version: 66.04
glider: 512
mission: 3
dive: 698
start: 11 10 112 15 43 48
data:
$ID,512
$MISSION,3
$DIVE,698
$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,-67714.469
$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,51
$R_STBD_OVSHOOT,37
$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
$GPS1,152840,2202.552,-15800.748,41,1.5,45,9.9
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-77.6
$GPS2,154305,2202.645,-15800.961,15,1.5,19,9.9
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.155,-0.200
$KALMAN_X,-237922.5,-162.1,-446.4,210592.4,-1906.2
$KALMAN_Y,243445.1,8.9,-341.1,-344513.1,2541.1
$MHEAD_RNG_PITCHd_Wd,132.4,7061,-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,-136.3,0.0,0.0,0,102,0.00,0.00,-85.55,0.000,2,0.000,0.000,12,2713,2595
$GC,108,-0.53,-136.3,2.1,-3.1,16,131,9.15,1.67,-10.20,0.000,4,0.202,0.036,2357,1568,3048
$GC,187,-0.53,-136.3,22.2,-19.1,30,192,0.00,1.67,0.00,0.000,6,0.000,0.041,2350,2667,3049
$GC,515,-0.53,-136.3,89.1,-18.3,65,518,0.00,1.62,0.00,0.000,4,0.000,0.044,2342,3723,3049
$GC,657,-0.53,-136.3,113.1,-16.0,78,659,0.00,1.52,0.00,0.000,6,0.000,0.019,2342,2663,3049
$GC,984,-0.53,-136.3,164.8,-14.6,109,987,0.00,1.65,0.00,0.000,4,0.000,0.041,2334,3721,3049
$GC,1072,-0.53,-136.3,177.3,-11.8,117,1075,0.00,1.45,0.00,0.000,6,0.000,0.019,2335,2701,3049
$GC,1392,-0.53,-136.3,215.2,-11.8,139,1395,0.00,1.58,0.00,0.000,4,0.000,0.041,2327,3715,3049
$GC,1495,-0.53,-136.3,227.9,-12.0,141,1498,0.08,1.42,0.00,0.000,6,0.110,0.020,2354,2701,3049
$GC,1806,-0.53,-136.3,261.8,-11.0,149,1809,0.00,1.60,0.00,0.000,4,0.000,0.044,2349,3739,3049
$GC,1834,-0.53,-136.3,264.9,-10.8,149,1837,0.00,1.42,0.00,0.000,6,0.000,0.020,2348,2726,3049
$GC,2176,-0.53,-136.3,300.1,-9.8,158,2179,0.00,1.55,0.00,0.000,4,0.000,0.045,2341,3713,3046
$GC,2312,-0.53,-136.3,311.3,-7.7,161,2315,0.00,1.33,0.00,0.000,6,0.000,0.021,2341,2770,3046
$GC,2633,-0.53,-136.3,336.2,-7.5,169,2636,0.00,1.60,0.00,0.000,4,0.000,0.021,2341,1602,3044
$GC,2667,-0.53,-136.3,338.5,-7.1,169,2670,0.00,1.77,0.00,0.000,6,0.000,0.042,2333,2770,3044
$GC,3003,-0.53,-136.3,366.8,-9.0,178,3006,0.00,1.45,0.00,0.000,4,0.000,0.048,2326,3712,3040
$GC,3026,-0.53,-136.3,369.3,-10.4,178,3029,0.08,1.33,0.00,0.000,6,0.103,0.022,2355,2782,3040
$GC,3372,-0.53,-136.3,398.0,-8.3,187,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2776,3038
$GC,3695,-0.53,-136.3,419.3,-6.0,195,3696,0.00,0.00,-0.08,0.000,6,0.000,0.000,2355,2776,3058
$GC,4017,-0.53,-136.3,438.8,-6.4,203,4020,0.00,1.62,0.00,0.000,4,0.000,0.023,2355,1636,3056
$GC,4051,-0.53,-136.3,441.0,-6.7,203,4054,0.00,1.75,0.00,0.000,6,0.000,0.043,2349,2780,3056
$GC,4386,-0.53,-136.3,467.5,-8.4,212,4389,0.00,1.48,0.00,0.000,4,0.000,0.051,2342,3719,3054
