version: 66.04
glider: 512
mission: 2
dive: 467
start: 9 25 111 15 28 21
data:
$ID,512
$MISSION,2
$DIVE,467
$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,-42276.797
$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,54
$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
$GPS1,151555,2322.574,-15804.592,44,1.1,44,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-82.2
$GPS2,152726,2322.521,-15804.699,16,1.2,16,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,right1
$TGT_LATLONG,2317.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.267,-0.011
$KALMAN_X,-585171.1,28.2,-233.2,569675.1,-4052.6
$KALMAN_Y,-179166.7,987.8,522.7,324450.2,-5301.4
$MHEAD_RNG_PITCHd_Wd,82.2,115622,-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,-67.97,0.000,2,0.000,0.000,38,2461,3205
$GC,95,-0.75,-155.7,4.0,-6.4,9,120,8.43,2.05,-8.40,0.000,4,0.199,0.038,2266,1090,3708
$GC,239,-0.75,-155.7,44.3,-14.4,26,243,0.00,2.17,0.00,0.000,6,0.000,0.039,2257,2499,3709
$GC,504,-0.75,-155.7,100.5,-18.3,50,507,0.00,2.17,0.00,0.000,4,0.000,0.048,2246,3896,3710
$GC,577,-0.75,-155.7,111.3,-11.6,56,585,0.00,2.08,0.00,0.000,6,0.000,0.021,2246,2491,3710
$GC,844,-0.75,-155.7,156.1,-17.3,81,848,0.00,2.00,0.00,0.000,4,0.000,0.024,2246,1102,3711
$GC,870,-0.75,-155.7,160.9,-16.7,83,875,0.10,2.15,0.00,0.000,6,0.123,0.039,2264,2506,3711
$GC,1139,-0.75,-155.7,197.6,-12.8,107,1143,0.00,2.17,0.00,0.000,4,0.000,0.049,2255,3905,3711
$GC,1181,-0.75,-155.7,203.1,-10.7,108,1188,0.00,2.05,0.00,0.000,6,0.000,0.021,2255,2492,3711
$GC,1433,-0.75,-155.7,232.0,-11.8,115,1437,0.00,2.00,0.00,0.000,4,0.000,0.024,2254,1098,3711
$GC,1452,-0.75,-155.7,234.4,-11.8,115,1456,0.00,2.15,0.00,0.000,6,0.000,0.038,2245,2512,3712
$GC,1726,-0.75,-155.7,269.3,-13.2,122,1730,0.00,2.15,0.00,0.000,4,0.000,0.048,2234,3902,3712
$GC,1775,-0.75,-155.7,275.0,-11.0,123,1780,0.12,2.03,0.00,0.000,6,0.100,0.021,2274,2493,3711
$GC,2067,-0.75,-155.7,301.0,-8.9,130,2071,0.00,1.98,0.00,0.000,4,0.000,0.024,2275,1111,3711
$GC,2091,-0.75,-155.7,303.0,-8.4,130,2095,0.00,2.12,0.00,0.000,6,0.000,0.038,2275,2509,3711
$GC,2362,-0.75,-155.7,321.9,-6.7,137,2366,0.00,2.15,0.00,0.000,4,0.000,0.050,2266,3902,3710
$GC,2410,-0.75,-155.7,324.9,-5.7,138,2414,0.00,2.03,0.00,0.000,6,0.000,0.022,2265,2489,3710
$GC,2701,-0.75,-155.7,346.9,-7.9,145,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2482,3709
$GC,2947,-0.75,-155.7,368.9,-9.3,151,2951,0.00,2.25,0.00,0.000,4,0.000,0.051,2262,3904,3707
$GC,2990,-0.75,-155.7,373.3,-9.0,152,2994,0.00,2.03,0.00,0.000,6,0.000,0.022,2262,2504,3706
$GC,3282,-0.75,-155.7,402.2,-9.9,159,3285,0.00,2.00,0.00,0.000,4,0.000,0.025,2263,1116,3705
$GC,3312,-0.75,-155.7,405.3,-10.0,159,3315,0.00,2.12,0.00,0.000,6,0.000,0.039,2262,2505,3704
$GC,3577,-0.75,-155.7,429.4,-9.0,166,3581,0.00,2.17,0.00,0.000,4,0.000,0.052,2252,3895,3702
$GC,3613,-0.75,-155.7,432.6,-8.3,166,3617,0.00,2.03,0.00,0.000,6,0.000,0.024,2252,2491,3702
$GC,3872,-0.75,-155.7,456.3,-9.3,173,3875,0.00,2.00,0.00,0.000,4,0.000,0.026,2253,1109,3700
$GC,3896,-0.75,-155.7,458.6,-9.2,173,3900,0.00,2.12,0.00,0.000,6,0.000,0.041,2250,2499,3700
$GC,4166,-0.75,-155.7,481.3,-8.4,180,4170,0.00,2.17,0.00,0.000,4,0.000,0.052,2239,3894,3698
$GC,4207,-0.75,-155.7,484.7,-7.8,180,4214,0.00,2.05,0.00,0.000,6,0.000,0.025,2239,2496,3698
