version: 66.04
glider: 512
mission: 3
dive: 635
start: 10 30 112 9 44 55
data:
$ID,512
$MISSION,3
$DIVE,635
$D_SURF,3
$D_FLARE,2
$D_TGT,700
$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,230
$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,522.72577
$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,-66498.906
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2540
$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,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,33
$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
$GPS1,085253,2246.414,-15744.353,39,1.3,39,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-77.8
$GPS2,094412,2246.243,-15744.630,13,1.5,13,10.1
$SPEED_LIMITS,0.145,0.240
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.061,-0.232
$KALMAN_X,-197217.8,-254.7,-110.3,197489.8,49.5
$KALMAN_Y,125717.4,33.5,414.8,-146819.5,202.7
$MHEAD_RNG_PITCHd_Wd,184.7,88666,-19.6,-10.145
$D_GRID,700
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.55,-121.7,0.0,0.0,0,106,0.00,0.00,-89.18,0.000,2,0.000,0.000,11,2607,2667
$GC,112,-0.55,-121.7,2.1,-2.2,12,134,9.18,1.50,-7.97,0.000,4,0.206,0.038,2355,1575,3026
$GC,234,-0.55,-121.7,23.9,-11.5,33,241,0.00,1.60,0.00,0.000,6,0.000,0.036,2350,2622,3028
$GC,567,-0.55,-121.7,67.8,-12.1,68,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2623,3027
$GC,886,-0.55,-121.7,104.3,-11.2,99,889,0.00,1.50,0.00,0.000,4,0.000,0.020,2351,1564,3028
$GC,925,-0.55,-121.7,108.9,-10.2,102,932,0.00,1.60,0.00,0.000,6,0.000,0.036,2346,2617,3028
$GC,1250,-0.55,-121.7,144.0,-11.5,133,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2617,3028
$GC,1569,-0.55,-121.7,178.4,-10.2,164,1572,0.00,1.48,0.00,0.000,4,0.000,0.021,2346,1570,3027
$GC,1598,-0.55,-121.7,181.7,-10.3,166,1605,0.00,1.58,0.00,0.000,6,0.000,0.038,2346,2605,3027
$GC,1932,-0.55,-121.7,216.6,-10.1,187,1935,0.00,1.65,0.00,0.000,4,0.000,0.044,2338,3687,3026
$GC,1960,-0.55,-121.7,219.4,-9.5,187,1963,0.00,1.55,0.00,0.000,6,0.000,0.018,2338,2596,3026
$GC,2301,-0.55,-121.7,250.2,-9.3,196,2304,0.00,1.40,0.00,0.000,4,0.000,0.021,2338,1578,3026
$GC,2340,-0.55,-121.7,254.0,-9.4,196,2346,0.00,1.58,0.00,0.000,6,0.000,0.037,2333,2613,3025
$GC,2670,-0.55,-121.7,284.4,-8.9,205,2673,0.00,1.45,0.00,0.000,4,0.000,0.021,2333,1583,3024
$GC,2721,-0.55,-121.7,288.4,-7.6,206,2723,0.00,1.48,0.00,0.000,6,0.000,0.038,2333,2546,3024
$GC,3042,-0.55,-121.7,314.4,-8.4,214,3045,0.00,1.73,0.00,0.000,4,0.000,0.045,2324,3690,3022
$GC,3113,-0.55,-121.7,320.9,-9.2,215,3117,0.10,1.62,0.00,0.000,6,0.107,0.021,2361,2549,3021
$GC,3455,-0.55,-121.7,344.1,-6.4,224,3457,0.00,1.77,0.00,0.000,4,0.000,0.047,2355,3697,3019
$GC,3504,-0.55,-121.7,347.6,-7.2,225,3507,0.00,1.35,0.00,0.000,6,0.000,0.022,2355,2733,3018
$GC,3826,-0.55,-121.7,370.7,-7.2,233,3829,0.00,1.52,-0.08,0.000,4,0.000,0.065,2348,3700,3038
$GC,3930,-0.55,-121.7,378.3,-7.0,235,3932,0.00,1.17,0.00,0.000,6,0.000,0.023,2348,2862,3038
$GC,4241,-0.55,-121.7,398.4,-6.4,243,4244,0.00,1.80,0.00,0.000,4,0.000,0.022,2348,1578,3035
$GC,4328,-0.55,-121.7,404.8,-7.3,245,4331,0.00,1.67,0.00,0.000,6,0.000,0.041,2346,2678,3034
