version: 66.04
glider: 512
mission: 3
dive: 692
start: 11 9 112 15 3 51
data:
$ID,512
$MISSION,3
$DIVE,692
$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,-67602.602
$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,58
$R_STBD_OVSHOOT,43
$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
$GPS1,144135,2201.460,-15759.909,72,0.9,72,9.9
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-77.2
$GPS2,150313,2201.525,-15800.184,12,1.5,12,9.9
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,-0.204
$KALMAN_X,-220616.1,-373.0,-515.2,194897.9,-954.9
$KALMAN_Y,228311.1,55.3,-296.2,-331538.8,1975.9
$MHEAD_RNG_PITCHd_Wd,133.9,4695,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.53,-136.3,0.0,0.0,0,86,0.00,0.00,-64.12,0.000,2,0.000,0.000,11,2695,2406
$GC,92,-0.53,-136.3,2.0,-4.1,12,121,9.32,1.62,-16.20,0.000,4,0.208,0.038,2353,1587,3047
$GC,160,-0.53,-136.3,14.4,-16.2,24,165,0.00,1.65,0.00,0.000,6,0.000,0.039,2347,2642,3048
$GC,481,-0.53,-136.3,84.4,-22.4,62,484,0.00,1.62,0.00,0.000,4,0.000,0.041,2338,3733,3048
$GC,637,-0.53,-136.3,112.4,-16.1,76,642,0.00,1.52,0.00,0.000,6,0.000,0.021,2339,2684,3048
$GC,960,-0.53,-136.3,162.0,-14.2,107,962,0.00,1.60,0.00,0.000,4,0.000,0.042,2331,3732,3048
$GC,1052,-0.53,-136.3,174.8,-12.0,115,1057,0.00,1.48,0.00,0.000,6,0.000,0.018,2330,2690,3049
$GC,1377,-0.53,-136.3,216.0,-12.6,138,1380,0.00,1.60,0.00,0.000,4,0.000,0.042,2323,3737,3048
$GC,1411,-0.53,-136.3,220.0,-11.6,138,1414,0.10,1.42,0.00,0.000,6,0.104,0.019,2359,2718,3048
$GC,1746,-0.53,-136.3,252.2,-9.9,147,1749,0.00,1.58,0.00,0.000,4,0.000,0.044,2354,3720,3048
$GC,1780,-0.53,-136.3,255.1,-8.6,147,1783,0.00,1.40,0.00,0.000,6,0.000,0.020,2354,2723,3047
$GC,2116,-0.53,-136.3,286.3,-9.6,156,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2717,3045
$GC,2438,-0.53,-136.3,314.6,-9.0,164,2441,0.00,1.58,0.00,0.000,4,0.000,0.044,2346,3723,3044
$GC,2499,-0.53,-136.3,320.2,-8.9,165,2501,0.00,1.40,0.00,0.000,6,0.000,0.021,2346,2728,3043
$GC,2810,-0.53,-136.3,349.9,-9.6,173,2813,0.00,1.55,0.00,0.000,4,0.000,0.021,2346,1621,3041
$GC,2844,-0.53,-136.3,352.9,-8.3,173,2847,0.00,1.70,0.00,0.000,6,0.000,0.044,2346,2735,3040
$GC,3179,-0.53,-136.3,381.5,-8.7,182,3182,0.00,1.55,-0.08,0.000,4,0.000,0.065,2339,3729,3060
$GC,3256,-0.53,-136.3,388.3,-7.3,183,3259,0.00,1.40,0.00,0.000,6,0.000,0.022,2339,2746,3059
$GC,3592,-0.53,-136.3,422.0,-10.3,192,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2740,3057
$GC,3914,-0.53,-136.3,454.2,-9.9,200,3917,0.00,1.60,0.00,0.000,4,0.000,0.024,2339,1622,3054
$GC,3932,-0.53,-136.3,456.0,-10.0,200,3935,0.00,1.77,0.00,0.000,6,0.000,0.046,2333,2753,3054
$GC,4242,-0.53,-136.3,485.8,-9.3,208,4246,0.00,1.50,0.00,0.000,4,0.000,0.051,2325,3713,3052
