version: 66.04
glider: 512
mission: 3
dive: 566
start: 10 19 112 2 25 15
data:
$ID,512
$MISSION,3
$DIVE,566
$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,-65140.594
$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,2630
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2530
$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
$GPS1,021636,2301.122,-15808.256,32,1.1,32,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-78.5
$GPS2,022437,2301.082,-15808.315,13,1.6,13,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HNW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,0.094
$KALMAN_X,-110300.5,-195.2,150.0,69866.1,-1942.7
$KALMAN_Y,48013.1,-78.8,-673.2,-40425.0,-454.0
$MHEAD_RNG_PITCHd_Wd,56.8,8979,-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,-121.7,0.0,0.0,0,83,0.00,0.00,-65.93,0.000,2,0.000,0.000,15,2590,2611
$GC,88,-0.54,-121.7,2.2,-2.2,8,114,8.98,1.70,-9.00,0.000,4,0.199,0.051,2334,3693,3026
$GC,179,-0.54,-121.7,22.7,-15.8,23,187,0.00,1.55,0.00,0.000,6,0.000,0.020,2334,2631,3027
$GC,446,-0.54,-121.7,66.5,-16.5,52,449,0.00,1.50,0.00,0.000,4,0.000,0.023,2341,1576,3028
$GC,544,-0.54,-121.7,79.8,-11.2,61,547,0.00,1.55,0.00,0.000,6,0.000,0.036,2335,2581,3027
$GC,807,-0.54,-121.7,116.9,-14.5,86,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2582,3028
$GC,1055,-0.54,-121.7,152.1,-13.4,110,1058,0.00,1.45,0.00,0.000,4,0.000,0.021,2338,1566,3029
$GC,1134,-0.54,-121.7,161.9,-10.8,117,1137,0.00,1.60,0.00,0.000,6,0.000,0.036,2333,2602,3029
$GC,1398,-0.54,-121.7,191.7,-10.3,142,1401,0.00,1.65,0.00,0.000,4,0.000,0.044,2324,3708,3029
$GC,1435,-0.54,-121.7,195.3,-9.6,145,1438,0.00,1.60,0.00,0.000,6,0.000,0.019,2324,2570,3029
$GC,1691,-0.54,-121.7,222.3,-10.6,155,1694,0.00,1.38,0.00,0.000,4,0.000,0.021,2325,1575,3029
$GC,1751,-0.54,-121.7,228.7,-10.6,156,1754,0.12,1.60,0.00,0.000,6,0.124,0.036,2354,2640,3029
$GC,2022,-0.54,-121.7,254.1,-9.5,163,2025,0.00,1.52,0.00,0.000,4,0.000,0.021,2354,1574,3029
$GC,2066,-0.54,-121.7,258.3,-9.0,164,2069,0.00,1.55,0.00,0.000,6,0.000,0.038,2349,2579,3029
$GC,2355,-0.54,-121.7,284.7,-8.9,171,2358,0.00,1.67,0.00,0.000,4,0.000,0.046,2341,3688,3027
$GC,2389,-0.54,-121.7,287.9,-8.4,171,2392,0.00,1.60,0.00,0.000,6,0.000,0.020,2340,2553,3027
$GC,2644,-0.54,-121.7,309.8,-8.6,178,2647,0.00,1.38,0.00,0.000,4,0.000,0.023,2340,1566,3026
$GC,2688,-0.54,-121.7,313.6,-8.2,179,2691,0.00,1.50,0.00,0.000,6,0.000,0.038,2334,2541,3026
$GC,2978,-0.54,-121.7,338.0,-8.3,186,2980,0.00,1.75,0.00,0.000,4,0.000,0.047,2325,3696,3025
$GC,3022,-0.54,-121.7,341.7,-8.2,187,3025,0.00,1.65,0.00,0.000,6,0.000,0.021,2325,2535,3024
$GC,3309,-0.54,-121.7,365.1,-8.1,194,3311,0.00,1.35,0.00,0.000,4,0.000,0.023,2325,1569,3023
$GC,3386,-0.54,-121.7,371.5,-8.4,195,3389,0.08,1.48,0.00,0.000,6,0.114,0.038,2348,2525,3022
$GC,3640,-0.54,-121.7,390.1,-7.3,202,3643,0.00,1.77,0.00,0.000,4,0.000,0.049,2341,3685,3021
