version: 66.04
glider: 512
mission: 3
dive: 643
start: 11 1 112 0 41 11
data:
$ID,512
$MISSION,3
$DIVE,643
$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,-66684.078
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2530
$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,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,66
$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
$GPS1,002136,2239.807,-15745.506,27,2.0,27,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-77.2
$GPS2,004033,2239.757,-15745.654,15,2.8,34,10.1
$SPEED_LIMITS,0.145,0.240
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.098,-0.219
$KALMAN_X,-196635.6,234.7,-121.2,194676.1,477.7
$KALMAN_Y,138493.8,346.2,224.5,-171727.2,-22.3
$MHEAD_RNG_PITCHd_Wd,193.9,76620,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.55,-121.7,0.0,0.0,0,96,0.00,0.00,-74.40,0.000,2,0.000,0.000,28,2683,2712
$GC,102,-0.55,-121.7,2.0,-2.3,10,125,9.12,1.62,-6.95,0.000,4,0.204,0.040,2350,1566,3026
$GC,209,-0.55,-121.7,22.1,-12.5,28,216,0.00,1.60,0.00,0.000,6,0.000,0.037,2345,2600,3027
$GC,542,-0.55,-121.7,70.3,-14.4,64,545,0.00,1.50,0.00,0.000,4,0.000,0.022,2345,1559,3026
$GC,610,-0.55,-121.7,79.7,-11.5,70,613,0.00,1.60,0.00,0.000,6,0.000,0.038,2338,2621,3027
$GC,939,-0.55,-121.7,118.2,-10.8,101,942,0.00,1.62,0.00,0.000,4,0.000,0.045,2330,3685,3028
$GC,965,-0.55,-121.7,121.5,-11.0,103,968,0.00,1.60,0.00,0.000,6,0.000,0.019,2330,2572,3027
$GC,1294,-0.55,-121.7,159.3,-11.8,134,1297,0.00,1.40,0.00,0.000,4,0.000,0.021,2330,1562,3028
$GC,1362,-0.55,-121.7,167.2,-10.7,140,1365,0.00,1.62,0.00,0.000,6,0.000,0.038,2322,2639,3028
$GC,1710,-0.55,-121.7,204.7,-10.7,170,1713,0.00,1.60,0.00,0.000,4,0.000,0.044,2314,3709,3028
$GC,1733,-0.55,-121.7,207.9,-11.6,170,1736,0.12,1.60,0.00,0.000,6,0.126,0.019,2351,2563,3027
$GC,2079,-0.55,-121.7,239.8,-8.9,179,2082,0.00,1.38,0.00,0.000,4,0.000,0.020,2351,1557,3027
$GC,2107,-0.55,-121.7,241.6,-6.9,179,2110,0.00,1.60,0.00,0.000,6,0.000,0.040,2346,2621,3027
$GC,2448,-0.55,-121.7,271.5,-9.4,188,2451,0.00,1.60,0.00,0.000,4,0.000,0.047,2338,3682,3026
$GC,2514,-0.55,-121.7,277.5,-9.4,189,2517,0.00,1.50,0.00,0.000,6,0.000,0.020,2338,2627,3026
$GC,2860,-0.55,-121.7,306.9,-8.4,198,2863,0.00,1.45,0.00,0.000,4,0.000,0.021,2338,1584,3025
$GC,3027,-0.55,-121.7,319.0,-8.7,201,3030,0.00,1.62,0.00,0.000,6,0.000,0.041,2333,2650,3024
$GC,3363,-0.55,-121.7,348.6,-8.6,210,3365,0.00,1.60,0.00,0.000,4,0.000,0.049,2325,3701,3021
$GC,3482,-0.55,-121.7,361.1,-8.5,212,3485,0.00,1.50,0.00,0.000,6,0.000,0.021,2325,2653,3020
$GC,3817,-0.55,-121.7,388.8,-8.5,221,3820,0.00,1.50,0.00,0.000,4,0.000,0.022,2325,1585,3017
$GC,3883,-0.55,-121.7,394.7,-9.0,222,3887,0.08,1.62,0.00,0.000,6,0.107,0.041,2348,2633,3017
$GC,4229,-0.55,-121.7,420.1,-7.1,231,4233,0.00,1.55,-0.08,0.000,4,0.000,0.039,2348,1580,3039
$GC,4291,-0.55,-121.7,424.3,-6.9,232,4294,0.00,1.80,0.00,0.000,6,0.000,0.044,2346,2755,3039
