version: 66.04
glider: 512
mission: 2
dive: 542
start: 10 9 111 11 48 24
data:
$ID,512
$MISSION,2
$DIVE,542
$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,-43701.664
$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,32
$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
$GPS1,113131,2244.125,-15800.212,78,0.9,78,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-79.8
$GPS2,114719,2244.050,-15800.354,11,1.0,16,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.144,0.206
$KALMAN_X,-150450.6,790.3,-1019.8,155099.3,-3068.5
$KALMAN_Y,-136315.2,-5.8,767.7,69448.6,-5064.1
$MHEAD_RNG_PITCHd_Wd,16.6,1861,-24.8,-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,-0.92,-75.7,0.0,0.0,0,93,0.00,0.00,-71.18,0.000,2,0.000,0.000,40,2469,3304
$GC,99,-0.95,-101.0,4.4,-7.8,9,117,8.18,2.20,-2.97,0.000,4,0.199,0.047,2169,3915,3484
$GC,190,-0.95,-101.0,47.7,-32.3,19,200,0.00,2.12,0.00,0.000,6,0.000,0.025,2169,2501,3485
$GC,456,-0.95,-101.0,122.0,-24.8,44,460,0.00,2.08,0.00,0.000,4,0.000,0.025,2169,1067,3486
$GC,496,-0.95,-101.0,131.8,-24.5,47,500,0.00,2.17,0.00,0.000,6,0.000,0.039,2158,2488,3486
$GC,761,-0.95,-101.0,194.8,-23.7,71,765,0.00,2.15,0.00,0.000,4,0.000,0.044,2148,3901,3486
$GC,820,-0.95,-101.0,208.7,-22.4,74,824,0.12,2.08,0.00,0.000,6,0.146,0.021,2180,2470,3487
$GC,1096,-0.95,-101.0,262.6,-18.9,81,1100,0.00,2.00,0.00,0.000,4,0.000,0.025,2180,1079,3486
$GC,1154,-0.95,-101.0,272.5,-14.9,82,1158,0.00,2.15,0.00,0.000,6,0.000,0.038,2171,2491,3487
$GC,1436,-0.95,-101.0,321.6,-17.8,89,1439,0.00,2.17,0.00,0.000,4,0.000,0.046,2160,3901,3486
$GC,1467,-0.95,-101.0,327.6,-19.0,89,1471,0.00,2.05,0.00,0.000,6,0.000,0.021,2160,2485,3486
$GC,1732,-0.95,-101.0,376.6,-18.9,96,1735,0.00,2.03,0.00,0.000,4,0.000,0.025,2160,1080,3485
$GC,1784,-0.95,-101.0,386.7,-17.0,97,1789,0.12,2.15,0.00,0.000,6,0.141,0.039,2183,2489,3484
$GC,2066,-0.95,-101.0,429.8,-15.1,104,2069,0.00,2.17,0.00,0.000,4,0.000,0.049,2174,3894,3482
$GC,2174,-0.95,-101.0,445.6,-13.7,106,2178,0.00,2.05,0.00,0.000,6,0.000,0.023,2174,2483,3481
$GC,2449,-0.95,-101.0,484.7,-14.1,113,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2476,3479
$GC,2695,-0.95,-101.0,516.3,-12.6,119,2699,0.00,2.25,0.00,0.000,4,0.000,0.051,2163,3900,3477
$GC,2754,-0.95,-101.0,523.8,-12.0,120,2758,0.00,2.08,0.00,0.000,6,0.000,0.025,2162,2488,3476
$GC,3030,-0.95,-101.0,560.0,-13.1,127,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2480,3474
$GC,3272,-0.95,-101.0,592.3,-13.1,133,3276,0.00,2.22,0.00,0.000,4,0.000,0.051,2152,3893,3471
$GC,3342,-0.95,-101.0,602.0,-13.8,134,3347,0.12,2.08,0.00,0.000,6,0.141,0.026,2185,2491,3470
$GC,3606,-0.95,-101.0,633.5,-12.0,141,3610,0.00,2.08,0.00,0.000,4,0.000,0.029,2191,1080,3468
$GC,3642,-0.95,-101.0,638.0,-11.7,141,3646,0.00,2.20,0.00,0.000,6,0.000,0.043,2183,2495,3468
$GC,3894,-0.95,-101.0,668.5,-12.3,147,3898,0.00,2.22,0.00,0.000,4,0.000,0.054,2171,3899,3465
$GC,3937,-0.95,-101.0,673.9,-13.0,147,3944,0.00,2.08,0.00,0.000,6,0.000,0.027,2171,2492,3464
