version: 66.04
glider: 512
mission: 3
dive: 373
start: 9 20 112 16 1 46
data:
$ID,512
$MISSION,3
$DIVE,373
$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,-60138.453
$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,61
$R_STBD_OVSHOOT,34
$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
$GPS1,155155,2245.091,-15736.676,13,1.8,13,10.1
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-80.5
$GPS2,160105,2245.101,-15736.728,36,1.3,36,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.181,0.183
$KALMAN_X,-94334.9,94.7,-140.5,171696.9,-2034.9
$KALMAN_Y,45419.9,284.7,-627.0,-75655.5,175.1
$MHEAD_RNG_PITCHd_Wd,34.6,37715,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.50,-116.8,0.0,0.0,0,82,0.00,0.00,-65.70,0.000,2,0.000,0.000,12,2760,2730
$GC,87,-0.50,-116.8,2.9,-5.0,8,113,8.90,1.62,-7.12,0.000,4,0.202,0.054,2345,3806,3100
$GC,163,-0.50,-116.8,30.8,-28.1,20,166,0.00,1.58,0.00,0.000,6,0.000,0.021,2346,2746,3101
$GC,427,-0.50,-116.8,91.4,-18.4,45,430,0.00,1.65,0.00,0.000,4,0.000,0.042,2338,3811,3102
$GC,453,-0.50,-116.8,95.6,-16.6,47,455,0.00,1.55,0.00,0.000,6,0.000,0.020,2338,2744,3102
$GC,716,-0.50,-116.8,140.4,-17.4,72,719,0.00,1.48,0.00,0.000,4,0.000,0.022,2343,1693,3103
$GC,826,-0.50,-116.8,157.2,-14.8,82,829,0.00,1.60,0.00,0.000,6,0.000,0.039,2337,2750,3103
$GC,1089,-0.50,-116.8,199.4,-16.0,107,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2750,3103
$GC,1338,-0.50,-116.8,237.6,-15.1,114,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2750,3103
$GC,1580,-0.50,-116.8,268.8,-12.4,120,1583,0.00,1.50,0.00,0.000,4,0.000,0.021,2337,1702,3103
$GC,1619,-0.50,-116.8,273.4,-10.9,120,1627,0.08,1.62,0.00,0.000,6,0.117,0.041,2360,2750,3103
$GC,1868,-0.50,-116.8,296.1,-9.0,127,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2751,3103
$GC,2110,-0.50,-116.8,319.9,-10.1,133,2113,0.00,1.50,0.00,0.000,4,0.000,0.021,2361,1699,3102
$GC,2171,-0.50,-116.8,326.1,-9.7,134,2173,0.00,1.62,0.00,0.000,6,0.000,0.041,2359,2772,3102
$GC,2443,-0.50,-116.8,352.5,-9.5,141,2446,0.00,1.55,0.00,0.000,4,0.000,0.022,2359,1696,3100
$GC,2509,-0.50,-116.8,358.5,-8.4,142,2512,0.00,1.58,0.00,0.000,6,0.000,0.041,2358,2713,3100
$GC,2774,-0.50,-116.8,380.8,-8.5,149,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2713,3098
$GC,3017,-0.50,-116.8,402.8,-9.2,155,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2713,3095
$GC,3261,-0.50,-116.8,426.3,-9.7,161,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2713,3094
$GC,3501,-0.50,-116.8,449.6,-9.6,167,3504,0.00,1.48,0.00,0.000,4,0.000,0.024,2359,1694,3093
$GC,3535,-0.50,-116.8,452.9,-9.5,167,3538,0.00,1.60,0.00,0.000,6,0.000,0.043,2359,2740,3092
