version: 66.04
glider: 512
mission: 3
dive: 563
start: 10 18 112 15 9 1
data:
$ID,512
$MISSION,3
$DIVE,563
$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,-65099.293
$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,65
$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
$GPS1,145106,2259.044,-15808.506,36,1.5,36,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-77.1
$GPS2,150819,2259.073,-15808.667,15,1.3,15,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HNW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,0.116
$KALMAN_X,-104517.2,-245.5,-105.1,63790.5,-1063.3
$KALMAN_Y,50020.5,-6.6,-756.5,-46143.1,636.1
$MHEAD_RNG_PITCHd_Wd,50.7,12206,-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,16,-0.54,-121.7,0.0,0.0,0,100,0.00,0.00,-82.28,0.000,2,0.000,0.000,12,2602,2742
$GC,105,-0.54,-121.7,2.6,-4.1,10,124,8.95,1.67,-6.20,0.000,4,0.201,0.051,2332,3684,3048
$GC,199,-0.54,-121.7,26.7,-15.0,26,208,0.00,1.60,0.00,0.000,6,0.000,0.021,2332,2598,3048
$GC,461,-0.54,-121.7,72.8,-17.4,52,464,0.00,1.50,0.00,0.000,4,0.000,0.025,2332,1541,3049
$GC,539,-0.54,-121.7,85.2,-14.1,59,542,0.00,1.60,0.00,0.000,6,0.000,0.035,2324,2580,3048
$GC,802,-0.54,-121.7,121.2,-12.8,84,805,0.00,1.50,0.00,0.000,4,0.000,0.021,2324,1537,3048
$GC,849,-0.54,-121.7,127.1,-12.4,88,852,0.05,1.55,0.00,0.000,6,0.090,0.035,2349,2554,3048
$GC,1116,-0.54,-121.7,156.2,-11.5,113,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2553,3049
$GC,1374,-0.54,-121.7,188.2,-12.1,138,1377,0.00,1.45,0.00,0.000,4,0.000,0.021,2349,1535,3048
$GC,1410,-0.54,-121.7,192.6,-11.5,141,1413,0.00,1.52,0.00,0.000,6,0.000,0.035,2346,2528,3049
$GC,1675,-0.54,-121.7,221.9,-10.6,152,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2529,3048
$GC,1917,-0.54,-121.7,244.9,-9.3,158,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2529,3049
$GC,2160,-0.54,-121.7,268.3,-9.9,164,2163,0.00,1.42,0.00,0.000,4,0.000,0.021,2346,1527,3048
$GC,2215,-0.54,-121.7,273.6,-9.8,165,2218,0.00,1.52,0.00,0.000,6,0.000,0.039,2346,2517,3048
$GC,2491,-0.54,-121.7,299.6,-9.4,172,2494,0.00,1.73,0.00,0.000,4,0.000,0.046,2341,3663,3047
$GC,2524,-0.54,-121.7,302.8,-9.7,172,2527,0.00,1.65,0.00,0.000,6,0.000,0.020,2341,2494,3046
$GC,2779,-0.54,-121.7,324.6,-8.3,179,2782,0.00,1.33,0.00,0.000,4,0.000,0.021,2341,1534,3045
$GC,2829,-0.54,-121.7,328.5,-7.7,180,2832,0.00,1.48,0.00,0.000,6,0.000,0.037,2334,2500,3045
$GC,3110,-0.54,-121.7,350.6,-8.0,187,3113,0.00,1.75,0.00,0.000,4,0.000,0.045,2325,3658,3043
$GC,3150,-0.54,-121.7,353.7,-7.7,187,3155,0.00,1.67,0.00,0.000,6,0.000,0.021,2325,2479,3042
$GC,3399,-0.54,-121.7,376.0,-9.1,194,3402,0.00,1.33,0.00,0.000,4,0.000,0.023,2325,1531,3041
$GC,3454,-0.54,-121.7,381.3,-9.3,195,3457,0.08,1.48,0.00,0.000,6,0.105,0.038,2349,2487,3041
$GC,3730,-0.54,-121.7,405.4,-8.9,202,3733,0.00,1.80,0.00,0.000,4,0.000,0.049,2346,3663,3038
