version: 66.04
glider: 512
mission: 3
dive: 652
start: 11 2 112 18 36 8
data:
$ID,512
$MISSION,3
$DIVE,652
$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,-66837.586
$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,55
$R_STBD_OVSHOOT,26
$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
$GPS1,182800,2233.660,-15746.806,39,1.7,39,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-80.0
$GPS2,183525,2233.689,-15746.808,13,1.6,13,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.058,-0.246
$KALMAN_X,-189935.1,31.2,142.7,185948.1,240.4
$KALMAN_Y,156551.6,180.2,88.6,-200741.4,1583.7
$MHEAD_RNG_PITCHd_Wd,183.2,65285,-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,-136.3,0.0,0.0,0,106,0.00,0.00,-89.43,0.000,2,0.000,0.000,27,2704,2872
$GC,111,-0.53,-136.3,3.0,-5.2,12,133,9.23,1.67,-4.20,0.000,4,0.207,0.041,2354,1563,3088
$GC,206,-0.53,-136.3,26.6,-13.8,28,214,0.00,1.67,0.00,0.000,6,0.000,0.038,2348,2638,3089
$GC,533,-0.53,-136.3,72.7,-12.4,61,536,0.00,1.55,0.00,0.000,4,0.000,0.021,2348,1562,3089
$GC,644,-0.53,-136.3,86.9,-11.8,71,647,0.00,1.55,0.00,0.000,6,0.000,0.038,2346,2568,3089
$GC,973,-0.53,-136.3,127.0,-12.7,102,976,0.00,1.45,0.00,0.000,4,0.000,0.021,2346,1550,3090
$GC,1019,-0.53,-136.3,132.7,-10.9,106,1022,0.00,1.55,0.00,0.000,6,0.000,0.039,2345,2558,3089
$GC,1350,-0.53,-136.3,168.9,-10.1,137,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2558,3090
$GC,1698,-0.53,-136.3,204.6,-10.1,168,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2558,3090
$GC,2020,-0.53,-136.3,237.1,-10.0,176,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2559,3090
$GC,2343,-0.53,-136.3,266.6,-9.2,184,2346,0.00,1.73,0.00,0.000,4,0.000,0.048,2343,3690,3090
$GC,2387,-0.53,-136.3,270.7,-9.1,185,2390,0.00,1.65,0.00,0.000,6,0.000,0.020,2343,2522,3089
$GC,2715,-0.53,-136.3,299.7,-8.6,193,2718,0.00,1.83,0.00,0.000,4,0.000,0.045,2335,3703,3089
$GC,2748,-0.53,-136.3,302.8,-8.8,193,2751,0.00,1.62,0.00,0.000,6,0.000,0.021,2335,2548,3089
$GC,3083,-0.53,-136.3,331.9,-8.3,202,3086,0.00,1.77,0.00,0.000,4,0.000,0.044,2326,3699,3087
$GC,3112,-0.53,-136.3,334.3,-8.4,202,3116,0.08,1.60,0.00,0.000,6,0.100,0.021,2356,2576,3087
$GC,3453,-0.53,-136.3,356.6,-6.5,211,3456,0.00,1.73,0.00,0.000,4,0.000,0.047,2350,3699,3084
$GC,3524,-0.53,-136.3,361.9,-8.1,212,3527,0.00,1.33,0.00,0.000,6,0.000,0.023,2350,2764,3083
$GC,3865,-0.53,-136.3,383.5,-5.9,221,3869,0.00,1.70,0.00,0.000,4,0.000,0.021,2350,1551,3081
$GC,3888,-0.53,-136.3,385.1,-6.3,221,3892,0.00,2.22,0.00,0.000,6,0.000,0.044,2346,2990,3081
$GC,4229,-0.53,-136.3,406.2,-6.4,230,4232,0.00,2.05,0.00,0.000,4,0.000,0.022,2347,1557,3078
$GC,4322,-0.53,-136.3,412.8,-7.4,232,4325,0.00,1.88,-0.08,0.000,6,0.000,0.043,2346,2778,3101
$GC,4644,-0.53,-136.3,433.3,-5.9,240,4646,0.00,1.75,0.00,0.000,4,0.000,0.023,2346,1550,3099
