version: 66.04
glider: 512
mission: 2
dive: 529
start: 10 7 111 6 29 54
data:
$ID,512
$MISSION,2
$DIVE,529
$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,-43421.258
$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,2490
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$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
$GPS1,061654,2245.569,-15800.369,26,1.2,43,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.7
$GPS2,062858,2245.447,-15800.438,15,3.3,34,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.239,0.078
$KALMAN_X,-108958.2,-129.5,640.1,112718.5,-10078.6
$KALMAN_Y,-102483.4,747.9,-65.3,38266.6,-4357.8
$MHEAD_RNG_PITCHd_Wd,103.5,1115,-27.2,-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,-0.99,-63.0,0.0,0.0,0,91,0.00,0.00,-68.88,0.000,2,0.000,0.000,36,2481,3207
$GC,96,-1.03,-102.3,3.7,-5.8,9,113,8.07,0.00,-5.00,0.000,6,0.199,0.000,2151,2481,3489
$GC,379,-1.03,-102.3,103.5,-27.6,38,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2481,3491
$GC,643,-1.03,-102.3,169.0,-23.4,63,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2480,3493
$GC,901,-1.03,-102.3,227.0,-22.0,79,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2481,3493
$GC,1145,-1.03,-102.3,281.0,-22.0,85,1149,0.00,2.03,0.00,0.000,4,0.000,0.025,2151,1083,3493
$GC,1176,-1.03,-102.3,287.7,-21.9,85,1180,0.00,2.12,0.00,0.000,6,0.000,0.038,2143,2486,3493
$GC,1440,-1.03,-102.3,341.2,-20.2,92,1444,0.00,2.17,0.00,0.000,4,0.000,0.047,2132,3898,3492
$GC,1481,-1.03,-102.3,350.4,-21.9,92,1487,0.00,2.05,0.00,0.000,6,0.000,0.022,2132,2490,3492
$GC,1733,-1.03,-102.3,403.5,-20.8,99,1737,0.00,2.03,0.00,0.000,4,0.000,0.025,2132,1084,3491
$GC,1758,-1.03,-102.3,408.8,-21.5,99,1763,0.12,2.15,0.00,0.000,6,0.143,0.039,2159,2491,3490
$GC,2028,-1.03,-102.3,452.6,-16.0,106,2032,0.00,2.17,0.00,0.000,4,0.000,0.049,2150,3894,3488
$GC,2131,-1.03,-102.3,471.4,-17.5,108,2135,0.00,2.08,0.00,0.000,6,0.000,0.024,2151,2479,3488
$GC,2413,-1.03,-102.3,520.3,-17.4,115,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2472,3486
$GC,2656,-1.03,-102.3,560.1,-16.1,121,2660,0.00,2.25,0.00,0.000,4,0.000,0.050,2140,3898,3483
$GC,2686,-1.03,-102.3,565.3,-17.3,121,2690,0.00,2.08,0.00,0.000,6,0.000,0.024,2140,2475,3483
$GC,2950,-1.03,-102.3,606.6,-15.6,128,2954,0.00,2.28,0.00,0.000,4,0.000,0.051,2129,3905,3480
$GC,2980,-1.03,-102.3,611.7,-16.9,128,2984,0.00,2.10,0.00,0.000,6,0.000,0.025,2129,2490,3480
$GC,3238,-1.03,-102.3,652.2,-15.6,135,3242,0.00,2.25,0.00,0.000,4,0.000,0.051,2118,3901,3478
$GC,3263,-1.03,-102.3,656.3,-16.2,135,3267,0.15,2.08,0.00,0.000,6,0.150,0.025,2158,2488,3478
$GC,3520,-1.03,-102.3,688.5,-12.1,142,3523,0.00,2.25,0.00,0.000,4,0.000,0.052,2149,3898,3475
