version: 66.04
glider: 512
mission: 3
dive: 683
start: 11 8 112 2 19 20
data:
$ID,512
$MISSION,3
$DIVE,683
$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,-67460.812
$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,59
$R_STBD_OVSHOOT,39
$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
$GPS1,021036,2206.265,-15758.146,55,1.1,55,10.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-79.8
$GPS2,021842,2206.273,-15758.172,17,1.2,17,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.045,-0.249
$KALMAN_X,-202811.0,-148.6,-337.5,180115.7,-572.1
$KALMAN_Y,210128.6,-137.2,19.8,-304691.1,1672.2
$MHEAD_RNG_PITCHd_Wd,159.9,11621,-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,-136.3,0.0,0.0,0,87,0.00,0.00,-69.55,0.000,2,0.000,0.000,13,2691,2529
$GC,92,-0.53,-136.3,2.2,-4.7,13,121,9.23,1.65,-11.62,0.000,4,0.204,0.040,2356,1581,3048
$GC,155,-0.53,-136.3,19.0,-22.2,24,160,0.00,1.67,0.00,0.000,6,0.000,0.040,2351,2678,3048
$GC,484,-0.53,-136.3,88.8,-20.2,60,487,0.00,1.60,0.00,0.000,4,0.000,0.047,2343,3732,3049
$GC,593,-0.53,-136.3,104.9,-11.2,70,595,0.00,1.52,0.00,0.000,6,0.000,0.019,2343,2671,3049
$GC,920,-0.53,-136.3,153.4,-14.9,101,923,0.00,1.65,0.00,0.000,4,0.000,0.042,2335,3723,3050
$GC,943,-0.53,-136.3,157.5,-14.5,103,946,0.00,1.48,0.00,0.000,6,0.000,0.019,2335,2688,3050
$GC,1280,-0.53,-136.3,206.7,-14.5,132,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2682,3051
$GC,1598,-0.53,-136.3,250.2,-13.0,140,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2681,3051
$GC,1921,-0.53,-136.3,286.3,-10.7,148,1924,0.00,1.60,0.00,0.000,4,0.000,0.044,2328,3726,3050
$GC,1944,-0.53,-136.3,288.8,-10.4,148,1948,0.08,1.45,0.00,0.000,6,0.110,0.020,2356,2697,3050
$GC,2290,-0.53,-136.3,318.9,-8.9,157,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2691,3048
$GC,2614,-0.53,-136.3,347.0,-9.0,165,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2691,3046
$GC,2936,-0.53,-136.3,378.6,-9.8,173,2939,0.00,1.62,0.00,0.000,4,0.000,0.046,2350,3722,3044
$GC,2991,-0.53,-136.3,384.0,-9.8,174,2994,0.00,1.45,0.00,0.000,6,0.000,0.021,2350,2706,3043
$GC,3307,-0.53,-136.3,413.3,-8.9,182,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2699,3040
$GC,3630,-0.53,-136.3,436.0,-6.9,190,3633,0.00,1.60,0.00,0.000,4,0.000,0.048,2342,3728,3038
$GC,3664,-0.53,-136.3,438.5,-7.6,190,3667,0.00,1.48,0.00,0.000,6,0.000,0.022,2342,2699,3037
$GC,3999,-0.53,-136.3,465.5,-8.3,199,4000,0.00,0.00,-0.08,0.000,6,0.000,0.000,2342,2692,3060
$GC,4323,-0.53,-136.3,494.5,-9.3,207,4326,0.00,1.62,0.00,0.000,4,0.000,0.048,2334,3728,3058
$GC,4378,-0.53,-136.3,499.8,-9.3,208,4381,0.00,1.50,0.00,0.000,6,0.000,0.023,2335,2695,3058
$GC,4694,-0.53,-136.3,531.2,-10.0,216,4697,0.00,1.52,0.00,0.000,4,0.000,0.023,2334,1617,3055
$GC,4723,-0.53,-136.3,534.2,-9.9,216,4726,0.00,1.70,0.00,0.000,6,0.000,0.046,2333,2712,3055
$GC,5064,-0.53,-136.3,567.6,-9.9,225,5066,0.00,1.58,0.00,0.000,4,0.000,0.052,2326,3713,3053
$GC,5140,-0.53,-136.3,574.9,-8.9,226,5143,0.08,1.48,0.00,0.000,6,0.100,0.025,2356,2701,3053
$GC,5476,-0.53,-136.3,597.0,-6.0,235,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2699,3051
$GC,5798,-0.53,-136.3,614.1,-5.2,243,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2699,3049
$GC,6121,-0.53,-136.3,629.8,-4.6,251,6124,0.00,1.55,0.00,0.000,4,0.000,0.025,2356,1622,3048
$GC,6154,-0.53,-136.3,631.4,-4.7,251,6157,0.00,1.70,0.00,0.000,6,0.000,0.047,2350,2714,3048
$GC,6490,-0.53,-136.3,648.3,-5.1,260,6493,0.00,1.60,0.00,0.000,4,0.000,0.055,2346,3735,3045
$GC,6524,-0.53,-136.3,650.0,-5.2,260,6527,0.00,1.50,0.00,0.000,6,0.000,0.028,2346,2718,3045
$GC,6859,-0.53,-136.3,669.3,-6.0,269,6862,0.00,1.58,0.00,0.000,4,0.000,0.026,2346,1622,3044
$GC,6898,-0.53,-136.3,671.8,-6.5,269,6904,0.00,1.73,0.00,0.000,6,0.000,0.050,2346,2720,3044
