version: 66.04
glider: 512
mission: 2
dive: 591
start: 10 18 111 14 1 1
data:
$ID,512
$MISSION,2
$DIVE,591
$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,-44824.727
$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,44
$R_STBD_OVSHOOT,29
$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
$GPS1,133114,2157.575,-15812.466,43,1.7,56,9.9
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-80.1
$GPS2,140001,2157.691,-15812.202,13,1.9,30,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.241,0.072
$KALMAN_X,-172865.3,295.1,-750.9,157602.9,4045.3
$KALMAN_Y,-205810.2,441.1,858.2,52548.2,-2092.5
$MHEAD_RNG_PITCHd_Wd,211.6,11255,-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,19,-0.77,-136.3,0.0,0.0,0,89,0.00,0.00,-67.88,0.000,2,0.000,0.000,36,2499,3177
$GC,95,-0.77,-136.3,3.6,-5.1,9,121,8.25,2.12,-7.93,0.000,4,0.189,0.037,2249,1075,3627
$GC,243,-0.77,-136.3,44.1,-16.2,26,247,0.00,2.17,0.00,0.000,6,0.000,0.039,2241,2492,3628
$GC,508,-0.77,-136.3,101.4,-17.0,50,512,0.00,2.17,0.00,0.000,4,0.000,0.047,2229,3894,3629
$GC,535,-0.77,-136.3,106.2,-17.9,52,539,0.00,2.08,0.00,0.000,6,0.000,0.021,2232,2470,3629
$GC,806,-0.77,-136.3,151.7,-15.8,77,810,0.00,2.25,0.00,0.000,4,0.000,0.047,2223,3903,3629
$GC,827,-0.77,-136.3,155.2,-15.4,78,831,0.00,2.05,0.00,0.000,6,0.000,0.021,2223,2484,3630
$GC,1098,-0.77,-136.3,198.1,-16.4,103,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2477,3630
$GC,1364,-0.77,-136.3,240.1,-14.9,111,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2477,3629
$GC,1606,-0.77,-136.3,273.7,-13.9,117,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2477,3628
$GC,1848,-0.77,-136.3,306.4,-13.2,123,1852,0.00,2.22,0.00,0.000,4,0.000,0.048,2212,3902,3627
$GC,1874,-0.77,-136.3,309.8,-13.3,123,1878,0.00,2.05,0.00,0.000,6,0.000,0.021,2212,2487,3627
$GC,2143,-0.77,-136.3,347.7,-14.7,130,2147,0.00,2.22,0.00,0.000,4,0.000,0.049,2201,3898,3625
$GC,2163,-0.77,-136.3,350.7,-15.1,130,2168,0.12,2.03,0.00,0.000,6,0.117,0.023,2239,2491,3624
$GC,2438,-0.77,-136.3,379.2,-9.6,137,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2484,3622
$GC,2684,-0.77,-136.3,400.9,-9.0,143,2687,0.00,2.25,0.00,0.000,4,0.000,0.051,2230,3908,3620
$GC,2733,-0.77,-136.3,405.3,-8.3,144,2737,0.00,2.08,0.00,0.000,6,0.000,0.024,2230,2492,3620
$GC,3029,-0.77,-136.3,432.0,-9.0,151,3031,0.00,0.00,-0.08,0.000,6,0.000,0.000,2230,2484,3640
$GC,3269,-0.77,-136.3,453.6,-9.1,157,3273,0.00,2.22,0.00,0.000,4,0.000,0.053,2219,3901,3638
$GC,3293,-0.77,-136.3,456.2,-10.3,157,3296,0.00,2.08,0.00,0.000,6,0.000,0.025,2219,2487,3638
$GC,3564,-0.77,-136.3,489.2,-12.9,164,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2481,3636
$GC,3806,-0.77,-136.3,518.1,-11.5,170,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2481,3634
$GC,4052,-0.77,-136.3,540.6,-8.8,176,4055,0.00,2.05,0.00,0.000,4,0.000,0.029,2219,1086,3632
$GC,4082,-0.77,-136.3,543.6,-9.7,176,4087,0.12,2.17,0.00,0.000,6,0.114,0.044,2247,2490,3632
$GC,4346,-0.77,-136.3,561.0,-6.9,183,4350,0.00,2.22,0.00,0.000,4,0.000,0.056,2237,3904,3629
$GC,4410,-0.77,-136.3,565.7,-6.8,184,4414,0.00,2.10,0.00,0.000,6,0.000,0.027,2237,2482,3629
$GC,4686,-0.77,-136.3,587.4,-7.9,191,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2476,3626
$GC,4930,-0.77,-136.3,605.0,-7.3,197,4934,0.00,2.30,0.00,0.000,4,0.000,0.056,2226,3905,3625
