version: 66.04
glider: 512
mission: 3
dive: 656
start: 11 3 112 12 59 13
data:
$ID,512
$MISSION,3
$DIVE,656
$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,-66910.984
$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,47
$R_STBD_OVSHOOT,49
$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
$GPS1,125106,2231.253,-15747.102,28,1.2,28,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-80.0
$GPS2,125830,2231.254,-15747.119,11,1.2,16,10.0
$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,-186046.0,122.7,18.2,181563.2,226.5
$KALMAN_Y,164842.2,97.7,346.1,-213702.4,365.6
$MHEAD_RNG_PITCHd_Wd,189.5,60823,-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,-74.47,0.000,2,0.000,0.000,24,2667,2703
$GC,96,-0.53,-136.3,2.3,-3.0,10,119,9.30,0.00,-8.10,0.000,6,0.208,0.000,2351,2667,3086
$GC,437,-0.53,-136.3,60.3,-14.4,53,440,0.00,1.60,0.00,0.000,4,0.000,0.024,2350,1561,3086
$GC,547,-0.53,-136.3,74.5,-11.7,63,550,0.00,1.60,0.00,0.000,6,0.000,0.037,2346,2620,3087
$GC,877,-0.53,-136.3,113.5,-11.8,94,880,0.00,1.52,0.00,0.000,4,0.000,0.021,2346,1557,3087
$GC,927,-0.53,-136.3,120.2,-11.0,98,934,0.00,1.62,0.00,0.000,6,0.000,0.038,2346,2609,3087
$GC,1252,-0.53,-136.3,157.2,-12.0,129,1255,0.00,1.52,0.00,0.000,4,0.000,0.021,2346,1544,3087
$GC,1280,-0.53,-136.3,161.2,-11.3,131,1287,0.00,1.58,0.00,0.000,6,0.000,0.037,2339,2574,3088
$GC,1605,-0.53,-136.3,194.6,-10.0,162,1608,0.00,1.70,0.00,0.000,4,0.000,0.045,2330,3698,3088
$GC,1662,-0.53,-136.3,200.7,-9.7,167,1666,0.00,1.65,0.00,0.000,6,0.000,0.020,2330,2558,3088
$GC,1979,-0.53,-136.3,232.1,-9.9,175,1982,0.00,1.40,0.00,0.000,4,0.000,0.021,2330,1553,3088
$GC,2024,-0.53,-136.3,236.6,-9.7,176,2027,0.08,1.60,0.00,0.000,6,0.101,0.038,2353,2590,3088
$GC,2351,-0.53,-136.3,265.1,-8.4,184,2354,0.00,1.70,0.00,0.000,4,0.000,0.047,2346,3690,3088
$GC,2432,-0.53,-136.3,272.0,-8.3,185,2438,0.00,1.60,0.00,0.000,6,0.000,0.021,2347,2553,3087
$GC,2763,-0.53,-136.3,299.1,-8.2,194,2766,0.00,1.77,0.00,0.000,4,0.000,0.048,2346,3692,3086
$GC,2867,-0.53,-136.3,307.2,-7.6,196,2870,0.00,1.52,0.00,0.000,6,0.000,0.021,2346,2626,3086
$GC,3178,-0.53,-136.3,327.3,-6.3,204,3181,0.00,1.67,0.00,0.000,4,0.000,0.047,2338,3686,3084
$GC,3292,-0.53,-136.3,335.8,-7.8,206,3295,0.00,1.35,0.00,0.000,6,0.000,0.021,2338,2730,3083
$GC,3633,-0.53,-136.3,361.9,-8.0,215,3636,0.00,1.60,0.00,0.000,4,0.000,0.022,2338,1566,3082
$GC,3731,-0.53,-136.3,370.3,-8.4,217,3733,0.00,1.75,0.00,0.000,6,0.000,0.041,2333,2709,3081
$GC,4048,-0.53,-136.3,396.8,-8.3,225,4050,0.00,1.60,0.00,0.000,4,0.000,0.023,2333,1581,3078
$GC,4092,-0.53,-136.3,400.5,-8.2,226,4095,0.00,1.70,0.00,0.000,6,0.000,0.043,2333,2685,3078
$GC,4419,-0.53,-136.3,426.5,-8.1,234,4420,0.00,0.00,-0.08,0.000,6,0.000,0.000,2333,2685,3100
$GC,4742,-0.53,-136.3,454.2,-8.4,242,4745,0.00,1.60,0.00,0.000,4,0.000,0.024,2333,1590,3098
