version: 66.04
glider: 512
mission: 3
dive: 722
start: 11 15 112 5 31 38
data:
$ID,512
$MISSION,3
$DIVE,722
$D_SURF,3
$D_FLARE,2
$D_TGT,900
$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,272
$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,-68198.664
$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,52
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2460
$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
$GPS1,052306,2203.155,-15802.628,58,1.4,58,9.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-79.1
$GPS2,053055,2203.150,-15802.792,14,1.5,14,9.9
$SPEED_LIMITS,0.158,0.251
$TGT_NAME,WAY_001
$TGT_LATLONG,2148.400,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.178,-0.177
$KALMAN_X,-306373.4,-225.2,-234.5,275769.7,-2709.8
$KALMAN_Y,305346.6,-230.5,-57.5,-405523.3,2217.0
$MHEAD_RNG_PITCHd_Wd,124.8,28533,-20.6,-11.029
$D_GRID,900
$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,-0.58,-126.5,0.0,0.0,0,85,0.00,0.00,-67.85,0.000,2,0.000,0.000,23,2769,2605
$GC,90,-0.58,-126.5,2.4,-4.6,13,112,8.93,1.60,-8.15,0.000,4,0.196,0.039,2341,1639,2976
$GC,157,-0.58,-126.5,22.4,-22.9,25,162,0.00,1.62,0.00,0.000,6,0.000,0.044,2336,2688,2977
$GC,480,-0.58,-126.5,87.3,-17.5,59,483,0.00,1.67,0.00,0.000,4,0.000,0.048,2328,3778,2978
$GC,611,-0.58,-126.5,111.0,-18.8,71,614,0.00,1.55,0.00,0.000,6,0.000,0.021,2328,2715,2978
$GC,938,-0.58,-126.5,165.8,-14.0,102,941,0.00,1.67,0.00,0.000,4,0.000,0.045,2320,3787,2979
$GC,955,-0.58,-126.5,168.9,-13.8,103,961,0.00,1.52,0.00,0.000,6,0.000,0.021,2320,2717,2979
$GC,1271,-0.58,-126.5,210.0,-11.5,128,1274,0.00,1.42,0.00,0.000,4,0.000,0.021,2319,1688,2980
$GC,1310,-0.58,-126.5,214.0,-10.2,128,1314,0.00,1.60,0.00,0.000,6,0.000,0.041,2313,2745,2980
$GC,1641,-0.58,-126.5,251.6,-12.2,137,1644,0.00,1.50,0.00,0.000,4,0.000,0.021,2314,1690,2979
$GC,1658,-0.58,-126.5,254.1,-13.7,137,1662,0.12,1.60,0.00,0.000,6,0.126,0.041,2343,2749,2979
$GC,1969,-0.58,-126.5,290.1,-11.6,145,1972,0.00,1.60,0.00,0.000,4,0.000,0.049,2337,3788,2979
$GC,2040,-0.58,-126.5,299.0,-11.8,146,2043,0.00,1.50,0.00,0.000,6,0.000,0.021,2337,2745,2978
$GC,2381,-0.58,-126.5,335.9,-9.7,155,2384,0.00,1.50,0.00,0.000,4,0.000,0.022,2337,1673,2977
$GC,2453,-0.58,-126.5,341.7,-7.4,156,2456,0.00,1.62,0.00,0.000,6,0.000,0.043,2333,2715,2977
$GC,2793,-0.58,-126.5,371.8,-9.1,165,2796,0.00,1.65,0.00,0.000,4,0.000,0.050,2325,3784,2974
$GC,2865,-0.58,-126.5,378.5,-9.6,166,2868,0.00,1.52,0.00,0.000,6,0.000,0.023,2325,2734,2974
$GC,3205,-0.58,-126.5,416.6,-11.5,175,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2728,2971
$GC,3528,-0.58,-126.5,455.1,-12.1,183,3531,0.00,1.65,0.00,0.000,4,0.000,0.049,2317,3777,2968
$GC,3621,-0.58,-126.5,466.3,-11.5,185,3625,0.00,1.50,0.00,0.000,6,0.000,0.025,2317,2755,2968
$GC,3943,-0.58,-126.5,503.0,-11.0,193,3946,0.00,1.55,0.00,0.000,4,0.000,0.025,2317,1670,2965
$GC,4003,-0.58,-126.5,508.8,-9.0,194,4007,0.08,1.65,0.00,0.000,6,0.112,0.045,2337,2720,2965
$GC,4315,-0.58,-126.5,530.6,-6.6,202,4318,0.00,1.65,0.00,0.000,4,0.000,0.053,2331,3774,2963
$GC,4392,-0.58,-126.5,535.6,-6.1,203,4395,0.00,1.52,0.00,0.000,6,0.000,0.025,2331,2740,2962
