version: 66.04
glider: 512
mission: 3
dive: 637
start: 10 30 112 20 1 15
data:
$ID,512
$MISSION,3
$DIVE,637
$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,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,-66544.148
$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,52
$R_STBD_OVSHOOT,29
$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
$GPS1,192453,2244.665,-15744.944,27,1.1,44,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-81.2
$GPS2,200037,2244.629,-15744.995,12,1.7,12,10.1
$SPEED_LIMITS,0.145,0.240
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.074,-0.228
$KALMAN_X,-198313.1,456.4,-455.1,197588.3,323.6
$KALMAN_Y,128731.9,333.3,392.5,-153108.8,555.6
$MHEAD_RNG_PITCHd_Wd,187.8,85617,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,16,-0.55,-121.7,0.0,0.0,0,92,0.00,0.00,-74.35,0.000,2,0.000,0.000,11,2694,2735
$GC,98,-0.55,-121.7,2.6,-4.0,10,121,9.12,1.65,-6.30,0.000,4,0.201,0.040,2357,1561,3028
$GC,216,-0.55,-121.7,24.6,-11.9,30,223,0.00,1.65,0.00,0.000,6,0.000,0.036,2351,2633,3027
$GC,543,-0.55,-121.7,69.1,-13.2,64,546,0.00,1.55,0.00,0.000,4,0.000,0.021,2351,1552,3027
$GC,593,-0.55,-121.7,76.4,-11.8,68,600,0.00,1.60,0.00,0.000,6,0.000,0.038,2346,2595,3027
$GC,917,-0.55,-121.7,113.0,-10.9,99,920,0.00,1.65,0.00,0.000,4,0.000,0.043,2338,3700,3027
$GC,974,-0.55,-121.7,120.4,-11.4,104,977,0.00,1.62,0.00,0.000,6,0.000,0.019,2338,2563,3027
$GC,1304,-0.55,-121.7,158.9,-11.8,135,1307,0.00,1.40,0.00,0.000,4,0.000,0.021,2338,1547,3028
$GC,1372,-0.55,-121.7,166.6,-10.2,141,1375,0.00,1.60,0.00,0.000,6,0.000,0.037,2333,2590,3028
$GC,1710,-0.55,-121.7,205.3,-11.8,170,1713,0.00,1.65,0.00,0.000,4,0.000,0.042,2325,3700,3027
$GC,1749,-0.55,-121.7,210.7,-12.3,170,1754,0.12,1.60,0.00,0.000,6,0.126,0.019,2359,2547,3027
$GC,2078,-0.55,-121.7,240.5,-8.2,179,2081,0.00,1.38,0.00,0.000,4,0.000,0.021,2360,1548,3027
$GC,2117,-0.55,-121.7,243.5,-7.3,179,2123,0.00,1.60,0.00,0.000,6,0.000,0.038,2359,2614,3026
$GC,2448,-0.55,-121.7,268.2,-7.5,188,2451,0.00,1.50,0.00,0.000,4,0.000,0.021,2359,1560,3026
$GC,2482,-0.55,-121.7,270.7,-7.3,188,2485,0.00,1.55,0.00,0.000,6,0.000,0.038,2358,2572,3026
$GC,2817,-0.55,-121.7,296.7,-8.0,197,2820,0.00,1.70,0.00,0.000,4,0.000,0.045,2351,3680,3024
$GC,2867,-0.55,-121.7,300.5,-7.5,198,2871,0.00,1.62,0.00,0.000,6,0.000,0.020,2350,2541,3024
$GC,3189,-0.55,-121.7,324.4,-7.4,206,3192,0.00,1.38,0.00,0.000,4,0.000,0.021,2350,1549,3022
$GC,3223,-0.55,-121.7,326.9,-7.5,206,3226,0.00,1.58,0.00,0.000,6,0.000,0.038,2346,2577,3022
$GC,3559,-0.55,-121.7,352.1,-7.8,215,3561,0.00,1.67,0.00,0.000,4,0.000,0.046,2338,3687,3020
$GC,3608,-0.55,-121.7,356.1,-9.0,216,3611,0.00,1.60,0.00,0.000,6,0.000,0.021,2338,2547,3019
$GC,3930,-0.55,-121.7,383.6,-8.7,224,3933,0.00,1.42,-0.08,0.000,4,0.000,0.041,2338,1551,3039
$GC,3963,-0.55,-121.7,386.6,-8.6,224,3966,0.00,1.60,0.00,0.000,6,0.000,0.040,2333,2610,3039
$GC,4299,-0.55,-121.7,412.2,-7.2,233,4302,0.00,1.65,0.00,0.000,4,0.000,0.048,2325,3697,3037
$GC,4328,-0.55,-121.7,414.5,-8.0,233,4331,0.12,1.60,0.00,0.000,6,0.110,0.021,2363,2561,3036
