version: 66.04
glider: 512
mission: 3
dive: 571
start: 10 19 112 20 59 50
data:
$ID,512
$MISSION,3
$DIVE,571
$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,-65225.957
$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,2590
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,68
$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
$GPS1,205035,2303.714,-15806.739,52,1.3,63,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-73.1
$GPS2,205912,2303.716,-15806.772,17,1.6,17,10.1
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,HNW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,0.101
$KALMAN_X,-120196.9,96.8,-110.6,82355.5,-919.1
$KALMAN_Y,46211.5,438.1,670.5,-35611.5,-612.6
$MHEAD_RNG_PITCHd_Wd,55.0,4064,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.54,-121.7,0.0,0.0,0,87,0.00,0.00,-65.85,0.000,2,0.000,0.000,20,2683,2462
$GC,92,-0.54,-121.7,2.0,-2.7,8,119,8.88,1.48,-13.23,0.000,4,0.199,0.054,2334,3626,3026
$GC,164,-0.54,-121.7,17.2,-19.1,19,172,0.00,1.52,0.00,0.000,6,0.000,0.021,2334,2588,3027
$GC,430,-0.54,-121.7,64.2,-15.8,51,432,0.00,1.50,0.00,0.000,4,0.000,0.022,2334,1527,3027
$GC,539,-0.54,-121.7,79.9,-13.4,61,542,0.00,1.52,0.00,0.000,6,0.000,0.037,2333,2518,3028
$GC,802,-0.54,-121.7,115.4,-13.8,86,805,0.00,1.42,0.00,0.000,4,0.000,0.021,2333,1525,3028
$GC,870,-0.54,-121.7,124.5,-12.7,92,873,0.00,1.52,0.00,0.000,6,0.000,0.037,2333,2517,3028
$GC,1133,-0.54,-121.7,160.7,-13.5,117,1136,0.00,1.67,0.00,0.000,4,0.000,0.042,2325,3618,3028
$GC,1168,-0.54,-121.7,165.4,-13.3,120,1171,0.00,1.55,0.00,0.000,6,0.000,0.021,2325,2539,3028
$GC,1433,-0.54,-121.7,199.1,-12.4,145,1436,0.00,1.40,0.00,0.000,4,0.000,0.021,2325,1534,3028
$GC,1504,-0.54,-121.7,207.8,-10.7,147,1507,0.00,1.42,0.00,0.000,6,0.000,0.034,2319,2474,3028
$GC,1764,-0.54,-121.7,238.9,-12.0,154,1765,0.12,0.00,0.00,0.000,6,0.135,0.000,2354,2474,3029
$GC,2006,-0.54,-121.7,261.4,-9.2,160,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2474,3028
$GC,2250,-0.54,-121.7,283.1,-8.9,166,2253,0.00,1.35,0.00,0.000,4,0.000,0.022,2354,1526,3028
$GC,2289,-0.54,-121.7,286.8,-8.4,166,2294,0.00,1.42,0.00,0.000,6,0.000,0.037,2349,2461,3028
$GC,2539,-0.54,-121.7,308.9,-8.9,173,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2461,3027
$GC,2780,-0.54,-121.7,328.0,-7.7,179,2783,0.00,1.75,0.00,0.000,4,0.000,0.045,2341,3623,3026
$GC,2808,-0.54,-121.7,330.2,-7.4,179,2811,0.00,1.67,0.00,0.000,6,0.000,0.021,2340,2464,3026
$GC,3070,-0.54,-121.7,350.4,-7.8,186,3073,0.00,1.30,0.00,0.000,4,0.000,0.022,2340,1526,3025
$GC,3121,-0.54,-121.7,354.4,-7.4,187,3123,0.00,1.40,0.00,0.000,6,0.000,0.037,2334,2440,3025
$GC,3402,-0.54,-121.7,378.0,-8.7,194,3405,0.00,1.77,0.00,0.000,4,0.000,0.045,2325,3615,3023
$GC,3430,-0.54,-121.7,380.8,-9.7,194,3433,0.00,1.65,0.00,0.000,6,0.000,0.021,2325,2457,3023
$GC,3692,-0.54,-121.7,406.9,-10.1,201,3695,0.00,1.30,0.00,0.000,4,0.000,0.022,2325,1521,3021
