version: 66.04
glider: 512
mission: 2
dive: 460
start: 9 24 111 7 56 56
data:
$ID,512
$MISSION,2
$DIVE,460
$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,-42145.457
$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,63
$R_STBD_OVSHOOT,31
$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
$GPS1,074407,2322.417,-15803.610,35,1.1,35,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-80.6
$GPS2,075601,2322.394,-15803.790,11,1.1,16,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,right1
$TGT_LATLONG,2317.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.267,-0.010
$KALMAN_X,-563569.0,214.4,386.2,548811.7,-5348.8
$KALMAN_Y,-158560.0,435.2,396.4,304306.6,-5301.9
$MHEAD_RNG_PITCHd_Wd,82.1,114061,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-0.75,-155.7,0.0,0.0,0,94,0.00,0.00,-67.88,0.000,2,0.000,0.000,37,2459,3180
$GC,100,-0.75,-155.7,3.6,-5.8,9,124,8.43,2.00,-8.98,0.000,4,0.198,0.036,2266,1088,3705
$GC,200,-0.75,-155.7,38.5,-17.8,22,204,0.00,2.15,0.00,0.000,6,0.000,0.039,2258,2493,3707
$GC,472,-0.75,-155.7,98.8,-18.8,47,475,0.00,2.17,0.00,0.000,4,0.000,0.045,2247,3897,3708
$GC,503,-0.75,-155.7,104.8,-18.0,49,510,0.00,2.05,0.00,0.000,6,0.000,0.021,2246,2507,3707
$GC,768,-0.75,-155.7,151.3,-17.2,74,772,0.00,2.03,0.00,0.000,4,0.000,0.025,2247,1101,3708
$GC,798,-0.75,-155.7,157.3,-17.4,76,805,0.00,2.15,0.00,0.000,6,0.000,0.038,2238,2495,3708
$GC,1093,-0.75,-155.7,208.2,-17.7,101,1096,0.00,2.17,0.00,0.000,4,0.000,0.047,2227,3903,3709
$GC,1117,-0.75,-155.7,212.9,-17.7,101,1121,0.15,2.03,0.00,0.000,6,0.123,0.021,2271,2500,3709
$GC,1387,-0.75,-155.7,244.1,-11.1,108,1390,0.00,2.00,0.00,0.000,4,0.000,0.024,2271,1093,3709
$GC,1422,-0.75,-155.7,248.3,-10.1,108,1426,0.00,2.12,0.00,0.000,6,0.000,0.036,2264,2500,3709
$GC,1680,-0.75,-155.7,277.3,-11.7,115,1683,0.00,2.17,0.00,0.000,4,0.000,0.048,2253,3904,3709
$GC,1756,-0.75,-155.7,284.9,-8.8,116,1760,0.00,2.05,0.00,0.000,6,0.000,0.021,2253,2486,3709
$GC,2019,-0.75,-155.7,315.3,-11.8,123,2023,0.00,1.98,0.00,0.000,4,0.000,0.025,2253,1107,3708
$GC,2061,-0.75,-155.7,319.5,-9.2,123,2067,0.00,2.12,0.00,0.000,6,0.000,0.038,2250,2505,3709
$GC,2313,-0.75,-155.7,345.9,-11.0,130,2317,0.00,2.17,0.00,0.000,4,0.000,0.049,2239,3905,3708
$GC,2363,-0.75,-155.7,350.8,-9.2,131,2367,0.00,2.03,0.00,0.000,6,0.000,0.022,2239,2494,3707
$GC,2657,-0.75,-155.7,383.1,-11.3,138,2660,0.00,2.00,0.00,0.000,4,0.000,0.025,2239,1105,3706
$GC,2686,-0.75,-155.7,387.1,-12.6,138,2691,0.10,2.12,0.00,0.000,6,0.117,0.039,2266,2500,3706
