version: 66.04
glider: 512
mission: 3
dive: 638
start: 10 31 112 0 57 17
data:
$ID,512
$MISSION,3
$DIVE,638
$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,-66575.852
$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,59
$R_STBD_OVSHOOT,44
$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
$GPS1,002936,2243.607,-15745.080,33,1.1,33,10.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-78.8
$GPS2,005639,2243.539,-15745.277,11,2.4,30,10.1
$SPEED_LIMITS,0.145,0.240
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.019,-0.239
$KALMAN_X,-198570.2,318.8,469.7,196580.9,-1204.8
$KALMAN_Y,129922.7,501.6,140.6,-156226.9,-214.6
$MHEAD_RNG_PITCHd_Wd,165.4,83541,-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,15,-0.55,-121.7,0.0,0.0,0,84,0.00,0.00,-67.07,0.000,2,0.000,0.000,11,2655,2592
$GC,90,-0.55,-121.7,2.1,-3.2,9,114,9.23,1.62,-9.95,0.000,4,0.203,0.039,2357,1559,3026
$GC,165,-0.55,-121.7,17.5,-14.9,21,173,0.00,1.62,0.00,0.000,6,0.000,0.036,2351,2616,3027
$GC,490,-0.55,-121.7,63.5,-14.2,60,493,0.00,1.50,0.00,0.000,4,0.000,0.021,2350,1569,3027
$GC,558,-0.55,-121.7,72.4,-12.4,66,561,0.00,1.55,0.00,0.000,6,0.000,0.036,2346,2577,3028
$GC,887,-0.55,-121.7,112.1,-10.3,97,890,0.00,1.67,0.00,0.000,4,0.000,0.043,2337,3696,3028
$GC,916,-0.55,-121.7,116.0,-10.6,99,921,0.00,1.65,0.00,0.000,6,0.000,0.018,2337,2543,3028
$GC,1240,-0.55,-121.7,152.1,-11.1,130,1243,0.00,1.35,0.00,0.000,4,0.000,0.021,2337,1560,3028
$GC,1319,-0.55,-121.7,161.3,-10.8,137,1322,0.00,1.52,0.00,0.000,6,0.000,0.036,2332,2557,3028
$GC,1649,-0.55,-121.7,198.6,-10.9,168,1651,0.00,1.40,0.00,0.000,4,0.000,0.020,2333,1560,3028
$GC,1671,-0.55,-121.7,202.0,-10.9,169,1674,0.00,1.50,0.00,0.000,6,0.000,0.037,2333,2545,3028
$GC,2018,-0.55,-121.7,236.8,-10.2,178,2021,0.00,1.73,0.00,0.000,4,0.000,0.044,2324,3691,3028
$GC,2057,-0.55,-121.7,240.8,-10.4,178,2062,0.12,1.65,0.00,0.000,6,0.118,0.019,2361,2519,3028
$GC,2387,-0.55,-121.7,265.1,-6.9,187,2390,0.00,1.83,0.00,0.000,4,0.000,0.045,2354,3685,3028
$GC,2431,-0.55,-121.7,268.2,-7.1,188,2435,0.00,1.60,0.00,0.000,6,0.000,0.019,2354,2561,3027
$GC,2759,-0.55,-121.7,290.1,-6.7,196,2762,0.00,1.77,0.00,0.000,4,0.000,0.044,2346,3691,3026
$GC,2787,-0.55,-121.7,292.2,-7.2,196,2790,0.00,1.60,0.00,0.000,6,0.000,0.021,2346,2549,3025
$GC,3128,-0.55,-121.7,318.4,-7.6,205,3131,0.00,1.77,0.00,0.000,4,0.000,0.046,2338,3696,3024
$GC,3226,-0.55,-121.7,326.8,-8.4,207,3229,0.00,1.48,0.00,0.000,6,0.000,0.021,2338,2659,3023
$GC,3542,-0.55,-121.7,353.0,-8.2,215,3545,0.00,1.48,0.00,0.000,4,0.000,0.021,2338,1590,3021
$GC,3565,-0.55,-121.7,354.8,-7.8,215,3569,0.00,1.70,0.00,0.000,6,0.000,0.040,2333,2691,3021
$GC,3912,-0.55,-121.7,382.0,-7.7,224,3915,0.00,1.60,-0.08,0.000,4,0.000,0.039,2333,1597,3040
$GC,3940,-0.55,-121.7,384.4,-7.6,224,3943,0.00,1.65,0.00,0.000,6,0.000,0.041,2333,2682,3040
$GC,4282,-0.55,-121.7,410.5,-7.5,233,4284,0.00,1.58,0.00,0.000,4,0.000,0.023,2333,1595,3038
$GC,4332,-0.55,-121.7,414.3,-7.4,234,4335,0.00,1.62,0.00,0.000,6,0.000,0.041,2333,2657,3038
