version: 66.04
glider: 512
mission: 2
dive: 473
start: 9 26 111 18 54 44
data:
$ID,512
$MISSION,2
$DIVE,473
$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,-42363.379
$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,48
$R_STBD_OVSHOOT,36
$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
$GPS1,184306,2320.746,-15803.607,49,0.9,55,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-80.5
$GPS2,185349,2320.707,-15803.657,11,1.6,11,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,right1
$TGT_LATLONG,2317.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.175,0.202
$KALMAN_X,-609473.9,153.1,223.2,595172.6,-5338.0
$KALMAN_Y,-191320.4,495.3,161.0,334126.2,-3498.2
$MHEAD_RNG_PITCHd_Wd,30.9,113604,-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,-67.82,0.000,2,0.000,0.000,39,2476,3183
$GC,95,-0.75,-155.7,3.7,-6.2,9,120,8.43,2.22,-8.93,0.000,4,0.198,0.051,2248,3907,3707
$GC,136,-0.75,-155.7,24.2,-49.7,14,144,0.00,2.10,0.00,0.000,6,0.000,0.022,2253,2505,3708
$GC,410,-0.75,-155.7,88.9,-20.8,40,413,0.00,2.05,0.00,0.000,4,0.000,0.025,2253,1092,3708
$GC,457,-0.75,-155.7,97.0,-14.7,44,461,0.00,2.15,0.00,0.000,6,0.000,0.039,2245,2495,3709
$GC,721,-0.75,-155.7,145.9,-19.4,68,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2495,3709
$GC,989,-0.75,-155.7,194.0,-16.9,93,992,0.00,2.17,0.00,0.000,4,0.000,0.047,2233,3901,3710
$GC,1035,-0.75,-155.7,201.7,-13.5,97,1040,0.12,2.05,0.00,0.000,6,0.117,0.021,2270,2483,3710
$GC,1321,-0.75,-155.7,233.5,-10.9,104,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2477,3710
$GC,1565,-0.75,-155.7,257.7,-9.8,110,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2477,3710
$GC,1810,-0.75,-155.7,279.7,-8.7,116,1813,0.00,2.22,0.00,0.000,4,0.000,0.048,2263,3898,3710
$GC,1846,-0.75,-155.7,282.6,-7.6,116,1850,0.00,2.03,0.00,0.000,6,0.000,0.021,2263,2487,3710
$GC,2106,-0.75,-155.7,305.4,-9.2,123,2109,0.00,1.98,0.00,0.000,4,0.000,0.024,2263,1107,3709
$GC,2142,-0.75,-155.7,308.8,-9.3,123,2146,0.00,2.12,0.00,0.000,6,0.000,0.038,2254,2502,3710
$GC,2400,-0.75,-155.7,334.8,-10.4,130,2404,0.00,2.17,0.00,0.000,4,0.000,0.049,2243,3904,3708
$GC,2459,-0.75,-155.7,340.6,-8.5,131,2463,0.00,2.03,0.00,0.000,6,0.000,0.021,2242,2505,3708
$GC,2740,-0.75,-155.7,372.8,-11.7,138,2744,0.00,2.03,0.00,0.000,4,0.000,0.025,2242,1100,3706
$GC,2789,-0.75,-155.7,377.5,-8.1,139,2793,0.10,2.15,0.00,0.000,6,0.118,0.039,2266,2508,3706
$GC,3076,-0.75,-155.7,396.6,-6.3,146,3079,0.00,2.17,0.00,0.000,4,0.000,0.051,2258,3901,3704
$GC,3124,-0.75,-155.7,399.7,-6.1,147,3128,0.00,2.05,0.00,0.000,6,0.000,0.023,2258,2483,3704
$GC,3417,-0.75,-155.7,422.0,-8.2,154,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2476,3702
$GC,3660,-0.75,-155.7,442.2,-8.3,160,3664,0.00,2.28,0.00,0.000,4,0.000,0.052,2249,3905,3700
$GC,3707,-0.75,-155.7,446.0,-7.5,161,3711,0.00,2.05,0.00,0.000,6,0.000,0.024,2249,2499,3700
$GC,3994,-0.75,-155.7,467.7,-7.3,168,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2492,3697
$GC,4237,-0.75,-155.7,485.2,-7.3,174,4241,0.00,2.28,-0.08,0.000,4,0.000,0.064,2238,3900,3722
$GC,4278,-0.75,-155.7,488.4,-6.9,174,4284,0.00,2.05,0.00,0.000,6,0.000,0.024,2238,2494,3722
$GC,4534,-0.75,-155.7,510.5,-9.0,181,4538,0.00,2.03,0.00,0.000,4,0.000,0.027,2238,1101,3720
