version: 66.04
glider: 512
mission: 3
dive: 716
start: 11 14 112 1 30 20
data:
$ID,512
$MISSION,3
$DIVE,716
$D_SURF,3
$D_FLARE,2
$D_TGT,800
$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,266
$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,130
$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,-68052.727
$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,2720
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2470
$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
$GPS1,012205,2203.533,-15802.725,39,1.1,44,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-76.2
$GPS2,012942,2203.512,-15802.821,16,1.3,21,9.9
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,WAY_PAUSE
$TGT_LATLONG,2157.000,-15754.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.239,-0.047
$KALMAN_X,-289552.6,468.4,295.8,257682.3,-3735.2
$KALMAN_Y,291470.9,-303.2,607.2,-391563.8,688.2
$MHEAD_RNG_PITCHd_Wd,91.2,19368,-19.0,-10.025
$D_GRID,800
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.54,-126.5,0.0,0.0,0,102,0.00,0.00,-79.97,0.000,2,0.000,0.000,17,2767,2543
$GC,107,-0.54,-126.5,2.1,-3.7,15,131,9.23,1.60,-10.43,0.000,4,0.204,0.058,2344,3767,2988
$GC,143,-0.54,-126.5,12.0,-29.1,21,149,0.00,1.58,0.00,0.000,6,0.000,0.021,2350,2677,2988
$GC,469,-0.54,-126.5,82.2,-22.2,60,471,0.00,1.67,0.00,0.000,4,0.000,0.043,2343,3758,2988
$GC,546,-0.54,-126.5,99.3,-18.9,67,549,0.00,1.45,0.00,0.000,6,0.000,0.020,2347,2751,2988
$GC,873,-0.54,-126.5,151.9,-12.9,98,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2746,2989
$GC,1191,-0.54,-126.5,187.3,-9.9,129,1194,0.00,1.50,0.00,0.000,4,0.000,0.021,2352,1672,2989
$GC,1236,-0.54,-126.5,191.2,-8.0,133,1239,0.00,1.62,0.00,0.000,6,0.000,0.041,2347,2746,2989
$GC,1583,-0.54,-126.5,226.7,-11.0,149,1586,0.00,1.60,0.00,0.000,4,0.000,0.047,2338,3797,2989
$GC,1628,-0.54,-126.5,231.6,-10.4,150,1631,0.00,1.52,0.00,0.000,6,0.000,0.021,2338,2735,2989
$GC,1955,-0.54,-126.5,270.2,-12.0,158,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2729,2989
$GC,2277,-0.54,-126.5,302.3,-9.9,166,2280,0.00,1.48,0.00,0.000,4,0.000,0.023,2338,1681,2988
$GC,2376,-0.54,-126.5,310.6,-7.6,168,2379,0.00,1.62,0.00,0.000,6,0.000,0.041,2333,2752,2987
$GC,2693,-0.54,-126.5,337.4,-8.5,176,2695,0.00,1.60,0.00,0.000,4,0.000,0.048,2325,3796,2985
$GC,2769,-0.54,-126.5,344.0,-8.4,177,2772,0.08,1.50,0.00,0.000,6,0.105,0.022,2365,2757,2984
$GC,3105,-0.54,-126.5,368.2,-7.8,186,3108,0.00,1.52,0.00,0.000,4,0.000,0.024,2366,1675,2982
$GC,3165,-0.54,-126.5,373.1,-8.0,187,3168,0.00,1.67,0.00,0.000,6,0.000,0.043,2360,2753,2982
$GC,3476,-0.54,-126.5,397.9,-7.8,195,3479,0.00,1.60,0.00,0.000,4,0.000,0.051,2353,3770,2979
$GC,3510,-0.54,-126.5,400.6,-7.6,195,3513,0.00,1.45,0.00,0.000,6,0.000,0.024,2352,2769,2979
$GC,3846,-0.54,-126.5,426.0,-7.4,204,3849,0.00,1.55,-0.08,0.000,4,0.000,0.041,2353,1674,3000
$GC,3896,-0.54,-126.5,429.5,-6.5,205,3899,0.00,1.67,0.00,0.000,6,0.000,0.044,2346,2765,3000
$GC,4217,-0.54,-126.5,454.3,-7.7,213,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2765,2997
$GC,4541,-0.54,-126.5,478.8,-7.6,221,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2766,2995