$GC,4988,-0.77,-136.3,609.5,-7.1,198,4992,0.00,2.10,0.00,0.000,6,0.000,0.027,2226,2492,3625
$GC,5263,-0.77,-136.3,632.6,-8.6,205,5267,0.00,2.05,0.00,0.000,4,0.000,0.029,2226,1094,3622
$GC,5288,-0.77,-136.3,635.1,-9.3,205,5291,0.00,2.17,0.00,0.000,6,0.000,0.046,2223,2490,3622
$GC,5559,-0.77,-136.3,659.2,-9.1,212,5563,0.00,2.25,0.00,0.000,4,0.000,0.058,2212,3899,3620
$GC,5617,-0.77,-136.3,664.9,-8.8,213,5621,0.00,2.10,0.00,0.000,6,0.000,0.029,2212,2489,3620
$GC,5898,-0.77,-136.3,693.6,-10.5,220,5902,0.00,2.05,0.00,0.000,4,0.000,0.031,2212,1093,3618
$GC,5924,-0.77,-136.3,696.5,-11.2,220,5929,0.12,2.20,0.00,0.000,6,0.116,0.047,2243,2495,3618
$GC,6189,-0.77,-136.3,715.8,-7.1,227,6193,0.00,2.28,0.00,0.000,4,0.000,0.060,2236,3906,3616
$GC,6235,-0.77,-136.3,719.2,-7.2,228,6239,0.00,2.12,0.00,0.000,6,0.000,0.029,2236,2478,3616
$GC,6523,-0.77,-136.3,738.7,-6.8,235,6527,0.00,2.33,0.00,0.000,4,0.000,0.059,2227,3907,3615
$GC,6564,-0.77,-136.3,741.9,-7.0,235,6573,0.00,2.15,0.00,0.000,6,0.000,0.029,2227,2480,3614
$GC,6818,-0.77,-136.3,763.0,-8.6,242,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2480,3613
$GC,7061,-0.77,-136.3,784.7,-8.9,248,7065,0.00,2.33,0.00,0.000,4,0.000,0.061,2222,3904,3612
$GC,7110,-0.77,-136.3,788.7,-7.3,249,7114,0.00,2.10,0.00,0.000,6,0.000,0.029,2222,2498,3611
$GC,7403,-0.77,-136.3,812.0,-7.6,256,7407,0.00,2.08,0.00,0.000,4,0.000,0.031,2222,1095,3610
$GC,7423,-0.77,-136.3,813.7,-7.2,256,7427,0.00,2.20,0.00,0.000,6,0.000,0.047,2222,2493,3610
$GC,7692,-0.77,-136.3,831.7,-6.6,263,7696,0.00,2.28,0.00,0.000,4,0.000,0.061,2211,3900,3609
$GC,7757,-0.77,-136.3,835.8,-6.8,264,7760,0.00,2.12,0.00,0.000,6,0.000,0.030,2211,2490,3609
$GC,8029,-0.77,-136.3,855.4,-7.5,271,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2483,3608
$GC,8270,-0.77,-136.3,875.2,-8.3,277,8274,0.00,2.33,0.00,0.000,4,0.000,0.061,2204,3906,3607
$GC,8319,-0.77,-136.3,879.0,-7.4,278,8324,0.12,2.12,0.00,0.000,6,0.114,0.031,2242,2485,3606
$GC,8611,-0.77,-136.3,896.1,-5.6,285,8615,0.00,2.33,0.00,0.000,4,0.000,0.061,2236,3894,3606
$GC,8636,-0.77,-136.3,897.6,-6.1,285,8640,0.00,2.10,0.00,0.000,6,0.000,0.030,2236,2483,3606
$STATE,8691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8691,begin apogee
$GC,8703,-0.27,0.0,901.1,5.9,287,8826,0.50,0.00,120.70,1.262,6,0.097,0.000,2404,2475,3070
$STATE,8827,end apogee,CONTROL_FINISHED_OK
$STATE,8827,begin climb
$GC,8832,0.77,136.3,906.1,0.0,290,8979,0.90,2.50,132.85,1.185,4,0.039,0.050,2755,3897,2513
$GC,9244,0.77,136.3,862.0,21.4,299,9248,0.00,2.15,0.00,0.000,6,0.000,0.028,2764,2478,2504
$GC,9531,0.77,136.3,809.4,18.1,306,9535,0.00,2.28,0.00,0.000,4,0.000,0.049,2763,3905,2501
$GC,9550,0.77,136.3,805.5,18.3,306,9554,0.15,2.15,0.00,0.000,6,0.219,0.029,2741,2478,2500
$GC,9819,0.77,136.3,760.1,16.7,313,9823,0.00,2.10,0.00,0.000,4,0.000,0.033,2750,1077,2499
$GC,9889,0.77,136.3,749.0,15.0,314,9893,0.00,2.20,0.00,0.000,6,0.000,0.041,2750,2496,2498
$GC,10155,0.77,136.3,707.2,15.8,321,10158,0.00,2.22,0.00,0.000,4,0.000,0.052,2750,3898,2497
$GC,10405,0.77,136.3,664.7,17.2,326,10409,0.00,2.12,0.00,0.000,6,0.000,0.028,2760,2476,2496
$GC,10675,0.77,136.3,623.3,15.5,333,10679,0.00,2.25,0.00,0.000,4,0.000,0.051,2754,3889,2495
$GC,10930,0.77,136.3,581.6,15.1,338,10934,0.00,2.12,0.00,0.000,6,0.000,0.029,2763,2474,2495
$GC,11194,0.77,136.3,547.6,12.6,345,11198,0.00,2.25,0.00,0.000,4,0.000,0.050,2764,3891,2495
