version: 66.04
glider: 512
mission: 3
dive: 379
start: 9 21 112 12 47 24
data:
$ID,512
$MISSION,3
$DIVE,379
$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,105
$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,-60249.633
$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,26
$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
$GPS1,123835,2253.137,-15735.750,48,1.1,48,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-79.9
$GPS2,124643,2253.166,-15735.750,13,1.2,13,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.117,0.214
$KALMAN_X,-101386.5,114.0,604.7,179645.7,-1374.6
$KALMAN_Y,43449.1,-410.2,639.7,-59319.0,-1332.4
$MHEAD_RNG_PITCHd_Wd,18.6,22719,-18.5,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.52,-102.2,0.0,0.0,0,96,0.00,0.00,-74.03,0.000,2,0.000,0.000,12,2764,2832
$GC,101,-0.52,-102.2,2.6,-3.9,9,119,8.73,1.60,-4.00,0.000,4,0.194,0.051,2346,3836,3038
$GC,205,-0.52,-102.2,37.7,-21.9,24,208,0.00,1.60,0.00,0.000,6,0.000,0.020,2346,2731,3038
$GC,470,-0.52,-102.2,96.3,-19.0,49,473,0.00,1.48,0.00,0.000,4,0.000,0.023,2346,1691,3039
$GC,551,-0.52,-102.2,109.8,-14.9,56,558,0.00,1.60,0.00,0.000,6,0.000,0.039,2338,2728,3039
$GC,808,-0.52,-102.2,153.1,-16.9,81,811,0.00,1.50,0.00,0.000,4,0.000,0.021,2338,1686,3040
$GC,833,-0.52,-102.2,157.4,-17.5,83,836,0.00,1.58,0.00,0.000,6,0.000,0.037,2333,2705,3040
$GC,1113,-0.52,-102.2,207.1,-17.2,107,1116,0.00,1.67,0.00,0.000,4,0.000,0.044,2325,3798,3041
$GC,1163,-0.52,-102.2,215.5,-16.1,108,1166,0.08,1.60,0.00,0.000,6,0.124,0.020,2352,2689,3040
$GC,1444,-0.52,-102.2,254.0,-13.5,115,1447,0.00,1.40,0.00,0.000,4,0.000,0.021,2352,1683,3040
$GC,1472,-0.52,-102.2,257.7,-13.1,115,1475,0.00,1.60,0.00,0.000,6,0.000,0.038,2346,2743,3040
$GC,1732,-0.52,-102.2,290.4,-12.6,122,1734,0.00,1.60,0.00,0.000,4,0.000,0.044,2338,3808,3040
$GC,1771,-0.52,-102.2,295.2,-11.5,122,1776,0.00,1.60,0.00,0.000,6,0.000,0.020,2338,2677,3039
$GC,2020,-0.52,-102.2,327.2,-13.1,129,2023,0.00,1.40,0.00,0.000,4,0.000,0.022,2338,1671,3039
$GC,2053,-0.52,-102.2,331.4,-12.4,129,2056,0.00,1.60,0.00,0.000,6,0.000,0.039,2333,2730,3040
$GC,2309,-0.52,-102.2,360.9,-11.5,136,2313,0.00,1.50,0.00,0.000,4,0.000,0.021,2333,1683,3038
$GC,2376,-0.52,-102.2,368.2,-11.1,137,2378,0.00,1.55,0.00,0.000,6,0.000,0.041,2333,2681,3038
$GC,2641,-0.52,-102.2,397.1,-11.1,144,2643,0.00,1.70,0.00,0.000,4,0.000,0.048,2325,3799,3035
$GC,2722,-0.52,-102.2,406.1,-10.5,145,2730,0.08,1.62,0.00,0.000,6,0.111,0.021,2353,2673,3035
$GC,2972,-0.52,-102.2,427.3,-8.3,152,2974,0.00,1.40,0.00,0.000,4,0.000,0.024,2353,1680,3032
$GC,3080,-0.52,-102.2,435.9,-8.1,154,3083,0.00,1.58,0.00,0.000,6,0.000,0.041,2347,2694,3032
$GC,3347,-0.52,-102.2,458.0,-8.6,161,3350,0.00,1.73,0.00,0.000,4,0.000,0.049,2339,3799,3030
$GC,3386,-0.52,-102.2,461.5,-9.7,161,3392,0.00,1.60,0.00,0.000,6,0.000,0.023,2339,2680,3029
$GC,3635,-0.52,-102.2,484.4,-9.3,168,3638,0.00,1.42,-0.08,0.000,4,0.000,0.043,2339,1686,3053
$GC,3674,-0.52,-102.2,488.2,-9.4,168,3680,0.00,1.60,0.00,0.000,6,0.000,0.042,2333,2731,3053
$GC,3923,-0.52,-102.2,513.4,-10.2,175,3926,0.00,1.52,0.00,0.000,4,0.000,0.025,2333,1683,3051
$GC,3952,-0.52,-102.2,516.1,-9.9,175,3955,0.00,1.60,0.00,0.000,6,0.000,0.044,2333,2721,3051
$GC,4212,-0.52,-102.2,541.2,-9.6,182,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2721,3049
$GC,4454,-0.52,-102.2,565.0,-9.8,188,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2722,3047
$GC,4696,-0.52,-102.2,589.6,-10.2,194,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2721,3046
$STATE,4812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4812,begin apogee
$GC,4823,-0.18,0.0,602.2,10.3,197,4916,0.40,0.00,91.20,1.044,6,0.100,0.000,2465,2351,2620
$STATE,4916,end apogee,CONTROL_FINISHED_OK
$STATE,4917,begin climb