$GC,4459,-0.75,-155.7,506.2,-8.6,187,4463,0.00,2.03,0.00,0.000,4,0.000,0.028,2241,1111,3696
$GC,4491,-0.75,-155.7,508.9,-8.6,187,4495,0.10,2.15,0.00,0.000,6,0.116,0.042,2267,2504,3696
$GC,4748,-0.75,-155.7,522.6,-5.0,194,4752,0.00,2.20,0.00,0.000,4,0.000,0.054,2259,3895,3694
$GC,4797,-0.75,-155.7,525.1,-5.1,195,4800,0.00,2.03,0.00,0.000,6,0.000,0.025,2259,2498,3693
$GC,5090,-0.75,-155.7,543.8,-7.1,202,5093,0.00,2.03,0.00,0.000,4,0.000,0.027,2258,1095,3691
$GC,5120,-0.75,-155.7,546.5,-9.0,202,5124,0.00,2.17,0.00,0.000,6,0.000,0.039,2258,2518,3691
$GC,5378,-0.75,-155.7,569.5,-9.6,209,5382,0.00,2.17,0.00,0.000,4,0.000,0.054,2258,3890,3690
$GC,5481,-0.75,-155.7,580.5,-10.3,211,5485,0.00,2.03,0.00,0.000,6,0.000,0.026,2264,2499,3689
$GC,5762,-0.75,-155.7,609.7,-10.5,218,5766,0.00,2.25,0.00,0.000,4,0.000,0.055,2264,3886,3687
$GC,5826,-0.75,-155.7,616.5,-10.8,219,5830,0.00,2.03,0.00,0.000,6,0.000,0.026,2266,2501,3686
$GC,6102,-0.75,-155.7,640.1,-8.2,226,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2493,3685
$GC,6346,-0.75,-155.7,658.1,-7.3,232,6350,0.00,2.25,0.00,0.000,4,0.000,0.056,2266,3896,3683
$GC,6426,-0.75,-155.7,664.9,-8.3,233,6430,0.00,2.05,0.00,0.000,6,0.000,0.028,2266,2501,3682
$GC,6685,-0.75,-155.7,687.7,-9.4,240,6688,0.00,2.25,0.00,0.000,4,0.000,0.056,2266,3888,3681
$GC,6733,-0.75,-155.7,693.0,-11.1,241,6738,0.00,2.03,0.00,0.000,6,0.000,0.028,2265,2501,3680
$GC,7026,-0.75,-155.7,724.6,-11.1,248,7030,0.00,2.05,0.00,0.000,4,0.000,0.030,2273,1106,3679
$GC,7276,-0.75,-155.7,754.2,-11.8,253,7280,0.00,2.17,0.00,0.000,6,0.000,0.044,2273,2501,3678
$GC,7541,-0.75,-155.7,780.7,-10.0,260,7544,0.00,2.22,0.00,0.000,4,0.000,0.058,2274,3893,3676
$GC,7595,-0.75,-155.7,786.3,-10.4,261,7598,0.00,2.08,0.00,0.000,6,0.000,0.028,2274,2491,3676
$GC,7881,-0.75,-155.7,813.7,-9.7,268,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2484,3675
$GC,8127,-0.75,-155.7,837.0,-9.7,274,8131,0.00,2.30,0.00,0.000,4,0.000,0.058,2273,3896,3674
$GC,8186,-0.75,-155.7,842.9,-9.2,275,8189,0.00,2.08,0.00,0.000,6,0.000,0.028,2274,2495,3673
$GC,8462,-0.75,-155.7,868.0,-9.4,282,8466,0.00,2.05,0.00,0.000,4,0.000,0.030,2274,1103,3673
$GC,8497,-0.75,-155.7,871.6,-10.1,282,8501,0.00,2.17,0.00,0.000,6,0.000,0.045,2275,2501,3672
$GC,8757,-0.75,-155.7,895.3,-9.5,289,8760,0.00,2.25,0.00,0.000,4,0.000,0.059,2275,3904,3671
$STATE,8804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8804,begin apogee
$GC,8817,-0.27,0.0,900.4,9.3,290,8952,0.38,0.00,131.38,1.299,6,0.064,0.000,2428,2466,3070
$STATE,8952,end apogee,CONTROL_FINISHED_OK
$STATE,8953,begin climb
$GC,8959,0.75,155.7,909.1,0.0,293,9129,0.88,2.28,150.15,1.246,4,0.039,0.030,2770,1096,2434
$GC,9243,0.75,155.7,891.6,21.0,299,9247,0.00,2.25,0.00,0.000,6,0.000,0.039,2768,2496,2427
$GC,9514,0.75,155.7,834.1,21.6,306,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2497,2423
$GC,9755,0.75,155.7,786.1,19.3,312,9759,0.00,2.10,0.00,0.000,4,0.000,0.030,2776,1088,2422
$GC,9803,0.75,155.7,776.5,21.2,313,9807,0.00,2.17,0.00,0.000,6,0.000,0.041,2776,2486,2421
$GC,10094,0.75,155.7,718.9,19.4,320,10098,0.00,2.20,0.00,0.000,4,0.000,0.048,2767,3900,2420
$GC,10132,0.75,155.7,711.6,20.1,320,10136,0.00,2.10,0.00,0.000,6,0.000,0.027,2776,2482,2419
$GC,10390,0.75,155.7,663.6,18.4,327,10394,0.00,2.08,0.00,0.000,4,0.000,0.031,2786,1066,2419
