version: 66.04
glider: 512
mission: 2
dive: 476
start: 9 27 111 8 30 6
data:
$ID,512
$MISSION,2
$DIVE,476
$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,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,-42418.191
$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,2480
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$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
$GPS1,082137,2319.393,-15802.229,34,1.0,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-81.0
$GPS2,082908,2319.326,-15802.274,16,1.3,16,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,right1
$TGT_LATLONG,2317.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.266,-0.027
$KALMAN_X,-886.9,-886.9,-886.9,3918.7,1532.8
$KALMAN_Y,-134.3,-134.3,-134.3,-351.7,232.0
$MHEAD_RNG_PITCHd_Wd,95.3,111127,-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,19,-0.75,-155.7,0.0,0.0,0,89,0.00,0.00,-68.00,0.000,2,0.000,0.000,38,2480,3217
$GC,95,-0.75,-155.7,4.1,-7.3,9,121,8.38,2.22,-8.15,0.000,4,0.196,0.054,2244,3889,3706
$GC,155,-0.75,-155.7,31.1,-35.2,17,159,0.00,2.08,0.00,0.000,6,0.000,0.023,2244,2479,3707
$GC,424,-0.75,-155.7,94.6,-19.4,42,428,0.00,2.05,0.00,0.000,4,0.000,0.025,2244,1066,3708
$GC,496,-0.75,-155.7,105.9,-13.2,48,501,0.10,2.15,0.00,0.000,6,0.123,0.038,2264,2471,3708
$GC,763,-0.75,-155.7,143.7,-14.2,72,766,0.00,2.22,0.00,0.000,4,0.000,0.048,2255,3901,3709
$GC,811,-0.75,-155.7,150.2,-11.8,76,815,0.00,2.08,0.00,0.000,6,0.000,0.021,2254,2465,3709
$GC,1081,-0.75,-155.7,189.0,-15.4,101,1085,0.00,1.98,0.00,0.000,4,0.000,0.023,2254,1082,3709
$GC,1122,-0.75,-155.7,195.0,-11.8,104,1130,0.00,2.17,0.00,0.000,6,0.000,0.039,2250,2484,3710
$GC,1378,-0.75,-155.7,229.8,-14.3,114,1382,0.00,2.20,0.00,0.000,4,0.000,0.048,2238,3906,3709
$GC,1408,-0.75,-155.7,234.5,-14.5,114,1412,0.00,2.08,0.00,0.000,6,0.000,0.021,2238,2471,3710
$GC,1674,-0.75,-155.7,272.2,-14.7,121,1678,0.00,2.25,0.00,0.000,4,0.000,0.047,2227,3901,3710
$GC,1704,-0.75,-155.7,277.0,-14.3,121,1708,0.12,2.08,0.00,0.000,6,0.112,0.021,2266,2468,3710
$GC,1958,-0.75,-155.7,300.7,-9.2,127,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2461,3710
$GC,2200,-0.75,-155.7,324.4,-9.7,133,2204,0.00,2.25,0.00,0.000,4,0.000,0.048,2258,3897,3709
$GC,2225,-0.75,-155.7,326.9,-10.2,133,2229,0.00,2.08,0.00,0.000,6,0.000,0.021,2259,2461,3709
$GC,2496,-0.75,-155.7,353.0,-9.4,140,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2453,3707
$GC,2740,-0.75,-155.7,373.3,-8.2,146,2744,0.00,2.30,0.00,0.000,4,0.000,0.051,2248,3906,3706
$GC,2793,-0.75,-155.7,377.9,-7.8,147,2797,0.00,2.08,0.00,0.000,6,0.000,0.023,2248,2474,3706
$GC,3074,-0.75,-155.7,404.1,-9.4,154,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2467,3704
$GC,3318,-0.75,-155.7,424.3,-7.9,160,3322,0.00,2.28,0.00,0.000,4,0.000,0.051,2237,3898,3702
$GC,3343,-0.75,-155.7,426.4,-8.2,160,3346,0.00,2.08,0.00,0.000,6,0.000,0.023,2237,2477,3702
$GC,3608,-0.75,-155.7,450.7,-9.7,167,3612,0.00,2.28,0.00,0.000,4,0.000,0.051,2226,3903,3700
$GC,3638,-0.75,-155.7,454.1,-10.9,167,3642,0.12,2.08,0.00,0.000,6,0.103,0.024,2266,2485,3699
$GC,3890,-0.75,-155.7,473.3,-7.6,173,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2477,3698
$GC,4134,-0.75,-155.7,491.5,-7.4,179,4136,0.00,0.00,-0.08,0.000,6,0.000,0.000,2266,2477,3722
$GC,4379,-0.75,-155.7,508.2,-6.7,185,4382,0.00,2.28,0.00,0.000,4,0.000,0.054,2258,3900,3720
