version: 66.04
glider: 512
mission: 3
dive: 738
start: 11 18 112 10 27 27
data:
$ID,512
$MISSION,3
$DIVE,738
$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,-68607.102
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2533
$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,54
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2440
$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
$GPS1,101535,2156.855,-15802.960,37,1.0,37,9.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-73.7
$GPS2,102649,2156.937,-15803.051,13,2.0,13,9.9
$SPEED_LIMITS,0.158,0.251
$TGT_NAME,WAY_001
$TGT_LATLONG,2148.400,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.080,-0.238
$KALMAN_X,-11024.4,-386.0,-517.4,9935.6,-670.9
$KALMAN_Y,13785.6,8.9,-180.0,-19601.3,2716.3
$MHEAD_RNG_PITCHd_Wd,151.5,18038,-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,15,-0.58,-126.5,0.0,0.0,0,101,0.00,0.00,-83.70,0.000,2,0.000,0.000,27,2885,2549
$GC,107,-0.58,-126.5,2.0,-2.4,16,130,9.23,1.62,-9.77,0.000,4,0.206,0.056,2331,3892,2958
$GC,298,-0.58,-126.5,39.7,-18.1,46,303,0.00,1.60,0.00,0.000,6,0.000,0.020,2331,2780,2958
$GC,620,-0.58,-126.5,105.9,-17.8,77,623,0.00,1.73,0.00,0.000,4,0.000,0.046,2323,3879,2958
$GC,718,-0.58,-126.5,121.4,-13.5,86,721,0.00,1.50,0.00,0.000,6,0.000,0.019,2323,2833,2958
$GC,1045,-0.58,-126.5,166.6,-15.0,117,1048,0.00,1.62,0.00,0.000,4,0.000,0.044,2315,3875,2958
$GC,1074,-0.58,-126.5,171.8,-16.6,119,1079,0.00,1.48,0.00,0.000,6,0.000,0.019,2315,2850,2958
$GC,1389,-0.58,-126.5,217.9,-14.5,141,1392,0.10,1.48,0.00,0.000,4,0.145,0.020,2342,1779,2958
$GC,1460,-0.58,-126.5,225.7,-10.5,142,1463,0.00,1.62,0.00,0.000,6,0.000,0.040,2336,2857,2959
$GC,1801,-0.58,-126.5,264.8,-11.0,151,1804,0.00,1.58,0.00,0.000,4,0.000,0.048,2328,3866,2959
$GC,1888,-0.58,-126.5,273.9,-10.2,153,1891,0.00,1.48,0.00,0.000,6,0.000,0.020,2328,2837,2958
$GC,2215,-0.58,-126.5,308.0,-10.5,161,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2830,2957
$GC,2539,-0.58,-126.5,344.6,-11.2,169,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2830,2956
$GC,2861,-0.58,-126.5,374.6,-8.5,177,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2830,2953
$GC,3184,-0.58,-126.5,403.7,-9.6,185,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2830,2951
$GC,3506,-0.58,-126.5,438.1,-11.0,193,3509,0.00,1.65,0.00,0.000,4,0.000,0.048,2320,3878,2948
$GC,3530,-0.58,-126.5,440.6,-10.9,193,3533,0.00,1.50,0.00,0.000,6,0.000,0.022,2320,2845,2948
$GC,3876,-0.58,-126.5,473.2,-8.5,202,3879,0.00,1.52,-0.08,0.000,4,0.000,0.041,2320,1775,2970
$GC,3990,-0.58,-126.5,482.1,-7.9,204,3993,0.12,1.60,0.00,0.000,6,0.124,0.044,2348,2818,2969
$GC,4331,-0.58,-126.5,505.1,-7.0,213,4334,0.00,1.50,0.00,0.000,4,0.000,0.025,2348,1782,2967
$GC,4354,-0.58,-126.5,506.8,-6.8,213,4358,0.00,1.62,0.00,0.000,6,0.000,0.047,2346,2814,2967
$GC,4700,-0.58,-126.5,529.9,-6.7,222,4703,0.00,1.50,0.00,0.000,4,0.000,0.025,2346,1784,2965
$GC,4729,-0.58,-126.5,531.8,-6.9,222,4732,0.00,1.60,0.00,0.000,6,0.000,0.048,2346,2814,2965
$GC,5070,-0.58,-126.5,554.6,-7.0,231,5073,0.00,1.70,0.00,0.000,4,0.000,0.056,2338,3887,2962
