version: 66.04
glider: 512
mission: 3
dive: 694
start: 11 9 112 23 8 50
data:
$ID,512
$MISSION,3
$DIVE,694
$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,-67638.867
$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,72
$R_STBD_OVSHOOT,28
$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
$GPS1,225835,2201.606,-15800.147,41,1.1,46,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-77.6
$GPS2,230807,2201.646,-15800.309,16,1.3,16,9.9
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.112
$KALMAN_X,-226242.5,-213.8,164.1,199470.9,-2543.4
$KALMAN_Y,232795.4,288.7,328.4,-336665.3,1098.1
$MHEAD_RNG_PITCHd_Wd,106.5,5001,-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,-136.3,0.0,0.0,0,97,0.00,0.00,-80.28,0.000,2,0.000,0.000,11,2600,2654
$GC,103,-0.53,-136.3,2.7,-5.6,15,126,9.32,1.40,-8.07,0.000,4,0.206,0.040,2358,1591,3046
$GC,203,-0.53,-136.3,27.9,-16.7,33,208,0.00,1.67,0.00,0.000,6,0.000,0.041,2352,2683,3048
$GC,526,-0.53,-136.3,90.9,-18.6,65,529,0.00,1.60,0.00,0.000,4,0.000,0.045,2344,3724,3047
$GC,613,-0.53,-136.3,104.8,-13.3,73,616,0.00,1.55,0.00,0.000,6,0.000,0.019,2344,2639,3048
$GC,941,-0.53,-136.3,146.2,-12.5,104,944,0.00,1.67,0.00,0.000,4,0.000,0.043,2336,3723,3048
$GC,1022,-0.53,-136.3,156.1,-10.3,111,1028,0.00,1.48,0.00,0.000,6,0.000,0.019,2336,2680,3048
$GC,1344,-0.53,-136.3,193.3,-10.8,142,1347,0.00,1.60,0.00,0.000,4,0.000,0.044,2329,3719,3048
$GC,1373,-0.53,-136.3,197.2,-12.0,144,1378,0.00,1.45,0.00,0.000,6,0.000,0.018,2329,2694,3048
$GC,1683,-0.53,-136.3,236.8,-13.4,154,1687,0.12,1.50,0.00,0.000,4,0.120,0.019,2364,1611,3048
$GC,1717,-0.53,-136.3,240.5,-9.9,154,1720,0.00,1.65,0.00,0.000,6,0.000,0.040,2359,2700,3048
$GC,2053,-0.53,-136.3,266.6,-7.1,163,2056,0.00,1.58,0.00,0.000,4,0.000,0.048,2352,3716,3047
$GC,2076,-0.53,-136.3,268.2,-6.7,163,2078,0.00,1.42,0.00,0.000,6,0.000,0.021,2351,2707,3047
$GC,2422,-0.53,-136.3,295.2,-8.8,172,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2700,3046
$GC,2744,-0.53,-136.3,326.6,-9.6,180,2747,0.00,1.50,0.00,0.000,4,0.000,0.022,2351,1626,3043
$GC,2768,-0.53,-136.3,328.7,-8.9,180,2771,0.00,1.65,0.00,0.000,6,0.000,0.042,2346,2707,3043
$GC,3114,-0.53,-136.3,358.2,-8.2,189,3117,0.00,1.58,0.00,0.000,4,0.000,0.050,2339,3715,3040
$GC,3212,-0.53,-136.3,365.5,-6.8,191,3214,0.00,1.42,0.00,0.000,6,0.000,0.023,2339,2719,3039
$GC,3529,-0.53,-136.3,391.3,-8.3,199,3532,0.00,1.52,-0.08,0.000,4,0.000,0.040,2339,1625,3060
$GC,3551,-0.53,-136.3,393.4,-8.8,199,3555,0.00,1.70,0.00,0.000,6,0.000,0.044,2333,2711,3060
$GC,3897,-0.53,-136.3,424.5,-9.2,208,3901,0.00,1.58,0.00,0.000,4,0.000,0.051,2325,3712,3058
$GC,3975,-0.53,-136.3,431.4,-8.1,209,3978,0.08,1.40,0.00,0.000,6,0.092,0.024,2356,2738,3057