$GC,3569,-1.03,-102.3,694.8,-12.7,143,3572,0.00,2.10,0.00,0.000,6,0.000,0.026,2149,2487,3475
$GC,3860,-1.03,-102.3,734.5,-13.9,150,3864,0.00,2.05,0.00,0.000,4,0.000,0.030,2149,1088,3472
$GC,3911,-1.03,-102.3,740.9,-13.1,151,3915,0.00,2.17,0.00,0.000,6,0.000,0.044,2141,2487,3472
$GC,4204,-1.03,-102.3,784.2,-15.0,158,4207,0.00,2.25,0.00,0.000,4,0.000,0.054,2130,3905,3469
$GC,4256,-1.03,-102.3,793.1,-15.7,159,4260,0.00,2.10,0.00,0.000,6,0.000,0.028,2129,2494,3468
$GC,4543,-1.03,-102.3,837.0,-15.1,166,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2485,3466
$GC,4786,-1.03,-102.3,873.9,-15.2,172,4790,0.00,2.25,0.00,0.000,4,0.000,0.054,2119,3896,3465
$GC,4816,-1.03,-102.3,878.7,-16.7,172,4821,0.15,2.10,0.00,0.000,6,0.149,0.028,2159,2480,3464
$STATE,4987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4988,begin apogee
$GC,4999,-0.27,0.0,901.6,12.8,177,5089,0.75,0.00,86.75,1.255,6,0.120,0.000,2399,2472,3070
$STATE,5089,end apogee,CONTROL_FINISHED_OK
$STATE,5089,begin climb
$GC,5095,1.03,102.3,904.7,0.0,179,5207,1.15,2.42,98.85,1.187,4,0.038,0.046,2836,3901,2652
$GC,5301,1.03,102.3,904.8,14.6,184,5305,0.00,2.17,0.00,0.000,6,0.000,0.027,2845,2478,2648
$GC,5573,1.03,102.3,866.1,14.4,191,5577,0.00,2.28,0.00,0.000,4,0.000,0.048,2845,3909,2642
$GC,5834,1.03,102.3,826.4,15.1,196,5841,0.15,2.15,0.00,0.000,6,0.236,0.027,2825,2468,2640
$GC,6086,1.03,102.3,794.4,12.4,203,6090,0.00,2.25,0.00,0.000,4,0.000,0.047,2822,3904,2638
$GC,6349,1.03,102.3,759.7,12.9,208,6355,0.00,2.12,0.00,0.000,6,0.000,0.028,2831,2469,2637
$GC,6601,1.03,102.3,730.6,11.2,215,6605,0.00,2.22,0.00,0.000,4,0.000,0.047,2831,3901,2636
$GC,6631,1.03,102.3,727.2,11.4,215,6634,0.00,2.10,0.00,0.000,6,0.000,0.028,2842,2479,2635
$GC,6897,1.03,102.3,699.6,10.4,222,6901,0.00,2.22,0.00,0.000,4,0.000,0.047,2836,3902,2634
$GC,6910,1.03,102.3,697.8,10.4,222,6914,0.00,2.10,0.00,0.000,6,0.000,0.027,2845,2478,2634
$GC,7190,1.03,102.3,669.2,10.1,229,7194,0.00,2.25,0.00,0.000,4,0.000,0.049,2846,3905,2634
$GC,7452,1.03,102.3,642.4,10.2,234,7456,0.15,2.10,0.00,0.000,6,0.231,0.028,2825,2482,2633
$GC,7711,1.07,127.7,622.5,7.3,241,7745,0.00,2.30,22.55,0.998,4,0.000,0.048,2822,3899,2549
$GC,8002,1.07,127.7,585.9,12.3,247,8006,0.00,2.12,0.00,0.000,6,0.000,0.028,2832,2481,2546
$GC,8271,1.07,127.7,556.5,10.7,254,8275,0.00,2.28,0.00,0.000,4,0.000,0.051,2831,3901,2544
$GC,8533,1.08,135.9,527.4,9.1,259,8546,0.00,2.12,8.57,0.916,6,0.000,0.028,2842,2469,2515
$GC,8827,1.08,135.9,495.5,11.5,267,8831,0.00,2.28,0.00,0.000,4,0.000,0.048,2836,3904,2513
$GC,8962,1.08,135.9,480.1,10.7,270,8966,0.00,2.12,0.00,0.000,6,0.000,0.028,2845,2482,2512
$GC,9249,1.08,143.6,454.1,9.2,277,9263,0.00,2.28,8.38,0.871,4,0.000,0.049,2846,3899,2484