$GC,5125,-0.58,-126.5,558.8,-7.1,232,5128,0.00,1.58,0.00,0.000,6,0.000,0.026,2338,2826,2961
$GC,5443,-0.58,-126.5,584.5,-8.3,240,5446,0.00,1.50,0.00,0.000,4,0.000,0.027,2337,1787,2959
$GC,5541,-0.58,-126.5,592.1,-7.5,242,5544,0.00,1.60,0.00,0.000,6,0.000,0.048,2333,2797,2959
$GC,5857,-0.58,-126.5,618.3,-8.2,250,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2797,2956
$GC,6181,-0.58,-126.5,646.9,-9.1,258,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2798,2955
$GC,6502,-0.58,-126.5,675.4,-8.8,266,6505,0.00,1.50,0.00,0.000,4,0.000,0.027,2333,1777,2954
$GC,6536,-0.58,-126.5,678.1,-8.3,266,6539,0.00,1.60,0.00,0.000,6,0.000,0.049,2333,2799,2954
$GC,6872,-0.58,-126.5,704.5,-7.6,275,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2800,2952
$GC,7195,-0.58,-126.5,728.3,-7.3,283,7198,0.00,1.50,0.00,0.000,4,0.000,0.028,2333,1780,2951
$GC,7228,-0.58,-126.5,730.6,-6.7,283,7231,0.00,1.60,0.00,0.000,6,0.000,0.050,2332,2798,2951
$GC,7564,-0.58,-126.5,752.8,-6.5,292,7567,0.00,1.50,0.00,0.000,4,0.000,0.027,2333,1781,2949
$GC,7598,-0.58,-126.5,755.1,-6.6,292,7602,0.00,1.60,0.00,0.000,6,0.000,0.050,2333,2780,2949
$GC,7934,-0.58,-126.5,777.1,-6.7,301,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2780,2949
$GC,8257,-0.58,-126.5,799.5,-7.0,309,8260,0.00,1.48,0.00,0.000,4,0.000,0.028,2333,1782,2948
$GC,8312,-0.58,-126.5,803.2,-7.1,310,8315,0.00,1.58,0.00,0.000,6,0.000,0.051,2333,2766,2948
$GC,8629,-0.58,-126.5,825.2,-6.9,318,8632,0.00,1.45,0.00,0.000,4,0.000,0.028,2333,1781,2947
$GC,8669,-0.58,-126.5,827.9,-7.7,318,8672,0.00,1.58,0.00,0.000,6,0.000,0.051,2333,2763,2947
$GC,8999,-0.58,-126.5,850.2,-6.9,327,9001,0.00,1.80,0.00,0.000,4,0.000,0.060,2324,3882,2946
$GC,9044,-0.58,-126.5,853.5,-7.8,328,9047,0.00,1.65,0.00,0.000,6,0.000,0.028,2324,2773,2945
$GC,9371,-0.58,-126.5,878.5,-7.6,336,9373,0.00,1.45,0.00,0.000,4,0.000,0.028,2325,1769,2945
$GC,9420,-0.58,-126.5,882.7,-8.4,337,9423,0.00,1.60,0.00,0.000,6,0.000,0.050,2319,2787,2945
$STATE,9656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9656,begin apogee
$GC,9668,-0.18,0.0,902.5,8.3,343,9800,0.47,0.00,124.90,1.257,6,0.102,0.000,2473,2405,2440
$STATE,9800,end apogee,CONTROL_FINISHED_OK
$STATE,9800,begin climb
$GC,9805,0.58,126.5,906.9,0.0,346,10008,0.65,0.00,144.77,1.069,6,0.056,0.000,2737,2405,1924
$GC,10336,0.58,126.5,828.5,17.7,359,10339,0.00,1.58,0.00,0.000,4,0.000,0.031,2744,1358,1915
$GC,10375,0.58,126.5,820.4,17.5,359,10379,0.00,1.62,0.00,0.000,6,0.000,0.043,2745,2406,1913
$GC,10705,0.58,126.5,761.9,17.4,368,10708,0.00,1.58,0.00,0.000,4,0.000,0.031,2751,1365,1913
$GC,10830,0.58,126.5,740.1,18.8,370,10834,0.10,1.58,0.00,0.000,6,0.163,0.043,2722,2367,1911
$GC,11159,0.58,126.5,686.9,15.9,379,11162,0.00,1.73,0.00,0.000,4,0.000,0.051,2716,3471,1911
$GC,11273,0.58,126.5,668.4,16.5,381,11276,0.00,1.60,0.00,0.000,6,0.000,0.028,2722,2393,1910
$GC,11614,0.58,126.5,614.9,16.0,390,11617,0.00,1.52,0.00,0.000,4,0.000,0.031,2730,1354,1910
$GC,11723,0.58,126.5,598.7,14.4,392,11725,0.00,1.60,0.00,0.000,6,0.000,0.042,2729,2394,1909