$GC,4420,-0.75,-155.7,511.1,-5.9,185,4427,0.00,2.12,0.00,0.000,6,0.000,0.025,2258,2464,3720
$GC,4673,-0.75,-155.7,528.2,-7.1,192,4677,0.00,2.00,0.00,0.000,4,0.000,0.028,2262,1089,3718
$GC,4845,-0.75,-155.7,541.6,-7.8,195,4849,0.00,2.15,0.00,0.000,6,0.000,0.040,2262,2491,3717
$GC,5103,-0.75,-155.7,560.0,-7.2,202,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2492,3714
$GC,5347,-0.75,-155.7,579.9,-8.4,208,5350,0.00,2.22,0.00,0.000,4,0.000,0.054,2262,3895,3713
$GC,5412,-0.75,-155.7,585.8,-9.2,209,5416,0.00,2.05,0.00,0.000,6,0.000,0.026,2272,2485,3713
$GC,5689,-0.75,-155.7,612.6,-9.9,216,5693,0.00,2.28,0.00,0.000,4,0.000,0.054,2272,3896,3711
$GC,5713,-0.75,-155.7,615.3,-9.7,216,5717,0.00,2.08,0.00,0.000,6,0.000,0.027,2274,2455,3711
$GC,5977,-0.75,-155.7,641.4,-10.1,223,5981,0.00,2.33,0.00,0.000,4,0.000,0.056,2274,3896,3709
$GC,6018,-0.75,-155.7,645.8,-11.1,223,6025,0.00,2.08,0.00,0.000,6,0.000,0.027,2274,2483,3708
$GC,6271,-0.75,-155.7,670.2,-9.9,230,6275,0.00,2.03,0.00,0.000,4,0.000,0.029,2275,1096,3707
$GC,6307,-0.75,-155.7,673.9,-9.8,230,6311,0.00,2.15,0.00,0.000,6,0.000,0.041,2275,2488,3707
$GC,6567,-0.75,-155.7,696.8,-9.0,237,6570,0.00,2.22,0.00,0.000,4,0.000,0.057,2275,3891,3705
$GC,6615,-0.75,-155.7,701.2,-8.8,238,6619,0.00,2.10,0.00,0.000,6,0.000,0.028,2276,2473,3705
$GC,6907,-0.75,-155.7,724.8,-8.2,245,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2468,3703
$GC,7152,-0.75,-155.7,744.9,-8.2,251,7156,0.00,2.30,0.00,0.000,4,0.000,0.058,2276,3893,3702
$GC,7200,-0.75,-155.7,749.0,-8.5,252,7204,0.00,2.10,0.00,0.000,6,0.000,0.028,2277,2476,3702
$GC,7486,-0.75,-155.7,773.1,-8.8,259,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2469,3701
$GC,7730,-0.75,-155.7,795.7,-9.5,265,7734,0.00,2.30,0.00,0.000,4,0.000,0.057,2277,3884,3699
$GC,7777,-0.75,-155.7,800.3,-10.2,266,7781,0.00,2.08,0.00,0.000,6,0.000,0.030,2277,2485,3698
$GC,8063,-0.75,-155.7,828.4,-10.2,273,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2479,3697
$GC,8306,-0.75,-155.7,853.6,-10.4,279,8310,0.00,2.30,0.00,0.000,4,0.000,0.059,2277,3896,3696
$GC,8347,-0.75,-155.7,858.0,-10.4,279,8354,0.00,2.12,0.00,0.000,6,0.000,0.029,2277,2466,3696
$GC,8604,-0.75,-155.7,882.2,-9.8,286,8608,0.00,2.03,0.00,0.000,4,0.000,0.030,2285,1092,3695
$GC,8656,-0.75,-155.7,887.6,-8.4,287,8660,0.00,2.15,0.00,0.000,6,0.000,0.043,2285,2479,3695
$STATE,8816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8817,begin apogee
$GC,8828,-0.27,0.0,902.4,9.1,291,8967,0.38,0.00,136.62,1.295,6,0.058,0.000,2436,2479,3070
$STATE,8968,end apogee,CONTROL_FINISHED_OK
$STATE,8968,begin climb
$GC,8974,0.75,155.7,910.0,0.0,294,9146,0.85,2.53,150.52,1.246,4,0.041,0.049,2755,3894,2433
$GC,9210,0.75,155.7,896.9,25.8,299,9214,0.00,2.20,0.00,0.000,6,0.000,0.026,2763,2499,2429
$GC,9487,0.75,155.7,833.9,22.9,306,9491,0.00,2.25,0.00,0.000,4,0.000,0.048,2763,3902,2424
$GC,9555,0.75,155.7,816.4,25.4,307,9559,0.00,2.15,0.00,0.000,6,0.000,0.027,2772,2476,2423
$GC,9819,0.75,155.7,758.4,21.7,314,9823,0.00,2.10,0.00,0.000,4,0.000,0.031,2783,1066,2421
$GC,9837,0.75,155.7,754.3,21.6,314,9842,0.00,2.20,0.00,0.000,6,0.000,0.040,2780,2484,2421
$GC,10109,0.75,155.7,697.7,21.0,321,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2484,2420
$GC,10350,0.75,155.7,649.8,19.9,327,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2484,2419
