version: 66.04
glider: 512
mission: 3
dive: 680
start: 11 7 112 14 2 31
data:
$ID,512
$MISSION,3
$DIVE,680
$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,-67377.586
$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,56
$R_STBD_OVSHOOT,42
$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
$GPS1,134636,2209.275,-15757.466,45,1.7,45,10.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-76.8
$GPS2,140148,2209.271,-15757.414,11,1.8,16,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.044,-0.249
$KALMAN_X,-199710.3,-45.9,-44.6,177902.0,-691.0
$KALMAN_Y,205285.8,163.9,-105.1,-294472.3,1888.1
$MHEAD_RNG_PITCHd_Wd,160.1,17199,-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,-136.3,0.0,0.0,0,103,0.00,0.00,-85.57,0.000,2,0.000,0.000,11,2680,2590
$GC,108,-0.53,-136.3,2.2,-3.4,16,132,9.18,1.62,-10.25,0.000,4,0.202,0.040,2361,1590,3048
$GC,214,-0.53,-136.3,28.7,-18.3,35,219,0.00,1.65,0.00,0.000,6,0.000,0.040,2355,2643,3049
$GC,541,-0.53,-136.3,91.8,-16.7,67,544,0.00,1.65,0.00,0.000,4,0.000,0.045,2347,3733,3049
$GC,682,-0.53,-136.3,110.9,-11.3,80,685,0.00,1.50,0.00,0.000,6,0.000,0.020,2346,2681,3049
$GC,1010,-0.53,-136.3,154.7,-13.0,111,1013,0.00,1.60,0.00,0.000,4,0.000,0.043,2339,3723,3049
$GC,1097,-0.53,-136.3,166.2,-12.5,119,1100,0.00,1.40,0.00,0.000,6,0.000,0.018,2340,2726,3049
$GC,1439,-0.53,-136.3,210.7,-11.9,146,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2719,3049
$GC,1761,-0.53,-136.3,243.3,-9.5,154,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2718,3049
$GC,2084,-0.53,-136.3,275.9,-10.0,162,2087,0.00,1.58,0.00,0.000,4,0.000,0.044,2332,3723,3048
$GC,2167,-0.53,-136.3,284.3,-9.7,163,2172,0.00,1.40,0.00,0.000,6,0.000,0.020,2332,2726,3047
$GC,2496,-0.53,-136.3,320.2,-10.9,172,2499,0.00,1.58,0.00,0.000,4,0.000,0.047,2325,3722,3046
$GC,2647,-0.53,-136.3,337.1,-10.2,175,2651,0.08,1.35,0.00,0.000,6,0.107,0.021,2355,2766,3045
$GC,2994,-0.53,-136.3,367.6,-8.9,184,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2759,3042
$GC,3316,-0.53,-136.3,396.1,-8.7,192,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2758,3039
$GC,3639,-0.53,-136.3,422.6,-8.0,200,3643,0.00,1.55,-0.08,0.000,4,0.000,0.066,2350,3716,3060
$GC,3673,-0.53,-136.3,425.2,-7.7,200,3676,0.00,1.35,0.00,0.000,6,0.000,0.024,2350,2774,3060
$GC,4009,-0.53,-136.3,452.1,-8.0,209,4012,0.00,1.62,0.00,0.000,4,0.000,0.024,2350,1610,3057
$GC,4053,-0.53,-136.3,455.7,-7.5,210,4056,0.00,1.80,0.00,0.000,6,0.000,0.046,2346,2774,3057
$GC,4381,-0.53,-136.3,481.7,-7.8,218,4384,0.00,1.50,0.00,0.000,4,0.000,0.053,2339,3721,3055
$GC,4420,-0.53,-136.3,484.9,-7.8,218,4425,0.00,1.38,0.00,0.000,6,0.000,0.025,2339,2757,3054
$GC,4750,-0.53,-136.3,511.4,-8.1,227,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2757,3052
$GC,5072,-0.53,-136.3,535.7,-7.5,235,5076,0.00,1.55,0.00,0.000,4,0.000,0.052,2332,3720,3050
$GC,5139,-0.53,-136.3,540.8,-7.2,236,5142,0.00,1.38,0.00,0.000,6,0.000,0.025,2332,2776,3049
$GC,5485,-0.53,-136.3,570.9,-9.1,245,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2769,3047
$GC,5808,-0.53,-136.3,602.3,-10.0,253,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2768,3045
$GC,6131,-0.53,-136.3,633.8,-9.5,261,6134,0.00,1.52,0.00,0.000,4,0.000,0.054,2325,3712,3044
$GC,6170,-0.53,-136.3,637.5,-9.4,261,6175,0.08,1.35,0.00,0.000,6,0.103,0.027,2355,2793,3043
$GC,6500,-0.53,-136.3,659.4,-6.3,270,6503,0.00,1.67,0.00,0.000,4,0.000,0.027,2356,1611,3042
$GC,6539,-0.53,-136.3,661.8,-6.0,270,6545,0.00,1.85,0.00,0.000,6,0.000,0.048,2349,2794,3042
$GC,6870,-0.53,-136.3,682.1,-6.2,279,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2794,3040
$STATE,7146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7146,begin apogee
$GC,7157,-0.18,0.0,700.2,6.4,286,7286,0.38,0.00,127.20,1.118,6,0.086,0.000,2476,2430,2490
