version: 66.04
glider: 512
mission: 2
dive: 480
start: 9 28 111 2 18 50
data:
$ID,512
$MISSION,2
$DIVE,480
$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,140
$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,-42490.145
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2490
$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,64
$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
$GPS1,021025,2316.043,-15800.372,46,0.9,46,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-81.0
$GPS2,021750,2315.985,-15800.468,14,2.0,14,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,right1
$TGT_LATLONG,2317.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,0.100
$KALMAN_X,-18163.5,793.9,505.9,21084.7,-6465.6
$KALMAN_Y,-7335.9,-132.2,-410.9,938.8,-1839.0
$MHEAD_RNG_PITCHd_Wd,54.5,107987,-18.2,-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,-0.77,-136.3,0.0,0.0,0,90,0.00,0.00,-69.05,0.000,2,0.000,0.000,37,2466,3267
$GC,96,-0.77,-136.3,4.6,-8.2,9,123,8.32,2.05,-5.93,0.000,4,0.198,0.038,2242,1080,3629
$GC,189,-0.77,-136.3,39.5,-20.3,20,194,0.00,2.17,0.00,0.000,6,0.000,0.042,2233,2478,3630
$GC,454,-0.77,-136.3,99.6,-21.3,44,458,0.00,2.22,0.00,0.000,4,0.000,0.048,2222,3902,3631
$GC,529,-0.77,-136.3,114.4,-16.6,50,537,0.00,2.10,0.00,0.000,6,0.000,0.021,2226,2490,3631
$GC,793,-0.77,-136.3,162.7,-19.4,75,797,0.00,2.05,0.00,0.000,4,0.000,0.025,2225,1072,3632
$GC,831,-0.77,-136.3,169.5,-17.4,78,835,0.00,2.17,0.00,0.000,6,0.000,0.040,2217,2492,3632
$GC,1093,-0.77,-136.3,217.3,-18.9,96,1097,0.00,2.15,0.00,0.000,4,0.000,0.048,2206,3885,3633
$GC,1117,-0.77,-136.3,222.6,-19.0,96,1121,0.12,2.05,0.00,0.000,6,0.130,0.021,2241,2464,3633
$GC,1386,-0.77,-136.3,259.6,-13.1,103,1389,0.00,1.98,0.00,0.000,4,0.000,0.025,2246,1082,3633
$GC,1404,-0.77,-136.3,262.1,-13.2,103,1408,0.00,2.12,0.00,0.000,6,0.000,0.038,2237,2479,3633
$GC,1680,-0.77,-136.3,294.6,-11.8,110,1683,0.00,2.20,0.00,0.000,4,0.000,0.048,2226,3888,3632
$GC,1732,-0.77,-136.3,300.6,-10.7,111,1736,0.00,2.03,0.00,0.000,6,0.000,0.021,2226,2477,3632
$GC,2018,-0.77,-136.3,335.3,-12.7,118,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2470,3631
$GC,2262,-0.77,-136.3,367.4,-13.2,124,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2470,3630
$GC,2507,-0.77,-136.3,398.2,-12.7,130,2510,0.00,2.25,0.00,0.000,4,0.000,0.049,2216,3892,3629
$GC,2572,-0.77,-136.3,405.9,-12.0,131,2576,0.00,2.05,0.00,0.000,6,0.000,0.022,2215,2480,3628
$GC,2847,-0.77,-136.3,438.7,-11.8,138,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2472,3626
$GC,3092,-0.77,-136.3,466.5,-11.4,144,3096,0.00,2.25,0.00,0.000,4,0.000,0.051,2205,3888,3624
$GC,3146,-0.77,-136.3,472.6,-10.5,145,3150,0.12,2.05,0.00,0.000,6,0.114,0.024,2243,2477,3623
$GC,3428,-0.77,-136.3,495.7,-8.1,152,3432,0.00,2.03,0.00,0.000,4,0.000,0.027,2243,1077,3621
$GC,3458,-0.77,-136.3,498.5,-8.1,152,3462,0.00,2.15,0.00,0.000,6,0.000,0.041,2236,2478,3621
$GC,3723,-0.77,-136.3,520.9,-8.7,159,3727,0.00,2.22,0.00,0.000,4,0.000,0.053,2225,3893,3619
$GC,3792,-0.77,-136.3,527.0,-7.9,160,3796,0.00,2.08,0.00,0.000,6,0.000,0.025,2225,2471,3618
$GC,4062,-0.77,-136.3,552.2,-9.5,167,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2464,3616
$GC,4306,-0.77,-136.3,575.3,-9.4,173,4310,0.00,2.30,0.00,0.000,4,0.000,0.055,2218,3893,3614
