version: 66.04
glider: 512
mission: 3
dive: 647
start: 11 1 112 19 10 56
data:
$ID,512
$MISSION,3
$DIVE,647
$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,-66752.32
$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,53
$R_STBD_OVSHOOT,27
$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
$GPS1,190236,2237.071,-15746.316,38,0.8,38,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-82.8
$GPS2,191013,2237.077,-15746.320,15,1.3,15,10.1
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.039,-0.250
$KALMAN_X,-193940.5,-28.3,194.9,190794.9,75.8
$KALMAN_Y,146533.1,236.0,19.7,-184430.5,1864.6
$MHEAD_RNG_PITCHd_Wd,178.7,71536,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.53,-136.3,0.0,0.0,0,91,0.00,0.00,-74.30,0.000,2,0.000,0.000,23,2621,2712
$GC,96,-0.53,-136.3,2.2,-3.0,10,118,9.18,1.50,-8.02,0.000,4,0.204,0.041,2357,1554,3087
$GC,229,-0.53,-136.3,26.6,-13.0,33,237,0.00,1.67,0.00,0.000,6,0.000,0.037,2351,2634,3088
$GC,561,-0.53,-136.3,75.3,-13.8,66,564,0.00,1.55,0.00,0.000,4,0.000,0.022,2351,1565,3088
$GC,629,-0.53,-136.3,84.9,-12.5,72,632,0.00,1.60,0.00,0.000,6,0.000,0.038,2346,2597,3089
$GC,959,-0.53,-136.3,122.5,-11.9,103,962,0.00,1.67,0.00,0.000,4,0.000,0.046,2338,3703,3089
$GC,987,-0.53,-136.3,126.5,-11.3,105,994,0.00,1.62,0.00,0.000,6,0.000,0.020,2338,2569,3089
$GC,1312,-0.53,-136.3,164.8,-12.5,136,1314,0.00,1.40,0.00,0.000,4,0.000,0.021,2338,1561,3090
$GC,1336,-0.53,-136.3,168.5,-11.9,138,1339,0.00,1.58,0.00,0.000,6,0.000,0.040,2333,2577,3090
$GC,1689,-0.53,-136.3,208.6,-10.5,166,1692,0.00,1.70,0.00,0.000,4,0.000,0.047,2325,3699,3090
$GC,1738,-0.53,-136.3,213.5,-9.3,167,1742,0.12,1.62,0.00,0.000,6,0.116,0.020,2361,2541,3090
$GC,2060,-0.53,-136.3,239.5,-8.1,175,2063,0.00,1.80,0.00,0.000,4,0.000,0.048,2359,3699,3090
$GC,2110,-0.53,-136.3,243.8,-8.9,176,2113,0.00,1.58,0.00,0.000,6,0.000,0.021,2359,2581,3090
$GC,2432,-0.53,-136.3,266.1,-6.6,184,2435,0.00,1.73,0.00,0.000,4,0.000,0.048,2359,3690,3090
$GC,2509,-0.53,-136.3,271.7,-7.5,185,2512,0.00,1.12,0.00,0.000,6,0.000,0.023,2359,2892,3089
$GC,2845,-0.53,-136.3,297.4,-7.8,194,2848,0.00,1.25,0.00,0.000,4,0.000,0.051,2359,3684,3088
$GC,2953,-0.53,-136.3,306.0,-7.9,196,2956,0.00,1.45,0.00,0.000,6,0.000,0.021,2358,2645,3087
$GC,3299,-0.53,-136.3,329.9,-6.6,205,3302,0.00,1.45,0.00,0.000,4,0.000,0.021,2359,1597,3086
$GC,3360,-0.53,-136.3,334.0,-6.7,206,3363,0.00,1.83,0.00,0.000,6,0.000,0.043,2359,2773,3086
$GC,3671,-0.53,-136.3,353.8,-6.5,214,3674,0.00,1.42,0.00,0.000,4,0.000,0.052,2358,3684,3084
$GC,3699,-0.53,-136.3,355.8,-7.2,214,3702,0.00,1.10,0.00,0.000,6,0.000,0.024,2358,2901,3084
$GC,4040,-0.53,-136.3,379.3,-6.8,223,4043,0.00,1.80,0.00,0.000,4,0.000,0.021,2358,1610,3081
$GC,4111,-0.53,-136.3,384.0,-6.5,224,4115,0.00,1.65,0.00,0.000,6,0.000,0.042,2359,2667,3081
$GC,4452,-0.53,-136.3,405.0,-6.4,233,4455,0.00,1.60,0.00,0.000,4,0.000,0.053,2359,3686,3078