$GC,7229,-0.53,-136.3,692.9,-6.6,278,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2720,3043
$STATE,7344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7344,begin apogee
$GC,7355,-0.18,0.0,700.5,6.3,281,7485,0.38,0.00,128.02,1.124,6,0.089,0.000,2472,2421,2490
$STATE,7485,end apogee,CONTROL_FINISHED_OK
$STATE,7485,begin climb
$GC,7490,0.53,136.3,703.9,0.0,284,7656,0.60,0.00,136.57,1.018,6,0.039,0.000,2712,2421,1934
$GC,7977,0.53,136.3,644.0,15.6,296,7980,0.00,1.67,0.00,0.000,4,0.000,0.048,2712,3480,1924
$GC,8043,0.53,136.3,633.4,16.6,297,8045,0.00,1.60,0.00,0.000,6,0.000,0.025,2719,2393,1924
$GC,8389,0.53,136.3,581.1,14.9,306,8392,0.00,1.73,0.00,0.000,4,0.000,0.048,2715,3479,1922
$GC,8466,0.53,136.3,568.4,16.6,307,8469,0.00,1.58,0.00,0.000,6,0.000,0.025,2721,2426,1921
$GC,8801,0.53,136.3,516.7,15.1,316,8804,0.00,1.67,0.00,0.000,4,0.000,0.047,2716,3467,1921
$GC,8984,0.53,136.3,489.1,15.8,320,8987,0.00,1.50,0.00,0.000,6,0.000,0.025,2721,2462,1921
$GC,9305,0.53,136.3,441.6,14.2,328,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2456,1920
$GC,9628,0.53,136.3,400.3,12.4,336,9631,0.00,1.62,0.00,0.000,4,0.000,0.049,2716,3490,1919
$GC,9683,0.53,136.3,393.5,13.3,337,9686,0.00,1.50,0.00,0.000,6,0.000,0.025,2722,2477,1919
$GC,9999,0.53,136.3,357.3,10.9,345,10002,0.00,1.60,0.00,0.000,4,0.000,0.048,2715,3469,1919
$GC,10118,0.53,136.3,343.8,11.0,347,10121,0.00,1.40,0.00,0.000,6,0.000,0.025,2722,2522,1919
$GC,10454,0.54,160.8,311.8,8.9,356,10478,0.00,1.70,20.50,0.851,4,0.000,0.027,2729,1355,1833
$GC,10712,0.54,160.8,285.2,10.8,362,10715,0.00,1.83,0.00,0.000,6,0.000,0.041,2729,2531,1829
$GC,11034,0.54,160.8,250.1,10.5,370,11037,0.00,1.48,0.00,0.000,4,0.000,0.048,2729,3473,1829
$GC,11185,0.54,174.0,234.1,9.5,373,11205,0.00,1.38,12.55,0.756,6,0.000,0.025,2734,2532,1780
$GC,11530,0.55,185.7,200.4,9.6,382,11545,0.00,1.77,11.77,0.715,4,0.000,0.026,2743,1356,1732
$GC,11606,0.56,218.0,193.5,8.5,386,11642,0.12,1.85,28.60,0.743,6,0.143,0.041,2711,2555,1600
$GC,11954,0.56,228.7,161.4,9.6,420,11966,0.00,0.00,10.30,0.652,6,0.000,0.000,2711,2555,1557
$GC,12280,0.58,266.4,133.9,8.3,451,12316,0.00,1.85,33.05,0.686,4,0.000,0.025,2718,1354,1402
$GC,12345,0.60,328.1,128.5,7.1,457,12404,0.00,1.88,51.78,0.671,6,0.000,0.038,2718,2564,1153
$GC,12716,0.63,392.6,102.7,6.9,493,12773,0.00,1.80,53.42,0.647,4,0.000,0.025,2722,1359,889
$GC,12809,0.65,453.5,96.3,7.1,501,12865,0.00,1.85,50.85,0.628,6,0.000,0.036,2722,2553,639
$GC,13185,0.65,453.5,56.3,12.4,537,13188,0.00,1.77,0.00,0.000,4,0.000,0.025,2722,1343,636
$GC,13401,0.65,453.5,29.4,10.9,557,13406,0.00,1.80,0.00,0.000,6,0.000,0.035,2722,2533,635
$STATE,13629,end climb,SURFACE_DEPTH_REACHED
$STATE,13629,begin surface coast
$FINISH,0.1,1.001311
$STATE,13657,end surface coast,CONTROL_FINISHED_OK
$STATE,13658,begin surface
$SM_CCo,13741,0.00,0.000,0,0,635,455.02
$SM_GC,0.92,6.85,0.00,0.00,0.025,0.000,0.000,32,2733,635,-7.71,2.06,455.02
$IRIDIUM_FIX,2157.39,-15758.96,010202,222208
$TT8_MAMPS,0.048321
$HUMID,2253
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.90
$XPDR_PINGS,23
$24V_AH,23.4,93.272
$10V_AH,10.2,87.905
$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,17.325,75.275,537.425,0.000,0.000,29.492,34.797,236.091,5.750,0.000,0.000,17.165,0.000,11094.646,567.825,1732.514,805.547,33.360,1366.118,0.000,1393.939,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,55.224,1124.422,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,405.053,0.000,536.745,127.782,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47710,605
$CAP_FILE_SIZE,101657,0
$CFSIZE,260165632,221495296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,081112,060930,2205.511,-15758.544,42,2.0,42,10.0