$GC,4654,-0.55,-121.7,440.0,-8.2,242,4656,0.00,1.60,0.00,0.000,4,0.000,0.049,2325,3685,3035
$GC,4687,-0.55,-121.7,443.0,-9.1,242,4690,0.08,1.50,0.00,0.000,6,0.107,0.022,2366,2637,3035
$GC,5023,-0.55,-121.7,465.4,-6.5,251,5026,0.00,1.65,0.00,0.000,4,0.000,0.050,2360,3688,3033
$GC,5068,-0.55,-121.7,468.5,-6.5,252,5070,0.00,1.20,0.00,0.000,6,0.000,0.026,2360,2858,3032
$GC,5395,-0.55,-121.7,488.4,-5.8,260,5397,0.00,1.77,0.00,0.000,4,0.000,0.024,2360,1599,3030
$GC,5423,-0.55,-121.7,490.2,-6.1,260,5426,0.00,1.60,0.00,0.000,6,0.000,0.045,2359,2636,3029
$GC,5764,-0.55,-121.7,510.6,-6.1,269,5767,0.00,1.62,0.00,0.000,4,0.000,0.052,2351,3691,3027
$GC,5808,-0.55,-121.7,513.6,-6.9,270,5811,0.00,1.23,0.00,0.000,6,0.000,0.027,2351,2849,3027
$GC,6135,-0.55,-121.7,535.2,-6.5,278,6138,0.00,1.77,0.00,0.000,4,0.000,0.025,2351,1600,3025
$GC,6250,-0.55,-121.7,542.8,-6.7,280,6253,0.00,1.60,0.00,0.000,6,0.000,0.044,2346,2637,3025
$GC,6591,-0.55,-121.7,563.6,-6.1,289,6593,0.00,1.65,0.00,0.000,4,0.000,0.055,2346,3695,3023
$GC,6679,-0.55,-121.7,569.5,-6.4,291,6681,0.00,1.23,0.00,0.000,6,0.000,0.028,2346,2858,3023
$GC,7006,-0.55,-121.7,593.6,-7.6,299,7009,0.00,1.80,0.00,0.000,4,0.000,0.026,2346,1595,3021
$GC,7040,-0.55,-121.7,596.4,-8.1,299,7042,0.00,1.62,0.00,0.000,6,0.000,0.047,2346,2639,3020
$GC,7376,-0.55,-121.7,623.3,-8.1,308,7379,0.00,1.52,0.00,0.000,4,0.000,0.026,2346,1595,3019
$GC,7452,-0.55,-121.7,629.7,-8.5,309,7455,0.00,1.90,0.00,0.000,6,0.000,0.048,2346,2811,3019
$GC,7787,-0.55,-121.7,652.9,-6.6,318,7790,0.00,1.75,0.00,0.000,4,0.000,0.025,2346,1597,3017
$GC,7827,-0.55,-121.7,655.4,-6.0,318,7833,0.00,1.60,0.00,0.000,6,0.000,0.048,2346,2623,3017
$GC,8157,-0.55,-121.7,675.3,-5.9,327,8160,0.00,1.70,0.00,0.000,4,0.000,0.058,2346,3684,3015
$GC,8260,-0.55,-121.7,681.9,-6.8,329,8263,0.00,1.25,0.00,0.000,6,0.000,0.028,2346,2827,3015
$STATE,8566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8566,begin apogee
$GC,8578,-0.18,0.0,701.8,6.4,337,8700,0.40,0.00,114.90,1.118,6,0.084,0.000,2482,2481,2530
$STATE,8700,end apogee,CONTROL_FINISHED_OK
$STATE,8700,begin climb
$GC,8705,0.55,121.7,707.5,0.0,340,8880,0.60,1.70,128.05,0.996,4,0.033,0.026,2744,1394,2033
$GC,8962,0.55,121.7,690.5,12.9,346,8965,0.00,1.70,0.00,0.000,6,0.000,0.044,2744,2469,2027
$GC,9284,0.55,121.7,647.6,13.1,354,9287,0.00,1.65,0.00,0.000,4,0.000,0.049,2744,3530,2024
$GC,9414,0.55,121.7,629.7,14.1,357,9417,0.08,1.55,0.00,0.000,6,0.184,0.027,2721,2502,2023
$GC,9740,0.55,121.7,594.3,10.5,365,9744,0.00,1.65,0.00,0.000,4,0.000,0.051,2716,3520,2022
$GC,9822,0.55,121.7,585.2,11.5,366,9827,0.00,1.45,0.00,0.000,6,0.000,0.026,2721,2541,2021
$GC,10152,0.56,143.3,554.5,8.9,375,10181,0.00,1.67,21.17,0.924,4,0.000,0.028,2729,1398,1944
$GC,10227,0.57,175.0,547.9,8.4,376,10267,0.00,1.80,31.50,0.948,6,0.000,0.044,2729,2546,1816
$GC,10592,0.57,175.0,508.2,11.1,385,10595,0.00,1.55,0.00,0.000,4,0.000,0.052,2729,3519,1809
$GC,10686,0.57,175.0,496.6,12.8,387,10689,0.00,1.42,0.00,0.000,6,0.000,0.026,2734,2565,1809