$GC,10596,0.75,155.7,604.3,18.6,333,10600,0.00,2.22,0.00,0.000,4,0.000,0.049,2780,3892,2419
$GC,10695,0.75,155.7,584.8,19.9,335,10700,0.15,2.12,0.00,0.000,6,0.223,0.028,2757,2465,2418
$GC,10976,0.75,155.7,539.4,15.6,342,10980,0.00,2.08,0.00,0.000,4,0.000,0.031,2766,1070,2418
$GC,11197,0.75,155.7,504.5,15.3,346,11203,0.00,2.20,0.00,0.000,6,0.000,0.041,2766,2491,2417
$GC,11451,0.75,155.7,467.6,14.5,353,11455,0.00,2.20,0.00,0.000,4,0.000,0.050,2766,3898,2416
$GC,11514,0.75,155.7,457.3,16.0,354,11518,0.00,2.10,0.00,0.000,6,0.000,0.027,2776,2477,2416
$GC,11791,0.75,155.7,418.4,14.2,361,11794,0.00,2.08,0.00,0.000,4,0.000,0.031,2786,1074,2416
$GC,11827,0.75,155.7,413.2,13.5,361,11831,0.00,2.17,0.00,0.000,6,0.000,0.039,2781,2485,2416
$GC,12085,0.75,155.7,379.0,13.0,368,12089,0.00,2.10,0.00,0.000,4,0.000,0.030,2789,1070,2415
$GC,12210,0.75,155.7,364.5,10.9,370,12214,0.00,2.17,0.00,0.000,6,0.000,0.038,2781,2485,2415
$GC,12465,0.75,155.7,338.8,10.1,376,12468,0.00,2.22,0.00,0.000,4,0.000,0.049,2780,3892,2415
$GC,12725,0.81,199.0,312.4,8.1,381,12777,0.00,2.10,37.88,0.855,6,0.000,0.027,2789,2468,2257
$GC,13025,0.81,199.0,266.0,17.8,389,13029,0.00,2.28,0.00,0.000,4,0.000,0.046,2781,3895,2252
$GC,13088,0.81,199.0,254.4,16.7,390,13092,0.00,2.10,0.00,0.000,6,0.000,0.025,2789,2490,2251
$GC,13360,0.81,199.0,212.3,15.4,397,13363,0.00,2.22,0.00,0.000,4,0.000,0.046,2781,3896,2250
$GC,13417,0.81,199.0,202.5,15.7,398,13421,0.00,2.12,0.00,0.000,6,0.000,0.026,2789,2468,2250
$GC,13696,0.81,199.0,167.2,11.2,421,13699,0.00,2.05,0.00,0.000,4,0.000,0.028,2799,1074,2249
$GC,13904,0.81,199.0,142.9,11.3,439,13908,0.00,2.15,0.00,0.000,6,0.000,0.037,2793,2483,2249
$GC,14174,0.81,199.0,110.9,10.5,464,14177,0.00,2.20,0.00,0.000,4,0.000,0.046,2793,3899,2250
$GC,14203,0.81,199.0,107.7,11.2,466,14212,0.10,2.10,0.00,0.000,6,0.207,0.024,2776,2480,2250
$GC,14475,0.89,263.1,84.5,7.2,491,14539,0.00,2.28,54.33,0.674,4,0.000,0.044,2767,3892,1996
$GC,14613,0.89,263.1,65.2,15.5,502,14622,0.00,2.12,0.00,0.000,6,0.000,0.022,2775,2497,1994
$GC,14880,0.89,263.1,31.8,13.8,527,14884,0.00,2.10,0.00,0.000,4,0.000,0.026,2786,1064,1991
$GC,14967,0.89,263.1,19.7,14.2,541,14975,0.00,2.20,0.00,0.000,6,0.000,0.042,2781,2478,1991
$STATE,15084,end climb,SURFACE_DEPTH_REACHED
$STATE,15084,begin surface coast
$FINISH,0.4,1.002992
$STATE,15115,end surface coast,CONTROL_FINISHED_OK
$STATE,15115,begin surface
$SM_CCo,15140,69.32,0.590,0,0,1397,410.13
$SM_GC,1.21,0.00,0.00,69.32,0.000,0.000,0.590,37,2479,1397,-7.73,-0.03,410.13
$IRIDIUM_FIX,2312.13,-15804.51,211200,030326
$TT8_MAMPS,0.023777
$HUMID,2057
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.20
$XPDR_PINGS,35
$24V_AH,22.9,56.252
$10V_AH,10.7,43.021
$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,17.350,155.525,379.350,69.325,0.000,25.523,35.304,190.387,8.750,0.000,0.000,16.492,1316.778,10828.661,530.746,2092.906,893.149,30.184,1469.016,0.000,2073.719,0.000,0.543,0.000
$DEVICE_MAMPS,223.197,59.059,1294.696,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,383.363,750.870,773.994,138.445,628.413,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47872,566
$CAP_FILE_SIZE,121088,0
$CFSIZE,260165632,197369856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
$CURRENT,0.532,274.9,1
$GPS,270911,124507,2318.218,-15801.747,41,0.9,41,10.1