version: 66.04
glider: 512
mission: 2
dive: 579
start: 10 16 111 2 23 37
data:
$ID,512
$MISSION,2
$DIVE,579
$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,-44497.234
$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,57
$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
$GPS1,020607,2217.000,-15808.039,144,0.9,144,10.0
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-75.3
$GPS2,022243,2216.990,-15808.124,19,1.1,30,10.0
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.030,-0.250
$KALMAN_X,-178180.0,-438.7,732.5,169105.3,-1559.0
$KALMAN_Y,-213950.2,28.9,179.3,97524.1,129.3
$MHEAD_RNG_PITCHd_Wd,199.5,47560,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,26,-0.77,-136.3,0.0,0.0,0,90,0.00,0.00,-62.55,0.000,2,0.000,0.000,38,2457,3018
$GC,96,-0.77,-136.3,3.1,-4.5,8,122,8.27,2.03,-11.48,0.000,4,0.193,0.040,2241,1077,3626
$GC,260,-0.77,-136.3,40.3,-16.2,29,264,0.00,2.17,0.00,0.000,6,0.000,0.039,2232,2490,3628
$GC,526,-0.77,-136.3,100.6,-18.6,53,530,0.00,2.17,0.00,0.000,4,0.000,0.048,2221,3894,3627
$GC,576,-0.77,-136.3,108.9,-16.2,57,579,0.00,2.05,0.00,0.000,6,0.000,0.021,2221,2490,3627
$GC,848,-0.77,-136.3,158.2,-18.2,82,852,0.00,2.00,0.00,0.000,4,0.000,0.024,2221,1086,3628
$GC,889,-0.77,-136.3,165.0,-15.8,85,893,0.00,2.15,0.00,0.000,6,0.000,0.038,2211,2502,3628
$GC,1187,-0.77,-136.3,215.8,-17.6,107,1190,0.00,2.05,0.00,0.000,4,0.000,0.025,2214,1085,3628
$GC,1205,-0.77,-136.3,219.5,-17.8,107,1210,0.12,2.15,0.00,0.000,6,0.122,0.038,2242,2501,3629
$GC,1474,-0.77,-136.3,255.1,-12.3,114,1478,0.00,2.15,0.00,0.000,4,0.000,0.049,2232,3897,3629
$GC,1538,-0.77,-136.3,262.6,-10.7,115,1542,0.00,2.05,0.00,0.000,6,0.000,0.021,2232,2475,3628
$GC,1815,-0.77,-136.3,294.6,-11.1,122,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2468,3627
$GC,2057,-0.77,-136.3,320.3,-11.0,128,2061,0.00,2.25,0.00,0.000,4,0.000,0.051,2221,3893,3626
$GC,2132,-0.77,-136.3,328.5,-9.8,129,2136,0.00,2.03,0.00,0.000,6,0.000,0.022,2221,2493,3625
$GC,2393,-0.77,-136.3,359.4,-12.5,136,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2486,3623
$GC,2634,-0.77,-136.3,390.5,-13.0,142,2638,0.00,2.22,0.00,0.000,4,0.000,0.051,2210,3895,3621
$GC,2681,-0.77,-136.3,396.8,-12.6,143,2686,0.10,2.05,0.00,0.000,6,0.112,0.024,2241,2483,3621
$GC,2973,-0.77,-136.3,427.2,-10.2,150,2977,0.00,2.25,0.00,0.000,4,0.000,0.053,2232,3897,3618
$GC,3016,-0.77,-136.3,431.5,-9.9,150,3023,0.00,2.08,0.00,0.000,6,0.000,0.024,2232,2493,3618
$GC,3268,-0.77,-136.3,459.0,-11.2,157,3270,0.00,0.00,-0.08,0.000,6,0.000,0.000,2232,2489,3640
