version: 66.04
glider: 512
mission: 2
dive: 447
start: 9 21 111 20 42 57
data:
$ID,512
$MISSION,2
$DIVE,447
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,300
$T_MISSION,640
$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,-8
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$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,410
$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,-41914.695
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3070
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,1
$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,0.0043565552
$SEABIRD_T_H,0.00063178345
$SEABIRD_T_I,2.466659e-05
$SEABIRD_T_J,2.7195788e-06
$SEABIRD_C_G,-9.9023848
$SEABIRD_C_H,1.1413758
$SEABIRD_C_I,-0.0018185935
$SEABIRD_C_J,0.00022361503
$GPS1,203007,2318.220,-15758.204,42,1.0,42,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.0
$GPS2,204202,2318.192,-15758.318,12,1.3,12,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,right1
$TGT_LATLONG,2317.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,0.162
$KALMAN_X,-513938.0,302.7,442.1,508432.4,-5543.2
$KALMAN_Y,-121715.2,188.7,-54.1,260372.1,-2881.3
$MHEAD_RNG_PITCHd_Wd,42.6,104337,-16.9,-10.000
$D_GRID,900
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.75,-155.7,0.0,0.0,0,89,0.00,0.00,-68.00,0.000,2,0.000,0.000,39,2491,3179
$GC,95,-0.75,-155.7,3.5,-5.2,9,119,8.43,2.15,-9.20,0.000,4,0.199,0.051,2244,3893,3705
$GC,176,-0.75,-155.7,34.9,-22.4,20,184,0.00,2.08,0.00,0.000,6,0.000,0.022,2244,2507,3706
$GC,442,-0.75,-155.7,99.2,-22.6,45,445,0.00,2.05,0.00,0.000,4,0.000,0.025,2244,1094,3706
$GC,514,-0.75,-155.7,113.0,-16.7,51,518,0.10,2.15,0.00,0.000,6,0.120,0.039,2265,2495,3707
$GC,781,-0.75,-155.7,154.9,-15.2,75,784,0.00,2.20,0.00,0.000,4,0.000,0.048,2256,3908,3708
$GC,853,-0.75,-155.7,165.1,-10.6,81,857,0.00,2.08,0.00,0.000,6,0.000,0.021,2256,2480,3707
$GC,1154,-0.75,-155.7,206.3,-13.8,106,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2473,3708
$GC,1395,-0.75,-155.7,239.1,-13.2,112,1399,0.00,2.22,0.00,0.000,4,0.000,0.047,2244,3902,3708
$GC,1436,-0.75,-155.7,244.2,-11.6,112,1442,0.00,2.03,0.00,0.000,6,0.000,0.021,2244,2502,3708
$GC,1688,-0.75,-155.7,278.6,-14.3,119,1692,0.00,2.03,0.00,0.000,4,0.000,0.025,2245,1095,3708
$GC,1725,-0.75,-155.7,283.6,-12.6,119,1729,0.10,2.15,0.00,0.000,6,0.115,0.038,2266,2507,3707
$GC,1977,-0.75,-155.7,308.0,-9.6,125,1981,0.00,2.15,0.00,0.000,4,0.000,0.048,2257,3899,3707
$GC,2030,-0.75,-155.7,312.7,-8.3,126,2034,0.00,2.03,0.00,0.000,6,0.000,0.021,2258,2488,3707
$GC,2317,-0.75,-155.7,338.4,-9.2,133,2321,0.00,1.98,0.00,0.000,4,0.000,0.023,2257,1109,3706
$GC,2353,-0.75,-155.7,342.0,-9.0,133,2356,0.00,2.12,0.00,0.000,6,0.000,0.038,2250,2506,3706
$GC,2611,-0.75,-155.7,366.9,-10.0,140,2615,0.00,2.17,0.00,0.000,4,0.000,0.049,2239,3901,3704
$GC,2675,-0.75,-155.7,373.4,-8.9,141,2679,0.00,2.05,0.00,0.000,6,0.000,0.023,2239,2486,3704
$GC,2950,-0.75,-155.7,403.5,-11.1,148,2954,0.00,2.00,0.00,0.000,4,0.000,0.025,2240,1099,3702
$GC,3003,-0.75,-155.7,409.0,-8.4,149,3008,0.10,2.15,0.00,0.000,6,0.119,0.038,2266,2505,3701
$GC,3286,-0.75,-155.7,425.6,-5.5,156,3289,0.00,2.17,0.00,0.000,4,0.000,0.051,2258,3898,3699
$GC,3335,-0.75,-155.7,428.3,-5.0,157,3339,0.00,2.05,0.00,0.000,6,0.000,0.024,2258,2485,3699
$GC,3627,-0.75,-155.7,446.2,-6.5,164,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2479,3697
