version: 66.04
glider: 512
mission: 3
dive: 560
start: 10 18 112 3 36 7
data:
$ID,512
$MISSION,3
$DIVE,560
$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,-65049.27
$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,59
$R_STBD_OVSHOOT,31
$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
$GPS1,032000,2256.955,-15808.942,45,1.6,45,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-77.6
$GPS2,033525,2256.879,-15809.119,15,1.2,15,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HNW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.206,0.122
$KALMAN_X,-99463.3,-249.9,-228.2,58090.8,-1528.2
$KALMAN_Y,52107.1,-280.7,-516.6,-52258.0,226.8
$MHEAD_RNG_PITCHd_Wd,49.3,16059,-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,-74.10,0.000,2,0.000,0.000,13,2564,2740
$GC,97,-0.54,-121.7,2.4,-3.9,9,115,9.15,1.73,-6.20,0.000,4,0.207,0.051,2335,3670,3047
$GC,196,-0.54,-121.7,25.3,-14.2,26,205,0.00,1.58,0.00,0.000,6,0.000,0.020,2334,2595,3048
$GC,458,-0.54,-121.7,69.3,-16.4,53,461,0.00,1.50,0.00,0.000,4,0.000,0.023,2335,1536,3048
$GC,525,-0.54,-121.7,78.6,-11.9,59,528,0.00,1.62,0.00,0.000,6,0.000,0.036,2333,2610,3049
$GC,788,-0.54,-121.7,114.9,-13.4,84,791,0.00,1.55,0.00,0.000,4,0.000,0.022,2333,1538,3049
$GC,846,-0.54,-121.7,121.8,-11.3,89,849,0.00,1.60,0.00,0.000,6,0.000,0.038,2333,2598,3049
$GC,1110,-0.54,-121.7,154.4,-12.6,114,1112,0.00,1.60,0.00,0.000,4,0.000,0.043,2325,3675,3049
$GC,1135,-0.54,-121.7,157.8,-13.3,116,1138,0.00,1.58,0.00,0.000,6,0.000,0.019,2325,2574,3049
$GC,1398,-0.54,-121.7,191.7,-13.3,141,1401,0.00,1.45,0.00,0.000,4,0.000,0.022,2325,1539,3049
$GC,1495,-0.54,-121.7,204.5,-12.4,148,1499,0.12,1.58,0.00,0.000,6,0.125,0.035,2355,2569,3049
$GC,1771,-0.54,-121.7,234.2,-10.9,155,1774,0.00,1.45,0.00,0.000,4,0.000,0.021,2355,1548,3049
$GC,1800,-0.54,-121.7,237.3,-10.4,155,1803,0.00,1.55,0.00,0.000,6,0.000,0.037,2349,2564,3049
$GC,2060,-0.54,-121.7,263.9,-10.0,162,2062,0.00,1.65,0.00,0.000,4,0.000,0.045,2346,3660,3048
$GC,2109,-0.54,-121.7,268.6,-9.3,163,2112,0.00,1.55,0.00,0.000,6,0.000,0.020,2346,2568,3048
$GC,2390,-0.54,-121.7,291.8,-8.4,170,2393,0.00,1.40,0.00,0.000,4,0.000,0.022,2346,1560,3047
$GC,2462,-0.54,-121.7,298.1,-8.6,171,2465,0.00,1.58,0.00,0.000,6,0.000,0.040,2346,2581,3047
$GC,2722,-0.54,-121.7,322.3,-9.5,178,2725,0.00,1.62,0.00,0.000,4,0.000,0.045,2340,3661,3046
$GC,2771,-0.54,-121.7,327.1,-9.4,179,2774,0.00,1.50,0.00,0.000,6,0.000,0.020,2340,2605,3045
$GC,3056,-0.54,-121.7,351.8,-8.4,186,3059,0.00,1.48,0.00,0.000,4,0.000,0.022,2340,1552,3044
$GC,3138,-0.54,-121.7,358.0,-6.6,187,3143,0.00,1.58,0.00,0.000,6,0.000,0.039,2333,2571,3043
$GC,3387,-0.54,-121.7,377.3,-8.0,194,3390,0.00,1.65,0.00,0.000,4,0.000,0.046,2325,3666,3041
$GC,3421,-0.54,-121.7,380.2,-8.7,194,3424,0.00,1.58,0.00,0.000,6,0.000,0.021,2325,2572,3041
$GC,3678,-0.54,-121.7,404.2,-9.5,201,3681,0.00,1.45,0.00,0.000,4,0.000,0.024,2325,1546,3038