$GC,11007,0.57,175.0,457.1,12.2,395,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2558,1808
$GC,11330,0.57,175.0,417.0,12.5,403,11333,0.00,1.70,0.00,0.000,4,0.000,0.031,2739,1394,1808
$GC,11396,0.57,175.0,408.7,13.0,404,11400,0.00,1.88,0.00,0.000,6,0.000,0.047,2739,2574,1806
$GC,11742,0.57,175.0,365.8,11.7,413,11745,0.00,1.50,0.00,0.000,4,0.000,0.051,2739,3525,1806
$GC,11824,0.57,175.0,356.1,12.3,414,11829,0.00,1.40,0.00,0.000,6,0.000,0.025,2747,2574,1806
$GC,12154,0.57,175.0,319.4,11.3,423,12157,0.00,1.52,0.00,0.000,4,0.000,0.051,2742,3518,1806
$GC,12188,0.57,175.0,315.3,12.3,423,12191,0.00,1.38,0.00,0.000,6,0.000,0.025,2748,2583,1806
$GC,12523,0.57,175.0,277.8,10.7,432,12526,0.00,1.70,0.00,0.000,4,0.000,0.028,2756,1391,1806
$GC,12615,0.58,206.0,269.4,8.4,434,12650,0.00,1.85,27.02,0.825,6,0.000,0.044,2755,2589,1690
$GC,12975,0.59,208.6,234.0,10.0,443,12978,0.00,1.75,0.00,0.000,4,0.000,0.026,2762,1392,1685
$GC,13003,0.59,208.6,231.1,10.8,443,13007,0.12,1.80,0.00,0.000,6,0.151,0.044,2733,2547,1684
$GC,13344,0.60,247.5,203.1,8.0,452,13397,0.00,1.77,37.65,0.733,4,0.000,0.027,2738,1407,1519
$GC,13423,0.62,301.3,197.2,7.1,456,13474,0.00,1.73,46.80,0.743,6,0.000,0.041,2739,2508,1300
$GC,13786,0.62,301.3,162.8,10.5,490,13789,0.00,1.60,0.00,0.000,4,0.000,0.049,2739,3517,1295
$GC,13811,0.62,301.3,160.1,10.8,492,13814,0.00,1.55,0.00,0.000,6,0.000,0.025,2739,2487,1294
$GC,14141,0.63,317.1,129.9,9.3,523,14158,0.00,1.58,14.10,0.649,4,0.000,0.025,2739,1391,1236
$GC,14217,0.63,327.8,122.8,9.5,529,14231,0.00,1.67,10.43,0.610,6,0.000,0.039,2739,2483,1193
$GC,14542,0.64,349.0,93.3,9.0,560,14565,0.00,1.60,18.62,0.624,4,0.000,0.045,2739,3520,1108
$GC,14634,0.64,355.2,83.9,9.8,568,14646,0.00,1.60,7.43,0.538,6,0.000,0.024,2738,2450,1080
$GC,14958,0.66,402.7,57.5,7.5,599,15001,0.00,1.58,39.72,0.608,4,0.000,0.026,2739,1402,887
$GC,15245,0.67,414.4,31.2,9.5,624,15263,0.00,1.33,10.95,0.531,6,0.000,0.035,2739,2265,839
$STATE,15547,end climb,SURFACE_DEPTH_REACHED
$STATE,15547,begin surface coast
$FINISH,-0.0,1.004290
$STATE,15589,end surface coast,CONTROL_FINISHED_OK
$STATE,15589,begin surface
$SM_CCo,15672,0.00,0.000,0,0,835,415.53
$SM_GC,0.92,6.85,0.00,0.00,0.023,0.000,0.000,32,2678,835,-7.75,1.36,415.53
$IRIDIUM_FIX,2234.68,-15743.29,250102,000012
$TT8_MAMPS,0.048321
$HUMID,2223
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.30
$XPDR_PINGS,29
$24V_AH,23.5,86.330
$10V_AH,10.3,83.287
$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,17.475,119.700,508.350,0.000,0.000,88.826,108.885,1093.457,7.250,0.000,0.000,31.073,0.000,11868.020,544.422,2945.583,1907.289,33.360,1570.335,0.000,2571.762,0.000,0.545,0.000
$DEVICE_MAMPS,203.255,57.525,1117.519,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,462.322,1318.696,1384.307,147.754,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53988,686
$CAP_FILE_SIZE,139691,0
$CFSIZE,260165632,224178176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,0
$GPS,311012,051936,2242.879,-15745.025,39,1.0,39,10.1