version: 66.04
glider: 512
mission: 3
dive: 381
start: 9 21 112 20 24 16
data:
$ID,512
$MISSION,3
$DIVE,381
$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,95
$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,544.80243
$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,-60330.828
$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,70
$R_STBD_OVSHOOT,27
$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
$GPS1,195121,2254.537,-15735.987,8,2.3,27,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-78.5
$GPS2,202335,2254.712,-15736.174,30,1.7,30,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.046,0.254
$KALMAN_X,-103774.7,-210.5,-842.4,183100.3,-312.9
$KALMAN_Y,40759.1,40.5,-939.7,-52623.5,685.5
$MHEAD_RNG_PITCHd_Wd,0.2,19891,-17.6,-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,-0.49,-92.5,0.0,0.0,0,107,0.00,0.00,-90.47,0.000,2,0.000,0.000,3,2762,2737
$GC,113,-0.49,-92.5,2.6,-3.9,11,131,8.70,1.65,-5.43,0.000,4,0.191,0.051,2356,3827,2999
$GC,312,-0.49,-92.5,50.5,-17.9,37,315,0.00,1.60,0.00,0.000,6,0.000,0.021,2356,2721,3000
$GC,575,-0.49,-92.5,95.4,-15.0,62,578,0.00,1.45,0.00,0.000,4,0.000,0.021,2356,1684,3000
$GC,633,-0.49,-92.5,104.1,-14.0,67,635,0.00,1.60,0.00,0.000,6,0.000,0.037,2348,2746,3000
$GC,895,-0.49,-92.5,145.6,-16.5,92,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2747,3000
$GC,1153,-0.49,-92.5,186.6,-15.8,117,1156,0.00,1.52,0.00,0.000,4,0.000,0.021,2348,1680,3000
$GC,1213,-0.49,-92.5,195.7,-13.7,122,1220,0.00,1.58,0.00,0.000,6,0.000,0.038,2341,2709,3000
$GC,1493,-0.49,-92.5,238.0,-14.9,132,1496,0.00,1.62,0.00,0.000,4,0.000,0.042,2333,3800,2999
$GC,1554,-0.49,-92.5,247.4,-15.1,133,1557,0.12,1.60,0.00,0.000,6,0.127,0.020,2368,2664,2998
$GC,1824,-0.49,-92.5,276.2,-10.1,140,1827,0.00,1.35,0.00,0.000,4,0.000,0.021,2368,1684,2998
$GC,1900,-0.49,-92.5,282.9,-8.1,141,1903,0.00,1.55,0.00,0.000,6,0.000,0.038,2362,2696,2997
$GC,2155,-0.49,-92.5,307.5,-9.7,148,2158,0.00,1.67,0.00,0.000,4,0.000,0.045,2354,3808,2997
$GC,2216,-0.49,-92.5,313.5,-9.5,149,2219,0.00,1.58,0.00,0.000,6,0.000,0.020,2354,2708,2996
$GC,2488,-0.49,-92.5,341.5,-10.6,156,2491,0.00,1.40,0.00,0.000,4,0.000,0.021,2354,1697,2994
$GC,2634,-0.49,-92.5,357.2,-10.4,159,2637,0.00,1.55,0.00,0.000,6,0.000,0.038,2346,2708,2993
$GC,2907,-0.49,-92.5,385.5,-10.3,166,2910,0.00,1.65,0.00,0.000,4,0.000,0.046,2338,3797,2991
$GC,2941,-0.49,-92.5,389.1,-10.2,166,2944,0.00,1.58,0.00,0.000,6,0.000,0.021,2338,2711,2991
$GC,3195,-0.49,-92.5,414.5,-10.2,173,3198,0.00,1.45,-0.08,0.000,4,0.000,0.041,2338,1670,3012
$GC,3234,-0.49,-92.5,418.4,-10.1,173,3240,0.12,1.60,0.00,0.000,6,0.113,0.041,2370,2725,3012
$GC,3483,-0.49,-92.5,437.2,-7.4,180,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2725,3010
$GC,3728,-0.49,-92.5,455.0,-7.3,186,3731,0.00,1.50,0.00,0.000,4,0.000,0.023,2370,1690,3008
