version: 66.04
glider: 512
mission: 3
dive: 729
start: 11 16 112 15 5 10
data:
$ID,512
$MISSION,3
$DIVE,729
$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,-68402.398
$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,47
$R_STBD_OVSHOOT,46
$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
$GPS1,145426,2201.000,-15802.521,35,2.9,54,9.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-77.1
$GPS2,150427,2201.010,-15802.551,49,3.1,68,9.9
$SPEED_LIMITS,0.158,0.251
$TGT_NAME,WAY_001
$TGT_LATLONG,2148.400,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.195,-0.158
$KALMAN_X,-323828.8,-58.7,472.7,292764.8,-2681.1
$KALMAN_Y,322193.6,314.2,461.7,-427393.1,1074.0
$MHEAD_RNG_PITCHd_Wd,119.1,24630,-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,-126.5,0.0,0.0,0,79,0.00,0.00,-62.67,0.000,2,0.000,0.000,27,2852,2486
$GC,85,-0.58,-126.5,2.2,-3.7,12,112,8.85,1.62,-11.48,0.000,4,0.192,0.038,2341,1728,2978
$GC,189,-0.58,-126.5,24.5,-20.1,31,194,0.00,1.65,0.00,0.000,6,0.000,0.041,2335,2809,2979
$GC,512,-0.58,-126.5,97.7,-23.0,64,515,0.00,1.65,0.00,0.000,4,0.000,0.048,2327,3885,2979
$GC,674,-0.58,-126.5,125.5,-14.5,79,677,0.00,1.52,0.00,0.000,6,0.000,0.020,2327,2823,2980
$GC,1002,-0.58,-126.5,169.8,-13.9,110,1005,0.00,1.45,0.00,0.000,4,0.000,0.020,2327,1770,2981
$GC,1019,-0.58,-126.5,172.8,-13.4,111,1025,0.00,1.62,0.00,0.000,6,0.000,0.041,2320,2845,2980
$GC,1354,-0.58,-126.5,216.9,-13.1,135,1357,0.00,1.60,0.00,0.000,4,0.000,0.047,2312,3891,2981
$GC,1388,-0.58,-126.5,221.2,-12.6,135,1391,0.00,1.52,0.00,0.000,6,0.000,0.020,2312,2826,2981
$GC,1724,-0.58,-126.5,265.1,-13.3,144,1727,0.00,1.67,0.00,0.000,4,0.000,0.046,2304,3881,2980
$GC,1778,-0.58,-126.5,272.4,-13.4,145,1782,0.08,1.50,0.00,0.000,6,0.118,0.020,2333,2827,2980
$GC,2095,-0.58,-126.5,307.0,-10.8,153,2098,0.00,1.45,0.00,0.000,4,0.000,0.021,2337,1778,2980
$GC,2193,-0.58,-126.5,315.9,-8.4,155,2196,0.00,1.60,0.00,0.000,6,0.000,0.041,2331,2838,2979
$GC,2509,-0.58,-126.5,343.6,-8.6,163,2512,0.00,1.60,0.00,0.000,4,0.000,0.049,2323,3875,2978
$GC,2603,-0.58,-126.5,351.6,-7.3,165,2606,0.00,1.52,0.00,0.000,6,0.000,0.021,2323,2822,2977
$GC,2924,-0.58,-126.5,381.6,-9.6,173,2927,0.00,1.67,0.00,0.000,4,0.000,0.049,2315,3885,2975
$GC,2958,-0.58,-126.5,384.9,-9.9,173,2961,0.00,1.55,0.00,0.000,6,0.000,0.021,2315,2827,2975
$GC,3294,-0.58,-126.5,420.1,-10.8,182,3297,0.00,1.48,0.00,0.000,4,0.000,0.023,2315,1776,2972
$GC,3403,-0.58,-126.5,431.4,-9.8,184,3406,0.00,1.60,0.00,0.000,6,0.000,0.043,2309,2827,2971
$GC,3749,-0.58,-126.5,472.2,-11.7,193,3752,0.00,1.65,0.00,0.000,4,0.000,0.052,2301,3887,2967
$GC,3778,-0.58,-126.5,475.6,-12.1,193,3781,0.08,1.58,0.00,0.000,6,0.112,0.024,2332,2812,2968
$GC,4118,-0.58,-126.5,509.3,-9.7,202,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2808,2965
$GC,4442,-0.58,-126.5,539.1,-8.8,210,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2808,2963
$GC,4764,-0.58,-126.5,566.4,-8.5,218,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2808,2961
