version: 66.04
glider: 512
mission: 3
dive: 371
start: 9 20 112 9 19 6
data:
$ID,512
$MISSION,3
$DIVE,371
$D_SURF,3
$D_FLARE,2
$D_TGT,600
$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,200
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,22
$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,-60086.91
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2525
$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,2745
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2620
$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
$GPS1,091103,2243.838,-15737.481,12,2.6,31,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-80.5
$GPS2,091825,2243.869,-15737.555,13,1.6,13,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.171,0.192
$KALMAN_X,-91719.4,329.6,212.9,167080.2,-1870.2
$KALMAN_Y,46802.5,-463.0,464.9,-79667.3,-303.5
$MHEAD_RNG_PITCHd_Wd,31.6,40097,-17.7,-10.000
$D_GRID,600
$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,-0.50,-116.8,0.0,0.0,0,82,0.00,0.00,-65.72,0.000,2,0.000,0.000,18,2768,2698
$GC,88,-0.50,-116.8,2.2,-2.8,8,114,8.90,1.60,-8.18,0.000,4,0.202,0.054,2349,3803,3099
$GC,228,-0.50,-116.8,41.6,-20.0,28,236,0.00,1.58,0.00,0.000,6,0.000,0.021,2349,2736,3101
$GC,487,-0.50,-116.8,98.8,-21.1,53,489,0.00,1.48,0.00,0.000,4,0.000,0.021,2350,1691,3102
$GC,534,-0.50,-116.8,106.8,-16.6,57,537,0.00,1.60,0.00,0.000,6,0.000,0.038,2345,2722,3102
$GC,798,-0.50,-116.8,152.3,-17.3,82,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2723,3102
$GC,1056,-0.50,-116.8,193.7,-15.5,107,1059,0.00,1.48,0.00,0.000,4,0.000,0.021,2345,1693,3103
$GC,1082,-0.50,-116.8,197.8,-15.6,109,1085,0.00,1.62,0.00,0.000,6,0.000,0.037,2337,2770,3103
$GC,1346,-0.50,-116.8,240.8,-16.3,117,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2770,3103
$GC,1588,-0.50,-116.8,275.2,-13.9,123,1592,0.00,1.55,0.00,0.000,4,0.000,0.021,2337,1692,3103
$GC,1638,-0.50,-116.8,281.8,-12.3,124,1641,0.00,1.60,0.00,0.000,6,0.000,0.039,2333,2732,3103
$GC,1921,-0.50,-116.8,317.1,-12.6,131,1924,0.00,1.62,0.00,0.000,4,0.000,0.044,2325,3811,3103
$GC,1981,-0.50,-116.8,324.5,-11.1,132,1985,0.10,1.52,0.00,0.000,6,0.107,0.020,2360,2743,3102
$GC,2252,-0.50,-116.8,349.8,-9.3,139,2255,0.00,1.45,0.00,0.000,4,0.000,0.021,2361,1703,3102
$GC,2361,-0.50,-116.8,359.0,-8.1,141,2364,0.00,1.60,0.00,0.000,6,0.000,0.040,2359,2758,3102
$GC,2626,-0.50,-116.8,380.4,-8.0,148,2629,0.00,1.52,0.00,0.000,4,0.000,0.022,2359,1700,3100
$GC,2708,-0.50,-116.8,386.2,-6.9,149,2713,0.00,1.60,0.00,0.000,6,0.000,0.041,2359,2750,3099
$GC,2959,-0.50,-116.8,404.0,-7.3,156,2962,0.00,1.50,0.00,0.000,4,0.000,0.022,2359,1710,3097
$GC,2998,-0.50,-116.8,407.4,-7.5,156,3003,0.00,1.55,0.00,0.000,6,0.000,0.041,2358,2705,3097
