version: 66.04
glider: 512
mission: 2
dive: 587
start: 10 17 111 17 46 46
data:
$ID,512
$MISSION,2
$DIVE,587
$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,-44713.281
$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,40
$R_STBD_OVSHOOT,36
$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
$GPS1,172301,2203.612,-15811.170,74,0.9,74,9.9
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-77.2
$GPS2,174550,2203.768,-15811.112,16,0.9,16,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.093,-0.234
$KALMAN_X,-176304.3,1432.4,1271.3,159739.3,-2431.4
$KALMAN_Y,-208869.5,-870.6,-569.6,69612.4,1362.9
$MHEAD_RNG_PITCHd_Wd,205.1,22558,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.77,-136.3,0.0,0.0,0,87,0.00,0.00,-65.03,0.000,2,0.000,0.000,36,2502,3106
$GC,93,-0.77,-136.3,3.6,-6.3,8,119,8.27,2.12,-9.23,0.000,4,0.193,0.038,2241,1067,3625
$GC,186,-0.77,-136.3,35.0,-18.3,20,190,0.00,2.17,0.00,0.000,6,0.000,0.038,2232,2480,3626
$GC,457,-0.77,-136.3,96.8,-19.6,45,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2481,3626
$GC,722,-0.77,-136.3,143.8,-16.0,70,725,0.00,2.20,0.00,0.000,4,0.000,0.048,2221,3901,3627
$GC,765,-0.77,-136.3,151.1,-16.4,73,772,0.00,2.10,0.00,0.000,6,0.000,0.021,2221,2477,3627
$GC,1030,-0.77,-136.3,192.1,-15.9,98,1034,0.00,2.00,0.00,0.000,4,0.000,0.025,2221,1079,3626
$GC,1115,-0.77,-136.3,203.5,-11.6,103,1121,0.00,2.15,0.00,0.000,6,0.000,0.037,2211,2500,3627
$GC,1368,-0.77,-136.3,239.2,-14.8,110,1372,0.00,2.05,0.00,0.000,4,0.000,0.025,2219,1084,3627
$GC,1394,-0.77,-136.3,243.1,-15.3,110,1398,0.00,2.12,0.00,0.000,6,0.000,0.038,2211,2489,3627
$GC,1663,-0.77,-136.3,281.4,-14.4,117,1667,0.00,2.17,0.00,0.000,4,0.000,0.048,2200,3894,3626
$GC,1711,-0.77,-136.3,288.1,-13.1,118,1716,0.15,2.05,0.00,0.000,6,0.105,0.022,2248,2481,3625
$GC,1998,-0.77,-136.3,316.1,-9.8,125,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2474,3623
$GC,2242,-0.77,-136.3,340.0,-9.8,131,2246,0.00,2.25,0.00,0.000,4,0.000,0.050,2239,3904,3621
$GC,2273,-0.77,-136.3,343.0,-9.7,131,2276,0.00,2.08,0.00,0.000,6,0.000,0.023,2239,2478,3621
$GC,2538,-0.77,-136.3,368.7,-9.7,138,2541,0.00,2.00,0.00,0.000,4,0.000,0.026,2240,1092,3619
$GC,2568,-0.77,-136.3,371.6,-9.1,138,2572,0.00,2.12,0.00,0.000,6,0.000,0.039,2236,2489,3619
$GC,2832,-0.77,-136.3,395.3,-9.2,145,2836,0.00,2.08,-0.08,0.000,4,0.000,0.038,2236,1104,3639
$GC,2856,-0.77,-136.3,397.7,-9.4,145,2860,0.00,2.12,0.00,0.000,6,0.000,0.041,2236,2487,3639
$GC,3127,-0.77,-136.3,421.7,-9.1,152,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2487,3637
$GC,3369,-0.77,-136.3,442.5,-8.4,158,3373,0.00,2.22,0.00,0.000,4,0.000,0.054,2225,3900,3635
