version: 66.04
glider: 512
mission: 3
dive: 707
start: 11 12 112 6 33 21
data:
$ID,512
$MISSION,3
$DIVE,707
$D_SURF,3
$D_FLARE,2
$D_TGT,800
$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,266
$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,-67893.68
$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,52
$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
$GPS1,061435,2203.840,-15802.545,35,1.0,35,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-77.7
$GPS2,063243,2203.973,-15802.675,11,1.7,11,9.9
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.124,-0.219
$KALMAN_X,-262370.3,-246.8,-800.4,232561.7,-1217.0
$KALMAN_Y,267409.8,-120.6,-201.2,-366029.6,2794.3
$MHEAD_RNG_PITCHd_Wd,140.6,10891,-18.2,-10.025
$D_GRID,800
$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,-0.52,-136.3,0.0,0.0,0,87,0.00,0.00,-69.35,0.000,2,0.000,0.000,11,2687,2575
$GC,92,-0.52,-136.3,2.5,-4.9,13,116,9.38,1.65,-10.32,0.000,4,0.206,0.040,2365,1579,3048
$GC,166,-0.52,-136.3,22.6,-19.9,26,171,0.00,1.67,0.00,0.000,6,0.000,0.041,2359,2665,3049
$GC,494,-0.52,-136.3,87.8,-19.8,61,497,0.00,1.60,0.00,0.000,4,0.000,0.045,2351,3722,3049
$GC,614,-0.52,-136.3,106.8,-15.5,72,617,0.00,1.52,0.00,0.000,6,0.000,0.020,2351,2666,3049
$GC,942,-0.52,-136.3,153.0,-13.7,103,945,0.00,1.62,0.00,0.000,4,0.000,0.041,2344,3729,3050
$GC,1019,-0.52,-136.3,163.5,-13.1,110,1021,0.00,1.45,0.00,0.000,6,0.000,0.020,2344,2722,3050
$GC,1356,-0.52,-136.3,206.2,-12.9,139,1358,0.00,1.58,0.00,0.000,4,0.000,0.041,2336,3729,3050
$GC,1378,-0.52,-136.3,209.8,-13.2,139,1381,0.00,1.42,0.00,0.000,6,0.000,0.020,2336,2723,3050
$GC,1724,-0.52,-136.3,251.3,-10.9,148,1727,0.00,1.58,0.00,0.000,4,0.000,0.041,2329,3729,3050
$GC,1812,-0.52,-136.3,260.3,-9.9,150,1815,0.08,1.40,0.00,0.000,6,0.104,0.020,2357,2734,3050
$GC,2139,-0.52,-136.3,290.9,-9.6,158,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2728,3049
$GC,2462,-0.52,-136.3,319.1,-8.2,166,2465,0.00,1.58,0.00,0.000,4,0.000,0.045,2352,3728,3047
$GC,2576,-0.52,-136.3,328.3,-8.4,168,2579,0.00,1.40,0.00,0.000,6,0.000,0.022,2352,2748,3046
$GC,2917,-0.52,-136.3,354.9,-8.0,177,2920,0.00,1.60,0.00,0.000,4,0.000,0.023,2352,1594,3044
$GC,2951,-0.52,-136.3,357.6,-7.6,177,2954,0.00,1.77,0.00,0.000,6,0.000,0.041,2346,2758,3044
$GC,3287,-0.52,-136.3,387.1,-9.1,186,3290,0.00,1.50,0.00,0.000,4,0.000,0.048,2339,3722,3040
$GC,3358,-0.52,-136.3,394.2,-9.6,187,3361,0.00,1.38,0.00,0.000,6,0.000,0.023,2339,2762,3040
$GC,3698,-0.52,-136.3,428.8,-10.1,196,3701,0.00,1.65,-0.08,0.000,4,0.000,0.041,2339,1605,3061
$GC,3754,-0.52,-136.3,434.1,-9.0,197,3757,0.00,1.80,0.00,0.000,6,0.000,0.044,2333,2776,3061
$GC,4070,-0.52,-136.3,462.5,-8.8,205,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2777,3058
$GC,4393,-0.52,-136.3,491.9,-9.5,213,4396,0.00,1.70,0.00,0.000,4,0.000,0.026,2333,1621,3056
$GC,4449,-0.52,-136.3,497.1,-7.9,214,4452,0.00,1.80,0.00,0.000,6,0.000,0.046,2333,2764,3056
$GC,4765,-0.52,-136.3,526.3,-9.3,222,4768,0.00,1.50,0.00,0.000,4,0.000,0.051,2326,3719,3053