$GC,3248,-0.50,-116.8,427.6,-8.4,163,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2705,3095
$GC,3489,-0.50,-116.8,449.0,-8.9,169,3492,0.00,1.45,0.00,0.000,4,0.000,0.024,2359,1701,3094
$GC,3534,-0.50,-116.8,452.9,-8.8,170,3536,0.00,1.52,0.00,0.000,6,0.000,0.043,2358,2674,3094
$GC,3820,-0.50,-116.8,477.0,-8.3,177,3823,0.00,1.75,0.00,0.000,4,0.000,0.051,2350,3811,3091
$GC,3849,-0.50,-116.8,479.5,-8.9,177,3852,0.00,1.67,0.00,0.000,6,0.000,0.024,2350,2673,3091
$GC,4109,-0.50,-116.8,502.0,-8.7,184,4111,0.00,1.35,0.00,0.000,4,0.000,0.025,2350,1713,3089
$GC,4153,-0.50,-116.8,505.9,-8.2,185,4156,0.00,1.50,0.00,0.000,6,0.000,0.042,2346,2671,3088
$GC,4440,-0.50,-116.8,530.9,-8.6,192,4443,0.00,1.75,0.00,0.000,4,0.000,0.051,2337,3805,3087
$GC,4463,-0.50,-116.8,533.1,-9.4,192,4466,0.00,1.62,0.00,0.000,6,0.000,0.024,2338,2679,3086
$GC,4728,-0.50,-116.8,556.6,-8.9,199,4731,0.00,1.38,0.00,0.000,4,0.000,0.025,2338,1709,3084
$GC,4783,-0.50,-116.8,561.3,-8.2,200,4786,0.00,1.52,0.00,0.000,6,0.000,0.044,2333,2679,3085
$GC,5059,-0.50,-116.8,585.7,-8.9,207,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2680,3083
$STATE,5217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5217,begin apogee
$GC,5228,-0.18,0.0,600.8,9.3,211,5328,0.40,0.00,98.53,1.056,6,0.100,0.000,2465,2374,2620
$STATE,5329,end apogee,CONTROL_FINISHED_OK
$STATE,5329,begin climb
$GC,5334,0.50,116.8,604.0,0.0,213,5449,0.57,0.00,107.60,1.001,6,0.028,0.000,2708,2375,2143
$GC,5661,0.50,116.8,580.6,12.8,221,5664,0.00,1.70,0.00,0.000,4,0.000,0.048,2708,3422,2135
$GC,5684,0.50,116.8,577.1,13.9,221,5686,0.00,1.60,0.00,0.000,6,0.000,0.025,2715,2352,2134
$GC,5949,0.50,116.8,543.2,12.8,228,5951,0.00,1.52,0.00,0.000,4,0.000,0.028,2723,1313,2132
$GC,5961,0.50,116.8,541.8,12.7,228,5965,0.15,1.62,0.00,0.000,6,0.169,0.041,2686,2365,2131
$GC,6237,0.50,116.8,510.7,11.1,235,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2365,2129
$GC,6481,0.50,116.8,484.2,10.8,241,6484,0.00,1.62,0.00,0.000,4,0.000,0.048,2686,3421,2128
$GC,6547,0.50,116.8,476.8,10.9,242,6550,0.00,1.58,0.00,0.000,6,0.000,0.025,2692,2370,2128
$GC,6812,0.50,124.7,450.2,9.6,249,6821,0.00,1.65,5.82,0.758,4,0.000,0.047,2686,3417,2110
$GC,6867,0.50,124.7,444.6,10.8,250,6869,0.00,1.55,0.00,0.000,6,0.000,0.025,2692,2379,2110
$GC,7137,0.50,124.7,417.3,10.4,257,7140,0.00,1.65,0.00,0.000,4,0.000,0.048,2686,3425,2108
$GC,7187,0.50,124.7,411.6,12.0,258,7190,0.00,1.55,0.00,0.000,6,0.000,0.025,2693,2387,2108
$GC,7468,0.50,124.7,380.5,10.8,265,7471,0.00,1.62,0.00,0.000,4,0.000,0.048,2687,3421,2107
$GC,7506,0.50,124.7,376.3,11.2,265,7514,0.00,1.52,0.00,0.000,6,0.000,0.026,2693,2391,2107
$GC,7756,0.52,158.3,354.7,8.4,272,7789,0.00,1.62,29.85,0.900,4,0.000,0.030,2700,1315,1973
$GC,7814,0.52,174.3,349.7,9.2,273,7833,0.00,1.70,15.23,0.840,6,0.000,0.042,2700,2404,1909
