version: 66.04
glider: 512
mission: 2
dive: 574
start: 10 15 111 2 11 14
data:
$ID,512
$MISSION,2
$DIVE,574
$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,-44366.062
$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
$GPS1,015707,2226.616,-15805.750,35,1.2,35,10.0
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.0
$GPS2,021019,2226.618,-15805.911,13,1.4,18,10.0
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.055,-0.246
$KALMAN_X,-178228.1,-403.3,842.4,172771.2,-1971.2
$KALMAN_Y,-215464.2,75.2,-99.2,117107.2,114.4
$MHEAD_RNG_PITCHd_Wd,193.9,65791,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.77,-136.3,0.0,0.0,0,128,0.00,0.00,-102.32,0.000,2,0.000,0.000,36,2500,3186
$GC,135,-0.77,-136.3,3.5,-5.2,12,162,8.18,2.12,-7.88,0.000,4,0.190,0.041,2237,1089,3628
$GC,250,-0.77,-136.3,39.2,-19.3,26,254,0.00,2.12,0.00,0.000,6,0.000,0.035,2228,2485,3629
$GC,521,-0.77,-136.3,99.2,-19.3,51,525,0.00,2.03,0.00,0.000,4,0.000,0.024,2229,1087,3629
$GC,581,-0.77,-136.3,110.0,-15.0,56,585,0.00,2.15,0.00,0.000,6,0.000,0.038,2221,2497,3629
$GC,853,-0.77,-136.3,156.8,-15.3,81,856,0.00,2.15,0.00,0.000,4,0.000,0.046,2210,3897,3629
$GC,879,-0.77,-136.3,161.5,-17.1,83,884,0.10,2.05,0.00,0.000,6,0.130,0.021,2238,2484,3629
$GC,1151,-0.77,-136.3,200.7,-14.2,108,1154,0.00,2.00,0.00,0.000,4,0.000,0.024,2238,1087,3629
$GC,1192,-0.77,-136.3,206.4,-11.3,108,1198,0.00,2.12,0.00,0.000,6,0.000,0.038,2236,2490,3629
$GC,1444,-0.77,-136.3,236.8,-12.6,115,1448,0.00,2.17,0.00,0.000,4,0.000,0.048,2225,3897,3629
$GC,1481,-0.77,-136.3,242.1,-14.7,115,1484,0.00,2.05,0.00,0.000,6,0.000,0.021,2225,2486,3629
$GC,1739,-0.77,-136.3,279.5,-14.3,122,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2480,3628
$GC,1984,-0.77,-136.3,306.9,-10.8,128,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2479,3627
$GC,2227,-0.77,-136.3,340.6,-14.2,134,2231,0.00,2.22,0.00,0.000,4,0.000,0.048,2214,3907,3624
$GC,2245,-0.77,-136.3,343.3,-13.4,134,2249,0.00,2.08,0.00,0.000,6,0.000,0.023,2214,2482,3625
$GC,2524,-0.77,-136.3,375.1,-11.1,141,2527,0.00,2.00,0.00,0.000,4,0.000,0.025,2217,1093,3622
$GC,2572,-0.77,-136.3,380.8,-10.4,142,2577,0.12,2.12,0.00,0.000,6,0.112,0.038,2247,2492,3622
$GC,2858,-0.77,-136.3,408.0,-9.5,149,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2492,3619
$GC,3103,-0.77,-136.3,428.8,-8.4,155,3108,0.00,2.22,-0.08,0.000,4,0.000,0.063,2237,3894,3641
$GC,3139,-0.77,-136.3,432.0,-8.3,155,3146,0.00,2.08,0.00,0.000,6,0.000,0.024,2237,2485,3641
$GC,3392,-0.77,-136.3,453.1,-8.4,162,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2485,3638
$GC,3638,-0.77,-136.3,471.9,-7.8,168,3641,0.00,2.25,0.00,0.000,4,0.000,0.052,2227,3902,3636
$GC,3668,-0.77,-136.3,474.7,-7.9,168,3672,0.00,2.05,0.00,0.000,6,0.000,0.025,2227,2492,3636
$GC,3931,-0.77,-136.3,500.5,-10.5,175,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2485,3635
$GC,4176,-0.77,-136.3,526.6,-10.4,181,4179,0.00,2.25,0.00,0.000,4,0.000,0.052,2219,3900,3632
$GC,4200,-0.77,-136.3,529.1,-9.4,181,4204,0.00,2.08,0.00,0.000,6,0.000,0.025,2219,2490,3632
$GC,4470,-0.77,-136.3,556.1,-10.4,188,4474,0.00,2.03,0.00,0.000,4,0.000,0.027,2219,1095,3630
$GC,4496,-0.77,-136.3,558.9,-10.7,188,4501,0.12,2.15,0.00,0.000,6,0.114,0.042,2247,2486,3630
$GC,4760,-0.77,-136.3,581.6,-8.5,195,4763,0.00,2.25,0.00,0.000,4,0.000,0.055,2237,3905,3627