$GC,4831,-0.52,-136.3,532.3,-8.7,223,4834,0.08,1.40,0.00,0.000,6,0.102,0.025,2357,2755,3053
$GC,5178,-0.52,-136.3,557.2,-7.2,232,5180,0.00,1.62,0.00,0.000,4,0.000,0.027,2357,1609,3050
$GC,5238,-0.52,-136.3,561.6,-6.7,233,5241,0.00,1.77,0.00,0.000,6,0.000,0.047,2350,2756,3050
$GC,5549,-0.52,-136.3,585.5,-7.9,241,5552,0.00,1.65,0.00,0.000,4,0.000,0.027,2350,1615,3048
$GC,5594,-0.52,-136.3,589.2,-7.6,242,5597,0.00,1.73,0.00,0.000,6,0.000,0.047,2346,2722,3048
$GC,5922,-0.52,-136.3,616.7,-8.6,250,5925,0.00,1.58,0.00,0.000,4,0.000,0.054,2340,3715,3046
$GC,5961,-0.52,-136.3,620.1,-8.6,250,5966,0.00,1.48,0.00,0.000,6,0.000,0.027,2339,2707,3046
$GC,6291,-0.52,-136.3,648.4,-8.3,259,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2707,3044
$GC,6614,-0.52,-136.3,673.4,-7.5,267,6617,0.00,1.58,0.00,0.000,4,0.000,0.028,2339,1623,3043
$GC,6642,-0.52,-136.3,675.5,-7.8,267,6645,0.00,1.73,0.00,0.000,6,0.000,0.048,2333,2728,3042
$GC,6982,-0.52,-136.3,701.4,-7.7,276,6985,0.00,1.58,0.00,0.000,4,0.000,0.057,2327,3716,3041
$GC,7017,-0.52,-136.3,704.2,-8.2,276,7020,0.08,1.45,0.00,0.000,6,0.100,0.028,2357,2734,3040
$GC,7352,-0.52,-136.3,724.0,-5.9,285,7355,0.00,1.60,0.00,0.000,4,0.000,0.028,2357,1616,3039
$GC,7401,-0.52,-136.3,727.3,-5.8,286,7404,0.00,1.75,0.00,0.000,6,0.000,0.051,2357,2726,3039
$GC,7724,-0.52,-136.3,747.2,-6.2,294,7727,0.00,1.60,0.00,0.000,4,0.000,0.058,2352,3737,3038
$GC,7747,-0.52,-136.3,748.7,-6.5,294,7750,0.00,1.52,0.00,0.000,6,0.000,0.029,2352,2711,3038
$GC,8093,-0.52,-136.3,771.5,-6.6,303,8096,0.00,1.58,0.00,0.000,4,0.000,0.029,2352,1629,3037
$GC,8143,-0.52,-136.3,775.1,-6.9,304,8146,0.00,1.73,0.00,0.000,6,0.000,0.051,2346,2723,3037
$GC,8465,-0.52,-136.3,798.2,-7.3,312,8468,0.00,1.60,0.00,0.000,4,0.000,0.060,2346,3732,3035
$GC,8482,-0.52,-136.3,799.5,-7.5,312,8486,0.00,1.50,0.00,0.000,6,0.000,0.030,2346,2723,3035
$STATE,8490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8490,begin apogee
$GC,8501,-0.18,0.0,800.4,6.8,312,8637,0.35,0.00,129.48,1.194,6,0.089,0.000,2470,2419,2490
$STATE,8637,end apogee,CONTROL_FINISHED_OK
$STATE,8637,begin climb
$GC,8642,0.52,136.3,806.3,0.0,316,8852,0.60,1.65,148.57,1.024,4,0.035,0.029,2722,1372,1934
$GC,8865,0.52,136.3,789.2,15.0,321,8868,0.00,1.67,0.00,0.000,6,0.000,0.041,2717,2425,1931
$GC,9176,0.52,136.3,738.9,16.4,329,9179,0.00,1.65,0.00,0.000,4,0.000,0.049,2716,3484,1925
$GC,9344,0.52,136.3,709.7,17.3,332,9349,0.00,1.58,0.00,0.000,6,0.000,0.028,2721,2444,1924
$GC,9674,0.52,136.3,654.8,16.2,341,9677,0.00,1.62,0.00,0.000,4,0.000,0.032,2730,1324,1923
$GC,9708,0.52,136.3,649.4,15.9,341,9711,0.08,1.75,0.00,0.000,6,0.153,0.044,2705,2436,1921
$GC,10043,0.52,136.3,599.8,14.7,350,10046,0.00,1.62,0.00,0.000,4,0.000,0.051,2702,3480,1921
$GC,10226,0.52,136.3,572.2,16.2,354,10229,0.00,1.55,0.00,0.000,6,0.000,0.029,2708,2455,1920
$GC,10547,0.52,136.3,528.4,13.0,362,10550,0.00,1.62,0.00,0.000,4,0.000,0.031,2717,1354,1920
$GC,10565,0.52,136.3,526.1,13.1,362,10568,0.00,1.75,0.00,0.000,6,0.000,0.044,2716,2485,1920
$GC,10876,0.52,136.3,488.5,11.6,370,10879,0.00,1.55,0.00,0.000,4,0.000,0.051,2715,3465,1920