$GC,4863,-0.54,-126.5,504.3,-8.0,229,4866,0.00,1.58,0.00,0.000,4,0.000,0.025,2346,1686,2993
$GC,4950,-0.54,-126.5,511.3,-7.9,231,4953,0.00,1.67,0.00,0.000,6,0.000,0.048,2346,2764,2992
$GC,5278,-0.54,-126.5,537.9,-8.1,239,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2764,2990
$GC,5600,-0.54,-126.5,561.3,-6.9,247,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2765,2989
$GC,5922,-0.54,-126.5,583.4,-6.8,255,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2765,2987
$GC,6245,-0.54,-126.5,606.5,-7.2,263,6248,0.00,1.58,0.00,0.000,4,0.000,0.028,2346,1693,2985
$GC,6290,-0.54,-126.5,609.7,-6.7,264,6293,0.00,1.65,0.00,0.000,6,0.000,0.050,2345,2747,2984
$GC,6617,-0.54,-126.5,632.0,-6.9,272,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2747,2983
$GC,6940,-0.54,-126.5,654.2,-6.8,280,6943,0.00,1.58,0.00,0.000,4,0.000,0.028,2346,1680,2983
$GC,6980,-0.54,-126.5,656.9,-6.7,280,6985,0.00,1.65,0.00,0.000,6,0.000,0.051,2346,2734,2982
$GC,7310,-0.54,-126.5,679.1,-6.9,289,7313,0.00,1.67,0.00,0.000,4,0.000,0.057,2338,3773,2981
$GC,7338,-0.54,-126.5,681.1,-7.2,289,7341,0.00,1.52,0.00,0.000,6,0.000,0.030,2338,2754,2980
$GC,7679,-0.54,-126.5,704.8,-6.9,298,7682,0.00,1.58,0.00,0.000,4,0.000,0.028,2338,1669,2979
$GC,7724,-0.54,-126.5,707.7,-6.5,299,7727,0.00,1.70,0.00,0.000,6,0.000,0.051,2333,2750,2979
$GC,8051,-0.54,-126.5,730.6,-7.0,307,8054,0.00,1.62,0.00,0.000,4,0.000,0.058,2325,3774,2978
$GC,8095,-0.54,-126.5,733.9,-7.3,308,8099,0.05,1.58,0.00,0.000,6,0.084,0.029,2358,2725,2978
$GC,8423,-0.54,-126.5,752.0,-5.5,316,8426,0.00,1.52,0.00,0.000,4,0.000,0.030,2358,1680,2977
$GC,8473,-0.54,-126.5,755.0,-5.7,317,8476,0.00,1.67,0.00,0.000,6,0.000,0.051,2357,2724,2977
$GC,8795,-0.54,-126.5,773.5,-5.9,325,8798,0.00,1.70,0.00,0.000,4,0.000,0.058,2351,3772,2977
$GC,8823,-0.54,-126.5,775.3,-6.9,325,8826,0.00,1.58,0.00,0.000,6,0.000,0.031,2351,2721,2976
$GC,9164,-0.54,-126.5,796.8,-6.3,334,9167,0.00,1.52,0.00,0.000,4,0.000,0.029,2351,1673,2976
$STATE,9214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9214,begin apogee
$GC,9226,-0.18,0.0,800.3,6.3,335,9348,0.35,0.00,120.15,1.201,6,0.093,0.000,2469,2414,2470
$STATE,9349,end apogee,CONTROL_FINISHED_OK
$STATE,9349,begin climb
$GC,9354,0.54,126.5,804.4,0.0,338,9526,0.62,1.67,132.05,1.072,4,0.037,0.030,2722,1364,1954
$GC,9576,0.54,126.5,784.2,16.0,343,9580,0.00,1.70,0.00,0.000,6,0.000,0.044,2722,2416,1948
$GC,9887,0.54,126.5,729.5,17.5,351,9890,0.00,1.67,0.00,0.000,4,0.000,0.051,2723,3466,1944
$GC,9980,0.54,126.5,711.3,20.5,353,9982,0.00,1.55,0.00,0.000,6,0.000,0.029,2730,2445,1943
$GC,10302,0.54,126.5,652.6,17.9,361,10305,0.00,1.62,0.00,0.000,4,0.000,0.031,2738,1322,1941
$GC,10362,0.54,126.5,642.9,15.7,362,10365,0.10,1.73,0.00,0.000,6,0.156,0.044,2709,2418,1941
$GC,10673,0.54,126.5,596.5,14.5,370,10676,0.00,1.67,0.00,0.000,4,0.000,0.051,2703,3473,1940
$GC,10707,0.54,126.5,591.1,15.4,370,10710,0.00,1.58,0.00,0.000,6,0.000,0.028,2709,2429,1940
$GC,11042,0.54,126.5,542.4,14.4,379,11045,0.00,1.67,0.00,0.000,4,0.000,0.053,2709,3476,1939