$GC,4819,-0.77,-136.3,586.6,-8.5,196,4823,0.00,2.08,0.00,0.000,6,0.000,0.026,2237,2488,3626
$GC,5100,-0.77,-136.3,610.8,-8.8,203,5104,0.00,2.28,0.00,0.000,4,0.000,0.055,2226,3904,3625
$GC,5118,-0.77,-136.3,612.5,-8.7,203,5122,0.00,2.08,0.00,0.000,6,0.000,0.026,2226,2490,3625
$GC,5395,-0.77,-136.3,636.4,-8.8,210,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2483,3623
$GC,5638,-0.77,-136.3,656.9,-8.4,216,5642,0.00,2.28,0.00,0.000,4,0.000,0.055,2216,3900,3621
$GC,5674,-0.77,-136.3,660.2,-8.7,216,5680,0.00,2.08,0.00,0.000,6,0.000,0.026,2216,2490,3621
$GC,5927,-0.77,-136.3,682.3,-9.0,223,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2484,3619
$GC,6172,-0.77,-136.3,704.1,-8.9,229,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2484,3618
$GC,6414,-0.77,-136.3,723.6,-7.8,235,6418,0.00,2.28,0.00,0.000,4,0.000,0.058,2205,3900,3616
$GC,6445,-0.77,-136.3,726.1,-8.5,235,6449,0.12,2.10,0.00,0.000,6,0.110,0.028,2243,2482,3616
$GC,6703,-0.77,-136.3,737.7,-4.2,242,6707,0.00,2.30,0.00,0.000,4,0.000,0.059,2235,3898,3614
$GC,6734,-0.77,-136.3,739.3,-5.8,242,6738,0.00,2.10,0.00,0.000,6,0.000,0.027,2235,2488,3615
$GC,6998,-0.77,-136.3,756.3,-7.0,249,7001,0.00,2.05,0.00,0.000,4,0.000,0.028,2235,1091,3614
$GC,7017,-0.77,-136.3,757.9,-7.3,249,7021,0.00,2.20,0.00,0.000,6,0.000,0.045,2226,2496,3614
$GC,7288,-0.77,-136.3,780.9,-8.7,256,7292,0.00,2.25,0.00,0.000,4,0.000,0.058,2215,3897,3612
$GC,7324,-0.77,-136.3,784.2,-7.9,256,7328,0.00,2.10,0.00,0.000,6,0.000,0.028,2215,2491,3612
$GC,7582,-0.77,-136.3,807.2,-9.1,263,7586,0.00,2.30,0.00,0.000,4,0.000,0.058,2206,3901,3611
$GC,7613,-0.77,-136.3,809.8,-8.6,263,7617,0.12,2.12,0.00,0.000,6,0.107,0.028,2245,2479,3611
$GC,7868,-0.77,-136.3,825.2,-5.9,269,7869,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2472,3610
$GC,8109,-0.77,-136.3,840.2,-6.2,275,8113,0.00,2.33,0.00,0.000,4,0.000,0.059,2236,3900,3609
$GC,8139,-0.77,-136.3,842.2,-6.4,275,8142,0.00,2.12,0.00,0.000,6,0.000,0.028,2236,2480,3609
$GC,8405,-0.77,-136.3,858.8,-6.3,282,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2474,3607
$GC,8647,-0.77,-136.3,873.7,-6.1,288,8651,0.00,2.33,0.00,0.000,4,0.000,0.060,2227,3907,3607
$GC,8689,-0.77,-136.3,876.3,-5.9,288,8695,0.00,2.12,0.00,0.000,6,0.000,0.029,2228,2487,3607
$GC,8941,-0.77,-136.3,892.7,-6.6,295,8945,0.00,2.30,0.00,0.000,4,0.000,0.059,2218,3894,3606
$GC,8966,-0.77,-136.3,894.5,-7.1,295,8970,0.00,2.10,0.00,0.000,6,0.000,0.028,2219,2481,3606
$STATE,9063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9063,begin apogee
$GC,9075,-0.27,0.0,901.7,7.3,298,9198,0.55,0.00,119.72,1.266,6,0.104,0.000,2400,2473,3070
$STATE,9198,end apogee,CONTROL_FINISHED_OK
$STATE,9198,begin climb
$GC,9204,0.77,136.3,906.2,0.0,301,9378,0.90,2.45,138.15,1.152,4,0.041,0.048,2749,3900,2513
$GC,9633,0.77,136.3,866.8,19.0,310,9637,0.00,2.15,0.00,0.000,6,0.000,0.027,2759,2474,2504
$GC,9899,0.77,136.3,822.7,16.4,317,9903,0.00,2.28,0.00,0.000,4,0.000,0.048,2754,3905,2501
$GC,10093,0.77,136.3,789.1,16.9,321,10097,0.00,2.15,0.00,0.000,6,0.000,0.028,2764,2473,2500
$GC,10373,0.77,136.3,744.9,15.4,328,10377,0.00,2.08,0.00,0.000,4,0.000,0.030,2774,1070,2499
$GC,10477,0.77,136.3,728.9,14.4,330,10481,0.00,2.20,0.00,0.000,6,0.000,0.038,2767,2498,2498
$GC,10753,0.77,136.3,687.6,15.1,337,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2498,2497
