version: 66.04
glider: 512
mission: 3
dive: 376
start: 9 21 112 2 26 18
data:
$ID,512
$MISSION,3
$DIVE,376
$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,110
$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,-60186.109
$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,62
$R_STBD_OVSHOOT,28
$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
$GPS1,020523,2249.433,-15735.762,30,1.3,47,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-77.0
$GPS2,022537,2249.432,-15735.840,13,1.4,13,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,0.206
$KALMAN_X,-97944.1,-35.7,564.3,176238.8,-1848.4
$KALMAN_Y,45191.5,78.7,-77.0,-67757.6,-1097.3
$MHEAD_RNG_PITCHd_Wd,27.1,29637,-17.5,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.49,-107.1,0.0,0.0,0,112,0.00,0.00,-90.75,0.000,2,0.000,0.000,12,2751,2784
$GC,117,-0.49,-107.1,2.7,-4.2,11,135,8.77,1.67,-5.45,0.000,4,0.199,0.050,2346,3834,3058
$GC,269,-0.49,-107.1,44.9,-20.4,31,271,0.00,1.60,0.00,0.000,6,0.000,0.020,2347,2727,3059
$GC,532,-0.49,-107.1,99.9,-17.6,56,534,0.00,1.48,0.00,0.000,4,0.000,0.021,2346,1676,3059
$GC,599,-0.49,-107.1,110.3,-14.0,62,602,0.00,1.65,0.00,0.000,6,0.000,0.038,2339,2771,3059
$GC,862,-0.49,-107.1,154.5,-17.1,87,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2771,3059
$GC,1121,-0.49,-107.1,199.1,-16.5,112,1123,0.00,1.55,0.00,0.000,4,0.000,0.021,2339,1691,3059
$GC,1149,-0.49,-107.1,204.2,-16.9,113,1152,0.12,1.60,0.00,0.000,6,0.126,0.036,2368,2760,3059
$GC,1409,-0.49,-107.1,238.3,-12.8,120,1411,0.00,1.55,0.00,0.000,4,0.000,0.020,2368,1675,3058
$GC,1474,-0.49,-107.1,246.3,-11.1,121,1477,0.00,1.60,0.00,0.000,6,0.000,0.038,2361,2740,3059
$GC,1739,-0.49,-107.1,276.1,-10.8,128,1742,0.00,1.50,0.00,0.000,4,0.000,0.021,2361,1682,3058
$GC,1778,-0.49,-107.1,279.9,-9.2,128,1783,0.00,1.52,0.00,0.000,6,0.000,0.038,2359,2675,3058
$GC,2027,-0.49,-107.1,303.6,-9.6,135,2030,0.00,1.70,0.00,0.000,4,0.000,0.045,2351,3806,3058
$GC,2088,-0.49,-107.1,309.5,-9.2,136,2091,0.00,1.62,0.00,0.000,6,0.000,0.020,2351,2656,3057
$GC,2359,-0.49,-107.1,337.8,-10.9,143,2361,0.00,1.35,0.00,0.000,4,0.000,0.021,2351,1678,3055
$GC,2435,-0.49,-107.1,345.3,-9.7,144,2438,0.00,1.58,0.00,0.000,6,0.000,0.038,2346,2699,3055
$GC,2692,-0.49,-107.1,369.8,-9.6,151,2695,0.00,1.67,0.00,0.000,4,0.000,0.046,2338,3806,3053
$GC,2774,-0.49,-107.1,377.4,-8.9,152,2779,0.00,1.58,0.00,0.000,6,0.000,0.021,2338,2713,3052
$GC,3023,-0.49,-107.1,401.9,-10.0,159,3026,0.00,1.42,0.00,0.000,4,0.000,0.023,2338,1696,3051
$GC,3112,-0.49,-107.1,411.0,-9.7,161,3115,0.12,1.60,0.00,0.000,6,0.113,0.040,2369,2728,3050
$GC,3399,-0.49,-107.1,433.9,-7.6,168,3402,0.00,1.48,-0.08,0.000,4,0.000,0.041,2370,1698,3071
