version: 66.04
glider: 512
mission: 3
dive: 719
start: 11 14 112 15 26 25
data:
$ID,512
$MISSION,3
$DIVE,719
$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,-68119.305
$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,53
$R_STBD_OVSHOOT,51
$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
$GPS1,151723,2203.543,-15802.667,41,1.0,41,9.9
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-77.7
$GPS2,152542,2203.558,-15802.768,18,0.9,35,9.9
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,WAY_PAUSE
$TGT_LATLONG,2157.000,-15754.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.121
$KALMAN_X,-297139.3,-220.4,126.6,266213.8,-2558.7
$KALMAN_Y,298088.5,485.4,179.7,-398449.8,1270.5
$MHEAD_RNG_PITCHd_Wd,109.9,19348,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.54,-126.5,0.0,0.0,0,92,0.00,0.00,-74.82,0.000,2,0.000,0.000,12,2750,2660
$GC,97,-0.54,-126.5,2.4,-4.6,14,115,9.15,0.00,-7.15,0.000,6,0.199,0.000,2350,2750,2987
$GC,435,-0.54,-126.5,74.6,-19.4,56,438,0.00,1.58,0.00,0.000,4,0.000,0.044,2344,3758,2989
$GC,533,-0.54,-126.5,91.4,-15.4,65,536,0.00,1.55,0.00,0.000,6,0.000,0.021,2344,2682,2989
$GC,861,-0.54,-126.5,139.7,-14.3,96,864,0.00,1.67,0.00,0.000,4,0.000,0.044,2335,3760,2990
$GC,943,-0.54,-126.5,151.8,-12.4,103,948,0.00,1.45,0.00,0.000,6,0.000,0.020,2336,2745,2990
$GC,1265,-0.54,-126.5,192.9,-12.7,134,1268,0.00,1.60,0.00,0.000,4,0.000,0.044,2328,3777,2990
$GC,1320,-0.54,-126.5,200.0,-11.6,139,1323,0.00,1.42,0.00,0.000,6,0.000,0.020,2328,2775,2990
$GC,1637,-0.54,-126.5,237.4,-11.7,147,1639,0.00,1.55,0.00,0.000,4,0.000,0.044,2321,3756,2990
$GC,1703,-0.54,-126.5,244.7,-10.5,148,1706,0.08,1.35,0.00,0.000,6,0.104,0.021,2350,2802,2990
$GC,2049,-0.54,-126.5,270.7,-7.3,157,2052,0.00,1.50,0.00,0.000,4,0.000,0.046,2345,3748,2990
$GC,2088,-0.54,-126.5,273.8,-7.8,157,2093,0.00,1.35,0.00,0.000,6,0.000,0.021,2345,2786,2989
$GC,2418,-0.54,-126.5,302.4,-9.1,166,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2786,2988
$GC,2740,-0.54,-126.5,334.5,-9.8,174,2744,0.00,1.52,0.00,0.000,4,0.000,0.047,2338,3749,2986
$GC,2806,-0.54,-126.5,340.8,-9.6,175,2809,0.00,1.35,0.00,0.000,6,0.000,0.022,2338,2801,2985
$GC,3153,-0.54,-126.5,374.7,-9.7,184,3156,0.00,1.52,0.00,0.000,4,0.000,0.048,2331,3752,2982
$GC,3235,-0.54,-126.5,382.4,-8.5,185,3240,0.00,1.33,0.00,0.000,6,0.000,0.023,2331,2821,2981
$GC,3565,-0.54,-126.5,412.0,-8.7,194,3567,0.00,1.60,0.00,0.000,4,0.000,0.025,2331,1679,2980
$GC,3593,-0.54,-126.5,414.5,-9.3,194,3597,0.12,1.75,0.00,0.000,6,0.113,0.043,2359,2827,2980
$GC,3934,-0.54,-126.5,437.8,-7.2,203,3937,0.00,1.48,-0.08,0.000,4,0.000,0.069,2354,3763,3001
$GC,3957,-0.54,-126.5,439.6,-8.0,203,3960,0.00,1.30,0.00,0.000,6,0.000,0.025,2354,2853,3001
$GC,4304,-0.54,-126.5,469.3,-8.7,212,4307,0.00,1.65,0.00,0.000,4,0.000,0.025,2354,1685,2998
$GC,4359,-0.54,-126.5,473.9,-8.0,213,4362,0.00,1.75,0.00,0.000,6,0.000,0.046,2346,2820,2998
$GC,4675,-0.54,-126.5,501.8,-9.0,221,4678,0.00,1.48,0.00,0.000,4,0.000,0.056,2346,3744,2996
