version: 66.04
glider: 512
mission: 3
dive: 690
start: 11 9 112 6 19 26
data:
$ID,512
$MISSION,3
$DIVE,690
$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,-67569.711
$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,30
$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
$GPS1,061106,2202.563,-15759.449,57,0.9,57,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,2
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-75.7
$GPS2,061843,2202.607,-15759.527,12,1.7,12,9.9
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,-0.211
$KALMAN_X,-215502.3,-364.7,-56.1,190428.3,-1469.6
$KALMAN_Y,224553.2,74.3,183.7,-326279.3,2057.5
$MHEAD_RNG_PITCHd_Wd,136.6,5496,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.53,-136.3,0.0,0.0,0,86,0.00,0.00,-69.43,0.000,2,0.000,0.000,18,2677,2496
$GC,91,-0.53,-136.3,2.0,-3.5,13,120,9.20,1.60,-12.57,0.000,4,0.203,0.039,2357,1588,3049
$GC,170,-0.53,-136.3,20.6,-17.0,27,175,0.00,1.67,0.00,0.000,6,0.000,0.041,2350,2675,3050
$GC,493,-0.53,-136.3,87.1,-20.2,62,496,0.00,1.62,0.00,0.000,4,0.000,0.046,2343,3723,3050
$GC,618,-0.53,-136.3,110.1,-16.0,73,623,0.00,1.55,0.00,0.000,6,0.000,0.019,2343,2639,3050
$GC,940,-0.53,-136.3,155.6,-13.1,104,943,0.00,1.67,0.00,0.000,4,0.000,0.044,2334,3722,3051
$GC,1054,-0.53,-136.3,171.0,-12.4,114,1060,0.00,1.48,0.00,0.000,6,0.000,0.018,2335,2676,3051
$GC,1400,-0.53,-136.3,218.4,-14.1,139,1403,0.00,1.65,0.00,0.000,4,0.000,0.043,2326,3726,3051
$GC,1481,-0.53,-136.3,228.8,-11.3,140,1487,0.08,1.45,0.00,0.000,6,0.105,0.019,2355,2686,3051
$GC,1812,-0.53,-136.3,261.1,-9.2,149,1815,0.00,1.60,0.00,0.000,4,0.000,0.045,2349,3720,3051
$GC,1862,-0.53,-136.3,265.6,-8.9,150,1864,0.00,1.40,0.00,0.000,6,0.000,0.020,2349,2724,3051
$GC,2183,-0.53,-136.3,295.2,-9.9,158,2186,0.00,1.58,0.00,0.000,4,0.000,0.047,2342,3718,3050
$GC,2238,-0.53,-136.3,301.0,-10.2,159,2241,0.00,1.40,0.00,0.000,6,0.000,0.021,2342,2721,3050
$GC,2554,-0.53,-136.3,332.6,-9.7,167,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2714,3048
$GC,2877,-0.53,-136.3,358.9,-7.9,175,2880,0.00,1.60,0.00,0.000,4,0.000,0.047,2335,3741,3046
$GC,2954,-0.53,-136.3,365.2,-8.0,176,2957,0.00,1.45,0.00,0.000,6,0.000,0.021,2334,2722,3045
$GC,3289,-0.53,-136.3,393.7,-8.5,185,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2716,3042
$GC,3612,-0.53,-136.3,418.7,-7.9,193,3615,0.00,1.60,0.00,0.000,4,0.000,0.048,2327,3740,3039
$GC,3689,-0.53,-136.3,425.3,-8.4,194,3692,0.08,1.45,0.00,0.000,6,0.099,0.022,2356,2728,3039
$GC,4024,-0.53,-136.3,449.5,-7.3,203,4027,0.00,1.62,-0.08,0.000,4,0.000,0.066,2351,3729,3060
$GC,4047,-0.53,-136.3,451.3,-7.9,203,4050,0.00,1.42,0.00,0.000,6,0.000,0.023,2350,2739,3060