$GC,4727,-0.58,-126.5,560.6,-7.9,212,4730,0.00,1.52,0.00,0.000,4,0.000,0.026,2331,1675,2959
$GC,4761,-0.58,-126.5,563.4,-8.1,212,4764,0.00,1.65,0.00,0.000,6,0.000,0.047,2324,2740,2960
$GC,5097,-0.58,-126.5,594.3,-9.5,221,5100,0.00,1.62,0.00,0.000,4,0.000,0.056,2315,3774,2958
$GC,5136,-0.58,-126.5,598.2,-10.3,221,5140,0.00,1.52,0.00,0.000,6,0.000,0.026,2315,2744,2958
$GC,5467,-0.58,-126.5,629.6,-9.5,230,5470,0.00,1.55,0.00,0.000,4,0.000,0.028,2316,1670,2956
$GC,5501,-0.58,-126.5,632.8,-9.2,230,5504,0.12,1.67,0.00,0.000,6,0.113,0.048,2345,2748,2956
$GC,5836,-0.58,-126.5,656.2,-6.8,239,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2749,2953
$GC,6159,-0.58,-126.5,677.0,-6.4,247,6161,0.00,1.62,0.00,0.000,4,0.000,0.058,2339,3772,2952
$GC,6188,-0.58,-126.5,678.8,-7.1,247,6190,0.00,1.52,0.00,0.000,6,0.000,0.028,2339,2748,2952
$GC,6529,-0.58,-126.5,700.9,-6.4,256,6531,0.00,1.55,0.00,0.000,4,0.000,0.028,2338,1674,2951
$GC,6551,-0.58,-126.5,702.6,-6.9,256,6554,0.00,1.70,0.00,0.000,6,0.000,0.049,2333,2761,2951
$GC,6898,-0.58,-126.5,728.5,-7.7,265,6901,0.00,1.60,0.00,0.000,4,0.000,0.028,2333,1658,2949
$GC,6932,-0.58,-126.5,731.3,-8.6,265,6935,0.00,1.73,0.00,0.000,6,0.000,0.051,2333,2755,2949
$GC,7267,-0.58,-126.5,758.0,-7.9,274,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2756,2948
$GC,7590,-0.58,-126.5,781.6,-7.1,282,7592,0.00,1.60,0.00,0.000,4,0.000,0.029,2333,1658,2947
$GC,7651,-0.58,-126.5,785.7,-6.9,283,7654,0.00,1.73,0.00,0.000,6,0.000,0.051,2333,2733,2947
$GC,7962,-0.58,-126.5,806.0,-6.5,291,7965,0.00,1.58,0.00,0.000,4,0.000,0.030,2333,1675,2946
$GC,7995,-0.58,-126.5,808.5,-7.1,291,7998,0.00,1.67,0.00,0.000,6,0.000,0.051,2333,2734,2946
$GC,8332,-0.58,-126.5,831.7,-7.0,300,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2734,2945
$GC,8653,-0.58,-126.5,856.7,-8.0,308,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2734,2944
$GC,8976,-0.58,-126.5,883.1,-8.2,316,8979,0.00,1.67,0.00,0.000,4,0.000,0.060,2325,3779,2944
$GC,9043,-0.58,-126.5,888.7,-8.3,317,9046,0.00,1.60,0.00,0.000,6,0.000,0.030,2325,2707,2943
$STATE,9182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9182,begin apogee
$GC,9193,-0.18,0.0,901.5,8.8,321,9396,0.45,0.00,140.77,1.094,6,0.118,0.000,2468,2406,2460
$STATE,9396,end apogee,CONTROL_FINISHED_OK
$STATE,9396,begin climb
$GC,9401,0.58,126.5,910.8,0.0,326,9607,0.65,1.67,142.20,1.086,4,0.035,0.031,2747,1355,1943
$GC,9619,0.58,126.5,891.4,17.7,331,9622,0.00,1.73,0.00,0.000,6,0.000,0.044,2747,2427,1940
$GC,9936,0.58,126.5,831.0,19.5,339,9939,0.12,1.65,0.00,0.000,4,0.204,0.049,2721,3481,1935
$GC,10013,0.58,126.5,816.2,19.1,340,10016,0.00,1.60,0.00,0.000,6,0.000,0.028,2728,2417,1934
$GC,10348,0.58,126.5,756.5,17.7,349,10351,0.00,1.58,0.00,0.000,4,0.000,0.031,2736,1364,1932
$GC,10424,0.58,126.5,742.9,17.5,350,10427,0.00,1.65,0.00,0.000,6,0.000,0.044,2730,2430,1932
$GC,10760,0.58,126.5,681.0,18.6,359,10763,0.00,1.62,0.00,0.000,4,0.000,0.052,2728,3466,1931
$GC,10799,0.58,126.5,673.4,19.7,359,10802,0.00,1.55,0.00,0.000,6,0.000,0.029,2735,2443,1931
$GC,11128,0.58,126.5,614.3,17.4,368,11129,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2437,1930