$GC,4921,0.52,102.2,605.5,0.0,199,5028,0.60,1.65,95.38,0.989,4,0.041,0.026,2708,1298,2202
$GC,5069,0.52,119.3,604.8,9.1,202,5088,0.00,1.70,16.10,0.925,6,0.000,0.038,2708,2371,2133
$GC,5333,0.52,119.3,567.4,14.3,208,5336,0.00,1.62,0.00,0.000,4,0.000,0.044,2702,3422,2125
$GC,5414,0.52,119.3,555.4,14.5,209,5420,0.00,1.58,0.00,0.000,6,0.000,0.025,2709,2375,2124
$GC,5666,0.52,119.3,522.4,13.2,216,5669,0.00,1.65,0.00,0.000,4,0.000,0.045,2703,3423,2123
$GC,5695,0.52,119.3,518.0,14.3,216,5697,0.00,1.58,0.00,0.000,6,0.000,0.025,2709,2376,2122
$GC,5954,0.52,119.3,485.8,11.6,223,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2370,2121
$GC,6196,0.52,119.3,460.5,10.4,229,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2370,2120
$GC,6438,0.52,119.3,436.2,10.2,235,6441,0.00,1.65,0.00,0.000,4,0.000,0.047,2709,3424,2120
$GC,6515,0.52,119.3,427.5,11.4,236,6518,0.00,1.55,0.00,0.000,6,0.000,0.026,2717,2385,2120
$GC,6769,0.52,119.3,399.3,11.0,243,6772,0.00,1.58,0.00,0.000,4,0.000,0.028,2725,1297,2119
$GC,6915,0.52,119.3,383.9,10.6,246,6918,0.12,1.62,0.00,0.000,6,0.143,0.041,2693,2360,2118
$GC,7186,0.53,133.2,358.5,9.3,253,7199,0.00,1.62,10.75,0.834,4,0.000,0.047,2686,3416,2076
$GC,7282,0.53,133.2,348.9,10.2,255,7285,0.00,1.58,0.00,0.000,6,0.000,0.025,2692,2369,2076
$GC,7553,0.55,180.6,327.8,7.6,262,7596,0.00,0.00,41.90,0.874,6,0.000,0.000,2693,2363,1883
$GC,7835,0.55,180.6,297.9,11.4,269,7838,0.00,1.67,0.00,0.000,4,0.000,0.048,2687,3416,1877
$GC,7895,0.55,180.6,290.7,11.9,270,7898,0.00,1.52,0.00,0.000,6,0.000,0.025,2692,2406,1876
$GC,8165,0.55,198.1,264.4,9.1,277,8184,0.00,1.62,15.12,0.788,4,0.000,0.029,2697,1312,1811
$GC,8246,0.57,236.3,257.3,8.0,278,8285,0.00,1.67,33.30,0.801,6,0.000,0.040,2697,2394,1655
$GC,8539,0.57,236.3,225.7,11.2,286,8541,0.00,1.60,0.00,0.000,4,0.000,0.046,2697,3428,1650
$GC,8594,0.57,236.3,218.4,12.6,287,8596,0.00,1.55,0.00,0.000,6,0.000,0.025,2705,2405,1650
$GC,8855,0.57,236.3,183.7,13.8,301,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2399,1649
$GC,9112,0.57,236.3,150.3,12.8,326,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2398,1649
$GC,9371,0.57,236.3,118.4,12.6,351,9374,0.00,1.60,0.00,0.000,4,0.000,0.027,2713,1281,1649
$GC,9419,0.57,236.3,113.0,11.2,355,9422,0.00,1.77,0.00,0.000,6,0.000,0.038,2713,2442,1648
$GC,9681,0.57,236.3,83.3,10.8,380,9682,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2442,1648
$GC,9931,0.59,285.7,60.0,7.5,404,9977,0.00,1.52,39.20,0.624,4,0.000,0.041,2713,3420,1455
$GC,10013,0.61,334.2,53.8,7.5,411,10058,0.00,1.50,39.88,0.607,6,0.000,0.022,2713,2410,1257
$GC,10313,0.62,359.9,29.2,8.7,439,10339,0.00,1.60,21.48,0.571,4,0.000,0.025,2712,1311,1150
$GC,10385,0.64,398.9,23.2,8.0,450,10420,0.00,1.73,31.88,0.568,6,0.000,0.034,2713,2423,993
$STATE,10615,end climb,SURFACE_DEPTH_REACHED
$STATE,10615,begin surface coast
$FINISH,0.3,1.023255
$STATE,10646,end surface coast,CONTROL_FINISHED_OK
$STATE,10646,begin surface
$SM_CCo,10729,0.00,0.000,0,0,986,400.32
$SM_GC,0.82,6.80,0.00,0.00,0.023,0.000,0.000,31,2747,986,-7.67,0.06,400.32
$IRIDIUM_FIX,2241.69,-15734.14,161201,090943
$TT8_MAMPS,0.046787
$HUMID,2137
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.10
$XPDR_PINGS,11
$24V_AH,24.3,47.628
$10V_AH,10.6,45.257
$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,16.800,80.425,436.175,0.000,0.000,24.516,38.461,257.622,2.750,0.000,0.000,13.693,0.000,7602.323,431.885,2381.836,780.145,33.352,1180.817,0.000,2122.497,0.000,0.544,0.000
$DEVICE_MAMPS,194.051,50.622,1043.887,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,335.429,1151.303,1188.894,180.658,977.419,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41428,498
$CAP_FILE_SIZE,93447,0
$CFSIZE,260165632,239742976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210912,154709,2253.865,-15735.281,9,4.7,28,10.1