version: 66.04
glider: 512
mission: 3
dive: 700
start: 11 11 112 0 3 32
data:
$ID,512
$MISSION,3
$DIVE,700
$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,-67752.102
$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,63
$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
$GPS1,234830,2203.161,-15800.938,54,1.0,54,9.9
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-80.5
$GPS2,000249,2203.286,-15801.168,12,1.5,12,9.9
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,-0.125
$KALMAN_X,-243358.2,-113.4,304.8,214873.2,-2816.9
$KALMAN_Y,249135.8,237.0,390.8,-349975.9,1487.5
$MHEAD_RNG_PITCHd_Wd,109.8,8163,-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,-69.50,0.000,2,0.000,0.000,11,2710,2640
$GC,92,-0.53,-136.3,2.5,-4.6,13,115,9.27,1.58,-8.60,0.000,4,0.206,0.035,2360,1555,3046
$GC,186,-0.53,-136.3,24.9,-14.8,30,191,0.00,1.67,0.00,0.000,6,0.000,0.041,2353,2651,3046
$GC,515,-0.53,-136.3,85.1,-18.0,64,517,0.00,1.62,0.00,0.000,4,0.000,0.047,2345,3721,3046
$GC,623,-0.53,-136.3,101.8,-12.8,74,626,0.00,1.55,0.00,0.000,6,0.000,0.021,2345,2640,3047
$GC,951,-0.53,-136.3,148.4,-13.8,105,954,0.00,1.70,0.00,0.000,4,0.000,0.042,2338,3723,3047
$GC,1070,-0.53,-136.3,164.0,-11.8,116,1073,0.00,1.45,0.00,0.000,6,0.000,0.020,2338,2703,3047
$GC,1407,-0.53,-136.3,206.0,-12.0,145,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2695,3047
$GC,1726,-0.53,-136.3,243.6,-11.3,153,1729,0.00,1.60,0.00,0.000,4,0.000,0.043,2330,3742,3047
$GC,1803,-0.53,-136.3,251.5,-9.2,154,1805,0.00,1.45,0.00,0.000,6,0.000,0.020,2330,2718,3047
$GC,2138,-0.53,-136.3,287.7,-11.0,163,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2712,3046
$GC,2461,-0.53,-136.3,323.0,-10.8,171,2464,0.00,1.58,0.00,0.000,4,0.000,0.044,2323,3722,3044
$GC,2478,-0.53,-136.3,324.8,-10.2,171,2482,0.10,1.42,0.00,0.000,6,0.102,0.021,2359,2713,3044
$GC,2789,-0.53,-136.3,347.3,-7.1,179,2792,0.00,1.60,0.00,0.000,4,0.000,0.046,2354,3743,3042
$GC,2818,-0.53,-136.3,349.4,-7.4,179,2820,0.00,1.45,0.00,0.000,6,0.000,0.022,2354,2728,3041
$GC,3159,-0.53,-136.3,375.9,-7.9,188,3162,0.00,1.60,0.00,0.000,4,0.000,0.059,2346,3739,3038
$GC,3188,-0.53,-136.3,378.2,-7.8,188,3190,0.00,1.45,0.00,0.000,6,0.000,0.023,2346,2732,3038
$GC,3528,-0.53,-136.3,406.6,-8.4,197,3529,0.00,0.00,-0.08,0.000,6,0.000,0.000,2346,2725,3059
$GC,3852,-0.53,-136.3,434.3,-8.7,205,3855,0.00,1.58,0.00,0.000,4,0.000,0.048,2339,3716,3056
$GC,3907,-0.53,-136.3,439.0,-8.1,206,3910,0.00,1.40,0.00,0.000,6,0.000,0.024,2339,2748,3056
$GC,4223,-0.53,-136.3,465.1,-8.0,214,4226,0.00,1.60,0.00,0.000,4,0.000,0.024,2339,1621,3054
$GC,4257,-0.53,-136.3,467.7,-7.8,214,4260,0.00,1.73,0.00,0.000,6,0.000,0.044,2333,2745,3054
$GC,4593,-0.53,-136.3,495.4,-8.2,223,4596,0.00,1.52,0.00,0.000,4,0.000,0.051,2326,3720,3050