$GC,10521,0.75,155.7,641.4,16.8,329,10527,0.00,2.17,0.00,0.000,6,0.000,0.040,2781,2480,2418
$GC,10777,0.75,155.7,599.3,16.6,336,10778,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2480,2418
$GC,11017,0.75,155.7,557.1,17.4,342,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2481,2417
$GC,11261,0.75,155.7,520.4,14.8,348,11264,0.00,2.22,0.00,0.000,4,0.000,0.050,2780,3892,2417
$GC,11347,0.75,155.7,507.0,14.9,349,11354,0.15,2.10,0.00,0.000,6,0.221,0.027,2757,2476,2416
$GC,11603,0.75,155.7,476.1,12.1,356,11606,0.00,2.08,0.00,0.000,4,0.000,0.031,2766,1072,2415
$GC,11672,0.75,155.7,468.0,10.6,357,11676,0.00,2.17,0.00,0.000,6,0.000,0.040,2766,2485,2415
$GC,11935,0.75,155.7,437.5,11.9,364,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2485,2415
$GC,12178,0.75,155.7,408.7,11.8,370,12182,0.00,2.08,0.00,0.000,4,0.000,0.030,2776,1071,2415
$GC,12366,0.75,155.7,386.1,11.5,374,12370,0.00,2.15,0.00,0.000,6,0.000,0.039,2768,2484,2414
$GC,12659,0.75,155.7,351.6,11.6,381,12663,0.00,2.20,0.00,0.000,4,0.000,0.048,2767,3886,2414
$GC,12679,0.75,155.7,349.2,11.2,381,12683,0.00,2.08,0.00,0.000,6,0.000,0.026,2776,2475,2414
$GC,12954,0.75,155.7,319.0,11.0,388,12957,0.00,2.22,0.00,0.000,4,0.000,0.047,2767,3885,2413
$GC,13186,0.75,155.7,291.5,10.5,393,13190,0.00,2.08,0.00,0.000,6,0.000,0.026,2776,2478,2414
$GC,13474,0.80,193.4,265.6,8.4,400,13517,0.00,2.15,32.35,0.794,4,0.000,0.029,2787,1074,2281
$GC,13625,0.80,193.4,249.2,10.7,403,13629,0.00,2.17,0.00,0.000,6,0.000,0.038,2781,2487,2278
$GC,13906,0.80,193.4,214.5,12.0,410,13910,0.00,2.10,0.00,0.000,4,0.000,0.028,2789,1068,2277
$GC,14096,0.80,193.4,191.1,13.6,417,14105,0.00,2.20,0.00,0.000,6,0.000,0.037,2781,2487,2277
$GC,14363,0.80,193.4,158.7,10.9,442,14370,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2487,2276
$GC,14629,0.80,193.4,130.6,10.5,467,14635,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2487,2277
$GC,14894,0.81,199.5,105.0,9.7,492,14907,0.00,2.12,6.20,0.551,4,0.000,0.026,2789,1066,2257
$GC,15113,0.87,247.9,81.2,7.9,511,15164,0.00,2.12,42.08,0.657,6,0.000,0.034,2781,2483,2059
$GC,15420,0.87,247.9,43.9,10.7,539,15424,0.00,2.08,0.00,0.000,4,0.000,0.025,2789,1067,2054
$GC,15469,0.90,270.2,39.1,9.0,543,15496,0.00,2.15,19.45,0.590,6,0.000,0.033,2781,2485,1967
$STATE,15730,end climb,SURFACE_DEPTH_REACHED
$STATE,15730,begin surface coast
$FINISH,0.4,1.011031
$STATE,15753,end surface coast,CONTROL_FINISHED_OK
$STATE,15753,begin surface
$SM_CCo,15778,73.32,0.581,0,0,1398,410.13
$SM_GC,1.46,0.00,0.00,73.32,0.000,0.000,0.581,38,2486,1398,-7.73,-0.40,410.13
$IRIDIUM_FIX,2316.83,-15805.81,191200,111119
$TT8_MAMPS,0.023777
$HUMID,2033
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,24.50
$XPDR_PINGS,33
$24V_AH,23.0,54.769
$10V_AH,10.7,41.984
$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,17.325,161.425,381.600,73.325,0.000,23.762,50.427,413.580,8.250,0.000,0.000,16.885,1300.833,11261.364,517.804,2309.935,1150.139,33.376,1556.979,0.000,2280.368,0.000,0.544,0.000
$DEVICE_MAMPS,220.896,59.059,1298.531,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,398.136,773.582,798.397,142.621,653.425,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47807,588
$CAP_FILE_SIZE,130109,0
$CFSIZE,260165632,197926912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,2,0
$GPS,250911,195406,2322.173,-15804.100,43,1.0,43,10.1