$GC,3514,-0.77,-136.3,482.6,-9.4,163,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2489,3638
$GC,3756,-0.77,-136.3,503.1,-8.3,169,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2488,3637
$GC,4000,-0.77,-136.3,522.6,-8.1,175,4004,0.00,2.25,0.00,0.000,4,0.000,0.054,2222,3897,3635
$GC,4059,-0.77,-136.3,527.4,-7.8,176,4063,0.00,2.05,0.00,0.000,6,0.000,0.026,2222,2497,3635
$GC,4341,-0.77,-136.3,557.2,-11.3,183,4344,0.00,2.25,0.00,0.000,4,0.000,0.055,2211,3894,3632
$GC,4371,-0.77,-136.3,561.0,-12.1,183,4375,0.00,2.08,0.00,0.000,6,0.000,0.026,2211,2487,3632
$GC,4636,-0.77,-136.3,590.6,-11.0,190,4640,0.00,2.03,0.00,0.000,4,0.000,0.029,2214,1090,3631
$GC,4671,-0.77,-136.3,594.7,-10.2,190,4676,0.12,2.17,0.00,0.000,6,0.121,0.046,2245,2486,3630
$GC,4925,-0.77,-136.3,613.7,-7.3,196,4928,0.00,2.25,0.00,0.000,4,0.000,0.058,2236,3897,3627
$GC,4978,-0.77,-136.3,617.1,-5.5,197,4982,0.00,2.08,0.00,0.000,6,0.000,0.027,2236,2490,3627
$GC,5265,-0.77,-136.3,635.5,-6.7,204,5269,0.00,2.30,0.00,0.000,4,0.000,0.057,2226,3905,3626
$GC,5307,-0.77,-136.3,638.7,-6.5,205,5311,0.00,2.10,0.00,0.000,6,0.000,0.028,2226,2486,3625
$GC,5602,-0.77,-136.3,665.7,-9.9,212,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2479,3623
$GC,5843,-0.77,-136.3,692.2,-11.1,218,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2478,3622
$GC,6086,-0.77,-136.3,717.8,-10.3,224,6090,0.00,2.33,0.00,0.000,4,0.000,0.061,2216,3901,3620
$GC,6139,-0.77,-136.3,723.0,-8.4,225,6143,0.00,2.10,0.00,0.000,6,0.000,0.029,2216,2493,3620
$GC,6420,-0.77,-136.3,748.5,-8.8,232,6425,0.00,2.30,0.00,0.000,4,0.000,0.059,2205,3897,3618
$GC,6445,-0.77,-136.3,750.8,-8.7,232,6450,0.12,2.10,0.00,0.000,6,0.109,0.029,2243,2477,3618
$GC,6708,-0.77,-136.3,766.8,-6.0,239,6712,0.00,2.33,0.00,0.000,4,0.000,0.060,2236,3903,3617
$GC,6751,-0.77,-136.3,769.6,-6.6,239,6757,0.00,2.12,0.00,0.000,6,0.000,0.029,2236,2480,3616
$GC,7007,-0.77,-136.3,788.5,-7.7,246,7011,0.00,2.33,0.00,0.000,4,0.000,0.060,2226,3900,3616
$GC,7032,-0.77,-136.3,790.9,-8.1,246,7036,0.00,2.10,0.00,0.000,6,0.000,0.029,2226,2491,3615
$GC,7296,-0.77,-136.3,813.9,-9.1,253,7300,0.00,2.30,0.00,0.000,4,0.000,0.061,2218,3897,3614
$GC,7321,-0.77,-136.3,816.3,-9.2,253,7325,0.00,2.10,0.00,0.000,6,0.000,0.028,2218,2490,3614
$GC,7591,-0.77,-136.3,841.6,-9.3,260,7595,0.00,2.33,0.00,0.000,4,0.000,0.061,2208,3905,3613
$GC,7615,-0.77,-136.3,843.9,-8.6,260,7620,0.12,2.12,0.00,0.000,6,0.109,0.029,2246,2487,3613
