version: 66.04
glider: 512
mission: 2
dive: 474
start: 9 26 111 23 25 23
data:
$ID,512
$MISSION,2
$DIVE,474
$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,-42384.703
$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,60
$R_STBD_OVSHOOT,34
$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
$GPS1,231054,2320.958,-15803.047,24,0.9,41,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-80.3
$GPS2,232425,2320.821,-15803.161,15,1.1,20,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,right1
$TGT_LATLONG,2317.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.267,-0.005
$KALMAN_X,-612256.5,354.6,568.0,598252.6,-5371.3
$KALMAN_Y,-194683.5,611.7,-9.5,337753.1,-4638.1
$MHEAD_RNG_PITCHd_Wd,81.1,112775,-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,-67.82,0.000,2,0.000,0.000,38,2492,3194
$GC,94,-0.75,-155.7,3.8,-6.3,9,118,8.45,2.05,-8.55,0.000,4,0.199,0.036,2268,1091,3696
$GC,151,-0.75,-155.7,28.8,-35.0,17,160,0.00,2.20,0.00,0.000,6,0.000,0.041,2259,2492,3697
$GC,416,-0.75,-155.7,88.6,-19.9,42,419,0.00,2.20,0.00,0.000,4,0.000,0.048,2248,3903,3698
$GC,477,-0.75,-155.7,98.5,-14.0,47,481,0.00,2.05,0.00,0.000,6,0.000,0.021,2248,2494,3698
$GC,749,-0.75,-155.7,142.6,-16.5,72,752,0.00,2.00,0.00,0.000,4,0.000,0.024,2248,1101,3699
$GC,788,-0.75,-155.7,148.5,-15.3,75,792,0.00,2.15,0.00,0.000,6,0.000,0.038,2238,2512,3699
$GC,1060,-0.75,-155.7,195.2,-17.6,100,1064,0.00,2.15,0.00,0.000,4,0.000,0.047,2226,3901,3699
$GC,1118,-0.75,-155.7,205.3,-14.7,103,1123,0.12,2.03,0.00,0.000,6,0.112,0.021,2265,2492,3699
$GC,1399,-0.75,-155.7,239.6,-12.0,110,1402,0.00,2.00,0.00,0.000,4,0.000,0.023,2266,1093,3699
$GC,1441,-0.75,-155.7,243.9,-9.8,110,1448,0.00,2.17,0.00,0.000,6,0.000,0.037,2263,2505,3699
$GC,1693,-0.75,-155.7,270.1,-10.4,117,1697,0.00,2.17,0.00,0.000,4,0.000,0.048,2252,3906,3699
$GC,1752,-0.75,-155.7,275.7,-8.5,118,1756,0.00,2.03,0.00,0.000,6,0.000,0.021,2252,2489,3699
$GC,2032,-0.75,-155.7,305.2,-10.6,125,2036,0.00,1.98,0.00,0.000,4,0.000,0.024,2252,1102,3698
$GC,2062,-0.75,-155.7,308.3,-10.6,125,2066,0.00,2.12,0.00,0.000,6,0.000,0.038,2250,2502,3698
$GC,2328,-0.75,-155.7,334.2,-10.0,132,2332,0.00,2.17,0.00,0.000,4,0.000,0.049,2239,3901,3697
$GC,2386,-0.75,-155.7,339.8,-8.4,133,2390,0.00,2.03,0.00,0.000,6,0.000,0.021,2238,2492,3697
$GC,2668,-0.75,-155.7,367.8,-10.0,140,2672,0.00,2.03,-0.08,0.000,4,0.000,0.037,2238,1107,3718
$GC,2717,-0.75,-155.7,372.3,-8.8,141,2721,0.10,2.12,0.00,0.000,6,0.119,0.038,2266,2502,3718
$GC,3010,-0.75,-155.7,390.6,-5.9,148,3013,0.00,2.20,0.00,0.000,4,0.000,0.051,2258,3904,3716
