version: 66.04
glider: 512
mission: 2
dive: 465
start: 9 25 111 6 31 3
data:
$ID,512
$MISSION,2
$DIVE,465
$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,-42241.023
$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,59
$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
$GPS1,061831,2323.320,-15804.705,46,1.1,46,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.7
$GPS2,063008,2323.239,-15804.840,14,1.5,14,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,right1
$TGT_LATLONG,2317.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.162,0.213
$KALMAN_X,-578814.6,439.4,407.1,562012.3,-4774.7
$KALMAN_Y,-172930.7,57.8,-2.6,321016.6,-3643.1
$MHEAD_RNG_PITCHd_Wd,27.2,115984,-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,-155.7,0.0,0.0,0,82,0.00,0.00,-60.30,0.000,2,0.000,0.000,38,2473,2971
$GC,88,-0.75,-155.7,3.2,-4.8,8,120,8.38,2.05,-13.65,0.000,4,0.196,0.039,2263,1106,3708
$GC,152,-0.75,-155.7,25.0,-24.9,17,161,0.00,2.17,0.00,0.000,6,0.000,0.041,2255,2489,3709
$GC,426,-0.75,-155.7,84.4,-20.1,44,430,0.00,2.20,0.00,0.000,4,0.000,0.048,2244,3899,3709
$GC,474,-0.75,-155.7,93.5,-18.4,48,478,0.00,2.05,0.00,0.000,6,0.000,0.021,2244,2491,3709
$GC,747,-0.75,-155.7,142.5,-17.7,73,750,0.00,2.03,0.00,0.000,4,0.000,0.025,2244,1093,3710
$GC,819,-0.75,-155.7,153.6,-13.1,79,823,0.10,2.15,0.00,0.000,6,0.124,0.039,2264,2500,3710
$GC,1085,-0.75,-155.7,188.7,-12.9,103,1088,0.00,2.17,0.00,0.000,4,0.000,0.048,2255,3903,3711
$GC,1138,-0.75,-155.7,195.1,-9.4,107,1147,0.00,2.08,0.00,0.000,6,0.000,0.021,2255,2483,3711
$GC,1392,-0.75,-155.7,230.1,-14.6,117,1396,0.00,1.98,0.00,0.000,4,0.000,0.024,2255,1118,3711
$GC,1433,-0.75,-155.7,235.2,-11.0,117,1439,0.00,2.10,0.00,0.000,6,0.000,0.038,2249,2500,3711
$GC,1686,-0.75,-155.7,264.4,-11.9,124,1689,0.00,2.17,0.00,0.000,4,0.000,0.048,2238,3908,3711
$GC,1751,-0.75,-155.7,271.2,-8.6,125,1754,0.00,2.03,0.00,0.000,6,0.000,0.021,2238,2505,3711
$GC,2027,-0.75,-155.7,303.3,-12.1,132,2031,0.00,2.03,0.00,0.000,4,0.000,0.025,2241,1103,3710
$GC,2057,-0.75,-155.7,306.9,-11.0,132,2061,0.10,2.12,0.00,0.000,6,0.118,0.038,2266,2501,3711
$GC,2321,-0.75,-155.7,328.2,-8.1,139,2325,0.00,2.15,0.00,0.000,4,0.000,0.049,2257,3899,3709
$GC,2373,-0.75,-155.7,332.3,-6.9,140,2377,0.00,2.00,0.00,0.000,6,0.000,0.021,2256,2496,3709
$GC,2660,-0.75,-155.7,355.0,-7.9,147,2664,0.00,2.00,0.00,0.000,4,0.000,0.025,2257,1106,3708
$GC,2696,-0.75,-155.7,357.9,-7.6,147,2700,0.00,2.12,0.00,0.000,6,0.000,0.038,2251,2503,3708
$GC,2955,-0.75,-155.7,378.8,-8.4,154,2959,0.00,2.17,0.00,0.000,4,0.000,0.050,2239,3899,3706
$GC,3013,-0.75,-155.7,383.6,-7.7,155,3017,0.00,2.03,0.00,0.000,6,0.000,0.023,2239,2503,3706
$GC,3296,-0.75,-155.7,410.7,-9.9,162,3299,0.00,2.03,0.00,0.000,4,0.000,0.026,2239,1107,3704
$GC,3321,-0.75,-155.7,413.5,-10.4,162,3325,0.00,2.15,0.00,0.000,6,0.000,0.041,2236,2512,3704
$GC,3590,-0.75,-155.7,442.8,-11.3,169,3594,0.10,2.17,0.00,0.000,4,0.139,0.051,2256,3905,3701
$GC,3637,-0.75,-155.7,447.5,-8.7,170,3641,0.00,2.05,0.00,0.000,6,0.000,0.024,2256,2495,3700
$GC,3930,-0.75,-155.7,474.1,-8.9,177,3934,0.00,2.03,0.00,0.000,4,0.000,0.027,2256,1103,3698
$GC,3966,-0.75,-155.7,477.0,-7.7,177,3970,0.00,2.15,0.00,0.000,6,0.000,0.041,2250,2498,3698
$GC,4224,-0.75,-155.7,497.9,-8.2,184,4228,0.00,2.25,-0.08,0.000,4,0.000,0.064,2239,3904,3722
$GC,4287,-0.75,-155.7,503.1,-8.2,185,4291,0.00,2.05,0.00,0.000,6,0.000,0.025,2239,2498,3722
