version: 66.04
glider: 512
mission: 3
dive: 671
start: 11 6 112 1 50 21
data:
$ID,512
$MISSION,3
$DIVE,671
$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,-67209
$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,54
$R_STBD_OVSHOOT,58
$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
$GPS1,013859,2216.214,-15755.124,41,1.2,46,10.0
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-79.9
$GPS2,014943,2216.247,-15755.242,14,1.7,32,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.031,-0.251
$KALMAN_X,-188697.8,-2.4,-306.1,170820.8,65.4
$KALMAN_Y,187565.9,324.5,222.2,-264319.8,1177.8
$MHEAD_RNG_PITCHd_Wd,177.0,30459,-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,-136.3,0.0,0.0,0,99,0.00,0.00,-81.95,0.000,2,0.000,0.000,19,2669,2701
$GC,105,-0.53,-136.3,2.4,-3.8,11,128,9.25,1.60,-7.10,0.000,4,0.206,0.037,2359,1525,3047
$GC,252,-0.53,-136.3,34.8,-15.7,33,259,0.00,1.67,0.00,0.000,6,0.000,0.041,2353,2596,3047
$GC,577,-0.53,-136.3,97.1,-16.8,64,579,0.00,1.67,0.00,0.000,4,0.000,0.047,2344,3697,3048
$GC,719,-0.53,-136.3,118.7,-12.5,77,722,0.00,1.55,0.00,0.000,6,0.000,0.020,2344,2611,3048
$GC,1049,-0.53,-136.3,162.7,-12.9,108,1052,0.00,1.67,0.00,0.000,4,0.000,0.043,2337,3699,3048
$GC,1120,-0.53,-136.3,173.2,-12.7,114,1128,0.00,1.50,0.00,0.000,6,0.000,0.020,2337,2636,3048
$GC,1445,-0.53,-136.3,216.2,-13.0,137,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2636,3048
$GC,1768,-0.53,-136.3,259.5,-13.5,145,1771,0.00,1.62,0.00,0.000,4,0.000,0.044,2329,3698,3048
$GC,1839,-0.53,-136.3,269.0,-12.2,146,1842,0.00,1.48,0.00,0.000,6,0.000,0.021,2329,2657,3048
$GC,2179,-0.53,-136.3,309.7,-11.3,155,2182,0.10,1.48,0.00,0.000,4,0.120,0.021,2358,1587,3047
$GC,2197,-0.53,-136.3,311.5,-10.5,155,2200,0.00,1.65,0.00,0.000,6,0.000,0.041,2358,2670,3047
$GC,2508,-0.53,-136.3,337.5,-8.8,163,2511,0.00,1.58,0.00,0.000,4,0.000,0.048,2351,3689,3046
$GC,2579,-0.53,-136.3,344.1,-8.6,164,2582,0.00,1.45,0.00,0.000,6,0.000,0.023,2351,2672,3045
$GC,2920,-0.53,-136.3,374.6,-8.2,173,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2666,3043
$GC,3243,-0.53,-136.3,397.9,-7.1,181,3246,0.00,1.60,0.00,0.000,4,0.000,0.048,2346,3696,3039
$GC,3277,-0.53,-136.3,400.3,-7.3,181,3280,0.00,1.50,0.00,0.000,6,0.000,0.023,2346,2654,3039
$GC,3612,-0.53,-136.3,425.7,-7.9,190,3615,0.00,1.65,-0.08,0.000,4,0.000,0.064,2338,3689,3060
$GC,3646,-0.53,-136.3,428.6,-8.6,190,3649,0.00,1.48,0.00,0.000,6,0.000,0.023,2338,2668,3060
$GC,3981,-0.53,-136.3,459.2,-9.6,199,3984,0.00,1.52,0.00,0.000,4,0.000,0.024,2338,1593,3058
