version: 66.04
glider: 512
mission: 3
dive: 645
start: 11 1 112 9 50 9
data:
$ID,512
$MISSION,3
$DIVE,645
$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,140
$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,-66720.109
$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,61
$R_STBD_OVSHOOT,28
$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
$GPS1,094136,2238.655,-15745.484,31,1.6,31,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-79.2
$GPS2,094931,2238.677,-15745.517,17,1.6,17,10.1
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.084,-0.238
$KALMAN_X,-195126.5,170.8,61.4,193278.1,128.1
$KALMAN_Y,142279.5,365.3,769.2,-178086.7,-192.6
$MHEAD_RNG_PITCHd_Wd,189.4,74768,-18.4,-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,-0.53,-136.3,0.0,0.0,0,100,0.00,0.00,-82.00,0.000,2,0.000,0.000,27,2655,2779
$GC,105,-0.53,-136.3,2.6,-4.1,11,128,9.10,1.60,-6.25,0.000,4,0.201,0.040,2359,1555,3088
$GC,191,-0.53,-136.3,22.7,-12.9,25,196,0.00,1.67,0.00,0.000,6,0.000,0.042,2358,2625,3089
$GC,522,-0.53,-136.3,67.5,-13.3,61,524,0.00,1.62,0.00,0.000,4,0.000,0.047,2351,3697,3088
$GC,589,-0.53,-136.3,76.2,-11.0,67,592,0.00,1.55,0.00,0.000,6,0.000,0.021,2351,2626,3088
$GC,919,-0.53,-136.3,114.7,-12.1,98,922,0.00,1.45,0.00,0.000,4,0.000,0.021,2351,1577,3089
$GC,955,-0.53,-136.3,119.5,-11.4,101,958,0.00,1.62,0.00,0.000,6,0.000,0.041,2346,2643,3089
$GC,1284,-0.53,-136.3,156.3,-11.4,132,1287,0.00,1.60,0.00,0.000,4,0.000,0.046,2338,3707,3090
$GC,1331,-0.53,-136.3,161.8,-10.5,136,1334,0.00,1.55,0.00,0.000,6,0.000,0.019,2338,2620,3090
$GC,1661,-0.53,-136.3,197.6,-11.2,167,1664,0.00,1.42,0.00,0.000,4,0.000,0.021,2338,1585,3090
$GC,1700,-0.53,-136.3,202.7,-10.7,169,1705,0.00,1.58,0.00,0.000,6,0.000,0.041,2333,2607,3090
$GC,2030,-0.53,-136.3,236.5,-10.1,178,2033,0.00,1.67,0.00,0.000,4,0.000,0.047,2325,3691,3090
$GC,2091,-0.53,-136.3,242.8,-10.9,179,2094,0.08,1.52,0.00,0.000,6,0.111,0.021,2365,2612,3090
$GC,2402,-0.53,-136.3,264.5,-6.5,187,2405,0.00,1.40,0.00,0.000,4,0.000,0.021,2365,1586,3089
$GC,2425,-0.53,-136.3,266.1,-7.0,187,2428,0.00,1.88,0.00,0.000,6,0.000,0.041,2359,2819,3089
$GC,2771,-0.53,-136.3,289.0,-6.6,196,2774,0.00,1.35,0.00,0.000,4,0.000,0.051,2359,3689,3088
$GC,2783,-0.53,-136.3,289.9,-6.7,196,2787,0.00,1.12,0.00,0.000,6,0.000,0.021,2359,2872,3088
$GC,3100,-0.53,-136.3,311.4,-6.8,204,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2872,3086
$GC,3423,-0.53,-136.3,332.3,-6.4,212,3426,0.00,1.30,0.00,0.000,4,0.000,0.050,2359,3693,3084
$GC,3505,-0.53,-136.3,337.9,-6.7,213,3510,0.00,1.42,0.00,0.000,6,0.000,0.023,2358,2679,3083
$GC,3835,-0.53,-136.3,360.1,-6.8,222,3838,0.00,1.52,0.00,0.000,4,0.000,0.022,2359,1592,3080
$GC,3890,-0.53,-136.3,363.9,-6.4,223,3894,0.00,2.00,0.00,0.000,6,0.000,0.044,2358,2870,3081
$GC,4207,-0.53,-136.3,385.6,-6.7,231,4210,0.00,1.27,0.00,0.000,4,0.000,0.053,2358,3686,3078
$GC,4326,-0.53,-136.3,393.4,-6.3,233,4329,0.00,1.45,0.00,0.000,6,0.000,0.024,2358,2671,3077
$GC,4662,-0.53,-136.3,414.8,-6.2,242,4665,0.00,1.62,-0.08,0.000,4,0.000,0.067,2358,3687,3098
$GC,4695,-0.53,-136.3,416.9,-6.1,242,4698,0.00,1.20,0.00,0.000,6,0.000,0.026,2358,2850,3098