$GC,3069,-0.75,-155.7,393.7,-5.8,149,3073,0.00,2.05,0.00,0.000,6,0.000,0.023,2258,2489,3715
$GC,3351,-0.75,-155.7,410.7,-6.4,156,3355,0.00,2.00,0.00,0.000,4,0.000,0.025,2258,1105,3713
$GC,3370,-0.75,-155.7,412.1,-6.5,156,3374,0.00,2.12,0.00,0.000,6,0.000,0.039,2250,2501,3713
$GC,3646,-0.75,-155.7,433.1,-7.9,163,3650,0.00,2.20,0.00,0.000,4,0.000,0.052,2239,3903,3711
$GC,3706,-0.75,-155.7,438.1,-7.8,164,3709,0.00,2.05,0.00,0.000,6,0.000,0.023,2239,2497,3710
$GC,3989,-0.75,-155.7,464.9,-9.8,171,3993,0.00,2.03,0.00,0.000,4,0.000,0.027,2241,1101,3707
$GC,4014,-0.75,-155.7,467.8,-10.0,171,4017,0.00,2.15,0.00,0.000,6,0.000,0.041,2237,2503,3707
$GC,4284,-0.75,-155.7,492.9,-9.5,178,4289,0.10,2.17,0.00,0.000,4,0.139,0.053,2256,3898,3705
$GC,4332,-0.75,-155.7,496.6,-6.3,179,4336,0.00,2.03,0.00,0.000,6,0.000,0.025,2256,2498,3705
$GC,4625,-0.75,-155.7,516.4,-6.7,186,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2491,3703
$GC,4868,-0.75,-155.7,531.6,-6.2,192,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2491,3702
$GC,5111,-0.75,-155.7,547.1,-6.4,198,5115,0.00,2.25,0.00,0.000,4,0.000,0.055,2247,3899,3699
$GC,5135,-0.75,-155.7,548.8,-6.7,198,5139,0.00,2.05,0.00,0.000,6,0.000,0.026,2247,2501,3699
$GC,5405,-0.75,-155.7,568.7,-7.5,205,5408,0.00,2.05,0.00,0.000,4,0.000,0.028,2247,1099,3697
$GC,5436,-0.75,-155.7,571.0,-8.0,205,5439,0.00,2.17,0.00,0.000,6,0.000,0.043,2239,2502,3696
$GC,5700,-0.75,-155.7,592.3,-8.1,212,5703,0.00,2.22,0.00,0.000,4,0.000,0.057,2236,3897,3695
$GC,5758,-0.75,-155.7,596.8,-6.7,213,5762,0.10,2.08,0.00,0.000,6,0.110,0.027,2267,2495,3695
$GC,6038,-0.75,-155.7,611.2,-5.0,220,6042,0.00,2.03,0.00,0.000,4,0.000,0.029,2267,1105,3693
$GC,6074,-0.75,-155.7,613.0,-5.1,220,6078,0.00,2.17,0.00,0.000,6,0.000,0.042,2264,2508,3693
$GC,6333,-0.75,-155.7,630.7,-7.7,227,6337,0.00,2.20,0.00,0.000,4,0.000,0.057,2264,3894,3692
$GC,6427,-0.75,-155.7,639.0,-9.4,229,6431,0.00,2.05,0.00,0.000,6,0.000,0.027,2265,2491,3691
$GC,6721,-0.75,-155.7,663.7,-8.5,236,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2483,3689
$GC,6963,-0.75,-155.7,682.7,-7.8,242,6967,0.00,2.28,0.00,0.000,4,0.000,0.058,2266,3896,3688
$GC,7011,-0.75,-155.7,686.8,-8.9,243,7015,0.00,2.05,0.00,0.000,6,0.000,0.028,2265,2499,3687
$GC,7304,-0.75,-155.7,711.5,-8.9,250,7307,0.00,2.03,0.00,0.000,4,0.000,0.030,2273,1110,3686
$GC,7357,-0.75,-155.7,716.7,-9.5,251,7361,0.00,2.17,0.00,0.000,6,0.000,0.043,2273,2511,3686
$GC,7637,-0.75,-155.7,744.0,-10.1,258,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2512,3685
