version: 66.04
glider: 512
mission: 2
dive: 556
start: 10 11 111 19 28 36
data:
$ID,512
$MISSION,2
$DIVE,556
$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,-43993.621
$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,58
$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
$GPS1,191636,2245.428,-15759.357,60,0.9,60,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-79.1
$GPS2,192738,2245.386,-15759.362,15,1.5,15,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.032,0.250
$KALMAN_X,-180662.2,-259.9,1335.7,185685.5,-6326.5
$KALMAN_Y,-184208.0,963.2,816.6,118774.6,-8944.1
$MHEAD_RNG_PITCHd_Wd,217.5,1304,-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,-63.0,0.0,0.0,0,90,0.00,0.00,-67.93,0.000,2,0.000,0.000,38,2487,3226
$GC,95,-1.01,-85.9,4.2,-7.6,9,113,8.02,2.17,-3.47,0.000,4,0.195,0.050,2145,3911,3423
$GC,277,-1.01,-85.9,72.5,-29.5,28,281,0.00,2.08,0.00,0.000,6,0.000,0.022,2145,2486,3425
$GC,550,-1.01,-85.9,145.4,-26.8,53,554,0.00,2.20,0.00,0.000,4,0.000,0.043,2134,3897,3426
$GC,577,-1.01,-85.9,153.1,-25.8,55,581,0.00,2.05,0.00,0.000,6,0.000,0.021,2134,2475,3427
$GC,854,-1.01,-85.9,221.5,-24.3,75,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2468,3428
$GC,1099,-1.01,-85.9,276.6,-21.9,81,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2468,3427
$GC,1341,-1.01,-85.9,327.1,-20.6,87,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2468,3427
$GC,1585,-1.01,-85.9,375.3,-19.6,93,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2468,3426
$GC,1828,-1.01,-85.9,422.3,-19.1,99,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2468,3424
$GC,2073,-1.01,-85.9,466.8,-17.9,105,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2468,3423
$GC,2317,-1.01,-85.9,507.9,-16.6,111,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2468,3420
$GC,2560,-1.01,-85.9,547.3,-16.3,117,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2468,3418
$GC,2805,-1.01,-85.9,588.8,-17.2,123,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2468,3416
$GC,3047,-1.01,-85.9,628.3,-16.0,129,3051,0.00,2.25,0.00,0.000,4,0.000,0.050,2124,3899,3413
$GC,3101,-1.01,-85.9,637.5,-17.3,130,3105,0.15,2.05,0.00,0.000,6,0.142,0.026,2165,2491,3413
$GC,3387,-1.01,-85.9,675.3,-12.8,137,3390,0.00,2.25,0.00,0.000,4,0.000,0.051,2156,3897,3411
$GC,3428,-1.01,-85.9,680.9,-13.8,137,3434,0.00,2.10,0.00,0.000,6,0.000,0.026,2156,2484,3410
$GC,3681,-1.01,-85.9,714.7,-13.4,144,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2476,3408
$GC,3924,-1.01,-85.9,747.3,-13.4,150,3928,0.00,2.25,0.00,0.000,4,0.000,0.053,2145,3888,3406
$GC,3942,-1.01,-85.9,750.1,-13.2,150,3946,0.00,2.08,0.00,0.000,6,0.000,0.027,2145,2485,3405
$GC,4219,-1.01,-85.9,787.0,-13.4,157,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2478,3404
$GC,4461,-1.01,-85.9,818.5,-13.0,163,4465,0.00,2.28,0.00,0.000,4,0.000,0.054,2135,3901,3402
