version: 66.04
glider: 512
mission: 3
dive: 641
start: 10 31 112 15 12 9
data:
$ID,512
$MISSION,3
$DIVE,641
$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,-66630.43
$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,51
$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
$GPS1,150006,2240.822,-15745.636,36,1.1,36,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-78.7
$GPS2,151131,2240.898,-15745.679,16,1.9,16,10.1
$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,-197649.5,-23.5,326.4,195466.9,-366.0
$KALMAN_Y,135019.2,-23.6,-253.4,-165299.5,1057.9
$MHEAD_RNG_PITCHd_Wd,174.3,78642,-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,-74.55,0.000,2,0.000,0.000,17,2663,2643
$GC,97,-0.55,-121.7,2.0,-2.2,10,121,9.15,1.55,-8.73,0.000,4,0.202,0.054,2342,3678,3026
$GC,151,-0.55,-121.7,15.1,-18.4,18,159,0.00,1.55,0.00,0.000,6,0.000,0.020,2343,2623,3026
$GC,476,-0.55,-121.7,63.8,-14.5,57,479,0.00,1.48,0.00,0.000,4,0.000,0.023,2343,1577,3027
$GC,579,-0.55,-121.7,77.0,-11.4,66,586,0.00,1.52,0.00,0.000,6,0.000,0.037,2336,2572,3027
$GC,899,-0.55,-121.7,113.7,-11.0,97,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2572,3028
$GC,1219,-0.55,-121.7,147.5,-11.2,128,1222,0.00,1.42,0.00,0.000,4,0.000,0.021,2336,1570,3028
$GC,1266,-0.55,-121.7,152.6,-10.7,132,1269,0.00,1.52,0.00,0.000,6,0.000,0.038,2332,2562,3028
$GC,1595,-0.55,-121.7,189.1,-10.6,163,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2561,3028
$GC,1938,-0.55,-121.7,224.6,-9.8,179,1941,0.00,1.40,0.00,0.000,4,0.000,0.021,2333,1569,3028
$GC,1983,-0.55,-121.7,229.0,-8.6,180,1985,0.00,1.50,0.00,0.000,6,0.000,0.038,2333,2542,3028
$GC,2310,-0.55,-121.7,259.3,-9.1,188,2313,0.00,1.73,0.00,0.000,4,0.000,0.045,2324,3664,3028
$GC,2392,-0.55,-121.7,267.3,-9.8,189,2397,0.12,1.58,0.00,0.000,6,0.117,0.020,2361,2565,3027
$GC,2722,-0.55,-121.7,290.9,-6.8,198,2725,0.00,1.38,0.00,0.000,4,0.000,0.021,2361,1567,3026
$GC,2734,-0.55,-121.7,291.8,-6.6,198,2737,0.00,1.85,0.00,0.000,6,0.000,0.043,2359,2780,3026
$GC,3050,-0.55,-121.7,312.9,-6.7,206,3053,0.00,1.70,0.00,0.000,4,0.000,0.021,2359,1569,3025
$GC,3154,-0.55,-121.7,320.7,-7.4,208,3157,0.00,2.00,0.00,0.000,6,0.000,0.043,2359,2875,3025
$GC,3465,-0.55,-121.7,344.0,-7.3,216,3468,0.00,1.23,0.00,0.000,4,0.000,0.048,2353,3670,3023
$GC,3488,-0.55,-121.7,345.6,-6.9,216,3491,0.00,1.42,0.00,0.000,6,0.000,0.022,2353,2661,3022
$GC,3835,-0.55,-121.7,369.0,-6.6,225,3838,0.00,1.50,0.00,0.000,4,0.000,0.022,2353,1585,3020
$GC,3852,-0.55,-121.7,370.3,-6.8,225,3855,0.00,1.95,0.00,0.000,6,0.000,0.043,2346,2857,3020
$GC,4163,-0.55,-121.7,394.0,-7.7,233,4166,0.00,1.27,-0.08,0.000,4,0.000,0.071,2340,3660,3040
$GC,4234,-0.55,-121.7,400.1,-8.3,234,4237,0.00,1.30,0.00,0.000,6,0.000,0.024,2340,2740,3040
$GC,4575,-0.55,-121.7,426.7,-7.6,243,4578,0.00,1.48,0.00,0.000,4,0.000,0.049,2333,3661,3038
$GC,4657,-0.55,-121.7,433.2,-8.3,244,4662,0.00,1.17,0.00,0.000,6,0.000,0.024,2333,2825,3038
