,224.0,222.3,8.9,358,10130,0.00,1.38,17.55,0.760,4,0.000,0.046,2716,3417,1635
$GC,10151,0.59,224.0,218.2,10.4,359,10153,0.00,1.27,0.00,0.000,6,0.000,0.025,2720,2563,1635
$GC,10410,0.59,237.6,194.2,9.2,369,10427,0.00,1.88,12.55,0.711,4,0.000,0.028,2729,1308,1580
$GC,10473,0.60,254.9,188.1,9.0,374,10495,0.00,1.98,16.30,0.719,6,0.000,0.043,2729,2552,1509
$GC,10749,0.60,254.9,160.7,10.5,400,10752,0.00,1.35,0.00,0.000,4,0.000,0.047,2729,3418,1506
$GC,10785,0.60,254.9,156.0,11.6,403,10788,0.00,1.27,0.00,0.000,6,0.000,0.025,2735,2553,1506
$GC,11049,0.60,254.9,127.3,10.5,428,11057,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2546,1505
$GC,11307,0.60,254.9,101.0,10.1,453,11310,0.00,1.38,0.00,0.000,4,0.000,0.045,2736,3421,1506
$GC,11343,0.60,254.9,97.2,10.8,456,11346,0.00,1.23,0.00,0.000,6,0.000,0.024,2739,2578,1506
$GC,11607,0.60,263.4,72.5,9.5,481,11622,0.00,1.83,8.15,0.561,4,0.000,0.026,2739,1313,1476
$GC,11722,0.62,311.2,62.9,7.4,491,11766,0.00,1.80,40.47,0.633,6,0.000,0.038,2739,2496,1281
$GC,12027,0.64,360.3,39.7,7.3,519,12071,0.00,1.45,40.78,0.604,4,0.000,0.045,2739,3410,1080
$GC,12118,0.66,399.6,32.7,7.8,526,12154,0.00,1.38,32.75,0.588,6,0.000,0.022,2739,2478,921
$GC,12406,0.66,411.8,9.8,9.3,577,12421,0.00,1.48,10.57,0.519,4,0.000,0.044,2738,3424,872
$STATE,12477,end climb,SURFACE_DEPTH_REACHED
$STATE,12477,begin surface coast
$FINISH,0.0,1.010696
$STATE,12513,end surface coast,CONTROL_FINISHED_OK
$STATE,12513,begin surface
$SM_CCo,12597,0.00,0.000,0,0,870,412.10
$SM_GC,0.82,6.88,0.00,0.00,0.022,0.000,0.000,43,2566,870,-7.69,-0.93,412.10
$IRIDIUM_FIX,2251.04,-15808.00,110102,232347
$TT8_MAMPS,0.047554
$HUMID,2230
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.70
$XPDR_PINGS,8
$24V_AH,23.8,73.355
$10V_AH,10.5,71.750
$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,17.325,104.900,482.975,0.000,0.000,56.016,71.915,660.306,2.000,0.000,0.000,11.036,0.000,8830.701,490.357,2923.359,1353.528,33.347,1414.181,0.000,2617.101,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,62.894,1057.693,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,402.371,1395.427,1436.010,224.178,1144.043,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50921,596
$CAP_FILE_SIZE,120848,0
$CFSIZE,260165632,229208064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,181012,032000,2256.955,-15808.942,45,1.6,45,10.1