$GC,4558,-0.75,-155.7,529.7,-10.4,192,4562,0.00,2.03,0.00,0.000,4,0.000,0.028,2239,1109,3720
$GC,4577,-0.75,-155.7,532.1,-10.7,192,4582,0.10,2.15,0.00,0.000,6,0.114,0.041,2267,2501,3720
$GC,4846,-0.75,-155.7,553.2,-7.6,199,4849,0.00,2.22,0.00,0.000,4,0.000,0.054,2258,3905,3718
$GC,4895,-0.75,-155.7,556.8,-8.0,200,4899,0.00,2.08,0.00,0.000,6,0.000,0.026,2258,2483,3717
$GC,5187,-0.75,-155.7,579.3,-7.8,207,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2475,3716
$GC,5432,-0.75,-155.7,597.2,-7.3,213,5436,0.00,2.30,0.00,0.000,4,0.000,0.055,2258,3904,3714
$GC,5582,-0.75,-155.7,608.5,-8.1,216,5586,0.00,2.05,0.00,0.000,6,0.000,0.027,2260,2503,3713
$GC,5857,-0.75,-155.7,628.9,-7.5,223,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2496,3711
$GC,6101,-0.75,-155.7,649.6,-8.6,229,6105,0.00,2.08,0.00,0.000,4,0.000,0.030,2260,1099,3709
$GC,6160,-0.75,-155.7,655.0,-9.2,230,6165,0.00,2.17,0.00,0.000,6,0.000,0.042,2260,2505,3709
$GC,6437,-0.75,-155.7,680.5,-9.4,237,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2506,3707
$GC,6679,-0.75,-155.7,703.1,-9.2,243,6683,0.00,2.20,0.00,0.000,4,0.000,0.056,2260,3894,3705
$GC,6731,-0.75,-155.7,707.9,-9.1,244,6735,0.00,2.05,0.00,0.000,6,0.000,0.028,2268,2489,3705
$GC,7020,-0.75,-155.7,732.4,-8.6,251,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2483,3704
$GC,7261,-0.75,-155.7,753.7,-8.9,257,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2483,3702
$GC,7505,-0.75,-155.7,776.9,-9.7,263,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2483,3701
$GC,7748,-0.75,-155.7,801.2,-10.1,269,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2483,3700
$GC,7993,-0.75,-155.7,826.9,-10.6,275,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2482,3698
$GC,8237,-0.75,-155.7,852.3,-10.3,281,8241,0.00,2.30,0.00,0.000,4,0.000,0.057,2268,3901,3697
$GC,8295,-0.75,-155.7,858.4,-9.8,282,8299,0.00,2.08,0.00,0.000,6,0.000,0.029,2269,2496,3696
$GC,8571,-0.75,-155.7,884.2,-9.5,289,8575,0.00,2.05,0.00,0.000,4,0.000,0.031,2278,1109,3696
$GC,8625,-0.75,-155.7,889.6,-9.0,290,8629,0.00,2.17,0.00,0.000,6,0.000,0.044,2278,2502,3696
$STATE,8778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8778,begin apogee
$GC,8789,-0.27,0.0,903.6,8.9,294,8930,0.40,0.00,137.57,1.295,6,0.054,0.000,2443,2502,3070
$STATE,8931,end apogee,CONTROL_FINISHED_OK
$STATE,8931,begin climb
$GC,8936,0.75,155.7,911.7,0.0,297,9106,0.82,2.42,150.38,1.250,4,0.043,0.049,2754,3900,2434
$GC,9305,0.75,155.7,867.4,25.4,305,9309,0.00,2.15,0.00,0.000,6,0.000,0.028,2763,2497,2427
$GC,9575,0.75,155.7,808.0,21.4,312,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2492,2423
$GC,9818,0.75,155.7,757.3,21.0,318,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2492,2422
$GC,10063,0.75,155.7,705.8,20.7,324,10067,0.00,2.22,0.00,0.000,4,0.000,0.050,2764,3898,2421
$GC,10099,0.75,155.7,698.1,20.3,324,10105,0.00,2.12,0.00,0.000,6,0.000,0.028,2772,2473,2420
$GC,10355,0.75,155.7,649.6,18.6,331,10358,0.00,2.10,0.00,0.000,4,0.000,0.031,2783,1066,2420
$GC,10424,0.75,155.7,636.7,16.6,332,10428,0.00,2.20,0.00,0.000,6,0.000,0.040,2780,2488,2420
$GC,10687,0.75,155.7,589.7,17.8,339,10690,0.00,2.12,0.00,0.000,4,0.000,0.030,2789,1067,2419
$GC,10701,0.75,155.7,587.2,17.6,339,10705,0.00,2.20,0.00,0.000,6,0.000,0.038,2780,2490,2419
$GC,10977,0.75,155.7,539.1,17.4,346,10981,0.00,2.20,0.00,0.000,4,0.000,0.048,2780,3886,2418