$GC,12069,0.58,126.5,547.0,14.1,401,12072,0.00,1.67,0.00,0.000,4,0.000,0.051,2729,3470,1909
$GC,12221,0.58,126.5,524.2,13.1,404,12224,0.00,1.60,0.00,0.000,6,0.000,0.027,2735,2411,1909
$GC,12566,0.58,126.5,479.1,12.7,413,12569,0.00,1.55,0.00,0.000,4,0.000,0.031,2743,1354,1909
$GC,12723,0.58,126.5,458.6,13.6,416,12725,0.00,1.62,0.00,0.000,6,0.000,0.042,2742,2410,1909
$GC,13068,0.58,126.5,405.6,15.3,425,13071,0.00,1.67,0.00,0.000,4,0.000,0.052,2742,3482,1909
$GC,13296,0.58,126.5,373.6,11.9,430,13299,0.00,1.55,0.00,0.000,6,0.000,0.028,2748,2448,1908
$GC,13612,0.58,126.5,336.3,12.1,438,13615,0.00,1.62,0.00,0.000,4,0.000,0.049,2742,3473,1908
$GC,13672,0.58,126.5,328.5,13.0,439,13675,0.00,1.48,0.00,0.000,6,0.000,0.028,2748,2491,1908
$GC,13984,0.58,126.5,291.8,11.4,447,13987,0.00,1.65,0.00,0.000,4,0.000,0.030,2756,1343,1908
$GC,14087,0.60,170.8,282.0,8.4,449,14136,0.00,1.80,39.97,0.815,6,0.000,0.044,2755,2485,1743
$GC,14478,0.60,170.8,236.5,11.1,459,14481,0.00,1.67,0.00,0.000,4,0.000,0.029,2761,1363,1738
$GC,14529,0.60,187.1,231.4,10.1,460,14547,0.00,1.70,15.00,0.759,6,0.000,0.042,2757,2458,1677
$GC,14861,0.60,188.7,193.0,10.9,472,14864,0.00,1.62,0.00,0.000,4,0.000,0.029,2763,1356,1673
$GC,14986,0.62,219.2,180.5,9.2,483,15018,0.12,1.65,28.23,0.735,6,0.147,0.041,2735,2428,1546
$GC,15330,0.62,236.0,143.4,10.0,516,15352,0.00,1.67,15.48,0.669,4,0.000,0.048,2735,3474,1476
$GC,15456,0.63,251.3,130.4,10.1,527,15475,0.00,1.55,14.55,0.646,6,0.000,0.025,2739,2451,1415
$GC,15795,0.64,277.1,97.1,9.5,560,15826,0.00,1.67,22.98,0.640,4,0.000,0.029,2739,1348,1308
$GC,15897,0.67,354.1,89.2,6.5,569,15965,0.00,1.67,64.12,0.637,6,0.000,0.038,2739,2435,996
$GC,16277,0.70,416.5,56.0,7.4,606,16332,0.00,1.62,51.60,0.601,4,0.000,0.027,2739,1346,740
$GC,16395,0.72,481.7,50.7,7.2,617,16453,0.00,1.62,53.58,0.588,6,0.000,0.035,2739,2402,475
$GC,16769,0.72,481.7,14.5,12.0,664,16775,0.00,1.65,0.00,0.000,4,0.000,0.046,2739,3476,472
$GC,16815,0.72,481.7,8.8,11.8,672,16820,0.00,1.62,0.00,0.000,6,0.000,0.022,2739,2355,472
$STATE,16859,end climb,SURFACE_DEPTH_REACHED
$STATE,16859,begin surface coast
$FINISH,0.1,1.003653
$STATE,16892,end surface coast,CONTROL_FINISHED_OK
$STATE,16892,begin surface
$SM_CCo,16976,0.00,0.000,0,0,471,482.99
$SM_GC,1.04,6.85,0.00,0.00,0.020,0.000,0.000,34,2857,471,-7.71,1.05,482.99
$IRIDIUM_FIX,2148.09,-15755.52,120202,101017
$TT8_MAMPS,0.048321
$HUMID,2243
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.00
$XPDR_PINGS,12
$24V_AH,22.8,102.332
$10V_AH,10.0,91.386
$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,17.650,106.525,575.175,0.000,0.000,57.306,77.749,311.886,3.000,0.000,0.000,13.706,0.000,13857.608,667.690,2079.786,1019.221,33.337,1636.676,0.000,1719.241,0.000,0.545,0.000
$DEVICE_MAMPS,205.556,59.826,1257.113,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,233.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47684,687
$CAP_FILE_SIZE,129189,0
$CFSIZE,260165632,218300416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,0
$GPS,181112,151129,2156.435,-15803.068,38,1.4,38,9.9