version: 66.04
glider: 512
mission: 3
dive: 648
start: 11 1 112 23 54 48
data:
$ID,512
$MISSION,3
$DIVE,648
$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,-66772.875
$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,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
$GPS1,234636,2236.411,-15746.255,40,1.2,40,10.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-79.2
$GPS2,235406,2236.379,-15746.303,10,1.4,15,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.099,-0.233
$KALMAN_X,-193254.3,-2.5,20.2,190284.6,368.1
$KALMAN_Y,148094.8,256.0,593.0,-187863.4,-182.5
$MHEAD_RNG_PITCHd_Wd,193.1,70304,-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,-136.3,0.0,0.0,0,107,0.00,0.00,-89.45,0.000,2,0.000,0.000,34,2689,2847
$GC,113,-0.53,-136.3,2.9,-4.6,12,136,9.15,1.67,-4.72,0.000,4,0.203,0.039,2354,1562,3089
$GC,225,-0.53,-136.3,28.0,-13.2,31,233,0.00,1.67,0.00,0.000,6,0.000,0.038,2348,2639,3089
$GC,557,-0.53,-136.3,80.1,-16.9,63,560,0.00,1.55,0.00,0.000,4,0.000,0.023,2349,1570,3089
$GC,636,-0.53,-136.3,92.0,-12.4,70,639,0.00,1.58,0.00,0.000,6,0.000,0.041,2346,2584,3089
$GC,965,-0.53,-136.3,131.4,-10.5,101,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2583,3090
$GC,1285,-0.53,-136.3,162.4,-9.3,132,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2584,3090
$GC,1605,-0.53,-136.3,196.7,-10.9,163,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2584,3090
$GC,1916,-0.53,-136.3,228.4,-9.8,173,1919,0.00,1.45,0.00,0.000,4,0.000,0.020,2346,1559,3090
$GC,1961,-0.53,-136.3,232.8,-8.8,174,1963,0.00,1.58,0.00,0.000,6,0.000,0.041,2346,2576,3090
$GC,2288,-0.53,-136.3,261.3,-8.2,182,2290,0.00,1.70,0.00,0.000,4,0.000,0.046,2337,3699,3090
$GC,2333,-0.53,-136.3,265.1,-8.2,183,2336,0.00,1.62,0.00,0.000,6,0.000,0.020,2337,2544,3090
$GC,2660,-0.53,-136.3,294.6,-9.4,191,2663,0.00,1.77,0.00,0.000,4,0.000,0.045,2329,3695,3089
$GC,2704,-0.53,-136.3,298.6,-8.7,192,2707,0.10,1.62,0.00,0.000,6,0.115,0.021,2359,2543,3089
$GC,3032,-0.53,-136.3,318.9,-5.9,200,3035,0.00,1.83,0.00,0.000,4,0.000,0.049,2359,3689,3087
$GC,3082,-0.53,-136.3,322.1,-6.1,201,3085,0.00,1.30,0.00,0.000,6,0.000,0.023,2359,2766,3086
$GC,3403,-0.53,-136.3,342.4,-6.5,209,3406,0.00,1.48,0.00,0.000,4,0.000,0.050,2358,3694,3084
$GC,3491,-0.53,-136.3,348.3,-6.1,211,3494,0.00,1.15,0.00,0.000,6,0.000,0.025,2359,2885,3084
$GC,3818,-0.53,-136.3,369.8,-6.6,219,3821,0.00,1.27,0.00,0.000,4,0.000,0.051,2359,3689,3081
$GC,3900,-0.53,-136.3,375.6,-7.1,220,3905,0.00,1.52,0.00,0.000,6,0.000,0.023,2359,2611,3080
$GC,4230,-0.53,-136.3,398.1,-6.8,229,4233,0.00,1.42,0.00,0.000,4,0.000,0.023,2359,1593,3077
$GC,4248,-0.53,-136.3,399.4,-6.8,229,4251,0.00,1.95,-0.08,0.000,6,0.000,0.044,2358,2861,3100
$GC,4559,-0.53,-136.3,416.8,-5.2,237,4562,0.00,1.30,0.00,0.000,4,0.000,0.053,2359,3685,3099