$GC,3459,-0.49,-107.1,438.4,-6.8,169,3462,0.00,1.58,0.00,0.000,6,0.000,0.043,2370,2707,3071
$GC,3732,-0.49,-107.1,456.0,-6.5,176,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2707,3069
$GC,3972,-0.49,-107.1,472.4,-6.9,182,3975,0.00,1.48,0.00,0.000,4,0.000,0.025,2369,1692,3066
$GC,4033,-0.49,-107.1,477.0,-7.6,183,4035,0.00,1.55,0.00,0.000,6,0.000,0.043,2369,2682,3066
$GC,4303,-0.49,-107.1,497.2,-7.6,190,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2682,3064
$GC,4547,-0.49,-107.1,514.1,-6.8,196,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2682,3062
$GC,4787,-0.49,-107.1,529.9,-6.5,202,4791,0.00,1.42,0.00,0.000,4,0.000,0.025,2370,1702,3060
$GC,4853,-0.49,-107.1,534.5,-7.1,203,4856,0.00,1.50,0.00,0.000,6,0.000,0.044,2369,2656,3059
$GC,5119,-0.49,-107.1,553.4,-7.3,210,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2657,3058
$GC,5363,-0.49,-107.1,572.5,-8.0,216,5366,0.00,1.40,0.00,0.000,4,0.000,0.026,2370,1701,3056
$GC,5413,-0.49,-107.1,576.7,-7.5,217,5416,0.00,1.52,0.00,0.000,6,0.000,0.046,2370,2665,3056
$GC,5694,-0.49,-107.1,598.7,-7.8,224,5697,0.00,1.40,0.00,0.000,4,0.000,0.026,2369,1706,3054
$STATE,5707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5707,begin apogee
$GC,5718,-0.18,0.0,600.1,7.4,224,5813,0.25,0.00,93.60,1.056,6,0.091,0.000,2464,2368,2620
$STATE,5814,end apogee,CONTROL_FINISHED_OK
$STATE,5814,begin climb
$GC,5819,0.49,107.1,603.3,0.0,226,5929,0.57,1.75,99.30,1.004,4,0.027,0.046,2703,3420,2182
$GC,5990,0.49,107.1,600.0,12.1,230,5993,0.00,1.62,0.00,0.000,6,0.000,0.025,2709,2370,2179
$GC,6277,0.49,107.1,563.0,12.5,237,6280,0.00,1.58,0.00,0.000,4,0.000,0.028,2717,1306,2173
$GC,6407,0.49,107.1,547.6,12.3,240,6410,0.12,1.62,0.00,0.000,6,0.159,0.040,2684,2358,2171
$GC,6693,0.49,107.7,518.8,10.0,247,6696,0.00,1.65,0.00,0.000,4,0.000,0.049,2683,3422,2170
$GC,6780,0.49,107.7,509.5,10.7,249,6784,0.00,1.62,0.00,0.000,6,0.000,0.026,2689,2346,2169
$GC,7069,0.50,115.3,482.5,9.6,256,7078,0.00,1.48,6.35,0.795,4,0.000,0.028,2696,1318,2148
$GC,7166,0.50,116.1,473.1,10.0,258,7169,0.00,1.60,0.00,0.000,6,0.000,0.042,2696,2357,2147
$GC,7437,0.50,116.1,444.6,10.4,265,7439,0.00,1.65,0.00,0.000,4,0.000,0.048,2696,3426,2146
$GC,7507,0.50,116.1,436.9,10.9,266,7510,0.00,1.60,0.00,0.000,6,0.000,0.026,2705,2341,2145
$GC,7767,0.50,116.1,409.8,10.3,273,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2334,2145
$GC,8009,0.50,128.2,386.3,9.4,279,8033,0.00,1.75,14.10,0.770,4,0.000,0.048,2702,3418,2097
$GC,8106,0.50,128.2,375.8,12.3,281,8109,0.00,1.60,0.00,0.000,6,0.000,0.025,2710,2336,2096
$GC,8382,0.52,164.4,351.6,8.3,288,8425,0.00,1.77,34.50,0.860,4,0.000,0.049,2709,3410,1948
$GC,8520,0.52,164.4,335.9,14.3,291,8523,0.00,1.60,0.00,0.000,6,0.000,0.027,2717,2366,1945
