version: 66.04
glider: 512
mission: 2
dive: 484
start: 9 28 111 20 25 56
data:
$ID,512
$MISSION,2
$DIVE,484
$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,-42582.293
$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,67
$R_STBD_OVSHOOT,30
$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
$GPS1,200937,2315.242,-15757.426,28,1.5,28,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-80.6
$GPS2,202501,2315.214,-15757.515,18,1.4,35,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,right1
$TGT_LATLONG,2317.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,0.020
$KALMAN_X,-25790.4,335.3,-67.7,34773.2,-2644.8
$KALMAN_Y,-20868.0,-131.8,582.8,12031.2,-5100.9
$MHEAD_RNG_PITCHd_Wd,67.4,102999,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.77,-136.3,0.0,0.0,0,89,0.00,0.00,-67.88,0.000,2,0.000,0.000,38,2481,3201
$GC,95,-0.77,-136.3,3.9,-6.4,9,121,8.38,2.10,-7.32,0.000,4,0.200,0.038,2239,1086,3627
$GC,132,-0.77,-136.3,22.5,-44.7,13,140,0.00,2.15,0.00,0.000,6,0.000,0.037,2230,2469,3627
$GC,402,-0.77,-136.3,92.1,-20.9,39,405,0.00,2.22,0.00,0.000,4,0.000,0.047,2219,3898,3628
$GC,453,-0.77,-136.3,103.5,-18.9,43,462,0.00,2.08,0.00,0.000,6,0.000,0.021,2219,2499,3628
$GC,718,-0.77,-136.3,156.5,-20.8,68,722,0.00,2.20,0.00,0.000,4,0.000,0.045,2209,3901,3628
$GC,757,-0.77,-136.3,164.4,-21.2,71,762,0.12,2.10,0.00,0.000,6,0.140,0.021,2244,2463,3628
$GC,1019,-0.77,-136.3,207.8,-16.5,92,1023,0.00,2.00,0.00,0.000,4,0.000,0.025,2247,1073,3629
$GC,1072,-0.77,-136.3,215.3,-11.5,93,1076,0.00,2.15,0.00,0.000,6,0.000,0.038,2239,2486,3629
$GC,1359,-0.77,-136.3,255.5,-14.1,100,1363,0.00,2.17,0.00,0.000,4,0.000,0.048,2227,3899,3629
$GC,1440,-0.77,-136.3,266.0,-10.5,101,1444,0.00,2.05,0.00,0.000,6,0.000,0.021,2227,2474,3629
$GC,1698,-0.77,-136.3,297.9,-12.7,108,1702,0.00,2.00,0.00,0.000,4,0.000,0.025,2227,1079,3629
$GC,1762,-0.77,-136.3,304.5,-9.2,109,1766,0.00,2.12,0.00,0.000,6,0.000,0.038,2223,2483,3629
$GC,2039,-0.77,-136.3,336.1,-12.0,116,2042,0.00,2.20,0.00,0.000,4,0.000,0.048,2212,3900,3628
$GC,2087,-0.77,-136.3,342.4,-12.1,117,2090,0.00,2.05,0.00,0.000,6,0.000,0.022,2212,2479,3628
$GC,2380,-0.77,-136.3,380.9,-13.5,124,2384,0.00,2.03,0.00,0.000,4,0.000,0.026,2216,1065,3627
$GC,2410,-0.77,-136.3,385.1,-13.0,124,2414,0.12,2.17,0.00,0.000,6,0.118,0.039,2244,2489,3626
$GC,2668,-0.77,-136.3,407.5,-8.5,131,2672,0.00,2.17,0.00,0.000,4,0.000,0.051,2234,3891,3623
$GC,2727,-0.77,-136.3,412.8,-9.0,132,2731,0.00,2.05,0.00,0.000,6,0.000,0.023,2234,2471,3623
