version: 66.04
glider: 512
mission: 2
dive: 569
start: 10 14 111 1 56 57
data:
$ID,512
$MISSION,2
$DIVE,569
$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,-44257.781
$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,46
$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
$GPS1,014007,2236.943,-15802.869,56,1.9,56,10.0
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.4
$GPS2,015602,2236.961,-15802.952,20,1.9,20,10.0
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,-0.245
$KALMAN_X,-178676.0,-96.1,1046.4,177765.7,-2548.8
$KALMAN_Y,-216781.2,114.1,573.2,136841.1,-2085.5
$MHEAD_RNG_PITCHd_Wd,188.5,85600,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-0.77,-136.3,0.0,0.0,0,91,0.00,0.00,-64.72,0.000,2,0.000,0.000,36,2499,3098
$GC,96,-0.77,-136.3,3.4,-5.5,8,123,8.32,2.10,-9.50,0.000,4,0.196,0.038,2236,1068,3628
$GC,212,-0.77,-136.3,39.1,-19.1,23,220,0.00,2.20,0.00,0.000,6,0.000,0.040,2228,2474,3629
$GC,477,-0.77,-136.3,101.7,-21.6,48,481,0.00,2.20,0.00,0.000,4,0.000,0.046,2217,3896,3630
$GC,518,-0.77,-136.3,109.6,-20.8,51,522,0.00,2.05,0.00,0.000,6,0.000,0.021,2217,2483,3629
$GC,789,-0.77,-136.3,159.9,-17.2,76,793,0.00,2.03,0.00,0.000,4,0.000,0.025,2220,1079,3630
$GC,839,-0.77,-136.3,168.0,-14.4,80,843,0.00,2.15,0.00,0.000,6,0.000,0.038,2212,2494,3631
$GC,1105,-0.77,-136.3,214.2,-17.1,99,1109,0.00,2.17,0.00,0.000,4,0.000,0.047,2201,3905,3631
$GC,1157,-0.77,-136.3,223.1,-15.4,100,1161,0.12,2.05,0.00,0.000,6,0.116,0.021,2242,2482,3631
$GC,1443,-0.77,-136.3,256.0,-10.9,107,1446,0.00,2.00,0.00,0.000,4,0.000,0.025,2242,1088,3631
$GC,1495,-0.77,-136.3,261.8,-10.2,108,1499,0.00,2.12,0.00,0.000,6,0.000,0.038,2236,2488,3631
$GC,1781,-0.77,-136.3,293.9,-11.6,115,1785,0.00,2.17,0.00,0.000,4,0.000,0.050,2225,3897,3630
$GC,1817,-0.77,-136.3,297.9,-11.0,115,1821,0.00,2.05,0.00,0.000,6,0.000,0.022,2225,2482,3630
$GC,2075,-0.77,-136.3,327.8,-12.0,122,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2474,3628
$GC,2319,-0.77,-136.3,356.4,-11.7,128,2322,0.00,2.00,0.00,0.000,4,0.000,0.026,2225,1096,3627
$GC,2354,-0.77,-136.3,360.5,-10.6,128,2358,0.00,2.12,0.00,0.000,6,0.000,0.039,2223,2492,3626
$GC,2614,-0.77,-136.3,388.2,-10.9,135,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2492,3624
$GC,2857,-0.77,-136.3,412.4,-9.6,141,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2492,3622
$GC,3100,-0.77,-136.3,436.7,-10.0,147,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2492,3621
$GC,3343,-0.77,-136.3,462.1,-10.5,153,3347,0.00,2.20,0.00,0.000,4,0.000,0.051,2213,3893,3618
$GC,3369,-0.77,-136.3,464.8,-10.6,153,3373,0.00,2.05,0.00,0.000,6,0.000,0.025,2213,2490,3618
$GC,3639,-0.77,-136.3,493.4,-10.5,160,3641,0.00,0.00,-0.08,0.000,6,0.000,0.000,2213,2483,3641
$GC,3883,-0.77,-136.3,518.8,-10.4,166,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2483,3640
$GC,4126,-0.77,-136.3,541.9,-9.5,172,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2482,3638
$GC,4370,-0.77,-136.3,565.6,-9.7,178,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2482,3637
$GC,4616,-0.77,-136.3,589.5,-9.8,184,4620,0.00,2.28,0.00,0.000,4,0.000,0.055,2202,3901,3634
$GC,4640,-0.77,-136.3,592.3,-10.0,184,4645,0.12,2.08,0.00,0.000,6,0.112,0.027,2242,2490,3634
$GC,4905,-0.77,-136.3,610.3,-6.5,191,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2483,3632
