version: 66.04
glider: 512
mission: 2
dive: 600
start: 10 20 111 5 19 10
data:
$ID,512
$MISSION,2
$DIVE,600
$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,-44984.508
$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,51
$R_STBD_OVSHOOT,37
$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
$GPS1,050937,2151.761,-15815.099,36,1.2,36,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.9
$GPS2,051813,2151.798,-15815.196,15,1.2,19,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.060,-0.244
$KALMAN_X,-162291.5,-1466.8,491.4,142470.4,2262.7
$KALMAN_Y,-195321.4,1233.3,-987.6,32210.1,4764.5
$MHEAD_RNG_PITCHd_Wd,57.3,1253,-27.2,-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,13,begin dive
$GC,19,-0.99,-63.0,0.0,0.0,0,127,0.00,0.00,-105.82,0.000,2,0.000,0.000,38,2481,3294
$GC,134,-1.01,-85.4,4.3,-7.6,14,150,7.88,0.00,-2.10,0.000,6,0.189,0.000,2157,2480,3418
$GC,417,-1.01,-85.4,105.6,-30.5,43,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2480,3420
$GC,682,-1.01,-85.4,166.4,-21.9,68,686,0.00,2.17,0.00,0.000,4,0.000,0.045,2148,3900,3420
$GC,720,-1.01,-85.4,175.2,-23.0,71,724,0.00,2.08,0.00,0.000,6,0.000,0.020,2148,2468,3420
$GC,1004,-1.01,-85.4,235.1,-20.8,86,1008,0.00,2.00,0.00,0.000,4,0.000,0.025,2148,1065,3420
$GC,1108,-1.01,-85.4,253.4,-16.6,88,1112,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2480,3421
$GC,1388,-1.01,-85.4,304.1,-18.2,95,1392,0.00,2.17,0.00,0.000,4,0.000,0.046,2127,3901,3420
$GC,1418,-1.01,-85.4,309.8,-18.8,95,1423,0.12,2.05,0.00,0.000,6,0.146,0.021,2159,2492,3420
$GC,1684,-1.01,-85.4,352.6,-16.3,102,1687,0.00,2.03,0.00,0.000,4,0.000,0.025,2159,1082,3418
$GC,1720,-1.01,-85.4,358.9,-16.5,102,1724,0.00,2.12,0.00,0.000,6,0.000,0.038,2151,2490,3418
$GC,1978,-1.01,-85.4,402.4,-16.7,109,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2491,3416
$GC,2221,-1.01,-85.4,438.8,-14.5,115,2225,0.00,2.05,0.00,0.000,4,0.000,0.026,2151,1081,3415
$GC,2240,-1.01,-85.4,441.8,-14.5,115,2244,0.00,2.15,0.00,0.000,6,0.000,0.038,2141,2490,3414
$GC,2516,-1.01,-85.4,482.5,-15.2,122,2519,0.00,2.05,0.00,0.000,4,0.000,0.027,2141,1085,3412
$GC,2568,-1.01,-85.4,490.8,-14.5,123,2573,0.12,2.15,0.00,0.000,6,0.135,0.039,2164,2488,3412
$GC,2848,-1.01,-85.4,527.6,-12.9,130,2852,0.00,2.20,0.00,0.000,4,0.000,0.051,2155,3900,3408
$GC,2877,-1.01,-85.4,531.6,-13.7,130,2881,0.00,2.08,0.00,0.000,6,0.000,0.025,2155,2488,3408
$GC,3144,-1.01,-85.4,566.3,-13.3,137,3148,0.00,2.03,0.00,0.000,4,0.000,0.028,2155,1095,3405
$GC,3163,-1.01,-85.4,569.4,-13.1,137,3167,0.00,2.15,0.00,0.000,6,0.000,0.041,2145,2491,3405
$GC,3438,-1.01,-85.4,608.2,-14.5,144,3442,0.00,2.22,0.00,0.000,4,0.000,0.052,2134,3907,3402
$GC,3490,-1.01,-85.4,616.0,-14.6,145,3495,0.12,2.10,0.00,0.000,6,0.142,0.027,2166,2486,3402
$GC,3777,-1.01,-85.4,650.1,-11.7,152,3780,0.00,2.05,0.00,0.000,4,0.000,0.029,2166,1090,3399
$GC,3915,-1.01,-85.4,665.5,-10.7,155,3919,0.00,2.17,0.00,0.000,6,0.000,0.044,2158,2495,3398