$GC,3009,-0.77,-136.3,441.3,-10.5,139,3013,0.00,2.28,0.00,0.000,4,0.000,0.051,2223,3899,3621
$GC,3038,-0.77,-136.3,444.8,-11.4,139,3042,0.00,2.08,0.00,0.000,6,0.000,0.023,2222,2480,3620
$GC,3297,-0.77,-136.3,474.2,-11.5,146,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2473,3618
$GC,3541,-0.77,-136.3,503.2,-12.0,152,3545,0.00,2.25,0.00,0.000,4,0.000,0.052,2212,3886,3617
$GC,3579,-0.77,-136.3,507.6,-12.1,152,3585,0.00,2.08,0.00,0.000,6,0.000,0.025,2212,2472,3616
$GC,3833,-0.77,-136.3,539.1,-12.4,159,3836,0.00,2.03,0.00,0.000,4,0.000,0.028,2216,1082,3614
$GC,3857,-0.77,-136.3,542.4,-12.5,159,3862,0.12,2.15,0.00,0.000,6,0.114,0.042,2244,2483,3614
$GC,4129,-0.77,-136.3,564.5,-7.9,166,4132,0.00,2.22,0.00,0.000,4,0.000,0.054,2236,3891,3611
$GC,4187,-0.77,-136.3,569.5,-8.0,167,4191,0.00,2.08,0.00,0.000,6,0.000,0.025,2235,2475,3611
$GC,4468,-0.77,-136.3,593.0,-8.5,174,4472,0.00,2.03,0.00,0.000,4,0.000,0.028,2235,1087,3609
$GC,4492,-0.77,-136.3,595.3,-9.0,174,4496,0.00,2.17,0.00,0.000,6,0.000,0.043,2225,2489,3609
$GC,4758,-0.77,-136.3,618.3,-8.7,181,4762,0.00,2.22,0.00,0.000,4,0.000,0.055,2214,3902,3607
$GC,4799,-0.77,-136.3,622.2,-8.6,181,4805,0.00,2.10,0.00,0.000,6,0.000,0.026,2214,2478,3606
$GC,5052,-0.77,-136.3,645.6,-9.5,188,5056,0.00,2.05,0.00,0.000,4,0.000,0.030,2218,1083,3605
$GC,5083,-0.77,-136.3,648.6,-9.1,188,5087,0.10,2.17,0.00,0.000,6,0.121,0.043,2238,2482,3605
$GC,5341,-0.77,-136.3,666.8,-7.0,195,5345,0.00,2.25,0.00,0.000,4,0.000,0.057,2229,3891,3603
$GC,5394,-0.77,-136.3,670.6,-7.0,196,5398,0.00,2.08,0.00,0.000,6,0.000,0.028,2229,2479,3602
$GC,5680,-0.77,-136.3,694.1,-8.4,203,5684,0.00,2.08,0.00,0.000,4,0.000,0.031,2229,1075,3600
$GC,5711,-0.77,-136.3,696.8,-8.8,203,5715,0.00,2.17,0.00,0.000,6,0.000,0.044,2223,2479,3600
$GC,5975,-0.77,-136.3,720.3,-8.9,210,5979,0.00,2.25,0.00,0.000,4,0.000,0.057,2212,3892,3599
$GC,6049,-0.77,-136.3,727.0,-8.5,211,6053,0.00,2.10,0.00,0.000,6,0.000,0.028,2212,2478,3598
$GC,6314,-0.77,-136.3,751.0,-9.3,218,6318,0.00,2.08,0.00,0.000,4,0.000,0.031,2220,1075,3597
$GC,6339,-0.77,-136.3,753.6,-9.7,218,6343,0.00,2.22,0.00,0.000,6,0.000,0.045,2211,2491,3597
$GC,6603,-0.77,-136.3,777.7,-9.3,225,6606,0.00,2.25,0.00,0.000,4,0.000,0.058,2200,3895,3595
$GC,6668,-0.77,-136.3,784.0,-9.9,226,6673,0.12,2.12,0.00,0.000,6,0.120,0.028,2243,2476,3594
$GC,6938,-0.77,-136.3,802.9,-6.9,233,6942,0.00,2.08,0.00,0.000,4,0.000,0.031,2243,1074,3594
$GC,6969,-0.77,-136.3,805.3,-7.4,233,6973,0.00,2.22,0.00,0.000,6,0.000,0.046,2237,2486,3594