$GC,3717,-0.54,-121.7,395.9,-8.1,203,3720,0.00,1.65,0.00,0.000,6,0.000,0.021,2341,2545,3021
$GC,3971,-0.54,-121.7,417.1,-8.6,210,3974,0.00,1.38,0.00,0.000,4,0.000,0.025,2340,1571,3018
$GC,4064,-0.54,-121.7,425.1,-8.0,212,4067,0.00,1.48,0.00,0.000,6,0.000,0.040,2334,2522,3018
$GC,4345,-0.54,-121.7,449.9,-8.9,219,4348,0.00,1.40,-0.08,0.000,4,0.000,0.043,2334,1579,3040
$GC,4379,-0.54,-121.7,452.8,-9.1,219,4383,0.00,1.42,0.00,0.000,6,0.000,0.042,2333,2491,3040
$GC,4636,-0.54,-121.7,473.8,-8.0,226,4639,0.00,1.85,0.00,0.000,4,0.000,0.050,2324,3690,3039
$GC,4686,-0.54,-121.7,477.8,-7.2,227,4689,0.00,1.73,0.00,0.000,6,0.000,0.023,2324,2497,3038
$GC,4967,-0.54,-121.7,498.6,-7.1,234,4970,0.00,1.30,0.00,0.000,4,0.000,0.025,2325,1578,3036
$GC,5023,-0.54,-121.7,502.4,-6.8,235,5026,0.08,1.40,0.00,0.000,6,0.107,0.040,2348,2476,3036
$GC,5299,-0.54,-121.7,518.3,-5.9,242,5301,0.00,1.88,0.00,0.000,4,0.000,0.051,2341,3687,3035
$GC,5364,-0.54,-121.7,522.7,-7.6,243,5367,0.00,1.75,0.00,0.000,6,0.000,0.025,2341,2497,3034
$GC,5630,-0.54,-121.7,541.9,-7.4,250,5633,0.00,1.30,0.00,0.000,4,0.000,0.025,2341,1574,3033
$GC,5658,-0.54,-121.7,544.1,-7.6,250,5661,0.00,1.45,0.00,0.000,6,0.000,0.043,2335,2500,3032
$GC,5918,-0.54,-121.7,564.1,-7.8,257,5921,0.00,1.85,0.00,0.000,4,0.000,0.054,2333,3688,3030
$GC,5979,-0.54,-121.7,568.6,-7.5,258,5982,0.00,1.67,0.00,0.000,6,0.000,0.025,2333,2535,3030
$GC,6250,-0.54,-121.7,589.0,-7.5,265,6252,0.00,1.35,0.00,0.000,4,0.000,0.026,2333,1584,3029
$GC,6300,-0.54,-121.7,592.7,-7.3,266,6302,0.00,1.50,0.00,0.000,6,0.000,0.045,2333,2533,3028
$STATE,6414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6414,begin apogee
$GC,6426,-0.18,0.0,601.3,7.1,269,6539,0.40,0.00,111.55,1.057,6,0.096,0.000,2466,2366,2530
$STATE,6539,end apogee,CONTROL_FINISHED_OK
$STATE,6539,begin climb
$GC,6544,0.54,121.7,605.7,0.0,272,6668,0.62,1.65,113.43,1.002,4,0.039,0.025,2720,1314,2033
$GC,6715,0.54,121.7,597.2,12.6,276,6718,0.00,1.67,0.00,0.000,6,0.000,0.041,2716,2370,2028
$GC,7002,0.54,121.7,561.1,12.4,283,7005,0.00,1.62,0.00,0.000,4,0.000,0.048,2715,3419,2024
$GC,7207,0.54,121.7,533.1,13.6,287,7210,0.00,1.52,0.00,0.000,6,0.000,0.025,2721,2393,2023
$GC,7462,0.54,121.7,503.0,11.6,294,7465,0.00,1.62,0.00,0.000,4,0.000,0.048,2722,3423,2021
$GC,7522,0.54,121.7,495.4,13.3,295,7525,0.00,1.45,0.00,0.000,6,0.000,0.025,2729,2440,2021
$GC,7793,0.54,121.7,464.9,10.9,302,7796,0.00,1.58,0.00,0.000,4,0.000,0.048,2728,3422,2019
$GC,7881,0.54,121.7,454.6,12.4,304,7884,0.10,1.40,0.00,0.000,6,0.174,0.025,2706,2474,2020
$GC,8170,0.55,138.1,427.5,9.1,311,8193,0.00,1.67,15.70,0.796,4,0.000,0.028,2713,1327,1966
$GC,8255,0.56,166.9,420.4,8.4,313,8285,0.00,1.77,26.45,0.917,6,0.000,0.043,2713,2439,1849
$GC,8535,0.56,173.2,394.1,9.7,320,8545,0.00,1.52,6.57,0.741,4,0.000,0.047,2713,3429,1823
$GC,8638,0.56,173.2,383.1,10.4,322,8641,0.00,1.45,0.00,0.000,6,0.000,0.025,2720,2460,1822
