version: 66.04
glider: 512
mission: 3
dive: 678
start: 11 7 112 6 2 31
data:
$ID,512
$MISSION,3
$DIVE,678
$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,-67346.781
$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,2660
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,24
$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
$GPS1,054806,2210.618,-15757.718,39,1.2,39,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-77.1
$GPS2,060153,2210.649,-15757.695,11,1.9,15,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.103,-0.232
$KALMAN_X,-197815.3,52.6,148.5,175244.1,-1470.5
$KALMAN_Y,201218.0,45.6,196.0,-288031.9,1291.5
$MHEAD_RNG_PITCHd_Wd,146.1,19728,-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,-136.3,0.0,0.0,0,98,0.00,0.00,-80.07,0.000,2,0.000,0.000,12,2717,2579
$GC,103,-0.53,-136.3,2.3,-4.5,15,126,9.18,1.67,-10.23,0.000,4,0.202,0.038,2362,1582,3048
$GC,176,-0.53,-136.3,22.2,-20.9,28,182,0.00,1.67,0.00,0.000,6,0.000,0.040,2357,2680,3049
$GC,505,-0.53,-136.3,88.6,-17.5,63,508,0.00,1.60,0.00,0.000,4,0.000,0.046,2349,3716,3050
$GC,672,-0.53,-136.3,112.7,-12.9,78,678,0.00,1.50,0.00,0.000,6,0.000,0.019,2349,2673,3050
$GC,995,-0.53,-136.3,155.7,-13.0,109,998,0.00,1.60,0.00,0.000,4,0.000,0.042,2341,3717,3050
$GC,1087,-0.53,-136.3,167.9,-11.1,117,1093,0.00,1.42,0.00,0.000,6,0.000,0.020,2341,2704,3050
$GC,1413,-0.53,-136.3,209.8,-12.2,143,1416,0.00,1.58,0.00,0.000,4,0.000,0.044,2334,3713,3050
$GC,1490,-0.53,-136.3,219.2,-12.1,144,1493,0.00,1.38,0.00,0.000,6,0.000,0.019,2334,2743,3050
$GC,1825,-0.53,-136.3,259.2,-11.5,153,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2737,3050
$GC,2148,-0.53,-136.3,292.7,-10.6,161,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2738,3048
$GC,2471,-0.53,-136.3,329.2,-11.4,169,2475,0.00,1.52,0.00,0.000,4,0.000,0.044,2327,3715,3046
$GC,2542,-0.53,-136.3,337.1,-10.1,170,2545,0.08,1.35,0.00,0.000,6,0.106,0.021,2355,2760,3046
$GC,2883,-0.53,-136.3,367.7,-8.6,179,2886,0.00,1.52,0.00,0.000,4,0.000,0.048,2349,3721,3043
$GC,2923,-0.53,-136.3,370.9,-7.8,179,2928,0.00,1.38,0.00,0.000,6,0.000,0.022,2349,2740,3043
$GC,3253,-0.53,-136.3,398.3,-8.1,188,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2740,3040
$GC,3576,-0.53,-136.3,424.4,-7.9,196,3579,0.00,1.55,-0.08,0.000,4,0.000,0.064,2342,3719,3061
$GC,3625,-0.53,-136.3,428.1,-7.5,197,3628,0.00,1.38,0.00,0.000,6,0.000,0.022,2342,2752,3061
$GC,3947,-0.53,-136.3,453.1,-8.0,205,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2747,3058
$GC,4270,-0.53,-136.3,479.2,-8.3,213,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2746,3055
$GC,4592,-0.53,-136.3,507.8,-9.1,221,4596,0.00,1.55,0.00,0.000,4,0.000,0.051,2335,3717,3053
$GC,4632,-0.53,-136.3,511.4,-8.9,221,4637,0.00,1.35,0.00,0.000,6,0.000,0.025,2335,2779,3052
$GC,4962,-0.53,-136.3,543.3,-9.5,230,4965,0.00,1.62,0.00,0.000,4,0.000,0.026,2335,1626,3051
$GC,5001,-0.53,-136.3,547.1,-9.5,230,5006,0.00,1.75,0.00,0.000,6,0.000,0.048,2333,2756,3050
$GC,5331,-0.53,-136.3,576.6,-8.8,239,5334,0.00,1.50,0.00,0.000,4,0.000,0.053,2326,3709,3048
$GC,5365,-0.53,-136.3,579.5,-8.5,239,5368,0.08,1.38,0.00,0.000,6,0.100,0.025,2355,2764,3048
$GC,5700,-0.53,-136.3,599.8,-5.8,248,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2760,3045
$GC,6023,-0.53,-136.3,617.3,-5.4,256,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2760,3044
$GC,6346,-0.53,-136.3,636.0,-6.0,264,6349,0.00,1.62,0.00,0.000,4,0.000,0.027,2355,1638,3043
$GC,6385,-0.53,-136.3,638.6,-6.6,264,6390,0.00,1.75,0.00,0.000,6,0.000,0.048,2349,2763,3042
$GC,6715,-0.53,-136.3,661.5,-7.2,273,6718,0.00,1.52,0.00,0.000,4,0.000,0.058,2346,3714,3040
$GC,6744,-0.53,-136.3,663.5,-7.1,273,6746,0.00,1.40,0.00,0.000,6,0.000,0.028,2346,2766,3040
$GC,7085,-0.53,-136.3,690.1,-8.0,282,7088,0.00,1.62,0.00,0.000,4,0.000,0.028,2346,1640,3039
$GC,7135,-0.53,-136.3,694.1,-7.9,283,7138,0.00,1.75,0.00,0.000,6,0.000,0.051,2346,2737,3038