$GC,10995,0.77,136.3,655.6,12.5,343,10999,0.00,2.17,0.00,0.000,4,0.000,0.051,2767,3888,2497
$GC,11093,0.77,136.3,642.1,13.5,345,11098,0.15,2.10,0.00,0.000,6,0.227,0.028,2744,2476,2496
$GC,11373,0.77,136.3,606.0,13.2,352,11377,0.00,2.08,0.00,0.000,4,0.000,0.031,2753,1078,2496
$GC,11454,0.77,136.3,594.8,13.0,353,11457,0.00,2.17,0.00,0.000,6,0.000,0.040,2753,2485,2495
$GC,11713,0.77,136.3,561.7,12.7,360,11716,0.00,2.20,0.00,0.000,4,0.000,0.049,2753,3888,2495
$GC,11810,0.77,136.3,548.9,12.8,362,11814,0.00,2.10,0.00,0.000,6,0.000,0.027,2763,2472,2495
$GC,12098,0.79,149.8,520.3,9.3,369,12113,0.00,2.10,10.18,0.950,4,0.000,0.030,2773,1064,2460
$GC,12212,0.79,149.8,507.3,11.4,371,12216,0.00,2.20,0.00,0.000,6,0.000,0.039,2767,2493,2459
$GC,12476,0.79,149.8,472.9,13.1,378,12480,0.00,2.20,0.00,0.000,4,0.000,0.050,2767,3901,2457
$GC,12737,0.79,149.8,436.5,12.3,383,12742,0.15,2.12,0.00,0.000,6,0.229,0.028,2745,2478,2457
$GC,12996,0.81,169.6,412.4,9.0,390,13029,0.00,2.33,21.85,0.883,4,0.000,0.051,2742,3888,2377
$GC,13209,0.81,169.6,384.6,14.4,394,13213,0.00,2.12,0.00,0.000,6,0.000,0.027,2750,2478,2375
$GC,13468,0.81,169.6,351.7,12.8,401,13471,0.00,2.10,0.00,0.000,4,0.000,0.029,2761,1061,2373
$GC,13699,0.81,169.6,322.3,12.3,406,13703,0.00,2.20,0.00,0.000,6,0.000,0.040,2754,2490,2372
$GC,13990,0.81,169.6,288.1,11.6,413,13994,0.00,2.12,0.00,0.000,4,0.000,0.029,2763,1061,2371
$GC,14065,0.81,169.6,280.3,10.5,414,14069,0.00,2.20,0.00,0.000,6,0.000,0.039,2763,2483,2371
$GC,14323,0.81,169.6,252.7,10.1,421,14327,0.00,2.20,0.00,0.000,4,0.000,0.047,2755,3904,2371
$GC,14399,0.81,169.6,244.4,12.3,422,14403,0.00,2.12,0.00,0.000,6,0.000,0.026,2764,2470,2371
$GC,14663,0.81,169.6,219.3,10.2,429,14667,0.00,2.05,0.00,0.000,4,0.000,0.028,2773,1068,2371
$GC,14926,0.91,248.1,197.9,6.1,437,15003,0.00,2.17,67.80,0.775,6,0.000,0.036,2767,2494,2058
$GC,15261,0.91,248.1,140.2,20.3,467,15265,0.00,2.12,0.00,0.000,4,0.000,0.028,2775,1074,2051
$GC,15526,0.91,248.1,93.9,14.5,490,15530,0.00,2.17,0.00,0.000,6,0.000,0.037,2776,2488,2049
$GC,15799,0.96,290.9,60.5,7.9,515,15841,0.00,2.17,35.70,0.656,4,0.000,0.027,2785,1077,1883
$GC,16083,0.96,290.9,19.1,18.2,545,16092,0.00,2.17,0.00,0.000,6,0.000,0.035,2781,2475,1878
$STATE,16180,end climb,SURFACE_DEPTH_REACHED
$STATE,16180,begin surface coast
$FINISH,0.7,1.023298
$STATE,16197,end surface coast,CONTROL_FINISHED_OK
$STATE,16197,begin surface
$SM_CCo,16223,56.62,0.588,0,0,1397,410.13
$SM_GC,1.56,0.00,0.00,56.62,0.000,0.000,0.588,37,2485,1397,-7.66,-0.17,410.13
$IRIDIUM_FIX,2218.34,-15808.02,070101,212109
$TT8_MAMPS,0.023777
$HUMID,2127
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,22.60
$XPDR_PINGS,21
$24V_AH,23.0,71.358
$10V_AH,10.6,54.142
$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,17.800,159.650,393.400,56.625,0.000,29.779,37.409,518.886,5.250,0.000,0.000,18.877,1367.857,11651.252,547.507,2221.815,1277.260,33.364,1581.204,0.000,2196.902,0.000,0.543,0.000
$DEVICE_MAMPS,229.333,62.894,1266.317,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,383.462,683.655,703.853,126.757,570.197,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44780,565
$CAP_FILE_SIZE,134377,0
$CFSIZE,260165632,191434752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,5,0
$CURRENT,0.082,172.4,1
$GPS,151011,064407,2224.474,-15806.578,42,1.7,42,10.0