$GC,7228,-0.77,-136.3,824.3,-7.6,240,7232,0.00,2.28,0.00,0.000,4,0.000,0.059,2226,3898,3593
$GC,7276,-0.77,-136.3,828.3,-8.5,241,7280,0.00,2.15,0.00,0.000,6,0.000,0.028,2225,2465,3592
$GC,7565,-0.77,-136.3,852.8,-8.5,248,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2459,3591
$GC,7806,-0.77,-136.3,873.3,-8.3,254,7810,0.00,2.35,0.00,0.000,4,0.000,0.060,2218,3902,3590
$GC,7842,-0.77,-136.3,876.5,-8.8,254,7846,0.00,2.12,0.00,0.000,6,0.000,0.029,2218,2482,3590
$GC,8101,-0.77,-136.3,899.5,-9.2,261,8105,0.00,2.08,0.00,0.000,4,0.000,0.033,2220,1082,3589
$STATE,8109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8109,begin apogee
$GC,8122,-0.27,0.0,900.9,9.2,261,8239,0.55,0.00,114.32,1.278,6,0.110,0.000,2397,2483,3070
$STATE,8240,end apogee,CONTROL_FINISHED_OK
$STATE,8240,begin climb
$GC,8245,0.77,136.3,907.5,0.0,264,8389,0.93,2.45,131.27,1.246,4,0.043,0.049,2754,3901,2514
$GC,8522,0.77,136.3,893.0,20.0,270,8526,0.00,2.20,0.00,0.000,6,0.000,0.028,2764,2483,2506
$GC,8798,0.77,136.3,842.8,18.2,277,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2478,2502
$GC,9040,0.77,136.3,798.2,18.3,283,9044,0.00,2.28,0.00,0.000,4,0.000,0.050,2763,3907,2500
$GC,9052,0.77,136.3,795.8,17.9,283,9057,0.15,2.15,0.00,0.000,6,0.217,0.029,2741,2478,2499
$GC,9327,0.77,136.3,751.1,15.9,290,9331,0.00,2.10,0.00,0.000,4,0.000,0.034,2750,1074,2498
$GC,9385,0.77,136.3,742.5,14.5,291,9389,0.00,2.20,0.00,0.000,6,0.000,0.041,2750,2490,2498
$GC,9659,0.77,136.3,702.7,14.2,298,9663,0.00,2.12,0.00,0.000,4,0.000,0.031,2759,1069,2496
$GC,9700,0.77,136.3,696.9,14.0,298,9706,0.00,2.20,0.00,0.000,6,0.000,0.040,2755,2491,2496
$GC,9953,0.77,136.3,663.9,13.3,305,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2491,2495
$GC,10199,0.77,136.3,633.0,12.8,311,10202,0.00,2.20,0.00,0.000,4,0.000,0.050,2754,3888,2495
$GC,10234,0.77,136.3,627.8,14.3,311,10238,0.00,2.10,0.00,0.000,6,0.000,0.028,2764,2473,2495
$GC,10492,0.77,136.3,593.6,13.3,318,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2468,2494
$GC,10736,0.77,136.3,560.4,13.6,324,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2468,2494
$GC,10980,0.77,136.3,529.1,13.0,330,10984,0.00,2.25,0.00,0.000,4,0.000,0.050,2764,3891,2493
$GC,11134,0.77,136.3,509.4,12.1,333,11138,0.15,2.10,0.00,0.000,6,0.219,0.028,2741,2478,2493
$GC,11397,0.80,155.5,484.9,9.0,340,11421,0.00,0.00,16.90,0.880,6,0.000,0.000,2741,2473,2436
$GC,11642,0.80,155.5,458.9,11.0,346,11646,0.00,2.28,0.00,0.000,4,0.000,0.051,2741,3890,2433
$GC,11685,0.80,155.5,453.3,13.3,347,11688,0.00,2.12,0.00,0.000,6,0.000,0.028,2750,2473,2433
