version: 66.04
glider: 512
mission: 3
dive: 749
start: 11 20 112 15 49 57
data:
$ID,512
$MISSION,3
$DIVE,749
$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,-68832.789
$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,58
$R_STBD_OVSHOOT,45
$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
$GPS1,153836,2150.832,-15758.911,38,1.5,38,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-69.0
$GPS2,154919,2150.852,-15758.924,14,1.5,14,9.9
$SPEED_LIMITS,0.158,0.255
$TGT_NAME,WAY_001
$TGT_LATLONG,2148.400,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.108,-0.231
$KALMAN_X,-10589.2,115.1,311.0,17118.0,-1044.6
$KALMAN_Y,16839.7,-100.3,111.6,-25905.5,1720.7
$MHEAD_RNG_PITCHd_Wd,145.0,4812,-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,16,-0.57,-131.4,0.0,0.0,0,101,0.00,0.00,-83.62,0.000,2,0.000,0.000,32,2865,2541
$GC,107,-0.57,-131.4,2.0,-2.6,16,130,9.27,1.65,-10.50,0.000,4,0.209,0.037,2352,1740,2977
$GC,180,-0.57,-131.4,19.2,-20.5,29,186,0.00,1.62,0.00,0.000,6,0.000,0.039,2345,2808,2977
$GC,509,-0.57,-131.4,88.2,-19.7,65,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2809,2977
$GC,827,-0.57,-131.4,140.7,-13.9,96,830,0.00,1.65,0.00,0.000,4,0.000,0.045,2337,3887,2977
$GC,844,-0.57,-131.4,143.3,-14.0,97,850,0.00,1.58,0.00,0.000,6,0.000,0.020,2338,2799,2977
$GC,1166,-0.57,-131.4,186.9,-13.3,128,1169,0.00,1.42,0.00,0.000,4,0.000,0.019,2338,1757,2978
$GC,1195,-0.57,-131.4,191.0,-12.2,130,1200,0.00,1.62,0.00,0.000,6,0.000,0.040,2332,2836,2978
$GC,1516,-0.57,-131.4,228.7,-11.1,144,1519,0.00,1.60,0.00,0.000,4,0.000,0.046,2324,3889,2978
$GC,1539,-0.57,-131.4,231.5,-12.0,144,1542,0.00,1.55,0.00,0.000,6,0.000,0.020,2324,2811,2978
$GC,1885,-0.57,-131.4,273.3,-12.4,153,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2804,2977
$GC,2208,-0.57,-131.4,311.9,-11.7,161,2211,0.00,1.42,0.00,0.000,4,0.000,0.020,2324,1771,2976
$GC,2252,-0.57,-131.4,316.8,-10.2,162,2256,0.12,1.62,0.00,0.000,6,0.119,0.041,2352,2843,2976
$GC,2580,-0.57,-131.4,345.5,-9.0,170,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2843,2974
$GC,2903,-0.57,-131.4,373.7,-8.7,178,2906,0.00,1.52,0.00,0.000,4,0.000,0.021,2352,1772,2971
$GC,2926,-0.57,-131.4,375.9,-8.7,178,2929,0.00,1.60,0.00,0.000,6,0.000,0.042,2346,2825,2972
$GC,3272,-0.57,-131.4,405.3,-8.1,187,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2825,2968
$GC,3595,-0.57,-131.4,429.3,-7.1,195,3598,0.00,1.52,-0.08,0.000,4,0.000,0.040,2346,1769,2989
$GC,3613,-0.57,-131.4,430.8,-7.7,195,3616,0.00,1.60,0.00,0.000,6,0.000,0.044,2339,2816,2990
$GC,3924,-0.57,-131.4,457.9,-9.0,203,3927,0.00,1.67,0.00,0.000,4,0.000,0.052,2331,3888,2988
$GC,3974,-0.57,-131.4,462.2,-8.8,204,3977,0.00,1.58,0.00,0.000,6,0.000,0.024,2331,2816,2987
$GC,4296,-0.57,-131.4,489.7,-8.7,212,4299,0.00,1.48,0.00,0.000,4,0.000,0.025,2331,1773,2985
$GC,4384,-0.57,-131.4,496.9,-7.6,214,4387,0.00,1.60,0.00,0.000,6,0.000,0.044,2323,2794,2985
$GC,4711,-0.57,-131.4,526.8,-9.5,222,4714,0.00,1.48,0.00,0.000,4,0.000,0.025,2323,1767,2981
$GC,4751,-0.57,-131.4,530.3,-9.0,222,4755,0.00,1.60,0.00,0.000,6,0.000,0.046,2319,2784,2982
