version: 66.04
glider: 512
mission: 2
dive: 541
start: 10 9 111 7 24 23
data:
$ID,512
$MISSION,2
$DIVE,541
$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,-43684.91
$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,54
$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
$GPS1,070437,2243.584,-15759.482,33,1.3,33,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.3
$GPS2,072313,2243.405,-15759.637,12,1.6,17,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.194,0.161
$KALMAN_X,-147889.1,1044.1,760.7,151720.0,-7253.8
$KALMAN_Y,-132048.1,-871.2,-962.5,66593.4,-2568.4
$MHEAD_RNG_PITCHd_Wd,339.3,3019,-19.9,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-0.80,-115.5,0.0,0.0,0,125,0.00,0.00,-99.22,0.000,2,0.000,0.000,40,2500,3080
$GC,131,-0.83,-136.3,3.1,-4.3,13,156,8.27,2.15,-9.93,0.000,4,0.198,0.050,2212,3910,3626
$GC,268,-0.83,-136.3,47.4,-22.6,29,277,0.00,2.10,0.00,0.000,6,0.000,0.022,2211,2495,3627
$GC,533,-0.83,-136.3,110.1,-21.3,54,536,0.00,2.05,0.00,0.000,4,0.000,0.025,2217,1079,3627
$GC,575,-0.83,-136.3,119.0,-18.8,57,582,0.00,2.17,0.00,0.000,6,0.000,0.039,2209,2479,3627
$GC,841,-0.83,-136.3,166.7,-18.1,82,845,0.00,2.20,0.00,0.000,4,0.000,0.046,2197,3909,3626
$GC,904,-0.83,-136.3,178.1,-15.2,87,913,0.00,2.10,0.00,0.000,6,0.000,0.021,2206,2485,3627
$GC,1163,-0.83,-136.3,223.3,-18.4,103,1166,0.00,2.00,0.00,0.000,4,0.000,0.025,2213,1090,3627
$GC,1226,-0.83,-136.3,232.8,-12.3,104,1230,0.00,2.12,0.00,0.000,6,0.000,0.038,2204,2499,3627
$GC,1502,-0.83,-136.3,275.0,-15.7,111,1506,0.00,2.17,0.00,0.000,4,0.000,0.048,2193,3907,3626
$GC,1572,-0.83,-136.3,285.0,-12.2,112,1577,0.00,2.05,0.00,0.000,6,0.000,0.021,2199,2480,3626
$GC,1842,-0.83,-136.3,325.5,-15.6,119,1845,0.00,2.00,0.00,0.000,4,0.000,0.025,2210,1093,3623
$GC,1905,-0.83,-136.3,334.4,-12.2,120,1909,0.00,2.12,0.00,0.000,6,0.000,0.039,2201,2490,3623
$GC,2180,-0.83,-136.3,373.2,-14.5,127,2184,0.00,2.17,0.00,0.000,4,0.000,0.050,2193,3894,3621
$GC,2256,-0.83,-136.3,383.4,-12.8,128,2260,0.00,2.03,0.00,0.000,6,0.000,0.022,2199,2492,3620
$GC,2520,-0.83,-136.3,418.7,-13.3,135,2524,0.00,2.22,0.00,0.000,4,0.000,0.049,2193,3904,3617
$GC,2572,-0.83,-136.3,425.8,-12.1,136,2576,0.00,2.08,-0.08,0.000,6,0.000,0.023,2193,2483,3641
$GC,2853,-0.83,-136.3,463.9,-13.7,143,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2476,3639
$GC,3096,-0.83,-136.3,495.3,-12.8,149,3100,0.00,2.22,0.00,0.000,4,0.000,0.051,2185,3896,3636
$GC,3144,-0.83,-136.3,501.2,-12.5,150,3149,0.12,2.05,0.00,0.000,6,0.121,0.024,2223,2485,3636
$GC,3438,-0.83,-136.3,527.7,-8.9,157,3442,0.00,2.28,0.00,0.000,4,0.000,0.054,2215,3904,3633
$GC,3473,-0.83,-136.3,531.1,-9.8,157,3479,0.00,2.08,0.00,0.000,6,0.000,0.025,2215,2486,3632
$GC,3725,-0.83,-136.3,556.9,-10.3,164,3729,0.00,2.05,0.00,0.000,4,0.000,0.028,2218,1082,3629
$GC,3767,-0.83,-136.3,561.3,-10.1,164,3775,0.00,2.17,0.00,0.000,6,0.000,0.043,2211,2487,3629
$GC,4021,-0.83,-136.3,587.5,-10.5,171,4025,0.00,2.25,0.00,0.000,4,0.000,0.055,2198,3905,3626
$GC,4113,-0.83,-136.3,597.6,-10.3,173,4117,0.00,2.10,0.00,0.000,6,0.000,0.027,2199,2484,3625
$GC,4399,-0.83,-136.3,629.7,-11.4,180,4403,0.00,2.05,0.00,0.000,4,0.000,0.030,2208,1088,3624