$GC,4602,-0.55,-121.7,444.9,-6.3,240,4605,0.00,1.45,0.00,0.000,4,0.000,0.051,2340,3682,3036
$GC,4694,-0.55,-121.7,451.2,-7.8,242,4697,0.00,1.58,0.00,0.000,6,0.000,0.023,2339,2593,3035
$GC,5016,-0.55,-121.7,473.0,-6.7,250,5020,0.00,1.42,0.00,0.000,4,0.000,0.025,2339,1584,3033
$GC,5050,-0.55,-121.7,475.5,-7.7,250,5053,0.00,1.85,0.00,0.000,6,0.000,0.044,2333,2784,3033
$GC,5385,-0.55,-121.7,500.6,-7.7,259,5388,0.00,1.73,0.00,0.000,4,0.000,0.025,2333,1582,3030
$GC,5452,-0.55,-121.7,505.9,-7.9,260,5455,0.00,1.85,0.00,0.000,6,0.000,0.046,2333,2755,3030
$GC,5798,-0.55,-121.7,532.8,-7.9,269,5801,0.00,1.70,0.00,0.000,4,0.000,0.025,2333,1595,3027
$GC,5879,-0.55,-121.7,539.8,-8.1,270,5885,0.00,1.73,0.00,0.000,6,0.000,0.047,2333,2705,3026
$GC,6210,-0.55,-121.7,565.5,-7.3,279,6213,0.00,1.60,0.00,0.000,4,0.000,0.025,2333,1591,3025
$GC,6238,-0.55,-121.7,567.7,-7.9,279,6241,0.00,1.55,0.00,0.000,6,0.000,0.045,2333,2576,3025
$GC,6579,-0.55,-121.7,592.6,-7.2,288,6582,0.00,1.42,0.00,0.000,4,0.000,0.026,2333,1594,3023
$GC,6618,-0.55,-121.7,595.4,-6.9,288,6623,0.00,1.60,0.00,0.000,6,0.000,0.048,2332,2625,3023
$GC,6948,-0.55,-121.7,617.9,-6.8,297,6951,0.00,1.65,0.00,0.000,4,0.000,0.054,2323,3687,3021
$GC,7003,-0.55,-121.7,621.8,-7.5,298,7006,0.00,1.55,0.00,0.000,6,0.000,0.026,2327,2635,3020
$GC,7320,-0.55,-121.7,642.2,-6.3,306,7323,0.00,1.67,0.00,0.000,4,0.000,0.054,2320,3686,3020
$GC,7450,-0.55,-121.7,651.7,-7.1,309,7454,0.08,1.75,0.00,0.000,6,0.112,0.025,2349,2508,3019
$GC,7777,-0.55,-121.7,671.4,-5.9,317,7781,0.00,1.90,0.00,0.000,4,0.000,0.055,2346,3680,3018
$GC,7833,-0.55,-121.7,674.9,-5.9,318,7836,0.00,1.40,0.00,0.000,6,0.000,0.028,2346,2721,3017
$GC,8149,-0.55,-121.7,694.4,-6.2,326,8153,0.00,1.65,0.00,0.000,4,0.000,0.027,2346,1585,3016
$STATE,8232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8232,begin apogee
$GC,8243,-0.18,0.0,700.2,6.3,328,8365,0.38,0.00,115.35,1.113,6,0.091,0.000,2472,2411,2530
$STATE,8366,end apogee,CONTROL_FINISHED_OK
$STATE,8366,begin climb
$GC,8371,0.55,121.7,706.4,0.0,331,8546,0.62,1.62,128.30,0.994,4,0.035,0.028,2735,1369,2033
$GC,8741,0.55,121.7,680.9,11.7,339,8744,0.00,1.62,0.00,0.000,6,0.000,0.043,2734,2412,2026
$GC,9077,0.55,121.7,640.5,11.7,348,9080,0.00,1.67,0.00,0.000,4,0.000,0.050,2729,3470,2023
$GC,9190,0.55,121.7,626.4,11.8,350,9193,0.00,1.50,0.00,0.000,6,0.000,0.026,2735,2464,2021
$GC,9532,0.55,121.7,585.9,12.1,359,9534,0.00,1.60,0.00,0.000,4,0.000,0.029,2743,1379,2021
$GC,9565,0.55,121.7,582.0,11.9,359,9568,0.12,1.65,0.00,0.000,6,0.166,0.043,2711,2453,2020
$GC,9900,0.55,121.7,546.7,10.4,368,9903,0.00,1.60,0.00,0.000,4,0.000,0.051,2711,3461,2020
$GC,9998,0.55,121.7,535.6,11.0,370,10001,0.00,1.48,0.00,0.000,6,0.000,0.028,2717,2476,2019
$GC,10315,0.55,131.0,503.9,9.6,378,10327,0.00,1.65,7.28,0.843,4,0.000,0.050,2716,3474,1996
$GC,10475,0.55,131.0,487.2,10.2,381,10478,0.00,1.42,0.00,0.000,6,0.000,0.027,2721,2514,1995
$GC,10811,0.56,152.9,456.9,8.9,390,10845,0.00,1.58,23.73,0.889,4,0.000,0.049,2716,3472,1906