$GC,3411,-0.77,-136.3,446.2,-8.7,158,3419,0.00,2.08,0.00,0.000,6,0.000,0.025,2225,2477,3635
$GC,3664,-0.77,-136.3,471.1,-10.1,165,3668,0.00,2.28,0.00,0.000,4,0.000,0.054,2214,3901,3633
$GC,3717,-0.77,-136.3,476.8,-9.5,166,3721,0.00,2.08,0.00,0.000,6,0.000,0.025,2214,2490,3633
$GC,4003,-0.77,-136.3,508.7,-11.4,173,4007,0.00,2.05,0.00,0.000,4,0.000,0.028,2214,1088,3630
$GC,4051,-0.77,-136.3,513.7,-9.7,174,4056,0.12,2.17,0.00,0.000,6,0.112,0.043,2244,2494,3630
$GC,4340,-0.77,-136.3,536.4,-7.7,181,4344,0.00,2.25,0.00,0.000,4,0.000,0.057,2236,3906,3627
$GC,4375,-0.77,-136.3,539.2,-6.8,181,4381,0.00,2.10,0.00,0.000,6,0.000,0.027,2236,2478,3627
$GC,4630,-0.77,-136.3,557.7,-7.5,188,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2472,3625
$GC,4873,-0.77,-136.3,575.8,-7.5,194,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2471,3624
$GC,5115,-0.77,-136.3,594.7,-7.9,200,5119,0.00,2.30,0.00,0.000,4,0.000,0.057,2225,3898,3622
$GC,5159,-0.77,-136.3,598.2,-8.2,201,5163,0.00,2.08,0.00,0.000,6,0.000,0.028,2225,2493,3621
$GC,5454,-0.77,-136.3,624.9,-9.1,208,5458,0.00,2.28,0.00,0.000,4,0.000,0.057,2214,3898,3619
$GC,5478,-0.77,-136.3,627.5,-9.0,208,5482,0.00,2.08,0.00,0.000,6,0.000,0.028,2214,2484,3619
$GC,5749,-0.77,-136.3,651.5,-8.8,215,5753,0.00,2.30,0.00,0.000,4,0.000,0.058,2203,3900,3617
$GC,5790,-0.77,-136.3,655.3,-8.4,215,5798,0.10,2.12,0.00,0.000,6,0.098,0.029,2241,2496,3617
$GC,6046,-0.77,-136.3,670.3,-5.9,222,6049,0.00,2.08,0.00,0.000,4,0.000,0.031,2242,1090,3616
$GC,6070,-0.77,-136.3,672.1,-6.1,222,6074,0.00,2.17,0.00,0.000,6,0.000,0.046,2237,2489,3616
$GC,6340,-0.77,-136.3,688.6,-6.3,229,6344,0.00,2.28,0.00,0.000,4,0.000,0.059,2225,3904,3613
$GC,6388,-0.77,-136.3,691.7,-6.6,230,6392,0.00,2.12,0.00,0.000,6,0.000,0.028,2225,2483,3613
$GC,6676,-0.77,-136.3,714.4,-8.2,237,6680,0.00,2.33,0.00,0.000,4,0.000,0.061,2217,3900,3612
$GC,6713,-0.77,-136.3,717.6,-8.5,237,6719,0.00,2.10,0.00,0.000,6,0.000,0.029,2217,2490,3611
$GC,6967,-0.77,-136.3,739.9,-8.9,244,6971,0.00,2.33,0.00,0.000,4,0.000,0.061,2206,3906,3610
$GC,7011,-0.77,-136.3,743.7,-8.9,245,7016,0.12,2.12,0.00,0.000,6,0.107,0.030,2245,2483,3610
$GC,7299,-0.77,-136.3,761.3,-6.0,252,7302,0.00,2.08,0.00,0.000,4,0.000,0.032,2246,1085,3609
$GC,7318,-0.77,-136.3,762.6,-6.2,252,7322,0.00,2.22,0.00,0.000,6,0.000,0.048,2245,2497,3609
$GC,7589,-0.77,-136.3,778.7,-6.0,259,7593,0.00,2.25,0.00,0.000,4,0.000,0.061,2236,3902,3608
$GC,7647,-0.77,-136.3,782.7,-6.9,260,7651,0.00,2.12,0.00,0.000,6,0.000,0.030,2236,2484,3607
$GC,7928,-0.77,-136.3,801.2,-6.7,267,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2477,3607
