version: 66.04
glider: 512
mission: 3
dive: 661
start: 11 4 112 10 3 15
data:
$ID,512
$MISSION,3
$DIVE,661
$D_SURF,3
$D_FLARE,2
$D_TGT,700
$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,230
$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,140
$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,-66998.836
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2530
$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,2630
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2490
$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
$GPS1,094359,2225.802,-15749.674,41,1.9,46,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-81.2
$GPS2,100237,2225.958,-15749.786,12,1.8,12,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.061,-0.245
$KALMAN_X,-184127.5,-209.1,-171.7,175629.4,145.6
$KALMAN_Y,172035.6,-561.0,330.4,-230020.0,986.3
$MHEAD_RNG_PITCHd_Wd,184.0,50101,-18.4,-10.145
$D_GRID,700
$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,-0.53,-136.3,0.0,0.0,0,107,0.00,0.00,-89.35,0.000,2,0.000,0.000,28,2663,2818
$GC,112,-0.53,-136.3,2.9,-4.9,12,129,9.20,1.62,-4.50,0.000,4,0.205,0.035,2357,1527,3047
$GC,154,-0.53,-136.3,18.8,-34.8,18,161,0.00,1.73,0.00,0.000,6,0.000,0.041,2351,2625,3048
$GC,487,-0.53,-136.3,84.5,-19.0,54,490,0.00,1.62,0.00,0.000,4,0.000,0.045,2343,3704,3048
$GC,651,-0.53,-136.3,107.9,-12.1,69,654,0.00,1.52,0.00,0.000,6,0.000,0.020,2343,2632,3048
$GC,981,-0.53,-136.3,154.7,-13.8,100,984,0.00,1.65,0.00,0.000,4,0.000,0.043,2336,3710,3048
$GC,1017,-0.53,-136.3,159.9,-13.0,103,1020,0.00,1.48,0.00,0.000,6,0.000,0.019,2335,2665,3048
$GC,1346,-0.53,-136.3,201.3,-13.4,134,1349,0.00,1.60,0.00,0.000,4,0.000,0.043,2328,3693,3048
$GC,1529,-0.53,-136.3,225.5,-11.5,138,1533,0.08,1.42,0.00,0.000,6,0.118,0.020,2354,2676,3048
$GC,1851,-0.53,-136.3,254.2,-8.2,146,1854,0.00,1.60,0.00,0.000,4,0.000,0.044,2348,3714,3048
$GC,1874,-0.53,-136.3,256.4,-9.5,146,1877,0.00,1.45,0.00,0.000,6,0.000,0.021,2348,2688,3047
$GC,2220,-0.53,-136.3,292.9,-10.5,155,2223,0.00,1.58,0.00,0.000,4,0.000,0.045,2341,3690,3046
$GC,2265,-0.53,-136.3,297.4,-9.8,156,2268,0.00,1.40,0.00,0.000,6,0.000,0.021,2341,2706,3046
$GC,2592,-0.53,-136.3,327.9,-8.7,164,2594,0.00,1.58,0.00,0.000,4,0.000,0.047,2333,3700,3044
$GC,2680,-0.53,-136.3,335.4,-8.3,166,2683,0.00,1.42,0.00,0.000,6,0.000,0.021,2334,2699,3043
$GC,3007,-0.53,-136.3,366.4,-9.8,174,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2692,3042
$GC,3329,-0.53,-136.3,396.5,-9.1,182,3332,0.00,1.58,0.00,0.000,4,0.000,0.048,2326,3692,3038
$GC,3412,-0.53,-136.3,403.3,-8.3,183,3417,0.08,1.38,0.00,0.000,6,0.104,0.023,2355,2723,3037
$GC,3742,-0.53,-136.3,423.6,-5.7,192,3743,0.00,0.00,-0.08,0.000,6,0.000,0.000,2355,2723,3058