$GC,7874,-0.77,-136.3,855.5,-3.8,267,7878,0.00,2.33,0.00,0.000,4,0.000,0.061,2237,3900,3612
$GC,7898,-0.77,-136.3,856.3,-3.0,267,7902,0.00,2.12,0.00,0.000,6,0.000,0.029,2237,2484,3612
$GC,8163,-0.77,-136.3,868.4,-5.0,274,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2477,3611
$GC,8406,-0.77,-136.3,885.0,-7.1,280,8410,0.00,2.33,0.00,0.000,4,0.000,0.063,2236,3897,3610
$GC,8456,-0.77,-136.3,887.8,-5.5,281,8460,0.00,2.12,0.00,0.000,6,0.000,0.030,2236,2484,3610
$STATE,8620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8621,begin apogee
$GC,8632,-0.27,0.0,900.5,7.5,285,8755,0.50,0.00,120.53,1.266,6,0.096,0.000,2404,2475,3070
$STATE,8756,end apogee,CONTROL_FINISHED_OK
$STATE,8756,begin climb
$GC,8761,0.77,136.3,906.0,0.0,288,8908,0.90,2.30,132.60,1.190,4,0.041,0.031,2762,1091,2514
$GC,8968,0.77,136.3,903.6,16.5,292,8974,0.00,2.28,0.00,0.000,6,0.000,0.040,2762,2490,2507
$GC,9222,0.77,136.3,860.6,17.3,299,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2491,2503
$GC,9464,0.77,136.3,818.4,17.4,305,9468,0.00,2.12,0.00,0.000,4,0.000,0.032,2771,1084,2501
$GC,9579,0.77,136.3,799.1,16.3,307,9583,0.00,2.17,0.00,0.000,6,0.000,0.041,2767,2482,2500
$GC,9844,0.77,136.3,756.6,15.7,314,9847,0.00,2.22,0.00,0.000,4,0.000,0.050,2767,3891,2498
$GC,9969,0.77,136.3,735.7,15.8,316,9974,0.15,2.10,0.00,0.000,6,0.217,0.029,2743,2485,2498
$GC,10223,0.77,136.3,700.1,13.7,322,10227,0.00,2.10,0.00,0.000,4,0.000,0.033,2752,1080,2497
$GC,10479,0.77,136.3,667.8,12.8,327,10482,0.00,2.17,0.00,0.000,6,0.000,0.042,2752,2481,2496
$GC,10744,0.77,136.3,634.8,12.7,334,10747,0.00,2.22,0.00,0.000,4,0.000,0.051,2752,3895,2496
$GC,10768,0.77,136.3,631.1,14.2,334,10772,0.00,2.12,0.00,0.000,6,0.000,0.028,2763,2468,2495
$GC,11038,0.77,136.3,595.6,12.9,341,11042,0.00,2.08,0.00,0.000,4,0.000,0.032,2773,1070,2495
$GC,11300,0.77,136.3,563.9,12.7,346,11304,0.00,2.20,0.00,0.000,6,0.000,0.041,2768,2492,2495
$GC,11552,0.77,136.3,531.8,12.6,352,11556,0.00,2.12,0.00,0.000,4,0.000,0.031,2776,1074,2494
$GC,11678,0.77,136.3,517.2,11.1,354,11683,0.15,2.17,0.00,0.000,6,0.203,0.041,2742,2479,2494
$GC,11937,0.78,138.8,491.4,9.9,361,11941,0.00,2.22,0.00,0.000,4,0.000,0.051,2742,3888,2493
$GC,11995,0.78,138.8,485.0,10.5,362,11999,0.00,2.10,0.00,0.000,6,0.000,0.030,2751,2481,2493
$GC,12276,0.81,162.5,458.9,8.8,369,12310,0.00,2.15,23.92,0.921,4,0.000,0.034,2761,1082,2406
$GC,12563,0.81,162.5,423.0,12.7,375,12567,0.00,2.20,0.00,0.000,6,0.000,0.043,2755,2486,2403
$GC,12835,0.81,162.5,389.7,12.2,382,12838,0.00,2.22,0.00,0.000,4,0.000,0.050,2754,3899,2402
