version: 66.04
glider: 512
mission: 2
dive: 461
start: 9 24 111 12 52 27
data:
$ID,512
$MISSION,2
$DIVE,461
$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,-42182.555
$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,52
$R_STBD_OVSHOOT,33
$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
$GPS1,122900,2321.542,-15803.142,41,1.4,41,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-80.8
$GPS2,125134,2321.446,-15803.339,16,2.9,35,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,right1
$TGT_LATLONG,2317.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.132,0.232
$KALMAN_X,-567127.3,257.6,-79.6,553574.8,-4104.0
$KALMAN_Y,-160135.4,589.3,354.8,303996.3,-4053.8
$MHEAD_RNG_PITCHd_Wd,19.6,113154,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.75,-155.7,0.0,0.0,0,90,0.00,0.00,-68.00,0.000,2,0.000,0.000,38,2495,3174
$GC,96,-0.75,-155.7,3.5,-5.0,9,120,8.35,2.15,-9.18,0.000,4,0.196,0.049,2244,3909,3706
$GC,217,-0.75,-155.7,43.2,-20.5,24,221,0.00,2.08,0.00,0.000,6,0.000,0.021,2244,2494,3707
$GC,489,-0.75,-155.7,105.5,-20.2,49,493,0.00,2.03,0.00,0.000,4,0.000,0.026,2244,1098,3707
$GC,574,-0.75,-155.7,120.7,-14.8,56,583,0.00,2.15,0.00,0.000,6,0.000,0.038,2236,2491,3707
$GC,840,-0.75,-155.7,171.7,-19.7,81,844,0.10,2.15,0.00,0.000,4,0.153,0.044,2252,3895,3707
$GC,894,-0.75,-155.7,180.3,-13.2,85,898,0.00,2.05,0.00,0.000,6,0.000,0.021,2252,2477,3708
$GC,1159,-0.75,-155.7,218.7,-14.2,101,1163,0.00,1.98,0.00,0.000,4,0.000,0.025,2252,1102,3708
$GC,1195,-0.75,-155.7,223.9,-12.4,101,1199,0.00,2.10,0.00,0.000,6,0.000,0.038,2250,2501,3708
$GC,1453,-0.75,-155.7,255.7,-12.9,108,1457,0.00,2.15,0.00,0.000,4,0.000,0.046,2238,3905,3708
$GC,1505,-0.75,-155.7,262.4,-11.1,109,1509,0.00,2.03,0.00,0.000,6,0.000,0.021,2238,2498,3708
$GC,1792,-0.75,-155.7,300.4,-13.7,116,1795,0.00,2.00,0.00,0.000,4,0.000,0.025,2238,1104,3706
$GC,1823,-0.75,-155.7,304.2,-12.1,116,1827,0.10,2.12,0.00,0.000,6,0.116,0.038,2266,2503,3707
$GC,2080,-0.75,-155.7,323.6,-7.1,123,2084,0.00,2.17,0.00,0.000,4,0.000,0.049,2257,3906,3706
$GC,2133,-0.75,-155.7,326.8,-5.3,124,2137,0.00,2.03,0.00,0.000,6,0.000,0.022,2258,2490,3705
$GC,2423,-0.75,-155.7,347.2,-7.3,131,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2483,3703
$GC,2663,-0.75,-155.7,367.0,-8.4,137,2667,0.00,2.22,0.00,0.000,4,0.000,0.049,2248,3905,3701
$GC,2722,-0.75,-155.7,372.1,-8.6,138,2726,0.00,2.05,0.00,0.000,6,0.000,0.023,2248,2492,3701
$GC,3003,-0.75,-155.7,400.5,-10.4,145,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2485,3699
$GC,3249,-0.75,-155.7,425.4,-10.1,151,3253,0.00,2.28,-0.08,0.000,4,0.000,0.062,2237,3905,3721
$GC,3295,-0.75,-155.7,430.1,-9.3,152,3299,0.00,2.05,0.00,0.000,6,0.000,0.024,2237,2500,3720
$GC,3582,-0.75,-155.7,457.4,-9.4,159,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2494,3718
$GC,3826,-0.75,-155.7,479.2,-8.9,165,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2494,3716
$GC,4070,-0.75,-155.7,500.0,-8.6,171,4074,0.00,2.22,0.00,0.000,4,0.000,0.052,2227,3896,3714
$GC,4107,-0.75,-155.7,503.5,-9.0,171,4111,0.12,2.05,0.00,0.000,6,0.104,0.025,2267,2490,3714
$GC,4361,-0.75,-155.7,519.1,-6.1,177,4364,0.00,2.03,0.00,0.000,4,0.000,0.027,2268,1097,3711
