version: 66.04
glider: 512
mission: 3
dive: 728
start: 11 16 112 10 16 20
data:
$ID,512
$MISSION,3
$DIVE,728
$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,-68331.797
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2525
$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,2820
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,26
$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
$GPS1,100635,2201.401,-15802.306,34,0.9,34,9.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-73.6
$GPS2,101537,2201.461,-15802.343,17,1.1,17,9.9
$SPEED_LIMITS,0.158,0.251
$TGT_NAME,WAY_001
$TGT_LATLONG,2148.400,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,-0.245
$KALMAN_X,-321178.6,-462.0,-517.4,291860.4,-559.4
$KALMAN_Y,319767.7,160.5,-114.3,-423407.6,2826.9
$MHEAD_RNG_PITCHd_Wd,157.2,25316,-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,-126.5,0.0,0.0,0,95,0.00,0.00,-78.35,0.000,2,0.000,0.000,25,2831,2438
$GC,101,-0.58,-126.5,2.1,-3.4,15,129,8.93,1.55,-13.62,0.000,4,0.197,0.041,2337,1744,2976
$GC,211,-0.58,-126.5,24.3,-16.7,35,216,0.00,1.67,0.00,0.000,6,0.000,0.042,2331,2836,2977
$GC,539,-0.58,-126.5,89.7,-19.9,69,542,0.00,1.62,0.00,0.000,4,0.000,0.048,2322,3872,2977
$GC,615,-0.58,-126.5,102.5,-12.5,76,618,0.00,1.50,0.00,0.000,6,0.000,0.020,2322,2839,2977
$GC,942,-0.58,-126.5,149.5,-14.0,107,945,0.00,1.62,0.00,0.000,4,0.000,0.044,2315,3886,2977
$GC,1014,-0.58,-126.5,160.1,-12.9,113,1019,0.00,1.45,0.00,0.000,6,0.000,0.020,2314,2865,2977
$GC,1350,-0.58,-126.5,212.2,-15.3,140,1353,0.00,1.60,0.00,0.000,4,0.000,0.044,2307,3893,2977
$GC,1416,-0.58,-126.5,222.4,-15.6,141,1419,0.08,1.40,0.00,0.000,6,0.123,0.020,2334,2904,2977
$GC,1762,-0.58,-126.5,264.4,-12.1,150,1765,0.00,1.58,0.00,0.000,4,0.000,0.021,2335,1775,2977
$GC,1785,-0.58,-126.5,267.1,-11.8,150,1788,0.00,1.73,0.00,0.000,6,0.000,0.042,2332,2912,2977
$GC,2131,-0.58,-126.5,307.4,-11.8,159,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2912,2977
$GC,2454,-0.58,-126.5,339.8,-9.8,167,2457,0.00,1.60,0.00,0.000,4,0.000,0.021,2332,1767,2975
$GC,2493,-0.58,-126.5,343.8,-9.5,167,2497,0.00,1.75,0.00,0.000,6,0.000,0.041,2323,2919,2975
$GC,2823,-0.58,-126.5,384.1,-12.5,176,2826,0.00,1.50,0.00,0.000,4,0.000,0.048,2316,3875,2972
$GC,2890,-0.58,-126.5,392.0,-11.8,177,2892,0.00,1.40,0.00,0.000,6,0.000,0.021,2316,2900,2972
$GC,3235,-0.58,-126.5,433.3,-11.7,186,3238,0.00,1.58,0.00,0.000,4,0.000,0.023,2316,1780,2969
$GC,3275,-0.58,-126.5,437.6,-10.7,186,3279,0.00,1.73,0.00,0.000,6,0.000,0.044,2309,2910,2969
$GC,3605,-0.58,-126.5,476.9,-12.4,195,3608,0.00,1.55,-0.08,0.000,4,0.000,0.067,2301,3888,2991
$GC,3703,-0.58,-126.5,489.4,-11.8,197,3706,0.08,1.40,0.00,0.000,6,0.107,0.023,2333,2927,2990
$GC,4019,-0.58,-126.5,522.0,-9.9,205,4022,0.00,1.62,0.00,0.000,4,0.000,0.024,2340,1763,2988
$GC,4091,-0.58,-126.5,528.5,-8.4,206,4094,0.00,1.77,0.00,0.000,6,0.000,0.046,2334,2916,2987
$GC,4432,-0.58,-126.5,556.6,-7.8,215,4434,0.00,1.62,0.00,0.000,4,0.000,0.025,2335,1782,2985
