version: 66.04
glider: 512
mission: 3
dive: 724
start: 11 15 112 15 10 21
data:
$ID,512
$MISSION,3
$DIVE,724
$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,-68247.172
$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,46
$R_STBD_OVSHOOT,30
$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
$GPS1,150100,2202.643,-15802.288,80,1.7,80,9.9
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,3
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-76.6
$GPS2,150943,2202.641,-15802.348,14,1.5,14,9.9
$SPEED_LIMITS,0.158,0.251
$TGT_NAME,WAY_001
$TGT_LATLONG,2148.400,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.127
$KALMAN_X,-311516.1,168.0,527.2,280509.2,-3248.6
$KALMAN_Y,310034.6,247.6,388.6,-412068.2,1087.7
$MHEAD_RNG_PITCHd_Wd,110.6,27413,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,16,-0.58,-126.5,0.0,0.0,0,80,0.00,0.00,-62.65,0.000,2,0.000,0.000,21,2751,2471
$GC,86,-0.58,-126.5,2.1,-4.1,12,114,8.98,1.65,-11.73,0.000,4,0.196,0.041,2340,1642,2978
$GC,169,-0.58,-126.5,21.4,-17.9,27,174,0.00,1.67,0.00,0.000,6,0.000,0.041,2334,2733,2979
$GC,498,-0.58,-126.5,90.4,-20.6,62,501,0.00,1.62,0.00,0.000,4,0.000,0.047,2326,3785,2979
$GC,735,-0.58,-126.5,129.3,-13.6,84,738,0.00,1.55,0.00,0.000,6,0.000,0.020,2325,2715,2980
$GC,1064,-0.58,-126.5,172.5,-13.4,115,1066,0.00,1.65,0.00,0.000,4,0.000,0.044,2317,3776,2980
$GC,1151,-0.58,-126.5,185.7,-12.8,123,1154,0.00,1.45,0.00,0.000,6,0.000,0.021,2317,2763,2980
$GC,1499,-0.58,-126.5,232.7,-13.0,139,1502,0.00,1.60,0.00,0.000,4,0.000,0.045,2310,3790,2981
$GC,1565,-0.58,-126.5,240.4,-10.8,140,1568,0.08,1.42,0.00,0.000,6,0.110,0.020,2337,2787,2981
$GC,1910,-0.58,-126.5,274.2,-9.7,149,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2781,2981
$GC,2234,-0.58,-126.5,307.7,-10.8,157,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2781,2980
$GC,2556,-0.58,-126.5,338.4,-8.8,165,2559,0.00,1.58,0.00,0.000,4,0.000,0.046,2332,3773,2978
$GC,2676,-0.58,-126.5,347.6,-7.5,167,2678,0.00,1.40,0.00,0.000,6,0.000,0.022,2332,2799,2977
$GC,3011,-0.58,-126.5,376.1,-8.7,176,3015,0.00,1.58,0.00,0.000,4,0.000,0.048,2325,3778,2975
$GC,3040,-0.58,-126.5,378.7,-9.7,176,3042,0.00,1.40,0.00,0.000,6,0.000,0.023,2325,2811,2974
$GC,3380,-0.58,-126.5,412.6,-10.3,185,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2806,2971
$GC,3703,-0.58,-126.5,443.8,-9.3,193,3706,0.00,1.60,0.00,0.000,4,0.000,0.024,2325,1686,2969
$GC,3748,-0.58,-126.5,447.5,-8.0,194,3751,0.00,1.73,0.00,0.000,6,0.000,0.044,2317,2788,2969
$GC,4075,-0.58,-126.5,475.2,-8.2,202,4078,0.00,1.60,-0.08,0.000,4,0.000,0.067,2309,3771,2992
$GC,4173,-0.58,-126.5,482.5,-7.6,204,4176,0.08,1.38,0.00,0.000,6,0.104,0.024,2338,2826,2991
$GC,4490,-0.58,-126.5,503.7,-7.2,212,4493,0.00,1.60,0.00,0.000,4,0.000,0.025,2341,1689,2989
$GC,4545,-0.58,-126.5,507.5,-6.4,213,4548,0.00,1.75,0.00,0.000,6,0.000,0.046,2335,2821,2989
$GC,4861,-0.58,-126.5,531.5,-7.8,221,4864,0.00,1.50,0.00,0.000,4,0.000,0.054,2327,3765,2986
$GC,4906,-0.58,-126.5,535.1,-8.2,222,4909,0.00,1.38,0.00,0.000,6,0.000,0.025,2328,2830,2987