$GC,4669,-0.55,-121.7,435.1,-6.0,242,4671,0.00,1.77,0.00,0.000,4,0.000,0.048,2359,3694,3034
$GC,4746,-0.55,-121.7,439.8,-6.5,243,4748,0.00,1.33,0.00,0.000,6,0.000,0.024,2359,2764,3034
$GC,5081,-0.55,-121.7,459.8,-6.0,252,5084,0.00,1.70,0.00,0.000,4,0.000,0.024,2359,1549,3031
$GC,5093,-0.55,-121.7,460.7,-6.1,252,5096,0.00,1.65,0.00,0.000,6,0.000,0.044,2358,2607,3031
$GC,5410,-0.55,-121.7,481.0,-6.5,260,5413,0.00,1.50,0.00,0.000,4,0.000,0.023,2358,1560,3028
$GC,5444,-0.55,-121.7,483.3,-6.8,260,5447,0.00,1.92,0.00,0.000,6,0.000,0.044,2358,2808,3028
$GC,5779,-0.55,-121.7,504.5,-6.2,269,5782,0.00,1.80,0.00,0.000,4,0.000,0.024,2358,1551,3026
$GC,5851,-0.55,-121.7,509.2,-6.1,270,5854,0.00,1.65,0.00,0.000,6,0.000,0.044,2358,2607,3026
$GC,6191,-0.55,-121.7,531.0,-6.4,279,6194,0.00,1.70,0.00,0.000,4,0.000,0.052,2350,3685,3024
$GC,6332,-0.55,-121.7,541.1,-7.1,282,6334,0.00,1.30,0.00,0.000,6,0.000,0.025,2351,2780,3023
$GC,6649,-0.55,-121.7,562.6,-6.7,290,6652,0.00,1.73,0.00,0.000,4,0.000,0.026,2352,1560,3021
$GC,6682,-0.55,-121.7,564.9,-6.6,290,6685,0.00,1.65,0.00,0.000,6,0.000,0.044,2346,2631,3021
$GC,7018,-0.55,-121.7,585.9,-6.0,299,7021,0.00,1.58,0.00,0.000,4,0.000,0.025,2346,1552,3020
$GC,7052,-0.55,-121.7,587.9,-5.9,299,7055,0.00,2.00,0.00,0.000,6,0.000,0.048,2346,2833,3019
$GC,7387,-0.55,-121.7,607.4,-5.8,308,7390,0.00,1.85,0.00,0.000,4,0.000,0.025,2346,1556,3017
$GC,7463,-0.55,-121.7,612.4,-6.1,309,7467,0.00,1.67,0.00,0.000,6,0.000,0.046,2347,2619,3017
$GC,7799,-0.55,-121.7,633.9,-6.4,318,7802,0.00,1.67,0.00,0.000,4,0.000,0.056,2346,3690,3015
$GC,7903,-0.55,-121.7,640.8,-6.8,320,7905,0.00,1.30,0.00,0.000,6,0.000,0.028,2346,2801,3015
$GC,8213,-0.55,-121.7,660.2,-6.2,328,8216,0.00,1.77,0.00,0.000,4,0.000,0.028,2346,1561,3013
$GC,8328,-0.55,-121.7,667.5,-6.0,330,8331,0.00,1.70,0.00,0.000,6,0.000,0.048,2346,2649,3013
$GC,8669,-0.55,-121.7,687.0,-5.6,339,8672,0.00,1.65,0.00,0.000,4,0.000,0.058,2346,3700,3012
$GC,8751,-0.55,-121.7,691.8,-6.0,340,8756,0.00,1.27,0.00,0.000,6,0.000,0.028,2346,2825,3012
$STATE,8914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8914,begin apogee
$GC,8926,-0.18,0.0,701.3,5.6,345,9040,0.40,0.00,112.53,1.134,6,0.084,0.000,2483,2441,2530
$STATE,9040,end apogee,CONTROL_FINISHED_OK
$STATE,9041,begin climb
$GC,9045,0.55,121.7,706.0,0.0,348,9206,0.60,1.60,123.97,1.022,4,0.027,0.027,2763,1404,2033
$GC,9218,0.55,121.7,696.2,14.0,352,9221,0.17,1.70,0.00,0.000,6,0.171,0.043,2722,2466,2030
$GC,9540,0.55,121.7,654.2,12.8,360,9542,0.00,1.65,0.00,0.000,4,0.000,0.049,2722,3525,2024
$GC,9616,0.55,121.7,643.7,14.4,361,9619,0.00,1.58,0.00,0.000,6,0.000,0.025,2730,2472,2023
$GC,9952,0.55,121.7,601.5,12.7,370,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2467,2022
$GC,10274,0.55,121.7,561.5,12.2,378,10276,0.00,1.67,0.00,0.000,4,0.000,0.050,2729,3529,2021
$GC,10371,0.55,121.7,548.7,12.7,380,10374,0.00,1.55,0.00,0.000,6,0.000,0.026,2735,2487,2020
$GC,10688,0.55,121.7,509.9,12.5,388,10691,0.00,1.58,0.00,0.000,4,0.000,0.029,2743,1408,2020
$GC,10738,0.55,121.7,503.7,12.4,389,10740,0.00,1.70,0.00,0.000,6,0.000,0.044,2742,2509,2019