$GC,4669,-0.53,-136.3,501.7,-8.0,224,4672,0.08,1.40,0.00,0.000,6,0.100,0.025,2356,2752,3050
$GC,5005,-0.53,-136.3,521.7,-5.8,233,5008,0.00,1.60,0.00,0.000,4,0.000,0.025,2356,1611,3048
$GC,5044,-0.53,-136.3,523.9,-5.4,233,5049,0.00,1.75,0.00,0.000,6,0.000,0.045,2350,2746,3048
$GC,5374,-0.53,-136.3,543.7,-6.2,242,5377,0.00,1.52,0.00,0.000,4,0.000,0.053,2343,3713,3046
$GC,5408,-0.53,-136.3,545.7,-6.7,242,5410,0.00,1.40,0.00,0.000,6,0.000,0.026,2343,2753,3046
$GC,5744,-0.53,-136.3,568.3,-6.9,251,5747,0.00,1.60,0.00,0.000,4,0.000,0.025,2343,1632,3044
$GC,5793,-0.53,-136.3,572.1,-7.0,252,5797,0.00,1.73,0.00,0.000,6,0.000,0.046,2335,2728,3044
$GC,6115,-0.53,-136.3,596.2,-7.6,260,6118,0.00,1.58,0.00,0.000,4,0.000,0.054,2328,3719,3043
$GC,6165,-0.53,-136.3,600.0,-7.0,261,6169,0.00,1.42,0.00,0.000,6,0.000,0.026,2328,2746,3042
$GC,6487,-0.53,-136.3,624.1,-7.4,269,6491,0.12,1.60,0.00,0.000,4,0.115,0.025,2364,1634,3040
$GC,6515,-0.53,-136.3,625.9,-6.0,269,6518,0.00,1.73,0.00,0.000,6,0.000,0.048,2359,2743,3040
$GC,6857,-0.53,-136.3,643.3,-5.5,278,6860,0.00,1.55,0.00,0.000,4,0.000,0.058,2358,3713,3038
$GC,6885,-0.53,-136.3,645.2,-5.9,278,6888,0.00,1.42,0.00,0.000,6,0.000,0.028,2358,2746,3038
$GC,7226,-0.53,-136.3,667.7,-6.9,287,7228,0.00,1.60,0.00,0.000,4,0.000,0.026,2358,1614,3037
$GC,7265,-0.53,-136.3,670.6,-7.6,287,7271,0.00,1.75,0.00,0.000,6,0.000,0.049,2358,2733,3037
$GC,7596,-0.53,-136.3,694.8,-7.4,296,7599,0.00,1.58,0.00,0.000,4,0.000,0.058,2358,3714,3035
$GC,7624,-0.53,-136.3,696.9,-7.4,296,7627,0.00,1.45,0.00,0.000,6,0.000,0.028,2358,2734,3035
$STATE,7677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7677,begin apogee
$GC,7688,-0.18,0.0,701.1,7.2,298,7817,0.35,0.00,127.35,1.126,6,0.084,0.000,2478,2429,2490
$STATE,7817,end apogee,CONTROL_FINISHED_OK
$STATE,7817,begin climb
$GC,7823,0.53,136.3,707.3,0.0,301,8007,0.60,1.77,139.40,1.011,4,0.035,0.048,2714,3471,1933
$GC,8040,0.53,136.3,692.9,16.2,306,8043,0.00,1.60,0.00,0.000,6,0.000,0.026,2722,2412,1930
$GC,8376,0.53,136.3,637.7,16.5,315,8379,0.00,1.70,0.00,0.000,4,0.000,0.048,2722,3482,1925
$GC,8469,0.53,136.3,620.1,18.4,317,8472,0.00,1.58,0.00,0.000,6,0.000,0.027,2729,2434,1924
$GC,8790,0.53,136.3,564.0,17.0,325,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2428,1923
$GC,9113,0.53,136.3,509.7,16.7,333,9116,0.00,1.67,0.00,0.000,4,0.000,0.048,2729,3471,1921
$GC,9211,0.53,136.3,492.6,17.7,335,9214,0.15,1.58,0.00,0.000,6,0.176,0.027,2699,2421,1921
$GC,9527,0.53,136.3,452.2,12.4,343,9530,0.00,1.67,0.00,0.000,4,0.000,0.049,2699,3477,1920
$GC,9550,0.53,136.3,449.2,12.9,343,9553,0.00,1.55,0.00,0.000,6,0.000,0.026,2706,2441,1920
$GC,9896,0.53,136.3,408.4,11.4,352,9899,0.00,1.65,0.00,0.000,4,0.000,0.049,2702,3482,1920