$GC,4807,-0.53,-136.3,429.2,-4.7,242,4810,0.00,1.10,0.00,0.000,6,0.000,0.024,2359,2913,3098
$GC,5143,-0.53,-136.3,449.4,-6.3,251,5145,0.00,1.25,0.00,0.000,4,0.000,0.053,2359,3690,3095
$GC,5176,-0.53,-136.3,451.7,-7.6,251,5179,0.00,1.12,0.00,0.000,6,0.000,0.027,2358,2916,3095
$GC,5512,-0.53,-136.3,474.2,-6.5,260,5515,0.00,1.85,0.00,0.000,4,0.000,0.024,2358,1611,3092
$GC,5760,-0.53,-136.3,489.9,-6.7,265,5763,0.00,1.73,0.00,0.000,6,0.000,0.045,2358,2730,3091
$GC,6096,-0.53,-136.3,506.7,-4.6,274,6099,0.00,1.52,0.00,0.000,4,0.000,0.054,2358,3693,3089
$GC,6236,-0.53,-136.3,512.8,-5.3,277,6240,0.00,1.27,0.00,0.000,6,0.000,0.026,2359,2814,3089
$GC,6553,-0.53,-136.3,526.2,-4.3,285,6557,0.00,1.73,0.00,0.000,4,0.000,0.024,2359,1609,3087
$GC,6801,-0.53,-136.3,541.5,-5.5,290,6805,0.00,1.83,0.00,0.000,6,0.000,0.048,2359,2764,3086
$GC,7137,-0.53,-136.3,565.8,-7.4,299,7140,0.00,1.45,0.00,0.000,4,0.000,0.054,2359,3684,3084
$GC,7198,-0.53,-136.3,570.0,-6.5,300,7201,0.00,1.45,0.00,0.000,6,0.000,0.026,2359,2685,3083
$GC,7509,-0.53,-136.3,590.9,-6.4,308,7511,0.00,1.60,0.00,0.000,4,0.000,0.054,2359,3697,3083
$GC,7757,-0.53,-136.3,606.6,-6.4,313,7760,0.00,1.60,0.00,0.000,6,0.000,0.026,2365,2607,3082
$GC,8092,-0.53,-136.3,626.1,-5.7,322,8095,0.00,1.75,0.00,0.000,4,0.000,0.058,2365,3694,3081
$GC,8341,-0.53,-136.3,642.8,-6.9,327,8344,0.00,1.77,0.00,0.000,6,0.000,0.026,2366,2498,3080
$GC,8676,-0.53,-136.3,664.8,-6.7,336,8679,0.00,1.30,0.00,0.000,4,0.000,0.025,2366,1574,3079
$GC,8812,-0.53,-136.3,675.0,-7.7,339,8815,0.00,1.42,0.00,0.000,6,0.000,0.047,2366,2477,3079
$GC,9134,-0.53,-136.3,699.0,-7.7,347,9137,0.00,1.30,0.00,0.000,4,0.000,0.027,2366,1578,3077
$STATE,9147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9147,begin apogee
$GC,9158,-0.18,0.0,700.4,7.8,347,9287,0.25,0.00,126.60,1.134,6,0.051,0.000,2480,2421,2530
$STATE,9287,end apogee,CONTROL_FINISHED_OK
$STATE,9287,begin climb
$GC,9293,0.53,136.3,708.3,0.0,350,9479,0.55,1.60,140.98,1.006,4,0.029,0.024,2720,1367,1973
$GC,9507,0.53,136.3,701.9,11.1,355,9510,0.00,1.67,0.00,0.000,6,0.000,0.044,2715,2415,1968
$GC,9824,0.53,136.3,665.8,11.6,363,9827,0.00,1.55,0.00,0.000,4,0.000,0.025,2721,1366,1964
$GC,9980,0.53,136.3,648.3,11.6,366,9983,0.00,1.75,0.00,0.000,6,0.000,0.046,2715,2489,1962
$GC,10321,0.53,136.3,606.0,12.4,375,10324,0.00,1.62,0.00,0.000,4,0.000,0.026,2722,1365,1962
$GC,10504,0.53,136.3,584.8,11.8,379,10506,0.00,1.83,0.00,0.000,6,0.000,0.044,2716,2543,1961
$GC,10825,0.53,136.3,543.8,12.5,387,10828,0.00,1.48,0.00,0.000,4,0.000,0.051,2715,3478,1960
$GC,11073,0.53,136.3,511.0,12.6,392,11077,0.00,1.27,0.00,0.000,6,0.000,0.025,2720,2601,1959
$GC,11409,0.53,136.3,474.8,10.4,401,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2594,1959
$GC,11732,0.53,136.3,439.8,10.9,409,11735,0.00,1.40,0.00,0.000,4,0.000,0.050,2716,3470,1959
$GC,11846,0.53,136.3,426.9,11.6,411,11848,0.00,1.25,0.00,0.000,6,0.000,0.025,2721,2607,1958