$GC,11059,0.55,121.7,465.0,11.6,397,11062,0.00,1.60,0.00,0.000,4,0.000,0.051,2742,3524,2019
$GC,11173,0.55,121.7,451.6,12.0,399,11176,0.00,1.45,0.00,0.000,6,0.000,0.026,2748,2545,2018
$GC,11514,0.55,127.5,417.3,9.8,408,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2539,2018
$GC,11837,0.56,136.8,385.4,9.6,416,11860,0.00,1.70,14.10,0.773,4,0.000,0.028,2756,1407,1972
$GC,11939,0.56,144.4,375.5,9.7,418,11953,0.12,1.83,9.00,0.811,6,0.167,0.044,2725,2582,1941
$GC,12290,0.56,144.4,340.9,10.3,427,12293,0.00,1.73,0.00,0.000,4,0.000,0.028,2732,1409,1937
$GC,12361,0.56,145.4,333.9,10.1,428,12364,0.00,1.80,0.00,0.000,6,0.000,0.044,2732,2549,1936
$GC,12702,0.56,150.5,299.9,9.9,437,12712,0.00,1.58,6.55,0.717,4,0.000,0.049,2730,3529,1916
$GC,12794,0.56,154.8,290.5,9.9,439,12802,0.00,1.40,5.93,0.681,6,0.000,0.025,2736,2578,1898
$GC,13145,0.57,163.0,256.9,9.7,448,13158,0.00,1.75,8.73,0.738,4,0.000,0.028,2744,1411,1864
$GC,13263,0.58,188.7,246.4,8.7,450,13292,0.00,1.80,24.12,0.803,6,0.000,0.043,2742,2574,1759
$GC,13600,0.59,209.2,215.5,9.0,459,13620,0.00,0.00,18.60,0.763,6,0.000,0.000,2742,2574,1676
$GC,13936,0.59,224.0,184.7,9.3,477,13953,0.00,1.48,13.85,0.713,4,0.000,0.048,2742,3523,1615
$GC,14001,0.59,224.0,178.0,10.7,482,14003,0.00,1.42,0.00,0.000,6,0.000,0.025,2748,2569,1614
$GC,14331,0.59,227.5,145.1,9.9,513,14343,0.00,1.73,4.12,0.480,4,0.000,0.028,2752,1407,1601
$GC,14393,0.60,236.1,138.1,9.7,518,14405,0.00,1.83,9.12,0.627,6,0.000,0.041,2752,2573,1567
$GC,14721,0.60,251.8,106.1,9.3,549,14745,0.00,1.52,14.80,0.639,4,0.000,0.048,2752,3526,1502
$GC,14773,0.61,265.6,101.2,9.4,553,14793,0.00,1.40,13.15,0.618,6,0.000,0.023,2759,2569,1447
$GC,15105,0.63,319.6,74.2,7.1,585,15157,0.00,1.70,45.60,0.634,4,0.000,0.026,2764,1414,1226
$GC,15203,0.65,359.8,66.8,7.9,593,15242,0.00,1.90,33.95,0.614,6,0.000,0.041,2765,2627,1063
$GC,15553,0.65,373.2,36.7,9.4,626,15569,0.00,1.80,12.52,0.548,4,0.000,0.024,2773,1404,1006
$GC,15580,0.66,392.6,34.2,9.1,628,15605,0.00,1.77,16.80,0.558,6,0.000,0.038,2770,2561,929
$STATE,15919,end climb,SURFACE_DEPTH_REACHED
$STATE,15919,begin surface coast
$FINISH,0.1,1.010200
$STATE,15956,end surface coast,CONTROL_FINISHED_OK
$STATE,15956,begin surface
$SM_CCo,16039,0.00,0.000,0,0,926,393.45
$SM_GC,0.90,6.97,0.00,0.00,0.026,0.000,0.000,37,2656,926,-7.73,0.71,393.45
$IRIDIUM_FIX,2237.01,-15747.62,240102,191947
$TT8_MAMPS,0.047554
$HUMID,2241
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.90
$XPDR_PINGS,42
$24V_AH,23.5,86.127
$10V_AH,10.3,83.151
$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,17.650,120.825,487.450,0.000,0.000,82.526,114.426,1634.410,10.500,0.000,0.000,12.506,0.000,12274.207,510.058,2904.361,2463.734,33.357,1534.071,0.000,2553.366,0.000,0.545,0.000
$DEVICE_MAMPS,200.954,71.331,1133.626,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,467.196,1311.229,1381.333,145.654,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54107,693
$CAP_FILE_SIZE,147766,0
$CFSIZE,260165632,224235520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,311012,002936,2243.607,-15745.080,33,1.1,33,10.1