version: 66.04
glider: 512
mission: 3
dive: 746
start: 11 20 112 1 15 50
data:
$ID,512
$MISSION,3
$DIVE,746
$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,135
$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,-68788.594
$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,60
$R_STBD_OVSHOOT,40
$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
$GPS1,010836,2152.879,-15800.921,52,0.9,52,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-79.9
$GPS2,011512,2152.936,-15801.000,12,1.1,17,9.9
$SPEED_LIMITS,0.158,0.255
$TGT_NAME,WAY_001
$TGT_LATLONG,2148.400,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.131,-0.219
$KALMAN_X,-7357.3,124.9,-38.8,10666.3,-1512.2
$KALMAN_Y,10098.9,83.3,-21.6,-15362.4,2542.7
$MHEAD_RNG_PITCHd_Wd,139.1,9859,-20.2,-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,-0.57,-131.4,0.0,0.0,0,85,0.00,0.00,-67.93,0.000,2,0.000,0.000,37,2850,2572
$GC,90,-0.57,-131.4,2.3,-3.5,13,113,9.15,1.62,-9.30,0.000,4,0.204,0.039,2346,1757,2977
$GC,174,-0.57,-131.4,22.1,-18.5,28,179,0.00,1.62,0.00,0.000,6,0.000,0.040,2340,2819,2978
$GC,502,-0.57,-131.4,92.2,-20.4,63,505,0.00,1.65,0.00,0.000,4,0.000,0.048,2332,3886,2979
$GC,535,-0.57,-131.4,99.5,-19.4,66,538,0.00,1.58,0.00,0.000,6,0.000,0.021,2335,2820,2979
$GC,863,-0.57,-131.4,152.8,-14.3,97,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2813,2980
$GC,1181,-0.57,-131.4,199.3,-14.6,128,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2813,2981
$GC,1514,-0.57,-131.4,242.0,-11.9,137,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2813,2981
$GC,1837,-0.57,-131.4,277.3,-10.3,145,1840,0.00,1.48,0.00,0.000,4,0.000,0.020,2335,1751,2981
$GC,1919,-0.57,-131.4,284.7,-8.7,146,1922,0.00,1.67,0.00,0.000,6,0.000,0.040,2333,2857,2981
$GC,2249,-0.57,-131.4,317.5,-9.8,155,2252,0.00,1.58,0.00,0.000,4,0.000,0.020,2333,1747,2980
$GC,2315,-0.57,-131.4,324.1,-9.5,156,2318,0.00,1.62,0.00,0.000,6,0.000,0.040,2325,2821,2981
$GC,2661,-0.57,-131.4,361.3,-10.7,165,2664,0.00,1.62,0.00,0.000,4,0.000,0.049,2317,3880,2979
$GC,2695,-0.57,-131.4,364.4,-9.7,165,2698,0.12,1.58,0.00,0.000,6,0.107,0.021,2355,2784,2978
$GC,3031,-0.57,-131.4,389.4,-7.5,174,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2777,2977
$GC,3353,-0.57,-131.4,413.1,-7.2,182,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2777,2974
$GC,3676,-0.57,-131.4,433.0,-6.0,190,3678,0.00,1.75,0.00,0.000,4,0.000,0.050,2348,3886,2971
$GC,3699,-0.57,-131.4,434.5,-6.8,190,3702,0.00,1.55,0.00,0.000,6,0.000,0.024,2348,2823,2970
$GC,4045,-0.57,-131.4,460.4,-7.8,199,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2816,2968
$GC,4368,-0.57,-131.4,485.9,-7.8,207,4371,0.00,1.50,-0.08,0.000,4,0.000,0.041,2349,1767,2992
$GC,4401,-0.57,-131.4,488.5,-7.9,207,4404,0.00,1.62,0.00,0.000,6,0.000,0.044,2346,2821,2992
$GC,4738,-0.57,-131.4,516.6,-8.5,216,4740,0.00,1.67,0.00,0.000,4,0.000,0.053,2339,3891,2990
$GC,4782,-0.57,-131.4,520.5,-8.6,217,4785,0.00,1.58,0.00,0.000,6,0.000,0.025,2338,2823,2989
$GC,5109,-0.57,-131.4,547.6,-8.0,225,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2816,2988