$GC,5148,-0.77,-136.3,627.6,-7.1,197,5152,0.00,2.28,0.00,0.000,4,0.000,0.056,2235,3894,3631
$GC,5178,-0.77,-136.3,630.0,-7.2,197,5182,0.00,2.08,0.00,0.000,6,0.000,0.027,2235,2487,3630
$GC,5442,-0.77,-136.3,647.2,-6.4,204,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2481,3628
$GC,5685,-0.77,-136.3,662.0,-6.1,210,5689,0.00,2.30,0.00,0.000,4,0.000,0.058,2224,3901,3626
$GC,5722,-0.77,-136.3,664.4,-6.6,210,5731,0.00,2.12,0.00,0.000,6,0.000,0.028,2224,2483,3626
$GC,5975,-0.77,-136.3,682.0,-7.1,217,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2482,3625
$GC,6221,-0.77,-136.3,702.1,-8.5,223,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2482,3624
$GC,6464,-0.77,-136.3,724.9,-9.3,229,6468,0.00,2.28,0.00,0.000,4,0.000,0.058,2213,3891,3622
$GC,6489,-0.77,-136.3,727.3,-9.6,229,6493,0.00,2.08,0.00,0.000,6,0.000,0.028,2213,2494,3622
$GC,6762,-0.77,-136.3,752.5,-9.1,236,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2487,3621
$GC,7003,-0.77,-136.3,773.3,-8.6,242,7007,0.00,2.28,0.00,0.000,4,0.000,0.060,2207,3885,3619
$GC,7022,-0.77,-136.3,775.2,-8.7,242,7026,0.12,2.10,0.00,0.000,6,0.112,0.029,2244,2478,3620
$GC,7292,-0.77,-136.3,794.1,-7.1,249,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2472,3619
$GC,7535,-0.77,-136.3,813.2,-7.9,255,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2472,3617
$GC,7779,-0.77,-136.3,832.8,-8.0,261,7783,0.00,2.33,0.00,0.000,4,0.000,0.061,2236,3888,3616
$GC,7804,-0.77,-136.3,834.9,-7.7,261,7808,0.00,2.10,0.00,0.000,6,0.000,0.029,2236,2479,3616
$GC,8069,-0.77,-136.3,853.4,-6.9,268,8073,0.00,2.05,0.00,0.000,4,0.000,0.032,2236,1086,3615
$GC,8093,-0.77,-136.3,855.3,-7.1,268,8097,0.00,2.20,0.00,0.000,6,0.000,0.046,2236,2484,3615
$GC,8357,-0.77,-136.3,871.4,-6.1,275,8361,0.00,2.30,0.00,0.000,4,0.000,0.061,2226,3906,3614
$GC,8405,-0.77,-136.3,874.4,-6.0,276,8409,0.00,2.12,0.00,0.000,6,0.000,0.031,2226,2481,3614
$GC,8692,-0.77,-136.3,893.4,-6.7,283,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2475,3614
$STATE,8809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8809,begin apogee
$GC,8820,-0.27,0.0,902.1,7.0,286,8944,0.52,0.00,121.12,1.262,6,0.100,0.000,2401,2474,3070
$STATE,8945,end apogee,CONTROL_FINISHED_OK
$STATE,8945,begin climb
$GC,8950,0.77,136.3,907.3,0.0,289,9125,0.90,2.50,138.48,1.146,4,0.039,0.051,2749,3897,2513
$GC,9383,0.77,136.3,867.2,19.9,298,9387,0.00,2.15,0.00,0.000,6,0.000,0.028,2760,2476,2504
$GC,9646,0.77,136.3,820.9,17.4,305,9650,0.00,2.10,0.00,0.000,4,0.000,0.031,2770,1072,2501
$GC,9682,0.77,136.3,814.6,17.2,305,9686,0.00,2.20,0.00,0.000,6,0.000,0.040,2767,2491,2500
$GC,9937,0.77,136.3,771.8,16.7,311,9941,0.00,2.12,0.00,0.000,4,0.000,0.031,2776,1075,2499
$GC,10031,0.77,136.3,756.3,16.2,313,10035,0.00,2.17,0.00,0.000,6,0.000,0.040,2768,2479,2499
$GC,10323,0.77,136.3,709.7,15.7,320,10326,0.00,2.22,0.00,0.000,4,0.000,0.051,2767,3887,2497
$GC,10454,0.77,136.3,687.8,15.0,322,10462,0.15,2.10,0.00,0.000,6,0.225,0.029,2745,2475,2496
$GC,10707,0.77,136.3,654.3,12.9,329,10711,0.00,2.25,0.00,0.000,4,0.000,0.053,2742,3885,2495
$GC,10844,0.77,136.3,636.0,12.5,332,10848,0.00,2.10,0.00,0.000,6,0.000,0.030,2751,2476,2496
$GC,11137,0.77,136.3,600.3,12.0,339,11141,0.00,2.25,0.00,0.000,4,0.000,0.053,2751,3884,2494
$GC,11359,0.77,136.3,569.0,13.2,343,11365,0.00,2.10,0.00,0.000,6,0.000,0.029,2760,2475,2494