$GC,3789,-0.50,-116.8,476.2,-9.0,174,3792,0.00,1.50,0.00,0.000,4,0.000,0.024,2358,1702,3091
$GC,3829,-0.50,-116.8,479.9,-9.0,174,3834,0.00,1.55,0.00,0.000,6,0.000,0.043,2358,2693,3090
$GC,4080,-0.50,-116.8,501.9,-8.9,181,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2693,3088
$GC,4320,-0.50,-116.8,521.5,-7.9,187,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2693,3087
$GC,4562,-0.50,-116.8,539.2,-7.2,193,4565,0.00,1.73,0.00,0.000,4,0.000,0.051,2351,3810,3086
$GC,4595,-0.50,-116.8,541.6,-7.4,193,4598,0.00,1.65,0.00,0.000,6,0.000,0.025,2350,2683,3085
$GC,4850,-0.50,-116.8,560.8,-7.5,200,4853,0.00,1.40,0.00,0.000,4,0.000,0.025,2351,1695,3084
$GC,4959,-0.50,-116.8,569.1,-7.6,202,4962,0.00,1.50,0.00,0.000,6,0.000,0.044,2345,2646,3082
$GC,5224,-0.50,-116.8,589.3,-7.8,209,5227,0.00,1.80,0.00,0.000,4,0.000,0.052,2338,3809,3081
$GC,5290,-0.50,-116.8,594.6,-7.9,210,5293,0.00,1.65,0.00,0.000,6,0.000,0.025,2338,2666,3081
$STATE,5348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5348,begin apogee
$GC,5359,-0.18,0.0,600.0,8.6,212,5460,0.40,0.00,98.88,1.050,6,0.097,0.000,2471,2353,2620
$STATE,5460,end apogee,CONTROL_FINISHED_OK
$STATE,5460,begin climb
$GC,5465,0.50,116.8,602.4,0.0,214,5582,0.55,1.77,107.25,1.001,4,0.029,0.045,2702,3423,2142
$GC,5629,0.50,116.8,599.3,13.1,217,5635,0.00,1.62,0.00,0.000,6,0.000,0.025,2709,2360,2138
$GC,5878,0.50,116.8,567.0,12.9,224,5881,0.00,1.70,0.00,0.000,4,0.000,0.047,2703,3423,2134
$GC,5938,0.50,116.8,558.7,14.6,225,5942,0.00,1.58,0.00,0.000,6,0.000,0.025,2709,2385,2133
$GC,6209,0.50,116.8,525.5,12.4,232,6212,0.00,1.58,0.00,0.000,4,0.000,0.028,2717,1311,2131
$GC,6296,0.50,116.8,514.8,11.9,234,6299,0.00,1.65,0.00,0.000,6,0.000,0.041,2715,2381,2130
$GC,6585,0.50,116.8,478.7,13.0,241,6587,0.00,1.62,0.00,0.000,4,0.000,0.047,2716,3432,2129
$GC,6634,0.50,116.8,471.5,14.4,242,6638,0.15,1.60,0.00,0.000,6,0.191,0.026,2688,2346,2128
$GC,6915,0.50,116.8,441.6,10.2,249,6918,0.00,1.70,0.00,0.000,4,0.000,0.048,2686,3418,2127
$GC,6987,0.50,116.8,434.0,11.1,250,6989,0.00,1.58,0.00,0.000,6,0.000,0.026,2692,2366,2127
$GC,7247,0.50,126.3,408.0,9.6,257,7255,0.00,0.00,6.82,0.782,6,0.000,0.000,2692,2360,2105
$GC,7488,0.51,148.9,386.4,8.9,263,7513,0.00,1.75,21.50,0.904,4,0.000,0.047,2686,3426,2011
$GC,7601,0.51,148.9,375.2,10.9,265,7604,0.00,1.60,0.00,0.000,6,0.000,0.025,2693,2354,2008
$GC,7855,0.51,148.9,349.3,10.0,272,7859,0.00,1.52,0.00,0.000,4,0.000,0.029,2700,1304,2006
$GC,8017,0.52,159.5,334.8,9.5,275,8030,0.00,1.60,9.90,0.806,6,0.000,0.041,2701,2343,1969
$GC,8272,0.52,159.5,306.8,11.4,282,8274,0.00,1.67,0.00,0.000,4,0.000,0.048,2701,3425,1967