$GC,9278,1.09,148.7,451.3,9.5,277,9289,0.00,2.12,6.50,0.803,6,0.000,0.026,2856,2465,2463
$GC,9536,1.09,148.7,421.3,12.0,283,9540,0.00,2.28,0.00,0.000,4,0.000,0.048,2857,3908,2460
$GC,9740,1.09,148.7,396.0,10.8,287,9744,0.00,2.12,0.00,0.000,6,0.000,0.028,2868,2485,2460
$GC,10003,1.09,148.7,366.3,11.2,294,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2479,2458
$GC,10249,1.09,148.7,337.0,12.4,300,10253,0.00,2.25,0.00,0.000,4,0.000,0.047,2863,3902,2458
$GC,10509,1.09,148.7,304.0,12.3,305,10513,0.12,2.12,0.00,0.000,6,0.241,0.028,2847,2470,2458
$GC,10770,1.10,154.5,278.5,9.4,312,10778,0.00,0.00,6.18,0.696,6,0.000,0.000,2848,2465,2440
$GC,11010,1.11,162.7,256.4,9.1,318,11024,0.00,2.08,9.38,0.753,4,0.000,0.030,2857,1069,2406
$GC,11254,1.11,162.7,228.0,11.0,323,11259,0.00,2.20,0.00,0.000,6,0.000,0.038,2857,2499,2404
$GC,11524,1.12,172.6,202.3,8.9,330,11539,0.00,2.17,10.32,0.722,4,0.000,0.045,2849,3904,2364
$GC,11578,1.12,174.9,197.8,9.8,332,11582,0.00,2.12,0.00,0.000,6,0.000,0.026,2859,2470,2364
$GC,11849,1.12,174.9,171.3,11.5,357,11853,0.00,2.05,0.00,0.000,4,0.000,0.028,2869,1067,2363
$GC,12110,1.17,210.2,146.4,6.2,380,12161,0.00,2.17,35.33,0.703,6,0.000,0.036,2862,2493,2213
$GC,12417,1.17,210.2,103.3,14.5,408,12421,0.00,2.10,0.00,0.000,4,0.000,0.027,2871,1072,2208
$GC,12678,1.17,210.2,70.8,11.1,431,12682,0.00,2.15,0.00,0.000,6,0.000,0.035,2871,2485,2208
$GC,12950,1.25,281.4,58.2,2.4,456,13022,0.00,2.20,60.25,0.644,4,0.000,0.026,2880,1063,1920
$GC,13123,1.25,281.4,36.9,19.6,470,13127,0.00,2.17,0.00,0.000,6,0.000,0.034,2875,2480,1916
$STATE,13265,end climb,SURFACE_DEPTH_REACHED
$STATE,13265,begin surface coast
$FINISH,0.5,1.023152
$STATE,13282,end surface coast,CONTROL_FINISHED_OK
$STATE,13282,begin surface
$SM_CCo,13308,61.80,0.586,0,0,1398,410.13
$SM_GC,1.37,0.00,0.00,61.80,0.000,0.000,0.586,40,2481,1398,-7.66,-0.23,410.13
$IRIDIUM_FIX,2239.35,-15800.20,311200,060637
$TT8_MAMPS,0.023777
$HUMID,2096
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,23.60
$XPDR_PINGS,28
$24V_AH,23.6,64.557
$10V_AH,10.6,49.126
$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,18.100,121.325,353.050,61.800,0.000,61.078,72.627,314.468,7.000,0.000,0.000,35.270,1196.930,9242.473,472.210,2143.865,1039.317,33.352,1413.218,0.000,2097.724,0.000,0.544,0.000
$DEVICE_MAMPS,240.838,54.457,1254.812,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,335.579,654.355,676.828,124.155,556.143,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41699,495
$CAP_FILE_SIZE,111888,0
$CFSIZE,260165632,194105344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,3,0
$CURRENT,0.101,231.2,1
$GPS,071011,101423,2244.551,-15800.032,33,1.9,50,10.1