$GC,3871,-0.75,-155.7,464.5,-7.7,170,3875,0.00,2.30,-0.08,0.000,4,0.000,0.064,2248,3902,3720
$GC,3907,-0.75,-155.7,467.3,-7.6,170,3914,0.00,2.08,0.00,0.000,6,0.000,0.025,2248,2502,3720
$GC,4160,-0.75,-155.7,488.1,-8.3,177,4163,0.00,2.05,0.00,0.000,4,0.000,0.026,2248,1104,3718
$GC,4201,-0.75,-155.7,491.4,-7.4,177,4207,0.00,2.15,0.00,0.000,6,0.000,0.040,2238,2501,3717
$GC,4454,-0.75,-155.7,514.9,-9.7,184,4457,0.00,2.20,0.00,0.000,4,0.000,0.054,2235,3894,3716
$GC,4524,-0.75,-155.7,521.4,-8.2,185,4529,0.12,2.05,0.00,0.000,6,0.109,0.025,2274,2490,3715
$GC,4789,-0.75,-155.7,540.2,-7.1,192,4793,0.00,2.03,0.00,0.000,4,0.000,0.026,2274,1098,3714
$GC,4819,-0.75,-155.7,542.7,-7.6,192,4823,0.00,2.15,0.00,0.000,6,0.000,0.041,2266,2502,3714
$GC,5084,-0.75,-155.7,565.7,-9.4,199,5088,0.00,2.22,0.00,0.000,4,0.000,0.053,2266,3904,3711
$GC,5345,-0.75,-155.7,591.3,-9.9,204,5349,0.00,2.08,0.00,0.000,6,0.000,0.026,2273,2490,3709
$GC,5606,-0.75,-155.7,613.4,-8.6,211,5610,0.00,2.05,0.00,0.000,4,0.000,0.027,2281,1071,3708
$GC,5641,-0.75,-155.7,616.9,-9.4,211,5646,0.00,2.20,0.00,0.000,6,0.000,0.040,2281,2503,3708
$GC,5894,-0.75,-155.7,639.9,-9.5,217,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2504,3706
$GC,6139,-0.75,-155.7,664.4,-10.1,223,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2504,3704
$GC,6381,-0.75,-155.7,689.2,-10.2,229,6385,0.00,2.20,0.00,0.000,4,0.000,0.054,2281,3891,3703
$GC,6429,-0.75,-155.7,693.8,-10.1,230,6433,0.00,2.05,0.00,0.000,6,0.000,0.027,2284,2478,3702
$GC,6721,-0.75,-155.7,722.2,-9.9,237,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2471,3701
$GC,6967,-0.75,-155.7,746.0,-9.8,243,6971,0.00,2.30,0.00,0.000,4,0.000,0.054,2283,3902,3699
$GC,7020,-0.75,-155.7,751.5,-9.7,244,7024,0.00,2.08,0.00,0.000,6,0.000,0.028,2284,2497,3699
$GC,7304,-0.75,-155.7,776.7,-9.1,251,7308,0.00,2.28,0.00,0.000,4,0.000,0.054,2284,3901,3697
$GC,7346,-0.75,-155.7,780.6,-8.5,252,7350,0.00,2.08,0.00,0.000,6,0.000,0.028,2285,2500,3697
$GC,7639,-0.75,-155.7,806.2,-9.0,259,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2493,3696
$GC,7882,-0.75,-155.7,828.4,-9.1,265,7886,0.00,2.28,0.00,0.000,4,0.000,0.057,2285,3898,3694
$GC,7945,-0.75,-155.7,834.3,-8.3,266,7949,0.00,2.05,0.00,0.000,6,0.000,0.028,2288,2501,3694
$GC,8216,-0.75,-155.7,859.3,-9.5,273,8220,0.00,2.28,0.00,0.000,4,0.000,0.057,2288,3892,3693
$GC,8270,-0.75,-155.7,864.4,-8.3,274,8274,0.00,2.08,0.00,0.000,6,0.000,0.028,2288,2491,3693
$GC,8553,-0.75,-155.7,889.1,-8.9,281,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2484,3692
$STATE,8708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8708,begin apogee
$GC,8719,-0.27,0.0,903.0,8.5,285,8857,0.38,0.00,135.18,1.308,6,0.055,0.000,2441,2484,3070
$STATE,8859,end apogee,CONTROL_FINISHED_OK
$STATE,8859,begin climb
$GC,8864,0.75,155.7,909.9,0.0,288,9034,0.85,2.47,149.12,1.253,4,0.047,0.045,2754,3887,2433
$GC,9290,0.75,155.7,848.7,24.9,297,9294,0.00,2.12,0.00,0.000,6,0.000,0.026,2763,2497,2425
$GC,9554,0.75,155.7,791.6,21.1,304,9558,0.00,2.22,0.00,0.000,4,0.000,0.047,2764,3894,2422
$GC,9664,0.75,155.7,767.2,22.9,306,9667,0.00,2.12,0.00,0.000,6,0.000,0.026,2772,2479,2422
$GC,9939,0.75,155.7,713.8,19.4,313,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2474,2420
$GC,10184,0.75,155.7,667.1,18.8,319,10188,0.00,2.25,0.00,0.000,4,0.000,0.047,2768,3900,2419
$GC,10213,0.75,155.7,661.0,19.9,319,10217,0.00,2.12,0.00,0.000,6,0.000,0.028,2776,2481,2419