$GC,5081,-0.57,-131.4,560.5,-9.0,231,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2785,2980
$GC,5403,-0.57,-131.4,587.5,-8.2,239,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2785,2978
$GC,5727,-0.57,-131.4,615.9,-8.6,247,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2785,2975
$GC,6049,-0.57,-131.4,644.5,-9.2,255,6052,0.00,1.48,0.00,0.000,4,0.000,0.027,2319,1772,2973
$GC,6109,-0.57,-131.4,649.9,-8.4,256,6112,0.12,1.58,0.00,0.000,6,0.112,0.047,2348,2769,2973
$GC,6421,-0.57,-131.4,671.4,-6.8,264,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2770,2972
$GC,6743,-0.57,-131.4,693.2,-6.9,272,6746,0.00,1.45,0.00,0.000,4,0.000,0.027,2349,1777,2970
$GC,6814,-0.57,-131.4,698.2,-7.7,273,6817,0.00,1.52,0.00,0.000,6,0.000,0.049,2346,2737,2970
$GC,7155,-0.57,-131.4,722.8,-7.2,282,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2737,2968
$GC,7478,-0.57,-131.4,747.5,-7.7,290,7481,0.00,1.83,0.00,0.000,4,0.000,0.059,2341,3875,2967
$GC,7501,-0.57,-131.4,749.2,-7.0,290,7504,0.00,1.67,0.00,0.000,6,0.000,0.028,2341,2738,2967
$GC,7847,-0.57,-131.4,774.5,-6.9,299,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2732,2966
$GC,8170,-0.57,-131.4,796.8,-6.8,307,8173,0.00,1.38,0.00,0.000,4,0.000,0.028,2341,1773,2965
$GC,8231,-0.57,-131.4,800.9,-6.4,308,8234,0.00,1.50,0.00,0.000,6,0.000,0.050,2334,2715,2965
$GC,8541,-0.57,-131.4,822.3,-6.7,316,8544,0.00,1.88,0.00,0.000,4,0.000,0.059,2327,3882,2964
$GC,8591,-0.57,-131.4,826.1,-7.4,317,8594,0.00,1.73,0.00,0.000,6,0.000,0.029,2327,2721,2963
$GC,8913,-0.57,-131.4,846.2,-6.0,325,8916,0.00,1.35,0.00,0.000,4,0.000,0.029,2327,1774,2963
$GC,8963,-0.57,-131.4,849.3,-5.6,326,8966,0.00,1.52,0.00,0.000,6,0.000,0.051,2320,2727,2963
$GC,9285,-0.57,-131.4,870.8,-7.0,334,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2727,2961
$GC,9608,-0.57,-131.4,894.9,-7.9,342,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2727,2961
$STATE,9683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9683,begin apogee
$GC,9694,-0.18,0.0,901.1,7.7,344,9829,0.47,0.00,128.05,1.253,6,0.100,0.000,2474,2421,2441
$STATE,9829,end apogee,CONTROL_FINISHED_OK
$STATE,9829,begin climb
$GC,9834,0.57,131.4,904.5,0.0,347,10040,0.62,0.00,145.90,1.084,6,0.036,0.000,2726,2421,1904
$GC,10361,0.57,131.4,826.5,18.1,360,10364,0.00,1.67,0.00,0.000,4,0.000,0.052,2726,3469,1895
$GC,10400,0.57,131.4,818.7,20.0,360,10404,0.00,1.60,0.00,0.000,6,0.000,0.028,2734,2392,1894
$GC,10731,0.57,131.4,756.2,18.9,369,10734,0.00,1.75,0.00,0.000,4,0.000,0.052,2728,3484,1893
$GC,10802,0.57,131.4,741.5,21.5,370,10805,0.00,1.58,0.00,0.000,6,0.000,0.029,2734,2442,1893
$GC,11142,0.57,131.4,676.0,19.0,379,11145,0.00,1.60,0.00,0.000,4,0.000,0.031,2743,1357,1893
$GC,11230,0.57,131.4,660.6,16.8,381,11233,0.00,1.67,0.00,0.000,6,0.000,0.045,2742,2435,1891
$GC,11557,0.57,131.4,599.8,18.1,389,11559,0.00,1.62,0.00,0.000,4,0.000,0.053,2742,3477,1890
$GC,11633,0.57,131.4,585.4,19.0,390,11636,0.08,1.55,0.00,0.000,6,0.168,0.028,2718,2448,1890