$GC,5233,-0.58,-126.5,563.6,-8.8,230,5236,0.00,1.60,0.00,0.000,4,0.000,0.027,2328,1695,2985
$GC,5288,-0.58,-126.5,568.5,-8.7,231,5291,0.00,1.70,0.00,0.000,6,0.000,0.048,2320,2789,2984
$GC,5605,-0.58,-126.5,599.3,-9.8,239,5608,0.00,1.58,0.00,0.000,4,0.000,0.055,2312,3772,2982
$GC,5649,-0.58,-126.5,603.4,-8.6,240,5652,0.00,1.42,0.00,0.000,6,0.000,0.025,2312,2805,2982
$GC,5976,-0.58,-126.5,636.0,-10.1,248,5979,0.10,1.58,0.00,0.000,4,0.128,0.027,2340,1698,2980
$GC,6032,-0.58,-126.5,640.6,-7.7,249,6035,0.00,1.70,0.00,0.000,6,0.000,0.049,2334,2788,2980
$GC,6348,-0.58,-126.5,664.4,-7.3,257,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2788,2979
$GC,6671,-0.58,-126.5,686.4,-6.8,265,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2788,2978
$GC,6994,-0.58,-126.5,709.6,-7.3,273,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2788,2977
$GC,7317,-0.58,-126.5,734.1,-7.7,281,7319,0.00,1.58,0.00,0.000,4,0.000,0.057,2327,3767,2975
$GC,7355,-0.58,-126.5,737.3,-8.8,281,7359,0.00,1.45,0.00,0.000,6,0.000,0.028,2327,2790,2975
$GC,7686,-0.58,-126.5,765.7,-8.6,290,7688,0.00,1.58,0.00,0.000,4,0.000,0.028,2327,1700,2974
$GC,7731,-0.58,-126.5,769.6,-8.6,291,7734,0.00,1.67,0.00,0.000,6,0.000,0.049,2319,2767,2974
$GC,8058,-0.58,-126.5,799.5,-9.1,299,8061,0.00,1.60,0.00,0.000,4,0.000,0.058,2313,3773,2973
$GC,8118,-0.58,-126.5,804.9,-8.6,300,8121,0.00,1.48,0.00,0.000,6,0.000,0.028,2313,2787,2972
$GC,8430,-0.58,-126.5,832.0,-8.5,308,8433,0.00,1.58,0.00,0.000,4,0.000,0.029,2314,1704,2972
$GC,8453,-0.58,-126.5,833.9,-8.0,308,8456,0.08,1.70,0.00,0.000,6,0.111,0.050,2337,2766,2971
$GC,8799,-0.58,-126.5,857.0,-6.4,317,8802,0.00,1.60,0.00,0.000,4,0.000,0.059,2330,3773,2971
$GC,8828,-0.58,-126.5,858.9,-6.4,317,8830,0.00,1.48,0.00,0.000,6,0.000,0.029,2331,2789,2970
$GC,9169,-0.58,-126.5,882.7,-6.9,326,9171,0.00,1.60,0.00,0.000,4,0.000,0.030,2330,1673,2969
$GC,9213,-0.58,-126.5,885.8,-7.4,327,9216,0.00,1.73,0.00,0.000,6,0.000,0.051,2323,2766,2970
$STATE,9414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9414,begin apogee
$GC,9426,-0.18,0.0,900.9,7.4,332,9641,0.45,0.00,147.65,1.090,6,0.099,0.000,2470,2447,2460
$STATE,9641,end apogee,CONTROL_FINISHED_OK
$STATE,9641,begin climb
$GC,9646,0.58,126.5,907.6,0.0,337,9870,0.68,1.73,146.98,1.048,4,0.035,0.031,2750,1344,1944
$GC,9942,0.58,126.5,872.4,18.0,344,9946,0.12,1.70,0.00,0.000,6,0.166,0.042,2721,2425,1939
$GC,10272,0.58,126.5,819.5,15.8,353,10275,0.00,1.62,0.00,0.000,4,0.000,0.031,2727,1330,1936
$GC,10386,0.58,126.5,802.6,13.9,355,10389,0.00,1.65,0.00,0.000,6,0.000,0.044,2728,2392,1935
$GC,10727,0.58,126.5,752.0,14.5,364,10730,0.00,1.58,0.00,0.000,4,0.000,0.031,2735,1359,1934
$GC,10824,0.58,126.5,738.7,13.5,366,10827,0.00,1.58,0.00,0.000,6,0.000,0.043,2729,2363,1933
$GC,11141,0.58,126.5,695.6,13.6,374,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2363,1933
$GC,11463,0.58,126.5,651.1,14.0,382,11466,0.00,1.52,0.00,0.000,4,0.000,0.031,2735,1350,1932
$GC,11550,0.58,126.5,639.0,13.3,384,11553,0.00,1.58,0.00,0.000,6,0.000,0.044,2729,2346,1932