$GC,11001,0.75,155.7,534.2,18.7,346,11006,0.15,2.10,0.00,0.000,6,0.225,0.026,2757,2473,2418
$GC,11264,0.75,155.7,493.1,15.7,353,11268,0.00,2.25,0.00,0.000,4,0.000,0.049,2755,3888,2418
$GC,11323,0.75,155.7,483.4,16.1,354,11327,0.00,2.10,0.00,0.000,6,0.000,0.026,2763,2473,2417
$GC,11605,0.75,155.7,445.7,12.9,361,11609,0.00,2.25,0.00,0.000,4,0.000,0.049,2763,3890,2416
$GC,11623,0.75,155.7,443.0,12.5,361,11627,0.00,2.10,0.00,0.000,6,0.000,0.026,2772,2474,2416
$GC,11891,0.75,155.7,410.7,11.8,368,11893,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2469,2416
$GC,12136,0.75,155.7,382.5,11.6,374,12140,0.00,2.25,0.00,0.000,4,0.000,0.048,2768,3899,2416
$GC,12267,0.75,155.7,366.1,11.3,376,12273,0.00,2.10,0.00,0.000,6,0.000,0.026,2776,2479,2415
$GC,12522,0.76,159.5,340.6,9.8,383,12526,0.00,2.25,0.00,0.000,4,0.000,0.048,2768,3890,2415
$GC,12536,0.79,181.1,339.0,9.1,383,12570,0.00,2.10,22.48,0.834,6,0.000,0.025,2778,2467,2331
$GC,12853,0.79,181.1,295.9,13.9,391,12857,0.00,2.28,0.00,0.000,4,0.000,0.047,2768,3899,2326
$GC,12871,0.79,181.1,293.1,11.9,391,12875,0.00,2.10,0.00,0.000,6,0.000,0.025,2776,2473,2326
$GC,13142,0.79,181.7,265.3,10.0,398,13143,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2468,2326
$GC,13384,0.79,181.7,240.2,10.5,404,13388,0.00,2.05,0.00,0.000,4,0.000,0.028,2787,1070,2326
$GC,13408,0.79,181.7,237.6,10.4,404,13412,0.00,2.15,0.00,0.000,6,0.000,0.037,2781,2480,2326
$GC,13679,0.79,181.7,208.8,10.9,411,13680,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2481,2326
$GC,13929,0.81,200.8,183.3,9.2,426,13954,0.00,2.10,17.95,0.731,4,0.000,0.028,2789,1074,2251
$GC,14104,0.81,200.8,162.7,11.8,441,14108,0.00,2.15,0.00,0.000,6,0.000,0.035,2781,2481,2249
$GC,14375,0.81,200.8,131.5,10.6,466,14378,0.00,2.08,0.00,0.000,4,0.000,0.027,2789,1066,2248
$GC,14415,0.83,217.0,127.7,9.3,469,14440,0.00,2.17,14.95,0.665,6,0.000,0.035,2781,2492,2185
$GC,14702,0.83,217.0,91.8,13.3,495,14706,0.00,2.08,0.00,0.000,4,0.000,0.025,2789,1072,2183
$GC,14810,0.84,222.3,80.0,9.8,504,14822,0.00,2.17,6.38,0.534,6,0.000,0.035,2781,2479,2163
$GC,15095,0.91,280.3,56.5,7.5,530,15150,0.00,2.28,49.42,0.633,4,0.000,0.044,2780,3888,1926
$GC,15398,0.91,280.3,8.8,19.1,567,15407,0.00,2.10,0.00,0.000,6,0.000,0.023,2788,2475,1924
$STATE,15429,end climb,SURFACE_DEPTH_REACHED
$STATE,15429,begin surface coast
$FINISH,0.5,1.022986
$STATE,15441,end surface coast,CONTROL_FINISHED_OK
$STATE,15441,begin surface
$SM_CCo,15467,65.25,0.594,0,0,1398,410.13
$SM_GC,1.52,0.00,0.00,65.25,0.000,0.000,0.594,39,2465,1398,-7.72,-0.99,410.13
$IRIDIUM_FIX,2312.13,-15806.69,191200,020220
$TT8_MAMPS,0.023777
$HUMID,2057
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.50
$XPDR_PINGS,119
$24V_AH,23.0,54.453
$10V_AH,10.7,41.752
$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,17.325,153.550,399.125,65.250,0.000,24.487,41.457,435.793,29.750,0.000,0.000,14.740,1244.641,11263.311,528.042,2053.471,1137.647,33.384,1462.568,0.000,2035.999,0.000,0.544,0.000
$DEVICE_MAMPS,224.731,64.428,1295.463,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,388.588,746.611,767.882,138.108,629.127,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47761,574
$CAP_FILE_SIZE,124545,0
$CFSIZE,260165632,198053888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,2,0
$GPS,250911,105125,2323.406,-15804.787,39,1.6,39,10.1