$GC,4797,-0.53,-136.3,458.8,-8.4,243,4800,0.00,1.65,0.00,0.000,6,0.000,0.043,2333,2661,3098
$GC,5114,-0.53,-136.3,479.9,-6.2,251,5117,0.00,1.62,0.00,0.000,4,0.000,0.053,2325,3709,3096
$GC,5153,-0.53,-136.3,482.4,-6.5,251,5159,0.08,1.50,0.00,0.000,6,0.102,0.024,2355,2666,3095
$GC,5483,-0.53,-136.3,499.6,-5.2,260,5486,0.00,1.52,0.00,0.000,4,0.000,0.025,2356,1597,3093
$GC,5538,-0.53,-136.3,502.9,-5.7,261,5541,0.00,1.92,0.00,0.000,6,0.000,0.045,2348,2840,3092
$GC,5855,-0.53,-136.3,521.7,-6.1,269,5858,0.00,1.80,0.00,0.000,4,0.000,0.025,2348,1587,3090
$GC,5948,-0.53,-136.3,527.5,-6.1,271,5951,0.00,1.62,0.00,0.000,6,0.000,0.044,2346,2640,3090
$GC,6270,-0.53,-136.3,545.9,-5.7,279,6273,0.00,1.62,0.00,0.000,4,0.000,0.054,2346,3684,3088
$GC,6358,-0.53,-136.3,551.3,-6.0,281,6360,0.00,1.15,0.00,0.000,6,0.000,0.028,2346,2896,3088
$GC,6685,-0.53,-136.3,571.6,-6.1,289,6688,0.00,1.27,0.00,0.000,4,0.000,0.056,2346,3683,3086
$GC,6778,-0.53,-136.3,577.3,-6.5,291,6781,0.00,1.52,0.00,0.000,6,0.000,0.026,2346,2641,3086
$GC,7100,-0.53,-136.3,596.6,-6.0,299,7103,0.00,1.50,0.00,0.000,4,0.000,0.028,2346,1593,3084
$GC,7123,-0.53,-136.3,598.2,-6.7,299,7126,0.00,1.98,0.00,0.000,6,0.000,0.048,2346,2866,3084
$GC,7469,-0.53,-136.3,619.9,-6.3,308,7473,0.00,1.30,0.00,0.000,4,0.000,0.058,2346,3681,3083
$GC,7588,-0.53,-136.3,628.1,-6.8,310,7592,0.00,1.55,0.00,0.000,6,0.000,0.027,2346,2626,3082
$GC,7924,-0.53,-136.3,650.1,-6.5,319,7927,0.00,1.70,0.00,0.000,4,0.000,0.057,2346,3683,3081
$GC,7979,-0.53,-136.3,653.6,-6.1,320,7983,0.00,1.23,0.00,0.000,6,0.000,0.028,2346,2843,3081
$GC,8296,-0.53,-136.3,672.9,-5.9,328,8299,0.00,1.38,0.00,0.000,4,0.000,0.057,2346,3687,3079
$GC,8415,-0.53,-136.3,679.9,-6.1,330,8418,0.00,1.52,0.00,0.000,6,0.000,0.027,2346,2651,3079
$GC,8751,-0.53,-136.3,698.6,-5.5,339,8754,0.00,1.55,0.00,0.000,4,0.000,0.027,2346,1576,3078
$STATE,8769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8769,begin apogee
$GC,8780,-0.18,0.0,700.1,6.3,339,8909,0.32,0.00,126.93,1.128,6,0.082,0.000,2466,2414,2530
$STATE,8910,end apogee,CONTROL_FINISHED_OK
$STATE,8910,begin climb
$GC,8915,0.53,136.3,704.9,0.0,342,9083,0.62,1.75,135.43,1.037,4,0.041,0.049,2710,3483,1973
$GC,9196,0.53,136.3,684.0,14.6,348,9199,0.00,1.60,0.00,0.000,6,0.000,0.025,2718,2408,1967
$GC,9538,0.53,136.3,640.0,12.8,357,9540,0.00,1.70,0.00,0.000,4,0.000,0.050,2715,3473,1963
$GC,9571,0.53,136.3,635.2,14.2,357,9574,0.00,1.58,0.00,0.000,6,0.000,0.026,2722,2420,1963
$GC,9906,0.53,136.3,591.6,13.0,366,9909,0.00,1.67,0.00,0.000,4,0.000,0.049,2716,3476,1962
$GC,10004,0.53,136.3,577.9,13.7,368,10007,0.00,1.55,0.00,0.000,6,0.000,0.025,2722,2433,1962
$GC,10321,0.53,136.3,537.9,12.4,376,10324,0.00,1.67,0.00,0.000,4,0.000,0.050,2716,3488,1961
$GC,10349,0.53,136.3,534.2,13.7,376,10352,0.00,1.55,0.00,0.000,6,0.000,0.025,2722,2447,1961
$GC,10689,0.53,136.3,494.9,11.3,385,10690,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2441,1960
