version: 66.04
glider: 512
mission: 3
dive: 383
start: 9 22 112 3 29 46
data:
$ID,512
$MISSION,3
$DIVE,383
$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,-60364.207
$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,67
$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,2600
$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
$GPS1,032205,2258.007,-15735.640,37,1.4,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-81.5
$GPS2,032901,2257.994,-15735.654,16,1.5,16,10.1
$SPEED_LIMITS,0.248,0.258
$TGT_NAME,HNE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,0.217
$KALMAN_X,-105138.4,-59.3,1019.3,183324.2,-1750.6
$KALMAN_Y,39326.2,-86.2,487.9,-46430.8,-2453.4
$MHEAD_RNG_PITCHd_Wd,23.9,13777,-17.3,-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,-0.49,-107.1,0.0,0.0,0,82,0.00,0.00,-65.88,0.000,2,0.000,0.000,25,2772,2691
$GC,88,-0.49,-107.1,2.2,-2.6,8,113,8.62,1.60,-7.35,0.000,4,0.192,0.055,2358,3802,3038
$GC,269,-0.49,-107.1,46.7,-18.8,32,272,0.00,1.55,0.00,0.000,6,0.000,0.021,2358,2748,3039
$GC,533,-0.49,-107.1,98.1,-15.3,57,536,0.00,1.50,0.00,0.000,4,0.000,0.021,2358,1677,3041
$GC,612,-0.49,-107.1,109.4,-13.7,64,615,0.00,1.60,0.00,0.000,6,0.000,0.039,2351,2705,3041
$GC,876,-0.49,-107.1,151.3,-15.8,89,879,0.00,1.70,0.00,0.000,4,0.000,0.044,2342,3811,3041
$GC,954,-0.49,-107.1,163.8,-14.2,96,957,0.00,1.60,0.00,0.000,6,0.000,0.019,2342,2681,3042
$GC,1235,-0.49,-107.1,208.2,-15.9,120,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2675,3042
$GC,1479,-0.49,-107.1,246.7,-15.8,126,1481,0.00,1.75,0.00,0.000,4,0.000,0.043,2334,3820,3042
$GC,1544,-0.49,-107.1,256.3,-13.4,127,1547,0.08,1.60,0.00,0.000,6,0.115,0.020,2362,2707,3042
$GC,1809,-0.49,-107.1,284.1,-10.3,134,1813,0.00,1.40,0.00,0.000,4,0.000,0.021,2364,1699,3042
$GC,1864,-0.49,-107.1,289.6,-8.9,135,1867,0.00,1.55,0.00,0.000,6,0.000,0.038,2359,2705,3042
$GC,2140,-0.49,-107.1,316.5,-9.7,142,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2706,3041
$GC,2383,-0.49,-107.1,340.0,-9.8,148,2385,0.00,1.45,0.00,0.000,4,0.000,0.021,2359,1690,3041
$GC,2432,-0.49,-107.1,344.8,-9.2,149,2435,0.00,1.55,0.00,0.000,6,0.000,0.041,2358,2691,3041
$GC,2716,-0.49,-107.1,369.4,-8.6,156,2719,0.00,1.70,0.00,0.000,4,0.000,0.048,2351,3806,3039
$GC,2750,-0.49,-107.1,372.5,-8.8,156,2753,0.00,1.62,0.00,0.000,6,0.000,0.021,2351,2679,3038
$GC,3004,-0.49,-107.1,394.7,-8.7,163,3007,0.00,1.77,0.00,0.000,4,0.000,0.048,2346,3813,3036
$GC,3032,-0.49,-107.1,397.2,-8.7,163,3035,0.00,1.60,0.00,0.000,6,0.000,0.022,2346,2685,3036
$GC,3292,-0.49,-107.1,420.1,-8.9,170,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2678,3034
$GC,3536,-0.49,-107.1,441.6,-8.9,176,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2678,3032
$GC,3776,-0.49,-107.1,463.6,-9.1,182,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2678,3030
$GC,4018,-0.49,-107.1,485.4,-9.0,188,4021,0.00,1.40,0.00,0.000,4,0.000,0.025,2346,1698,3029
$GC,4062,-0.49,-107.1,489.4,-8.5,189,4065,0.00,1.60,0.00,0.000,6,0.000,0.044,2345,2717,3028
$GC,4351,-0.49,-107.1,514.4,-8.7,196,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2718,3026
$GC,4591,-0.49,-107.1,535.8,-8.8,202,4594,0.00,1.48,0.00,0.000,4,0.000,0.025,2346,1703,3024
$GC,4625,-0.49,-107.1,538.8,-9.0,202,4627,0.00,1.60,0.00,0.000,6,0.000,0.044,2339,2746,3024
$GC,4879,-0.49,-107.1,562.0,-9.1,209,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2746,3023
$GC,5121,-0.49,-107.1,583.7,-9.0,215,5124,0.00,1.52,0.00,0.000,4,0.000,0.025,2339,1703,3021
$GC,5192,-0.49,-107.1,590.0,-8.5,216,5195,0.12,1.58,0.00,0.000,6,0.118,0.045,2368,2701,3021
$STATE,5368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5368,begin apogee
$GC,5379,-0.18,0.0,602.2,6.6,221,5472,0.30,0.00,90.65,1.053,6,0.087,0.000,2472,2362,2600
$STATE,5472,end apogee,CONTROL_FINISHED_OK
$STATE,5472,begin climb
$GC,5477,0.49,107.1,604.9,0.0,223,5587,0.52,1.75,99.93,1.000,4,0.028,0.044,2699,3425,2162
