version: 66.04
glider: 512
mission: 3
dive: 748
start: 11 20 112 10 51 50
data:
$ID,512
$MISSION,3
$DIVE,748
$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,-68817.125
$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,89
$R_STBD_OVSHOOT,31
$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
$GPS1,104356,2151.760,-15759.876,44,1.7,46,9.9
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-78.0
$GPS2,105107,2151.757,-15759.915,13,1.8,13,9.9
$SPEED_LIMITS,0.158,0.255
$TGT_NAME,WAY_001
$TGT_LATLONG,2148.400,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.092,-0.238
$KALMAN_X,-9797.7,-170.1,-378.5,15605.7,-470.5
$KALMAN_Y,14632.3,169.3,-157.6,-22022.0,1945.2
$MHEAD_RNG_PITCHd_Wd,149.0,7036,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.57,-131.4,0.0,0.0,0,90,0.00,0.00,-73.15,0.000,2,0.000,0.000,24,2765,2519
$GC,95,-0.57,-131.4,2.2,-4.2,14,118,9.35,1.45,-10.60,0.000,4,0.210,0.040,2349,1762,2977
$GC,195,-0.57,-131.4,25.1,-18.2,32,200,0.00,1.62,0.00,0.000,6,0.000,0.041,2344,2820,2978
$GC,518,-0.57,-131.4,89.1,-17.0,65,521,0.00,1.62,0.00,0.000,4,0.000,0.048,2336,3875,2978
$GC,616,-0.57,-131.4,105.4,-14.1,74,619,0.00,1.50,0.00,0.000,6,0.000,0.020,2338,2842,2978
$GC,943,-0.57,-131.4,152.4,-14.0,105,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2836,2979
$GC,1262,-0.57,-131.4,195.9,-14.1,136,1264,0.00,1.48,0.00,0.000,4,0.000,0.020,2338,1770,2980
$GC,1295,-0.57,-131.4,200.5,-13.4,139,1298,0.00,1.65,0.00,0.000,6,0.000,0.039,2331,2862,2980
$GC,1631,-0.57,-131.4,242.4,-11.8,148,1634,0.00,1.58,0.00,0.000,4,0.000,0.047,2324,3871,2980
$GC,1761,-0.57,-131.4,257.6,-10.8,151,1764,0.00,1.45,0.00,0.000,6,0.000,0.020,2324,2854,2979
$GC,2088,-0.57,-131.4,292.3,-10.6,159,2091,0.00,1.48,0.00,0.000,4,0.000,0.021,2324,1784,2979
$GC,2155,-0.57,-131.4,299.1,-10.0,160,2158,0.12,1.62,0.00,0.000,6,0.124,0.041,2351,2860,2979
$GC,2501,-0.57,-131.4,330.1,-8.5,169,2504,0.00,1.52,0.00,0.000,4,0.000,0.021,2351,1779,2977
$GC,2524,-0.57,-131.4,332.2,-9.2,169,2527,0.00,1.62,0.00,0.000,6,0.000,0.042,2346,2848,2977
$GC,2872,-0.57,-131.4,364.6,-9.4,178,2875,0.00,1.60,0.00,0.000,4,0.000,0.050,2341,3885,2975
$GC,2927,-0.57,-131.4,369.7,-8.3,179,2930,0.00,1.48,0.00,0.000,6,0.000,0.022,2341,2860,2974
$GC,3244,-0.57,-131.4,398.0,-8.8,187,3247,0.00,1.50,0.00,0.000,4,0.000,0.021,2340,1782,2972
$GC,3348,-0.57,-131.4,406.3,-7.8,189,3351,0.00,1.65,0.00,0.000,6,0.000,0.042,2333,2847,2971
$GC,3659,-0.57,-131.4,432.3,-8.4,197,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2847,2968
$GC,3982,-0.57,-131.4,457.4,-7.8,205,3983,0.00,0.00,-0.08,0.000,6,0.000,0.000,2333,2847,2991
$GC,4304,-0.57,-131.4,483.9,-8.5,213,4307,0.00,1.55,0.00,0.000,4,0.000,0.023,2333,1771,2990
$GC,4344,-0.57,-131.4,487.1,-7.8,213,4348,0.00,1.67,0.00,0.000,6,0.000,0.045,2327,2858,2989
$GC,4674,-0.57,-131.4,518.0,-9.8,222,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2858,2987
$GC,4997,-0.57,-131.4,550.7,-10.0,230,5000,0.00,1.55,0.00,0.000,4,0.000,0.025,2327,1783,2985
$GC,5020,-0.57,-131.4,553.1,-10.8,230,5023,0.00,1.65,0.00,0.000,6,0.000,0.047,2320,2848,2985