$GC,3842,-0.49,-92.5,464.1,-7.7,188,3845,0.00,1.52,0.00,0.000,6,0.000,0.043,2370,2669,3007
$GC,4101,-0.49,-92.5,484.2,-7.8,195,4105,0.00,1.77,0.00,0.000,4,0.000,0.051,2370,3799,3005
$GC,4156,-0.49,-92.5,488.3,-7.5,196,4159,0.00,1.60,0.00,0.000,6,0.000,0.024,2370,2682,3004
$GC,4433,-0.49,-92.5,508.3,-7.2,203,4435,0.00,1.40,0.00,0.000,4,0.000,0.025,2370,1692,3003
$GC,4525,-0.49,-92.5,515.1,-7.3,205,4528,0.00,1.55,0.00,0.000,6,0.000,0.044,2370,2680,3002
$GC,4806,-0.49,-92.5,534.8,-7.0,212,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2681,3000
$GC,5048,-0.49,-92.5,551.9,-7.1,218,5052,0.00,1.75,0.00,0.000,4,0.000,0.054,2370,3791,2998
$GC,5087,-0.49,-92.5,554.6,-6.5,218,5093,0.00,1.62,0.00,0.000,6,0.000,0.026,2370,2668,2997
$GC,5336,-0.49,-92.5,571.2,-6.6,225,5339,0.00,1.38,0.00,0.000,4,0.000,0.026,2370,1702,2996
$GC,5434,-0.49,-92.5,577.6,-5.9,227,5438,0.00,1.50,0.00,0.000,6,0.000,0.046,2370,2657,2995
$GC,5710,-0.49,-92.5,594.0,-5.8,234,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2657,2993
$STATE,5826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5826,begin apogee
$GC,5837,-0.18,0.0,600.9,5.6,237,5919,0.28,0.00,80.85,1.049,6,0.091,0.000,2466,2353,2620
$STATE,5920,end apogee,CONTROL_FINISHED_OK
$STATE,5920,begin climb
$GC,5925,0.49,92.5,602.6,0.0,239,6022,0.55,1.60,86.82,0.996,4,0.043,0.027,2694,1320,2243
$GC,6080,0.49,106.9,599.3,9.3,242,6098,0.00,1.65,13.82,0.917,6,0.000,0.040,2694,2364,2183
$GC,6382,0.49,106.9,564.9,11.2,250,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2364,2177
$GC,6626,0.50,122.5,541.7,9.3,256,6644,0.00,1.67,13.80,0.928,4,0.000,0.047,2689,3415,2120
$GC,6696,0.50,124.7,534.5,9.9,257,6699,0.00,1.60,0.00,0.000,6,0.000,0.025,2695,2339,2118
$GC,6956,0.50,130.4,509.2,9.7,264,6969,0.00,1.77,8.05,0.843,4,0.000,0.046,2695,3422,2088
$GC,6984,0.50,130.4,506.4,10.3,264,6986,0.00,1.60,0.00,0.000,6,0.000,0.026,2702,2344,2087
$GC,7245,0.50,130.4,478.5,10.9,271,7248,0.00,1.70,0.00,0.000,4,0.000,0.047,2702,3424,2084
$GC,7300,0.50,130.4,471.4,13.3,272,7303,0.00,1.60,0.00,0.000,6,0.000,0.025,2709,2340,2084
$GC,7576,0.50,130.4,437.2,12.4,279,7579,0.00,1.50,0.00,0.000,4,0.000,0.028,2717,1307,2083
$GC,7593,0.50,130.4,434.9,12.7,279,7596,0.00,1.62,0.00,0.000,6,0.000,0.041,2716,2367,2082
$GC,7866,0.50,130.4,399.8,12.6,286,7869,0.00,1.65,0.00,0.000,4,0.000,0.048,2716,3422,2082
$GC,7915,0.50,130.4,393.7,12.6,287,7919,0.10,1.58,0.00,0.000,6,0.182,0.025,2694,2373,2081
$GC,8197,0.50,130.4,364.4,10.0,294,8199,0.00,1.55,0.00,0.000,4,0.000,0.029,2700,1303,2081
$GC,8294,0.51,149.1,355.5,9.1,296,8314,0.00,1.60,16.70,0.867,6,0.000,0.041,2700,2349,2012
$GC,8563,0.51,149.1,327.9,10.3,303,8566,0.00,1.65,0.00,0.000,4,0.000,0.048,2700,3418,2008
$GC,8619,0.51,149.1,321.8,10.8,304,8622,0.00,1.62,0.00,0.000,6,0.000,0.025,2709,2339,2008