$GC,2951,-0.75,-155.7,410.8,-8.9,145,2955,0.00,2.17,0.00,0.000,4,0.000,0.051,2258,3901,3703
$GC,2992,-0.75,-155.7,414.4,-7.9,145,3000,0.00,2.05,0.00,0.000,6,0.000,0.022,2258,2490,3703
$GC,3245,-0.75,-155.7,435.5,-8.3,152,3249,0.00,2.00,0.00,0.000,4,0.000,0.026,2257,1105,3702
$GC,3281,-0.75,-155.7,438.6,-8.3,152,3284,0.00,2.15,0.00,0.000,6,0.000,0.039,2250,2512,3701
$GC,3540,-0.75,-155.7,458.6,-7.6,159,3544,0.00,2.17,0.00,0.000,4,0.000,0.051,2239,3899,3699
$GC,3581,-0.75,-155.7,461.9,-7.5,159,3588,0.00,2.03,0.00,0.000,6,0.000,0.023,2239,2508,3699
$GC,3835,-0.75,-155.7,482.9,-8.5,166,3839,0.00,2.03,0.00,0.000,4,0.000,0.027,2239,1111,3697
$GC,3878,-0.75,-155.7,486.7,-8.2,166,3884,0.00,2.15,0.00,0.000,6,0.000,0.041,2236,2508,3696
$GC,4130,-0.75,-155.7,509.0,-9.1,173,4134,0.00,2.17,0.00,0.000,4,0.000,0.051,2225,3896,3694
$GC,4189,-0.75,-155.7,514.4,-8.8,174,4193,0.12,2.03,0.00,0.000,6,0.107,0.024,2265,2503,3693
$GC,4470,-0.75,-155.7,533.2,-6.7,181,4474,0.00,2.03,0.00,0.000,4,0.000,0.027,2265,1107,3691
$GC,4501,-0.75,-155.7,535.4,-6.9,181,4505,0.00,2.15,0.00,0.000,6,0.000,0.041,2263,2502,3692
$GC,4765,-0.75,-155.7,552.3,-6.3,188,4769,0.00,2.20,0.00,0.000,4,0.000,0.054,2252,3902,3690
$GC,4818,-0.75,-155.7,555.8,-6.3,189,4822,0.00,2.05,0.00,0.000,6,0.000,0.025,2252,2497,3689
$GC,5106,-0.75,-155.7,576.1,-7.2,196,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2490,3687
$GC,5347,-0.75,-155.7,595.1,-7.9,202,5352,0.00,2.28,0.00,0.000,4,0.000,0.054,2246,3905,3686
$GC,5390,-0.75,-155.7,598.6,-7.5,203,5394,0.00,2.08,0.00,0.000,6,0.000,0.027,2246,2502,3685
$GC,5683,-0.75,-155.7,623.3,-8.3,210,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2495,3683
$GC,5927,-0.75,-155.7,642.1,-7.7,216,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2495,3682
$GC,6169,-0.75,-155.7,659.3,-7.0,222,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2495,3680
$GC,6415,-0.75,-155.7,674.7,-6.3,228,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2495,3678
$GC,6657,-0.75,-155.7,689.1,-5.9,234,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2495,3677
$GC,6901,-0.75,-155.7,704.2,-6.3,240,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2495,3676
$GC,7146,-0.75,-155.7,720.3,-6.6,246,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2495,3675
$GC,7388,-0.75,-155.7,736.6,-6.6,252,7392,0.00,2.25,0.00,0.000,4,0.000,0.055,2237,3895,3673
$GC,7418,-0.75,-155.7,738.8,-7.4,252,7421,0.00,2.08,0.00,0.000,6,0.000,0.028,2237,2500,3673
$GC,7682,-0.75,-155.7,758.4,-7.5,259,7686,0.00,2.08,0.00,0.000,4,0.000,0.030,2237,1096,3673