$GC,4508,-0.58,-126.5,562.0,-7.0,216,4511,0.00,1.73,0.00,0.000,6,0.000,0.047,2333,2876,2984
$GC,4844,-0.58,-126.5,587.2,-7.8,225,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2875,2982
$GC,5166,-0.58,-126.5,615.7,-9.1,233,5169,0.00,1.58,0.00,0.000,4,0.000,0.025,2333,1793,2980
$GC,5227,-0.58,-126.5,621.0,-8.8,234,5230,0.00,1.67,0.00,0.000,6,0.000,0.048,2333,2868,2980
$GC,5538,-0.58,-126.5,648.8,-8.9,242,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2868,2978
$GC,5861,-0.58,-126.5,676.7,-8.6,250,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2868,2975
$GC,6183,-0.58,-126.5,705.6,-9.1,258,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2868,2974
$GC,6506,-0.58,-126.5,734.7,-8.9,266,6509,0.00,1.58,0.00,0.000,4,0.000,0.028,2333,1796,2972
$GC,6578,-0.58,-126.5,740.9,-8.9,267,6581,0.00,1.67,0.00,0.000,6,0.000,0.051,2332,2845,2971
$GC,6918,-0.58,-126.5,769.3,-8.2,276,6921,0.00,1.55,0.00,0.000,4,0.000,0.027,2333,1792,2970
$GC,6941,-0.58,-126.5,771.0,-7.3,276,6944,0.00,1.65,0.00,0.000,6,0.000,0.051,2333,2842,2970
$GC,7287,-0.58,-126.5,794.6,-6.6,285,7290,0.00,1.55,0.00,0.000,4,0.000,0.028,2332,1788,2968
$GC,7316,-0.58,-126.5,796.5,-6.8,285,7319,0.00,1.67,0.00,0.000,6,0.000,0.051,2333,2831,2968
$GC,7657,-0.58,-126.5,817.3,-6.0,294,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2831,2968
$GC,7980,-0.58,-126.5,836.2,-5.7,302,7983,0.00,1.52,0.00,0.000,4,0.000,0.028,2333,1795,2966
$GC,8041,-0.58,-126.5,839.6,-5.4,303,8044,0.00,1.60,0.00,0.000,6,0.000,0.051,2333,2815,2966
$GC,8352,-0.58,-126.5,856.4,-5.3,311,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2815,2966
$GC,8675,-0.58,-126.5,873.8,-5.4,319,8677,0.00,1.50,0.00,0.000,4,0.000,0.029,2332,1796,2965
$GC,8714,-0.58,-126.5,875.9,-5.1,319,8717,0.00,1.60,0.00,0.000,6,0.000,0.051,2325,2814,2965
$GC,9044,-0.58,-126.5,895.7,-6.3,328,9047,0.00,1.70,0.00,0.000,4,0.000,0.059,2317,3875,2964
$GC,9067,-0.58,-126.5,897.4,-6.6,328,9070,0.00,1.58,0.00,0.000,6,0.000,0.029,2317,2830,2964
$STATE,9125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9126,begin apogee
$GC,9136,-0.18,0.0,901.8,6.8,330,9262,0.45,0.00,123.10,1.268,6,0.100,0.000,2463,2410,2460
$STATE,9262,end apogee,CONTROL_FINISHED_OK
$STATE,9262,begin climb
$GC,9268,0.58,126.5,904.1,0.0,333,9487,0.70,0.00,148.90,1.043,6,0.039,0.000,2734,2410,1943
$GC,9813,0.58,126.5,825.7,16.1,347,9816,0.00,1.55,0.00,0.000,4,0.000,0.031,2742,1371,1936
$GC,10062,0.58,126.5,788.1,14.9,352,10065,0.00,1.60,0.00,0.000,6,0.000,0.044,2742,2404,1934
$GC,10397,0.58,126.5,735.2,15.9,361,10400,0.00,1.58,0.00,0.000,4,0.000,0.031,2748,1357,1933
$GC,10532,0.58,126.5,713.8,16.2,364,10535,0.05,1.55,0.00,0.000,6,0.140,0.042,2717,2349,1932
$GC,10855,0.58,126.5,666.4,15.0,372,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2350,1932
$GC,11176,0.58,126.5,619.5,14.4,380,11180,0.00,1.77,0.00,0.000,4,0.000,0.051,2716,3468,1931
$GC,11226,0.58,126.5,612.1,15.1,381,11229,0.00,1.67,0.00,0.000,6,0.000,0.028,2722,2365,1931