$GC,11969,0.57,131.4,537.0,13.7,399,11970,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2442,1890
$GC,12292,0.57,131.4,495.8,12.1,407,12294,0.00,1.65,0.00,0.000,4,0.000,0.051,2716,3480,1890
$GC,12368,0.57,131.4,485.2,14.1,408,12371,0.00,1.55,0.00,0.000,6,0.000,0.028,2721,2448,1890
$GC,12704,0.57,131.4,442.7,12.3,417,12707,0.00,1.65,0.00,0.000,4,0.000,0.052,2722,3478,1890
$GC,12781,0.57,131.4,431.9,13.9,418,12783,0.00,1.50,0.00,0.000,6,0.000,0.028,2729,2477,1889
$GC,13116,0.57,131.4,386.1,13.5,427,13116,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2471,1889
$GC,13439,0.57,131.4,341.6,13.5,435,13441,0.00,1.62,0.00,0.000,4,0.000,0.031,2738,1363,1889
$GC,13484,0.57,131.4,335.9,12.6,436,13487,0.00,1.77,0.00,0.000,6,0.000,0.046,2737,2499,1889
$GC,13811,0.57,131.4,298.0,11.2,444,13814,0.00,1.55,0.00,0.000,4,0.000,0.053,2738,3470,1889
$GC,13877,0.57,131.4,290.0,13.3,445,13879,0.00,1.45,0.00,0.000,6,0.000,0.028,2744,2498,1889
$GC,14223,0.57,137.9,252.4,10.7,454,14231,0.00,1.70,4.65,0.604,4,0.000,0.030,2752,1372,1877
$GC,14321,0.58,143.1,241.8,10.7,456,14331,0.12,1.73,6.70,0.690,6,0.153,0.046,2722,2481,1856
$GC,14672,0.59,191.6,208.7,8.3,465,14721,0.00,1.62,43.83,0.779,4,0.000,0.051,2716,3474,1657
$GC,14820,0.60,211.5,194.6,9.9,469,14845,0.00,1.45,18.20,0.726,6,0.000,0.026,2722,2505,1576
$GC,15157,0.60,211.5,158.9,11.7,502,15160,0.00,1.67,0.00,0.000,4,0.000,0.029,2730,1354,1571
$GC,15223,0.61,231.6,151.8,9.9,508,15245,0.00,1.77,17.55,0.690,6,0.000,0.042,2729,2495,1496
$GC,15556,0.62,265.3,118.2,9.1,540,15591,0.00,1.58,29.73,0.672,4,0.000,0.047,2729,3474,1358
$GC,15669,0.64,293.1,107.9,9.5,550,15699,0.00,1.48,24.77,0.651,6,0.000,0.025,2734,2481,1243
$GC,16019,0.64,300.6,73.2,10.6,584,16030,0.00,1.70,7.35,0.538,4,0.000,0.028,2739,1360,1213
$GC,16074,0.65,323.9,67.5,9.7,589,16098,0.00,1.70,20.83,0.607,6,0.000,0.039,2739,2470,1119
$GC,16418,0.65,323.9,33.7,11.1,622,16419,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2470,1116
$GC,16738,0.66,345.6,3.9,9.8,678,16750,0.00,0.00,10.50,0.518,2,0.000,0.000,2738,2470,1074
$STATE,16750,end climb,SURFACE_DEPTH_REACHED
$STATE,16750,begin surface coast
$FINISH,0.3,1.023587
$STATE,16774,end surface coast,CONTROL_FINISHED_OK
$STATE,16774,begin surface
$SM_CCo,16798,21.73,0.543,0,0,890,380.21
$SM_GC,1.30,0.00,0.00,21.73,0.000,0.000,0.543,45,2856,890,-7.77,1.02,380.21
$IRIDIUM_FIX,2143.45,-15759.42,140202,151512
$TT8_MAMPS,0.049088
$HUMID,2286
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.70
$XPDR_PINGS,16
$24V_AH,23.1,103.999
$10V_AH,10.2,92.018
$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,17.700,93.475,458.050,21.725,0.000,60.784,77.588,274.967,4.000,0.000,0.000,15.037,0.000,14005.282,568.506,1892.896,975.298,33.343,1451.442,0.000,1545.209,0.000,0.544,0.000
$DEVICE_MAMPS,208.624,59.059,1252.511,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,233.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47627,685
$CAP_FILE_SIZE,122136,0
$CFSIZE,260165632,217698304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,0
$GPS,201112,203130,2149.615,-15757.663,41,1.4,41,9.9