$GC,4064,-0.53,-136.3,443.8,-6.9,200,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2723,3056
$GC,4388,-0.53,-136.3,469.3,-8.0,208,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2723,3054
$GC,4710,-0.53,-136.3,494.8,-7.7,216,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2723,3051
$GC,5033,-0.53,-136.3,520.5,-7.9,224,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2723,3049
$GC,5355,-0.53,-136.3,545.6,-7.8,232,5358,0.00,1.60,0.00,0.000,4,0.000,0.026,2355,1594,3047
$GC,5401,-0.53,-136.3,549.0,-7.7,233,5403,0.00,1.77,0.00,0.000,6,0.000,0.048,2349,2734,3047
$GC,5728,-0.53,-136.3,574.4,-7.9,241,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2734,3045
$GC,6050,-0.53,-136.3,598.5,-7.2,249,6053,0.00,1.62,0.00,0.000,4,0.000,0.027,2349,1611,3043
$GC,6095,-0.53,-136.3,601.5,-6.2,250,6098,0.00,1.75,0.00,0.000,6,0.000,0.048,2346,2731,3043
$GC,6422,-0.53,-136.3,623.0,-6.5,258,6425,0.00,1.52,0.00,0.000,4,0.000,0.058,2346,3687,3041
$GC,6456,-0.53,-136.3,625.2,-6.7,258,6459,0.00,1.40,0.00,0.000,6,0.000,0.028,2346,2734,3041
$GC,6792,-0.53,-136.3,648.5,-7.2,267,6795,0.00,1.62,0.00,0.000,4,0.000,0.028,2346,1610,3039
$GC,6841,-0.53,-136.3,652.1,-6.5,268,6845,0.00,1.77,0.00,0.000,6,0.000,0.049,2346,2718,3039
$GC,7163,-0.53,-136.3,674.6,-7.0,276,7166,0.00,1.55,0.00,0.000,4,0.000,0.058,2346,3685,3038
$GC,7191,-0.53,-136.3,676.4,-7.0,276,7194,0.00,1.40,0.00,0.000,6,0.000,0.028,2346,2733,3037
$GC,7532,-0.53,-136.3,699.3,-6.7,285,7535,0.00,1.60,0.00,0.000,4,0.000,0.028,2346,1606,3036
$STATE,7540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7540,begin apogee
$GC,7551,-0.18,0.0,700.2,6.7,285,7680,0.35,0.00,126.43,1.127,6,0.091,0.000,2470,2427,2490
$STATE,7680,end apogee,CONTROL_FINISHED_OK
$STATE,7680,begin climb
$GC,7685,0.53,136.3,704.8,0.0,288,7840,0.62,1.77,133.43,1.043,4,0.038,0.048,2713,3485,1933
$GC,7871,0.53,136.3,692.8,16.6,293,7874,0.00,1.60,0.00,0.000,6,0.000,0.026,2720,2430,1930
$GC,8192,0.53,136.3,642.6,15.0,301,8195,0.00,1.67,0.00,0.000,4,0.000,0.048,2716,3483,1925
$GC,8237,0.53,136.3,635.7,16.5,302,8240,0.00,1.60,0.00,0.000,6,0.000,0.026,2722,2422,1924
$GC,8564,0.53,136.3,588.0,14.6,310,8567,0.00,1.67,0.00,0.000,4,0.000,0.048,2717,3482,1922
$GC,8641,0.53,136.3,576.0,14.8,311,8644,0.00,1.52,0.00,0.000,6,0.000,0.026,2722,2461,1922
$GC,8976,0.53,136.3,528.1,14.0,320,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2455,1921
$GC,9299,0.53,136.3,485.0,13.2,328,9302,0.00,1.62,0.00,0.000,4,0.000,0.050,2722,3488,1920
$GC,9424,0.53,136.3,466.6,14.7,330,9429,0.00,1.52,0.00,0.000,6,0.000,0.028,2730,2469,1920
$GC,9753,0.53,136.3,421.8,13.3,339,9755,0.12,0.00,0.00,0.000,6,0.179,0.000,2701,2463,1919