$GC,4026,-0.53,-136.3,463.6,-9.2,200,4029,0.00,1.67,0.00,0.000,6,0.000,0.044,2333,2677,3057
$GC,4353,-0.53,-136.3,499.5,-11.2,208,4356,0.00,1.58,0.00,0.000,4,0.000,0.051,2325,3680,3055
$GC,4424,-0.53,-136.3,507.6,-10.9,209,4428,0.08,1.45,0.00,0.000,6,0.106,0.024,2355,2670,3055
$GC,4765,-0.53,-136.3,534.6,-7.1,218,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2669,3052
$GC,5088,-0.53,-136.3,554.4,-5.9,226,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2668,3050
$GC,5410,-0.53,-136.3,574.0,-6.2,234,5414,0.00,1.62,0.00,0.000,4,0.000,0.051,2349,3682,3048
$GC,5433,-0.53,-136.3,575.6,-6.6,234,5436,0.00,1.48,0.00,0.000,6,0.000,0.025,2349,2675,3048
$GC,5779,-0.53,-136.3,599.0,-6.9,243,5782,0.00,1.62,0.00,0.000,4,0.000,0.054,2346,3691,3046
$GC,5829,-0.53,-136.3,602.3,-6.4,244,5832,0.00,1.48,0.00,0.000,6,0.000,0.026,2346,2688,3045
$GC,6151,-0.53,-136.3,625.9,-7.6,252,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2681,3044
$GC,6474,-0.53,-136.3,652.4,-8.5,260,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2681,3043
$GC,6797,-0.53,-136.3,681.3,-9.0,268,6800,0.00,1.60,0.00,0.000,4,0.000,0.028,2346,1584,3041
$GC,6836,-0.53,-136.3,684.9,-9.3,268,6841,0.00,1.75,0.00,0.000,6,0.000,0.050,2346,2697,3041
$STATE,7040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7040,begin apogee
$GC,7051,-0.18,0.0,702.5,8.5,274,7180,0.38,0.00,127.53,1.124,6,0.086,0.000,2473,2415,2490
$STATE,7180,end apogee,CONTROL_FINISHED_OK
$STATE,7181,begin climb
$GC,7186,0.53,136.3,707.6,0.0,277,7372,0.60,1.60,140.73,0.993,4,0.036,0.027,2722,1362,1933
$GC,7395,0.53,136.3,693.9,15.0,282,7398,0.00,1.67,0.00,0.000,6,0.000,0.041,2723,2417,1930
$GC,7716,0.53,136.3,640.6,16.2,290,7719,0.00,1.65,0.00,0.000,4,0.000,0.048,2716,3481,1924
$GC,7836,0.53,136.3,620.5,16.9,292,7839,0.00,1.58,0.00,0.000,6,0.000,0.026,2722,2430,1923
$GC,8171,0.53,136.3,569.0,15.2,301,8174,0.00,1.65,0.00,0.000,4,0.000,0.048,2716,3476,1921
$GC,8323,0.53,136.3,545.6,15.8,304,8326,0.00,1.50,0.00,0.000,6,0.000,0.026,2722,2469,1921
$GC,8669,0.53,136.3,497.0,13.6,313,8671,0.00,1.60,0.00,0.000,4,0.000,0.048,2717,3466,1920
$GC,8745,0.53,136.3,486.1,14.3,314,8748,0.00,1.45,0.00,0.000,6,0.000,0.027,2722,2491,1920
$GC,9080,0.53,136.3,442.8,13.0,323,9083,0.00,1.65,0.00,0.000,4,0.000,0.029,2730,1336,1919
$GC,9168,0.53,136.3,431.9,13.0,325,9171,0.00,1.77,0.00,0.000,6,0.000,0.043,2729,2481,1918
$GC,9495,0.53,136.3,389.3,12.7,333,9498,0.00,1.55,0.00,0.000,4,0.000,0.051,2729,3466,1918
$GC,9631,0.53,136.3,370.5,14.1,336,9634,0.10,1.45,0.00,0.000,6,0.177,0.028,2707,2496,1917
