version: 66.04
glider: 512
mission: 2
dive: 482
start: 9 28 111 11 17 55
data:
$ID,512
$MISSION,2
$DIVE,482
$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,-42530.75
$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,50
$R_STBD_OVSHOOT,31
$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
$GPS1,110907,2316.027,-15758.741,40,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.3
$GPS2,111656,2315.946,-15758.821,12,1.8,12,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,right1
$TGT_LATLONG,2317.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.187,0.168
$KALMAN_X,-22732.1,697.7,779.9,28265.0,-5424.2
$KALMAN_Y,-12721.4,-44.6,-92.8,5832.8,-3071.0
$MHEAD_RNG_PITCHd_Wd,67.6,105188,-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,-136.3,0.0,0.0,0,89,0.00,0.00,-67.90,0.000,2,0.000,0.000,38,2480,3181
$GC,95,-0.77,-136.3,3.6,-5.3,9,121,8.38,2.22,-7.72,0.000,4,0.199,0.053,2221,3895,3628
$GC,166,-0.77,-136.3,33.7,-31.6,18,169,0.00,2.10,0.00,0.000,6,0.000,0.023,2229,2475,3629
$GC,437,-0.77,-136.3,99.9,-20.6,43,441,0.00,2.05,0.00,0.000,4,0.000,0.025,2240,1066,3630
$GC,489,-0.77,-136.3,109.7,-15.1,47,497,0.00,2.20,0.00,0.000,6,0.000,0.039,2231,2473,3630
$GC,754,-0.77,-136.3,158.3,-18.7,72,758,0.00,2.20,0.00,0.000,4,0.000,0.047,2220,3896,3631
$GC,806,-0.77,-136.3,168.1,-15.6,76,813,0.00,2.10,0.00,0.000,6,0.000,0.021,2225,2468,3631
$GC,1079,-0.77,-136.3,214.5,-17.4,96,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2462,3631
$GC,1320,-0.77,-136.3,252.8,-15.3,102,1324,0.00,2.00,0.00,0.000,4,0.000,0.025,2225,1076,3631
$GC,1339,-0.77,-136.3,255.8,-14.8,102,1342,0.00,2.15,0.00,0.000,6,0.000,0.038,2223,2485,3631
$GC,1613,-0.77,-136.3,294.0,-14.3,109,1617,0.00,2.17,0.00,0.000,4,0.000,0.048,2212,3897,3631
$GC,1667,-0.77,-136.3,301.4,-12.6,110,1671,0.00,2.05,0.00,0.000,6,0.000,0.022,2213,2470,3631
$GC,1953,-0.77,-136.3,341.2,-14.0,117,1956,0.00,2.00,0.00,0.000,4,0.000,0.025,2219,1082,3630
$GC,1983,-0.77,-136.3,345.3,-13.2,117,1986,0.00,2.15,0.00,0.000,6,0.000,0.038,2211,2491,3631
$GC,2247,-0.77,-136.3,380.3,-13.4,124,2251,0.10,2.20,0.00,0.000,4,0.154,0.048,2228,3899,3629
$GC,2317,-0.77,-136.3,388.2,-9.6,125,2320,0.00,2.08,0.00,0.000,6,0.000,0.023,2228,2478,3628
$GC,2582,-0.77,-136.3,416.9,-10.9,132,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2472,3627
$GC,2824,-0.77,-136.3,442.2,-10.3,138,2828,0.00,2.25,0.00,0.000,4,0.000,0.051,2218,3895,3625
$GC,2866,-0.77,-136.3,446.7,-9.5,138,2872,0.00,2.05,0.00,0.000,6,0.000,0.023,2219,2483,3624
$GC,3119,-0.77,-136.3,473.0,-10.5,145,3122,0.00,2.05,0.00,0.000,4,0.000,0.028,2222,1075,3622
$GC,3154,-0.77,-136.3,476.5,-9.9,145,3158,0.00,2.17,0.00,0.000,6,0.000,0.040,2213,2488,3622
$GC,3408,-0.77,-136.3,502.3,-10.4,151,3411,0.00,2.22,0.00,0.000,4,0.000,0.052,2202,3901,3620
$GC,3478,-0.77,-136.3,509.7,-9.6,152,3483,0.12,2.08,0.00,0.000,6,0.119,0.025,2245,2475,3619
$GC,3747,-0.77,-136.3,531.6,-8.0,159,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2469,3618
$GC,3991,-0.77,-136.3,552.3,-8.6,165,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2469,3615
$GC,4236,-0.77,-136.3,573.3,-8.6,171,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2469,3614
$GC,4479,-0.77,-136.3,593.8,-8.3,177,4483,0.00,2.28,0.00,0.000,4,0.000,0.054,2236,3887,3612