$GC,10474,0.75,155.7,614.8,17.6,326,10478,0.00,2.10,0.00,0.000,4,0.000,0.030,2787,1070,2418
$GC,10544,0.75,155.7,602.6,17.3,327,10548,0.00,2.20,0.00,0.000,6,0.000,0.038,2781,2494,2418
$GC,10807,0.75,155.7,563.4,14.4,334,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2494,2417
$GC,11051,0.75,155.7,527.2,14.9,340,11054,0.00,2.20,0.00,0.000,4,0.000,0.048,2780,3896,2417
$GC,11109,0.75,155.7,518.2,15.7,341,11113,0.15,2.10,0.00,0.000,6,0.217,0.027,2757,2477,2417
$GC,11384,0.75,155.7,480.4,13.6,348,11388,0.00,2.25,0.00,0.000,4,0.000,0.049,2754,3900,2416
$GC,11402,0.75,155.7,477.5,14.2,348,11406,0.00,2.12,0.00,0.000,6,0.000,0.027,2764,2474,2416
$GC,11677,0.75,155.7,442.9,12.1,355,11681,0.00,2.25,0.00,0.000,4,0.000,0.049,2764,3887,2415
$GC,11888,0.75,155.7,413.1,13.3,359,11892,0.00,2.10,0.00,0.000,6,0.000,0.026,2773,2475,2415
$GC,12147,0.75,155.7,378.5,13.3,366,12151,0.00,2.08,0.00,0.000,4,0.000,0.029,2783,1069,2415
$GC,12347,0.75,155.7,354.5,10.4,370,12351,0.00,2.17,0.00,0.000,6,0.000,0.038,2781,2483,2415
$GC,12617,0.75,155.7,325.0,10.8,377,12621,0.00,2.20,0.00,0.000,4,0.000,0.046,2780,3889,2415
$GC,12847,0.75,155.7,299.9,11.2,382,12851,0.15,2.10,0.00,0.000,6,0.217,0.025,2757,2472,2414
$GC,13134,0.75,155.7,270.9,10.2,389,13137,0.00,2.25,0.00,0.000,4,0.000,0.047,2755,3898,2414
$GC,13395,0.80,196.6,248.4,8.2,394,13441,0.00,2.12,35.28,0.785,6,0.000,0.026,2763,2458,2267
$GC,13689,0.80,196.6,210.8,13.7,401,13693,0.00,2.28,0.00,0.000,4,0.000,0.044,2763,3887,2262
$GC,13703,0.80,196.6,208.9,13.2,401,13706,0.00,2.10,0.00,0.000,6,0.000,0.025,2773,2481,2261
$GC,13969,0.80,196.6,176.1,11.9,421,13973,0.00,2.22,0.00,0.000,4,0.000,0.044,2767,3890,2262
$GC,14095,0.80,196.6,159.1,13.6,432,14099,0.00,2.08,0.00,0.000,6,0.000,0.024,2776,2485,2261
$GC,14367,0.81,203.2,129.4,9.7,457,14378,0.00,2.08,6.38,0.586,4,0.000,0.026,2786,1079,2240
$GC,14434,0.88,254.3,123.8,7.8,463,14484,0.00,2.15,44.62,0.712,6,0.000,0.035,2781,2483,2033
$GC,14740,0.88,254.3,80.8,14.3,491,14744,0.00,2.08,0.00,0.000,4,0.000,0.026,2789,1072,2027
$GC,14755,0.88,254.3,78.7,13.2,492,14758,0.00,2.15,0.00,0.000,6,0.000,0.034,2780,2480,2026
$GC,15026,0.88,254.3,46.1,12.4,517,15030,0.00,2.08,0.00,0.000,4,0.000,0.026,2789,1071,2026
$GC,15143,0.88,254.3,31.4,12.3,527,15151,0.00,2.17,0.00,0.000,6,0.000,0.034,2781,2482,2026
$STATE,15348,end climb,SURFACE_DEPTH_REACHED
$STATE,15348,begin surface coast
$FINISH,0.3,1.023031
$STATE,15366,end surface coast,CONTROL_FINISHED_OK
$STATE,15366,begin surface
$SM_CCo,15391,77.70,0.598,0,0,1397,410.13
$SM_GC,1.12,0.00,0.00,77.70,0.000,0.000,0.598,39,2483,1397,-7.72,-0.48,410.13
$IRIDIUM_FIX,2307.44,-15757.10,151200,202056
$TT8_MAMPS,0.023777
$HUMID,2040
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.40
$XPDR_PINGS,40
$24V_AH,23.0,51.303
$10V_AH,10.7,39.641
$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,17.450,154.150,370.575,77.700,0.000,52.500,70.575,331.733,10.000,0.000,0.000,13.052,1280.800,11040.202,515.460,2243.735,1101.417,33.376,1509.424,0.000,2218.135,0.000,0.544,0.000
$DEVICE_MAMPS,217.061,63.661,1307.735,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,384.601,739.596,760.219,137.527,621.461,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47823,567
$CAP_FILE_SIZE,128787,0
$CFSIZE,260165632,199192576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,2,0
$GPS,220911,010207,2318.546,-15758.554,31,1.4,31,10.1