$GC,12921,0.81,162.5,377.4,13.8,383,12927,0.00,2.12,0.00,0.000,6,0.000,0.028,2763,2479,2401
$GC,13174,0.81,162.5,346.0,12.7,390,13178,0.00,2.28,0.00,0.000,4,0.000,0.050,2764,3902,2401
$GC,13215,0.81,162.5,340.3,13.8,390,13222,0.00,2.15,0.00,0.000,6,0.000,0.028,2773,2481,2401
$GC,13468,0.81,162.5,311.0,11.3,397,13472,0.00,2.08,0.00,0.000,4,0.000,0.031,2783,1077,2401
$GC,13561,0.82,172.2,301.6,9.5,399,13576,0.00,2.17,9.50,0.803,6,0.000,0.040,2781,2486,2367
$GC,13854,0.82,172.2,267.0,12.3,406,13858,0.00,2.20,0.00,0.000,4,0.000,0.049,2780,3893,2365
$GC,13980,0.82,172.2,248.5,14.9,408,13985,0.15,2.10,0.00,0.000,6,0.227,0.027,2756,2484,2364
$GC,14234,0.85,197.2,223.1,8.8,414,14267,0.00,0.00,25.58,0.765,6,0.000,0.000,2757,2478,2265
$GC,14527,0.85,197.2,192.7,12.2,424,14533,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2478,2261
$GC,14792,0.85,197.2,157.7,13.6,449,14795,0.00,2.10,0.00,0.000,4,0.000,0.031,2766,1066,2260
$GC,15052,0.90,237.2,134.2,8.0,472,15093,0.00,2.17,35.00,0.727,6,0.000,0.038,2766,2486,2103
$GC,15348,0.90,237.2,92.6,16.9,499,15352,0.00,2.12,0.00,0.000,4,0.000,0.028,2776,1061,2097
$GC,15608,0.90,237.2,63.4,10.4,522,15612,0.00,2.17,0.00,0.000,6,0.000,0.035,2767,2493,2096
$GC,15880,0.92,252.7,38.2,9.2,547,15899,0.00,2.15,13.80,0.589,4,0.000,0.026,2776,1060,2040
$GC,16063,0.92,252.7,16.2,12.9,571,16071,0.00,2.17,0.00,0.000,6,0.000,0.035,2767,2472,2038
$STATE,16153,end climb,SURFACE_DEPTH_REACHED
$STATE,16153,begin surface coast
$FINISH,0.4,1.023390
$STATE,16176,end surface coast,CONTROL_FINISHED_OK
$STATE,16176,begin surface
$SM_CCo,16202,79.05,0.584,0,0,1398,410.13
$SM_GC,1.20,0.00,0.00,79.05,0.000,0.000,0.584,38,2482,1398,-7.66,-0.23,410.13
$IRIDIUM_FIX,2209.02,-15805.43,090101,020206
$TT8_MAMPS,0.023777
$HUMID,2056
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.90
$XPDR_PINGS,24
$24V_AH,22.9,72.264
$10V_AH,10.6,54.752
$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,17.875,160.150,360.925,79.050,0.000,54.968,66.733,589.264,6.000,0.000,0.000,30.802,1410.929,11636.782,526.218,2305.090,1392.785,33.366,1530.978,0.000,2261.187,0.000,0.544,0.000
$DEVICE_MAMPS,227.032,62.894,1266.317,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,402.100,762.191,785.097,146.267,662.831,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47867,591
$CAP_FILE_SIZE,137231,0
$CFSIZE,260165632,191102976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,3,0
$CURRENT,0.079,157.4,1
$GPS,161011,065636,2215.045,-15808.936,42,1.6,47,10.0