$GC,4207,-1.01,-85.4,702.9,-13.0,162,4211,0.00,2.25,0.00,0.000,4,0.000,0.055,2147,3909,3396
$GC,4310,-1.01,-85.4,716.9,-13.0,164,4314,0.00,2.10,0.00,0.000,6,0.000,0.028,2147,2494,3394
$GC,4592,-1.01,-85.4,754.7,-13.8,171,4596,0.00,2.28,0.00,0.000,4,0.000,0.054,2136,3906,3392
$GC,4639,-1.01,-85.4,761.9,-15.9,172,4643,0.00,2.12,0.00,0.000,6,0.000,0.028,2136,2484,3391
$GC,4925,-1.01,-85.4,803.3,-14.2,179,4929,0.00,2.05,0.00,0.000,4,0.000,0.031,2136,1092,3390
$GC,4989,-1.01,-85.4,812.0,-12.9,180,4994,0.12,2.20,0.00,0.000,6,0.144,0.045,2159,2496,3390
$GC,5258,-1.01,-85.4,844.7,-12.1,187,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2497,3388
$GC,5503,-1.01,-85.4,873.4,-12.0,193,5507,0.00,2.25,0.00,0.000,4,0.000,0.058,2149,3902,3386
$GC,5539,-1.01,-85.4,878.4,-13.4,193,5543,0.00,2.10,0.00,0.000,6,0.000,0.029,2149,2492,3386
$STATE,5710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5710,begin apogee
$GC,5722,-0.27,0.0,901.7,13.3,198,5795,0.80,0.00,70.45,1.251,6,0.130,0.000,2397,2483,3070
$STATE,5796,end apogee,CONTROL_FINISHED_OK
$STATE,5796,begin climb
$GC,5802,1.01,85.4,904.4,0.0,200,5899,1.10,2.38,84.57,1.166,4,0.039,0.051,2821,3903,2720
$GC,6054,1.01,85.4,903.0,10.6,205,6058,0.00,2.15,0.00,0.000,6,0.000,0.027,2832,2475,2712
$GC,6312,1.03,95.9,880.0,8.9,212,6327,0.00,2.28,9.38,1.059,4,0.000,0.047,2832,3903,2678
$GC,6347,1.03,101.8,876.6,9.4,212,6361,0.00,2.12,7.72,1.011,6,0.000,0.027,2842,2474,2654
$GC,6604,1.03,101.8,844.1,13.0,219,6608,0.00,2.28,0.00,0.000,4,0.000,0.048,2836,3906,2651
$GC,6685,1.03,101.8,832.6,14.1,220,6693,0.00,2.15,0.00,0.000,6,0.000,0.028,2845,2487,2650
$GC,6940,1.03,101.8,799.9,12.9,227,6944,0.00,2.22,0.00,0.000,4,0.000,0.046,2846,3904,2648
$GC,6953,1.03,101.8,797.7,12.7,227,6958,0.15,2.12,0.00,0.000,6,0.235,0.027,2825,2474,2648
$GC,7227,1.03,101.8,765.7,11.6,234,7231,0.00,2.05,0.00,0.000,4,0.000,0.031,2834,1076,2647
$GC,7240,1.03,101.8,764.0,11.7,234,7244,0.00,2.17,0.00,0.000,6,0.000,0.040,2833,2491,2646
$GC,7517,1.03,101.8,734.7,10.5,241,7521,0.00,2.17,0.00,0.000,4,0.000,0.048,2834,3894,2646
$GC,7778,1.04,109.5,707.6,9.2,246,7790,0.00,2.10,7.12,0.950,6,0.000,0.028,2845,2468,2623
$GC,8037,1.05,112.3,682.8,9.7,253,8046,0.00,2.28,4.05,0.714,4,0.000,0.048,2845,3887,2612
$GC,8179,1.05,112.3,667.0,11.4,256,8183,0.00,2.10,0.00,0.000,6,0.000,0.028,2855,2478,2612
$GC,8466,1.05,112.3,637.7,10.2,263,8470,0.00,2.08,0.00,0.000,4,0.000,0.031,2866,1071,2611
$GC,8727,1.05,112.3,610.9,11.3,268,8732,0.15,2.17,0.00,0.000,6,0.218,0.039,2830,2489,2610
$GC,8981,1.05,114.3,585.5,9.8,274,8984,0.00,2.10,0.00,0.000,4,0.000,0.031,2839,1073,2610
$GC,9242,1.06,126.8,563.0,8.7,279,9269,0.00,2.17,16.73,0.912,6,0.000,0.040,2836,2485,2553
$GC,9539,1.06,126.8,532.8,10.5,287,9543,0.00,2.20,0.00,0.000,4,0.000,0.048,2836,3891,2550
$GC,9800,1.07,134.3,504.1,9.2,292,9814,0.00,2.10,8.30,0.897,6,0.000,0.028,2845,2477,2522