$GC,4189,-0.95,-101.0,707.9,-13.4,154,4193,0.00,2.08,0.00,0.000,4,0.000,0.031,2172,1086,3463
$GC,4219,-0.95,-101.0,712.4,-14.2,154,4223,0.00,2.20,0.00,0.000,6,0.000,0.044,2161,2496,3463
$GC,4483,-0.95,-101.0,748.6,-13.8,161,4487,0.00,2.22,0.00,0.000,4,0.000,0.055,2150,3901,3460
$GC,4577,-0.95,-101.0,761.8,-13.3,163,4582,0.12,2.10,0.00,0.000,6,0.143,0.028,2183,2485,3459
$GC,4868,-0.95,-101.0,794.7,-10.9,170,4872,0.00,2.08,0.00,0.000,4,0.000,0.031,2191,1085,3457
$GC,4904,-0.95,-102.9,798.3,-9.8,170,4908,0.00,2.20,0.00,0.000,6,0.000,0.045,2182,2493,3457
$GC,5164,-0.95,-102.9,824.3,-10.2,177,5167,0.00,2.25,0.00,0.000,4,0.000,0.057,2171,3901,3455
$GC,5284,-0.95,-102.9,838.1,-11.1,179,5287,0.00,2.12,0.00,0.000,6,0.000,0.028,2171,2486,3454
$GC,5548,-0.95,-102.9,867.7,-11.2,186,5552,0.00,2.08,0.00,0.000,4,0.000,0.031,2172,1086,3453
$GC,5578,-0.95,-102.9,871.3,-12.0,186,5582,0.00,2.22,0.00,0.000,6,0.000,0.047,2161,2499,3453
$STATE,5830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5831,begin apogee
$GC,5843,-0.27,0.0,901.5,11.8,193,5930,0.75,0.00,84.22,1.257,6,0.122,0.000,2398,2499,3070
$STATE,5931,end apogee,CONTROL_FINISHED_OK
$STATE,5931,begin climb
$GC,5936,0.95,102.9,904.3,0.0,195,6046,1.05,0.00,100.05,1.179,6,0.036,0.000,2802,2499,2651
$GC,6307,0.95,102.9,882.6,13.8,204,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2499,2641
$GC,6549,0.95,102.9,851.2,12.5,210,6553,0.00,2.22,0.00,0.000,4,0.000,0.050,2796,3909,2639
$GC,6562,0.95,102.9,849.4,12.7,210,6566,0.00,2.15,0.00,0.000,6,0.000,0.029,2805,2478,2638
$GC,6837,0.95,102.9,816.9,11.8,217,6841,0.00,2.28,0.00,0.000,4,0.000,0.051,2805,3907,2637
$GC,7098,0.95,102.9,783.4,12.9,222,7105,0.00,2.15,0.00,0.000,6,0.000,0.028,2816,2470,2635
$GC,7352,0.95,102.9,755.2,11.0,229,7356,0.00,2.25,0.00,0.000,4,0.000,0.047,2809,3901,2634
$GC,7542,0.95,102.9,733.3,11.4,233,7546,0.00,2.12,0.00,0.000,6,0.000,0.028,2819,2471,2633
$GC,7829,0.96,106.0,705.1,9.7,240,7833,0.00,2.28,0.00,0.000,4,0.000,0.048,2819,3904,2632
$GC,7842,0.96,109.1,703.8,9.7,240,7846,0.00,2.12,0.00,0.000,6,0.000,0.028,2829,2473,2631
$GC,8118,0.96,111.8,677.2,9.8,247,8126,0.00,0.00,6.03,0.899,6,0.000,0.000,2829,2469,2614
$GC,8360,0.96,111.8,650.6,11.1,253,8364,0.00,2.28,0.00,0.000,4,0.000,0.047,2823,3904,2613
$GC,8373,0.96,111.8,649.2,10.7,253,8378,0.12,2.12,0.00,0.000,6,0.236,0.028,2808,2473,2613
$GC,8649,0.97,119.3,623.5,9.3,260,8663,0.00,2.30,8.60,0.968,4,0.000,0.051,2808,3900,2583
$GC,8690,0.98,123.5,619.4,9.6,260,8701,0.00,2.15,5.53,0.842,6,0.000,0.028,2818,2477,2567
$GC,8989,0.98,123.5,585.3,11.8,268,8993,0.00,2.08,0.00,0.000,4,0.000,0.031,2828,1080,2565
$GC,9134,0.98,123.5,569.4,10.5,271,9139,0.00,2.17,0.00,0.000,6,0.000,0.039,2822,2490,2564
$GC,9415,0.98,123.5,540.2,10.1,278,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2490,2563
$GC,9661,1.00,141.4,519.4,8.4,284,9691,0.00,2.22,20.02,0.932,4,0.000,0.049,2822,3893,2492
$GC,9750,1.00,141.4,509.9,13.1,286,9754,0.00,2.12,0.00,0.000,6,0.000,0.028,2831,2477,2490