$GC,5088,-0.58,-126.5,593.2,-8.2,226,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2808,2958
$GC,5410,-0.58,-126.5,618.8,-7.8,234,5412,0.00,1.48,0.00,0.000,4,0.000,0.026,2333,1778,2956
$GC,5481,-0.58,-126.5,624.0,-6.6,235,5484,0.00,1.65,0.00,0.000,6,0.000,0.049,2333,2817,2956
$GC,5822,-0.58,-126.5,649.7,-7.6,244,5825,0.00,1.70,0.00,0.000,4,0.000,0.056,2325,3891,2954
$GC,5877,-0.58,-126.5,654.1,-7.6,245,5880,0.00,1.55,0.00,0.000,6,0.000,0.026,2325,2846,2954
$GC,6193,-0.58,-126.5,679.7,-8.1,253,6196,0.00,1.55,0.00,0.000,4,0.000,0.027,2325,1763,2952
$GC,6276,-0.58,-126.5,686.2,-7.8,254,6280,0.00,1.67,0.00,0.000,6,0.000,0.049,2319,2820,2952
$GC,6606,-0.58,-126.5,714.4,-8.7,263,6608,0.00,1.55,0.00,0.000,4,0.000,0.027,2319,1758,2951
$GC,6650,-0.58,-126.5,718.0,-9.0,264,6653,0.00,1.65,0.00,0.000,6,0.000,0.051,2319,2810,2951
$GC,6977,-0.58,-126.5,744.6,-8.0,272,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2810,2949
$GC,7300,-0.58,-126.5,768.3,-7.4,280,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2810,2948
$GC,7623,-0.58,-126.5,792.9,-7.8,288,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2810,2947
$GC,7945,-0.58,-126.5,820.6,-8.6,296,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2811,2946
$GC,8269,-0.58,-126.5,848.3,-8.7,304,8272,0.00,1.52,0.00,0.000,4,0.000,0.028,2319,1774,2945
$GC,8324,-0.58,-126.5,853.2,-8.9,305,8327,0.00,1.60,0.00,0.000,6,0.000,0.050,2312,2798,2945
$GC,8641,-0.58,-126.5,879.7,-8.4,313,8643,0.00,1.73,0.00,0.000,4,0.000,0.058,2304,3875,2944
$GC,8696,-0.58,-126.5,884.3,-8.4,314,8700,0.12,1.60,0.00,0.000,6,0.110,0.027,2343,2786,2944
$STATE,8967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8967,begin apogee
$GC,8978,-0.18,0.0,901.0,5.9,321,9106,0.38,0.00,120.57,1.246,6,0.088,0.000,2471,2417,2460
$STATE,9106,end apogee,CONTROL_FINISHED_OK
$STATE,9106,begin climb
$GC,9111,0.58,126.5,904.1,0.0,324,9330,0.68,0.00,149.18,1.043,6,0.035,0.000,2741,2417,1943
$GC,9657,0.58,126.5,823.0,17.4,338,9659,0.00,1.58,0.00,0.000,4,0.000,0.030,2748,1365,1936
$GC,9749,0.58,126.5,807.3,17.7,340,9752,0.08,1.60,0.00,0.000,6,0.168,0.044,2720,2384,1934
$GC,10071,0.58,126.5,759.8,14.6,348,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2384,1933
$GC,10393,0.58,126.5,713.0,14.4,356,10396,0.00,1.55,0.00,0.000,4,0.000,0.031,2726,1355,1932
$GC,10475,0.58,126.5,701.6,13.8,357,10479,0.00,1.60,0.00,0.000,6,0.000,0.043,2726,2396,1931
$GC,10805,0.58,126.5,655.5,14.0,366,10808,0.00,1.67,0.00,0.000,4,0.000,0.051,2725,3473,1931
$GC,10866,0.58,126.5,646.3,15.2,367,10869,0.00,1.60,0.00,0.000,6,0.000,0.028,2734,2389,1930
$GC,11177,0.58,126.5,600.7,14.4,375,11180,0.00,1.52,0.00,0.000,4,0.000,0.031,2742,1346,1930
$GC,11301,0.58,126.5,582.8,14.0,377,11305,0.00,1.60,0.00,0.000,6,0.000,0.044,2742,2382,1930
$GC,11632,0.58,126.5,532.2,15.1,386,11635,0.00,1.70,0.00,0.000,4,0.000,0.051,2742,3474,1929