$GC,3791,-0.54,-121.7,411.0,-9.3,203,3794,0.00,1.67,0.00,0.000,6,0.000,0.021,2346,2482,3037
$GC,4061,-0.54,-121.7,434.6,-8.6,210,4063,0.00,0.00,-0.08,0.000,6,0.000,0.000,2346,2475,3059
$GC,4306,-0.54,-121.7,454.3,-8.1,216,4309,0.00,1.88,0.00,0.000,4,0.000,0.050,2346,3654,3058
$GC,4367,-0.54,-121.7,459.3,-7.9,217,4369,0.00,1.65,0.00,0.000,6,0.000,0.022,2346,2497,3057
$GC,4637,-0.54,-121.7,479.4,-7.4,224,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2488,3056
$GC,4879,-0.54,-121.7,496.5,-7.0,230,4882,0.00,1.83,0.00,0.000,4,0.000,0.048,2337,3647,3054
$GC,4913,-0.54,-121.7,498.9,-7.3,230,4916,0.00,1.60,0.00,0.000,6,0.000,0.024,2337,2528,3054
$GC,5168,-0.54,-121.7,516.9,-6.9,237,5171,0.00,1.40,0.00,0.000,4,0.000,0.025,2338,1543,3052
$GC,5217,-0.54,-121.7,520.3,-6.8,238,5220,0.00,1.55,0.00,0.000,6,0.000,0.043,2333,2530,3052
$GC,5499,-0.54,-121.7,539.7,-7.0,245,5502,0.00,1.73,0.00,0.000,4,0.000,0.050,2325,3655,3049
$GC,5533,-0.54,-121.7,542.3,-7.6,245,5536,0.00,1.65,0.00,0.000,6,0.000,0.023,2325,2506,3049
$GC,5787,-0.54,-121.7,562.8,-8.1,252,5790,0.00,1.38,0.00,0.000,4,0.000,0.026,2325,1538,3048
$GC,5864,-0.54,-121.7,569.1,-8.0,253,5867,0.08,1.50,0.00,0.000,6,0.101,0.042,2361,2498,3047
$GC,6119,-0.54,-121.7,585.1,-6.2,260,6121,0.00,1.38,0.00,0.000,4,0.000,0.024,2360,1543,3046
$GC,6142,-0.54,-121.7,586.7,-7.2,260,6145,0.00,1.83,0.00,0.000,6,0.000,0.047,2359,2698,3046
$STATE,6364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6364,begin apogee
$GC,6375,-0.18,0.0,601.5,6.7,266,6487,0.32,0.00,110.43,1.058,6,0.071,0.000,2475,2345,2550
$STATE,6488,end apogee,CONTROL_FINISHED_OK
$STATE,6488,begin climb
$GC,6493,0.54,121.7,609.0,0.0,269,6618,0.60,1.75,113.53,1.005,4,0.035,0.044,2716,3416,2053
$GC,6701,0.54,121.7,599.3,12.5,273,6706,0.00,1.60,0.00,0.000,6,0.000,0.025,2722,2346,2048
$GC,6950,0.54,121.7,571.4,11.0,280,6953,0.00,1.70,0.00,0.000,4,0.000,0.048,2722,3414,2044
$GC,7011,0.54,121.7,563.8,13.0,281,7014,0.00,1.55,0.00,0.000,6,0.000,0.025,2730,2378,2044
$GC,7281,0.54,121.7,530.9,12.1,288,7284,0.00,1.65,0.00,0.000,4,0.000,0.048,2729,3425,2041
$GC,7385,0.54,121.7,516.9,14.5,290,7388,0.08,1.52,0.00,0.000,6,0.179,0.025,2706,2398,2041
$GC,7655,0.54,121.7,486.6,11.1,297,7658,0.00,1.62,0.00,0.000,4,0.000,0.048,2702,3410,2039
$GC,7817,0.54,121.7,467.9,11.5,300,7820,0.00,1.40,0.00,0.000,6,0.000,0.025,2708,2459,2039
$GC,8072,0.55,127.9,442.9,9.7,307,8080,0.00,1.55,4.45,0.653,4,0.000,0.049,2708,3412,2028
$GC,8180,0.55,127.9,431.7,10.9,309,8183,0.00,1.35,0.00,0.000,6,0.000,0.027,2715,2498,2027
$GC,8448,0.56,153.0,408.3,8.6,316,8482,0.00,1.48,25.73,0.864,4,0.000,0.049,2715,3421,1926
$GC,8565,0.56,153.0,396.1,11.0,317,8570,0.00,1.33,0.00,0.000,6,0.000,0.025,2721,2530,1924
$GC,8814,0.56,153.0,370.4,10.4,324,8817,0.00,1.77,0.00,0.000,4,0.000,0.028,2729,1313,1922
