version: 66.04
glider: 512
mission: 2
dive: 588
start: 10 17 111 22 41 58
data:
$ID,512
$MISSION,2
$DIVE,588
$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,-44743.797
$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,45
$R_STBD_OVSHOOT,24
$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
$GPS1,222545,2202.157,-15811.334,58,2.1,77,9.9
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-80.0
$GPS2,224104,2202.172,-15811.306,9,2.5,28,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.052,-0.246
$KALMAN_X,-175637.6,1078.4,-1054.0,161420.3,221.4
$KALMAN_Y,-208250.5,-1028.1,217.7,65404.5,1926.7
$MHEAD_RNG_PITCHd_Wd,208.1,19622,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.77,-136.3,0.0,0.0,0,90,0.00,0.00,-67.93,0.000,2,0.000,0.000,37,2493,3202
$GC,96,-0.77,-136.3,4.0,-7.1,9,122,8.32,2.15,-7.28,0.000,4,0.193,0.038,2242,1075,3629
$GC,232,-0.77,-136.3,44.9,-16.2,24,236,0.00,2.17,0.00,0.000,6,0.000,0.039,2233,2491,3630
$GC,505,-0.77,-136.3,102.9,-20.3,49,508,0.00,2.20,0.00,0.000,4,0.000,0.048,2222,3909,3630
$GC,532,-0.77,-136.3,108.4,-18.9,51,536,0.00,2.10,0.00,0.000,6,0.000,0.021,2226,2466,3630
$GC,803,-0.77,-136.3,153.7,-15.4,76,807,0.00,1.98,0.00,0.000,4,0.000,0.025,2226,1084,3631
$GC,934,-0.77,-136.3,169.8,-10.3,87,944,0.00,2.17,0.00,0.000,6,0.000,0.038,2223,2492,3632
$GC,1208,-0.77,-136.3,206.6,-14.5,110,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2493,3632
$GC,1454,-0.77,-136.3,238.8,-13.0,116,1457,0.00,2.17,0.00,0.000,4,0.000,0.047,2212,3904,3632
$GC,1503,-0.77,-136.3,245.0,-11.7,117,1506,0.00,2.05,0.00,0.000,6,0.000,0.021,2212,2486,3632
$GC,1795,-0.77,-136.3,286.0,-14.4,124,1799,0.00,2.00,0.00,0.000,4,0.000,0.025,2215,1090,3631
$GC,1813,-0.77,-136.3,288.8,-13.8,124,1818,0.12,2.15,0.00,0.000,6,0.112,0.038,2244,2501,3631
$GC,2085,-0.77,-136.3,313.0,-8.8,131,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2502,3630
$GC,2326,-0.77,-136.3,333.9,-8.8,137,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2502,3629
$GC,2571,-0.77,-136.3,354.2,-8.2,143,2575,0.00,2.17,0.00,0.000,4,0.000,0.050,2235,3897,3626
$GC,2596,-0.77,-136.3,356.4,-8.1,143,2600,0.00,2.08,0.00,0.000,6,0.000,0.024,2235,2474,3626
$GC,2868,-0.77,-136.3,377.0,-7.6,150,2871,0.00,2.00,0.00,0.000,4,0.000,0.026,2235,1088,3624
$GC,2921,-0.77,-136.3,381.4,-7.0,151,2924,0.00,2.15,0.00,0.000,6,0.000,0.039,2225,2494,3623
$GC,3209,-0.77,-136.3,408.0,-9.5,158,3212,0.00,2.20,0.00,0.000,4,0.000,0.052,2214,3897,3621
$GC,3252,-0.77,-136.3,412.4,-9.8,158,3258,0.00,2.05,0.00,0.000,6,0.000,0.024,2214,2488,3621
$GC,3504,-0.77,-136.3,440.0,-11.1,165,3508,0.00,2.03,0.00,0.000,4,0.000,0.028,2217,1087,3618