$GC,4441,-0.83,-136.3,634.3,-10.2,180,4450,0.00,2.20,0.00,0.000,6,0.000,0.044,2199,2484,3623
$GC,4693,-0.83,-136.3,661.0,-10.6,187,4697,0.00,2.25,0.00,0.000,4,0.000,0.057,2193,3903,3620
$GC,4734,-0.83,-136.3,665.7,-11.3,187,4740,0.00,2.10,0.00,0.000,6,0.000,0.027,2193,2483,3620
$GC,4987,-0.83,-136.3,693.5,-11.3,194,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2477,3618
$GC,5230,-0.83,-136.3,721.7,-11.6,200,5234,0.00,2.30,0.00,0.000,4,0.000,0.058,2193,3896,3616
$GC,5289,-0.83,-136.3,728.4,-10.8,201,5293,0.00,2.08,0.00,0.000,6,0.000,0.028,2193,2491,3616
$GC,5565,-0.83,-136.3,759.2,-11.2,208,5568,0.00,2.08,0.00,0.000,4,0.000,0.031,2197,1089,3614
$GC,5608,-0.83,-136.3,763.6,-9.2,208,5616,0.00,2.20,0.00,0.000,6,0.000,0.046,2193,2491,3614
$GC,5861,-0.83,-136.3,790.0,-10.4,215,5865,0.00,2.28,0.00,0.000,4,0.000,0.058,2183,3908,3612
$GC,5930,-0.83,-136.3,797.6,-10.4,216,5935,0.12,2.12,0.00,0.000,6,0.125,0.029,2223,2481,3612
$GC,6194,-0.83,-136.3,818.3,-7.6,223,6197,0.00,2.08,0.00,0.000,4,0.000,0.031,2224,1080,3610
$GC,6219,-0.83,-136.3,820.2,-7.3,223,6223,0.00,2.22,0.00,0.000,6,0.000,0.046,2223,2495,3610
$GC,6483,-0.83,-136.3,838.6,-6.9,230,6487,0.00,2.28,0.00,0.000,4,0.000,0.060,2213,3905,3608
$GC,6553,-0.83,-136.3,843.5,-7.2,231,6557,0.00,2.12,0.00,0.000,6,0.000,0.030,2212,2485,3608
$GC,6817,-0.83,-136.3,862.9,-7.5,238,6820,0.00,2.08,0.00,0.000,4,0.000,0.032,2215,1086,3607
$GC,6854,-0.83,-136.3,865.5,-6.8,238,6858,0.00,2.20,0.00,0.000,6,0.000,0.046,2207,2491,3606
$GC,7108,-0.83,-136.3,885.1,-7.8,244,7112,0.00,2.28,0.00,0.000,4,0.000,0.060,2196,3901,3605
$GC,7166,-0.83,-136.3,889.9,-7.7,245,7170,0.00,2.12,0.00,0.000,6,0.000,0.029,2196,2479,3605
$STATE,7314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7314,begin apogee
$GC,7326,-0.27,0.0,903.2,8.7,249,7447,0.62,0.00,117.28,1.262,6,0.106,0.000,2403,2471,3070
$STATE,7447,end apogee,CONTROL_FINISHED_OK
$STATE,7448,begin climb
$GC,7453,0.83,136.3,908.6,0.0,252,7596,0.95,2.30,130.82,1.187,4,0.039,0.031,2782,1080,2513
$GC,7860,0.83,136.3,873.5,16.2,261,7865,0.00,2.22,0.00,0.000,6,0.000,0.041,2780,2493,2503
$GC,8146,0.83,136.3,823.7,17.3,268,8150,0.00,2.12,0.00,0.000,4,0.000,0.031,2789,1079,2501
$GC,8166,0.83,136.3,820.4,17.3,268,8171,0.12,2.20,0.00,0.000,6,0.202,0.041,2761,2491,2500
$GC,8441,0.83,136.3,773.2,17.2,275,8445,0.00,2.12,0.00,0.000,4,0.000,0.031,2770,1070,2499
$GC,8516,0.83,136.3,759.9,17.5,276,8520,0.00,2.20,0.00,0.000,6,0.000,0.040,2767,2492,2499
$GC,8773,0.83,136.3,717.2,16.4,283,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2492,2497
$GC,9019,0.83,136.3,676.6,16.3,289,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2492,2496
$GC,9261,0.83,136.3,637.8,15.3,295,9265,0.00,2.12,0.00,0.000,4,0.000,0.031,2776,1072,2496
$GC,9386,0.83,136.3,620.3,13.9,297,9389,0.00,2.17,0.00,0.000,6,0.000,0.041,2776,2480,2496
$GC,9645,0.83,136.3,583.8,14.2,304,9648,0.00,2.10,0.00,0.000,4,0.000,0.032,2785,1076,2494
$GC,9693,0.83,136.3,577.2,13.4,305,9697,0.00,2.17,0.00,0.000,6,0.000,0.041,2780,2485,2494
$GC,9985,0.83,136.3,537.4,13.8,312,9988,0.00,2.22,0.00,0.000,4,0.000,0.050,2780,3894,2494
$GC,10009,0.83,136.3,533.7,14.1,312,10013,0.12,2.10,0.00,0.000,6,0.225,0.027,2764,2481,2494