$GC,11613,0.77,136.3,539.2,11.6,350,11616,0.00,2.08,0.00,0.000,4,0.000,0.031,2771,1078,2494
$GC,11733,0.77,136.3,525.5,10.4,352,11737,0.00,2.17,0.00,0.000,6,0.000,0.041,2767,2483,2494
$GC,11997,0.77,136.3,494.6,12.0,359,12001,0.00,2.22,0.00,0.000,4,0.000,0.050,2767,3900,2493
$GC,12044,0.77,136.3,488.6,13.2,360,12049,0.15,2.10,0.00,0.000,6,0.219,0.028,2744,2476,2493
$GC,12337,0.77,136.3,455.2,11.5,367,12341,0.00,2.25,0.00,0.000,4,0.000,0.052,2742,3888,2493
$GC,12412,0.77,136.3,446.4,11.4,368,12416,0.00,2.10,0.00,0.000,6,0.000,0.029,2751,2479,2493
$GC,12677,0.81,164.3,423.3,8.6,375,12712,0.00,2.30,25.48,0.907,4,0.000,0.052,2751,3888,2399
$GC,12738,0.81,164.3,417.0,12.0,375,12742,0.00,2.12,0.00,0.000,6,0.000,0.028,2760,2479,2398
$GC,13007,0.81,164.3,382.5,12.3,382,13011,0.00,2.08,0.00,0.000,4,0.000,0.032,2770,1078,2395
$GC,13212,0.81,164.3,358.5,11.0,386,13216,0.00,2.17,0.00,0.000,6,0.000,0.041,2768,2482,2395
$GC,13483,0.81,164.3,327.0,11.8,393,13484,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2483,2394
$GC,13726,0.81,164.3,299.3,11.5,399,13727,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2482,2394
$GC,13969,0.81,164.3,274.3,10.1,405,13972,0.00,2.22,0.00,0.000,4,0.000,0.049,2767,3904,2393
$GC,14096,0.82,170.1,261.5,9.7,407,14107,0.00,2.10,5.78,0.680,6,0.000,0.026,2776,2479,2376
$GC,14353,0.85,201.0,238.5,8.5,414,14397,0.00,2.33,31.35,0.784,4,0.000,0.048,2776,3900,2248
$GC,14450,0.85,201.0,225.5,15.8,416,14454,0.00,2.15,0.00,0.000,6,0.000,0.026,2785,2476,2247
$GC,14712,0.85,201.0,182.2,15.2,429,14716,0.00,2.28,0.00,0.000,4,0.000,0.047,2781,3898,2244
$GC,14809,0.85,201.0,167.0,15.4,437,14813,0.00,2.12,0.00,0.000,6,0.000,0.025,2789,2476,2244
$GC,15080,0.85,201.0,129.7,14.5,462,15084,0.00,2.08,0.00,0.000,4,0.000,0.028,2800,1062,2243
$GC,15233,0.85,201.0,109.3,12.4,475,15237,0.00,2.17,0.00,0.000,6,0.000,0.037,2793,2485,2243
$GC,15506,0.86,204.6,75.3,9.8,500,15513,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2484,2243
$GC,15771,1.07,378.7,62.7,1.4,525,15931,0.12,2.33,146.77,0.647,4,0.095,0.042,2835,3898,1523
$GC,16062,1.07,378.7,3.2,27.7,556,16070,0.00,2.17,0.00,0.000,6,0.000,0.025,2843,2462,1519
$STATE,16076,end climb,SURFACE_DEPTH_REACHED
$STATE,16076,begin surface coast
$FINISH,0.4,1.019016
$STATE,16090,end surface coast,CONTROL_FINISHED_OK
$STATE,16090,begin surface
$SM_CCo,16115,16.30,0.555,0,0,1397,410.13
$SM_GC,1.05,0.00,0.00,16.30,0.000,0.000,0.555,37,2458,1397,-7.66,-0.90,410.13
$IRIDIUM_FIX,2227.67,-15807.15,070101,010104
$TT8_MAMPS,0.023777
$HUMID,2176
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,22.40
$XPDR_PINGS,25
$24V_AH,23.0,70.516
$10V_AH,10.6,53.539
$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,17.950,138.450,468.975,16.300,0.000,45.841,76.733,558.682,6.250,0.000,0.000,20.790,1298.873,11858.937,534.418,2062.260,1329.785,33.358,1506.679,0.000,2028.975,0.000,0.543,0.000
$DEVICE_MAMPS,224.731,61.360,1261.715,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,379.686,676.802,697.639,121.532,559.750,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44529,560
$CAP_FILE_SIZE,127244,0
$CFSIZE,260165632,191758336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,6,2
$CURRENT,0.043,191.1,1
$GPS,141011,062737,2234.963,-15803.526,57,1.2,57,10.0