$GC,4987,-0.55,-121.7,457.7,-7.2,253,4991,0.00,1.75,0.00,0.000,4,0.000,0.024,2333,1604,3036
$GC,5058,-0.55,-121.7,463.1,-7.6,254,5061,0.00,1.60,0.00,0.000,6,0.000,0.044,2333,2644,3035
$GC,5399,-0.55,-121.7,490.1,-8.2,263,5402,0.00,1.62,0.00,0.000,4,0.000,0.051,2325,3700,3032
$GC,5439,-0.55,-121.7,493.4,-8.0,263,5444,0.08,1.48,0.00,0.000,6,0.102,0.024,2355,2673,3032
$GC,5769,-0.55,-121.7,514.4,-5.9,272,5772,0.00,1.55,0.00,0.000,4,0.000,0.024,2355,1584,3030
$GC,5845,-0.55,-121.7,519.0,-6.2,273,5848,0.00,1.92,0.00,0.000,6,0.000,0.044,2348,2827,3029
$GC,6181,-0.55,-121.7,538.1,-5.8,282,6184,0.00,1.77,0.00,0.000,4,0.000,0.025,2348,1593,3028
$GC,6252,-0.55,-121.7,542.9,-6.5,283,6255,0.00,1.60,0.00,0.000,6,0.000,0.045,2346,2628,3027
$GC,6592,-0.55,-121.7,566.2,-7.0,292,6595,0.00,1.65,0.00,0.000,4,0.000,0.054,2338,3693,3026
$GC,6675,-0.55,-121.7,572.8,-8.4,293,6680,0.00,1.25,0.00,0.000,6,0.000,0.027,2339,2825,3025
$GC,7005,-0.55,-121.7,597.8,-7.3,302,7008,0.00,1.77,0.00,0.000,4,0.000,0.026,2338,1599,3024
$GC,7124,-0.55,-121.7,606.8,-7.8,304,7127,0.00,1.65,0.00,0.000,6,0.000,0.046,2333,2640,3023
$GC,7460,-0.55,-121.7,630.6,-6.9,313,7463,0.00,1.65,0.00,0.000,4,0.000,0.055,2326,3698,3021
$GC,7488,-0.55,-121.7,632.7,-7.3,313,7491,0.08,1.55,0.00,0.000,6,0.085,0.025,2365,2638,3021
$GC,7829,-0.55,-121.7,650.0,-4.9,322,7832,0.00,1.50,0.00,0.000,4,0.000,0.027,2366,1589,3020
$GC,7932,-0.55,-121.7,655.3,-5.5,324,7935,0.00,1.83,0.00,0.000,6,0.000,0.048,2359,2758,3020
$GC,8243,-0.55,-121.7,672.1,-5.5,332,8246,0.00,1.70,0.00,0.000,4,0.000,0.027,2359,1581,3019
$GC,8304,-0.55,-121.7,675.5,-5.9,333,8307,0.00,2.03,0.00,0.000,6,0.000,0.050,2359,2865,3019
$GC,8615,-0.55,-121.7,693.5,-5.7,341,8618,0.00,1.30,0.00,0.000,4,0.000,0.058,2359,3680,3017
$GC,8633,-0.55,-121.7,694.6,-5.5,341,8636,0.00,1.48,0.00,0.000,6,0.000,0.028,2358,2677,3016
$STATE,8737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8737,begin apogee
$GC,8748,-0.18,0.0,700.0,5.0,344,8870,0.35,0.00,115.07,1.118,6,0.075,0.000,2481,2484,2530
$STATE,8870,end apogee,CONTROL_FINISHED_OK
$STATE,8870,begin climb
$GC,8876,0.55,121.7,704.4,0.0,347,9002,0.60,1.67,116.40,1.072,4,0.034,0.026,2741,1382,2034
$GC,9067,0.55,121.7,690.2,14.2,351,9070,0.00,1.75,0.00,0.000,6,0.000,0.044,2741,2463,2028
$GC,9408,0.55,121.7,641.5,14.0,360,9411,0.00,1.70,0.00,0.000,4,0.000,0.051,2741,3525,2024
$GC,9570,0.55,121.7,617.6,14.9,363,9573,0.00,1.52,0.00,0.000,6,0.000,0.026,2748,2506,2023
$GC,9905,0.55,121.7,575.0,12.5,372,9906,0.12,0.00,0.00,0.000,6,0.187,0.000,2720,2500,2022
$GC,10228,0.55,121.7,539.6,11.0,380,10231,0.00,1.62,0.00,0.000,4,0.000,0.051,2715,3528,2021
$GC,10278,0.55,121.7,533.6,12.5,381,10281,0.00,1.48,0.00,0.000,6,0.000,0.027,2721,2537,2020
$GC,10600,0.55,124.2,500.3,10.0,389,10602,0.00,1.62,0.00,0.000,4,0.000,0.029,2729,1410,2020
$GC,10719,0.56,145.2,489.3,9.0,391,10755,0.00,1.70,22.02,0.892,6,0.000,0.045,2729,2507,1939
$GC,11090,0.56,145.2,451.6,10.3,401,11093,0.00,1.60,0.00,0.000,4,0.000,0.052,2729,3531,1935