$GC,7707,-0.75,-155.7,760.4,-7.7,259,7712,0.10,2.20,0.00,0.000,6,0.120,0.044,2266,2500,3673
$GC,7971,-0.75,-155.7,774.3,-5.1,266,7975,0.00,2.25,0.00,0.000,4,0.000,0.058,2257,3899,3671
$GC,8025,-0.75,-155.7,777.5,-6.6,267,8029,0.00,2.08,0.00,0.000,6,0.000,0.029,2257,2487,3671
$GC,8311,-0.75,-155.7,798.9,-8.3,274,8314,0.00,2.03,0.00,0.000,4,0.000,0.028,2257,1099,3670
$GC,8514,-0.75,-155.7,818.3,-10.5,278,8518,0.00,2.20,0.00,0.000,6,0.000,0.042,2257,2514,3669
$GC,8784,-0.75,-155.7,844.6,-9.8,285,8788,0.00,2.22,0.00,0.000,4,0.000,0.058,2256,3898,3668
$GC,8803,-0.75,-155.7,846.7,-9.5,285,8807,0.00,2.10,0.00,0.000,6,0.000,0.028,2257,2483,3667
$GC,9078,-0.75,-155.7,872.1,-9.4,292,9082,0.00,2.30,0.00,0.000,4,0.000,0.056,2257,3895,3667
$GC,9148,-0.75,-155.7,878.4,-8.4,293,9152,0.00,2.05,0.00,0.000,6,0.000,0.028,2266,2506,3666
$STATE,9406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9406,begin apogee
$GC,9417,-0.27,0.0,900.8,8.4,300,9550,0.43,0.00,130.45,1.305,6,0.053,0.000,2442,2497,3070
$STATE,9551,end apogee,CONTROL_FINISHED_OK
$STATE,9551,begin climb
$GC,9556,0.75,155.7,908.2,0.0,303,9745,0.82,2.33,155.20,1.216,4,0.041,0.029,2773,1098,2434
$GC,10001,0.75,155.7,853.4,22.7,313,10005,0.00,2.17,0.00,0.000,6,0.000,0.038,2770,2484,2424
$GC,10282,0.75,155.7,788.8,22.7,320,10286,0.00,2.12,0.00,0.000,4,0.000,0.029,2778,1075,2422
$GC,10367,0.75,155.7,770.6,21.2,321,10373,0.00,2.20,0.00,0.000,6,0.000,0.038,2779,2491,2421
$GC,10619,0.75,155.7,716.2,21.5,328,10623,0.00,2.20,0.00,0.000,4,0.000,0.048,2779,3890,2421
$GC,10734,0.75,155.7,689.5,23.6,330,10739,0.15,2.10,0.00,0.000,6,0.238,0.027,2758,2481,2419
$GC,10999,0.75,155.7,639.3,18.1,337,11003,0.00,2.10,0.00,0.000,4,0.000,0.031,2768,1075,2418
$GC,11138,0.75,155.7,616.9,16.3,340,11142,0.00,2.17,0.00,0.000,6,0.000,0.039,2767,2482,2418
$GC,11424,0.75,155.7,570.0,16.1,347,11425,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2483,2417
$GC,11667,0.75,155.7,530.7,16.1,353,11671,0.00,2.20,0.00,0.000,4,0.000,0.048,2767,3895,2417
$GC,11727,0.75,155.7,520.5,16.5,354,11731,0.00,2.10,0.00,0.000,6,0.000,0.027,2775,2482,2415
$GC,12009,0.75,155.7,472.8,16.7,361,12013,0.00,2.22,0.00,0.000,4,0.000,0.047,2768,3893,2416
$GC,12196,0.75,155.7,441.7,16.0,365,12200,0.00,2.10,0.00,0.000,6,0.000,0.027,2776,2478,2415
$GC,12489,0.75,155.7,403.9,11.6,372,12493,0.00,2.08,0.00,0.000,4,0.000,0.029,2787,1068,2415
$GC,12576,0.76,162.1,394.9,9.7,373,12582,0.00,2.17,0.00,0.000,6,0.000,0.038,2781,2484,2415
$GC,12828,0.76,162.1,369.2,10.3,380,12832,0.00,2.20,0.00,0.000,4,0.000,0.048,2780,3901,2414