$GC,5432,-0.57,-131.4,573.3,-8.0,233,5435,0.00,1.48,0.00,0.000,4,0.000,0.024,2339,1777,2986
$GC,5503,-0.57,-131.4,578.9,-7.7,234,5506,0.00,1.67,0.00,0.000,6,0.000,0.046,2333,2836,2985
$GC,5844,-0.57,-131.4,608.4,-8.7,243,5847,0.00,1.55,0.00,0.000,4,0.000,0.024,2333,1770,2984
$GC,5878,-0.57,-131.4,611.2,-8.9,243,5881,0.00,1.67,0.00,0.000,6,0.000,0.048,2333,2844,2984
$GC,6214,-0.57,-131.4,638.9,-8.3,252,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2844,2982
$GC,6536,-0.57,-131.4,663.7,-7.6,260,6539,0.00,1.55,0.00,0.000,4,0.000,0.025,2333,1782,2981
$GC,6624,-0.57,-131.4,669.9,-6.7,262,6627,0.00,1.62,0.00,0.000,6,0.000,0.049,2333,2818,2981
$GC,6951,-0.57,-131.4,693.4,-7.2,270,6954,0.00,1.52,0.00,0.000,4,0.000,0.025,2333,1777,2980
$GC,6979,-0.57,-131.4,695.5,-7.3,270,6982,0.00,1.65,0.00,0.000,6,0.000,0.049,2333,2810,2980
$GC,7320,-0.57,-131.4,722.0,-7.9,279,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2810,2978
$GC,7643,-0.57,-131.4,746.7,-7.5,287,7645,0.00,1.50,0.00,0.000,4,0.000,0.026,2333,1788,2978
$GC,7698,-0.57,-131.4,750.6,-7.1,288,7701,0.00,1.62,0.00,0.000,6,0.000,0.050,2333,2823,2978
$GC,8014,-0.57,-131.4,772.2,-6.6,296,8017,0.00,1.52,0.00,0.000,4,0.000,0.027,2333,1787,2976
$GC,8070,-0.57,-131.4,775.6,-6.3,297,8073,0.00,1.60,0.00,0.000,6,0.000,0.051,2333,2805,2976
$GC,8386,-0.57,-131.4,795.0,-6.2,305,8389,0.00,1.50,0.00,0.000,4,0.000,0.026,2333,1784,2975
$GC,8474,-0.57,-131.4,800.6,-6.3,307,8477,0.00,1.60,0.00,0.000,6,0.000,0.051,2333,2781,2975
$GC,8801,-0.57,-131.4,822.1,-6.6,315,8804,0.00,1.48,0.00,0.000,4,0.000,0.027,2333,1777,2974
$GC,8829,-0.57,-131.4,824.2,-6.9,315,8832,0.00,1.60,0.00,0.000,6,0.000,0.051,2333,2792,2974
$GC,9170,-0.57,-131.4,847.8,-6.9,324,9173,0.00,1.48,0.00,0.000,4,0.000,0.026,2333,1787,2973
$GC,9221,-0.57,-131.4,851.4,-6.9,325,9224,0.00,1.58,0.00,0.000,6,0.000,0.052,2333,2764,2973
$GC,9543,-0.57,-131.4,872.9,-6.6,333,9546,0.00,1.80,0.00,0.000,4,0.000,0.060,2325,3878,2972
$GC,9560,-0.57,-131.4,874.2,-6.5,333,9563,0.00,1.65,0.00,0.000,6,0.000,0.027,2324,2763,2972
$GC,9872,-0.57,-131.4,895.1,-6.8,341,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2757,2972
$STATE,9947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9947,begin apogee
$GC,9957,-0.18,0.0,900.5,6.7,343,10096,0.45,0.00,131.50,1.253,6,0.100,0.000,2471,2428,2440
$STATE,10096,end apogee,CONTROL_FINISHED_OK
$STATE,10096,begin climb
$GC,10101,0.57,131.4,903.6,0.0,346,10328,0.65,0.00,152.38,1.048,6,0.039,0.000,2729,2428,1904
$GC,10628,0.57,131.4,827.2,17.0,359,10631,0.00,1.67,0.00,0.000,4,0.000,0.051,2729,3481,1897
$GC,10704,0.57,131.4,812.9,19.2,360,10707,0.00,1.60,0.00,0.000,6,0.000,0.026,2735,2401,1896
$GC,11040,0.57,131.4,751.9,18.4,369,11043,0.00,1.52,0.00,0.000,4,0.000,0.028,2743,1365,1895
$GC,11084,0.57,131.4,744.0,16.6,370,11087,0.00,1.65,0.00,0.000,6,0.000,0.042,2742,2433,1893
$GC,11411,0.57,131.4,683.6,18.8,378,11414,0.00,1.62,0.00,0.000,4,0.000,0.049,2742,3479,1893
$GC,11477,0.57,131.4,670.1,21.0,379,11481,0.12,1.58,0.00,0.000,6,0.183,0.027,2721,2428,1892
$GC,11823,0.57,131.4,608.9,17.1,388,11826,0.00,1.67,0.00,0.000,4,0.000,0.049,2715,3483,1892