$GC,3749,-0.54,-121.7,411.1,-9.2,202,3752,0.05,1.55,0.00,0.000,6,0.088,0.040,2352,2546,3038
$GC,4009,-0.54,-121.7,430.8,-7.5,209,4012,0.00,1.73,-0.08,0.000,4,0.000,0.063,2345,3659,3060
$GC,4069,-0.54,-121.7,435.6,-7.9,210,4072,0.00,1.60,0.00,0.000,6,0.000,0.023,2345,2535,3060
$GC,4340,-0.54,-121.7,456.1,-7.6,217,4343,0.00,1.40,0.00,0.000,4,0.000,0.024,2345,1543,3059
$GC,4385,-0.54,-121.7,459.4,-7.2,218,4388,0.00,1.60,0.00,0.000,6,0.000,0.041,2338,2567,3058
$GC,4672,-0.54,-121.7,481.5,-7.7,225,4675,0.00,1.67,0.00,0.000,4,0.000,0.050,2333,3656,3056
$GC,4695,-0.54,-121.7,483.4,-7.9,225,4697,0.00,1.60,0.00,0.000,6,0.000,0.023,2333,2537,3056
$GC,4960,-0.54,-121.7,505.8,-8.5,232,4964,0.00,1.40,0.00,0.000,4,0.000,0.025,2333,1547,3054
$GC,5005,-0.54,-121.7,509.7,-8.2,233,5008,0.00,1.58,0.00,0.000,6,0.000,0.044,2333,2547,3054
$GC,5291,-0.54,-121.7,533.7,-8.4,240,5295,0.00,1.73,0.00,0.000,4,0.000,0.050,2326,3654,3052
$GC,5325,-0.54,-121.7,536.6,-8.3,240,5328,0.00,1.60,0.00,0.000,6,0.000,0.024,2326,2540,3052
$GC,5580,-0.54,-121.7,558.1,-8.4,247,5583,0.00,1.40,0.00,0.000,4,0.000,0.026,2326,1557,3050
$GC,5646,-0.54,-121.7,563.7,-8.9,248,5649,0.08,1.50,0.00,0.000,6,0.105,0.043,2360,2515,3050
$GC,5911,-0.54,-121.7,579.5,-5.8,255,5914,0.00,1.40,0.00,0.000,4,0.000,0.024,2360,1546,3048
$GC,5929,-0.54,-121.7,580.4,-5.5,255,5932,0.00,1.80,0.00,0.000,6,0.000,0.046,2359,2705,3049
$GC,6200,-0.54,-121.7,594.2,-4.9,262,6203,0.00,1.50,0.00,0.000,4,0.000,0.055,2359,3656,3046
$GC,6244,-0.54,-121.7,596.5,-4.6,263,6247,0.00,1.10,0.00,0.000,6,0.000,0.028,2359,2898,3046
$STATE,6324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6324,begin apogee
$GC,6335,-0.18,0.0,600.4,4.6,265,6448,0.32,0.00,111.00,1.058,6,0.078,0.000,2473,2353,2550
$STATE,6448,end apogee,CONTROL_FINISHED_OK
$STATE,6448,begin climb
$GC,6453,0.54,121.7,604.5,0.0,268,6579,0.60,1.65,113.72,1.002,4,0.041,0.026,2716,1292,2053
$GC,6742,0.54,121.7,582.8,11.3,274,6745,0.00,1.67,0.00,0.000,6,0.000,0.041,2715,2370,2045
$GC,6998,0.54,121.7,554.3,10.9,281,7001,0.00,1.62,0.00,0.000,4,0.000,0.048,2715,3417,2043
$GC,7128,0.54,121.7,539.3,11.4,284,7131,0.00,1.58,0.00,0.000,6,0.000,0.025,2722,2362,2041
$GC,7418,0.54,122.4,510.7,10.0,291,7421,0.00,1.67,0.00,0.000,4,0.000,0.048,2715,3425,2040
$GC,7569,0.54,122.4,493.4,11.6,294,7572,0.00,1.50,0.00,0.000,6,0.000,0.025,2721,2409,2039
$GC,7837,0.54,122.4,464.2,11.0,301,7840,0.00,1.62,0.00,0.000,4,0.000,0.049,2716,3437,2038
$GC,7892,0.54,122.4,457.1,12.8,302,7895,0.00,1.48,0.00,0.000,6,0.000,0.025,2721,2439,2038
$GC,8168,0.54,122.4,426.3,10.9,309,8170,0.00,1.58,0.00,0.000,4,0.000,0.049,2716,3420,2038
$GC,8276,0.54,122.4,414.2,11.3,311,8279,0.00,1.40,0.00,0.000,6,0.000,0.025,2721,2465,2037
$GC,8542,0.55,124.3,386.5,9.9,318,8545,0.00,1.65,0.00,0.000,4,0.000,0.028,2729,1314,2037
$GC,8592,0.55,143.3,382.0,8.9,319,8620,0.00,1.75,19.92,0.820,6,0.000,0.042,2729,2454,1965