$GC,4655,-0.55,-121.7,428.7,-7.2,253,4658,0.00,1.55,0.00,0.000,4,0.000,0.050,2339,3678,3032
$GC,4689,-0.55,-121.7,431.2,-8.2,253,4692,0.00,1.12,0.00,0.000,6,0.000,0.024,2339,2882,3031
$GC,5024,-0.55,-121.7,454.6,-6.6,262,5028,0.00,1.85,0.00,0.000,4,0.000,0.024,2339,1590,3028
$GC,5101,-0.55,-121.7,460.2,-7.1,263,5104,0.00,1.73,0.00,0.000,6,0.000,0.041,2333,2724,3028
$GC,5437,-0.55,-121.7,486.2,-8.0,272,5440,0.00,1.62,0.00,0.000,4,0.000,0.024,2333,1579,3026
$GC,5502,-0.55,-121.7,491.8,-8.3,273,5505,0.00,1.67,0.00,0.000,6,0.000,0.042,2333,2673,3026
$GC,5849,-0.55,-121.7,518.1,-7.5,282,5852,0.00,1.58,0.00,0.000,4,0.000,0.024,2333,1588,3024
$GC,5899,-0.55,-121.7,521.9,-6.9,283,5902,0.00,1.62,0.00,0.000,6,0.000,0.044,2333,2643,3023
$GC,6220,-0.55,-121.7,543.9,-6.7,291,6223,0.00,1.62,0.00,0.000,4,0.000,0.054,2333,3695,3021
$GC,6255,-0.55,-121.7,546.1,-6.4,291,6258,0.00,1.52,0.00,0.000,6,0.000,0.025,2333,2644,3021
$GC,6590,-0.55,-121.7,568.5,-6.7,300,6593,0.00,1.65,0.00,0.000,4,0.000,0.052,2325,3692,3018
$GC,6634,-0.55,-121.7,571.8,-7.7,301,6638,0.08,1.48,0.00,0.000,6,0.107,0.025,2355,2679,3018
$GC,6962,-0.55,-121.7,593.3,-6.6,309,6965,0.00,1.58,0.00,0.000,4,0.000,0.026,2355,1581,3017
$GC,6974,-0.55,-121.7,594.0,-6.7,309,6977,0.00,2.05,0.00,0.000,6,0.000,0.048,2349,2896,3017
$GC,7291,-0.55,-121.7,615.7,-6.9,317,7294,0.00,1.92,0.00,0.000,4,0.000,0.027,2348,1593,3015
$GC,7378,-0.55,-121.7,622.1,-7.4,319,7381,0.00,1.75,0.00,0.000,6,0.000,0.047,2346,2718,3014
$GC,7705,-0.55,-121.7,644.3,-6.6,327,7708,0.00,1.52,0.00,0.000,4,0.000,0.054,2339,3682,3013
$GC,7803,-0.55,-121.7,650.8,-6.3,329,7806,0.00,1.35,0.00,0.000,6,0.000,0.025,2339,2753,3012
$GC,8120,-0.55,-121.7,669.1,-5.4,337,8123,0.00,1.65,0.00,0.000,4,0.000,0.027,2339,1586,3011
$GC,8218,-0.55,-121.7,674.8,-5.7,339,8221,0.00,2.05,0.00,0.000,6,0.000,0.047,2333,2898,3011
$GC,8534,-0.55,-121.7,694.8,-6.5,347,8537,0.00,1.25,0.00,0.000,4,0.000,0.054,2327,3687,3009
$GC,8590,-0.55,-121.7,698.6,-7.1,348,8593,0.08,1.35,0.00,0.000,6,0.104,0.028,2357,2765,3009
$STATE,8608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8608,begin apogee
$GC,8619,-0.18,0.0,700.2,7.0,348,8733,0.32,0.00,111.72,1.132,6,0.080,0.000,2478,2480,2530
$STATE,8733,end apogee,CONTROL_FINISHED_OK
$STATE,8733,begin climb
$GC,8738,0.55,121.7,704.8,0.0,351,8890,0.62,1.77,121.70,1.034,4,0.031,0.051,2749,3521,2034
$GC,8946,0.55,121.7,692.6,14.8,356,8949,0.12,1.62,0.00,0.000,6,0.180,0.025,2724,2461,2029
$GC,9273,0.55,121.7,653.6,11.9,364,9276,0.00,1.73,0.00,0.000,4,0.000,0.051,2723,3522,2024
$GC,9349,0.55,121.7,643.5,13.3,365,9352,0.00,1.55,0.00,0.000,6,0.000,0.025,2731,2480,2023
$GC,9685,0.55,121.7,601.0,12.7,374,9687,0.00,1.65,0.00,0.000,4,0.000,0.051,2729,3522,2022
$GC,9718,0.55,121.7,596.5,13.9,374,9721,0.00,1.50,0.00,0.000,6,0.000,0.025,2735,2506,2022
$GC,10054,0.55,121.7,552.1,13.0,383,10057,0.00,1.60,0.00,0.000,4,0.000,0.028,2743,1409,2021
$GC,10098,0.55,121.7,546.4,12.7,384,10101,0.00,1.70,0.00,0.000,6,0.000,0.044,2743,2509,2019
$GC,10425,0.55,121.7,506.6,11.8,392,10428,0.00,1.58,0.00,0.000,4,0.000,0.048,2742,3515,2019
$GC,10502,0.55,121.7,497.2,12.2,393,10505,0.00,1.45,0.00,0.000,6,0.000,0.025,2748,2523,2019