$GC,8316,0.52,159.5,301.0,13.7,283,8319,0.00,1.62,0.00,0.000,6,0.000,0.025,2709,2330,1966
$GC,8602,0.52,159.5,267.9,11.0,290,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2326,1965
$GC,8846,0.52,167.0,244.3,9.6,296,8859,0.00,1.77,7.53,0.706,4,0.000,0.045,2709,3424,1939
$GC,9072,0.53,195.8,222.5,8.6,301,9103,0.00,1.55,25.70,0.781,6,0.000,0.025,2718,2379,1820
$GC,9349,0.53,195.8,195.4,10.5,311,9352,0.00,1.65,0.00,0.000,4,0.000,0.046,2716,3426,1816
$GC,9385,0.53,195.8,191.4,11.8,314,9388,0.00,1.50,0.00,0.000,6,0.000,0.024,2721,2426,1816
$GC,9648,0.53,195.8,161.2,12.1,339,9651,0.00,1.60,0.00,0.000,4,0.000,0.028,2729,1306,1815
$GC,9695,0.53,195.8,156.0,11.0,343,9699,0.12,1.73,0.00,0.000,6,0.130,0.040,2693,2426,1815
$GC,9963,0.54,226.5,131.7,8.6,368,9993,0.00,1.70,26.05,0.687,4,0.000,0.027,2696,1301,1695
$GC,10026,0.56,266.4,126.2,8.1,373,10065,0.00,1.75,33.45,0.673,6,0.000,0.039,2696,2412,1534
$GC,10320,0.56,268.6,95.2,9.9,400,10322,0.00,1.58,0.00,0.000,4,0.000,0.044,2696,3417,1530
$GC,10358,0.57,297.6,91.4,8.6,403,10392,0.00,1.50,26.33,0.637,6,0.000,0.023,2704,2405,1407
$GC,10642,0.59,349.4,67.9,7.6,430,10688,0.00,1.60,42.05,0.623,4,0.000,0.025,2709,1323,1196
$GC,10726,0.63,432.7,62.5,6.1,436,10798,0.00,1.73,66.88,0.611,6,0.000,0.037,2709,2430,854
$GC,11058,0.65,503.7,40.6,6.7,466,11117,0.00,1.67,55.33,0.584,4,0.000,0.025,2709,1322,566
$GC,11145,0.69,596.5,35.2,5.6,472,11186,0.12,1.67,32.92,0.565,6,0.101,0.031,2779,2423,399
$GC,11433,0.69,596.5,6.4,10.7,520,11442,0.12,1.65,0.00,0.000,4,0.074,0.024,2736,1318,397
$STATE,11463,end climb,SURFACE_DEPTH_REACHED
$STATE,11463,begin surface coast
$FINISH,0.2,1.023246
$STATE,11483,end surface coast,CONTROL_FINISHED_OK
$STATE,11484,begin surface
$SM_CCo,11568,0.00,0.000,0,0,396,545.29
$SM_GC,0.81,6.82,0.00,0.00,0.021,0.000,0.000,24,2766,396,-7.68,0.59,545.29
$IRIDIUM_FIX,2237.01,-15735.03,151201,121216
$TT8_MAMPS,0.04602
$HUMID,2119
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.50
$XPDR_PINGS,7
$24V_AH,24.2,46.815
$10V_AH,10.6,44.407
$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,17.275,88.175,560.575,0.000,0.000,25.346,37.670,293.675,1.750,0.000,0.000,36.394,0.000,8145.586,496.024,2578.957,877.236,33.351,1350.922,0.000,2296.268,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,54.457,1050.023,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,355.977,1218.961,1263.591,187.894,986.528,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44786,529
$CAP_FILE_SIZE,102807,0
$CFSIZE,260165632,240078848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,200912,191533,2246.465,-15736.597,12,2.9,31,10.1