$GC,11038,0.52,136.3,468.5,12.7,373,11041,0.00,1.42,0.00,0.000,6,0.000,0.029,2721,2519,1919
$GC,11373,0.52,136.3,426.8,13.0,382,11376,0.00,1.70,0.00,0.000,4,0.000,0.032,2729,1353,1920
$GC,11440,0.52,136.3,418.5,12.5,383,11443,0.12,1.83,0.00,0.000,6,0.159,0.044,2697,2530,1918
$GC,11786,0.52,136.3,381.3,10.3,392,11788,0.00,1.50,0.00,0.000,4,0.000,0.052,2695,3474,1919
$GC,11856,0.52,136.3,373.7,11.2,393,11860,0.00,1.42,0.00,0.000,6,0.000,0.028,2701,2523,1918
$GC,12198,0.52,138.1,340.0,9.9,402,12201,0.00,1.70,0.00,0.000,4,0.000,0.031,2709,1358,1918
$GC,12258,0.52,138.6,334.0,10.0,403,12261,0.00,1.83,0.00,0.000,6,0.000,0.044,2709,2511,1918
$GC,12569,0.53,161.9,305.2,8.9,411,12603,0.00,1.80,23.73,0.801,4,0.000,0.031,2713,1351,1828
$GC,12677,0.54,194.2,295.7,8.4,413,12717,0.00,1.77,31.75,0.798,6,0.000,0.043,2713,2488,1699
$GC,13058,0.55,213.6,258.6,9.1,423,13080,0.00,1.60,17.80,0.785,4,0.000,0.048,2713,3471,1619
$GC,13197,0.55,213.6,242.7,11.4,426,13200,0.00,1.48,0.00,0.000,6,0.000,0.028,2720,2495,1617
$GC,13513,0.55,213.6,205.6,11.7,434,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2489,1615
$GC,13822,0.57,255.7,177.9,7.9,458,13866,0.00,1.73,36.42,0.736,4,0.000,0.031,2725,1365,1446
$GC,13889,0.59,294.7,172.1,8.1,464,13931,0.00,1.77,34.28,0.715,6,0.000,0.041,2725,2502,1287
$GC,14244,0.59,294.7,135.2,11.7,498,14246,0.00,1.73,0.00,0.000,4,0.000,0.030,2725,1345,1284
$GC,14288,0.60,323.3,130.8,8.6,502,14320,0.00,1.75,24.90,0.669,6,0.000,0.040,2725,2480,1170
$GC,14632,0.61,359.0,99.1,8.3,535,14667,0.00,1.75,30.45,0.643,4,0.000,0.029,2726,1352,1025
$GC,14735,0.63,416.9,91.4,7.2,544,14787,0.00,1.73,48.50,0.634,6,0.000,0.038,2725,2475,790
$GC,15100,0.63,416.9,58.8,11.6,579,15104,0.00,1.55,0.00,0.000,4,0.000,0.046,2725,3469,786
$GC,15188,0.63,416.9,48.0,12.7,587,15191,0.00,1.58,0.00,0.000,6,0.000,0.023,2725,2413,786
$GC,15513,0.63,416.9,10.0,10.9,634,15518,0.00,1.52,0.00,0.000,4,0.000,0.028,2726,1365,786
$GC,15584,0.65,461.2,3.6,7.8,647,15597,0.00,1.62,9.20,0.494,2,0.000,0.035,2726,2432,750
$STATE,15597,end climb,SURFACE_DEPTH_REACHED
$STATE,15597,begin surface coast
$FINISH,1.6,1.023321
$STATE,15605,end surface coast,CONTROL_FINISHED_OK
$STATE,15605,begin surface
$SM_CCo,15689,0.00,0.000,0,0,747,427.31
$SM_GC,1.00,6.88,0.00,0.00,0.029,0.000,0.000,40,2688,747,-7.69,0.79,427.31
$IRIDIUM_FIX,2155.06,-15801.98,060202,060616
$TT8_MAMPS,0.048321
$HUMID,2262
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.60
$XPDR_PINGS,20
$24V_AH,23.2,97.392
$10V_AH,10.1,89.464
$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,17.625,117.150,535.075,0.000,0.000,58.112,70.808,725.223,5.000,0.000,0.000,11.898,0.000,12649.157,597.378,2078.715,1424.582,33.358,1573.752,0.000,1679.140,0.000,0.544,0.000
$DEVICE_MAMPS,206.323,59.826,1194.219,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,436.542,0.000,537.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47850,651
$CAP_FILE_SIZE,132234,0
$CFSIZE,260165632,220090368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,121112,105606,2204.187,-15802.663,49,0.9,49,9.9