$GC,4564,-0.75,-155.7,513.8,-9.2,181,4569,0.10,2.17,0.00,0.000,6,0.115,0.043,2267,2505,3721
$GC,4828,-0.75,-155.7,530.6,-6.3,188,4832,0.00,2.20,0.00,0.000,4,0.000,0.054,2258,3897,3717
$GC,4888,-0.75,-155.7,534.6,-6.7,189,4891,0.00,2.05,0.00,0.000,6,0.000,0.026,2259,2486,3717
$GC,5170,-0.75,-155.7,556.5,-8.4,196,5174,0.00,2.00,0.00,0.000,4,0.000,0.027,2265,1108,3716
$GC,5279,-0.75,-155.7,566.5,-9.2,198,5283,0.00,2.15,0.00,0.000,6,0.000,0.041,2265,2507,3715
$GC,5555,-0.75,-155.7,586.5,-7.0,205,5559,0.00,2.20,0.00,0.000,4,0.000,0.055,2265,3891,3713
$GC,5664,-0.75,-155.7,594.4,-7.5,207,5668,0.00,2.03,0.00,0.000,6,0.000,0.026,2272,2497,3712
$GC,5940,-0.75,-155.7,615.1,-7.9,214,5944,0.00,2.03,0.00,0.000,4,0.000,0.028,2279,1109,3711
$GC,5994,-0.75,-155.7,620.1,-9.0,215,5998,0.00,2.15,0.00,0.000,6,0.000,0.042,2280,2504,3710
$GC,6282,-0.75,-155.7,647.0,-9.9,222,6286,0.00,2.05,0.00,0.000,4,0.000,0.029,2287,1108,3708
$GC,6330,-0.75,-155.7,652.4,-10.7,223,6334,0.00,2.15,0.00,0.000,6,0.000,0.042,2287,2501,3708
$GC,6622,-0.75,-155.7,682.9,-10.5,230,6625,0.00,2.22,0.00,0.000,4,0.000,0.056,2287,3894,3706
$GC,6677,-0.75,-155.7,688.2,-9.3,231,6681,0.00,2.08,0.00,0.000,6,0.000,0.028,2287,2489,3706
$GC,6963,-0.75,-155.7,714.5,-9.1,238,6967,0.00,2.03,0.00,0.000,4,0.000,0.028,2288,1101,3705
$GC,6999,-0.75,-155.7,717.8,-9.2,238,7003,0.00,2.17,0.00,0.000,6,0.000,0.044,2287,2500,3704
$GC,7253,-0.75,-155.7,740.5,-9.4,244,7256,0.00,2.22,0.00,0.000,4,0.000,0.057,2288,3895,3703
$GC,7347,-0.75,-155.7,749.3,-9.9,246,7351,0.00,2.05,0.00,0.000,6,0.000,0.028,2287,2493,3702
$GC,7641,-0.75,-155.7,776.5,-9.4,253,7644,0.00,2.03,0.00,0.000,4,0.000,0.029,2287,1109,3701
$GC,7690,-0.75,-155.7,781.5,-9.8,254,7694,0.00,2.17,0.00,0.000,6,0.000,0.043,2288,2511,3701
$GC,7984,-0.75,-155.7,810.3,-10.1,261,7988,0.00,2.22,0.00,0.000,4,0.000,0.058,2287,3896,3699
$GC,8037,-0.75,-155.7,815.8,-8.8,262,8041,0.00,2.05,0.00,0.000,6,0.000,0.028,2288,2497,3699
$GC,8324,-0.75,-155.7,843.0,-9.6,269,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2489,3697
$GC,8567,-0.75,-155.7,865.4,-9.1,275,8571,0.00,2.30,0.00,0.000,4,0.000,0.058,2288,3902,3697
$GC,8692,-0.75,-155.7,876.2,-8.7,277,8698,0.00,2.08,0.00,0.000,6,0.000,0.029,2288,2496,3696
$GC,8945,-0.75,-155.7,898.2,-8.9,284,8949,0.00,2.28,0.00,0.000,4,0.000,0.059,2288,3899,3695
$STATE,8964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8964,begin apogee
$GC,8978,-0.27,0.0,900.6,9.0,284,9120,0.38,0.00,137.20,1.286,6,0.077,0.000,2427,2473,3070
$STATE,9121,end apogee,CONTROL_FINISHED_OK
$STATE,9121,begin climb
$GC,9126,0.75,155.7,909.1,0.0,288,9297,0.88,2.28,149.20,1.249,4,0.039,0.030,2772,1104,2433
$GC,9378,0.75,155.7,895.9,20.8,293,9382,0.00,2.25,0.00,0.000,6,0.000,0.039,2770,2491,2428
$GC,9630,0.75,155.7,840.0,22.4,299,9634,0.00,2.12,0.00,0.000,4,0.000,0.029,2778,1084,2423
$GC,9682,0.75,155.7,828.7,20.6,300,9687,0.00,2.20,0.00,0.000,6,0.000,0.039,2778,2491,2423
$GC,9964,0.75,155.7,769.4,21.1,307,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2491,2421
$GC,10206,0.75,155.7,721.0,19.6,313,10210,0.00,2.22,0.00,0.000,4,0.000,0.049,2778,3902,2420
$GC,10225,0.75,155.7,716.8,19.7,313,10230,0.15,2.10,0.00,0.000,6,0.229,0.026,2757,2488,2419
$GC,10495,0.75,155.7,666.0,18.5,320,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2483,2419