$GC,11894,0.57,131.4,597.0,16.5,389,11897,0.00,1.52,0.00,0.000,6,0.000,0.026,2721,2464,1892
$GC,12235,0.57,131.4,542.3,16.2,398,12238,0.00,1.62,0.00,0.000,4,0.000,0.030,2729,1343,1892
$GC,12279,0.57,131.4,535.5,14.2,399,12282,0.00,1.73,0.00,0.000,6,0.000,0.043,2729,2455,1891
$GC,12607,0.57,131.4,487.3,15.0,407,12610,0.00,1.60,0.00,0.000,4,0.000,0.051,2729,3465,1891
$GC,12678,0.57,131.4,475.6,17.0,408,12681,0.00,1.55,0.00,0.000,6,0.000,0.027,2735,2433,1891
$GC,13019,0.57,131.4,425.3,14.4,417,13022,0.00,1.58,0.00,0.000,4,0.000,0.030,2743,1363,1891
$GC,13101,0.57,131.4,414.6,12.9,418,13104,0.00,1.67,0.00,0.000,6,0.000,0.043,2742,2447,1891
$GC,13430,0.57,131.4,368.9,14.4,427,13433,0.00,1.62,0.00,0.000,4,0.000,0.050,2742,3471,1891
$GC,13513,0.57,131.4,357.2,13.8,428,13517,0.05,1.55,0.00,0.000,6,0.156,0.027,2722,2437,1890
$GC,13843,0.57,131.4,318.2,11.7,437,13846,0.00,1.58,0.00,0.000,4,0.000,0.029,2729,1363,1890
$GC,13903,0.59,167.2,312.5,9.0,438,13938,0.00,1.70,31.20,0.874,6,0.000,0.043,2728,2463,1758
$GC,14250,0.59,167.2,271.3,12.1,447,14252,0.00,1.62,0.00,0.000,4,0.000,0.026,2735,1358,1753
$GC,14315,0.59,171.5,263.4,10.8,448,14324,0.00,1.67,4.78,0.614,6,0.000,0.041,2735,2440,1740
$GC,14661,0.59,171.5,222.1,11.2,457,14664,0.00,1.60,0.00,0.000,4,0.000,0.049,2733,3475,1738
$GC,14833,0.59,171.5,201.4,12.2,460,14837,0.00,1.50,0.00,0.000,6,0.000,0.026,2739,2470,1738
$GC,15155,0.60,200.5,169.9,9.4,488,15186,0.00,1.60,26.50,0.737,4,0.000,0.046,2739,3479,1622
$GC,15257,0.60,215.4,158.6,10.2,497,15277,0.00,1.45,14.25,0.685,6,0.000,0.025,2746,2504,1561
$GC,15596,0.62,248.4,123.9,9.2,530,15628,0.00,0.00,29.30,0.679,6,0.000,0.000,2746,2504,1427
$GC,15940,0.63,280.4,89.4,9.2,563,15971,0.00,1.60,27.73,0.640,4,0.000,0.044,2742,3480,1295
$GC,16011,0.63,291.6,82.4,10.4,569,16027,0.00,1.50,10.82,0.578,6,0.000,0.024,2747,2474,1250
$GC,16339,0.64,300.1,48.9,10.6,601,16353,0.00,1.70,8.65,0.535,4,0.000,0.026,2752,1341,1215
$GC,16389,0.65,338.7,44.3,8.9,605,16427,0.00,1.75,33.05,0.593,6,0.000,0.037,2751,2487,1058
$STATE,16730,end climb,SURFACE_DEPTH_REACHED
$STATE,16730,begin surface coast
$FINISH,0.2,1.023642
$STATE,16758,end surface coast,CONTROL_FINISHED_OK
$STATE,16758,begin surface
$SM_CCo,16782,21.38,0.545,0,0,890,380.21
$SM_GC,1.16,0.00,0.00,21.38,0.000,0.000,0.545,28,2839,890,-7.83,0.54,380.21
$IRIDIUM_FIX,2143.45,-15803.72,130202,202002
$TT8_MAMPS,0.048321
$HUMID,2275
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.60
$XPDR_PINGS,13
$24V_AH,23.0,103.530
$10V_AH,10.2,91.849
$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,17.450,103.350,470.150,21.375,0.000,27.453,40.728,166.675,3.250,0.000,0.000,17.622,0.000,13866.521,581.853,1945.286,785.878,33.344,1494.109,0.000,1588.156,0.000,0.542,0.000
$DEVICE_MAMPS,204.022,59.826,1252.511,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,216.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44410,663
$CAP_FILE_SIZE,121268,0
$CFSIZE,260165632,217866240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,201112,055706,2152.407,-15800.295,40,0.9,40,9.9