$GC,10077,0.53,136.3,386.9,10.5,347,10080,0.00,1.62,0.00,0.000,4,0.000,0.050,2701,3474,1919
$GC,10207,0.53,136.3,371.4,12.2,350,10209,0.00,1.50,0.00,0.000,6,0.000,0.027,2707,2470,1918
$GC,10533,0.53,136.3,334.9,10.9,358,10536,0.00,1.62,0.00,0.000,4,0.000,0.050,2702,3497,1918
$GC,10728,0.53,136.3,313.6,10.3,362,10732,0.00,1.50,0.00,0.000,6,0.000,0.027,2708,2489,1918
$GC,11075,0.54,180.3,285.9,7.9,371,11124,0.00,1.70,39.60,0.816,4,0.000,0.030,2716,1364,1754
$GC,11176,0.55,182.2,276.4,10.0,373,11180,0.00,1.80,0.00,0.000,6,0.000,0.044,2715,2489,1752
$GC,11487,0.55,182.7,244.2,10.1,381,11491,0.00,1.55,0.00,0.000,4,0.000,0.049,2716,3471,1749
$GC,11660,0.55,193.7,226.3,9.6,384,11675,0.00,1.40,12.52,0.742,6,0.000,0.026,2721,2523,1700
$GC,11986,0.56,220.1,196.5,8.8,393,12015,0.00,1.77,23.85,0.749,4,0.000,0.030,2729,1351,1592
$GC,12073,0.57,244.9,188.6,8.9,400,12105,0.00,1.85,22.48,0.732,6,0.000,0.042,2728,2515,1490
$GC,12417,0.57,252.8,152.6,9.7,433,12429,0.00,1.73,7.88,0.621,4,0.000,0.026,2735,1347,1458
$GC,12469,0.58,270.2,147.6,9.3,437,12490,0.00,1.85,16.33,0.675,6,0.000,0.041,2735,2519,1388
$GC,12801,0.58,270.2,113.4,11.1,469,12805,0.00,1.75,0.00,0.000,4,0.000,0.028,2739,1357,1385
$GC,12841,0.58,270.5,109.3,10.1,472,12848,0.00,1.77,0.00,0.000,6,0.000,0.038,2739,2496,1384
$GC,13165,0.58,271.6,75.9,10.1,503,13168,0.00,1.67,0.00,0.000,4,0.000,0.027,2739,1352,1384
$GC,13223,0.59,297.9,70.3,8.8,508,13251,0.00,1.73,24.52,0.621,6,0.000,0.038,2739,2469,1274
$GC,13573,0.60,320.0,37.4,9.0,541,13599,0.00,1.67,19.05,0.581,4,0.000,0.025,2739,1354,1184
$GC,13635,0.61,354.9,32.0,8.4,546,13668,0.00,1.70,29.95,0.582,6,0.000,0.038,2739,2446,1042
$STATE,13986,end climb,SURFACE_DEPTH_REACHED
$STATE,13986,begin surface coast
$FINISH,-0.0,1.022354
$STATE,14027,end surface coast,CONTROL_FINISHED_OK
$STATE,14027,begin surface
$SM_CCo,14051,14.43,0.528,0,0,939,380.21
$SM_GC,0.74,0.00,0.00,14.43,0.000,0.000,0.528,30,2672,939,-7.81,1.19,380.21
$IRIDIUM_FIX,2216.01,-15748.98,290102,101017
$TT8_MAMPS,0.047554
$HUMID,2265
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.30
$XPDR_PINGS,28
$24V_AH,23.4,89.941
$10V_AH,10.3,86.098
$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,17.300,87.050,456.025,14.425,0.000,108.822,148.425,479.389,7.000,0.000,0.000,12.580,0.000,10815.744,505.131,2542.182,1299.068,33.360,1376.701,0.000,2238.482,0.000,0.546,0.000
$DEVICE_MAMPS,204.789,57.525,1127.490,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,414.321,1172.545,1228.796,132.322,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47862,615
$CAP_FILE_SIZE,116135,0
$CFSIZE,260165632,222736384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,041112,135853,2224.664,-15750.319,40,1.8,40,10.0