$GC,10036,1.00,141.4,477.5,11.2,293,10040,0.00,2.08,0.00,0.000,4,0.000,0.031,2842,1080,2488
$GC,10298,1.00,141.4,446.7,12.3,298,10302,0.00,2.17,0.00,0.000,6,0.000,0.040,2836,2488,2487
$GC,10551,1.00,141.4,416.4,12.0,304,10554,0.00,2.10,0.00,0.000,4,0.000,0.031,2844,1080,2486
$GC,10693,1.00,142.3,400.4,9.9,307,10697,0.12,2.15,0.00,0.000,6,0.204,0.040,2818,2480,2486
$GC,10974,1.02,156.8,374.8,8.7,314,11000,0.00,2.12,16.23,0.809,4,0.000,0.030,2827,1074,2431
$GC,11143,1.02,156.8,356.7,11.5,317,11149,0.00,2.17,0.00,0.000,6,0.000,0.038,2822,2480,2428
$GC,11396,1.02,156.8,328.0,11.4,324,11399,0.00,2.10,0.00,0.000,4,0.000,0.030,2830,1074,2427
$GC,11658,1.02,156.8,298.1,10.2,329,11662,0.00,2.17,0.00,0.000,6,0.000,0.038,2831,2485,2427
$GC,11918,1.03,167.5,273.6,9.0,336,11936,0.00,0.00,11.60,0.746,6,0.000,0.000,2831,2486,2387
$GC,12161,1.03,167.5,248.3,10.5,342,12165,0.00,2.10,0.00,0.000,4,0.000,0.031,2841,1078,2385
$GC,12320,1.05,182.2,231.1,8.7,345,12342,0.00,2.15,14.48,0.769,6,0.000,0.038,2836,2480,2326
$GC,12589,1.05,182.2,197.9,13.1,352,12592,0.00,2.10,0.00,0.000,4,0.000,0.030,2844,1073,2324
$GC,12775,1.05,182.2,173.9,12.4,368,12779,0.00,2.15,0.00,0.000,6,0.000,0.037,2844,2488,2324
$GC,13048,1.06,194.1,144.3,9.0,393,13065,0.00,2.10,11.85,0.675,4,0.000,0.027,2855,1070,2277
$GC,13081,1.06,194.1,141.0,10.8,395,13085,0.00,2.15,0.00,0.000,6,0.000,0.035,2849,2488,2276
$GC,13352,1.06,194.1,109.4,11.5,420,13356,0.00,2.17,0.00,0.000,4,0.000,0.044,2850,3889,2274
$GC,13370,1.06,194.1,107.9,10.2,421,13374,0.00,2.08,0.00,0.000,6,0.000,0.024,2858,2471,2274
$GC,13640,1.13,243.8,89.3,5.6,446,13693,0.00,2.10,43.22,0.670,4,0.000,0.027,2869,1084,2075
$GC,13948,1.13,243.8,48.6,14.1,472,13956,0.00,2.15,0.00,0.000,6,0.000,0.035,2867,2474,2070
$GC,14222,1.13,243.8,5.5,19.2,510,14230,0.00,2.08,0.00,0.000,4,0.000,0.026,2875,1080,2070
$STATE,14237,end climb,SURFACE_DEPTH_REACHED
$STATE,14237,begin surface coast
$FINISH,0.5,1.023331
$STATE,14254,end surface coast,CONTROL_FINISHED_OK
$STATE,14255,begin surface
$SM_CCo,14283,77.70,0.581,0,0,1398,410.13
$SM_GC,1.27,0.00,0.00,77.70,0.000,0.000,0.581,39,2481,1398,-7.66,-0.25,410.13
$IRIDIUM_FIX,2234.68,-15801.07,020101,111105
$TT8_MAMPS,0.023777
$HUMID,2090
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,23.80
$XPDR_PINGS,25
$24V_AH,23.5,66.616
$10V_AH,10.6,50.590
$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,18.125,146.000,321.825,77.700,0.000,84.016,107.654,427.908,6.250,0.000,0.000,16.124,1261.687,10230.543,496.273,2091.328,1234.385,33.354,1430.844,0.000,2065.749,0.000,0.544,0.000
$DEVICE_MAMPS,236.236,56.758,1257.113,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,349.786,656.341,676.602,118.908,538.748,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41597,515
$CAP_FILE_SIZE,121648,0
$CFSIZE,260165632,193339392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,4,0
$CURRENT,0.051,250.8,1
$GPS,091011,154906,2244.911,-15800.005,31,1.2,31,10.1