$GC,8873,0.55,143.3,354.2,10.1,326,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2454,1961
$GC,9114,0.55,147.5,330.8,9.8,332,9122,0.00,1.50,4.95,0.647,4,0.000,0.048,2729,3425,1948
$GC,9211,0.55,147.5,320.8,10.2,334,9214,0.00,1.48,0.00,0.000,6,0.000,0.025,2734,2430,1947
$GC,9489,0.56,168.6,296.4,8.8,341,9513,0.00,1.60,20.02,0.831,4,0.000,0.047,2729,3417,1861
$GC,9559,0.56,168.6,289.8,10.3,342,9562,0.00,1.48,0.00,0.000,6,0.000,0.026,2734,2436,1860
$GC,9819,0.57,180.2,265.2,9.4,349,9833,0.00,1.55,10.88,0.751,4,0.000,0.048,2729,3419,1815
$GC,9943,0.57,180.2,251.9,11.1,352,9946,0.00,1.42,0.00,0.000,6,0.000,0.025,2735,2466,1814
$GC,10230,0.57,197.8,225.4,9.0,359,10250,0.00,1.73,16.88,0.754,4,0.000,0.027,2743,1321,1743
$GC,10313,0.59,231.8,218.5,8.1,361,10346,0.00,1.77,29.90,0.762,6,0.000,0.041,2741,2465,1604
$GC,10602,0.59,231.8,189.8,10.3,374,10606,0.00,1.50,0.00,0.000,4,0.000,0.047,2742,3419,1599
$GC,10670,0.59,231.8,181.8,12.2,380,10673,0.08,1.35,0.00,0.000,6,0.149,0.024,2723,2510,1598
$GC,10938,0.60,257.9,158.0,8.6,405,10964,0.00,1.50,22.65,0.696,4,0.000,0.045,2723,3425,1497
$GC,11011,0.60,257.9,150.9,10.0,411,11014,0.00,1.33,0.00,0.000,6,0.000,0.024,2726,2536,1496
$GC,11274,0.61,295.0,129.1,7.9,436,11314,0.00,1.42,31.88,0.671,4,0.000,0.044,2727,3414,1347
$GC,11363,0.62,313.5,121.7,9.0,443,11389,0.00,1.27,16.92,0.638,6,0.000,0.024,2726,2554,1272
$GC,11643,0.64,362.2,99.6,7.3,469,11696,0.00,1.90,41.10,0.646,4,0.000,0.027,2727,1312,1071
$GC,11735,0.66,418.7,92.3,6.9,476,11787,0.00,1.90,47.22,0.630,6,0.000,0.036,2726,2520,841
$GC,12047,0.66,423.0,64.1,9.8,505,12061,0.00,1.83,4.65,0.429,4,0.000,0.026,2726,1319,824
$GC,12300,0.66,423.0,39.2,10.4,528,12308,0.00,1.88,0.00,0.000,6,0.000,0.037,2726,2528,823
$GC,12558,0.67,439.2,12.8,9.1,569,12576,0.00,1.85,14.77,0.539,4,0.000,0.025,2726,1304,758
$STATE,12657,end climb,SURFACE_DEPTH_REACHED
$STATE,12657,begin surface coast
$FINISH,0.1,1.011350
$STATE,12691,end surface coast,CONTROL_FINISHED_OK
$STATE,12692,begin surface
$SM_CCo,12777,0.00,0.000,0,0,755,440.06
$SM_GC,0.96,6.82,0.00,0.00,0.021,0.000,0.000,30,2625,755,-7.71,0.68,440.06
$IRIDIUM_FIX,2251.04,-15848.00,120102,030302
$TT8_MAMPS,0.046787
$HUMID,2213
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.10
$XPDR_PINGS,18
$24V_AH,23.9,73.514
$10V_AH,10.5,71.911
$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,17.225,114.175,506.475,0.000,0.000,60.421,94.062,526.209,4.500,0.000,0.000,15.552,0.000,8874.589,484.800,3058.333,1261.095,33.350,1477.795,0.000,2735.008,0.000,0.544,0.000
$DEVICE_MAMPS,207.090,62.894,1058.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,400.527,1377.112,1419.451,206.558,1100.410,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47891,593
$CAP_FILE_SIZE,123853,0
$CFSIZE,260165632,229146624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,181012,071006,2257.898,-15808.700,35,1.2,35,10.1