$GC,10929,0.56,152.9,444.6,11.0,392,10931,0.00,1.38,0.00,0.000,6,0.000,0.026,2720,2554,1903
$GC,11265,0.56,153.0,411.0,10.1,401,11267,0.00,1.73,0.00,0.000,4,0.000,0.030,2729,1362,1901
$GC,11282,0.56,156.4,409.1,10.0,401,11285,0.00,1.88,0.00,0.000,6,0.000,0.045,2729,2563,1900
$GC,11593,0.56,156.4,376.4,10.6,409,11596,0.00,1.42,0.00,0.000,4,0.000,0.051,2728,3465,1900
$GC,11734,0.56,156.4,361.2,11.2,412,11742,0.00,1.25,3.88,0.574,6,0.000,0.027,2733,2616,1892
$GC,12050,0.56,156.4,327.6,10.8,420,12053,0.00,1.83,0.00,0.000,4,0.000,0.031,2739,1372,1891
$GC,12116,0.58,183.9,321.2,8.6,421,12145,0.00,1.92,26.08,0.864,6,0.000,0.046,2739,2586,1780
$GC,12458,0.58,183.9,286.2,10.2,430,12461,0.00,1.80,0.00,0.000,4,0.000,0.028,2748,1359,1776
$GC,12497,0.58,202.7,282.3,9.1,430,12520,0.00,1.90,17.62,0.811,6,0.000,0.044,2742,2572,1703
$GC,12828,0.58,205.4,249.0,10.0,439,12831,0.00,1.42,0.00,0.000,4,0.000,0.051,2742,3474,1700
$GC,12884,0.58,205.4,243.0,11.8,440,12886,0.00,1.33,0.00,0.000,6,0.000,0.027,2747,2580,1699
$GC,13200,0.59,210.4,211.5,9.9,448,13213,0.00,1.83,7.70,0.677,4,0.000,0.029,2752,1372,1672
$GC,13265,0.59,221.7,205.0,9.5,449,13280,0.05,1.92,11.45,0.713,6,0.116,0.044,2720,2592,1626
$GC,13593,0.61,272.2,178.4,7.3,476,13645,0.00,0.00,44.17,0.739,6,0.000,0.000,2720,2592,1419
$GC,13957,0.63,313.1,151.3,7.9,511,13996,0.00,0.00,35.08,0.702,6,0.000,0.000,2720,2591,1252
$GC,14308,0.64,333.0,121.0,9.0,545,14333,0.00,1.40,17.75,0.649,4,0.000,0.047,2720,3474,1171
$GC,14401,0.64,346.0,112.3,9.4,553,14417,0.00,1.33,12.35,0.614,6,0.000,0.025,2723,2577,1119
$GC,14739,0.66,392.3,84.2,7.5,585,14782,0.00,1.80,38.85,0.631,4,0.000,0.026,2723,1363,931
$GC,15026,0.66,406.4,59.2,9.4,610,15047,0.00,1.58,13.07,0.569,6,0.000,0.038,2723,2374,873
$GC,15360,0.66,406.4,26.7,11.2,645,15367,0.00,1.48,0.00,0.000,4,0.000,0.025,2723,1369,870
$STATE,15592,end climb,SURFACE_DEPTH_REACHED
$STATE,15592,begin surface coast
$FINISH,0.0,1.000206
$STATE,15624,end surface coast,CONTROL_FINISHED_OK
$STATE,15624,begin surface
$SM_CCo,15710,0.00,0.000,0,0,869,407.44
$SM_GC,1.06,6.82,0.00,0.00,0.022,0.000,0.000,31,2651,869,-7.71,0.59,407.44
$IRIDIUM_FIX,2232.34,-15743.29,260102,000022
$TT8_MAMPS,0.047554
$HUMID,2229
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.30
$XPDR_PINGS,31
$24V_AH,23.4,87.176
$10V_AH,10.3,83.936
$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,17.400,115.450,502.650,0.000,0.000,54.360,66.775,743.400,7.750,0.000,0.000,35.855,0.000,11702.069,530.864,3088.364,1496.006,33.358,1604.850,0.000,2719.051,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,55.224,1112.917,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,468.136,1361.305,1436.348,146.200,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53985,694
$CAP_FILE_SIZE,136866,0
$CFSIZE,260165632,223854592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,9,0
$GPS,011112,050406,2239.004,-15745.729,37,1.3,37,10.1