$GC,4386,-0.75,-155.7,521.1,-7.4,177,4390,0.00,2.15,0.00,0.000,6,0.000,0.041,2264,2506,3711
$GC,4656,-0.75,-155.7,539.1,-6.7,184,4660,0.00,2.20,0.00,0.000,4,0.000,0.054,2254,3904,3709
$GC,4715,-0.75,-155.7,543.3,-7.3,185,4719,0.00,2.08,0.00,0.000,6,0.000,0.026,2254,2490,3709
$GC,4997,-0.75,-155.7,565.2,-8.0,192,5001,0.00,2.03,0.00,0.000,4,0.000,0.027,2254,1098,3706
$GC,5258,-0.75,-155.7,588.4,-8.3,197,5262,0.00,2.17,0.00,0.000,6,0.000,0.041,2250,2511,3704
$GC,5518,-0.75,-155.7,609.0,-8.1,204,5521,0.00,2.08,0.00,0.000,4,0.000,0.028,2251,1102,3702
$GC,5779,-0.75,-155.7,632.1,-8.1,209,5783,0.00,2.17,0.00,0.000,6,0.000,0.043,2252,2508,3701
$GC,6032,-0.75,-155.7,652.0,-8.1,215,6036,0.00,2.08,0.00,0.000,4,0.000,0.029,2258,1102,3699
$GC,6085,-0.75,-155.7,656.7,-8.8,216,6089,0.00,2.15,0.00,0.000,6,0.000,0.041,2258,2505,3699
$GC,6371,-0.75,-155.7,683.8,-9.8,223,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2505,3697
$GC,6614,-0.75,-155.7,706.8,-9.4,229,6618,0.00,2.20,0.00,0.000,4,0.000,0.056,2259,3892,3695
$GC,6651,-0.75,-155.7,710.2,-8.9,229,6655,0.00,2.08,0.00,0.000,6,0.000,0.028,2261,2495,3695
$GC,6911,-0.75,-155.7,732.9,-8.9,236,6914,0.00,2.03,0.00,0.000,4,0.000,0.030,2262,1101,3694
$GC,6952,-0.75,-155.7,736.8,-9.1,236,6958,0.00,2.17,0.00,0.000,6,0.000,0.045,2261,2496,3694
$GC,7206,-0.75,-155.7,759.1,-9.1,243,7209,0.00,2.25,0.00,0.000,4,0.000,0.058,2261,3903,3692
$GC,7298,-0.75,-155.7,768.5,-10.9,245,7302,0.00,2.10,0.00,0.000,6,0.000,0.028,2261,2491,3691
$GC,7592,-0.75,-155.7,796.2,-9.6,252,7596,0.00,2.05,0.00,0.000,4,0.000,0.030,2269,1097,3691
$GC,7674,-0.75,-155.7,804.5,-9.7,253,7678,0.00,2.20,0.00,0.000,6,0.000,0.044,2269,2508,3690
$GC,7927,-0.75,-155.7,829.2,-9.8,259,7930,0.00,2.22,0.00,0.000,4,0.000,0.058,2269,3898,3689
$GC,7979,-0.75,-155.7,834.9,-10.4,260,7983,0.00,2.08,0.00,0.000,6,0.000,0.028,2270,2498,3689
$GC,8265,-0.75,-155.7,861.9,-9.5,267,8269,0.00,2.05,0.00,0.000,4,0.000,0.030,2280,1108,3688
$GC,8324,-0.75,-155.7,867.5,-10.3,268,8328,0.00,2.17,0.00,0.000,6,0.000,0.044,2280,2505,3688
$GC,8599,-0.75,-155.7,893.0,-9.5,275,8603,0.00,2.25,0.00,0.000,4,0.000,0.060,2280,3898,3686
$STATE,8669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8669,begin apogee
$GC,8683,-0.27,0.0,900.1,9.1,276,8822,0.38,0.00,135.85,1.297,6,0.072,0.000,2428,2473,3070
$STATE,8823,end apogee,CONTROL_FINISHED_OK
$STATE,8823,begin climb
$GC,8828,0.75,155.7,909.5,0.0,280,8998,0.88,2.30,149.57,1.249,4,0.039,0.031,2774,1095,2434
$GC,9165,0.75,155.7,879.1,21.0,287,9169,0.00,2.20,0.00,0.000,6,0.000,0.039,2767,2487,2426
$GC,9428,0.75,155.7,821.0,22.4,294,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2488,2423
$GC,9672,0.75,155.7,768.3,21.7,300,9676,0.00,2.10,0.00,0.000,4,0.000,0.030,2775,1086,2421
$GC,9702,0.75,155.7,761.8,20.9,300,9706,0.00,2.17,0.00,0.000,6,0.000,0.039,2768,2490,2421
$GC,9960,0.75,155.7,712.8,18.8,307,9964,0.00,2.20,0.00,0.000,4,0.000,0.048,2767,3889,2420
$GC,9979,0.75,155.7,708.7,18.5,307,9983,0.00,2.08,0.00,0.000,6,0.000,0.026,2776,2492,2419
$GC,10253,0.75,155.7,657.6,18.2,314,10257,0.00,2.22,0.00,0.000,4,0.000,0.048,2768,3901,2419
$GC,10329,0.75,155.7,642.3,20.5,315,10333,0.00,2.12,0.00,0.000,6,0.000,0.028,2776,2479,2417