$GC,12949,0.76,162.1,353.8,12.8,382,12953,0.15,2.10,0.00,0.000,6,0.226,0.026,2758,2477,2415
$GC,13206,0.76,162.1,325.5,10.7,389,13210,0.00,2.08,0.00,0.000,4,0.000,0.029,2767,1067,2415
$GC,13292,0.79,183.2,316.9,9.1,390,13319,0.00,2.20,21.98,0.886,6,0.000,0.040,2767,2473,2323
$GC,13584,0.79,183.2,285.6,10.8,398,13588,0.00,2.08,0.00,0.000,4,0.000,0.029,2775,1072,2318
$GC,13709,0.79,183.2,271.8,11.3,400,13713,0.00,2.17,0.00,0.000,6,0.000,0.039,2768,2479,2318
$GC,13968,0.79,183.2,241.4,12.3,407,13972,0.00,2.22,0.00,0.000,4,0.000,0.048,2767,3901,2317
$GC,14083,0.79,183.2,225.1,14.5,409,14087,0.00,2.10,0.00,0.000,6,0.000,0.025,2776,2481,2317
$GC,14346,0.81,199.7,196.1,9.3,418,14376,0.00,2.10,16.92,0.681,4,0.000,0.028,2786,1082,2256
$GC,14483,0.81,199.7,182.0,12.1,430,14487,0.00,2.15,0.00,0.000,6,0.000,0.037,2780,2480,2255
$GC,14753,0.81,199.7,151.2,12.4,455,14757,0.00,2.08,0.00,0.000,4,0.000,0.027,2789,1069,2254
$GC,14928,0.81,199.7,129.2,12.2,470,14932,0.00,2.17,0.00,0.000,6,0.000,0.036,2781,2494,2254
$GC,15199,0.83,217.1,97.8,9.2,495,15218,0.00,0.00,16.70,0.645,6,0.000,0.000,2780,2494,2184
$GC,15477,0.86,242.8,71.8,8.9,521,15502,0.00,0.00,23.00,0.633,6,0.000,0.000,2781,2494,2079
$GC,15757,0.86,242.8,42.0,10.6,547,15764,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2494,2077
$GC,16029,0.86,242.8,13.6,11.9,585,16037,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2494,2077
$STATE,16100,end climb,SURFACE_DEPTH_REACHED
$STATE,16100,begin surface coast
$FINISH,0.4,1.023013
$STATE,16123,end surface coast,CONTROL_FINISHED_OK
$STATE,16123,begin surface
$SM_CCo,16148,84.25,0.586,0,0,1397,410.13
$SM_GC,1.17,0.00,0.00,84.25,0.000,0.000,0.586,38,2495,1397,-7.73,-0.14,410.13
$IRIDIUM_FIX,2314.48,-15803.63,181200,030329
$TT8_MAMPS,0.023777
$HUMID,2030
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,24.90
$XPDR_PINGS,25
$24V_AH,23.0,53.597
$10V_AH,10.7,41.175
$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,17.600,153.000,364.250,84.250,0.000,28.680,37.112,450.716,6.250,0.000,0.000,16.423,1313.177,11639.641,536.050,2284.261,1170.552,33.375,1544.895,0.000,2261.125,0.000,0.544,0.000
$DEVICE_MAMPS,237.770,57.525,1305.434,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,407.794,786.488,809.627,150.740,680.518,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47775,602
$CAP_FILE_SIZE,130634,0
$CFSIZE,260165632,198365184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,5,0
$GPS,240911,122900,2321.542,-15803.142,41,1.4,41,10.1