$GC,11877,0.58,126.5,592.4,14.1,392,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2346,1931
$GC,12200,0.58,126.5,546.1,14.6,400,12203,0.00,1.50,0.00,0.000,4,0.000,0.031,2734,1357,1931
$GC,12228,0.58,126.5,541.8,15.1,400,12231,0.00,1.58,0.00,0.000,6,0.000,0.044,2729,2357,1931
$GC,12569,0.58,126.5,490.4,15.2,409,12572,0.00,1.52,0.00,0.000,4,0.000,0.031,2735,1348,1931
$GC,12603,0.58,126.5,484.8,16.6,409,12606,0.00,1.55,0.00,0.000,6,0.000,0.044,2730,2331,1931
$GC,12938,0.58,126.5,435.1,13.7,418,12941,0.00,1.80,0.00,0.000,4,0.000,0.051,2728,3481,1931
$GC,12988,0.58,126.5,428.2,13.6,419,12991,0.00,1.73,0.00,0.000,6,0.000,0.028,2735,2329,1930
$GC,13309,0.58,128.5,390.6,10.9,427,13312,0.00,1.42,0.00,0.000,4,0.000,0.031,2743,1349,1930
$GC,13510,0.58,128.5,367.6,12.7,431,13513,0.00,1.50,0.00,0.000,6,0.000,0.045,2742,2297,1930
$GC,13850,0.58,128.5,326.3,11.9,440,13853,0.00,1.85,0.00,0.000,4,0.000,0.053,2742,3475,1930
$GC,13906,0.58,130.8,320.2,10.9,441,13909,0.08,1.80,0.00,0.000,6,0.160,0.028,2726,2295,1929
$GC,14222,0.60,168.8,292.0,8.8,449,14270,0.00,1.95,38.42,0.830,4,0.000,0.049,2725,3465,1771
$GC,14322,0.60,168.8,281.0,12.8,451,14325,0.00,1.75,0.00,0.000,6,0.000,0.028,2732,2314,1770
$GC,14634,0.60,168.8,243.6,12.2,459,14636,0.00,1.42,0.00,0.000,4,0.000,0.032,2739,1350,1767
$GC,14785,0.60,179.1,227.1,10.4,462,14798,0.00,1.52,10.15,0.734,6,0.000,0.043,2739,2316,1729
$GC,15113,0.60,190.0,193.6,10.4,475,15127,0.00,1.83,11.00,0.714,4,0.000,0.049,2739,3471,1685
$GC,15231,0.60,190.0,180.4,11.4,485,15237,0.00,1.75,0.00,0.000,6,0.000,0.027,2748,2302,1683
$GC,15554,0.60,190.0,143.6,11.9,516,15559,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,1682
$GC,15871,0.61,215.1,107.5,9.6,547,15899,0.00,0.00,22.58,0.674,6,0.000,0.000,2749,2295,1583
$GC,16217,0.62,235.4,74.6,9.8,580,16239,0.00,1.92,18.27,0.624,4,0.000,0.047,2748,3472,1499
$GC,16300,0.63,243.1,66.0,10.6,587,16315,0.00,1.70,8.27,0.552,6,0.000,0.025,2756,2318,1468
$GC,16627,0.64,281.6,32.7,8.8,619,16662,0.00,0.00,33.35,0.599,6,0.000,0.000,2756,2318,1312
$STATE,16923,end climb,SURFACE_DEPTH_REACHED
$STATE,16923,begin surface coast
$FINISH,0.3,1.023415
$STATE,16955,end surface coast,CONTROL_FINISHED_OK
$STATE,16955,begin surface
$SM_CCo,16979,45.80,0.563,0,0,909,380.21
$SM_GC,0.92,0.00,0.00,45.80,0.000,0.000,0.563,33,2740,909,-7.80,0.57,380.21
$IRIDIUM_FIX,2157.39,-15801.98,090202,101047
$TT8_MAMPS,0.048321
$HUMID,2280
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.30
$XPDR_PINGS,21
$24V_AH,22.9,100.089
$10V_AH,10.2,90.566
$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,17.625,103.875,436.675,45.800,0.000,29.633,39.202,295.694,5.250,0.000,0.000,14.990,0.000,13888.783,656.696,2061.188,921.612,33.364,1599.460,0.000,1700.216,0.000,0.542,0.000
$DEVICE_MAMPS,196.352,67.496,1089.907,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,225.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47668,677
$CAP_FILE_SIZE,125654,0
$CFSIZE,260165632,219066368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,27,1
$GPS,151112,195554,2202.365,-15802.028,75,1.2,75,9.9