$GC,8173,-0.77,-136.3,817.7,-6.7,273,8177,0.00,2.35,0.00,0.000,4,0.000,0.062,2233,3908,3606
$GC,8197,-0.77,-136.3,819.4,-6.6,273,8201,0.00,2.12,0.00,0.000,6,0.000,0.031,2233,2496,3606
$GC,8461,-0.77,-136.3,838.5,-7.5,280,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2488,3605
$GC,8706,-0.77,-136.3,857.3,-7.8,286,8710,0.00,2.33,0.00,0.000,4,0.000,0.061,2223,3905,3603
$GC,8743,-0.77,-136.3,860.2,-8.0,286,8751,0.00,2.12,0.00,0.000,6,0.000,0.031,2223,2482,3604
$GC,8995,-0.77,-136.3,880.6,-8.0,293,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2482,3603
$GC,9240,-0.77,-136.3,898.7,-7.3,299,9244,0.00,2.33,0.00,0.000,4,0.000,0.063,2219,3898,3602
$STATE,9253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9253,begin apogee
$GC,9267,-0.27,0.0,900.2,7.4,299,9390,0.52,0.00,119.57,1.272,6,0.099,0.000,2399,2472,3070
$STATE,9390,end apogee,CONTROL_FINISHED_OK
$STATE,9390,begin climb
$GC,9397,0.77,136.3,905.0,0.0,302,9564,0.95,2.28,138.55,1.151,4,0.041,0.031,2771,1087,2513
$GC,9735,0.77,136.3,883.5,18.8,310,9739,0.00,2.22,0.00,0.000,6,0.000,0.043,2768,2496,2504
$GC,10004,0.77,136.3,833.9,18.5,317,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2496,2501
$GC,10249,0.77,136.3,790.1,17.7,323,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2496,2500
$GC,10492,0.77,136.3,749.1,16.8,329,10496,0.00,2.12,0.00,0.000,4,0.000,0.032,2776,1081,2498
$GC,10562,0.77,136.3,737.7,16.3,330,10567,0.15,2.17,0.00,0.000,6,0.200,0.042,2742,2482,2498
$GC,10827,0.77,136.3,697.4,14.8,337,10830,0.00,2.25,0.00,0.000,4,0.000,0.051,2742,3900,2497
$GC,10958,0.77,136.3,674.9,16.8,339,10964,0.00,2.12,0.00,0.000,6,0.000,0.029,2751,2475,2496
$GC,11212,0.77,136.3,639.1,13.8,346,11216,0.00,2.25,0.00,0.000,4,0.000,0.051,2751,3890,2496
$GC,11231,0.77,136.3,636.1,13.3,346,11235,0.00,2.10,0.00,0.000,6,0.000,0.029,2760,2481,2495
$GC,11500,0.77,136.3,603.6,11.7,353,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2475,2495
$GC,11746,0.77,136.3,575.7,11.7,359,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2475,2494
$GC,11988,0.77,136.3,547.5,11.5,365,11992,0.00,2.25,0.00,0.000,4,0.000,0.051,2755,3894,2495
$GC,12058,0.77,136.3,538.8,11.2,366,12061,0.00,2.12,0.00,0.000,6,0.000,0.029,2764,2474,2494
$GC,12327,0.77,136.3,507.1,12.0,373,12331,0.00,2.10,0.00,0.000,4,0.000,0.032,2774,1064,2494
$GC,12363,0.78,139.6,503.3,9.8,373,12367,0.00,2.20,0.00,0.000,6,0.000,0.041,2767,2487,2494
$GC,12619,0.80,153.8,479.6,9.3,379,12644,0.00,2.15,15.80,0.871,4,0.000,0.031,2776,1068,2443
$GC,12705,0.80,153.8,470.7,11.4,381,12709,0.00,2.20,0.00,0.000,6,0.000,0.041,2767,2482,2441