$GC,4447,-0.53,-136.3,472.6,-8.6,213,4450,0.00,1.33,0.00,0.000,6,0.000,0.025,2342,2802,3053
$GC,4758,-0.53,-136.3,498.8,-8.2,221,4761,0.00,1.65,0.00,0.000,4,0.000,0.025,2342,1618,3050
$GC,4797,-0.53,-136.3,501.9,-7.6,221,4802,0.00,1.80,0.00,0.000,6,0.000,0.045,2334,2786,3050
$GC,5128,-0.53,-136.3,527.3,-7.6,230,5131,0.00,1.45,0.00,0.000,4,0.000,0.052,2327,3711,3048
$GC,5156,-0.53,-136.3,529.6,-8.3,230,5159,0.08,1.35,0.00,0.000,6,0.094,0.025,2356,2782,3048
$GC,5497,-0.53,-136.3,551.5,-6.8,239,5500,0.00,1.65,0.00,0.000,4,0.000,0.025,2356,1631,3047
$GC,5547,-0.53,-136.3,555.1,-7.0,240,5550,0.00,1.77,0.00,0.000,6,0.000,0.047,2350,2760,3047
$GC,5869,-0.53,-136.3,580.2,-8.1,248,5872,0.00,1.50,0.00,0.000,4,0.000,0.053,2343,3712,3044
$GC,5892,-0.53,-136.3,582.3,-8.9,248,5895,0.00,1.35,0.00,0.000,6,0.000,0.027,2343,2790,3044
$GC,6238,-0.53,-136.3,612.5,-8.6,257,6241,0.00,1.62,0.00,0.000,4,0.000,0.025,2343,1635,3042
$GC,6277,-0.53,-136.3,615.7,-8.4,257,6283,0.00,1.75,0.00,0.000,6,0.000,0.047,2335,2765,3042
$GC,6607,-0.53,-136.3,644.0,-8.5,266,6610,0.00,1.50,0.00,0.000,4,0.000,0.054,2327,3712,3041
$GC,6630,-0.53,-136.3,646.0,-9.0,266,6634,0.08,1.38,0.00,0.000,6,0.097,0.027,2357,2772,3041
$GC,6977,-0.53,-136.3,670.1,-6.8,275,6980,0.00,1.65,0.00,0.000,4,0.000,0.026,2357,1628,3038
$GC,7032,-0.53,-136.3,674.0,-6.6,276,7035,0.00,1.75,0.00,0.000,6,0.000,0.049,2357,2727,3039
$GC,7348,-0.53,-136.3,695.7,-7.0,284,7351,0.00,1.58,0.00,0.000,4,0.000,0.055,2351,3715,3037
$GC,7388,-0.53,-136.3,698.4,-7.5,284,7393,0.00,1.42,0.00,0.000,6,0.000,0.028,2351,2742,3037
$STATE,7430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7430,begin apogee
$GC,7441,-0.18,0.0,701.7,7.0,286,7569,0.35,0.00,126.60,1.124,6,0.084,0.000,2471,2433,2490
$STATE,7570,end apogee,CONTROL_FINISHED_OK
$STATE,7570,begin climb
$GC,7575,0.53,136.3,707.1,0.0,289,7744,0.60,1.77,137.27,1.020,4,0.038,0.047,2710,3481,1934
$GC,7837,0.53,136.3,683.6,17.3,295,7840,0.00,1.60,0.00,0.000,6,0.000,0.025,2718,2407,1930
$GC,8153,0.53,136.3,634.5,15.3,303,8156,0.00,1.70,0.00,0.000,4,0.000,0.047,2716,3480,1925
$GC,8267,0.53,136.3,616.0,16.7,305,8270,0.00,1.58,0.00,0.000,6,0.000,0.026,2722,2429,1924
$GC,8608,0.53,136.3,563.8,15.2,314,8611,0.00,1.65,0.00,0.000,4,0.000,0.047,2716,3480,1922
$GC,8716,0.53,136.3,546.5,15.7,316,8719,0.00,1.50,0.00,0.000,6,0.000,0.026,2722,2473,1922
$GC,9062,0.53,136.3,499.2,12.7,325,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2467,1921
$GC,9385,0.53,136.3,461.2,11.8,333,9388,0.00,1.60,0.00,0.000,4,0.000,0.048,2716,3469,1921
$GC,9520,0.53,136.3,444.0,13.3,336,9523,0.00,1.45,0.00,0.000,6,0.000,0.025,2722,2489,1920