$GC,11451,0.58,126.5,562.2,15.9,376,11454,0.00,1.62,0.00,0.000,4,0.000,0.031,2743,1321,1929
$GC,11491,0.58,126.5,556.3,14.9,376,11495,0.00,1.80,0.00,0.000,6,0.000,0.046,2742,2455,1929
$GC,11821,0.58,126.5,505.1,15.6,385,11824,0.00,1.62,0.00,0.000,4,0.000,0.052,2742,3496,1929
$GC,11854,0.58,126.5,499.6,16.0,385,11857,0.12,1.58,0.00,0.000,6,0.179,0.028,2719,2456,1928
$GC,12190,0.58,126.5,452.5,13.6,394,12192,0.00,1.62,0.00,0.000,4,0.000,0.052,2716,3473,1928
$GC,12240,0.58,126.5,445.6,13.0,395,12243,0.00,1.50,0.00,0.000,6,0.000,0.028,2722,2478,1928
$GC,12562,0.58,126.5,405.4,12.2,403,12564,0.00,1.62,0.00,0.000,4,0.000,0.052,2721,3496,1928
$GC,12643,0.58,126.5,393.9,13.7,404,12647,0.00,1.48,0.00,0.000,6,0.000,0.028,2729,2512,1928
$GC,12974,0.58,126.5,352.0,11.5,413,12977,0.00,1.70,0.00,0.000,4,0.000,0.031,2738,1340,1928
$GC,13019,0.58,131.0,347.1,10.8,414,13022,0.00,1.88,0.00,0.000,6,0.000,0.045,2737,2539,1928
$GC,13346,0.59,155.1,314.0,9.6,422,13381,0.00,1.80,26.20,0.819,4,0.000,0.031,2739,1355,1828
$GC,13464,0.60,188.1,303.4,9.1,423,13508,0.00,1.85,32.70,0.808,6,0.000,0.044,2739,2530,1692
$GC,13834,0.60,188.1,260.9,11.5,433,13837,0.00,1.50,0.00,0.000,4,0.000,0.051,2739,3469,1687
$GC,13884,0.60,188.1,254.5,12.9,434,13887,0.00,1.45,0.00,0.000,6,0.000,0.028,2746,2509,1687
$GC,14206,0.60,188.1,214.5,12.4,442,14209,0.00,1.70,0.00,0.000,4,0.000,0.031,2752,1342,1686
$GC,14423,0.63,265.1,197.5,6.5,447,14496,0.00,1.80,65.95,0.762,6,0.000,0.044,2752,2478,1378
$GC,14808,0.63,265.1,154.4,12.5,484,14811,0.00,1.67,0.00,0.000,4,0.000,0.030,2760,1352,1372
$GC,14980,0.63,265.1,135.0,11.5,499,14986,0.00,1.67,0.00,0.000,6,0.000,0.040,2755,2439,1371
$GC,15302,0.63,265.1,94.1,12.6,530,15305,0.00,1.62,0.00,0.000,4,0.000,0.028,2761,1354,1371
$GC,15358,0.63,265.1,87.2,11.8,535,15361,0.00,1.62,0.00,0.000,6,0.000,0.039,2761,2413,1370
$GC,15686,0.65,307.7,52.7,8.5,566,15727,0.00,1.60,35.83,0.613,4,0.000,0.027,2768,1338,1204
$GC,15815,0.67,345.5,41.0,8.8,578,15851,0.00,1.62,32.33,0.593,6,0.000,0.039,2767,2393,1051
$STATE,16137,end climb,SURFACE_DEPTH_REACHED
$STATE,16137,begin surface coast
$FINISH,0.2,1.019222
$STATE,16164,end surface coast,CONTROL_FINISHED_OK
$STATE,16164,begin surface
$SM_CCo,16188,18.02,0.538,0,0,909,380.21
$SM_GC,1.19,0.00,0.00,18.02,0.000,0.000,0.538,23,2787,909,-7.84,1.89,380.21
$IRIDIUM_FIX,2152.74,-15757.67,090202,000050
$TT8_MAMPS,0.047554
$HUMID,2305
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.40
$XPDR_PINGS,21
$24V_AH,23.1,99.793
$10V_AH,10.2,90.448
$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,17.625,114.125,475.975,18.025,0.000,24.632,38.289,233.487,5.250,0.000,0.000,14.628,0.000,13231.352,628.351,1923.384,875.262,33.361,1543.415,0.000,1572.794,0.000,0.543,0.000
$DEVICE_MAMPS,204.022,59.826,1093.742,538.434,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,205.166,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44498,633
$CAP_FILE_SIZE,121351,0
$CFSIZE,260165632,219181056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,24,0
$GPS,151112,100305,2202.958,-15802.567,43,1.4,48,9.9