$GC,11218,0.77,136.3,544.6,11.8,345,11223,0.15,2.12,0.00,0.000,6,0.219,0.028,2741,2467,2494
$GC,11483,0.79,145.9,519.6,9.5,352,11497,0.00,2.30,6.72,0.864,4,0.000,0.049,2741,3893,2475
$GC,11556,0.79,145.9,511.7,11.0,353,11560,0.00,2.12,0.00,0.000,6,0.000,0.028,2749,2479,2474
$GC,11822,0.79,145.9,481.7,11.7,360,11825,0.00,2.10,0.00,0.000,4,0.000,0.033,2760,1074,2473
$GC,12082,0.79,145.9,450.4,11.6,365,12086,0.00,2.17,0.00,0.000,6,0.000,0.041,2754,2481,2472
$GC,12341,0.79,145.9,421.3,11.5,372,12345,0.00,2.12,0.00,0.000,4,0.000,0.032,2763,1067,2473
$GC,12423,0.81,166.2,413.2,9.0,373,12462,0.00,2.20,23.40,0.839,6,0.000,0.042,2763,2483,2393
$GC,12725,0.81,166.2,378.9,11.1,381,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2483,2390
$GC,12966,0.81,166.2,348.2,12.9,387,12970,0.00,2.22,0.00,0.000,4,0.000,0.050,2763,3900,2389
$GC,12980,0.81,166.2,346.1,13.5,387,12984,0.00,2.12,0.00,0.000,6,0.000,0.028,2773,2477,2388
$GC,13260,0.81,166.2,307.8,12.9,394,13261,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2472,2388
$GC,13505,0.81,166.2,282.0,10.4,400,13506,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2472,2388
$GC,13749,0.81,166.2,253.6,11.5,406,13753,0.00,2.28,0.00,0.000,4,0.000,0.050,2767,3899,2388
$GC,14011,0.86,208.0,232.7,7.9,411,14061,0.00,2.12,40.00,0.784,6,0.000,0.028,2777,2462,2221
$GC,14310,0.86,208.0,186.2,16.8,422,14314,0.00,2.28,0.00,0.000,4,0.000,0.047,2767,3892,2214
$GC,14346,0.86,208.0,180.9,16.8,424,14350,0.00,2.10,0.00,0.000,6,0.000,0.026,2775,2493,2214
$GC,14617,0.86,208.0,148.6,12.7,449,14620,0.00,2.12,0.00,0.000,4,0.000,0.029,2787,1058,2213
$GC,14691,0.86,208.0,138.1,14.5,455,14695,0.00,2.20,0.00,0.000,6,0.000,0.038,2780,2487,2213
$GC,14957,0.91,251.1,108.4,7.9,479,14999,0.00,2.17,37.28,0.702,4,0.000,0.027,2789,1061,2046
$GC,15061,0.91,251.1,95.3,16.5,487,15065,0.00,2.20,0.00,0.000,6,0.000,0.037,2780,2482,2042
$GC,15327,0.91,251.1,57.6,10.9,511,15331,0.00,2.10,0.00,0.000,4,0.000,0.027,2789,1067,2040
$GC,15356,0.91,251.1,54.7,10.1,513,15361,0.00,2.17,0.00,0.000,6,0.000,0.035,2780,2487,2040
$GC,15630,0.91,251.1,25.8,12.5,540,15638,0.00,2.20,0.00,0.000,4,0.000,0.046,2780,3880,2040
$GC,15768,0.91,251.1,4.6,14.0,564,15777,0.00,2.10,0.00,0.000,6,0.000,0.024,2788,2478,2039
$STATE,15786,end climb,SURFACE_DEPTH_REACHED
$STATE,15786,begin surface coast
$FINISH,0.3,1.023164
$STATE,15810,end surface coast,CONTROL_FINISHED_OK
$STATE,15810,begin surface
$SM_CCo,15836,81.18,0.581,0,0,1397,410.13
$SM_GC,1.13,0.00,0.00,81.18,0.000,0.000,0.581,36,2469,1397,-7.67,-0.57,410.13
$IRIDIUM_FIX,2150.42,-15825.72,110101,131339
$TT8_MAMPS,0.023777
$HUMID,2092
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.90
$XPDR_PINGS,24
$24V_AH,22.9,74.601
$10V_AH,10.6,56.273
$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,17.650,156.525,360.950,81.175,0.000,81.464,117.631,1170.461,6.000,0.000,0.000,30.526,1364.790,11520.987,525.211,2180.110,2052.907,33.386,1496.174,0.000,2136.379,0.000,0.544,0.000
$DEVICE_MAMPS,219.362,61.360,1261.715,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,387.862,719.592,740.096,134.946,610.829,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47683,570
$CAP_FILE_SIZE,141080,0
$CFSIZE,260165632,190312448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,4,0
$CURRENT,0.105, 93.5,1
$GPS,181011,182754,2156.403,-15812.392,45,1.1,45,9.9