$GC,10280,0.83,136.3,502.3,11.4,319,10284,0.00,2.25,0.00,0.000,4,0.000,0.051,2764,3894,2494
$GC,10424,0.83,136.3,485.3,11.5,322,10427,0.00,2.10,0.00,0.000,6,0.000,0.028,2772,2479,2493
$GC,10710,0.83,138.8,456.6,9.8,329,10714,0.00,2.10,0.00,0.000,4,0.000,0.031,2783,1068,2493
$GC,10972,0.83,138.8,428.9,10.6,334,10976,0.00,2.17,0.00,0.000,6,0.000,0.040,2781,2481,2493
$GC,11225,0.83,138.8,402.0,10.6,340,11228,0.00,2.10,0.00,0.000,4,0.000,0.031,2788,1079,2492
$GC,11368,0.84,145.7,387.9,9.6,343,11378,0.00,2.17,5.60,0.749,6,0.000,0.040,2789,2490,2476
$GC,11648,0.87,172.0,362.6,8.5,350,11691,0.00,2.28,28.02,0.869,4,0.000,0.048,2779,3893,2366
$GC,11947,0.87,172.0,319.5,16.0,356,11951,0.00,2.12,0.00,0.000,6,0.000,0.027,2788,2480,2363
$GC,12211,0.87,172.0,283.6,13.6,363,12214,0.00,2.25,0.00,0.000,4,0.000,0.048,2780,3888,2362
$GC,12472,0.87,172.0,246.7,12.8,368,12476,0.00,2.12,0.00,0.000,6,0.000,0.027,2789,2471,2361
$GC,12730,0.87,172.0,218.5,10.8,375,12734,0.00,2.25,0.00,0.000,4,0.000,0.046,2780,3901,2360
$GC,12825,0.87,172.0,208.4,10.6,377,12829,0.00,2.10,0.00,0.000,6,0.000,0.026,2789,2470,2360
$GC,13095,0.91,197.3,184.5,8.5,393,13124,0.00,2.28,22.88,0.757,4,0.000,0.046,2780,3885,2264
$GC,13138,0.91,197.3,179.8,10.7,396,13147,0.00,2.12,0.00,0.000,6,0.000,0.027,2789,2488,2263
$GC,13405,0.91,197.3,144.8,13.6,421,13409,0.00,2.22,0.00,0.000,4,0.000,0.045,2781,3897,2260
$GC,13424,0.91,197.3,141.6,12.8,422,13431,0.00,2.12,0.00,0.000,6,0.000,0.025,2789,2475,2260
$GC,13691,0.91,197.3,110.7,11.5,447,13694,0.00,2.22,0.00,0.000,4,0.000,0.046,2781,3889,2260
$GC,13719,0.91,197.3,107.2,12.2,449,13723,0.00,2.08,0.00,0.000,6,0.000,0.025,2790,2474,2260
$GC,13989,0.98,256.7,80.5,6.5,474,14050,0.00,2.12,50.72,0.669,4,0.000,0.028,2799,1081,2022
$GC,14146,0.98,256.7,63.1,14.6,487,14150,0.00,2.15,0.00,0.000,6,0.000,0.035,2793,2481,2016
$GC,14412,0.98,256.7,29.1,14.7,512,14421,0.00,2.22,0.00,0.000,4,0.000,0.046,2793,3879,2014
$GC,14432,0.98,256.7,26.3,14.4,514,14440,0.00,2.10,0.00,0.000,6,0.000,0.023,2802,2481,2015
$STATE,14581,end climb,SURFACE_DEPTH_REACHED
$STATE,14581,begin surface coast
$FINISH,0.3,1.010505
$STATE,14605,end surface coast,CONTROL_FINISHED_OK
$STATE,14605,begin surface
$SM_CCo,14629,69.90,0.584,0,0,1397,410.13
$SM_GC,1.31,0.00,0.00,69.90,0.000,0.000,0.584,40,2470,1397,-7.66,-0.57,410.13
$IRIDIUM_FIX,2234.68,-15758.03,020101,070733
$TT8_MAMPS,0.023777
$HUMID,2129
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.60
$XPDR_PINGS,21
$24V_AH,23.2,66.475
$10V_AH,10.6,50.479
$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,17.525,163.725,355.325,69.900,0.000,47.718,77.058,716.213,5.250,0.000,0.000,17.845,1312.841,10272.372,534.775,2224.824,1482.478,33.354,1552.093,0.000,2194.093,0.000,0.544,0.000
$DEVICE_MAMPS,225.498,59.826,1262.482,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,368.023,719.294,742.039,136.004,616.924,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44592,544
$CAP_FILE_SIZE,130952,0
$CFSIZE,260165632,193392640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,2,0
$CURRENT,0.089,215.7,1
$GPS,091011,113131,2244.125,-15800.212,78,0.9,78,10.1