$GC,11978,0.80,155.5,419.7,11.1,354,11982,0.00,2.28,0.00,0.000,4,0.000,0.051,2750,3886,2432
$GC,12025,0.80,155.5,413.4,13.6,355,12029,0.00,2.10,0.00,0.000,6,0.000,0.027,2760,2476,2432
$GC,12313,0.80,155.5,381.9,11.1,362,12317,0.00,2.08,0.00,0.000,4,0.000,0.031,2770,1073,2431
$GC,12418,0.85,195.0,372.6,8.0,364,12466,0.00,2.17,38.03,0.897,6,0.000,0.040,2768,2482,2275
$GC,12737,0.85,195.0,323.6,17.1,372,12738,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2482,2268
$GC,12979,0.85,195.0,284.4,16.3,378,12983,0.00,2.10,0.00,0.000,4,0.000,0.032,2776,1080,2267
$GC,13176,0.85,195.0,254.2,13.2,382,13180,0.00,2.17,0.00,0.000,6,0.000,0.039,2768,2489,2266
$GC,13458,0.85,195.0,214.1,13.9,389,13462,0.00,2.10,0.00,0.000,4,0.000,0.029,2776,1072,2265
$GC,13561,0.85,195.0,200.4,12.7,391,13565,0.00,2.17,0.00,0.000,6,0.000,0.038,2768,2490,2265
$GC,13838,0.85,195.0,169.1,10.1,414,13841,0.00,2.10,0.00,0.000,4,0.000,0.028,2776,1073,2265
$GC,14102,0.87,218.4,143.0,8.8,437,14128,0.00,2.15,20.38,0.713,6,0.000,0.035,2768,2487,2178
$GC,14390,0.87,218.4,104.3,13.3,463,14393,0.00,2.10,0.00,0.000,4,0.000,0.027,2776,1065,2175
$GC,14450,0.87,218.4,95.8,12.3,468,14454,0.00,2.17,0.00,0.000,6,0.000,0.036,2768,2489,2175
$GC,14716,0.87,218.4,65.2,10.4,492,14720,0.00,2.08,0.00,0.000,4,0.000,0.026,2776,1072,2175
$GC,14981,1.03,344.4,46.2,3.8,515,15092,0.15,2.15,104.80,0.644,6,0.082,0.034,2820,2495,1665
$STATE,15220,end climb,SURFACE_DEPTH_REACHED
$STATE,15220,begin surface coast
$FINISH,0.4,1.022820
$STATE,15233,end surface coast,CONTROL_FINISHED_OK
$STATE,15233,begin surface
$SM_CCo,15258,32.42,0.578,0,0,1397,410.13
$SM_GC,1.56,0.00,0.00,32.42,0.000,0.000,0.578,37,2496,1397,-7.67,0.45,410.13
$IRIDIUM_FIX,2307.44,-15754.93,221200,202025
$TT8_MAMPS,0.024544
$HUMID,2099
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.60
$XPDR_PINGS,23
$24V_AH,23.0,57.433
$10V_AH,10.6,43.931
$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,18.225,167.725,425.700,32.425,0.000,85.545,160.131,329.252,5.750,0.000,0.000,35.574,1301.245,11075.178,505.345,2096.834,1234.112,33.345,1480.871,0.000,2049.891,0.000,0.543,0.000
$DEVICE_MAMPS,218.595,59.826,1277.822,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,370.098,685.889,707.025,123.175,566.567,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44853,546
$CAP_FILE_SIZE,127399,0
$CFSIZE,260165632,196874240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,3,1
$CURRENT,0.034,182.4,1
$GPS,290911,004224,2315.158,-15755.902,27,1.2,45,10.1