$GC,10738,0.75,155.7,624.3,17.0,326,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2483,2418
$GC,10981,0.75,155.7,583.9,16.7,332,10985,0.00,2.10,0.00,0.000,4,0.000,0.031,2766,1078,2417
$GC,11016,0.75,155.7,577.5,17.8,332,11020,0.00,2.17,0.00,0.000,6,0.000,0.041,2766,2481,2418
$GC,11274,0.75,155.7,537.2,15.7,339,11278,0.00,2.20,0.00,0.000,4,0.000,0.050,2766,3891,2416
$GC,11288,0.75,155.7,535.1,15.1,339,11292,0.00,2.10,0.00,0.000,6,0.000,0.027,2776,2479,2416
$GC,11571,0.75,155.7,494.4,14.8,346,11575,0.00,2.22,0.00,0.000,4,0.000,0.048,2767,3885,2416
$GC,11628,0.75,155.7,484.5,16.3,347,11632,0.00,2.10,0.00,0.000,6,0.000,0.028,2776,2476,2415
$GC,11904,0.75,155.7,445.0,14.0,354,11908,0.00,2.25,0.00,0.000,4,0.000,0.048,2768,3899,2415
$GC,12024,0.75,155.7,427.0,14.3,356,12028,0.00,2.12,0.00,0.000,6,0.000,0.027,2776,2464,2415
$GC,12288,0.75,155.7,392.4,13.1,363,12291,0.00,2.25,0.00,0.000,4,0.000,0.048,2768,3889,2414
$GC,12533,0.75,155.7,357.6,13.9,368,12536,0.00,2.10,0.00,0.000,6,0.000,0.027,2777,2473,2415
$GC,12808,0.76,162.2,327.7,9.7,375,12811,0.00,2.25,0.00,0.000,4,0.000,0.048,2768,3898,2414
$GC,13014,0.82,212.2,309.9,7.8,379,13066,0.00,2.10,46.90,0.895,6,0.000,0.026,2777,2474,2204
$GC,13318,0.82,212.2,261.6,18.1,387,13322,0.00,2.25,0.00,0.000,4,0.000,0.048,2768,3887,2197
$GC,13370,0.82,212.2,251.8,18.4,388,13374,0.00,2.12,0.00,0.000,6,0.000,0.026,2776,2476,2196
$GC,13656,0.82,212.2,203.3,15.9,395,13660,0.00,2.08,0.00,0.000,4,0.000,0.029,2787,1078,2195
$GC,13718,0.82,212.2,194.4,13.5,397,13722,0.00,2.17,0.00,0.000,6,0.000,0.038,2780,2491,2195
$GC,13989,0.82,212.2,161.4,10.7,422,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2491,2195
$GC,14255,0.82,212.2,124.5,16.2,447,14259,0.00,2.17,0.00,0.000,4,0.000,0.046,2780,3889,2194
$GC,14340,0.82,212.2,108.8,17.1,454,14347,0.00,2.10,0.00,0.000,6,0.000,0.024,2789,2474,2194
$GC,14606,0.84,221.2,76.8,9.6,479,14620,0.00,2.03,7.85,0.575,4,0.000,0.025,2799,1075,2168
$GC,14659,0.89,268.8,72.4,7.9,483,14712,0.00,2.15,41.62,0.663,6,0.000,0.035,2793,2490,1972
$GC,14969,0.89,268.8,33.3,14.1,511,14976,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2490,1968
$STATE,15168,end climb,SURFACE_DEPTH_REACHED
$STATE,15168,begin surface coast
$FINISH,0.4,1.003635
$STATE,15186,end surface coast,CONTROL_FINISHED_OK
$STATE,15186,begin surface
$SM_CCo,15210,67.00,0.599,0,0,1397,410.13
$SM_GC,1.33,0.00,0.00,67.00,0.000,0.000,0.599,38,2491,1397,-7.73,-0.23,410.13
$IRIDIUM_FIX,2314.48,-15806.69,201200,141446
$TT8_MAMPS,0.02301
$HUMID,2076
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.10
$XPDR_PINGS,15
$24V_AH,22.9,55.788
$10V_AH,10.7,42.672
$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,17.350,153.825,382.775,67.000,0.000,27.944,34.349,390.953,3.750,0.000,0.000,11.246,1225.028,11013.919,511.859,2096.624,1071.442,33.378,1475.280,0.000,2072.373,0.000,0.545,0.000
$DEVICE_MAMPS,229.333,63.661,1286.259,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,371.887,694.680,714.870,128.622,586.168,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44435,549
$CAP_FILE_SIZE,124006,0
$CFSIZE,260165632,197558272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,1,0
$GPS,260911,231054,2320.958,-15803.047,24,0.9,41,10.1