$GC,4545,-0.53,-136.3,411.6,-7.6,235,4547,0.00,1.15,0.00,0.000,6,0.000,0.025,2358,2882,3077
$GC,4866,-0.53,-136.3,434.0,-6.9,243,4869,0.00,1.83,-0.08,0.000,4,0.000,0.038,2358,1605,3100
$GC,4927,-0.53,-136.3,438.2,-6.3,244,4930,0.00,2.03,0.00,0.000,6,0.000,0.047,2358,2911,3100
$GC,5238,-0.53,-136.3,456.3,-5.6,252,5241,0.00,1.23,0.00,0.000,4,0.000,0.055,2358,3684,3098
$GC,5341,-0.53,-136.3,462.0,-5.6,254,5344,0.00,1.05,0.00,0.000,6,0.000,0.045,2358,2974,3097
$GC,5653,-0.53,-136.3,477.5,-5.1,262,5656,0.00,1.95,0.00,0.000,4,0.000,0.024,2358,1604,3096
$GC,5724,-0.53,-136.3,481.4,-5.5,263,5727,0.00,2.05,0.00,0.000,6,0.000,0.048,2358,2921,3095
$GC,6064,-0.53,-136.3,503.4,-6.8,272,6068,0.00,1.20,0.00,0.000,4,0.000,0.056,2358,3683,3093
$GC,6286,-0.53,-136.3,518.1,-6.9,277,6289,0.00,1.00,0.00,0.000,6,0.000,0.028,2358,2996,3092
$GC,6608,-0.53,-136.3,535.2,-5.0,285,6611,0.00,1.98,0.00,0.000,4,0.000,0.025,2358,1614,3090
$GC,6857,-0.53,-136.3,547.9,-4.4,290,6860,0.00,2.00,0.00,0.000,6,0.000,0.048,2358,2896,3089
$GC,7192,-0.53,-136.3,566.4,-5.7,299,7195,0.00,1.85,0.00,0.000,4,0.000,0.025,2358,1616,3088
$GC,7440,-0.53,-136.3,581.4,-6.2,304,7444,0.00,2.00,0.00,0.000,6,0.000,0.050,2358,2896,3087
$GC,7776,-0.53,-136.3,602.2,-6.5,313,7779,0.00,1.88,0.00,0.000,4,0.000,0.026,2359,1602,3084
$GC,7820,-0.53,-136.3,605.2,-6.3,314,7823,0.00,1.83,0.00,0.000,6,0.000,0.048,2358,2766,3084
$GC,8147,-0.53,-136.3,626.6,-6.6,322,8150,0.00,1.70,0.00,0.000,4,0.000,0.026,2359,1604,3084
$GC,8261,-0.53,-136.3,633.5,-6.5,324,8264,0.00,1.95,0.00,0.000,6,0.000,0.050,2358,2851,3083
$GC,8602,-0.53,-136.3,652.9,-5.6,333,8606,0.00,1.33,0.00,0.000,4,0.000,0.058,2359,3683,3082
$GC,8690,-0.53,-136.3,657.9,-6.0,335,8692,0.00,1.25,0.00,0.000,6,0.000,0.028,2358,2834,3082
$GC,9017,-0.53,-136.3,675.1,-5.4,343,9019,0.00,1.75,0.00,0.000,4,0.000,0.028,2358,1610,3080
$GC,9194,-0.53,-136.3,684.2,-5.2,347,9198,0.00,1.77,0.00,0.000,6,0.000,0.051,2358,2713,3080
$STATE,9516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9516,begin apogee
$GC,9527,-0.18,0.0,700.2,4.6,355,9657,0.32,0.00,127.43,1.134,6,0.051,0.000,2486,2457,2530
$STATE,9657,end apogee,CONTROL_FINISHED_OK
$STATE,9657,begin climb
$GC,9663,0.53,136.3,704.6,0.0,358,9810,0.57,1.73,131.15,1.065,4,0.041,0.051,2726,3466,1974
$GC,10009,0.53,136.3,665.5,16.5,366,10012,0.15,1.60,0.00,0.000,6,0.192,0.027,2701,2388,1967
$GC,10344,0.53,136.3,625.2,11.5,375,10347,0.00,1.77,0.00,0.000,4,0.000,0.053,2700,3470,1963
$GC,10593,0.53,136.3,592.9,13.5,380,10596,0.00,1.48,0.00,0.000,6,0.000,0.026,2707,2482,1963
$GC,10928,0.53,136.3,554.3,11.4,389,10931,0.00,1.62,0.00,0.000,4,0.000,0.053,2702,3477,1962
$GC,11171,0.53,136.3,523.9,13.1,394,11174,0.00,1.40,0.00,0.000,6,0.000,0.027,2707,2531,1961
$GC,11511,0.53,136.3,486.8,10.4,403,11514,0.00,1.52,0.00,0.000,4,0.000,0.052,2702,3470,1961