$GC,4266,-0.53,-136.3,488.0,-9.2,208,4269,0.08,1.40,0.00,0.000,6,0.103,0.024,2355,2745,3051
$GC,4612,-0.53,-136.3,508.4,-5.4,217,4615,0.00,1.60,0.00,0.000,4,0.000,0.025,2356,1601,3050
$GC,4640,-0.53,-136.3,509.9,-4.7,217,4643,0.00,1.77,0.00,0.000,6,0.000,0.045,2350,2755,3049
$GC,4982,-0.53,-136.3,527.7,-5.2,226,4984,0.00,1.62,0.00,0.000,4,0.000,0.025,2349,1621,3047
$GC,5015,-0.53,-136.3,529.5,-5.5,226,5018,0.00,1.75,0.00,0.000,6,0.000,0.047,2346,2730,3046
$GC,5350,-0.53,-136.3,549.9,-6.4,235,5353,0.00,1.55,0.00,0.000,4,0.000,0.054,2339,3713,3044
$GC,5396,-0.53,-136.3,552.9,-6.3,236,5398,0.00,1.40,0.00,0.000,6,0.000,0.026,2339,2755,3044
$GC,5723,-0.53,-136.3,576.8,-7.5,244,5726,0.00,1.62,0.00,0.000,4,0.000,0.027,2339,1624,3042
$GC,5751,-0.53,-136.3,579.1,-8.2,244,5754,0.00,1.75,0.00,0.000,6,0.000,0.047,2333,2752,3042
$GC,6092,-0.53,-136.3,606.9,-8.4,253,6095,0.00,1.52,0.00,0.000,4,0.000,0.054,2326,3715,3040
$GC,6131,-0.53,-136.3,610.7,-9.2,253,6136,0.08,1.42,0.00,0.000,6,0.100,0.027,2355,2739,3040
$GC,6461,-0.53,-136.3,636.6,-7.9,262,6464,0.00,1.60,0.00,0.000,4,0.000,0.027,2356,1609,3038
$GC,6484,-0.53,-136.3,638.5,-8.3,262,6487,0.00,1.77,0.00,0.000,6,0.000,0.048,2349,2729,3038
$GC,6830,-0.53,-136.3,665.3,-7.8,271,6834,0.00,1.58,0.00,0.000,4,0.000,0.056,2341,3716,3037
$GC,6864,-0.53,-136.3,667.9,-8.0,271,6867,0.00,1.45,0.00,0.000,6,0.000,0.027,2342,2729,3037
$GC,7199,-0.53,-136.3,691.1,-6.6,280,7202,0.00,1.58,0.00,0.000,4,0.000,0.027,2342,1630,3035
$GC,7228,-0.53,-136.3,692.9,-6.4,280,7231,0.00,1.70,0.00,0.000,6,0.000,0.048,2334,2719,3035
$STATE,7362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7362,begin apogee
$GC,7373,-0.18,0.0,702.9,7.2,284,7502,0.43,0.00,127.22,1.121,6,0.093,0.000,2475,2436,2490
$STATE,7502,end apogee,CONTROL_FINISHED_OK
$STATE,7502,begin climb
$GC,7507,0.53,136.3,706.6,0.0,287,7663,0.57,1.77,133.90,1.040,4,0.033,0.048,2710,3478,1933
$GC,7716,0.53,136.3,688.9,18.6,292,7719,0.00,1.62,0.00,0.000,6,0.000,0.025,2717,2415,1930
$GC,8043,0.53,136.3,633.4,16.7,300,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2408,1924
$GC,8366,0.53,136.3,581.2,15.9,308,8368,0.00,1.70,0.00,0.000,4,0.000,0.048,2716,3488,1923
$GC,8533,0.53,136.3,554.5,16.4,311,8539,0.00,1.60,0.00,0.000,6,0.000,0.027,2722,2401,1922
$GC,8863,0.53,136.3,507.5,13.7,320,8866,0.00,1.70,0.00,0.000,4,0.000,0.047,2716,3480,1921
$GC,8967,0.53,136.3,493.1,12.5,322,8970,0.00,1.58,0.00,0.000,6,0.000,0.026,2722,2422,1920
$GC,9278,0.53,136.3,455.2,11.7,330,9281,0.00,1.70,0.00,0.000,4,0.000,0.049,2722,3475,1920
$GC,9465,0.53,136.3,432.1,12.2,334,9468,0.00,1.52,0.00,0.000,6,0.000,0.027,2730,2451,1920
$GC,9782,0.53,136.3,397.6,10.7,342,9785,0.00,1.65,0.00,0.000,4,0.000,0.050,2729,3472,1919