$GC,11013,0.53,136.3,460.7,10.5,393,11014,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2441,1959
$GC,11335,0.53,153.2,430.4,9.3,401,11359,0.00,1.65,16.02,0.819,4,0.000,0.048,2722,3475,1905
$GC,11420,0.53,153.2,421.4,11.0,403,11424,0.00,1.58,0.00,0.000,6,0.000,0.025,2730,2423,1904
$GC,11743,0.53,153.2,385.7,11.4,411,11746,0.00,1.70,0.00,0.000,4,0.000,0.049,2728,3473,1903
$GC,11930,0.53,153.2,362.7,13.4,415,11933,0.10,1.48,0.00,0.000,6,0.168,0.025,2696,2485,1902
$GC,12247,0.54,177.5,332.3,8.9,423,12281,0.00,1.67,24.75,0.817,4,0.000,0.029,2703,1357,1806
$GC,12327,0.56,224.3,325.7,7.8,424,12374,0.00,1.75,42.22,0.861,6,0.000,0.042,2701,2477,1615
$GC,12698,0.57,240.2,290.6,9.4,434,12717,0.00,1.62,14.38,0.792,4,0.000,0.051,2702,3478,1549
$GC,12864,0.57,240.2,275.1,10.2,437,12867,0.00,1.42,0.00,0.000,6,0.000,0.025,2708,2524,1547
$GC,13199,0.58,281.7,246.3,8.1,446,13248,0.00,1.60,38.33,0.767,4,0.000,0.051,2708,3476,1381
$GC,13311,0.59,291.6,236.7,9.6,448,13326,0.00,1.40,10.07,0.700,6,0.000,0.025,2709,2542,1340
$GC,13651,0.60,319.9,206.6,8.7,457,13679,0.00,1.77,24.77,0.744,4,0.000,0.030,2709,1361,1226
$GC,13715,0.62,364.7,201.2,7.9,458,13761,0.00,1.85,38.97,0.738,6,0.000,0.039,2709,2547,1043
$GC,14073,0.64,417.4,174.4,7.5,491,14122,0.00,1.45,44.35,0.712,4,0.000,0.047,2709,3478,829
$GC,14368,0.64,417.4,145.3,10.4,517,14375,0.00,1.75,0.00,0.000,6,0.000,0.025,2709,2314,827
$GC,14692,0.64,424.3,116.1,9.8,548,14705,0.00,1.38,7.50,0.556,4,0.000,0.027,2710,1362,799
$GC,14948,0.64,424.3,85.3,11.4,571,14955,0.00,1.55,0.00,0.000,6,0.000,0.035,2709,2368,798
$GC,15272,0.65,442.6,54.2,9.2,602,15297,0.00,1.50,16.98,0.578,4,0.000,0.026,2709,1358,724
$GC,15544,0.66,475.6,29.0,8.5,627,15575,0.00,1.55,27.92,0.566,6,0.000,0.033,2709,2376,590
$STATE,15810,end climb,SURFACE_DEPTH_REACHED
$STATE,15810,begin surface coast
$FINISH,0.2,1.023467
$STATE,15837,end surface coast,CONTROL_FINISHED_OK
$STATE,15837,begin surface
$SM_CCo,15922,0.00,0.000,0,0,587,476.61
$SM_GC,0.78,6.82,0.00,0.00,0.024,0.000,0.000,27,2650,587,-7.71,0.57,476.61
$IRIDIUM_FIX,2225.34,-15742.02,280102,080816
$TT8_MAMPS,0.047554
$HUMID,2221
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,22.30
$XPDR_PINGS,29
$24V_AH,23.3,89.187
$10V_AH,10.3,85.552
$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,17.325,108.075,568.625,0.000,0.000,25.196,34.886,199.671,7.250,0.000,0.000,16.117,0.000,11846.078,571.564,3055.693,868.122,33.359,1668.106,0.000,2696.485,0.000,0.543,0.000
$DEVICE_MAMPS,207.857,58.292,1128.257,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,458.421,1276.777,1339.260,137.157,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54042,680
$CAP_FILE_SIZE,128422,0
$CFSIZE,260165632,223010816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,031112,172536,2230.717,-15747.342,33,1.2,33,10.0