$GC,8903,0.56,173.2,354.6,10.8,329,8906,0.00,1.65,0.00,0.000,4,0.000,0.031,2728,1310,1820
$GC,8937,0.57,178.6,351.2,9.7,329,8947,0.00,1.77,6.20,0.713,6,0.000,0.044,2729,2451,1801
$GC,9193,0.57,178.6,323.0,11.0,336,9196,0.00,1.52,0.00,0.000,4,0.000,0.050,2728,3422,1800
$GC,9317,0.57,178.6,308.2,11.7,338,9323,0.00,1.42,0.00,0.000,6,0.000,0.025,2735,2458,1799
$GC,9567,0.57,178.6,282.9,10.3,345,9570,0.00,1.52,0.00,0.000,4,0.000,0.050,2735,3409,1799
$GC,9759,0.57,178.6,260.9,12.8,349,9762,0.00,1.33,0.00,0.000,6,0.000,0.026,2740,2517,1798
$GC,10033,0.57,178.6,231.6,10.8,356,10035,0.00,1.73,0.00,0.000,4,0.000,0.028,2740,1311,1797
$GC,10050,0.57,178.6,229.6,10.6,356,10053,0.00,1.85,0.00,0.000,6,0.000,0.041,2740,2494,1796
$GC,10320,0.58,206.3,205.5,8.5,363,10356,0.00,1.50,26.98,0.729,4,0.000,0.048,2740,3427,1687
$GC,10438,0.58,206.3,194.5,10.1,367,10444,0.10,1.40,0.00,0.000,6,0.156,0.024,2717,2485,1686
$GC,10700,0.59,229.9,173.1,8.7,392,10726,0.00,1.48,20.50,0.722,4,0.000,0.045,2717,3421,1593
$GC,10772,0.59,229.9,165.4,11.5,398,10775,0.00,1.35,0.00,0.000,6,0.000,0.022,2723,2511,1592
$GC,11037,0.60,250.1,140.7,8.9,423,11063,0.00,1.77,18.33,0.681,4,0.000,0.025,2732,1302,1509
$GC,11111,0.61,280.6,134.4,8.3,429,11141,0.00,1.85,26.90,0.681,6,0.000,0.040,2732,2495,1386
$GC,11395,0.62,300.2,109.4,8.9,455,11422,0.00,1.48,17.42,0.641,4,0.000,0.047,2732,3425,1305
$GC,11521,0.62,315.4,97.8,9.2,466,11538,0.00,1.35,14.23,0.615,6,0.000,0.022,2736,2506,1244
$GC,11804,0.63,342.1,74.5,8.5,492,11832,0.00,1.75,23.33,0.619,4,0.000,0.024,2739,1307,1134
$GC,11921,0.65,374.1,63.9,8.2,502,11952,0.00,1.83,27.30,0.606,6,0.000,0.035,2739,2503,1005
$GC,12218,0.68,450.1,43.2,5.8,529,12285,0.00,1.80,61.45,0.598,4,0.000,0.025,2738,1303,695
$GC,12525,0.69,481.9,16.0,8.2,570,12560,0.00,1.55,26.12,0.558,6,0.000,0.035,2739,2304,565
$STATE,12650,end climb,SURFACE_DEPTH_REACHED
$STATE,12650,begin surface coast
$FINISH,0.1,1.023238
$STATE,12680,end surface coast,CONTROL_FINISHED_OK
$STATE,12680,begin surface
$SM_CCo,12764,0.00,0.000,0,0,562,482.74
$SM_GC,0.98,6.82,0.00,0.00,0.018,0.000,0.000,19,2660,562,-7.71,0.85,482.74
$IRIDIUM_FIX,2253.38,-15810.18,120102,222255
$TT8_MAMPS,0.047554
$HUMID,2213
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.10
$XPDR_PINGS,19
$24V_AH,23.8,74.423
$10V_AH,10.5,72.864
$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,17.300,110.725,542.450,0.000,0.000,25.661,34.774,244.753,4.750,0.000,0.000,13.657,0.000,8758.905,500.883,3084.623,872.588,33.349,1506.616,0.000,2757.017,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,53.690,1056.926,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,402.762,1400.289,1443.864,216.959,1121.285,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50826,597
$CAP_FILE_SIZE,120052,0
$CFSIZE,260165632,228782080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,191012,055906,2301.673,-15808.317,40,1.0,40,10.1