$GC,11548,0.58,126.5,565.7,14.3,389,11551,0.00,1.50,0.00,0.000,4,0.000,0.032,2729,1346,1931
$GC,11651,0.58,126.5,550.8,13.9,391,11654,0.00,1.60,0.00,0.000,6,0.000,0.044,2728,2382,1930
$GC,11962,0.58,126.5,506.7,13.9,399,11965,0.00,1.55,0.00,0.000,4,0.000,0.031,2734,1354,1930
$GC,12114,0.58,126.5,485.5,14.3,402,12117,0.00,1.50,0.00,0.000,6,0.000,0.044,2730,2310,1930
$GC,12460,0.58,126.5,435.0,14.8,411,12462,0.00,1.45,0.00,0.000,4,0.000,0.030,2734,1341,1930
$GC,12553,0.58,126.5,422.3,13.1,413,12555,0.00,1.50,0.00,0.000,6,0.000,0.044,2730,2296,1929
$GC,12874,0.59,142.0,385.4,10.1,421,12895,0.00,0.00,14.93,0.788,6,0.000,0.000,2729,2296,1881
$GC,13197,0.59,142.3,352.9,11.0,429,13200,0.00,1.85,0.00,0.000,4,0.000,0.052,2729,3474,1879
$GC,13312,0.59,142.3,337.6,13.1,431,13315,0.00,1.83,0.00,0.000,6,0.000,0.029,2735,2255,1879
$GC,13652,0.59,152.7,298.4,10.4,440,13670,0.00,0.00,11.43,0.773,6,0.000,0.000,2736,2249,1838
$GC,13975,0.60,169.0,265.6,10.1,448,14003,0.00,1.38,18.40,0.735,4,0.000,0.031,2742,1342,1769
$GC,14249,0.60,172.7,237.0,10.8,454,14257,0.00,1.50,4.70,0.578,6,0.000,0.044,2742,2293,1754
$GC,14601,0.61,208.8,203.1,8.9,463,14645,0.00,1.45,34.55,0.729,4,0.000,0.029,2747,1352,1607
$GC,14701,0.61,213.5,193.3,10.8,469,14710,0.00,1.42,5.40,0.565,6,0.000,0.041,2742,2256,1589
$GC,15031,0.61,213.5,155.2,11.5,501,15034,0.00,1.90,0.00,0.000,4,0.000,0.048,2742,3476,1586
$GC,15075,0.61,213.5,149.4,13.1,505,15078,0.00,1.85,0.00,0.000,6,0.000,0.025,2749,2234,1586
$GC,15402,0.62,234.5,116.1,9.8,536,15425,0.00,2.03,19.08,0.655,4,0.000,0.046,2749,3468,1503
$GC,15518,0.62,234.5,102.6,12.4,546,15524,0.00,1.80,0.00,0.000,6,0.000,0.027,2754,2257,1502
$GC,15840,0.65,299.0,76.6,7.2,577,15901,0.00,0.00,54.95,0.634,6,0.000,0.000,2755,2249,1239
$GC,16213,0.67,351.1,38.4,8.0,613,16260,0.00,2.00,43.10,0.593,4,0.000,0.043,2755,3477,1028
$GC,16316,0.68,377.6,29.9,9.5,622,16344,0.00,1.80,23.05,0.565,6,0.000,0.024,2761,2264,919
$STATE,16545,end climb,SURFACE_DEPTH_REACHED
$STATE,16545,begin surface coast
$FINISH,0.4,1.023442
$STATE,16572,end surface coast,CONTROL_FINISHED_OK
$STATE,16572,begin surface
$SM_CCo,16596,1.42,0.080,0,0,910,380.21
$SM_GC,2.10,0.00,0.00,1.42,0.000,0.000,0.080,32,2852,910,-7.79,0.90,380.21
$IRIDIUM_FIX,2155.06,-15801.98,100202,050558
$TT8_MAMPS,0.048321
$HUMID,2287
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.90
$XPDR_PINGS,18
$24V_AH,23.1,100.730
$10V_AH,10.2,90.797
$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,17.325,98.475,501.575,1.425,0.000,30.299,38.121,311.007,4.500,0.000,0.000,17.568,0.000,13561.429,665.957,1970.750,926.713,33.366,1553.610,0.000,1621.286,0.000,0.542,0.000
$DEVICE_MAMPS,197.119,67.496,1267.851,79.768,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,225.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44587,670
$CAP_FILE_SIZE,120005,0
$CFSIZE,260165632,218857472
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,17,0
$GPS,161112,145426,2201.000,-15802.521,35,2.9,54,9.9