$GC,4731,-0.54,-126.5,506.6,-8.8,222,4734,0.00,1.33,0.00,0.000,6,0.000,0.025,2346,2835,2995
$GC,5047,-0.54,-126.5,534.5,-8.9,230,5050,0.00,1.62,0.00,0.000,4,0.000,0.025,2346,1684,2993
$GC,5124,-0.54,-126.5,541.4,-9.0,231,5127,0.00,1.77,0.00,0.000,6,0.000,0.048,2346,2803,2993
$GC,5459,-0.54,-126.5,572.1,-9.2,240,5462,0.00,1.52,0.00,0.000,4,0.000,0.056,2345,3754,2991
$GC,5520,-0.54,-126.5,577.5,-9.3,241,5523,0.00,1.35,0.00,0.000,6,0.000,0.027,2345,2838,2990
$GC,5832,-0.54,-126.5,603.9,-8.5,249,5835,0.00,1.65,0.00,0.000,4,0.000,0.027,2345,1677,2989
$GC,5904,-0.54,-126.5,609.5,-7.7,250,5907,0.00,1.75,0.00,0.000,6,0.000,0.048,2337,2801,2989
$GC,6244,-0.54,-126.5,636.8,-7.8,259,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2801,2987
$GC,6567,-0.54,-126.5,660.4,-7.0,267,6570,0.00,1.52,0.00,0.000,4,0.000,0.057,2330,3749,2985
$GC,6595,-0.54,-126.5,662.4,-7.7,267,6598,0.00,1.38,0.00,0.000,6,0.000,0.029,2330,2823,2985
$GC,6937,-0.54,-126.5,688.0,-7.8,276,6939,0.00,1.62,0.00,0.000,4,0.000,0.028,2330,1686,2984
$GC,7008,-0.54,-126.5,693.4,-7.9,277,7011,0.08,1.73,0.00,0.000,6,0.105,0.049,2351,2770,2984
$GC,7348,-0.54,-126.5,715.5,-6.4,286,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2770,2983
$GC,7672,-0.54,-126.5,734.8,-5.9,294,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2770,2982
$GC,7994,-0.54,-126.5,753.3,-5.7,302,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2770,2981
$GC,8317,-0.54,-126.5,771.0,-5.5,310,8319,0.00,1.60,0.00,0.000,4,0.000,0.029,2352,1669,2980
$GC,8345,-0.54,-126.5,772.7,-5.3,310,8348,0.00,1.77,0.00,0.000,6,0.000,0.051,2346,2795,2980
$GC,8687,-0.54,-126.5,791.8,-5.7,319,8689,0.00,1.60,0.00,0.000,4,0.000,0.061,2346,3788,2979
$GC,8715,-0.54,-126.5,793.4,-5.8,319,8718,0.00,1.48,0.00,0.000,6,0.000,0.029,2346,2805,2979
$STATE,8849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8849,begin apogee
$GC,8860,-0.18,0.0,801.5,5.8,323,8983,0.38,0.00,121.85,1.202,6,0.088,0.000,2472,2423,2470
$STATE,8984,end apogee,CONTROL_FINISHED_OK
$STATE,8984,begin climb
$GC,8989,0.54,126.5,804.9,0.0,326,9164,0.60,1.80,132.88,1.069,4,0.037,0.049,2713,3476,1953
$GC,9182,0.54,126.5,790.1,15.9,330,9185,0.00,1.65,0.00,0.000,6,0.000,0.028,2721,2404,1950
$GC,9523,0.54,126.5,737.5,15.2,339,9526,0.00,1.58,0.00,0.000,4,0.000,0.031,2729,1343,1945
$GC,9716,0.54,126.5,708.4,15.3,343,9719,0.00,1.62,0.00,0.000,6,0.000,0.042,2728,2396,1942
$GC,10027,0.54,126.5,659.8,15.6,351,10030,0.00,1.58,0.00,0.000,4,0.000,0.031,2734,1351,1941
$GC,10162,0.54,126.5,639.4,14.9,354,10166,0.00,1.58,0.00,0.000,6,0.000,0.043,2729,2357,1941
$GC,10484,0.54,126.5,590.1,15.3,362,10487,0.00,1.52,0.00,0.000,4,0.000,0.031,2734,1337,1941
$GC,10593,0.54,126.5,574.3,13.8,364,10596,0.00,1.55,0.00,0.000,6,0.000,0.041,2729,2330,1939
$GC,10939,0.54,126.5,525.1,13.8,373,10942,0.00,1.80,0.00,0.000,4,0.000,0.049,2728,3467,1939
$GC,11015,0.54,126.5,514.0,14.4,374,11018,0.12,1.67,0.00,0.000,6,0.181,0.029,2707,2349,1939
$GC,11351,0.54,126.5,472.8,12.6,383,11354,0.00,1.48,0.00,0.000,4,0.000,0.033,2715,1349,1938