$GC,9946,0.53,136.3,402.7,11.5,353,9949,0.00,1.52,0.00,0.000,6,0.000,0.027,2708,2463,1920
$GC,10267,0.53,138.8,369.8,10.0,361,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2458,1920
$GC,10591,0.53,138.8,335.1,10.9,369,10594,0.00,1.60,0.00,0.000,4,0.000,0.050,2702,3474,1919
$GC,10683,0.53,138.8,324.8,10.4,371,10686,0.00,1.52,0.00,0.000,6,0.000,0.027,2708,2452,1919
$GC,11005,0.54,161.4,293.5,9.0,379,11034,0.00,0.00,23.40,0.790,6,0.000,0.000,2708,2446,1832
$GC,11328,0.54,167.6,262.1,9.8,387,11338,0.00,1.65,6.75,0.695,4,0.000,0.028,2716,1348,1805
$GC,11388,0.55,184.6,256.4,9.3,388,11409,0.00,1.77,16.67,0.788,6,0.000,0.044,2715,2469,1737
$GC,11733,0.55,202.3,223.3,9.3,397,11753,0.00,1.62,16.85,0.762,4,0.000,0.048,2716,3471,1663
$GC,11841,0.55,202.3,212.9,10.6,399,11843,0.00,1.50,0.00,0.000,6,0.000,0.025,2721,2470,1662
$GC,12155,0.55,202.3,181.1,10.3,420,12158,0.00,1.60,0.00,0.000,4,0.000,0.028,2729,1345,1660
$GC,12249,0.55,203.8,171.7,10.1,428,12254,0.00,1.70,0.00,0.000,6,0.000,0.041,2729,2453,1659
$GC,12571,0.55,203.8,137.5,10.9,459,12574,0.00,1.60,0.00,0.000,4,0.000,0.048,2729,3497,1659
$GC,12675,0.55,203.8,125.5,10.3,468,12680,0.00,1.55,0.00,0.000,6,0.000,0.025,2737,2455,1659
$GC,12997,0.57,244.3,95.7,8.1,499,13039,0.00,1.65,35.70,0.664,4,0.000,0.028,2739,1350,1493
$GC,13085,0.60,315.5,89.0,6.6,507,13149,0.00,1.77,60.28,0.648,6,0.000,0.038,2739,2484,1202
$GC,13460,0.62,377.0,60.9,7.1,543,13513,0.00,0.00,50.75,0.616,6,0.000,0.000,2739,2485,952
$GC,13820,0.65,449.1,34.8,6.5,578,13884,0.00,1.70,58.60,0.586,4,0.000,0.025,2738,1355,659
$GC,13971,0.65,449.8,22.2,10.1,599,13977,0.00,1.80,0.00,0.000,6,0.000,0.035,2739,2509,657
$STATE,14156,end climb,SURFACE_DEPTH_REACHED
$STATE,14156,begin surface coast
$FINISH,0.2,1.023314
$STATE,14178,end surface coast,CONTROL_FINISHED_OK
$STATE,14178,begin surface
$SM_CCo,14262,0.00,0.000,0,0,655,450.12
$SM_GC,0.94,6.90,0.00,0.00,0.021,0.000,0.000,40,2715,655,-7.71,1.55,450.12
$IRIDIUM_FIX,2155.06,-15759.83,050202,000020
$TT8_MAMPS,0.048321
$HUMID,2274
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.00
$XPDR_PINGS,18
$24V_AH,23.3,95.995
$10V_AH,10.2,88.962
$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,17.575,96.200,535.750,0.000,0.000,56.611,71.719,481.920,4.500,0.000,0.000,13.111,0.000,11533.768,594.698,1799.983,1171.050,33.359,1427.699,0.000,1438.707,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,59.059,1125.956,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,427.677,0.000,577.206,138.682,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47688,638
$CAP_FILE_SIZE,114631,0
$CFSIZE,260165632,220516352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,111112,040223,2203.044,-15801.180,41,1.3,41,9.9