$GC,4394,-0.53,-136.3,476.3,-7.0,212,4397,0.00,1.55,0.00,0.000,4,0.000,0.025,2351,1647,3058
$GC,4422,-0.53,-136.3,478.5,-7.4,212,4425,0.00,1.70,0.00,0.000,6,0.000,0.046,2347,2728,3058
$GC,4763,-0.53,-136.3,502.0,-6.8,221,4766,0.00,1.58,0.00,0.000,4,0.000,0.054,2339,3722,3055
$GC,4830,-0.53,-136.3,506.4,-6.4,222,4832,0.00,1.40,0.00,0.000,6,0.000,0.025,2339,2751,3054
$GC,5176,-0.53,-136.3,534.3,-8.4,231,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2745,3052
$GC,5498,-0.53,-136.3,562.1,-8.7,239,5501,0.00,1.58,0.00,0.000,4,0.000,0.025,2339,1646,3051
$GC,5543,-0.53,-136.3,565.9,-8.1,240,5546,0.00,1.75,0.00,0.000,6,0.000,0.048,2333,2747,3051
$GC,5871,-0.53,-136.3,594.7,-8.6,248,5874,0.00,1.55,0.00,0.000,4,0.000,0.055,2326,3720,3049
$GC,5931,-0.53,-136.3,599.7,-8.7,249,5934,0.08,1.38,0.00,0.000,6,0.096,0.026,2355,2777,3049
$GC,6243,-0.53,-136.3,621.2,-6.9,257,6246,0.00,1.60,0.00,0.000,4,0.000,0.025,2356,1644,3047
$GC,6282,-0.53,-136.3,624.0,-6.9,257,6287,0.00,1.73,0.00,0.000,6,0.000,0.048,2350,2754,3047
$GC,6612,-0.53,-136.3,647.7,-7.2,266,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2754,3045
$GC,6934,-0.53,-136.3,668.8,-6.3,274,6937,0.00,1.55,0.00,0.000,4,0.000,0.058,2346,3719,3044
$GC,6969,-0.53,-136.3,671.1,-6.4,274,6971,0.00,1.40,0.00,0.000,6,0.000,0.027,2346,2765,3044
$GC,7304,-0.53,-136.3,692.1,-6.2,283,7307,0.00,1.62,0.00,0.000,4,0.000,0.026,2346,1641,3043
$GC,7338,-0.53,-136.3,694.3,-6.5,283,7340,0.00,1.75,0.00,0.000,6,0.000,0.051,2346,2754,3043
$STATE,7466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7466,begin apogee
$GC,7477,-0.18,0.0,702.2,6.0,287,7608,0.40,0.00,128.85,1.116,6,0.100,0.000,2476,2448,2490
$STATE,7609,end apogee,CONTROL_FINISHED_OK
$STATE,7609,begin climb
$GC,7614,0.53,136.3,706.1,0.0,290,7794,0.57,1.70,139.10,1.001,4,0.037,0.028,2716,1359,1933
$GC,8009,0.53,136.3,664.8,14.7,299,8012,0.00,1.65,0.00,0.000,6,0.000,0.042,2716,2421,1925
$GC,8325,0.53,136.3,616.9,15.1,307,8328,0.00,1.65,0.00,0.000,4,0.000,0.049,2715,3483,1923
$GC,8390,0.53,136.3,606.3,16.5,308,8394,0.00,1.62,0.00,0.000,6,0.000,0.026,2722,2402,1921
$GC,8737,0.53,136.3,552.4,15.8,317,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2394,1921
$GC,9059,0.53,136.3,503.9,14.4,325,9062,0.00,1.70,0.00,0.000,4,0.000,0.048,2717,3473,1920
$GC,9119,0.53,136.3,495.2,14.5,326,9122,0.00,1.58,0.00,0.000,6,0.000,0.026,2724,2419,1919
$GC,9430,0.53,136.3,454.5,13.0,334,9433,0.00,1.67,0.00,0.000,4,0.000,0.050,2724,3474,1919
$GC,9453,0.53,136.3,451.2,14.7,334,9456,0.12,1.58,0.00,0.000,6,0.181,0.026,2703,2418,1919
$GC,9799,0.53,136.3,410.7,11.8,343,9802,0.00,1.67,0.00,0.000,4,0.000,0.051,2702,3473,1919
$GC,9843,0.53,136.3,405.1,13.0,344,9846,0.00,1.55,0.00,0.000,6,0.000,0.026,2708,2435,1918