$GC,4310,-0.53,-136.3,455.8,-7.4,218,4313,0.00,1.58,0.00,0.000,4,0.000,0.024,2357,1631,3055
$GC,4370,-0.53,-136.3,460.2,-6.8,219,4373,0.00,1.67,0.00,0.000,6,0.000,0.044,2351,2720,3054
$GC,4682,-0.53,-136.3,485.1,-8.0,227,4685,0.00,1.58,0.00,0.000,4,0.000,0.053,2343,3719,3052
$GC,4748,-0.53,-136.3,490.1,-7.0,228,4750,0.00,1.40,0.00,0.000,6,0.000,0.025,2343,2744,3052
$GC,5093,-0.53,-136.3,518.0,-8.0,237,5096,0.00,1.58,0.00,0.000,4,0.000,0.025,2343,1604,3050
$GC,5128,-0.53,-136.3,520.8,-7.5,237,5131,0.00,1.75,0.00,0.000,6,0.000,0.046,2335,2735,3049
$GC,5463,-0.53,-136.3,549.0,-8.5,246,5466,0.00,1.55,0.00,0.000,4,0.000,0.054,2328,3715,3048
$GC,5497,-0.53,-136.3,552.1,-9.1,246,5499,0.00,1.40,0.00,0.000,6,0.000,0.025,2328,2751,3047
$GC,5832,-0.53,-136.3,582.6,-9.3,255,5835,0.12,1.60,0.00,0.000,4,0.115,0.025,2364,1636,3046
$GC,5866,-0.53,-136.3,585.1,-6.8,255,5869,0.00,1.70,0.00,0.000,6,0.000,0.047,2359,2731,3045
$GC,6201,-0.53,-136.3,606.3,-6.2,264,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2731,3043
$GC,6524,-0.53,-136.3,624.9,-5.7,272,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2731,3042
$GC,6848,-0.53,-136.3,643.2,-5.7,280,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2731,3041
$GC,7170,-0.53,-136.3,661.7,-5.7,288,7173,0.00,1.60,0.00,0.000,4,0.000,0.028,2359,1625,3039
$GC,7198,-0.53,-136.3,663.5,-6.2,288,7201,0.00,1.73,0.00,0.000,6,0.000,0.050,2359,2725,3039
$GC,7539,-0.53,-136.3,684.0,-6.1,297,7542,0.00,1.60,0.00,0.000,4,0.000,0.059,2359,3715,3038
$GC,7568,-0.53,-136.3,685.9,-6.4,297,7571,0.00,1.42,0.00,0.000,6,0.000,0.028,2358,2748,3038
$STATE,7822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7822,begin apogee
$GC,7833,-0.18,0.0,702.3,6.4,304,7965,0.32,0.00,129.40,1.120,6,0.082,0.000,2471,2430,2490
$STATE,7965,end apogee,CONTROL_FINISHED_OK
$STATE,7965,begin climb
$GC,7970,0.53,136.3,707.5,0.0,307,8123,0.60,0.00,135.25,1.042,6,0.039,0.000,2708,2430,1934
$GC,8416,0.53,136.3,656.0,15.6,318,8419,0.00,1.67,0.00,0.000,4,0.000,0.051,2702,3483,1925
$GC,8508,0.53,136.3,640.9,16.3,320,8511,0.00,1.58,0.00,0.000,6,0.000,0.026,2708,2436,1924
$GC,8830,0.53,136.3,591.3,15.1,328,8833,0.00,1.65,0.00,0.000,4,0.000,0.048,2702,3475,1923
$GC,8875,0.53,136.3,584.6,15.3,329,8878,0.00,1.52,0.00,0.000,6,0.000,0.026,2708,2454,1922
$GC,9202,0.53,136.3,534.0,15.5,337,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2449,1921
$GC,9525,0.53,136.3,486.0,14.6,345,9528,0.00,1.65,0.00,0.000,4,0.000,0.050,2703,3471,1921
$GC,9607,0.53,136.3,474.3,13.9,346,9612,0.00,1.48,0.00,0.000,6,0.000,0.026,2709,2476,1920
$GC,9937,0.53,136.3,433.1,12.2,355,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2470,1920
