version: 66.04
glider: 512
mission: 3
dive: 688
start: 11 8 112 22 20 51
data:
$ID,512
$MISSION,3
$DIVE,688
$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,-67537.609
$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,60
$R_STBD_OVSHOOT,70
$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
$GPS1,221206,2203.096,-15759.179,29,1.7,29,9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-79.3
$GPS2,222013,2203.087,-15759.260,12,1.9,12,9.9
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.178,-0.180
$KALMAN_X,-211374.9,122.8,78.8,186134.7,-2027.5
$KALMAN_Y,220003.8,90.9,175.7,-320852.4,1347.2
$MHEAD_RNG_PITCHd_Wd,125.4,6112,-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,16,-0.53,-136.3,0.0,0.0,0,87,0.00,0.00,-69.53,0.000,2,0.000,0.000,24,2711,2521
$GC,93,-0.53,-136.3,2.3,-4.6,13,121,9.27,1.62,-11.88,0.000,4,0.206,0.037,2363,1585,3048
$GC,155,-0.53,-136.3,18.0,-20.3,24,160,0.00,1.60,0.00,0.000,6,0.000,0.040,2357,2612,3049
$GC,480,-0.53,-136.3,84.0,-19.5,61,483,0.00,1.70,0.00,0.000,4,0.000,0.046,2348,3727,3049
$GC,583,-0.53,-136.3,98.4,-10.6,70,588,0.00,1.52,0.00,0.000,6,0.000,0.019,2348,2661,3049
$GC,905,-0.53,-136.3,141.8,-13.4,101,908,0.00,1.65,0.00,0.000,4,0.000,0.043,2340,3734,3051
$GC,976,-0.53,-136.3,151.6,-12.8,107,982,0.00,1.48,0.00,0.000,6,0.000,0.019,2341,2704,3050
$GC,1298,-0.53,-136.3,194.6,-13.4,138,1301,0.00,1.52,0.00,0.000,4,0.000,0.021,2341,1604,3050
$GC,1337,-0.53,-136.3,199.7,-11.4,141,1342,0.00,1.67,0.00,0.000,6,0.000,0.038,2333,2716,3051
$GC,1668,-0.53,-136.3,236.6,-11.3,150,1670,0.00,1.55,0.00,0.000,4,0.000,0.045,2325,3725,3051
$GC,1717,-0.53,-136.3,242.7,-11.2,151,1720,0.08,1.45,0.00,0.000,6,0.102,0.019,2355,2699,3051
$GC,2039,-0.53,-136.3,275.0,-10.2,159,2041,0.00,1.50,0.00,0.000,4,0.000,0.021,2355,1615,3050
$GC,2084,-0.53,-136.3,279.5,-9.6,160,2086,0.00,1.67,0.00,0.000,6,0.000,0.040,2349,2720,3050
$GC,2411,-0.53,-136.3,313.1,-9.7,168,2414,0.00,1.55,0.00,0.000,4,0.000,0.048,2342,3722,3048
$GC,2455,-0.53,-136.3,317.3,-9.2,169,2458,0.00,1.45,0.00,0.000,6,0.000,0.021,2341,2704,3048
$GC,2783,-0.53,-136.3,352.2,-10.4,177,2786,0.00,1.62,0.00,0.000,4,0.000,0.046,2334,3728,3046
$GC,2859,-0.53,-136.3,359.3,-8.9,178,2862,0.00,1.42,0.00,0.000,6,0.000,0.021,2334,2724,3045
$GC,3194,-0.53,-136.3,388.1,-8.6,187,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2717,3042
$GC,3518,-0.53,-136.3,416.7,-8.9,195,3521,0.00,1.58,0.00,0.000,4,0.000,0.046,2327,3722,3039
$GC,3557,-0.53,-136.3,420.3,-9.3,195,3562,0.08,1.42,0.00,0.000,6,0.101,0.022,2356,2719,3039
$GC,3887,-0.53,-136.3,443.3,-6.7,204,3890,0.00,1.55,-0.08,0.000,4,0.000,0.039,2356,1621,3061
$GC,3910,-0.53,-136.3,444.8,-6.8,204,3913,0.00,1.73,0.00,0.000,6,0.000,0.043,2350,2728,3061