$GC,11156,0.54,126.5,525.3,14.5,381,11158,0.00,1.50,0.00,0.000,6,0.000,0.028,2717,2476,1939
$GC,11497,0.54,126.5,478.6,13.7,390,11500,0.00,1.62,0.00,0.000,4,0.000,0.032,2725,1360,1939
$GC,11616,0.54,126.5,462.6,13.1,392,11619,0.00,1.73,0.00,0.000,6,0.000,0.046,2725,2472,1939
$GC,11951,0.54,126.5,417.1,13.6,401,11954,0.00,1.65,0.00,0.000,4,0.000,0.030,2732,1356,1939
$GC,12001,0.54,126.5,410.4,12.4,402,12004,0.00,1.67,0.00,0.000,6,0.000,0.044,2729,2441,1938
$GC,12323,0.54,126.5,368.9,12.5,410,12326,0.00,1.62,0.00,0.000,4,0.000,0.052,2729,3482,1938
$GC,12458,0.54,126.5,350.4,13.5,413,12461,0.10,1.52,0.00,0.000,6,0.175,0.028,2707,2469,1938
$GC,12781,0.54,130.2,318.3,9.8,421,12783,0.00,1.60,0.00,0.000,4,0.000,0.051,2702,3477,1937
$GC,12911,0.54,130.2,304.9,10.4,424,12913,0.00,1.48,0.00,0.000,6,0.000,0.028,2708,2498,1938
$GC,13238,0.54,144.0,274.4,9.3,432,13263,0.00,1.55,16.30,0.734,4,0.000,0.050,2708,3469,1882
$GC,13318,0.54,144.0,265.5,11.1,434,13322,0.00,1.48,0.00,0.000,6,0.000,0.028,2715,2489,1881
$GC,13645,0.55,166.0,235.5,8.9,442,13669,0.00,1.67,20.80,0.797,4,0.000,0.029,2723,1349,1792
$GC,13727,0.55,171.4,228.0,9.7,444,13736,0.00,1.88,6.22,0.647,6,0.000,0.046,2723,2519,1772
$GC,14048,0.56,188.9,197.8,9.1,452,14069,0.00,1.50,16.48,0.743,4,0.000,0.049,2723,3473,1701
$GC,14211,0.56,188.9,180.8,11.2,467,14214,0.00,1.38,0.00,0.000,6,0.000,0.027,2730,2557,1699
$GC,14539,0.56,188.9,144.5,11.4,498,14542,0.00,1.77,0.00,0.000,4,0.000,0.030,2739,1354,1697
$GC,14595,0.56,195.2,138.5,9.7,503,14606,0.00,1.92,6.85,0.601,6,0.000,0.043,2739,2595,1674
$GC,14917,0.58,224.3,106.8,8.5,534,14950,0.00,1.90,26.05,0.668,4,0.000,0.031,2739,1365,1554
$GC,15022,0.58,246.2,97.7,8.9,543,15048,0.00,1.83,19.58,0.642,6,0.000,0.041,2739,2543,1466
$GC,15360,0.59,269.8,65.6,8.8,576,15385,0.00,1.80,21.33,0.615,4,0.000,0.028,2740,1346,1368
$GC,15432,0.61,320.8,59.9,7.3,582,15478,0.00,1.88,42.80,0.618,6,0.000,0.040,2739,2534,1162
$GC,15791,0.64,373.6,31.7,7.2,616,15840,0.00,1.85,43.83,0.586,4,0.000,0.027,2739,1349,946
$GC,15896,0.67,459.9,25.6,5.4,632,15972,0.00,1.77,70.38,0.578,6,0.000,0.035,2739,2513,594
$STATE,16238,end climb,SURFACE_DEPTH_REACHED
$STATE,16238,begin surface coast
$FINISH,1.0,1.023423
$STATE,16271,end surface coast,CONTROL_FINISHED_OK
$STATE,16271,begin surface
$SM_CCo,16354,0.00,0.000,0,0,589,461.40
$SM_GC,0.88,6.93,0.00,0.00,0.025,0.000,0.000,32,2756,589,-7.69,1.05,461.40
$IRIDIUM_FIX,2157.39,-15801.98,070202,212133
$TT8_MAMPS,0.047554
$HUMID,2283
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.60
$XPDR_PINGS,19
$24V_AH,23.2,98.892
$10V_AH,10.1,90.068
$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,17.450,110.575,542.800,0.000,0.000,23.912,36.579,215.641,4.750,0.000,0.000,21.223,0.000,13201.959,581.098,2147.767,852.834,33.364,1573.300,0.000,1729.475,0.000,0.543,0.000
$DEVICE_MAMPS,204.022,58.292,1201.122,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,469.925,0.000,597.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53930,702
$CAP_FILE_SIZE,126081,0
$CFSIZE,260165632,219529216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,7,0
$GPS,141112,060429,2203.814,-15802.791,67,0.8,67,9.9