$GC,7881,-0.75,-155.7,768.9,-10.3,264,7884,0.00,2.22,0.00,0.000,4,0.000,0.058,2273,3901,3683
$GC,7934,-0.75,-155.7,774.3,-10.0,265,7938,0.00,2.08,0.00,0.000,6,0.000,0.028,2274,2499,3683
$GC,8221,-0.75,-155.7,801.5,-9.6,272,8225,0.00,2.30,0.00,0.000,4,0.000,0.058,2274,3906,3682
$GC,8273,-0.75,-155.7,806.7,-9.2,273,8277,0.00,2.10,0.00,0.000,6,0.000,0.028,2278,2496,3682
$GC,8555,-0.75,-155.7,832.6,-9.4,280,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2489,3681
$GC,8798,-0.75,-155.7,855.4,-9.2,286,8802,0.00,2.30,0.00,0.000,4,0.000,0.058,2278,3901,3680
$GC,8845,-0.75,-155.7,859.9,-8.0,287,8849,0.00,2.10,0.00,0.000,6,0.000,0.028,2280,2492,3679
$GC,9134,-0.75,-155.7,886.0,-9.5,294,9138,0.00,2.30,0.00,0.000,4,0.000,0.058,2279,3897,3678
$GC,9210,-0.75,-155.7,893.4,-9.2,295,9213,0.00,2.10,0.00,0.000,6,0.000,0.029,2280,2490,3678
$STATE,9300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9300,begin apogee
$GC,9311,-0.27,0.0,902.0,9.1,298,9447,0.40,0.00,133.50,1.295,6,0.052,0.000,2448,2481,3070
$STATE,9448,end apogee,CONTROL_FINISHED_OK
$STATE,9448,begin climb
$GC,9453,0.75,155.7,910.4,0.0,301,9623,0.82,2.47,150.98,1.246,4,0.041,0.046,2755,3897,2433
$GC,9867,0.75,155.7,860.3,23.6,310,9871,0.00,2.15,0.00,0.000,6,0.000,0.027,2763,2488,2425
$GC,10149,0.75,155.7,797.5,21.9,317,10153,0.00,2.12,0.00,0.000,4,0.000,0.031,2774,1073,2422
$GC,10201,0.75,155.7,785.7,22.2,318,10206,0.00,2.20,0.00,0.000,6,0.000,0.040,2768,2488,2421
$GC,10482,0.75,155.7,728.6,20.3,325,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2488,2420
$GC,10727,0.75,155.7,681.6,19.2,331,10731,0.00,2.22,0.00,0.000,4,0.000,0.049,2767,3894,2419
$GC,10791,0.75,155.7,667.9,21.0,332,10795,0.00,2.12,0.00,0.000,6,0.000,0.027,2776,2471,2418
$GC,11067,0.75,155.7,619.4,17.2,339,11070,0.00,2.08,0.00,0.000,4,0.000,0.031,2786,1070,2418
$GC,11131,0.75,155.7,608.6,16.6,340,11135,0.00,2.20,0.00,0.000,6,0.000,0.040,2780,2491,2418
$GC,11402,0.75,155.7,564.6,16.4,347,11406,0.00,2.10,0.00,0.000,4,0.000,0.030,2789,1070,2417
$GC,11432,0.75,155.7,559.8,15.4,347,11436,0.00,2.17,0.00,0.000,6,0.000,0.039,2781,2480,2417
$GC,11689,0.75,155.7,523.0,14.1,354,11693,0.00,2.12,0.00,0.000,4,0.000,0.031,2789,1059,2417
$GC,11748,0.75,155.7,515.3,13.1,355,11752,0.00,2.20,0.00,0.000,6,0.000,0.040,2781,2480,2416
$GC,12023,0.75,155.7,477.9,13.5,362,12027,0.00,2.25,0.00,0.000,4,0.000,0.051,2780,3902,2416
$GC,12092,0.75,155.7,467.9,14.3,363,12097,0.15,2.12,0.00,0.000,6,0.225,0.027,2757,2468,2415
$GC,12356,0.75,155.7,434.5,12.5,370,12360,0.00,2.25,0.00,0.000,4,0.000,0.050,2755,3885,2415