$STATE,7287,end apogee,CONTROL_FINISHED_OK
$STATE,7287,begin climb
$GC,7292,0.53,136.3,704.5,0.0,289,7472,0.57,1.67,138.43,1.000,4,0.035,0.028,2720,1353,1933
$GC,7528,0.53,136.3,684.7,16.2,294,7531,0.00,1.70,0.00,0.000,6,0.000,0.041,2715,2412,1928
$GC,7868,0.53,136.3,627.0,17.0,303,7871,0.00,1.67,0.00,0.000,4,0.000,0.050,2715,3468,1924
$GC,7956,0.53,136.3,611.5,18.3,305,7959,0.00,1.58,0.00,0.000,6,0.000,0.025,2722,2419,1923
$GC,8283,0.53,136.3,558.3,15.7,313,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2412,1921
$GC,8605,0.53,136.3,512.4,13.4,321,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2412,1920
$GC,8929,0.53,136.3,468.9,13.5,329,8932,0.00,1.67,0.00,0.000,4,0.000,0.051,2722,3474,1920
$GC,9042,0.53,136.3,452.0,14.8,331,9045,0.00,1.52,0.00,0.000,6,0.000,0.026,2729,2444,1919
$GC,9383,0.53,136.3,404.3,14.1,340,9386,0.00,1.58,0.00,0.000,4,0.000,0.028,2737,1366,1918
$GC,9481,0.53,136.3,391.3,12.6,342,9484,0.15,1.65,0.00,0.000,6,0.156,0.044,2700,2436,1917
$GC,9797,0.53,136.3,355.6,10.8,350,9800,0.00,1.62,0.00,0.000,4,0.000,0.051,2699,3485,1917
$GC,9858,0.53,138.9,349.2,10.0,351,9860,0.00,1.58,0.00,0.000,6,0.000,0.027,2706,2427,1918
$GC,10169,0.53,152.3,318.4,9.5,359,10190,0.00,0.00,14.80,0.735,6,0.000,0.000,2706,2421,1869
$GC,10491,0.53,152.3,285.5,10.3,367,10494,0.00,1.55,0.00,0.000,4,0.000,0.029,2713,1370,1866
$GC,10541,0.53,152.3,280.4,10.5,368,10543,0.00,1.62,0.00,0.000,6,0.000,0.044,2713,2421,1866
$GC,10863,0.54,182.0,251.4,8.7,376,10896,0.00,1.73,27.52,0.805,4,0.000,0.049,2713,3482,1746
$GC,10964,0.54,182.0,242.2,10.5,378,10967,0.00,1.55,0.00,0.000,6,0.000,0.024,2720,2445,1745
$GC,11275,0.55,196.1,212.9,9.4,386,11289,0.00,0.00,13.23,0.728,6,0.000,0.000,2721,2439,1690
$GC,11605,0.55,205.1,181.7,9.7,406,11619,0.00,1.60,9.10,0.663,4,0.000,0.028,2728,1366,1652
$GC,11676,0.57,236.2,174.7,8.6,412,11707,0.00,1.67,27.55,0.718,6,0.000,0.041,2728,2458,1526
$GC,12020,0.57,236.2,137.4,10.5,445,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2458,1521
$GC,12335,0.58,278.1,107.2,8.0,475,12377,0.00,1.67,35.53,0.658,4,0.000,0.028,2735,1354,1355
$GC,12396,0.60,317.5,102.2,8.2,480,12434,0.00,1.70,33.85,0.640,6,0.000,0.039,2734,2456,1194
$GC,12746,0.62,363.7,75.2,7.8,514,12786,0.00,0.00,38.50,0.616,6,0.000,0.000,2734,2456,1007
$GC,13096,0.63,387.7,47.4,8.9,548,13120,0.00,1.62,20.62,0.572,4,0.000,0.028,2736,1365,908
$GC,13183,0.64,426.2,40.5,8.2,556,13219,0.00,1.65,32.30,0.571,6,0.000,0.037,2736,2444,752
$GC,13540,0.66,469.7,12.5,8.0,610,13580,0.00,1.67,35.55,0.548,4,0.000,0.025,2736,1340,574
$GC,13625,0.70,571.4,7.2,5.0,625,13664,0.00,1.67,35.85,0.540,6,0.000,0.035,2736,2417,399
$STATE,13672,end climb,SURFACE_DEPTH_REACHED
$STATE,13672,begin surface coast
$FINISH,0.1,1.010369
$STATE,13710,end surface coast,CONTROL_FINISHED_OK
$STATE,13714,begin surface
$SM_CCo,13798,0.00,0.000,0,0,395,513.65
$SM_GC,1.05,6.93,0.00,0.00,0.022,0.000,0.000,34,2684,395,-7.71,0.71,513.65
$IRIDIUM_FIX,2159.71,-15755.93,010202,141407
$TT8_MAMPS,0.046787
$HUMID,2229
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.60
$XPDR_PINGS,17
$24V_AH,23.4,92.791
$10V_AH,10.2,87.716
$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,17.350,70.725,590.025,0.000,0.000,78.536,103.928,423.754,4.250,0.000,0.000,16.587,0.000,11229.064,625.775,1725.075,1109.277,33.382,1428.618,0.000,1382.771,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,65.962,1117.519,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,427.462,0.000,600.593,157.309,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47774,641
$CAP_FILE_SIZE,107211,0
$CFSIZE,260165632,221667328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,071112,175336,2208.438,-15757.234,39,1.5,39,10.0