$GC,4693,-0.53,-136.3,436.2,-6.4,241,4697,0.00,2.17,0.00,0.000,6,0.000,0.045,2346,2952,3099
$GC,5010,-0.53,-136.3,455.2,-6.1,249,5013,0.00,2.00,0.00,0.000,4,0.000,0.023,2346,1559,3097
$GC,5108,-0.53,-136.3,462.3,-7.7,251,5111,0.00,1.85,0.00,0.000,6,0.000,0.044,2346,2760,3096
$GC,5424,-0.53,-136.3,484.0,-6.9,259,5427,0.00,1.48,0.00,0.000,4,0.000,0.054,2346,3693,3094
$GC,5480,-0.53,-136.3,487.8,-7.0,260,5483,0.00,1.65,0.00,0.000,6,0.000,0.025,2346,2542,3093
$GC,5796,-0.53,-136.3,507.2,-5.8,268,5799,0.00,1.83,0.00,0.000,4,0.000,0.053,2346,3692,3092
$GC,5873,-0.53,-136.3,511.8,-6.2,269,5876,0.00,1.38,0.00,0.000,6,0.000,0.026,2346,2743,3091
$GC,6209,-0.53,-136.3,532.5,-6.5,278,6212,0.00,1.65,0.00,0.000,4,0.000,0.024,2346,1562,3089
$GC,6259,-0.53,-136.3,536.1,-6.8,279,6262,0.00,2.12,0.00,0.000,6,0.000,0.048,2346,2920,3089
$GC,6580,-0.53,-136.3,559.5,-7.4,287,6583,0.00,1.20,0.00,0.000,4,0.000,0.055,2346,3682,3087
$GC,6690,-0.53,-136.3,567.7,-7.9,289,6692,0.00,1.02,0.00,0.000,6,0.000,0.028,2346,2983,3087
$GC,7036,-0.53,-136.3,593.1,-7.1,298,7038,0.00,1.15,0.00,0.000,4,0.000,0.057,2346,3691,3085
$GC,7096,-0.53,-136.3,597.3,-7.4,299,7099,0.00,1.38,0.00,0.000,6,0.000,0.028,2346,2762,3085
$GC,7408,-0.53,-136.3,615.6,-5.5,307,7410,0.00,1.70,0.00,0.000,4,0.000,0.025,2346,1557,3083
$GC,7500,-0.53,-136.3,620.9,-5.6,309,7503,0.00,2.12,0.00,0.000,6,0.000,0.049,2346,2908,3083
$GC,7822,-0.53,-136.3,638.2,-5.5,317,7825,0.00,1.95,0.00,0.000,4,0.000,0.025,2346,1562,3083
$GC,7893,-0.53,-136.3,642.6,-6.0,318,7897,0.00,1.77,0.00,0.000,6,0.000,0.048,2346,2674,3082
$GC,8234,-0.53,-136.3,665.4,-6.9,327,8237,0.00,1.62,0.00,0.000,4,0.000,0.058,2346,3686,3080
$GC,8332,-0.53,-136.3,672.6,-7.5,329,8335,0.00,1.25,0.00,0.000,6,0.000,0.029,2346,2841,3080
$GC,8649,-0.53,-136.3,694.1,-6.7,337,8651,0.00,1.83,0.00,0.000,4,0.000,0.026,2346,1568,3079
$GC,8661,-0.53,-136.3,695.0,-6.6,337,8664,0.00,1.73,0.00,0.000,6,0.000,0.050,2346,2665,3079
$STATE,8770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8771,begin apogee
$GC,8781,-0.18,0.0,702.6,6.7,340,8910,0.38,0.00,127.05,1.131,6,0.073,0.000,2479,2405,2530
$STATE,8911,end apogee,CONTROL_FINISHED_OK
$STATE,8911,begin climb
$GC,8916,0.53,136.3,709.0,0.0,343,9103,0.57,1.60,141.18,1.000,4,0.029,0.025,2733,1345,1973
$GC,9233,0.53,136.3,686.5,12.9,350,9236,0.00,1.70,0.00,0.000,6,0.000,0.044,2729,2422,1965
$GC,9574,0.53,136.3,640.6,13.3,359,9577,0.00,1.60,0.00,0.000,4,0.000,0.025,2736,1345,1962
$GC,9714,0.53,136.3,623.1,11.7,362,9717,0.00,1.80,0.00,0.000,6,0.000,0.045,2730,2500,1962
$GC,10031,0.53,136.3,579.7,13.8,370,10034,0.00,1.67,0.00,0.000,4,0.000,0.026,2736,1354,1961
$GC,10215,0.53,136.3,555.5,13.2,374,10218,0.15,1.88,0.00,0.000,6,0.164,0.045,2699,2539,1960
$GC,10531,0.53,136.3,517.9,11.5,382,10535,0.00,1.48,0.00,0.000,4,0.000,0.051,2699,3470,1960