$GC,11204,0.56,145.2,438.6,11.1,403,11207,0.00,1.50,0.00,0.000,6,0.000,0.028,2734,2532,1934
$GC,11545,0.56,145.2,402.3,10.5,412,11548,0.00,1.60,0.00,0.000,4,0.000,0.051,2735,3546,1933
$GC,11584,0.56,145.2,398.0,11.2,412,11589,0.00,1.48,0.00,0.000,6,0.000,0.028,2740,2565,1933
$GC,11913,0.56,145.2,362.6,11.0,421,11916,0.00,1.67,0.00,0.000,4,0.000,0.029,2748,1390,1933
$GC,11958,0.56,145.2,357.9,11.4,422,11961,0.00,1.83,0.00,0.000,6,0.000,0.045,2743,2560,1932
$GC,12285,0.56,148.2,323.7,10.0,430,12288,0.00,1.50,0.00,0.000,4,0.000,0.050,2742,3517,1933
$GC,12372,0.56,148.2,314.6,10.5,432,12375,0.00,1.45,0.00,0.000,6,0.000,0.026,2748,2542,1932
$GC,12700,0.57,169.7,285.7,8.9,440,12728,0.00,1.73,22.55,0.832,4,0.000,0.028,2752,1404,1837
$GC,12806,0.58,191.8,276.3,8.9,442,12830,0.00,1.80,20.62,0.806,6,0.000,0.044,2752,2556,1747
$GC,13154,0.58,191.8,237.4,11.6,451,13158,0.00,1.52,0.00,0.000,4,0.000,0.050,2752,3519,1743
$GC,13209,0.58,191.8,230.1,12.0,452,13213,0.10,1.42,0.00,0.000,6,0.168,0.025,2730,2568,1742
$GC,13525,0.58,204.5,198.0,9.4,460,13541,0.00,1.73,12.00,0.709,4,0.000,0.028,2736,1414,1696
$GC,13652,0.61,259.1,188.3,7.1,471,13709,0.00,1.80,46.83,0.743,6,0.000,0.043,2736,2555,1473
$GC,14021,0.61,282.4,156.5,8.8,506,14047,0.00,1.58,21.00,0.690,4,0.000,0.047,2736,3529,1377
$GC,14093,0.61,282.4,149.3,10.3,512,14096,0.00,1.55,0.00,0.000,6,0.000,0.025,2740,2508,1376
$GC,14419,0.63,313.3,120.6,8.4,543,14449,0.00,1.67,26.55,0.664,4,0.000,0.028,2739,1398,1251
$GC,14496,0.63,323.9,113.8,9.5,549,14509,0.00,1.73,10.30,0.597,6,0.000,0.039,2740,2511,1209
$GC,14821,0.64,353.8,84.2,8.5,580,14848,0.00,0.00,25.92,0.627,6,0.000,0.000,2740,2511,1087
$GC,15158,0.66,399.7,58.9,7.6,612,15199,0.00,1.67,38.30,0.607,4,0.000,0.025,2740,1398,900
$GC,15222,0.68,442.5,54.0,7.7,617,15261,0.00,1.67,35.90,0.591,6,0.000,0.035,2739,2477,726
$GC,15579,0.68,442.5,18.4,11.2,660,15586,0.00,1.60,0.00,0.000,4,0.000,0.025,2739,1397,722
$STATE,15708,end climb,SURFACE_DEPTH_REACHED
$STATE,15708,begin surface coast
$FINISH,1.7,1.023444
$STATE,15723,end surface coast,CONTROL_FINISHED_OK
$STATE,15723,begin surface
$SM_CCo,15808,0.00,0.000,0,0,720,443.99
$SM_GC,0.93,6.90,0.00,0.00,0.025,0.000,0.000,30,2647,720,-7.74,0.48,443.99
$IRIDIUM_FIX,2232.34,-15743.29,250102,101057
$TT8_MAMPS,0.047554
$HUMID,2220
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.10
$XPDR_PINGS,31
$24V_AH,23.4,86.848
$10V_AH,10.3,83.674
$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,17.500,115.500,513.475,0.000,0.000,33.187,61.115,409.212,7.750,0.000,0.000,16.551,0.000,11917.787,523.796,2932.543,1089.094,33.360,1559.786,0.000,2574.157,0.000,0.543,0.000
$DEVICE_MAMPS,201.721,71.331,1117.519,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,461.617,1312.959,1376.970,138.035,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54024,686
$CAP_FILE_SIZE,129458,0
$CFSIZE,260165632,223993856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,311012,193636,2240.885,-15745.541,32,0.9,32,10.1