$GC,8837,0.56,158.7,368.1,9.7,324,8846,0.00,1.95,6.28,0.726,6,0.000,0.044,2729,2548,1902
$GC,9099,0.56,164.5,342.4,9.7,331,9108,0.00,1.40,6.55,0.725,4,0.000,0.048,2729,3422,1879
$GC,9175,0.56,164.5,334.5,10.4,332,9180,0.00,1.20,0.00,0.000,6,0.000,0.026,2734,2604,1877
$GC,9424,0.56,164.5,309.3,10.3,339,9427,0.00,1.88,0.00,0.000,4,0.000,0.028,2738,1312,1876
$GC,9528,0.56,164.5,298.5,11.0,341,9531,0.12,1.95,0.00,0.000,6,0.150,0.042,2708,2574,1875
$GC,9798,0.57,191.9,273.9,8.5,348,9827,0.00,1.90,24.90,0.822,4,0.000,0.028,2713,1301,1766
$GC,9885,0.59,246.6,268.0,7.0,350,9936,0.00,1.95,46.72,0.817,6,0.000,0.042,2713,2523,1546
$GC,10214,0.61,284.1,242.6,7.9,358,10253,0.00,1.48,32.47,0.782,4,0.000,0.049,2713,3425,1390
$GC,10303,0.61,284.1,234.2,11.0,360,10306,0.00,1.35,0.00,0.000,6,0.000,0.025,2713,2531,1389
$GC,10585,0.61,284.1,205.8,10.4,367,10588,0.00,1.77,0.00,0.000,4,0.000,0.028,2713,1314,1386
$GC,10613,0.61,286.3,202.9,9.9,367,10616,0.00,1.88,0.00,0.000,6,0.000,0.041,2713,2521,1385
$GC,10871,0.63,327.6,180.2,7.7,388,10911,0.00,1.45,36.38,0.732,4,0.000,0.047,2713,3417,1214
$GC,10961,0.64,349.2,172.5,8.8,395,10983,0.00,1.35,19.27,0.693,6,0.000,0.023,2713,2509,1125
$GC,11244,0.66,403.4,152.4,7.0,422,11294,0.00,1.48,45.10,0.697,4,0.000,0.046,2713,3415,904
$GC,11426,0.66,403.4,135.6,10.8,438,11429,0.00,1.48,0.00,0.000,6,0.000,0.025,2713,2426,902
$GC,11691,0.66,403.4,106.0,11.4,463,11693,0.00,1.58,0.00,0.000,4,0.000,0.048,2713,3410,901
$GC,11939,0.68,457.0,82.1,7.0,486,11993,0.00,1.52,43.83,0.632,6,0.000,0.024,2713,2373,686
$GC,12243,0.68,457.0,54.4,11.6,514,12246,0.00,1.55,0.00,0.000,4,0.000,0.028,2713,1320,684
$GC,12352,0.68,457.0,41.3,12.7,524,12355,0.00,1.62,0.00,0.000,6,0.000,0.035,2713,2394,683
$GC,12617,0.68,457.0,10.4,10.9,564,12624,0.00,1.58,0.00,0.000,4,0.000,0.024,2713,1320,683
$STATE,12679,end climb,SURFACE_DEPTH_REACHED
$STATE,12679,begin surface coast
$FINISH,0.0,1.023055
$STATE,12704,end surface coast,CONTROL_FINISHED_OK
$STATE,12705,begin surface
$SM_CCo,12790,0.00,0.000,0,0,682,458.21
$SM_GC,0.84,6.78,0.00,0.00,0.026,0.000,0.000,42,2607,682,-7.68,0.20,458.21
$IRIDIUM_FIX,2248.70,-15811.05,120102,151550
$TT8_MAMPS,0.046787
$HUMID,2223
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.10
$XPDR_PINGS,15
$24V_AH,23.8,73.976
$10V_AH,10.5,72.387
$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,17.050,105.675,515.625,0.000,0.000,90.403,100.571,530.169,3.750,0.000,0.000,15.974,0.000,9091.898,504.871,2903.188,1299.168,33.348,1441.738,0.000,2599.467,0.000,0.544,0.000
$DEVICE_MAMPS,200.954,50.622,1057.693,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,392.106,1323.911,1371.318,193.933,1032.957,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47717,581
$CAP_FILE_SIZE,123460,0
$CFSIZE,260165632,228962304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,181012,184330,2300.164,-15808.307,52,1.2,52,10.1