$GC,4515,-0.77,-136.3,596.8,-7.9,177,4519,0.00,2.08,0.00,0.000,6,0.000,0.027,2236,2479,3612
$GC,4774,-0.77,-136.3,617.2,-7.8,184,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2472,3610
$GC,5017,-0.77,-136.3,634.5,-7.0,190,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2472,3607
$GC,5264,-0.77,-136.3,650.7,-6.6,196,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2472,3606
$GC,5505,-0.77,-136.3,666.9,-6.7,202,5509,0.00,2.28,0.00,0.000,4,0.000,0.057,2225,3888,3605
$GC,5540,-0.77,-136.3,669.7,-7.7,202,5544,0.00,2.10,0.00,0.000,6,0.000,0.028,2225,2478,3605
$GC,5799,-0.77,-136.3,690.0,-8.1,209,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2471,3603
$GC,6043,-0.77,-136.3,710.3,-8.3,215,6047,0.00,2.30,0.00,0.000,4,0.000,0.057,2215,3888,3601
$GC,6075,-0.77,-136.3,713.3,-9.6,215,6079,0.00,2.10,0.00,0.000,6,0.000,0.028,2215,2480,3602
$GC,6334,-0.77,-136.3,737.4,-9.4,222,6338,0.00,2.30,0.00,0.000,4,0.000,0.058,2205,3884,3600
$GC,6370,-0.77,-136.3,741.0,-10.2,222,6377,0.12,2.10,0.00,0.000,6,0.117,0.029,2244,2479,3599
$GC,6623,-0.77,-136.3,760.2,-7.5,229,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2473,3598
$GC,6866,-0.77,-136.3,777.8,-7.2,235,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2473,3598
$GC,7111,-0.77,-136.3,795.2,-7.1,241,7115,0.00,2.08,0.00,0.000,4,0.000,0.032,2244,1082,3596
$GC,7137,-0.77,-136.3,797.1,-7.4,241,7141,0.00,2.20,0.00,0.000,6,0.000,0.045,2237,2481,3596
$GC,7401,-0.77,-136.3,816.9,-7.5,248,7405,0.00,2.30,0.00,0.000,4,0.000,0.059,2226,3904,3595
$GC,7453,-0.77,-136.3,821.0,-7.4,249,7457,0.00,2.15,0.00,0.000,6,0.000,0.030,2226,2479,3594
$GC,7736,-0.77,-136.3,843.3,-7.9,256,7739,0.00,2.08,0.00,0.000,4,0.000,0.032,2226,1083,3594
$GC,7773,-0.77,-136.3,846.5,-8.2,256,7777,0.00,2.20,0.00,0.000,6,0.000,0.047,2222,2481,3594
$GC,8027,-0.77,-136.3,866.5,-7.9,262,8031,0.00,2.30,0.00,0.000,4,0.000,0.060,2211,3899,3593
$GC,8091,-0.77,-136.3,871.8,-7.9,263,8095,0.00,2.15,0.00,0.000,6,0.000,0.030,2212,2477,3593
$GC,8362,-0.77,-136.3,893.3,-8.0,270,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2470,3593
$STATE,8477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8477,begin apogee
$GC,8488,-0.27,0.0,902.7,7.8,273,8607,0.57,0.00,115.62,1.284,6,0.110,0.000,2399,2469,3070
$STATE,8608,end apogee,CONTROL_FINISHED_OK
$STATE,8608,begin climb
$GC,8613,0.77,136.3,906.9,0.0,276,8787,0.90,2.30,138.05,1.204,4,0.041,0.031,2758,1087,2513
$GC,9043,0.77,136.3,868.3,18.5,285,9047,0.00,2.22,0.00,0.000,6,0.000,0.042,2755,2487,2504
$GC,9301,0.77,136.3,818.3,19.4,292,9305,0.00,2.12,0.00,0.000,4,0.000,0.031,2763,1070,2501
$GC,9371,0.77,136.3,805.6,17.4,293,9375,0.00,2.20,0.00,0.000,6,0.000,0.041,2763,2482,2500
$GC,9634,0.77,136.3,759.1,17.4,300,9638,0.00,2.12,0.00,0.000,4,0.000,0.032,2772,1073,2498
$GC,9728,0.77,136.3,744.3,15.9,302,9732,0.00,2.20,0.00,0.000,6,0.000,0.041,2768,2488,2498
$GC,10015,0.77,136.3,696.1,16.6,309,10018,0.00,2.22,0.00,0.000,4,0.000,0.051,2767,3904,2497
$GC,10185,0.77,136.3,665.1,17.8,312,10190,0.15,2.12,0.00,0.000,6,0.222,0.028,2744,2481,2496
$GC,10440,0.77,136.3,627.6,14.8,318,10444,0.00,2.25,0.00,0.000,4,0.000,0.052,2742,3886,2495
$GC,10481,0.77,136.3,620.6,16.6,319,10485,0.00,2.10,0.00,0.000,6,0.000,0.029,2751,2477,2495