$GC,11379,0.54,126.5,469.0,12.5,383,11382,0.00,1.62,0.00,0.000,6,0.000,0.045,2715,2379,1938
$GC,11720,0.54,126.5,428.4,11.8,392,11723,0.00,1.55,0.00,0.000,4,0.000,0.031,2721,1355,1938
$GC,11845,0.54,126.5,413.8,10.8,394,11850,0.00,1.58,0.00,0.000,6,0.000,0.042,2716,2361,1938
$GC,12175,0.54,126.5,377.8,10.4,403,12178,0.00,1.77,0.00,0.000,4,0.000,0.051,2716,3474,1938
$GC,12256,0.54,126.5,368.7,11.1,404,12262,0.00,1.67,0.00,0.000,6,0.000,0.028,2722,2351,1937
$GC,12587,0.54,126.5,334.4,10.6,413,12590,0.00,1.48,0.00,0.000,4,0.000,0.031,2729,1345,1937
$GC,12722,0.55,153.0,322.7,8.6,416,12749,0.00,1.55,22.30,0.872,6,0.000,0.043,2729,2333,1846
$GC,13081,0.55,153.0,285.4,10.5,425,13084,0.00,1.77,0.00,0.000,4,0.000,0.051,2729,3471,1841
$GC,13174,0.55,153.0,274.9,11.8,427,13177,0.00,1.67,0.00,0.000,6,0.000,0.028,2735,2350,1841
$GC,13496,0.55,153.4,242.0,10.0,435,13499,0.00,1.77,0.00,0.000,4,0.000,0.048,2735,3470,1841
$GC,13530,0.55,153.4,238.8,10.2,435,13533,0.12,1.60,0.00,0.000,6,0.178,0.029,2711,2391,1841
$GC,13865,0.56,188.6,211.2,8.1,444,13909,0.00,1.58,33.92,0.750,4,0.000,0.031,2717,1353,1699
$GC,13983,0.58,243.8,202.1,7.1,446,14035,0.00,1.65,48.28,0.762,6,0.000,0.043,2717,2408,1476
$GC,14346,0.58,244.3,169.6,10.0,478,14349,0.00,1.70,0.00,0.000,4,0.000,0.050,2717,3475,1471
$GC,14406,0.58,244.3,162.9,11.0,483,14412,0.00,1.60,0.00,0.000,6,0.000,0.028,2723,2426,1469
$GC,14729,0.58,244.3,127.9,12.0,514,14732,0.00,1.58,0.00,0.000,4,0.000,0.030,2731,1353,1469
$GC,14849,0.58,244.3,114.8,10.2,525,14852,0.00,1.65,0.00,0.000,6,0.000,0.040,2729,2410,1468
$GC,15177,0.60,277.6,83.8,8.2,556,15209,0.00,1.73,28.75,0.641,4,0.000,0.045,2729,3485,1337
$GC,15233,0.61,306.6,78.9,8.5,561,15264,0.00,1.62,25.00,0.623,6,0.000,0.025,2735,2388,1223
$GC,15576,0.62,338.0,50.9,8.3,594,15608,0.00,1.58,27.70,0.603,4,0.000,0.029,2739,1359,1090
$GC,15696,0.63,369.1,41.1,8.4,605,15727,0.00,1.60,26.58,0.584,6,0.000,0.037,2738,2386,964
$GC,16048,0.65,408.8,12.1,7.9,658,16086,0.00,0.00,32.72,0.565,6,0.000,0.000,2739,2386,805
$STATE,16153,end climb,SURFACE_DEPTH_REACHED
$STATE,16153,begin surface coast
$FINISH,0.3,1.023518
$STATE,16196,end surface coast,CONTROL_FINISHED_OK
$STATE,16196,begin surface
$SM_CCo,16279,0.00,0.000,0,0,800,409.40
$SM_GC,1.05,6.97,0.00,0.00,0.025,0.000,0.000,32,2746,800,-7.72,0.74,409.40
$IRIDIUM_FIX,2157.39,-15814.51,080202,101048
$TT8_MAMPS,0.048321
$HUMID,2296
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.50
$XPDR_PINGS,21
$24V_AH,23.1,99.339
$10V_AH,10.1,90.264
$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,17.625,108.650,499.975,0.000,0.000,24.605,37.551,245.184,5.250,0.000,0.000,35.324,0.000,13175.949,556.067,2139.864,884.100,33.368,1529.105,0.000,1709.025,0.000,0.542,0.000
$DEVICE_MAMPS,198.653,69.030,1201.889,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,460.056,0.000,572.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50907,685
$CAP_FILE_SIZE,125053,0
$CFSIZE,260165632,219348992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,141112,195913,2203.334,-15802.759,41,2.3,60,9.9