$GC,4342,-0.77,-136.3,579.0,-9.4,173,4348,0.00,2.10,0.00,0.000,6,0.000,0.025,2218,2476,3613
$GC,4595,-0.77,-136.3,603.8,-10.0,180,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2469,3612
$GC,4840,-0.77,-136.3,627.9,-9.8,186,4844,0.00,2.30,0.00,0.000,4,0.000,0.055,2207,3897,3609
$GC,4872,-0.77,-136.3,631.1,-10.3,186,4877,0.12,2.10,0.00,0.000,6,0.110,0.027,2245,2482,3609
$GC,5127,-0.77,-136.3,648.6,-6.5,192,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2474,3608
$GC,5368,-0.77,-136.3,663.9,-6.3,198,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2474,3606
$GC,5613,-0.77,-136.3,678.4,-6.0,204,5617,0.00,2.30,0.00,0.000,4,0.000,0.058,2236,3890,3604
$GC,5650,-0.77,-136.3,680.7,-6.6,204,5656,0.00,2.10,0.00,0.000,6,0.000,0.028,2236,2471,3605
$GC,5903,-0.77,-136.3,696.9,-6.4,211,5907,0.00,2.05,0.00,0.000,4,0.000,0.030,2236,1078,3603
$GC,5933,-0.77,-136.3,699.1,-6.8,211,5938,0.00,2.20,0.00,0.000,6,0.000,0.046,2236,2480,3603
$GC,6192,-0.77,-136.3,716.5,-6.9,218,6196,0.00,2.28,0.00,0.000,4,0.000,0.059,2225,3894,3601
$GC,6240,-0.77,-136.3,720.0,-7.6,219,6243,0.00,2.12,0.00,0.000,6,0.000,0.028,2226,2473,3600
$GC,6529,-0.77,-136.3,743.9,-8.5,226,6532,0.00,2.05,0.00,0.000,4,0.000,0.031,2225,1084,3599
$GC,6559,-0.77,-136.3,746.9,-9.7,226,6563,0.00,2.20,0.00,0.000,6,0.000,0.047,2223,2487,3599
$GC,6823,-0.77,-136.3,771.1,-9.3,233,6827,0.00,2.25,0.00,0.000,4,0.000,0.059,2213,3900,3598
$GC,6875,-0.77,-136.3,776.4,-10.3,234,6879,0.00,2.12,0.00,0.000,6,0.000,0.028,2213,2476,3598
$GC,7162,-0.77,-136.3,806.3,-10.5,241,7165,0.00,2.08,0.00,0.000,4,0.000,0.031,2215,1076,3596
$GC,7191,-0.77,-136.3,809.6,-10.7,241,7196,0.12,2.22,0.00,0.000,6,0.120,0.047,2244,2487,3596
$GC,7451,-0.77,-136.3,829.8,-7.7,248,7455,0.00,2.28,0.00,0.000,4,0.000,0.060,2236,3894,3595
$GC,7503,-0.77,-136.3,834.2,-7.8,249,7507,0.00,2.12,0.00,0.000,6,0.000,0.028,2236,2466,3595
$GC,7787,-0.77,-136.3,856.1,-7.7,256,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2458,3594
$GC,8029,-0.77,-136.3,873.9,-7.3,262,8033,0.00,2.35,0.00,0.000,4,0.000,0.060,2226,3905,3594
$GC,8064,-0.77,-136.3,876.6,-7.6,262,8068,0.00,2.15,0.00,0.000,6,0.000,0.029,2226,2476,3593
$GC,8323,-0.77,-136.3,895.9,-7.5,269,8326,0.00,2.08,0.00,0.000,4,0.000,0.032,2226,1080,3593
$GC,8353,-0.77,-136.3,898.3,-7.4,269,8357,0.00,2.22,0.00,0.000,6,0.000,0.047,2223,2490,3593
$STATE,8404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8404,begin apogee
$GC,8416,-0.27,0.0,902.0,7.1,271,8535,0.55,0.00,115.82,1.285,6,0.110,0.000,2401,2491,3070
$STATE,8535,end apogee,CONTROL_FINISHED_OK
$STATE,8535,begin climb
$GC,8541,0.77,136.3,906.6,0.0,274,8688,0.90,2.47,133.50,1.243,4,0.041,0.050,2749,3898,2513
$GC,8953,0.77,136.3,857.7,21.7,283,8957,0.00,2.15,0.00,0.000,6,0.000,0.027,2759,2481,2503
$GC,9239,0.77,136.3,800.5,19.5,290,9243,0.00,2.25,0.00,0.000,4,0.000,0.048,2754,3903,2500
$GC,9381,0.77,136.3,772.3,20.6,293,9385,0.00,2.15,0.00,0.000,6,0.000,0.027,2763,2471,2499
$GC,9668,0.77,136.3,722.1,17.2,300,9672,0.00,2.08,0.00,0.000,4,0.000,0.031,2773,1070,2498
$GC,9709,0.77,136.3,715.0,16.1,300,9716,0.00,2.22,0.00,0.000,6,0.000,0.040,2767,2490,2497
$GC,9962,0.77,136.3,676.3,14.9,307,9966,0.00,2.12,0.00,0.000,4,0.000,0.030,2776,1065,2497
$GC,10054,0.77,136.3,663.1,14.6,309,10058,0.00,2.20,0.00,0.000,6,0.000,0.039,2768,2494,2496