$GC,10594,0.75,155.7,597.9,16.5,322,10598,0.00,2.10,0.00,0.000,4,0.000,0.031,2787,1070,2417
$GC,10675,0.75,155.7,584.3,15.5,323,10679,0.00,2.17,0.00,0.000,6,0.000,0.040,2781,2477,2417
$GC,10927,0.75,155.7,544.4,15.6,329,10931,0.00,2.10,0.00,0.000,4,0.000,0.031,2789,1071,2416
$GC,11053,0.75,155.7,524.3,15.9,331,11057,0.00,2.17,0.00,0.000,6,0.000,0.041,2781,2488,2416
$GC,11311,0.75,155.7,484.4,15.3,338,11315,0.00,2.12,0.00,0.000,4,0.000,0.030,2789,1055,2415
$GC,11324,0.75,155.7,482.2,15.2,338,11328,0.00,2.20,0.00,0.000,6,0.000,0.039,2781,2482,2415
$GC,11599,0.75,155.7,441.7,14.4,345,11603,0.00,2.22,0.00,0.000,4,0.000,0.049,2780,3895,2415
$GC,11623,0.75,155.7,438.0,14.2,345,11628,0.15,2.12,0.00,0.000,6,0.225,0.027,2757,2462,2415
$GC,11886,0.75,155.7,407.5,10.9,352,11890,0.00,2.08,0.00,0.000,4,0.000,0.032,2766,1067,2415
$GC,11916,0.75,155.7,404.1,10.5,352,11920,0.00,2.20,0.00,0.000,6,0.000,0.040,2766,2489,2415
$GC,12174,0.75,155.7,377.4,10.3,359,12178,0.00,2.10,0.00,0.000,4,0.000,0.029,2776,1076,2415
$GC,12193,0.75,155.7,375.3,10.1,359,12197,0.00,2.15,0.00,0.000,6,0.000,0.038,2768,2484,2414
$GC,12468,0.75,155.7,344.5,11.6,366,12472,0.00,2.22,0.00,0.000,4,0.000,0.048,2767,3903,2414
$GC,12730,0.77,164.7,313.9,9.6,371,12742,0.00,2.12,5.82,0.719,6,0.000,0.027,2776,2461,2398
$GC,12988,0.85,233.1,294.7,7.0,378,13054,0.00,2.35,60.62,0.886,4,0.000,0.046,2767,3899,2118
$GC,13310,0.85,233.1,232.0,20.5,385,13314,0.00,2.12,0.00,0.000,6,0.000,0.026,2776,2487,2111
$GC,13569,0.85,233.1,183.9,16.7,396,13573,0.00,2.22,0.00,0.000,4,0.000,0.046,2768,3890,2110
$GC,13695,0.85,233.1,159.7,19.0,407,13699,0.00,2.10,0.00,0.000,6,0.000,0.025,2776,2482,2110
$GC,13965,0.85,233.1,114.3,17.5,432,13968,0.00,2.22,0.00,0.000,4,0.000,0.044,2768,3903,2109
$GC,14026,0.85,233.1,103.9,17.8,437,14029,0.00,2.12,0.00,0.000,6,0.000,0.025,2776,2468,2109
$GC,14297,0.90,277.9,74.3,8.1,462,14336,0.00,0.00,37.05,0.658,6,0.000,0.000,2777,2463,1937
$GC,14594,0.90,277.9,33.5,15.9,490,14598,0.00,2.08,0.00,0.000,4,0.000,0.028,2787,1060,1932
$GC,14621,0.90,277.9,29.0,15.4,492,14629,0.00,2.20,0.00,0.000,6,0.000,0.037,2780,2474,1931
$STATE,14777,end climb,SURFACE_DEPTH_REACHED
$STATE,14781,begin surface coast
$FINISH,0.4,0.998938
$STATE,14799,end surface coast,CONTROL_FINISHED_OK
$STATE,14799,begin surface
$SM_CCo,14825,63.55,0.601,0,0,1397,410.13
$SM_GC,1.55,0.00,0.00,63.55,0.000,0.000,0.601,40,2475,1397,-7.72,-0.71,410.13
$IRIDIUM_FIX,2312.13,-15802.33,181200,121203
$TT8_MAMPS,0.023777
$HUMID,2096
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.70
$XPDR_PINGS,22
$24V_AH,23.0,53.791
$10V_AH,10.7,41.293
$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,17.250,158.125,388.925,63.550,0.000,82.390,103.722,817.877,5.500,0.000,0.000,36.470,1200.610,10759.146,507.098,2132.139,1637.431,33.375,1472.821,0.000,2087.301,0.000,0.545,0.000
$DEVICE_MAMPS,224.731,62.127,1296.997,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,355.576,651.528,672.014,125.923,562.360,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41386,524
$CAP_FILE_SIZE,132701,0
$CFSIZE,260165632,198299648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,1,0
$GPS,240911,170206,2321.903,-15803.594,40,1.2,40,10.1