$GC,4256,-0.53,-136.3,468.9,-7.1,213,4259,0.00,1.55,0.00,0.000,4,0.000,0.051,2342,3716,3059
$GC,4333,-0.53,-136.3,474.3,-7.0,214,4335,0.00,1.40,0.00,0.000,6,0.000,0.024,2342,2741,3058
$GC,4668,-0.53,-136.3,499.1,-7.5,223,4671,0.00,1.60,0.00,0.000,4,0.000,0.024,2342,1618,3055
$GC,4697,-0.53,-136.3,501.3,-8.0,223,4700,0.00,1.77,0.00,0.000,6,0.000,0.044,2335,2752,3055
$GC,5037,-0.53,-136.3,528.0,-7.9,232,5040,0.00,1.52,0.00,0.000,4,0.000,0.051,2327,3725,3053
$GC,5060,-0.53,-136.3,530.1,-8.9,232,5063,0.08,1.42,0.00,0.000,6,0.101,0.024,2356,2742,3053
$GC,5407,-0.53,-136.3,553.7,-7.0,241,5410,0.00,1.60,0.00,0.000,4,0.000,0.025,2356,1598,3052
$GC,5446,-0.53,-136.3,556.5,-7.1,241,5451,0.00,1.77,0.00,0.000,6,0.000,0.045,2350,2746,3051
$GC,5776,-0.53,-136.3,580.0,-7.0,250,5779,0.00,1.55,0.00,0.000,4,0.000,0.054,2343,3724,3049
$GC,5800,-0.53,-136.3,581.8,-7.4,250,5803,0.00,1.45,0.00,0.000,6,0.000,0.025,2342,2732,3049
$GC,6145,-0.53,-136.3,607.0,-7.2,259,6149,0.00,1.58,0.00,0.000,4,0.000,0.026,2343,1628,3047
$GC,6190,-0.53,-136.3,610.1,-6.5,260,6193,0.00,1.75,0.00,0.000,6,0.000,0.046,2335,2732,3047
$GC,6518,-0.53,-136.3,632.9,-7.0,268,6521,0.00,1.58,0.00,0.000,4,0.000,0.054,2333,3721,3045
$GC,6573,-0.53,-136.3,636.8,-6.5,269,6576,0.00,1.45,0.00,0.000,6,0.000,0.026,2333,2732,3045
$GC,6889,-0.53,-136.3,658.7,-7.0,277,6892,0.00,1.58,0.00,0.000,4,0.000,0.026,2333,1632,3044
$GC,6907,-0.53,-136.3,660.0,-7.2,277,6909,0.00,1.73,0.00,0.000,6,0.000,0.048,2333,2740,3044
$GC,7218,-0.53,-136.3,681.8,-7.1,285,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2740,3043
$STATE,7495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7495,begin apogee
$GC,7506,-0.18,0.0,702.5,7.5,292,7636,0.43,0.00,128.00,1.124,6,0.095,0.000,2473,2422,2490
$STATE,7636,end apogee,CONTROL_FINISHED_OK
$STATE,7636,begin climb
$GC,7641,0.53,136.3,706.1,0.0,295,7802,0.57,1.65,133.40,1.043,4,0.038,0.027,2712,1362,1932
$GC,7814,0.53,136.3,694.2,15.4,299,7817,0.00,1.67,0.00,0.000,6,0.000,0.040,2713,2418,1930
$GC,8135,0.53,136.3,641.6,16.2,307,8138,0.00,1.65,0.00,0.000,4,0.000,0.047,2712,3483,1924
$GC,8287,0.53,136.3,615.4,17.8,310,8290,0.00,1.58,0.00,0.000,6,0.000,0.025,2719,2429,1923
$GC,8633,0.53,136.3,559.8,15.4,319,8636,0.00,1.67,0.00,0.000,4,0.000,0.047,2716,3474,1921
$GC,8753,0.53,136.3,540.0,16.1,321,8756,0.00,1.52,0.00,0.000,6,0.000,0.025,2721,2454,1921
$GC,9088,0.53,136.3,491.8,14.0,330,9091,0.00,1.62,0.00,0.000,4,0.000,0.047,2716,3486,1920
$GC,9201,0.53,136.3,475.0,14.4,332,9204,0.00,1.50,0.00,0.000,6,0.000,0.026,2721,2479,1920
$GC,9542,0.53,136.3,429.3,13.2,341,9545,0.00,1.60,0.00,0.000,4,0.000,0.048,2722,3471,1919