$STATE,7209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7209,begin apogee
$GC,7220,-0.18,0.0,700.4,8.1,285,7349,0.38,0.00,126.97,1.121,6,0.088,0.000,2473,2446,2490
$STATE,7349,end apogee,CONTROL_FINISHED_OK
$STATE,7349,begin climb
$GC,7355,0.53,136.3,706.3,0.0,288,7535,0.60,1.73,138.38,1.005,4,0.038,0.028,2723,1350,1933
$GC,7569,0.53,136.3,692.6,15.0,293,7572,0.00,1.67,0.00,0.000,6,0.000,0.042,2723,2408,1929
$GC,7891,0.53,136.3,641.5,15.8,301,7894,0.00,1.65,0.00,0.000,4,0.000,0.050,2723,3480,1924
$GC,7973,0.53,136.3,627.3,17.3,302,7978,0.00,1.58,0.00,0.000,6,0.000,0.025,2730,2425,1923
$GC,8302,0.53,136.3,571.5,16.8,311,8306,0.12,1.67,0.00,0.000,4,0.173,0.047,2701,3466,1921
$GC,8406,0.53,136.3,554.6,16.8,313,8409,0.00,1.52,0.00,0.000,6,0.000,0.027,2707,2447,1921
$GC,8717,0.53,136.3,507.5,14.8,321,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2441,1920
$GC,9040,0.53,136.3,460.7,14.1,329,9042,0.00,1.62,0.00,0.000,4,0.000,0.049,2702,3475,1919
$GC,9154,0.53,136.3,444.2,14.5,331,9157,0.00,1.50,0.00,0.000,6,0.000,0.027,2708,2466,1919
$GC,9494,0.53,136.3,400.5,11.9,340,9497,0.00,1.62,0.00,0.000,4,0.000,0.030,2716,1332,1918
$GC,9560,0.53,136.3,393.4,10.8,341,9563,0.00,1.75,0.00,0.000,6,0.000,0.043,2715,2465,1917
$GC,9906,0.53,136.3,355.6,10.9,350,9909,0.00,1.60,0.00,0.000,4,0.000,0.050,2715,3478,1917
$GC,9945,0.53,136.3,351.3,11.2,350,9950,0.00,1.55,0.00,0.000,6,0.000,0.025,2722,2436,1917
$GC,10275,0.53,148.1,318.0,9.6,359,10288,0.00,1.70,9.07,0.783,4,0.000,0.050,2722,3471,1886
$GC,10325,0.53,148.1,313.2,10.5,360,10327,0.00,1.48,0.00,0.000,6,0.000,0.025,2729,2484,1885
$GC,10646,0.53,148.1,276.0,12.3,368,10649,0.00,1.60,0.00,0.000,4,0.000,0.051,2729,3496,1884
$GC,10685,0.53,148.1,271.1,12.9,368,10690,0.10,1.50,0.00,0.000,6,0.167,0.025,2706,2486,1884
$GC,11015,0.53,160.3,237.9,9.5,377,11029,0.00,0.00,12.52,0.758,6,0.000,0.000,2706,2480,1836
$GC,11338,0.55,207.3,210.3,7.8,385,11383,0.00,1.73,41.92,0.774,4,0.000,0.029,2713,1366,1643
$GC,11438,0.57,240.7,202.4,8.5,387,11472,0.00,1.83,28.98,0.745,6,0.000,0.043,2713,2508,1508
$GC,11792,0.57,241.1,167.5,10.1,417,11795,0.00,1.70,0.00,0.000,4,0.000,0.027,2720,1346,1503
$GC,11842,0.58,263.5,162.9,9.0,421,11869,0.00,1.77,20.23,0.698,6,0.000,0.041,2721,2497,1415
$GC,12181,0.58,263.5,126.3,10.9,454,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2497,1412
$GC,12495,0.59,298.9,95.4,8.4,484,12530,0.00,1.75,30.02,0.646,4,0.000,0.028,2724,1354,1271
$GC,12599,0.62,362.7,86.8,7.0,493,12658,0.00,1.73,53.22,0.637,6,0.000,0.038,2723,2480,1011
$GC,12970,0.65,441.0,61.7,6.2,529,13038,0.00,1.70,64.05,0.609,4,0.000,0.025,2723,1352,690
$GC,13114,0.65,441.0,51.4,10.6,541,13119,0.00,1.67,0.00,0.000,6,0.000,0.035,2723,2452,687
$GC,13437,0.65,441.0,11.6,12.3,585,13443,0.00,1.62,0.00,0.000,4,0.000,0.024,2723,1356,686
$STATE,13531,end climb,SURFACE_DEPTH_REACHED
$STATE,13531,begin surface coast
$FINISH,0.6,1.023274
$STATE,13553,end surface coast,CONTROL_FINISHED_OK
$STATE,13553,begin surface
$SM_CCo,13638,0.00,0.000,0,0,684,443.00
$SM_GC,0.82,6.90,0.00,0.00,0.028,0.000,0.000,32,2673,684,-7.71,0.37,443.00
$IRIDIUM_FIX,2202.04,-15750.74,010202,060651
$TT8_MAMPS,0.048321
$HUMID,2283
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.90
$XPDR_PINGS,18
$24V_AH,23.4,92.466
$10V_AH,10.2,87.592
$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,17.425,83.675,525.375,0.000,0.000,56.333,80.165,455.478,4.500,0.000,0.000,15.834,0.000,11074.359,585.705,1697.667,1082.296,33.362,1377.739,0.000,1354.266,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,64.428,1120.587,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,405.759,0.000,546.147,131.278,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47710,607
$CAP_FILE_SIZE,106994,0
$CFSIZE,260165632,221777920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,071112,095153,2209.999,-15757.646,96,1.0,96,10.0