$GC,4503,-1.01,-85.9,824.2,-13.5,163,4509,0.00,2.12,0.00,0.000,6,0.000,0.028,2134,2481,3401
$GC,4755,-1.01,-85.9,858.5,-13.6,170,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2474,3400
$GC,5000,-1.01,-85.9,891.7,-13.6,176,5003,0.00,2.08,0.00,0.000,4,0.000,0.032,2139,1082,3398
$GC,5024,-1.01,-85.9,895.3,-14.4,176,5029,0.12,2.20,0.00,0.000,6,0.143,0.046,2162,2484,3398
$STATE,5079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5079,begin apogee
$GC,5091,-0.27,0.0,902.5,12.1,178,5166,0.75,0.00,72.12,1.258,6,0.124,0.000,2400,2484,3070
$STATE,5167,end apogee,CONTROL_FINISHED_OK
$STATE,5167,begin climb
$GC,5173,1.01,85.9,905.3,0.0,180,5265,1.10,0.00,84.05,1.177,6,0.041,0.000,2819,2485,2719
$GC,5500,1.02,90.5,897.1,9.5,188,5504,0.00,2.25,0.00,0.000,4,0.000,0.049,2819,3906,2709
$GC,5742,1.02,93.9,872.1,9.6,193,5753,0.00,2.12,6.55,0.973,6,0.000,0.028,2829,2471,2687
$GC,6011,1.02,94.1,845.2,10.0,200,6015,0.00,2.28,0.00,0.000,4,0.000,0.047,2823,3909,2684
$GC,6031,1.03,98.8,843.2,9.5,200,6042,0.00,2.12,5.78,0.929,6,0.000,0.028,2832,2473,2668
$GC,6294,1.03,98.8,814.7,11.1,207,6298,0.00,2.25,0.00,0.000,4,0.000,0.048,2832,3898,2666
$GC,6420,1.03,98.8,799.5,11.6,209,6424,0.00,2.10,0.00,0.000,6,0.000,0.027,2842,2475,2665
$GC,6680,1.03,98.8,770.6,11.1,216,6684,0.00,2.25,0.00,0.000,4,0.000,0.046,2836,3898,2663
$GC,6940,1.03,98.8,740.3,10.3,221,6946,0.00,2.10,0.00,0.000,6,0.000,0.027,2845,2475,2663
$GC,7193,1.04,110.7,717.6,8.7,228,7218,0.00,2.28,14.07,0.940,4,0.000,0.046,2845,3910,2618
$GC,7379,1.04,110.7,696.2,12.1,232,7383,0.00,2.12,0.00,0.000,6,0.000,0.028,2856,2482,2617
$GC,7666,1.05,112.6,666.6,9.8,239,7670,0.00,2.25,0.00,0.000,4,0.000,0.047,2849,3901,2615
$GC,7909,1.05,112.6,642.4,10.1,244,7914,0.12,2.12,0.00,0.000,6,0.234,0.028,2834,2478,2614
$GC,8180,1.06,123.7,618.7,8.8,251,8205,0.00,2.10,14.80,0.919,4,0.000,0.031,2843,1074,2565
$GC,8219,1.06,123.7,614.5,10.5,251,8225,0.00,2.20,0.00,0.000,6,0.000,0.040,2836,2495,2564
$GC,8471,1.06,123.7,584.9,11.7,258,8475,0.00,2.20,0.00,0.000,4,0.000,0.049,2837,3900,2562
$GC,8552,1.06,123.7,575.2,12.2,259,8556,0.00,2.12,0.00,0.000,6,0.000,0.027,2845,2468,2561
$GC,8812,1.06,123.7,546.9,10.9,266,8816,0.00,2.25,0.00,0.000,4,0.000,0.047,2845,3902,2561
$GC,8830,1.06,123.7,544.6,10.8,266,8834,0.00,2.12,0.00,0.000,6,0.000,0.027,2857,2474,2561
$GC,9106,1.06,124.3,516.7,9.9,273,9109,0.00,2.05,0.00,0.000,4,0.000,0.031,2867,1076,2561
$GC,9204,1.07,135.2,507.4,8.8,275,9229,0.00,2.17,13.30,0.834,6,0.000,0.039,2862,2493,2519
$GC,9490,1.07,135.2,476.8,11.1,282,9493,0.00,2.20,0.00,0.000,4,0.000,0.049,2862,3897,2517
$GC,9548,1.07,135.2,470.1,10.7,283,9553,0.15,2.12,0.00,0.000,6,0.237,0.027,2840,2466,2517
$GC,9824,1.07,135.2,442.0,10.4,290,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2462,2516