$GC,5030,-0.53,-136.3,434.8,-5.2,251,5033,0.00,1.77,0.00,0.000,4,0.000,0.024,2358,1594,3097
$GC,5091,-0.53,-136.3,438.1,-5.1,252,5094,0.00,1.60,0.00,0.000,6,0.000,0.046,2358,2630,3096
$GC,5402,-0.53,-136.3,455.9,-5.9,260,5405,0.00,1.65,0.00,0.000,4,0.000,0.055,2358,3689,3095
$GC,5490,-0.53,-136.3,461.1,-5.6,262,5492,0.00,1.27,0.00,0.000,6,0.000,0.027,2358,2817,3093
$GC,5817,-0.53,-136.3,480.6,-5.9,270,5820,0.00,1.40,0.00,0.000,4,0.000,0.055,2358,3684,3091
$GC,6065,-0.53,-136.3,496.1,-7.5,275,6068,0.00,1.60,0.00,0.000,6,0.000,0.025,2358,2567,3090
$GC,6401,-0.53,-136.3,520.6,-7.6,284,6404,0.00,1.80,0.00,0.000,4,0.000,0.055,2358,3694,3089
$GC,6601,-0.53,-136.3,536.5,-8.6,288,6604,0.00,1.58,0.00,0.000,6,0.000,0.026,2362,2617,3087
$GC,6942,-0.53,-136.3,557.9,-6.0,297,6945,0.00,1.73,0.00,0.000,4,0.000,0.058,2362,3677,3085
$GC,7109,-0.53,-136.3,568.1,-6.6,300,7112,0.00,1.70,0.00,0.000,6,0.000,0.027,2363,2517,3084
$GC,7444,-0.53,-136.3,588.7,-6.1,309,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2512,3083
$GC,7767,-0.53,-136.3,610.6,-6.9,317,7770,0.00,1.33,0.00,0.000,4,0.000,0.026,2366,1581,3083
$GC,7801,-0.53,-136.3,613.2,-7.4,317,7804,0.00,1.50,0.00,0.000,6,0.000,0.050,2366,2525,3083
$GC,8137,-0.53,-136.3,636.2,-7.0,326,8139,0.00,1.38,0.00,0.000,4,0.000,0.028,2366,1581,3081
$GC,8235,-0.53,-136.3,643.8,-7.2,328,8238,0.00,1.38,0.00,0.000,6,0.000,0.048,2366,2452,3080
$GC,8551,-0.53,-136.3,665.4,-6.7,336,8554,0.00,1.95,0.00,0.000,4,0.000,0.058,2366,3683,3079
$GC,8622,-0.53,-136.3,670.4,-7.4,337,8625,0.00,1.85,0.00,0.000,6,0.000,0.028,2366,2420,3079
$GC,8963,-0.53,-136.3,689.5,-5.4,346,8966,0.00,1.17,0.00,0.000,4,0.000,0.028,2369,1585,3078
$GC,8976,-0.53,-136.3,690.0,-5.1,346,8978,0.00,1.20,0.00,0.000,6,0.000,0.048,2369,2345,3078
$STATE,9166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9166,begin apogee
$GC,9177,-0.18,0.0,701.5,5.8,351,9313,0.28,0.00,129.57,1.114,6,0.041,0.000,2499,2427,2530
$STATE,9313,end apogee,CONTROL_FINISHED_OK
$STATE,9313,begin climb
$GC,9319,0.53,136.3,707.4,0.0,354,9480,0.50,1.75,136.10,1.038,4,0.026,0.048,2724,3459,1974
$GC,9556,0.53,136.3,692.7,14.4,359,9559,0.12,1.58,0.00,0.000,6,0.186,0.026,2704,2431,1968
$GC,9897,0.53,136.3,653.7,10.7,368,9900,0.00,1.65,0.00,0.000,4,0.000,0.052,2702,3456,1965
$GC,10048,0.53,136.3,635.5,12.0,371,10051,0.00,1.48,0.00,0.000,6,0.000,0.025,2708,2466,1964
$GC,10394,0.53,136.3,595.4,11.5,380,10397,0.00,1.60,0.00,0.000,4,0.000,0.051,2702,3451,1962
$GC,10498,0.53,136.3,583.1,11.4,382,10500,0.00,1.42,0.00,0.000,6,0.000,0.026,2708,2494,1962
$GC,10808,0.53,136.3,550.2,10.2,390,10811,0.00,1.55,0.00,0.000,4,0.000,0.051,2702,3451,1961
$GC,10927,0.53,136.3,537.1,10.6,392,10930,0.00,1.38,0.00,0.000,6,0.000,0.027,2707,2523,1961
$GC,11263,0.53,136.3,502.2,10.3,401,11266,0.00,1.50,0.00,0.000,4,0.000,0.051,2702,3448,1960
$GC,11340,0.53,136.3,493.4,11.4,402,11342,0.00,1.33,0.00,0.000,6,0.000,0.027,2707,2553,1960
$GC,11675,0.54,159.2,462.1,9.0,411,11705,0.00,1.52,21.65,0.887,4,0.000,0.051,2702,3466,1880
$GC,11777,0.54,159.2,452.1,10.5,413,11780,0.00,1.30,0.00,0.000,6,0.000,0.028,2707,2598,1878