$GC,5367,-0.57,-131.4,585.4,-8.7,239,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2849,2983
$GC,5689,-0.57,-131.4,609.9,-7.6,247,5692,0.00,1.55,0.00,0.000,4,0.000,0.026,2320,1787,2981
$GC,5739,-0.57,-131.4,613.9,-8.1,248,5742,0.00,1.65,0.00,0.000,6,0.000,0.049,2320,2844,2981
$GC,6061,-0.57,-131.4,640.3,-8.2,256,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2845,2979
$GC,6383,-0.57,-131.4,667.0,-8.3,264,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2845,2978
$GC,6706,-0.57,-131.4,692.2,-8.1,272,6709,0.00,1.55,0.00,0.000,4,0.000,0.026,2319,1783,2976
$GC,6730,-0.57,-131.4,694.0,-7.6,272,6733,0.12,1.65,0.00,0.000,6,0.111,0.049,2348,2839,2976
$GC,7076,-0.57,-131.4,714.5,-5.7,281,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2839,2975
$GC,7398,-0.57,-131.4,733.8,-6.2,289,7401,0.00,1.52,0.00,0.000,4,0.000,0.026,2348,1794,2973
$GC,7437,-0.57,-131.4,736.3,-6.6,289,7441,0.00,1.60,0.00,0.000,6,0.000,0.048,2346,2820,2973
$GC,7768,-0.57,-131.4,758.4,-6.8,298,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2820,2972
$GC,8090,-0.57,-131.4,783.0,-7.7,306,8093,0.00,1.50,0.00,0.000,4,0.000,0.027,2346,1792,2971
$GC,8118,-0.57,-131.4,785.2,-8.1,306,8121,0.00,1.60,0.00,0.000,6,0.000,0.051,2346,2809,2971
$GC,8460,-0.57,-131.4,809.2,-6.9,315,8463,0.00,1.73,0.00,0.000,4,0.000,0.059,2339,3888,2970
$GC,8509,-0.57,-131.4,812.8,-7.0,316,8512,0.00,1.58,0.00,0.000,6,0.000,0.028,2339,2836,2970
$GC,8831,-0.57,-131.4,836.3,-7.3,324,8834,0.00,1.52,0.00,0.000,4,0.000,0.026,2339,1773,2969
$GC,8903,-0.57,-131.4,841.4,-7.0,325,8906,0.00,1.62,0.00,0.000,6,0.000,0.049,2333,2811,2969
$GC,9243,-0.57,-131.4,868.9,-8.3,334,9246,0.00,1.73,0.00,0.000,4,0.000,0.059,2325,3892,2968
$GC,9267,-0.57,-131.4,870.8,-8.4,334,9270,0.00,1.60,0.00,0.000,6,0.000,0.028,2325,2808,2968
$STATE,9608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9608,begin apogee
$GC,9619,-0.18,0.0,902.0,9.0,343,9749,0.45,0.00,127.55,1.270,6,0.098,0.000,2472,2397,2440
$STATE,9749,end apogee,CONTROL_FINISHED_OK
$STATE,9749,begin climb
$GC,9754,0.57,131.4,906.9,0.0,346,9974,0.68,0.00,151.82,1.052,6,0.038,0.000,2736,2397,1904
$GC,10296,0.57,131.4,826.9,18.4,360,10297,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2397,1896
$GC,10619,0.57,131.4,769.8,17.4,368,10622,0.00,1.70,0.00,0.000,4,0.000,0.047,2736,3481,1895
$GC,10642,0.57,131.4,765.6,18.3,368,10645,0.00,1.60,0.00,0.000,6,0.000,0.027,2744,2396,1894
$GC,10988,0.57,131.4,703.4,17.8,377,10991,0.00,1.52,0.00,0.000,4,0.000,0.030,2752,1358,1894
$GC,11070,0.57,131.4,688.1,17.5,378,11074,0.15,1.60,0.00,0.000,6,0.169,0.042,2716,2401,1893
$GC,11400,0.57,131.4,633.7,16.1,387,11403,0.00,1.65,0.00,0.000,4,0.000,0.048,2715,3469,1893
$GC,11423,0.57,131.4,630.0,15.3,387,11426,0.00,1.62,0.00,0.000,6,0.000,0.027,2722,2387,1892
$GC,11769,0.57,131.4,580.1,14.5,396,11772,0.00,1.50,0.00,0.000,4,0.000,0.030,2729,1357,1892
$GC,11916,0.57,131.4,560.1,13.4,399,11919,0.00,1.55,0.00,0.000,6,0.000,0.041,2729,2353,1892