$GC,10068,1.08,140.1,418.3,9.5,296,10079,0.00,2.25,6.07,0.785,4,0.000,0.044,2836,3898,2498
$GC,10092,1.08,140.1,415.8,10.0,296,10096,0.00,2.10,0.00,0.000,6,0.000,0.028,2845,2481,2497
$GC,10356,1.09,151.8,391.3,8.8,303,10375,0.00,2.15,12.18,0.895,4,0.000,0.031,2856,1076,2451
$GC,10386,1.12,171.2,388.9,7.9,303,10411,0.00,2.17,19.20,0.910,6,0.000,0.038,2851,2486,2372
$GC,10693,1.12,171.2,341.1,17.3,311,10697,0.00,2.10,0.00,0.000,4,0.000,0.030,2859,1080,2367
$GC,10741,1.12,171.2,332.8,15.8,312,10745,0.00,2.17,0.00,0.000,6,0.000,0.038,2859,2491,2367
$GC,11034,1.12,171.2,282.9,17.0,319,11038,0.00,2.10,0.00,0.000,4,0.000,0.029,2867,1067,2365
$GC,11047,1.12,171.2,280.3,17.2,319,11050,0.00,2.17,0.00,0.000,6,0.000,0.038,2862,2479,2365
$GC,11330,1.12,171.2,238.8,14.8,326,11333,0.00,2.20,0.00,0.000,4,0.000,0.048,2862,3891,2364
$GC,11348,1.12,171.2,235.8,13.9,326,11352,0.00,2.10,0.00,0.000,6,0.000,0.027,2871,2478,2364
$GC,11625,1.12,171.2,200.1,12.3,333,11629,0.00,2.08,0.00,0.000,4,0.000,0.030,2882,1060,2364
$GC,11752,1.12,171.2,186.0,11.2,341,11756,0.00,2.17,0.00,0.000,6,0.000,0.038,2875,2481,2364
$GC,12024,1.14,186.7,160.0,8.4,366,12041,0.00,0.00,14.20,0.729,6,0.000,0.000,2874,2481,2307
$GC,12298,1.14,186.7,126.4,12.9,392,12302,0.00,2.10,0.00,0.000,4,0.000,0.029,2884,1064,2305
$GC,12522,1.14,186.7,99.2,10.5,411,12526,0.00,2.17,0.00,0.000,6,0.000,0.035,2874,2494,2304
$GC,12793,1.17,210.7,73.5,7.4,436,12822,0.00,2.17,21.85,0.657,4,0.000,0.044,2875,3900,2210
$GC,12909,1.17,210.7,62.5,10.7,445,12918,0.00,2.15,0.00,0.000,6,0.000,0.024,2884,2465,2208
$GC,13175,1.23,260.8,46.9,4.7,470,13230,0.00,2.12,43.05,0.637,4,0.000,0.025,2894,1075,2004
$GC,13238,1.24,268.6,42.4,9.2,474,13251,0.00,2.17,7.95,0.547,6,0.000,0.034,2888,2471,1974
$STATE,13442,end climb,SURFACE_DEPTH_REACHED
$STATE,13442,begin surface coast
$FINISH,0.4,1.023220
$STATE,13455,end surface coast,CONTROL_FINISHED_OK
$STATE,13455,begin surface
$SM_CCo,13480,70.65,0.586,0,0,1397,410.13
$SM_GC,1.28,0.00,0.00,70.65,0.000,0.000,0.586,37,2480,1397,-7.67,-0.28,410.13
$IRIDIUM_FIX,2237.01,-15802.37,040101,151542
$TT8_MAMPS,0.023777
$HUMID,2127
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.00
$XPDR_PINGS,23
$24V_AH,23.6,68.702
$10V_AH,10.6,52.125
$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,17.900,116.625,335.175,70.650,0.000,31.001,39.377,389.914,5.750,0.000,0.000,15.229,1173.071,9655.910,471.134,1860.096,1055.490,33.353,1297.932,0.000,1853.491,0.000,0.543,0.000
$DEVICE_MAMPS,237.003,53.690,1257.880,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,342.907,665.580,688.175,128.629,573.495,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41440,505
$CAP_FILE_SIZE,106718,0
$CFSIZE,260165632,192536576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,4,0
$CURRENT,0.080,218.8,1
$GPS,111011,231600,2244.166,-15800.716,42,1.3,42,10.1