$GC,12405,0.75,155.7,428.3,12.5,371,12409,0.00,2.08,0.00,0.000,6,0.000,0.028,2763,2483,2415
$GC,12696,0.75,155.7,389.0,13.2,378,12700,0.00,2.25,0.00,0.000,4,0.000,0.051,2764,3896,2415
$GC,12851,0.75,155.7,368.1,13.5,381,12854,0.00,2.10,0.00,0.000,6,0.000,0.027,2773,2475,2414
$GC,13125,0.75,155.7,337.7,10.3,388,13129,0.00,2.08,0.00,0.000,4,0.000,0.030,2783,1071,2414
$GC,13189,0.83,213.2,332.5,7.5,389,13249,0.00,2.17,50.00,0.885,6,0.000,0.039,2781,2481,2200
$GC,13499,0.83,213.2,281.3,19.2,396,13500,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2481,2193
$GC,13741,0.83,213.2,235.2,18.6,402,13744,0.00,2.10,0.00,0.000,4,0.000,0.030,2789,1080,2192
$GC,13799,0.83,213.2,224.6,18.6,403,13803,0.00,2.17,0.00,0.000,6,0.000,0.038,2781,2487,2190
$GC,14058,0.83,213.2,187.3,12.2,414,14062,0.00,2.10,0.00,0.000,4,0.000,0.028,2789,1074,2190
$GC,14142,0.83,213.2,176.6,13.3,421,14146,0.00,2.17,0.00,0.000,6,0.000,0.038,2781,2493,2190
$GC,14408,0.83,213.2,140.2,15.9,445,14412,0.00,2.10,0.00,0.000,4,0.000,0.028,2789,1074,2190
$GC,14512,0.83,213.2,123.4,15.5,454,14516,0.00,2.15,0.00,0.000,6,0.000,0.036,2781,2487,2190
$GC,14784,0.83,213.2,84.9,11.6,479,14790,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2489,2190
$GC,15051,0.92,290.2,64.4,6.7,504,15121,0.00,2.15,63.90,0.658,4,0.000,0.025,2789,1083,1885
$GC,15133,0.92,290.2,57.7,11.3,510,15137,0.00,2.15,0.00,0.000,6,0.000,0.034,2781,2483,1884
$GC,15403,0.92,290.2,17.3,16.3,542,15411,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2483,1880
$STATE,15480,end climb,SURFACE_DEPTH_REACHED
$STATE,15480,begin surface coast
$FINISH,0.4,1.017790
$STATE,15497,end surface coast,CONTROL_FINISHED_OK
$STATE,15498,begin surface
$SM_CCo,15522,57.72,0.591,0,0,1397,410.13
$SM_GC,1.53,0.00,0.00,57.72,0.000,0.000,0.591,39,2484,1397,-7.72,-0.45,410.13
$IRIDIUM_FIX,2312.13,-15801.45,201200,232350
$TT8_MAMPS,0.023777
$HUMID,2090
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.90
$XPDR_PINGS,28
$24V_AH,22.9,55.955
$10V_AH,10.7,42.788
$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,17.425,166.525,398.375,57.725,0.000,57.465,68.096,419.103,7.000,0.000,0.000,20.692,1251.620,11299.684,510.406,2134.576,1194.818,33.403,1489.603,0.000,2103.059,0.000,0.544,0.000
$DEVICE_MAMPS,224.731,58.292,1295.463,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,379.307,705.319,726.852,133.892,600.605,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44684,559
$CAP_FILE_SIZE,130508,0
$CFSIZE,260165632,197492736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,2,2
$GPS,270911,034636,2319.787,-15802.890,36,1.2,42,10.1