$GC,8796,0.52,164.4,300.4,12.2,298,8799,0.00,1.55,0.00,0.000,4,0.000,0.030,2725,1308,1943
$GC,8963,0.52,164.4,282.7,10.2,301,8969,0.12,1.58,0.00,0.000,6,0.138,0.041,2692,2309,1941
$GC,9212,0.53,188.8,260.9,8.9,308,9236,0.00,1.75,20.45,0.811,4,0.000,0.048,2689,3425,1850
$GC,9298,0.53,188.8,252.0,12.0,310,9301,0.00,1.73,0.00,0.000,6,0.000,0.026,2695,2299,1848
$GC,9579,0.53,201.1,224.9,9.4,317,9594,0.00,1.42,11.27,0.733,4,0.000,0.028,2696,1304,1801
$GC,9676,0.55,246.5,216.2,7.9,319,9720,0.00,1.60,39.03,0.775,6,0.000,0.041,2696,2339,1613
$GC,9973,0.55,246.5,184.2,12.3,334,9976,0.00,1.67,0.00,0.000,4,0.000,0.047,2697,3418,1608
$GC,10030,0.55,246.5,176.4,13.7,339,10033,0.00,1.65,0.00,0.000,6,0.000,0.025,2705,2332,1607
$GC,10293,0.55,246.5,143.8,12.5,364,10296,0.00,1.73,0.00,0.000,4,0.000,0.045,2703,3428,1607
$GC,10339,0.55,246.5,137.6,13.1,368,10342,0.00,1.65,0.00,0.000,6,0.000,0.025,2709,2337,1607
$GC,10603,0.55,246.5,105.5,12.5,393,10606,0.00,1.50,0.00,0.000,4,0.000,0.028,2718,1299,1607
$GC,10629,0.55,246.5,102.4,12.2,395,10632,0.00,1.62,0.00,0.000,6,0.000,0.038,2719,2361,1606
$GC,10893,0.55,246.5,73.2,10.6,420,10897,0.00,1.65,0.00,0.000,4,0.000,0.044,2719,3423,1606
$GC,10950,0.56,263.4,67.2,9.2,425,10967,0.00,1.62,13.98,0.607,6,0.000,0.024,2723,2314,1546
$GC,11227,0.57,288.7,45.1,8.8,450,11254,0.00,1.48,21.52,0.597,4,0.000,0.027,2726,1303,1442
$GC,11272,0.57,300.6,40.5,9.5,453,11293,0.00,1.60,11.27,0.553,6,0.000,0.036,2726,2334,1392
$GC,11543,0.57,300.6,13.5,10.6,494,11552,0.00,1.67,0.00,0.000,4,0.000,0.044,2726,3413,1390
$GC,11582,0.57,300.6,9.3,11.1,500,11590,0.00,1.60,0.00,0.000,6,0.000,0.023,2726,2343,1390
$STATE,11636,end climb,SURFACE_DEPTH_REACHED
$STATE,11636,begin surface coast
$FINISH,0.3,1.023215
$STATE,11661,end surface coast,CONTROL_FINISHED_OK
$STATE,11662,begin surface
$SM_CCo,11685,35.95,0.558,0,0,1068,380.21
$SM_GC,0.79,0.00,0.00,35.95,0.000,0.000,0.558,24,2770,1068,-7.81,0.71,380.21
$IRIDIUM_FIX,2241.69,-15734.14,161201,020212
$TT8_MAMPS,0.047554
$HUMID,2160
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.70
$XPDR_PINGS,6
$24V_AH,24.2,47.250
$10V_AH,10.5,44.836
$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,16.900,95.275,365.375,35.950,0.000,66.679,91.559,815.677,1.500,0.000,0.000,13.797,0.000,8380.613,446.753,2609.858,1481.196,33.356,1282.995,0.000,2315.205,0.000,0.546,0.000
$DEVICE_MAMPS,198.653,49.855,1056.159,558.376,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,348.347,1139.536,1172.343,173.869,926.304,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41384,515
$CAP_FILE_SIZE,116412,0
$CFSIZE,260165632,239894528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,210912,054303,2249.796,-15735.803,32,2.1,51,10.1