$GC,9603,0.53,136.3,420.6,15.1,342,9606,0.00,1.45,0.00,0.000,6,0.000,0.026,2729,2494,1919
$GC,9914,0.53,136.3,378.4,13.3,350,9916,0.00,1.58,0.00,0.000,4,0.000,0.048,2729,3473,1919
$GC,9963,0.53,136.3,371.8,14.1,351,9966,0.10,1.45,0.00,0.000,6,0.170,0.025,2706,2499,1918
$GC,10285,0.53,136.3,336.6,10.7,359,10288,0.00,1.58,0.00,0.000,4,0.000,0.051,2702,3471,1919
$GC,10378,0.53,136.3,326.6,10.6,361,10380,0.00,1.40,0.00,0.000,6,0.000,0.025,2708,2526,1918
$GC,10699,0.54,165.3,297.5,8.7,369,10727,0.00,1.75,24.27,0.848,4,0.000,0.029,2716,1361,1816
$GC,10763,0.55,183.6,291.7,9.2,370,10785,0.00,1.80,17.95,0.808,6,0.000,0.042,2715,2517,1741
$GC,11108,0.55,183.6,255.6,10.6,379,11111,0.00,1.50,0.00,0.000,4,0.000,0.048,2715,3469,1735
$GC,11223,0.55,183.6,241.3,13.2,381,11225,0.00,1.45,0.00,0.000,6,0.000,0.025,2721,2500,1735
$GC,11563,0.55,183.6,203.1,11.1,390,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2494,1734
$GC,11873,0.56,225.6,177.1,8.0,417,11915,0.00,1.60,36.08,0.743,4,0.000,0.048,2721,3474,1569
$GC,11997,0.56,225.6,165.2,10.6,428,12003,0.00,1.50,0.00,0.000,6,0.000,0.025,2726,2484,1567
$GC,12319,0.56,225.6,130.8,10.7,459,12322,0.00,1.62,0.00,0.000,4,0.000,0.029,2726,1358,1565
$GC,12429,0.57,252.7,119.9,8.8,469,12460,0.00,1.75,23.83,0.676,6,0.000,0.038,2726,2502,1458
$GC,12773,0.58,278.4,86.6,8.9,502,12796,0.00,0.00,22.35,0.637,6,0.000,0.000,2725,2502,1355
$GC,13106,0.61,339.3,61.4,7.1,534,13162,0.00,1.75,51.20,0.621,4,0.000,0.026,2725,1364,1105
$GC,13220,0.64,430.7,54.1,5.6,544,13300,0.00,1.77,74.53,0.605,6,0.000,0.037,2725,2519,733
$GC,13616,0.65,434.8,16.2,9.9,593,13627,0.00,1.75,4.65,0.404,4,0.000,0.024,2725,1358,716
$STATE,13736,end climb,SURFACE_DEPTH_REACHED
$STATE,13736,begin surface coast
$FINISH,0.1,0.999190
$STATE,13764,end surface coast,CONTROL_FINISHED_OK
$STATE,13764,begin surface
$SM_CCo,13849,0.00,0.000,0,0,714,435.65
$SM_GC,0.95,6.88,0.00,0.00,0.027,0.000,0.000,36,2682,714,-7.70,0.65,435.65
$IRIDIUM_FIX,2155.06,-15757.67,020202,181840
$TT8_MAMPS,0.046787
$HUMID,2284
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.70
$XPDR_PINGS,13
$24V_AH,23.3,94.000
$10V_AH,10.2,88.198
$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,17.475,99.250,516.250,0.000,0.000,30.621,33.870,241.234,3.250,0.000,0.000,12.247,0.000,11081.208,558.072,1841.833,828.783,33.356,1417.005,0.000,1483.338,0.000,0.545,0.000
$DEVICE_MAMPS,205.556,54.457,1123.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,415.717,0.000,565.603,138.867,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47734,621
$CAP_FILE_SIZE,110264,0
$CFSIZE,260165632,221216768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,091112,021253,2202.656,-15759.234,28,1.2,45,9.9