$GC,10837,0.55,121.7,458.4,11.4,402,10840,0.00,1.62,0.00,0.000,4,0.000,0.028,2756,1387,2019
$GC,10881,0.55,121.7,453.5,11.1,403,10885,0.15,1.77,0.00,0.000,6,0.165,0.044,2717,2535,2018
$GC,11209,0.55,128.4,421.1,9.8,411,11217,0.00,1.58,4.93,0.699,4,0.000,0.048,2716,3522,2006
$GC,11306,0.55,128.4,410.7,11.5,413,11309,0.00,1.42,0.00,0.000,6,0.000,0.025,2721,2554,2005
$GC,11623,0.56,148.4,381.4,9.0,421,11653,0.00,1.73,21.88,0.837,4,0.000,0.028,2729,1409,1923
$GC,11741,0.57,166.1,370.8,9.2,423,11761,0.00,1.77,17.00,0.872,6,0.000,0.044,2729,2549,1852
$GC,12067,0.57,166.1,336.1,10.5,432,12068,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2549,1847
$GC,12390,0.57,166.1,302.7,10.2,440,12393,0.00,1.67,0.00,0.000,4,0.000,0.027,2735,1407,1846
$GC,12467,0.57,172.6,295.2,9.8,441,12477,0.00,1.73,6.15,0.694,6,0.000,0.044,2735,2519,1826
$GC,12802,0.58,198.5,264.9,8.7,450,12835,0.00,0.00,26.42,0.775,6,0.000,0.000,2735,2519,1719
$GC,13168,0.59,218.0,232.5,9.0,459,13190,0.00,1.62,17.77,0.772,4,0.000,0.049,2734,3522,1641
$GC,13248,0.59,218.0,224.0,10.9,460,13253,0.00,1.58,0.00,0.000,6,0.000,0.025,2739,2482,1639
$GC,13561,0.59,227.2,192.5,9.6,473,13575,0.00,1.62,9.07,0.678,4,0.000,0.028,2739,1399,1603
$GC,13668,0.61,262.3,183.2,8.2,482,13702,0.00,1.65,30.65,0.740,6,0.000,0.041,2739,2448,1459
$GC,14014,0.61,274.5,151.5,9.5,515,14029,0.00,1.70,11.70,0.664,4,0.000,0.048,2739,3514,1409
$GC,14118,0.61,274.9,140.4,10.1,524,14127,0.00,1.55,0.00,0.000,6,0.000,0.023,2738,2482,1408
$GC,14443,0.62,301.8,111.1,8.6,555,14472,0.00,1.62,24.02,0.663,4,0.000,0.027,2739,1398,1297
$GC,14527,0.64,337.8,103.5,8.1,562,14565,0.00,1.67,30.92,0.651,6,0.000,0.039,2739,2489,1151
$GC,14878,0.65,369.9,72.1,8.3,595,14909,0.00,1.67,27.48,0.620,4,0.000,0.025,2738,1394,1020
$GC,14938,0.67,430.0,67.8,6.8,600,14996,0.00,1.65,49.53,0.616,6,0.000,0.035,2739,2458,777
$GC,15307,0.67,430.0,34.3,10.4,635,15311,0.00,1.65,0.00,0.000,4,0.000,0.046,2739,3516,774
$GC,15559,0.67,430.0,6.8,10.8,677,15567,0.00,1.55,0.00,0.000,6,0.000,0.021,2739,2446,774
$STATE,15592,end climb,SURFACE_DEPTH_REACHED
$STATE,15592,begin surface coast
$FINISH,0.1,1.011681
$STATE,15625,end surface coast,CONTROL_FINISHED_OK
$STATE,15625,begin surface
$SM_CCo,15649,45.62,0.552,0,0,398,522.73
$SM_GC,0.86,0.00,0.00,45.62,0.000,0.000,0.552,30,2658,398,-7.84,0.79,522.73
$IRIDIUM_FIX,2237.01,-15745.45,240102,090939
$TT8_MAMPS,0.047554
$HUMID,2258
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.90
$XPDR_PINGS,28
$24V_AH,23.0,85.642
$10V_AH,10.4,82.861
$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,17.475,116.175,510.950,45.625,0.000,134.672,180.875,2315.461,7.000,0.000,0.000,13.260,0.000,11971.870,580.701,2941.743,3261.734,33.379,1633.156,0.000,2582.595,0.000,0.547,0.000
$DEVICE_MAMPS,205.556,65.195,1132.092,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,463.622,1332.360,1397.084,141.829,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54220,689
$CAP_FILE_SIZE,162690,0
$CFSIZE,260165632,224358400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,301012,140736,2244.736,-15744.835,34,1.4,34,10.1