$GC,3553,-0.77,-136.3,444.8,-9.8,166,3558,0.12,2.17,0.00,0.000,6,0.110,0.042,2247,2497,3618
$GC,3839,-0.77,-136.3,466.4,-7.5,173,3843,0.00,2.25,-0.08,0.000,4,0.000,0.065,2237,3900,3641
$GC,3875,-0.77,-136.3,469.2,-7.8,173,3881,0.00,2.08,0.00,0.000,6,0.000,0.025,2237,2486,3641
$GC,4129,-0.77,-136.3,489.7,-8.2,180,4132,0.00,2.03,0.00,0.000,4,0.000,0.028,2237,1100,3638
$GC,4178,-0.77,-136.3,493.4,-7.4,181,4182,0.00,2.15,0.00,0.000,6,0.000,0.044,2236,2489,3638
$GC,4473,-0.77,-136.3,514.5,-7.1,188,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2489,3637
$GC,4714,-0.77,-136.3,531.3,-6.9,194,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2489,3635
$GC,4958,-0.77,-136.3,549.7,-7.7,200,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2489,3633
$GC,5202,-0.77,-136.3,567.3,-7.0,206,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2489,3632
$GC,5446,-0.77,-136.3,583.7,-6.7,212,5450,0.00,2.05,0.00,0.000,4,0.000,0.030,2236,1103,3630
$GC,5477,-0.77,-136.3,586.1,-7.7,212,5481,0.00,2.17,0.00,0.000,6,0.000,0.044,2236,2497,3630
$GC,5741,-0.77,-136.3,606.8,-8.0,219,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2497,3628
$GC,5984,-0.77,-136.3,626.4,-8.1,225,5988,0.00,2.25,0.00,0.000,4,0.000,0.058,2225,3901,3626
$GC,6010,-0.77,-136.3,628.3,-7.7,225,6014,0.00,2.08,0.00,0.000,6,0.000,0.028,2225,2496,3626
$GC,6281,-0.77,-136.3,650.3,-8.2,232,6284,0.00,2.08,0.00,0.000,4,0.000,0.031,2225,1090,3625
$GC,6333,-0.77,-136.3,654.9,-8.5,233,6337,0.00,2.20,0.00,0.000,6,0.000,0.046,2223,2494,3625
$GC,6616,-0.77,-136.3,679.4,-8.9,240,6620,0.00,2.25,0.00,0.000,4,0.000,0.058,2213,3900,3623
$GC,6640,-0.77,-136.3,681.9,-8.9,240,6644,0.00,2.10,0.00,0.000,6,0.000,0.029,2212,2485,3623
$GC,6912,-0.77,-136.3,706.6,-9.1,247,6915,0.00,2.08,0.00,0.000,4,0.000,0.031,2214,1085,3621
$GC,6948,-0.77,-136.3,710.1,-9.0,247,6952,0.12,2.20,0.00,0.000,6,0.112,0.046,2247,2490,3621
$GC,7206,-0.77,-136.3,728.3,-7.0,254,7210,0.00,2.28,0.00,0.000,4,0.000,0.060,2237,3902,3620
$GC,7237,-0.77,-136.3,730.5,-7.3,254,7240,0.00,2.12,0.00,0.000,6,0.000,0.029,2237,2481,3619
$GC,7503,-0.77,-136.3,747.9,-6.5,261,7507,0.00,2.05,0.00,0.000,4,0.000,0.031,2237,1095,3619
$GC,7535,-0.77,-136.3,750.1,-6.5,261,7538,0.00,2.20,0.00,0.000,6,0.000,0.046,2237,2497,3619
$GC,7799,-0.77,-136.3,765.6,-5.7,268,7803,0.00,2.28,0.00,0.000,4,0.000,0.061,2236,3901,3617
$GC,7834,-0.77,-136.3,767.7,-5.8,268,7838,0.00,2.10,0.00,0.000,6,0.000,0.030,2235,2491,3617
$GC,8093,-0.77,-136.3,781.9,-5.7,275,8096,0.00,2.08,0.00,0.000,4,0.000,0.031,2235,1091,3616
$GC,8135,-0.77,-136.3,784.2,-5.1,275,8145,0.00,2.22,0.00,0.000,6,0.000,0.048,2236,2485,3616
$GC,8388,-0.77,-136.3,797.5,-5.1,282,8392,0.00,2.28,0.00,0.000,4,0.000,0.061,2226,3898,3616