$GC,3763,-0.54,-121.7,414.0,-9.5,202,3766,0.08,1.35,0.00,0.000,6,0.104,0.038,2349,2399,3021
$GC,4023,-0.54,-121.7,435.2,-8.1,209,4026,0.00,1.85,0.00,0.000,4,0.000,0.048,2346,3612,3018
$GC,4113,-0.54,-121.7,442.1,-7.5,211,4117,0.00,1.62,-0.08,0.000,6,0.000,0.022,2346,2471,3042
$GC,4400,-0.54,-121.7,464.8,-7.9,218,4403,0.00,1.33,0.00,0.000,4,0.000,0.024,2346,1529,3040
$GC,4444,-0.54,-121.7,468.2,-7.5,219,4447,0.00,1.40,0.00,0.000,6,0.000,0.041,2346,2428,3040
$GC,4734,-0.54,-121.7,489.1,-7.1,226,4737,0.00,1.83,0.00,0.000,4,0.000,0.048,2340,3616,3038
$GC,4805,-0.54,-121.7,494.7,-6.8,227,4808,0.00,1.62,0.00,0.000,6,0.000,0.023,2340,2483,3037
$GC,5065,-0.54,-121.7,515.2,-7.8,234,5068,0.00,1.35,0.00,0.000,4,0.000,0.025,2340,1525,3035
$GC,5088,-0.54,-121.7,517.1,-8.1,234,5091,0.00,1.48,0.00,0.000,6,0.000,0.040,2333,2478,3035
$GC,5356,-0.54,-121.7,538.7,-8.2,241,5359,0.00,1.75,0.00,0.000,4,0.000,0.050,2333,3618,3034
$GC,5395,-0.54,-121.7,542.1,-7.9,241,5400,0.00,1.60,0.00,0.000,6,0.000,0.024,2333,2501,3033
$GC,5644,-0.54,-121.7,560.6,-7.4,248,5647,0.00,1.38,0.00,0.000,4,0.000,0.025,2333,1534,3032
$GC,5694,-0.54,-121.7,564.2,-7.0,249,5697,0.00,1.42,0.00,0.000,6,0.000,0.042,2333,2446,3031
$GC,5978,-0.54,-121.7,583.5,-6.8,256,5981,0.00,1.80,0.00,0.000,4,0.000,0.049,2326,3616,3029
$GC,6006,-0.54,-121.7,585.6,-7.2,256,6009,0.00,1.70,0.00,0.000,6,0.000,0.025,2326,2464,3029
$STATE,6221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6221,begin apogee
$GC,6232,-0.18,0.0,601.7,7.4,262,6345,0.43,0.00,111.25,1.045,6,0.100,0.000,2465,2350,2530
$STATE,6345,end apogee,CONTROL_FINISHED_OK
$STATE,6345,begin climb
$GC,6350,0.54,121.7,605.8,0.0,265,6476,0.62,1.67,113.00,0.996,4,0.038,0.043,2715,3384,2033
$GC,6558,0.54,121.7,590.7,14.0,269,6564,0.00,1.52,0.00,0.000,6,0.000,0.023,2721,2369,2029
$GC,6809,0.54,121.7,560.1,12.1,276,6813,0.00,1.62,0.00,0.000,4,0.000,0.047,2715,3385,2025
$GC,6859,0.54,121.7,553.4,13.4,277,6862,0.00,1.50,0.00,0.000,6,0.000,0.025,2721,2375,2025
$GC,7140,0.54,121.7,520.4,11.3,284,7143,0.00,1.60,0.00,0.000,4,0.000,0.045,2722,3381,2024
$GC,7281,0.54,121.7,504.1,11.3,287,7284,0.00,1.45,0.00,0.000,6,0.000,0.025,2729,2394,2022
$GC,7557,0.55,124.2,476.1,9.9,294,7560,0.00,1.58,0.00,0.000,4,0.000,0.046,2728,3387,2021
$GC,7634,0.55,124.2,468.1,10.2,295,7637,0.08,1.40,0.00,0.000,6,0.187,0.025,2713,2439,2021
$GC,7889,0.55,127.5,443.7,9.8,302,7897,0.00,1.52,4.20,0.625,4,0.000,0.046,2713,3382,2010
$GC,8007,0.55,127.5,430.1,11.6,304,8010,0.00,1.38,0.00,0.000,6,0.000,0.025,2718,2448,2010
$GC,8265,0.55,127.5,402.9,10.6,311,8268,0.00,1.48,0.00,0.000,4,0.000,0.046,2715,3378,2008
$GC,8389,0.55,127.5,388.7,11.1,313,8394,0.00,1.30,0.00,0.000,6,0.000,0.024,2720,2489,2008
$GC,8638,0.55,133.9,364.1,9.6,320,8648,0.00,1.45,7.28,0.765,4,0.000,0.044,2716,3383,1984