$GC,11625,0.53,136.3,474.1,11.3,405,11628,0.00,1.35,0.00,0.000,6,0.000,0.027,2707,2555,1960
$GC,11966,0.53,150.2,441.2,9.4,414,11989,0.00,1.50,13.50,0.784,4,0.000,0.051,2702,3467,1917
$GC,12170,0.53,150.2,419.2,11.2,418,12173,0.00,1.30,0.00,0.000,6,0.000,0.027,2707,2592,1915
$GC,12506,0.53,150.2,384.7,10.3,427,12509,0.00,1.42,0.00,0.000,4,0.000,0.052,2702,3469,1914
$GC,12603,0.54,157.0,374.3,9.8,429,12616,0.00,1.25,7.85,0.798,6,0.000,0.027,2706,2616,1889
$GC,12959,0.54,162.2,337.8,9.9,438,12968,0.00,1.38,6.10,0.724,4,0.000,0.051,2702,3480,1868
$GC,13073,0.54,165.6,326.5,10.0,440,13083,0.00,1.20,4.60,0.630,6,0.000,0.027,2706,2663,1855
$GC,13408,0.55,183.7,295.9,9.2,449,13430,0.00,1.35,17.77,0.834,4,0.000,0.052,2702,3473,1780
$GC,13499,0.55,183.7,286.1,10.6,451,13502,0.00,1.10,0.00,0.000,6,0.000,0.026,2706,2724,1779
$GC,13820,0.56,211.6,257.2,8.7,459,13847,0.00,0.00,25.60,0.817,6,0.000,0.000,2706,2722,1667
$GC,14143,0.57,234.6,227.9,9.0,467,14167,0.00,2.03,20.48,0.779,4,0.000,0.028,2713,1365,1572
$GC,14197,0.59,298.2,223.8,7.0,468,14256,0.00,2.22,54.97,0.783,6,0.000,0.045,2712,2769,1314
$GC,14577,0.59,299.0,189.6,10.1,485,14580,0.00,1.12,0.00,0.000,4,0.000,0.053,2713,3479,1307
$GC,14634,0.59,299.0,182.9,11.7,490,14637,0.00,1.08,0.00,0.000,6,0.000,0.025,2713,2747,1307
$GC,14964,0.60,318.4,151.7,9.2,521,14989,0.00,2.08,17.62,0.688,4,0.000,0.028,2713,1365,1229
$GC,15029,0.62,368.1,145.5,7.7,526,15075,0.00,2.22,42.20,0.700,6,0.000,0.044,2713,2764,1028
$GC,15386,0.64,426.3,119.0,7.2,560,15438,0.00,1.17,48.55,0.670,4,0.000,0.048,2712,3484,792
$GC,15484,0.67,487.9,111.7,7.1,568,15539,0.00,1.42,51.40,0.651,6,0.000,0.022,2713,2523,539
$GC,15854,0.67,487.9,67.8,12.2,602,15858,0.00,1.73,0.00,0.000,4,0.000,0.027,2713,1352,536
$GC,16105,0.67,487.9,35.8,12.3,625,16108,0.00,1.80,0.00,0.000,6,0.000,0.036,2712,2537,535
$STATE,16367,end climb,SURFACE_DEPTH_REACHED
$STATE,16367,begin surface coast
$FINISH,0.2,1.023204
$STATE,16389,end surface coast,CONTROL_FINISHED_OK
$STATE,16389,begin surface
$SM_CCo,16473,0.00,0.000,0,0,534,489.37
$SM_GC,0.80,6.85,0.00,0.00,0.026,0.000,0.000,39,2690,534,-7.71,1.72,489.37
$IRIDIUM_FIX,2227.67,-15744.17,260102,141454
$TT8_MAMPS,0.048321
$HUMID,2219
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,22.70
$XPDR_PINGS,36
$24V_AH,23.4,87.817
$10V_AH,10.3,84.432
$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,17.200,110.825,569.225,0.000,0.000,27.748,35.420,207.571,9.000,0.000,0.000,15.613,0.000,12278.330,554.420,3190.127,883.084,33.391,1707.580,0.000,2807.821,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,57.525,1133.626,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,454.530,1190.993,1247.534,127.093,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53952,673
$CAP_FILE_SIZE,132876,0
$CFSIZE,260165632,223596544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,011112,234636,2236.411,-15746.255,40,1.2,40,10.0