$GC,10774,0.53,136.3,488.8,13.0,387,10777,0.00,1.30,0.00,0.000,6,0.000,0.025,2704,2582,1958
$GC,11115,0.53,136.3,451.5,10.9,396,11118,0.00,1.45,0.00,0.000,4,0.000,0.050,2702,3479,1958
$GC,11342,0.53,136.3,425.1,12.4,401,11344,0.00,1.27,0.00,0.000,6,0.000,0.025,2707,2602,1958
$GC,11658,0.53,156.1,395.1,9.2,409,11686,0.00,1.45,18.25,0.821,4,0.000,0.049,2702,3477,1893
$GC,11884,0.53,156.1,371.1,10.5,414,11886,0.00,1.20,0.00,0.000,6,0.000,0.025,2707,2661,1892
$GC,12200,0.54,170.9,340.6,9.4,422,12219,0.00,1.33,14.73,0.853,4,0.000,0.051,2702,3470,1833
$GC,12405,0.54,170.9,319.3,11.2,426,12408,0.00,1.08,0.00,0.000,6,0.000,0.027,2706,2737,1830
$GC,12741,0.55,190.6,287.5,9.2,435,12769,0.00,1.20,20.62,0.769,4,0.000,0.051,2702,3484,1753
$GC,12971,0.55,190.6,263.6,10.6,440,12974,0.00,1.08,0.00,0.000,6,0.000,0.028,2706,2753,1750
$GC,13283,0.56,220.0,235.0,8.7,448,13310,0.00,0.00,26.60,0.798,6,0.000,0.000,2706,2752,1633
$GC,13605,0.58,262.0,208.9,8.0,456,13646,0.00,1.23,36.60,0.772,4,0.000,0.051,2702,3479,1461
$GC,13733,0.60,307.9,198.8,7.8,459,13776,0.00,1.10,40.05,0.749,6,0.000,0.027,2707,2737,1274
$GC,14091,0.61,345.2,172.3,8.3,492,14129,0.00,2.05,31.95,0.718,4,0.000,0.026,2710,1358,1120
$GC,14187,0.63,397.5,164.9,7.5,500,14238,0.00,2.20,44.62,0.706,6,0.000,0.041,2710,2756,908
$GC,14550,0.64,408.3,133.7,9.6,534,14567,0.00,0.00,10.05,0.613,6,0.000,0.000,2710,2756,865
$GC,14885,0.65,436.1,102.3,8.8,566,14913,0.00,2.15,24.38,0.635,4,0.000,0.027,2710,1356,750
$GC,14925,0.65,453.7,98.3,9.3,569,14950,0.00,2.20,15.98,0.602,6,0.000,0.044,2710,2758,679
$GC,15262,0.65,453.7,62.7,12.3,601,15265,0.00,1.10,0.00,0.000,4,0.000,0.048,2710,3470,678
$GC,15515,0.65,453.7,31.1,12.7,624,15517,0.00,1.10,0.00,0.000,6,0.000,0.023,2710,2694,678
$STATE,15746,end climb,SURFACE_DEPTH_REACHED
$STATE,15746,begin surface coast
$FINISH,0.5,1.023378
$STATE,15769,end surface coast,CONTROL_FINISHED_OK
$STATE,15769,begin surface
$SM_CCo,15852,0.00,0.000,0,0,677,454.53
$SM_GC,0.96,6.80,0.00,0.00,0.027,0.000,0.000,44,2684,677,-7.69,1.53,454.53
$IRIDIUM_FIX,2225.34,-15821.88,270102,131344
$TT8_MAMPS,0.04602
$HUMID,2241
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,22.10
$XPDR_PINGS,31
$24V_AH,23.4,88.584
$10V_AH,10.3,85.053
$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,17.200,103.725,552.050,0.000,0.000,27.896,35.679,201.898,7.750,0.000,0.000,13.703,0.000,11763.220,572.018,3085.083,852.888,33.363,1677.356,0.000,2716.076,0.000,0.544,0.000
$DEVICE_MAMPS,207.090,57.525,1130.558,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,451.952,1243.463,1298.328,126.218,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54003,670
$CAP_FILE_SIZE,126593,0
$CFSIZE,260165632,223277056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$GPS,021112,230135,2233.312,-15746.593,43,1.4,48,10.0