$GC,10059,1.07,134.3,476.4,11.0,299,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2477,2519
$GC,10302,1.07,134.3,448.6,11.3,305,10306,0.00,2.25,0.00,0.000,4,0.000,0.049,2845,3891,2519
$GC,10493,1.07,134.3,426.2,10.6,309,10497,0.00,2.10,0.00,0.000,6,0.000,0.028,2856,2483,2519
$GC,10782,1.09,150.8,401.1,8.2,316,10811,0.00,2.15,18.50,0.848,4,0.000,0.031,2867,1077,2455
$GC,11069,1.09,150.8,367.4,12.1,322,11073,0.00,2.17,0.00,0.000,6,0.000,0.038,2862,2490,2452
$GC,11345,1.09,150.8,336.7,10.0,329,11349,0.00,2.12,0.00,0.000,4,0.000,0.031,2871,1074,2450
$GC,11425,1.09,151.6,328.9,9.9,330,11430,0.00,2.17,0.00,0.000,6,0.000,0.040,2871,2481,2450
$GC,11679,1.09,151.6,303.6,10.2,336,11682,0.00,2.10,0.00,0.000,4,0.000,0.031,2880,1074,2449
$GC,11940,1.09,151.6,277.9,10.1,341,11945,0.12,2.15,0.00,0.000,6,0.216,0.038,2849,2482,2449
$GC,12193,1.10,158.1,253.3,9.3,347,12207,0.00,2.17,7.35,0.721,4,0.000,0.030,2857,1066,2425
$GC,12466,1.13,183.4,229.4,7.3,353,12495,0.00,2.17,24.23,0.803,6,0.000,0.038,2857,2481,2322
$GC,12756,1.13,183.4,197.2,11.2,360,12760,0.00,2.12,0.00,0.000,4,0.000,0.030,2867,1062,2318
$GC,12872,1.13,183.4,184.2,12.4,370,12877,0.00,2.17,0.00,0.000,6,0.000,0.038,2862,2481,2317
$GC,13144,1.13,183.4,151.6,10.5,395,13148,0.00,2.10,0.00,0.000,4,0.000,0.030,2871,1064,2317
$GC,13272,1.13,183.4,138.3,10.0,406,13275,0.00,2.17,0.00,0.000,6,0.000,0.037,2862,2489,2316
$GC,13544,1.20,239.4,115.8,4.0,431,13598,0.00,2.25,48.60,0.703,4,0.000,0.044,2862,3884,2093
$GC,13646,1.20,239.4,106.8,14.7,439,13650,0.00,2.12,0.00,0.000,6,0.000,0.025,2870,2480,2091
$GC,13917,1.20,239.4,72.2,10.1,464,13921,0.00,2.08,0.00,0.000,4,0.000,0.028,2881,1067,2087
$GC,14180,1.20,239.4,42.8,13.1,487,14185,0.00,2.17,0.00,0.000,6,0.000,0.037,2876,2491,2086
$GC,14455,1.20,239.4,4.1,16.5,526,14462,0.00,2.10,0.00,0.000,4,0.000,0.026,2884,1070,2086
$STATE,14468,end climb,SURFACE_DEPTH_REACHED
$STATE,14468,begin surface coast
$FINISH,0.4,1.023150
$STATE,14476,end surface coast,CONTROL_FINISHED_OK
$STATE,14476,begin surface
$SM_CCo,14504,81.60,0.574,0,0,1397,410.13
$SM_GC,1.15,0.00,0.00,81.60,0.000,0.000,0.574,37,2492,1397,-7.66,0.08,410.13
$IRIDIUM_FIX,2145.77,-15746.04,130101,010155
$TT8_MAMPS,0.023777
$HUMID,2071
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.10
$XPDR_PINGS,26
$24V_AH,23.5,75.999
$10V_AH,10.6,57.301
$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,18.175,146.025,307.000,81.600,0.000,25.317,41.427,244.021,6.500,0.000,0.000,19.192,1303.936,10044.867,476.586,2343.438,933.114,33.356,1516.949,0.000,2304.511,0.000,0.543,0.000
$DEVICE_MAMPS,234.702,57.525,1250.977,574.483,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,359.299,687.876,709.368,129.809,586.692,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44486,529
$CAP_FILE_SIZE,122575,0
$CFSIZE,260165632,189792256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,3,0
$CURRENT,0.036, 79.5,1
$GPS,201011,092336,2152.215,-15813.790,30,1.7,30,9.9