$GC,5647,0.49,107.1,598.7,14.2,227,5650,0.00,1.60,0.00,0.000,6,0.000,0.024,2706,2370,2158
$GC,5934,0.49,107.1,558.3,13.5,234,5937,0.00,1.58,0.00,0.000,4,0.000,0.028,2715,1290,2153
$GC,5984,0.49,107.1,552.0,13.1,235,5987,0.10,1.70,0.00,0.000,6,0.146,0.040,2684,2368,2152
$GC,6265,0.49,107.1,520.9,10.8,242,6268,0.00,1.62,0.00,0.000,4,0.000,0.047,2682,3417,2150
$GC,6309,0.49,107.1,516.1,11.3,243,6312,0.00,1.58,0.00,0.000,6,0.000,0.025,2689,2370,2149
$GC,6596,0.50,130.2,489.1,9.0,250,6619,0.00,1.70,18.92,0.947,4,0.000,0.048,2686,3411,2069
$GC,6649,0.50,130.2,484.1,10.4,251,6652,0.00,1.58,0.00,0.000,6,0.000,0.025,2692,2374,2069
$GC,6925,0.50,130.2,454.6,11.0,258,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2369,2065
$GC,7167,0.50,130.2,428.5,10.7,264,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2368,2064
$GC,7409,0.50,130.2,400.5,11.7,270,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2369,2063
$GC,7653,0.50,130.2,374.5,10.8,276,7656,0.00,1.65,0.00,0.000,4,0.000,0.048,2687,3422,2062
$GC,7799,0.50,130.2,358.0,11.6,279,7802,0.00,1.55,0.00,0.000,6,0.000,0.026,2692,2389,2062
$GC,8072,0.50,130.2,328.9,10.6,286,8075,0.00,1.65,0.00,0.000,4,0.000,0.048,2686,3414,2061
$GC,8180,0.50,130.2,316.6,10.0,288,8183,0.00,1.50,0.00,0.000,6,0.000,0.025,2692,2407,2061
$GC,8445,0.51,173.9,294.2,8.0,295,8487,0.00,1.60,37.10,0.858,4,0.000,0.028,2700,1302,1890
$GC,8505,0.52,185.8,289.1,9.5,296,8520,0.00,1.75,11.60,0.769,6,0.000,0.041,2701,2423,1842
$GC,8769,0.52,185.8,257.9,12.2,303,8772,0.00,1.65,0.00,0.000,4,0.000,0.028,2709,1299,1837
$GC,8829,0.52,185.8,251.2,10.9,304,8833,0.00,1.70,0.00,0.000,6,0.000,0.041,2709,2375,1835
$GC,9102,0.53,205.3,224.3,9.1,311,9123,0.00,1.67,17.10,0.768,4,0.000,0.046,2709,3417,1762
$GC,9183,0.53,205.3,215.6,11.4,313,9186,0.00,1.55,0.00,0.000,6,0.000,0.024,2718,2392,1760
$GC,9444,0.53,205.3,186.8,11.6,326,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2386,1758
$GC,9701,0.53,205.3,155.4,11.7,351,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2386,1758
$GC,9951,0.53,205.3,126.6,11.3,375,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2386,1758
$GC,10209,0.53,205.3,96.9,12.2,400,10212,0.00,1.58,0.00,0.000,4,0.000,0.027,2725,1306,1758
$GC,10247,0.53,205.3,92.3,10.5,403,10254,0.08,1.70,0.00,0.000,6,0.117,0.038,2700,2404,1757
$GC,10510,0.55,274.7,71.1,6.9,428,10571,0.00,1.62,55.88,0.637,4,0.000,0.024,2707,1294,1480
$GC,10598,0.59,353.1,65.3,6.4,435,10666,0.00,1.70,63.15,0.618,6,0.000,0.035,2707,2398,1159
$GC,10915,0.61,420.6,44.5,6.9,464,10973,0.00,1.62,53.28,0.588,4,0.000,0.041,2707,3417,885
$GC,10998,0.63,468.3,38.4,7.8,470,11047,0.00,1.55,38.42,0.574,6,0.000,0.021,2709,2389,689
$GC,11297,0.63,468.3,11.7,11.0,514,11306,0.00,1.62,0.00,0.000,4,0.000,0.042,2709,3414,685
$GC,11331,0.63,468.3,7.5,11.4,519,11339,0.00,1.50,0.00,0.000,6,0.000,0.020,2709,2385,685
$STATE,11370,end climb,SURFACE_DEPTH_REACHED
$STATE,11370,begin surface coast
$FINISH,0.1,1.013910
$STATE,11396,end surface coast,CONTROL_FINISHED_OK
$STATE,11396,begin surface
$SM_CCo,11479,0.00,0.000,0,0,683,470.23
$SM_GC,0.85,6.78,0.00,0.00,0.023,0.000,0.000,2,2745,683,-7.70,0.00,470.23
$IRIDIUM_FIX,2248.70,-15715.43,171201,000043
$TT8_MAMPS,0.048321
$HUMID,2157
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.00
$XPDR_PINGS,4
$24V_AH,24.2,48.262
$10V_AH,10.6,45.866
$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,16.600,78.050,486.025,0.000,0.000,24.117,41.966,179.079,1.000,0.000,0.000,16.908,0.000,8173.664,457.219,2511.422,734.938,33.346,1259.073,0.000,2245.900,0.000,0.544,0.000
$DEVICE_MAMPS,191.750,55.224,1053.091,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,358.027,1227.770,1268.663,190.531,1013.277,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44690,531
$CAP_FILE_SIZE,95500,0
$CFSIZE,260165632,239505408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220912,064206,2258.765,-15735.367,34,1.3,35,10.1