$GC,8896,0.51,153.9,294.9,9.8,311,8905,0.00,1.73,5.07,0.647,4,0.000,0.047,2709,3415,1993
$GC,8946,0.51,153.9,289.6,11.1,312,8949,0.00,1.58,0.00,0.000,6,0.000,0.025,2717,2363,1992
$GC,9227,0.51,155.2,261.1,9.9,319,9230,0.00,1.67,0.00,0.000,4,0.000,0.047,2715,3410,1991
$GC,9309,0.51,155.2,252.9,10.5,320,9314,0.10,1.55,0.00,0.000,6,0.167,0.025,2692,2375,1991
$GC,9558,0.54,217.0,234.4,7.1,327,9617,0.00,1.73,53.67,0.797,4,0.000,0.046,2686,3417,1734
$GC,9637,0.54,217.0,227.8,10.9,328,9642,0.00,1.62,0.00,0.000,6,0.000,0.025,2693,2342,1733
$GC,9886,0.54,225.9,203.3,9.6,335,9899,0.00,1.75,8.30,0.663,4,0.000,0.044,2693,3418,1699
$GC,9984,0.54,225.9,192.8,10.9,341,9987,0.00,1.60,0.00,0.000,6,0.000,0.025,2696,2377,1698
$GC,10247,0.54,225.9,164.3,10.9,366,10250,0.00,1.58,0.00,0.000,4,0.000,0.027,2705,1294,1696
$GC,10294,0.54,225.9,159.5,10.4,370,10297,0.00,1.67,0.00,0.000,6,0.000,0.038,2704,2384,1695
$GC,10563,0.54,228.3,132.4,9.9,395,10566,0.00,1.60,0.00,0.000,4,0.000,0.044,2704,3416,1695
$GC,10623,0.54,228.3,125.1,10.8,400,10631,0.00,1.55,0.00,0.000,6,0.000,0.025,2709,2380,1694
$GC,10882,0.54,228.3,98.7,10.4,425,10884,0.00,1.55,0.00,0.000,4,0.000,0.028,2713,1311,1695
$GC,10917,0.54,228.3,95.1,10.4,428,10920,0.00,1.65,0.00,0.000,6,0.000,0.038,2713,2370,1694
$GC,11181,0.58,320.4,75.2,5.7,453,11265,0.00,0.00,75.35,0.633,6,0.000,0.000,2712,2371,1313
$GC,11519,0.59,350.3,47.4,8.6,485,11548,0.00,1.67,24.62,0.584,4,0.000,0.042,2713,3418,1190
$GC,11574,0.59,354.7,41.9,9.8,489,11587,0.00,1.60,5.18,0.443,6,0.000,0.022,2713,2341,1173
$GC,11838,0.61,386.7,19.8,8.5,525,11873,0.00,1.52,26.20,0.561,4,0.000,0.025,2713,1299,1042
$GC,11909,0.64,463.3,14.3,6.4,535,11977,0.00,1.65,60.10,0.562,6,0.000,0.035,2713,2361,730
$STATE,12081,end climb,SURFACE_DEPTH_REACHED
$STATE,12081,begin surface coast
$FINISH,0.2,1.023140
$STATE,12128,end surface coast,CONTROL_FINISHED_OK
$STATE,12128,begin surface
$SM_CCo,12151,41.15,0.539,0,0,398,544.80
$SM_GC,0.94,0.00,0.00,41.15,0.000,0.000,0.539,27,2760,398,-7.81,0.42,544.80
$IRIDIUM_FIX,2248.70,-15738.46,161201,202011
$TT8_MAMPS,0.046787
$HUMID,2105
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.90
$XPDR_PINGS,8
$24V_AH,24.3,47.994
$10V_AH,10.6,45.587
$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,16.800,99.900,478.550,41.150,0.000,136.062,243.489,1093.630,2.000,0.000,0.000,30.170,0.000,8753.430,497.951,2823.053,2033.209,33.363,1421.546,0.000,2504.974,0.000,0.546,0.000
$DEVICE_MAMPS,190.983,53.690,1049.256,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,384.718,1325.988,1364.592,209.170,1101.819,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47675,572
$CAP_FILE_SIZE,125946,0
$CFSIZE,260165632,239575040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210912,234833,2256.879,-15735.769,13,7.7,32,10.1