$GC,10776,0.77,136.3,579.9,13.5,326,10779,0.00,2.10,0.00,0.000,4,0.000,0.032,2761,1069,2494
$GC,10820,0.77,136.3,574.0,12.8,326,10826,0.00,2.20,0.00,0.000,6,0.000,0.041,2756,2486,2494
$GC,11074,0.77,136.3,544.2,11.1,333,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2486,2494
$GC,11316,0.77,136.3,519.8,10.1,339,11320,0.00,2.10,0.00,0.000,4,0.000,0.031,2763,1077,2493
$GC,11577,0.77,136.3,492.2,11.0,344,11581,0.00,2.17,0.00,0.000,6,0.000,0.041,2763,2480,2493
$GC,11838,0.77,137.1,465.4,10.0,351,11841,0.00,2.10,0.00,0.000,4,0.000,0.031,2772,1077,2493
$GC,12101,0.83,184.9,442.7,7.6,356,12156,0.00,2.17,42.90,0.956,6,0.000,0.041,2768,2481,2316
$GC,12401,0.83,184.9,397.4,16.7,364,12405,0.00,2.12,0.00,0.000,4,0.000,0.032,2776,1080,2310
$GC,12540,0.83,184.9,374.8,15.7,367,12544,0.00,2.20,0.00,0.000,6,0.000,0.040,2767,2490,2309
$GC,12826,0.83,184.9,327.2,16.4,374,12827,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2490,2307
$GC,13069,0.83,184.9,294.3,12.6,380,13073,0.00,2.12,0.00,0.000,4,0.000,0.031,2776,1072,2307
$GC,13110,0.83,184.9,289.4,12.0,380,13119,0.00,2.22,0.00,0.000,6,0.000,0.040,2768,2485,2307
$GC,13364,0.83,184.9,259.0,12.2,387,13368,0.00,2.22,0.00,0.000,4,0.000,0.049,2767,3900,2306
$GC,13400,0.83,184.9,254.3,11.8,387,13403,0.00,2.12,0.00,0.000,6,0.000,0.026,2776,2470,2306
$GC,13657,0.83,184.9,221.8,12.9,394,13661,0.00,2.08,0.00,0.000,4,0.000,0.029,2787,1064,2306
$GC,13699,0.83,184.9,216.6,11.3,394,13705,0.00,2.20,0.00,0.000,6,0.000,0.038,2781,2490,2306
$GC,13957,0.83,184.9,188.7,11.7,407,13961,0.00,2.10,0.00,0.000,4,0.000,0.028,2789,1071,2306
$GC,14217,0.83,184.9,162.7,10.1,430,14221,0.00,2.15,0.00,0.000,6,0.000,0.036,2781,2485,2306
$GC,14490,0.83,184.9,138.5,10.2,455,14494,0.00,2.08,0.00,0.000,4,0.000,0.027,2789,1070,2305
$GC,14728,0.86,203.3,113.0,9.1,475,14750,0.00,2.17,16.20,0.655,6,0.000,0.037,2781,2474,2240
$GC,15012,0.94,270.9,85.1,6.7,501,15075,0.00,2.33,57.97,0.672,4,0.000,0.045,2779,3893,1964
$GC,15103,0.94,270.9,74.4,16.9,508,15107,0.00,2.12,0.00,0.000,6,0.000,0.023,2788,2471,1963
$GC,15375,0.94,270.9,32.7,15.1,533,15383,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2466,1959
$STATE,15558,end climb,SURFACE_DEPTH_REACHED
$STATE,15558,begin surface coast
$FINISH,0.4,1.015515
$STATE,15587,end surface coast,CONTROL_FINISHED_OK
$STATE,15587,begin surface
$SM_CCo,15613,66.70,0.590,0,0,1396,410.13
$SM_GC,1.39,0.00,0.00,66.70,0.000,0.000,0.590,39,2462,1396,-7.66,-0.51,410.13
$IRIDIUM_FIX,2307.44,-15757.98,221200,060622
$TT8_MAMPS,0.023777
$HUMID,2076
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,24.00
$XPDR_PINGS,32
$24V_AH,22.6,57.118
$10V_AH,10.7,43.705
$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,17.450,142.450,370.750,66.700,0.000,23.500,36.838,215.137,8.000,0.000,0.000,12.840,1318.334,11277.596,523.136,2110.523,919.426,33.347,1468.973,0.000,2092.658,0.000,0.543,0.000
$DEVICE_MAMPS,221.663,59.826,1283.958,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,386.330,732.949,755.921,130.967,590.875,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47839,570
$CAP_FILE_SIZE,120542,0
$CFSIZE,260165632,197001216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,5,0
$CURRENT,0.150,217.1,1
$GPS,280911,154037,2315.097,-15758.003,32,1.1,32,10.1