$GC,10171,0.53,136.3,366.7,11.5,352,10174,0.00,1.65,0.00,0.000,4,0.000,0.051,2703,3470,1918
$GC,10220,0.53,136.3,361.3,10.9,353,10223,0.00,1.52,0.00,0.000,6,0.000,0.026,2708,2445,1918
$GC,10542,0.54,173.7,332.2,8.3,361,10586,0.00,1.62,33.85,0.839,4,0.000,0.028,2716,1355,1781
$GC,10628,0.55,191.5,324.4,9.2,363,10650,0.00,1.73,17.23,0.829,6,0.000,0.043,2715,2455,1709
$GC,10994,0.55,191.5,278.4,12.8,372,10997,0.00,1.60,0.00,0.000,4,0.000,0.051,2715,3480,1704
$GC,11151,0.55,191.5,257.8,12.5,375,11154,0.00,1.50,0.00,0.000,6,0.000,0.025,2721,2478,1703
$GC,11492,0.56,212.5,222.4,9.1,384,11515,0.00,1.62,18.88,0.767,4,0.000,0.049,2722,3468,1622
$GC,11605,0.56,215.8,210.9,10.0,386,11613,0.00,1.42,4.55,0.549,6,0.000,0.025,2729,2503,1609
$GC,11934,0.56,215.8,175.2,11.9,408,11937,0.00,1.55,0.00,0.000,4,0.000,0.047,2729,3475,1606
$GC,11973,0.56,215.8,169.7,13.1,411,11978,0.00,1.45,0.00,0.000,6,0.000,0.025,2736,2503,1607
$GC,12295,0.56,215.8,134.0,10.5,442,12298,0.00,1.65,0.00,0.000,4,0.000,0.029,2739,1355,1606
$GC,12373,0.59,292.7,127.2,6.3,449,12446,0.00,1.73,65.25,0.692,6,0.000,0.038,2739,2489,1295
$GC,12758,0.61,351.8,97.9,7.2,486,12812,0.00,1.70,49.22,0.651,4,0.000,0.026,2739,1360,1055
$GC,12863,0.63,392.8,89.7,8.1,495,12903,0.00,1.73,35.20,0.627,6,0.000,0.038,2739,2481,886
$GC,13223,0.65,434.2,60.0,8.1,530,13265,0.00,1.73,34.53,0.601,4,0.000,0.026,2739,1353,718
$GC,13310,0.65,454.4,53.2,9.1,538,13332,0.00,1.70,17.67,0.568,6,0.000,0.036,2739,2445,637
$GC,13647,0.66,471.6,19.1,9.3,579,13669,0.00,1.62,15.12,0.538,4,0.000,0.044,2739,3474,566
$GC,13773,0.67,495.4,8.2,9.0,602,13802,0.00,1.50,20.42,0.537,6,0.000,0.021,2739,2440,470
$STATE,13820,end climb,SURFACE_DEPTH_REACHED
$STATE,13820,begin surface coast
$FINISH,0.2,1.023591
$STATE,13847,end surface coast,CONTROL_FINISHED_OK
$STATE,13852,begin surface
$SM_CCo,13935,0.00,0.000,0,0,467,495.99
$SM_GC,0.86,6.93,0.00,0.00,0.024,0.000,0.000,25,2688,467,-7.70,0.82,495.99
$IRIDIUM_FIX,2155.06,-15757.67,030202,020243
$TT8_MAMPS,0.048321
$HUMID,2262
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.00
$XPDR_PINGS,14
$24V_AH,23.4,94.296
$10V_AH,10.2,88.316
$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,17.450,96.150,579.875,0.000,0.000,29.344,38.650,220.061,3.500,0.000,0.000,12.967,0.000,11091.907,615.775,1854.313,810.808,33.364,1497.990,0.000,1495.368,0.000,0.543,0.000
$DEVICE_MAMPS,203.255,65.962,1115.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,411.192,0.000,550.475,141.526,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47738,616
$CAP_FILE_SIZE,110910,0
$CFSIZE,260165632,221097984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,091112,101254,2201.976,-15759.441,45,1.1,45,9.9