$GC,12123,0.54,165.3,417.7,9.8,422,12132,0.00,1.42,6.47,0.773,4,0.000,0.051,2702,3453,1856
$GC,12166,0.54,165.3,413.2,10.5,423,12169,0.00,1.25,0.00,0.000,6,0.000,0.025,2707,2608,1855
$GC,12488,0.54,165.3,378.7,11.3,431,12491,0.00,1.38,0.00,0.000,4,0.000,0.051,2702,3453,1854
$GC,12549,0.54,165.3,371.4,12.4,432,12552,0.00,1.17,0.00,0.000,6,0.000,0.025,2706,2650,1854
$GC,12860,0.54,169.6,339.0,9.9,440,12868,0.00,1.90,5.62,0.706,4,0.000,0.028,2713,1362,1837
$GC,12915,0.56,208.0,334.2,8.2,441,12963,0.00,2.03,37.12,0.851,6,0.000,0.046,2713,2656,1680
$GC,13306,0.56,215.4,296.4,9.8,451,13315,0.00,1.30,7.12,0.719,4,0.000,0.051,2713,3456,1652
$GC,13376,0.56,215.4,288.7,11.7,452,13379,0.00,1.20,0.00,0.000,6,0.000,0.025,2719,2647,1651
$GC,13712,0.56,225.3,255.5,9.6,461,13725,0.00,1.88,10.00,0.749,4,0.000,0.028,2728,1354,1611
$GC,13777,0.57,249.1,249.4,9.0,462,13802,0.00,1.98,21.92,0.795,6,0.000,0.043,2728,2616,1513
$GC,14119,0.57,249.1,213.7,10.5,471,14122,0.00,1.33,0.00,0.000,4,0.000,0.051,2728,3456,1509
$GC,14163,0.57,251.3,209.2,10.0,472,14166,0.00,1.25,0.00,0.000,6,0.000,0.026,2733,2619,1509
$GC,14493,0.58,265.3,177.9,9.4,494,14511,0.00,1.90,14.73,0.713,4,0.000,0.029,2739,1366,1448
$GC,14600,0.58,278.9,167.6,9.5,503,14617,0.00,1.92,13.35,0.693,6,0.000,0.044,2739,2593,1392
$GC,14933,0.58,280.3,135.8,10.1,534,14936,0.00,1.35,0.00,0.000,4,0.000,0.049,2739,3455,1389
$GC,14979,0.58,280.3,130.4,12.3,538,14982,0.00,1.27,0.00,0.000,6,0.000,0.024,2745,2583,1388
$GC,15309,0.59,295.5,96.0,9.4,569,15334,0.00,1.85,15.25,0.635,4,0.000,0.027,2752,1345,1323
$GC,15413,0.60,322.0,86.5,8.8,578,15441,0.00,1.85,23.55,0.638,6,0.000,0.040,2752,2545,1215
$GC,15764,0.62,363.4,58.1,8.1,611,15803,0.00,1.83,34.75,0.615,4,0.000,0.026,2752,1362,1048
$GC,15849,0.64,413.2,50.9,7.6,618,15900,0.00,1.80,41.47,0.603,6,0.000,0.037,2751,2529,846
$GC,16214,0.66,473.6,25.3,7.1,658,16268,0.00,1.50,49.58,0.580,4,0.000,0.044,2752,3458,598
$GC,16293,0.68,516.6,19.4,8.0,669,16332,0.00,1.73,35.72,0.559,6,0.000,0.022,2752,2302,422
$STATE,16433,end climb,SURFACE_DEPTH_REACHED
$STATE,16433,begin surface coast
$FINISH,0.1,1.000639
$STATE,16458,end surface coast,CONTROL_FINISHED_OK
$STATE,16458,begin surface
$SM_CCo,16542,0.00,0.000,0,0,418,518.07
$SM_GC,0.92,6.97,0.00,0.00,0.024,0.000,0.000,39,2625,418,-7.69,-0.17,518.07
$IRIDIUM_FIX,2230.01,-15746.34,260102,050554
$TT8_MAMPS,0.048321
$HUMID,2190
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.50
$XPDR_PINGS,30
$24V_AH,23.4,87.507
$10V_AH,10.3,84.185
$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,17.050,118.050,604.000,0.000,0.000,25.708,38.191,223.121,7.500,0.000,0.000,18.095,0.000,12430.482,619.026,3033.563,904.003,33.361,1704.825,0.000,2651.789,0.000,0.543,0.000
$DEVICE_MAMPS,200.954,85.904,1114.451,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,469.193,1286.448,1345.045,138.896,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53964,697
$CAP_FILE_SIZE,133235,0
$CFSIZE,260165632,223727616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,011112,142700,2237.396,-15745.900,41,1.6,41,10.1