$GC,8084,0.52,174.3,317.3,12.4,280,8087,0.00,1.60,0.00,0.000,4,0.000,0.048,2699,3432,1903
$GC,8130,0.52,174.3,311.8,12.5,281,8133,0.00,1.58,0.00,0.000,6,0.000,0.026,2708,2399,1903
$GC,8417,0.52,174.3,280.8,10.5,288,8420,0.00,1.62,0.00,0.000,4,0.000,0.048,2709,3425,1902
$GC,8525,0.52,174.3,269.4,10.0,290,8528,0.00,1.55,0.00,0.000,6,0.000,0.027,2713,2404,1901
$GC,8790,0.52,174.3,239.2,11.7,297,8793,0.00,1.62,0.00,0.000,4,0.000,0.047,2713,3429,1901
$GC,8819,0.52,174.3,235.6,13.0,297,8822,0.00,1.55,0.00,0.000,6,0.000,0.025,2721,2394,1901
$GC,9079,0.53,198.6,210.6,8.9,304,9103,0.00,1.58,20.48,0.765,4,0.000,0.028,2728,1305,1809
$GC,9127,0.54,214.4,206.4,9.3,305,9146,0.00,1.70,14.88,0.729,6,0.000,0.040,2728,2407,1744
$GC,9409,0.54,214.4,174.3,12.4,326,9412,0.00,1.58,0.00,0.000,4,0.000,0.045,2728,3417,1741
$GC,9435,0.54,214.4,170.5,13.3,328,9438,0.08,1.55,0.00,0.000,6,0.156,0.025,2702,2387,1740
$GC,9700,0.54,214.4,142.1,10.6,353,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2382,1740
$GC,9957,0.54,214.4,112.9,10.6,378,9960,0.00,1.62,0.00,0.000,4,0.000,0.045,2701,3426,1740
$GC,10006,0.54,214.4,107.2,11.8,382,10015,0.00,1.52,0.00,0.000,6,0.000,0.024,2709,2402,1739
$GC,10266,0.54,217.1,81.1,9.9,407,10268,0.00,1.58,0.00,0.000,4,0.000,0.026,2719,1308,1740
$GC,10473,0.58,306.1,66.1,5.8,426,10555,0.00,1.62,73.30,0.631,6,0.000,0.038,2719,2380,1372
$GC,10805,0.59,331.4,40.0,8.8,456,10832,0.00,1.62,20.88,0.581,4,0.000,0.041,2719,3417,1269
$GC,10869,0.59,332.6,33.8,9.9,461,10872,0.00,1.58,0.00,0.000,6,0.000,0.023,2722,2371,1269
$GC,11125,0.59,332.6,8.0,10.9,506,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2365,1268
$STATE,11169,end climb,SURFACE_DEPTH_REACHED
$STATE,11169,begin surface coast
$FINISH,0.1,1.023240
$STATE,11194,end surface coast,CONTROL_FINISHED_OK
$STATE,11195,begin surface
$SM_CCo,11217,22.75,0.545,0,0,1069,380.21
$SM_GC,1.23,0.00,0.00,22.75,0.000,0.000,0.545,29,2755,1069,-7.80,0.28,380.21
$IRIDIUM_FIX,2234.68,-15737.19,151201,060639
$TT8_MAMPS,0.047554
$HUMID,2139
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.30
$XPDR_PINGS,5
$24V_AH,24.2,46.548
$10V_AH,10.5,44.132
$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,16.925,89.425,386.550,22.750,0.000,23.698,33.889,218.259,1.250,0.000,0.000,13.822,0.000,7956.252,435.369,2485.871,790.839,33.356,1211.765,0.000,2224.905,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,53.690,1056.159,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,350.728,1191.522,1228.390,185.266,971.326,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41519,519
$CAP_FILE_SIZE,99605,0
$CFSIZE,260165632,240197632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200912,122736,2244.805,-15736.858,37,1.0,37,10.1