$GC,10342,0.77,136.3,624.0,13.6,316,10346,0.00,2.12,0.00,0.000,4,0.000,0.029,2776,1069,2495
$GC,10356,0.77,136.3,621.9,13.8,316,10360,0.00,2.17,0.00,0.000,6,0.000,0.039,2768,2478,2495
$GC,10630,0.77,136.3,585.1,13.4,323,10634,0.00,2.10,0.00,0.000,4,0.000,0.030,2776,1059,2495
$GC,10716,0.77,136.3,573.9,13.3,324,10722,0.00,2.20,0.00,0.000,6,0.000,0.040,2768,2484,2495
$GC,10970,0.77,136.3,543.3,11.8,331,10973,0.00,2.22,0.00,0.000,4,0.000,0.050,2767,3892,2494
$GC,11063,0.77,136.3,531.2,12.9,333,11068,0.15,2.10,0.00,0.000,6,0.224,0.027,2745,2476,2494
$GC,11350,0.78,143.2,502.2,9.7,340,11354,0.00,2.08,0.00,0.000,4,0.000,0.031,2753,1073,2493
$GC,11589,0.83,180.0,479.4,8.2,345,11639,0.00,2.20,39.03,0.973,6,0.000,0.041,2753,2491,2336
$GC,11910,0.83,180.0,431.2,16.4,353,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2491,2329
$GC,12155,0.83,180.0,390.6,16.5,359,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2491,2328
$GC,12397,0.83,180.0,352.1,15.8,365,12399,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2491,2328
$GC,12642,0.83,180.0,318.2,13.7,371,12646,0.00,2.12,0.00,0.000,4,0.000,0.030,2763,1066,2327
$GC,12678,0.83,180.0,313.3,12.3,371,12682,0.00,2.20,0.00,0.000,6,0.000,0.041,2754,2486,2327
$GC,12930,0.83,180.0,282.4,12.0,377,12934,0.00,2.10,0.00,0.000,4,0.000,0.029,2763,1074,2326
$GC,13057,0.85,194.4,268.8,9.3,379,13083,0.00,2.17,14.90,0.723,6,0.000,0.040,2763,2481,2277
$GC,13359,0.85,194.4,231.2,12.8,387,13360,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2481,2274
$GC,13602,0.85,194.4,205.2,10.6,393,13606,0.00,2.10,0.00,0.000,4,0.000,0.029,2772,1064,2273
$GC,13854,0.85,194.4,176.0,10.8,412,13859,0.00,2.17,0.00,0.000,6,0.000,0.037,2768,2485,2273
$GC,14121,0.85,194.4,145.5,12.6,436,14124,0.00,2.08,0.00,0.000,4,0.000,0.027,2776,1070,2273
$GC,14147,0.85,194.4,142.2,12.3,438,14150,0.00,2.15,0.00,0.000,6,0.000,0.035,2768,2485,2273
$GC,14418,0.85,194.4,111.2,10.5,463,14422,0.00,2.05,0.00,0.000,4,0.000,0.026,2776,1068,2273
$GC,14543,0.92,258.9,100.0,6.8,474,14607,0.00,2.15,55.75,0.687,6,0.000,0.035,2768,2488,2012
$GC,14864,0.92,258.9,55.3,12.6,503,14868,0.00,2.20,0.00,0.000,4,0.000,0.045,2767,3895,2007
$GC,14977,0.92,258.9,38.9,14.4,512,14985,0.00,2.12,0.00,0.000,6,0.000,0.022,2776,2471,2006
$STATE,15239,end climb,SURFACE_DEPTH_REACHED
$STATE,15239,begin surface coast
$FINISH,0.5,1.021902
$STATE,15262,end surface coast,CONTROL_FINISHED_OK
$STATE,15262,begin surface
$SM_CCo,15288,73.88,0.590,0,0,1397,410.13
$SM_GC,1.16,0.00,0.00,73.88,0.000,0.000,0.590,39,2462,1397,-7.66,-0.51,410.13
$IRIDIUM_FIX,2309.79,-15802.33,211200,212146
$TT8_MAMPS,0.023777
$HUMID,2060
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.30
$XPDR_PINGS,28
$24V_AH,23.0,56.834
$10V_AH,10.7,43.477
$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,17.500,150.825,359.000,73.875,0.000,24.936,33.088,191.273,7.000,0.000,0.000,14.939,1306.682,11020.925,509.143,2091.052,881.472,33.371,1451.060,0.000,2068.672,0.000,0.544,0.000
$DEVICE_MAMPS,223.964,59.826,1285.492,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,378.672,715.098,738.241,133.228,601.268,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44786,558
$CAP_FILE_SIZE,120802,0
$CFSIZE,260165632,197124096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,3,0
$CURRENT,0.141,240.9,1
$GPS,280911,063625,2315.993,-15759.992,43,1.1,43,10.1