$GC,8423,-0.77,-136.3,799.6,-6.1,282,8427,0.00,2.10,0.00,0.000,6,0.000,0.030,2225,2489,3615
$GC,8682,-0.77,-136.3,817.8,-7.3,289,8686,0.00,2.08,0.00,0.000,4,0.000,0.031,2226,1089,3615
$GC,8724,-0.77,-136.3,821.3,-8.0,289,8730,0.00,2.22,0.00,0.000,6,0.000,0.048,2223,2499,3615
$GC,8978,-0.77,-136.3,842.4,-8.6,296,8982,0.00,2.28,0.00,0.000,4,0.000,0.061,2212,3904,3613
$GC,9003,-0.77,-136.3,844.8,-8.5,296,9007,0.00,2.12,0.00,0.000,6,0.000,0.031,2213,2484,3614
$GC,9268,-0.77,-136.3,866.8,-8.3,303,9272,0.00,2.08,0.00,0.000,4,0.000,0.033,2216,1092,3613
$GC,9298,-0.77,-136.3,869.3,-7.5,303,9303,0.12,2.20,0.00,0.000,6,0.110,0.046,2246,2492,3613
$GC,9557,-0.77,-136.3,881.8,-4.7,310,9561,0.00,2.30,0.00,0.000,4,0.000,0.061,2237,3909,3612
$GC,9589,-0.77,-136.3,883.5,-5.5,310,9593,0.00,2.15,0.00,0.000,6,0.000,0.031,2237,2477,3612
$GC,9848,-0.77,-136.3,896.5,-5.1,317,9852,0.00,2.05,0.00,0.000,4,0.000,0.031,2237,1092,3611
$STATE,9907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9907,begin apogee
$GC,9920,-0.27,0.0,900.1,5.6,318,10045,0.47,0.00,121.57,1.271,6,0.086,0.000,2405,2493,3070
$STATE,10046,end apogee,CONTROL_FINISHED_OK
$STATE,10046,begin climb
$GC,10052,0.77,136.3,905.3,0.0,321,10225,0.90,2.45,137.90,1.152,4,0.040,0.050,2753,3899,2513
$GC,10482,0.77,136.3,864.6,19.7,330,10486,0.00,2.15,0.00,0.000,6,0.000,0.028,2763,2479,2504
$GC,10745,0.77,136.3,821.3,16.2,337,10749,0.00,2.28,0.00,0.000,4,0.000,0.051,2763,3901,2501
$GC,10809,0.77,136.3,809.6,19.3,338,10814,0.15,2.15,0.00,0.000,6,0.219,0.028,2741,2473,2501
$GC,11079,0.77,136.3,767.5,15.4,345,11080,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2468,2499
$GC,11322,0.77,136.3,730.5,15.0,351,11326,0.00,2.10,0.00,0.000,4,0.000,0.033,2750,1068,2498
$GC,11352,0.77,136.3,725.8,15.2,351,11356,0.00,2.20,0.00,0.000,6,0.000,0.041,2750,2488,2498
$GC,11609,0.77,136.3,688.7,14.0,358,11611,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2487,2497
$GC,11856,0.77,136.3,658.1,12.7,364,11860,0.00,2.12,0.00,0.000,4,0.000,0.031,2760,1071,2496
$GC,11926,0.77,136.3,648.9,11.8,365,11930,0.00,2.17,0.00,0.000,6,0.000,0.041,2755,2478,2496
$GC,12197,0.77,136.3,614.5,12.9,372,12198,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2478,2496
$GC,12439,0.77,136.3,585.8,11.6,378,12443,0.00,2.25,0.00,0.000,4,0.000,0.052,2755,3901,2495
$GC,12627,0.77,136.3,563.1,13.1,382,12631,0.00,2.12,0.00,0.000,6,0.000,0.029,2764,2476,2495
$GC,12920,0.77,136.3,526.9,12.2,389,12924,0.00,2.10,0.00,0.000,4,0.000,0.031,2774,1064,2495
$GC,12950,0.77,136.3,523.5,10.8,389,12954,0.00,2.20,0.00,0.000,6,0.000,0.040,2767,2489,2495