$GC,12186,0.53,144.9,393.2,9.7,420,12195,0.00,1.38,6.45,0.771,4,0.000,0.048,2716,3475,1939
$GC,12300,0.53,144.9,381.0,11.0,422,12303,0.00,1.23,0.00,0.000,6,0.000,0.026,2720,2633,1939
$GC,12635,0.53,150.0,347.1,9.9,431,12644,0.00,1.35,6.18,0.731,4,0.000,0.049,2715,3483,1919
$GC,12712,0.53,150.0,339.1,10.3,432,12717,0.00,1.17,0.00,0.000,6,0.000,0.026,2720,2676,1918
$GC,13042,0.54,167.6,307.5,9.3,441,13065,0.00,1.98,17.75,0.841,4,0.000,0.027,2729,1363,1846
$GC,13095,0.55,198.3,302.8,8.6,442,13129,0.00,2.08,28.40,0.844,6,0.000,0.046,2729,2679,1721
$GC,13453,0.55,198.3,264.9,10.4,451,13456,0.00,1.25,0.00,0.000,4,0.000,0.051,2729,3472,1715
$GC,13519,0.55,198.3,257.9,10.5,452,13522,0.00,1.10,0.00,0.000,6,0.000,0.025,2733,2713,1715
$GC,13865,0.56,218.2,225.7,9.1,461,13888,0.00,2.03,17.73,0.769,4,0.000,0.027,2742,1363,1640
$GC,13919,0.57,235.6,220.5,9.3,462,13939,0.00,2.12,16.35,0.746,6,0.000,0.044,2743,2717,1569
$GC,14259,0.57,249.1,183.8,9.5,481,14275,0.00,1.20,12.45,0.704,4,0.000,0.048,2742,3475,1514
$GC,14362,0.58,258.3,173.2,9.7,490,14375,0.00,1.10,9.45,0.667,6,0.000,0.025,2746,2718,1477
$GC,14686,0.58,258.3,142.2,11.1,521,14690,0.00,1.95,0.00,0.000,4,0.000,0.025,2756,1356,1475
$GC,14712,0.58,258.3,139.3,11.9,523,14716,0.15,2.17,0.00,0.000,6,0.132,0.043,2713,2757,1473
$GC,15032,0.58,274.5,109.6,9.3,553,15050,0.00,1.15,15.15,0.650,4,0.000,0.048,2713,3477,1410
$GC,15129,0.59,289.1,100.2,9.4,561,15145,0.00,1.05,13.90,0.627,6,0.000,0.023,2718,2741,1351
$GC,15461,0.61,350.2,73.7,7.1,592,15516,0.00,2.03,51.22,0.635,4,0.000,0.025,2722,1367,1101
$GC,15640,0.64,431.9,61.5,6.0,607,15714,0.00,2.08,67.22,0.616,6,0.000,0.038,2723,2706,768
$GC,16030,0.64,431.9,21.9,10.6,649,16037,0.00,1.98,0.00,0.000,4,0.000,0.025,2722,1380,764
$STATE,16201,end climb,SURFACE_DEPTH_REACHED
$STATE,16201,begin surface coast
$FINISH,0.1,1.000626
$STATE,16227,end surface coast,CONTROL_FINISHED_OK
$STATE,16227,begin surface
$SM_CCo,16312,0.00,0.000,0,0,762,433.68
$SM_GC,1.01,6.82,0.00,0.00,0.024,0.000,0.000,21,2659,762,-7.72,0.82,433.68
$IRIDIUM_FIX,2227.67,-15744.17,260102,191924
$TT8_MAMPS,0.048321
$HUMID,2204
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.80
$XPDR_PINGS,31
$24V_AH,23.2,87.965
$10V_AH,10.3,84.556
$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,17.025,105.625,529.825,0.000,0.000,26.018,31.902,211.320,7.750,0.000,0.000,19.925,0.000,12123.766,544.748,3198.036,871.010,33.363,1698.611,0.000,2825.493,0.000,0.542,0.000
$DEVICE_MAMPS,203.255,57.525,1134.393,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,461.930,1263.639,1324.100,132.223,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54017,685
$CAP_FILE_SIZE,131180,0
$CFSIZE,260165632,223531008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,021112,042753,2235.701,-15746.329,28,0.9,45,10.0