$GC,10260,0.53,136.3,397.4,10.7,363,10262,0.00,1.60,0.00,0.000,4,0.000,0.049,2703,3466,1920
$GC,10396,0.53,136.3,382.0,11.7,366,10398,0.00,1.42,0.00,0.000,6,0.000,0.026,2708,2505,1919
$GC,10717,0.53,142.7,350.1,9.8,374,10723,0.00,0.00,4.53,0.634,6,0.000,0.000,2708,2498,1908
$GC,11040,0.53,143.2,317.1,10.1,382,11043,0.00,1.55,0.00,0.000,4,0.000,0.050,2703,3468,1907
$GC,11068,0.53,143.2,314.0,11.5,382,11071,0.00,1.42,0.00,0.000,6,0.000,0.025,2709,2502,1907
$GC,11410,0.53,145.6,279.5,10.0,391,11418,0.00,1.70,4.38,0.588,4,0.000,0.028,2717,1350,1896
$GC,11475,0.54,171.9,273.1,8.8,392,11513,0.00,1.85,27.30,0.779,6,0.000,0.045,2715,2519,1789
$GC,11821,0.54,171.9,236.1,10.4,401,11824,0.00,1.50,0.00,0.000,4,0.000,0.051,2715,3468,1784
$GC,11940,0.55,195.9,224.8,8.9,403,11965,0.00,1.38,22.08,0.772,6,0.000,0.025,2721,2531,1691
$GC,12272,0.55,195.9,191.7,11.8,415,12276,0.00,1.73,0.00,0.000,4,0.000,0.028,2729,1360,1686
$GC,12355,0.55,195.9,182.5,11.0,422,12360,0.00,1.83,0.00,0.000,6,0.000,0.041,2729,2545,1685
$GC,12677,0.55,195.9,144.9,11.5,453,12679,0.00,1.45,0.00,0.000,4,0.000,0.048,2728,3469,1685
$GC,12754,0.55,195.9,135.7,10.7,460,12757,0.00,1.35,0.00,0.000,6,0.000,0.023,2734,2544,1685
$GC,13081,0.56,229.6,103.1,8.5,491,13112,0.00,0.00,29.15,0.667,6,0.000,0.000,2734,2538,1553
$GC,13419,0.59,295.8,73.5,6.8,524,13483,0.00,1.83,55.88,0.640,4,0.000,0.027,2739,1354,1283
$GC,13598,0.63,400.3,63.2,4.9,540,13688,0.00,1.90,85.62,0.617,6,0.000,0.038,2739,2585,858
$GC,14000,0.65,436.9,35.9,8.3,579,14035,0.00,1.85,30.85,0.578,4,0.000,0.028,2739,1362,708
$GC,14120,0.67,502.7,27.3,6.8,593,14181,0.00,1.77,54.08,0.572,6,0.000,0.034,2739,2533,439
$STATE,14355,end climb,SURFACE_DEPTH_REACHED
$STATE,14355,begin surface coast
$FINISH,0.1,0.998501
$STATE,14382,end surface coast,CONTROL_FINISHED_OK
$STATE,14382,begin surface
$SM_CCo,14466,0.00,0.000,0,0,436,503.84
$SM_GC,0.83,6.97,0.00,0.00,0.026,0.000,0.000,43,2736,436,-7.70,2.15,503.84
$IRIDIUM_FIX,2152.74,-15801.98,030202,191930
$TT8_MAMPS,0.048321
$HUMID,2269
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.90
$XPDR_PINGS,18
$24V_AH,23.3,94.984
$10V_AH,10.2,88.577
$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,17.550,89.375,578.500,0.000,0.000,22.340,33.860,347.243,4.500,0.000,0.000,16.912,0.000,11693.551,629.525,1776.548,918.415,33.358,1446.879,0.000,1418.331,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,59.059,1119.820,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,429.342,0.000,574.990,144.440,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47767,642
$CAP_FILE_SIZE,108020,0
$CFSIZE,260165632,220868608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,101112,031106,2201.847,-15800.420,43,1.1,43,9.9