$GC,9952,0.53,136.3,331.2,12.4,344,9956,0.00,1.58,0.00,0.000,4,0.000,0.051,2702,3472,1917
$GC,10034,0.53,136.3,321.4,11.4,345,10039,0.00,1.40,0.00,0.000,6,0.000,0.026,2708,2523,1917
$GC,10364,0.53,147.4,288.0,9.6,354,10377,0.00,1.75,8.52,0.755,4,0.000,0.029,2716,1354,1888
$GC,10435,0.54,161.0,281.3,9.5,355,10453,0.00,1.80,13.68,0.795,6,0.000,0.042,2716,2498,1834
$GC,10778,0.54,166.2,245.9,9.9,364,10785,0.00,0.00,6.03,0.655,6,0.000,0.000,2716,2498,1812
$GC,11100,0.54,180.6,214.5,9.4,372,11124,0.00,1.58,16.40,0.676,4,0.000,0.049,2716,3472,1753
$GC,11283,0.55,185.4,197.0,9.9,377,11291,0.00,1.50,5.82,0.603,6,0.000,0.025,2721,2458,1734
$GC,11602,0.55,202.3,167.9,9.3,408,11628,0.00,1.65,16.17,0.700,4,0.000,0.048,2722,3475,1664
$GC,11678,0.55,203.0,160.0,10.1,414,11684,0.00,1.45,0.00,0.000,6,0.000,0.025,2726,2508,1663
$GC,12002,0.55,204.5,127.6,10.1,445,12005,0.00,1.55,0.00,0.000,4,0.000,0.046,2726,3480,1662
$GC,12038,0.55,204.5,123.1,11.0,448,12041,0.00,1.45,0.00,0.000,6,0.000,0.024,2733,2496,1662
$GC,12368,0.55,204.5,87.9,11.0,479,12371,0.00,1.62,0.00,0.000,4,0.000,0.028,2739,1357,1662
$GC,12404,0.57,242.0,83.8,8.3,482,12443,0.00,1.75,34.17,0.639,6,0.000,0.040,2738,2498,1503
$GC,12754,0.58,278.5,53.0,8.3,515,12787,0.00,0.00,31.17,0.605,6,0.000,0.000,2738,2498,1353
$GC,13103,0.60,313.6,24.8,8.4,553,13141,0.00,1.73,29.98,0.575,4,0.000,0.028,2739,1368,1210
$GC,13205,0.61,346.3,16.7,8.5,569,13236,0.00,1.73,27.85,0.562,6,0.000,0.035,2739,2483,1078
$STATE,13373,end climb,SURFACE_DEPTH_REACHED
$STATE,13373,begin surface coast
$FINISH,0.1,1.006892
$STATE,13409,end surface coast,CONTROL_FINISHED_OK
$STATE,13409,begin surface
$SM_CCo,13433,18.67,0.483,1,0,939,380.21
$SM_GC,1.21,0.00,0.00,18.67,0.000,0.000,0.483,39,2685,939,-7.78,1.55,380.21
$IRIDIUM_FIX,2206.70,-15817.97,310102,010145
$TT8_MAMPS,0.048321
$HUMID,2246
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.40
$XPDR_PINGS,28
$24V_AH,23.4,91.369
$10V_AH,10.3,87.166
$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,17.375,83.200,458.050,18.675,0.000,54.542,130.107,197.114,7.000,0.000,0.000,32.637,0.000,10159.606,510.647,2507.119,901.525,33.365,1370.092,0.000,2186.104,0.000,0.545,0.000
$DEVICE_MAMPS,205.556,63.661,1124.422,483.210,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,406.885,1194.012,1247.301,133.909,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47728,605
$CAP_FILE_SIZE,104292,0
$CFSIZE,260165632,222167040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$GPS,061112,053536,2215.522,-15755.787,25,1.8,25,10.0