$GC,9842,0.53,136.3,401.8,13.4,344,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2484,1920
$GC,10164,0.53,136.3,360.5,12.3,352,10167,0.00,1.62,0.00,0.000,4,0.000,0.028,2730,1361,1920
$GC,10219,0.53,136.3,354.5,11.1,353,10222,0.00,1.77,0.00,0.000,6,0.000,0.041,2729,2519,1918
$GC,10535,0.53,136.3,320.1,10.8,361,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2519,1918
$GC,10859,0.53,136.3,285.6,10.9,369,10862,0.00,1.50,0.00,0.000,4,0.000,0.049,2729,3474,1918
$GC,10929,0.53,136.3,278.1,11.2,370,10933,0.08,1.45,0.00,0.000,6,0.171,0.026,2712,2498,1918
$GC,11270,0.55,190.8,250.8,7.4,379,11320,0.00,1.70,46.55,0.821,4,0.000,0.027,2719,1336,1711
$GC,11407,0.57,233.4,240.4,8.0,382,11451,0.00,1.77,37.47,0.789,6,0.000,0.040,2715,2478,1538
$GC,11763,0.57,233.4,200.1,11.6,391,11766,0.00,1.55,0.00,0.000,4,0.000,0.048,2715,3464,1531
$GC,11841,0.57,233.4,190.1,13.2,395,11843,0.00,1.45,0.00,0.000,6,0.000,0.026,2721,2497,1531
$GC,12168,0.57,233.4,154.4,10.3,426,12171,0.00,1.65,0.00,0.000,4,0.000,0.028,2729,1345,1530
$GC,12256,0.58,263.2,145.5,8.7,434,12288,0.00,1.73,25.52,0.699,6,0.000,0.041,2729,2472,1416
$GC,12600,0.58,271.0,110.4,9.8,467,12611,0.00,1.60,7.80,0.581,4,0.000,0.044,2729,3477,1385
$GC,12640,0.58,277.3,106.6,9.8,470,12650,0.00,1.55,7.20,0.558,6,0.000,0.025,2736,2445,1359
$GC,12964,0.60,325.5,78.0,7.7,501,13009,0.00,1.62,40.65,0.639,4,0.000,0.028,2739,1357,1162
$GC,13089,0.64,409.9,69.6,5.9,512,13162,0.00,1.67,69.85,0.624,6,0.000,0.036,2739,2458,818
$GC,13476,0.67,492.3,45.9,6.0,549,13550,0.00,1.62,66.70,0.595,4,0.000,0.044,2739,3469,481
$GC,13573,0.69,556.6,39.4,6.9,558,13595,0.00,1.60,18.02,0.551,6,0.000,0.022,2739,2381,398
$STATE,13893,end climb,SURFACE_DEPTH_REACHED
$STATE,13893,begin surface coast
$FINISH,0.3,1.023348
$STATE,13915,end surface coast,CONTROL_FINISHED_OK
$STATE,13915,begin surface
$SM_CCo,13999,0.00,0.000,0,0,395,513.90
$SM_GC,0.88,6.88,0.00,0.00,0.024,0.000,0.000,31,2708,395,-7.70,1.36,513.90
$IRIDIUM_FIX,2155.06,-15757.67,040202,151533
$TT8_MAMPS,0.048321
$HUMID,2300
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.90
$XPDR_PINGS,14
$24V_AH,23.4,95.656
$10V_AH,10.2,88.830
$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,17.350,95.550,583.650,0.000,0.000,58.776,122.723,433.133,3.500,0.000,0.000,19.851,0.000,11219.654,617.429,1860.294,1146.196,33.355,1489.708,0.000,1490.816,0.000,0.545,0.000
$DEVICE_MAMPS,201.721,55.224,1123.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,409.960,0.000,542.763,132.344,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47548,613
$CAP_FILE_SIZE,113593,0
$CFSIZE,260165632,220635136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,101112,193836,2202.897,-15800.914,61,1.1,61,9.9