$GC,11762,0.58,126.5,512.0,15.1,389,11765,0.15,1.62,0.00,0.000,6,0.166,0.028,2712,2380,1929
$GC,12089,0.58,126.5,471.8,12.2,397,12092,0.00,1.50,0.00,0.000,4,0.000,0.031,2719,1346,1929
$GC,12160,0.58,126.5,463.6,11.5,398,12164,0.00,1.65,0.00,0.000,6,0.000,0.044,2716,2393,1928
$GC,12501,0.58,129.2,425.0,10.9,407,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2394,1928
$GC,12825,0.58,129.2,387.6,11.5,415,12827,0.00,1.55,0.00,0.000,4,0.000,0.030,2721,1357,1928
$GC,13008,0.58,129.2,366.2,12.1,419,13011,0.00,1.58,0.00,0.000,6,0.000,0.044,2716,2361,1928
$GC,13325,0.58,131.7,331.5,10.9,427,13327,0.00,1.73,0.00,0.000,4,0.000,0.052,2715,3470,1928
$GC,13348,0.58,131.7,328.8,12.2,427,13351,0.00,1.73,0.00,0.000,6,0.000,0.027,2722,2323,1928
$GC,13694,0.58,140.4,291.6,10.5,436,13717,0.00,1.88,13.18,0.703,4,0.000,0.051,2722,3457,1887
$GC,13838,0.59,150.0,274.7,10.5,439,13852,0.00,1.65,10.52,0.779,6,0.000,0.025,2731,2353,1848
$GC,14189,0.59,150.0,234.4,11.7,448,14192,0.00,1.48,0.00,0.000,4,0.000,0.030,2738,1337,1845
$GC,14319,0.61,209.3,222.5,7.6,451,14382,0.00,1.58,54.72,0.777,6,0.000,0.043,2738,2336,1606
$GC,14699,0.61,209.3,180.0,11.3,473,14702,0.00,1.80,0.00,0.000,4,0.000,0.051,2738,3466,1600
$GC,14829,0.61,209.3,161.6,14.4,485,14832,0.00,1.73,0.00,0.000,6,0.000,0.028,2739,2309,1599
$GC,15157,0.62,228.5,125.8,9.9,516,15177,0.00,1.85,16.60,0.678,4,0.000,0.045,2739,3479,1528
$GC,15217,0.63,246.7,119.0,10.0,521,15238,0.00,1.75,17.20,0.661,6,0.000,0.025,2748,2293,1454
$GC,15551,0.63,247.2,83.6,11.0,553,15554,0.00,1.88,0.00,0.000,4,0.000,0.045,2742,3484,1450
$GC,15590,0.63,247.2,79.4,11.4,556,15595,0.00,1.75,0.00,0.000,6,0.000,0.025,2749,2308,1449
$GC,15912,0.65,307.1,50.2,7.5,587,15968,0.00,1.42,50.70,0.624,4,0.000,0.028,2752,1354,1206
$GC,16031,0.68,380.6,40.6,6.7,598,16096,0.00,1.45,60.78,0.607,6,0.000,0.036,2751,2286,907
$GC,16421,0.71,447.3,6.3,7.1,658,16454,0.00,0.00,31.55,0.564,2,0.000,0.000,2751,2286,752
$STATE,16454,end climb,SURFACE_DEPTH_REACHED
$STATE,16454,begin surface coast
$FINISH,0.2,1.002222
$STATE,16478,end surface coast,CONTROL_FINISHED_OK
$STATE,16478,begin surface
$SM_CCo,16563,0.00,0.000,0,0,748,419.70
$SM_GC,1.08,7.00,0.00,0.00,0.025,0.000,0.000,27,2822,748,-7.70,0.08,419.70
$IRIDIUM_FIX,2152.74,-15805.01,100202,101006
$TT8_MAMPS,0.048321
$HUMID,2274
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.50
$XPDR_PINGS,14
$24V_AH,23.1,100.886
$10V_AH,10.0,90.856
$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,17.400,98.075,525.000,0.000,0.000,31.655,36.048,321.140,3.500,0.000,0.000,69.972,0.000,13533.180,634.316,2048.816,927.379,33.369,1548.710,0.000,1644.243,0.000,0.543,0.000
$DEVICE_MAMPS,191.750,58.292,1245.608,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,226.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44534,669
$CAP_FILE_SIZE,120808,0
$CFSIZE,260165632,218804224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,16,0
$GPS,161112,194256,2200.729,-15802.137,55,2.2,74,9.9