$GC,12991,0.80,153.8,437.7,11.7,388,12994,0.00,2.25,0.00,0.000,4,0.000,0.051,2767,3904,2440
$GC,13106,0.80,153.8,422.5,11.8,390,13110,0.00,2.15,0.00,0.000,6,0.000,0.029,2776,2471,2439
$GC,13377,0.80,153.8,392.5,11.0,397,13381,0.00,2.28,0.00,0.000,4,0.000,0.049,2767,3894,2439
$GC,13401,0.80,153.8,389.7,10.8,397,13405,0.00,2.12,0.00,0.000,6,0.000,0.028,2776,2469,2438
$GC,13665,0.80,155.3,363.3,9.9,404,13669,0.00,2.08,0.00,0.000,4,0.000,0.031,2787,1068,2438
$GC,13887,0.82,170.5,341.6,9.2,408,13917,0.00,2.20,18.70,0.819,6,0.000,0.040,2780,2490,2374
$GC,14186,0.82,170.5,309.8,11.2,416,14190,0.00,2.22,0.00,0.000,4,0.000,0.050,2780,3901,2370
$GC,14244,0.82,170.5,301.9,13.2,417,14249,0.15,2.12,0.00,0.000,6,0.228,0.027,2758,2477,2369
$GC,14518,0.82,170.5,270.9,11.2,424,14522,0.00,2.28,0.00,0.000,4,0.000,0.050,2755,3897,2368
$GC,14572,0.82,170.5,264.5,11.6,425,14576,0.00,2.10,0.00,0.000,6,0.000,0.027,2764,2477,2368
$GC,14852,0.88,224.0,242.4,7.4,432,14912,0.00,2.33,49.40,0.792,4,0.000,0.051,2763,3898,2155
$GC,15171,0.88,224.0,187.0,20.8,442,15179,0.00,2.15,0.00,0.000,6,0.000,0.027,2772,2497,2150
$GC,15438,0.88,224.0,142.3,16.7,467,15441,0.00,2.25,0.00,0.000,4,0.000,0.048,2767,3900,2149
$GC,15489,0.88,224.0,134.8,14.6,471,15493,0.00,2.15,0.00,0.000,6,0.000,0.025,2776,2467,2149
$GC,15761,0.88,224.0,97.0,14.0,496,15764,0.00,2.08,0.00,0.000,4,0.000,0.028,2787,1059,2148
$GC,16024,0.96,287.8,68.1,6.8,519,16089,0.00,2.17,53.80,0.661,6,0.000,0.035,2781,2494,1895
$GC,16346,0.96,287.8,26.5,16.0,550,16355,0.00,2.15,0.00,0.000,4,0.000,0.028,2789,1069,1889
$STATE,16492,end climb,SURFACE_DEPTH_REACHED
$STATE,16492,begin surface coast
$FINISH,0.4,1.023154
$STATE,16521,end surface coast,CONTROL_FINISHED_OK
$STATE,16521,begin surface
$SM_CCo,16548,62.25,0.590,0,0,1398,410.13
$SM_GC,1.51,0.00,0.00,62.25,0.000,0.000,0.590,37,2493,1398,-7.67,0.08,410.13
$IRIDIUM_FIX,2152.74,-15810.19,100101,171756
$TT8_MAMPS,0.023777
$HUMID,2104
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.30
$XPDR_PINGS,19
$24V_AH,23.0,73.860
$10V_AH,10.6,55.770
$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,17.850,173.700,395.825,62.250,0.000,96.377,112.577,826.226,4.750,0.000,0.000,16.872,1385.901,12147.749,584.131,2131.002,1726.223,33.375,1563.253,0.000,2105.443,0.000,0.543,0.000
$DEVICE_MAMPS,227.799,62.894,1272.453,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,393.937,701.085,723.329,130.290,583.956,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47862,580
$CAP_FILE_SIZE,143281,0
$CFSIZE,260165632,190578688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,7,0
$CURRENT,0.094,111.5,1
$GPS,171011,222545,2202.157,-15811.334,58,2.1,77,9.9