$GC,9832,0.53,136.3,391.6,11.8,343,9835,0.10,1.48,0.00,0.000,6,0.170,0.026,2706,2477,1920
$GC,10153,0.53,136.3,358.2,10.6,351,10156,0.00,1.62,0.00,0.000,4,0.000,0.051,2702,3481,1919
$GC,10230,0.53,136.3,349.5,11.4,352,10233,0.00,1.45,0.00,0.000,6,0.000,0.025,2708,2499,1919
$GC,10565,0.53,143.2,314.5,9.8,361,10573,0.00,1.60,4.75,0.635,4,0.000,0.050,2708,3471,1906
$GC,10636,0.53,143.8,307.8,10.1,362,10639,0.00,1.40,0.00,0.000,6,0.000,0.025,2715,2520,1906
$GC,10977,0.54,158.9,276.3,9.4,371,11005,0.00,1.75,17.95,0.739,4,0.000,0.028,2724,1352,1842
$GC,11041,0.54,158.9,269.7,10.4,372,11044,0.00,1.85,0.00,0.000,6,0.000,0.044,2723,2541,1839
$GC,11387,0.54,171.2,236.2,9.5,381,11402,0.00,1.52,12.25,0.748,4,0.000,0.049,2724,3486,1791
$GC,11532,0.55,182.1,222.7,9.6,384,11546,0.00,1.35,11.25,0.722,6,0.000,0.025,2731,2569,1747
$GC,11859,0.55,191.7,191.4,9.7,397,11873,0.00,1.83,9.62,0.681,4,0.000,0.028,2739,1363,1707
$GC,11898,0.55,193.3,187.5,10.1,400,11904,0.12,1.83,0.00,0.000,6,0.132,0.042,2706,2545,1706
$GC,12216,0.56,212.6,160.8,9.2,431,12240,0.00,1.83,19.17,0.700,4,0.000,0.028,2710,1345,1623
$GC,12266,0.57,255.3,156.2,8.0,435,12307,0.00,1.85,37.47,0.701,6,0.000,0.041,2710,2542,1448
$GC,12621,0.58,265.3,119.7,9.6,469,12632,0.00,0.00,9.60,0.603,6,0.000,0.000,2710,2541,1408
$GC,12949,0.62,374.3,99.8,4.7,500,13045,0.00,1.80,90.47,0.653,4,0.000,0.025,2710,1348,963
$GC,13128,0.66,461.6,90.7,5.8,516,13207,0.00,1.90,71.70,0.628,6,0.000,0.044,2709,2573,608
$GC,13519,0.66,461.6,40.6,11.9,554,13522,0.00,1.77,0.00,0.000,4,0.000,0.025,2710,1362,605
$GC,13752,0.66,461.6,15.8,10.6,588,13757,0.00,1.77,0.00,0.000,6,0.000,0.035,2709,2538,603
$STATE,13861,end climb,SURFACE_DEPTH_REACHED
$STATE,13861,begin surface coast
$FINISH,0.5,1.023338
$STATE,13893,end surface coast,CONTROL_FINISHED_OK
$STATE,13893,begin surface
$SM_CCo,13977,0.00,0.000,0,0,603,462.87
$SM_GC,0.96,6.80,0.00,0.00,0.026,0.000,0.000,29,2713,603,-7.70,1.50,462.87
$IRIDIUM_FIX,2155.06,-15801.98,030202,141424
$TT8_MAMPS,0.048321
$HUMID,2299
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.50
$XPDR_PINGS,24
$24V_AH,23.4,94.665
$10V_AH,10.2,88.455
$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,17.600,100.700,545.375,0.000,0.000,114.958,194.357,618.469,6.000,0.000,0.000,13.053,0.000,11356.332,583.227,1829.817,1478.764,33.363,1436.618,0.000,1467.680,0.000,0.544,0.000
$DEVICE_MAMPS,207.857,65.195,1121.354,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,411.085,0.000,544.519,133.757,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47821,614
$CAP_FILE_SIZE,119838,0
$CFSIZE,260165632,220971008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,091112,185754,2201.498,-15800.222,39,1.4,39,9.9