$GC,12227,0.57,131.4,514.4,14.7,407,12230,0.00,1.77,0.00,0.000,4,0.000,0.050,2728,3473,1892
$GC,12315,0.57,131.4,500.5,15.1,409,12317,0.00,1.62,0.00,0.000,6,0.000,0.027,2735,2372,1892
$GC,12641,0.57,131.4,451.9,14.9,417,12644,0.00,1.75,0.00,0.000,4,0.000,0.048,2729,3480,1892
$GC,12718,0.57,131.4,440.7,15.1,418,12721,0.00,1.60,0.00,0.000,6,0.000,0.026,2735,2411,1891
$GC,13053,0.57,131.4,398.5,12.7,427,13056,0.00,1.55,0.00,0.000,4,0.000,0.029,2743,1347,1891
$GC,13114,0.58,142.2,391.7,10.4,428,13127,0.00,1.62,9.10,0.844,6,0.000,0.044,2742,2401,1860
$GC,13464,0.58,142.2,349.1,12.8,437,13465,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2401,1858
$GC,13787,0.58,142.2,309.7,12.7,445,13790,0.00,1.70,0.00,0.000,4,0.000,0.050,2742,3478,1858
$GC,13864,0.58,142.2,299.4,13.4,446,13867,0.00,1.60,0.00,0.000,6,0.000,0.026,2748,2394,1857
$GC,14200,0.58,142.2,258.6,11.7,455,14202,0.00,1.52,0.00,0.000,4,0.000,0.029,2757,1338,1857
$GC,14427,0.58,159.7,235.0,10.0,460,14448,0.12,1.60,16.92,0.779,6,0.155,0.041,2724,2383,1788
$GC,14778,0.60,210.4,203.9,8.2,469,14827,0.00,1.75,44.75,0.769,4,0.000,0.048,2724,3462,1582
$GC,14879,0.60,210.4,193.7,12.0,472,14884,0.00,1.62,0.00,0.000,6,0.000,0.025,2731,2375,1580
$GC,15201,0.61,229.9,159.6,9.9,503,15221,0.00,0.00,17.65,0.693,6,0.000,0.000,2732,2369,1502
$GC,15533,0.62,265.1,129.1,9.0,535,15569,0.00,1.52,30.62,0.675,4,0.000,0.027,2738,1345,1358
$GC,15653,0.65,318.1,119.9,8.0,546,15705,0.00,1.65,45.05,0.663,6,0.000,0.047,2738,2409,1143
$GC,16019,0.65,338.3,86.0,9.9,581,16040,0.00,1.73,17.95,0.611,4,0.000,0.045,2738,3481,1060
$GC,16069,0.66,347.2,80.9,10.5,585,16085,0.00,1.65,9.25,0.551,6,0.000,0.023,2738,2360,1023
$GC,16397,0.66,363.4,52.1,10.1,617,16418,0.00,1.50,14.62,0.568,4,0.000,0.028,2739,1355,958
$GC,16446,0.68,404.4,47.5,8.7,621,16486,0.00,1.58,34.83,0.588,6,0.000,0.036,2738,2372,790
$GC,16807,0.71,490.8,19.2,6.2,670,16883,0.00,1.50,70.22,0.567,4,0.000,0.024,2739,1345,437
$GC,16902,0.77,617.5,13.5,3.9,687,16919,0.12,1.58,9.77,0.486,6,0.105,0.037,2777,2347,397
$STATE,17017,end climb,SURFACE_DEPTH_REACHED
$STATE,17021,begin surface coast
$FINISH,0.2,0.998991
$STATE,17057,end surface coast,CONTROL_FINISHED_OK
$STATE,17057,begin surface
$SM_CCo,17140,0.00,0.000,0,0,395,501.63
$SM_GC,1.04,7.05,0.00,0.00,0.023,0.000,0.000,38,2865,395,-7.72,1.27,501.63
$IRIDIUM_FIX,2143.45,-15801.57,140202,060636
$TT8_MAMPS,0.049088
$HUMID,2216
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,24.10
$XPDR_PINGS,16
$24V_AH,23.0,103.848
$10V_AH,10.0,91.961
$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,18.175,100.100,600.125,0.000,0.000,25.047,38.118,211.277,4.000,0.000,0.000,13.797,0.000,14042.133,710.754,1954.631,843.240,33.342,1618.706,0.000,1602.884,0.000,0.542,0.000
$DEVICE_MAMPS,210.158,59.059,1270.152,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,250.593,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50759,716
$CAP_FILE_SIZE,123293,0
$CFSIZE,260165632,217743360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,0
$GPS,201112,153836,2150.832,-15758.911,38,1.5,38,9.9