$GC,8699,0.55,133.9,358.2,10.2,321,8701,0.00,1.27,0.00,0.000,6,0.000,0.025,2720,2514,1984
$GC,8964,0.56,159.5,334.8,8.6,328,8998,0.00,1.75,26.17,0.819,4,0.000,0.026,2729,1322,1878
$GC,9091,0.57,178.1,323.4,9.0,330,9114,0.00,1.70,17.42,0.829,6,0.000,0.041,2729,2419,1803
$GC,9371,0.57,179.1,295.2,9.9,337,9374,0.00,1.50,0.00,0.000,4,0.000,0.047,2729,3375,1799
$GC,9546,0.57,179.1,277.4,10.9,341,9549,0.00,1.33,0.00,0.000,6,0.000,0.025,2734,2484,1798
$GC,9833,0.57,179.7,249.2,10.0,348,9836,0.00,1.42,0.00,0.000,4,0.000,0.047,2735,3381,1797
$GC,9942,0.57,179.7,236.2,12.0,350,9944,0.00,1.23,0.00,0.000,6,0.000,0.025,2739,2547,1796
$GC,10207,0.57,179.7,207.7,10.3,357,10210,0.00,1.33,0.00,0.000,4,0.000,0.045,2739,3386,1796
$GC,10300,0.57,179.7,198.0,10.2,359,10307,0.10,1.17,0.00,0.000,6,0.157,0.025,2715,2573,1796
$GC,10562,0.59,224.1,179.0,7.5,384,10611,0.00,1.90,39.05,0.742,4,0.000,0.026,2722,1304,1615
$GC,10626,0.60,254.7,173.5,8.3,389,10656,0.00,2.00,26.88,0.716,6,0.000,0.040,2722,2585,1491
$GC,10911,0.60,254.7,145.6,10.3,415,10914,0.00,1.25,0.00,0.000,4,0.000,0.045,2722,3388,1486
$GC,10958,0.60,254.7,140.6,11.4,419,10961,0.00,1.15,0.00,0.000,6,0.000,0.025,2728,2602,1486
$GC,11222,0.61,278.4,115.1,8.7,444,11247,0.00,1.85,20.52,0.660,4,0.000,0.025,2737,1323,1394
$GC,11294,0.61,297.8,109.0,8.9,450,11321,0.00,1.92,17.48,0.641,6,0.000,0.038,2737,2572,1314
$GC,11576,0.62,314.9,85.5,9.1,476,11594,0.00,1.23,15.23,0.612,4,0.000,0.043,2737,3384,1245
$GC,11643,0.62,314.9,78.5,10.9,481,11646,0.00,1.15,0.00,0.000,6,0.000,0.023,2739,2600,1245
$GC,11907,0.63,345.7,54.3,8.3,506,11939,0.00,1.90,26.42,0.607,4,0.000,0.025,2739,1318,1119
$GC,12025,0.66,404.6,45.3,6.7,516,12080,0.00,1.90,48.45,0.601,6,0.000,0.035,2739,2564,879
$GC,12332,0.66,419.4,21.0,9.2,553,12350,0.00,1.23,13.27,0.539,4,0.000,0.041,2739,3384,818
$STATE,12505,end climb,SURFACE_DEPTH_REACHED
$STATE,12505,begin surface coast
$FINISH,0.7,1.023186
$STATE,12525,end surface coast,CONTROL_FINISHED_OK
$STATE,12525,begin surface
$SM_CCo,12610,0.00,0.000,0,0,816,420.19
$SM_GC,1.02,6.85,0.00,0.00,0.023,0.000,0.000,21,2566,816,-7.69,-0.54,420.19
$IRIDIUM_FIX,2255.72,-15635.78,130102,171724
$TT8_MAMPS,0.046787
$HUMID,2230
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.70
$XPDR_PINGS,12
$24V_AH,23.8,75.139
$10V_AH,10.5,73.637
$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,17.150,103.075,486.625,0.000,0.000,30.183,34.495,273.414,3.000,0.000,0.000,17.208,0.000,8753.102,471.207,2962.422,913.494,33.349,1422.675,0.000,2664.278,0.000,0.544,0.000
$DEVICE_MAMPS,198.653,53.690,1044.654,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,397.181,1375.748,1422.327,212.975,1105.886,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47934,589
$CAP_FILE_SIZE,115889,0
$CFSIZE,260165632,228483072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,201012,003106,2303.759,-15806.114,39,0.9,39,10.1