$GC,13216,0.78,140.0,497.0,9.8,396,13220,0.00,2.12,0.00,0.000,4,0.000,0.031,2776,1066,2494
$GC,13472,0.79,148.9,470.9,9.6,401,13489,0.12,2.20,9.40,0.913,6,0.203,0.041,2749,2488,2463
$GC,13736,0.79,148.9,444.3,10.2,408,13740,0.00,2.12,0.00,0.000,4,0.000,0.031,2757,1072,2461
$GC,13926,0.79,148.9,425.4,10.6,412,13930,0.00,2.20,0.00,0.000,6,0.000,0.041,2754,2489,2461
$GC,14213,0.79,148.9,393.0,11.1,419,14216,0.00,2.22,0.00,0.000,4,0.000,0.051,2755,3900,2460
$GC,14474,0.79,148.9,358.6,11.6,424,14477,0.00,2.12,0.00,0.000,6,0.000,0.028,2764,2477,2459
$GC,14734,0.81,169.3,333.6,9.0,431,14768,0.00,2.33,22.20,0.834,4,0.000,0.050,2763,3887,2378
$GC,15024,0.81,169.3,296.1,13.0,437,15028,0.00,2.12,0.00,0.000,6,0.000,0.028,2773,2479,2376
$GC,15295,0.81,169.3,266.5,10.3,444,15296,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2473,2374
$GC,15537,0.81,169.3,241.1,10.5,450,15541,0.00,2.08,0.00,0.000,4,0.000,0.031,2783,1075,2374
$GC,15798,0.84,193.5,214.3,8.8,455,15832,0.00,2.17,24.17,0.756,6,0.000,0.040,2781,2485,2281
$GC,16100,0.84,193.5,180.7,11.8,474,16104,0.00,2.22,0.00,0.000,4,0.000,0.050,2781,3891,2277
$GC,16361,0.84,193.5,146.6,11.7,497,16365,0.00,2.10,0.00,0.000,6,0.000,0.027,2789,2480,2276
$GC,16632,0.90,235.8,123.3,7.9,522,16674,0.00,2.15,37.50,0.716,4,0.000,0.030,2799,1076,2108
$GC,16934,0.90,235.8,81.9,11.4,548,16937,0.00,2.17,0.00,0.000,6,0.000,0.036,2792,2491,2102
$GC,17206,0.93,261.9,55.9,8.7,573,17236,0.00,0.00,22.17,0.635,6,0.000,0.000,2793,2491,2005
$GC,17500,0.93,261.9,16.9,14.4,608,17508,0.00,2.12,0.00,0.000,4,0.000,0.026,2802,1072,2001
$STATE,17601,end climb,SURFACE_DEPTH_REACHED
$STATE,17601,begin surface coast
$FINISH,0.4,1.023106
$STATE,17624,end surface coast,CONTROL_FINISHED_OK
$STATE,17629,begin surface
$SM_CCo,17657,77.60,0.575,0,0,1397,410.13
$SM_GC,1.13,0.00,0.00,77.60,0.000,0.000,0.575,36,2499,1397,-7.67,0.23,410.13
$IRIDIUM_FIX,2152.74,-15812.35,100101,222252
$TT8_MAMPS,0.023777
$HUMID,2068
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.00
$XPDR_PINGS,35
$24V_AH,22.9,74.023
$10V_AH,10.6,55.901
$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,17.725,172.375,374.925,77.600,0.000,59.724,66.126,512.394,8.750,0.000,0.000,29.883,1514.230,12741.576,544.789,2478.731,1366.889,33.376,1648.595,0.000,2429.528,0.000,0.544,0.000
$DEVICE_MAMPS,218.595,65.195,1270.919,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,428.496,787.077,812.336,142.338,649.977,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50905,630
$CAP_FILE_SIZE,146521,0
$CFSIZE,260165632,190504960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,6,0
$CURRENT,0.080,103.2,1
$GPS,181011,033925,2200.702,-15811.534,62,1.3,62,9.9