version: 66.04
glider: 512
mission: 2
dive: 602
start: 10 20 111 13 40 18
data:
$ID,512
$MISSION,2
$DIVE,602
$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,-45018.641
$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,56
$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
$GPS1,132654,2151.992,-15814.563,30,1.5,47,9.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.5
$GPS2,133920,2152.020,-15814.572,12,1.6,18,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.201,-0.113
$KALMAN_X,-157556.1,919.5,-327.0,137232.4,3726.2
$KALMAN_Y,-188496.1,-199.8,130.5,26113.0,1993.6
$MHEAD_RNG_PITCHd_Wd,106.7,130,-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,-63.0,0.0,0.0,0,89,0.00,0.00,-67.90,0.000,2,0.000,0.000,38,2488,3172
$GC,95,-1.03,-102.0,3.7,-5.8,9,112,7.90,0.00,-5.62,0.000,6,0.189,0.000,2148,2488,3487
$GC,373,-1.03,-102.0,103.3,-26.9,38,377,0.00,2.05,0.00,0.000,4,0.000,0.025,2150,1082,3489
$GC,433,-1.03,-102.0,118.0,-20.8,43,437,0.00,2.15,0.00,0.000,6,0.000,0.039,2142,2491,3490
$GC,704,-1.03,-102.0,181.1,-24.2,68,708,0.00,2.17,0.00,0.000,4,0.000,0.045,2131,3903,3491
$GC,798,-1.03,-102.0,203.2,-21.9,76,801,0.00,2.05,0.00,0.000,6,0.000,0.021,2135,2486,3491
$GC,1091,-1.03,-102.0,267.9,-21.7,83,1094,0.00,2.03,0.00,0.000,4,0.000,0.025,2135,1078,3491
$GC,1223,-1.03,-102.0,292.6,-16.9,85,1230,0.08,2.17,0.00,0.000,6,0.131,0.038,2152,2487,3491
$GC,1475,-1.03,-102.0,337.4,-17.7,92,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2488,3491
$GC,1718,-1.03,-102.0,380.0,-17.3,98,1722,0.00,2.05,0.00,0.000,4,0.000,0.025,2152,1077,3489
$GC,1760,-1.03,-102.0,387.1,-15.2,98,1766,0.00,2.17,0.00,0.000,6,0.000,0.038,2144,2502,3489
$GC,2013,-1.03,-102.0,429.5,-17.3,105,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2502,3487
$GC,2257,-1.03,-102.0,470.7,-16.5,111,2261,0.00,2.17,0.00,0.000,4,0.000,0.049,2133,3899,3485
$GC,2293,-1.03,-102.0,477.5,-18.8,111,2297,0.00,2.08,0.00,0.000,6,0.000,0.024,2133,2486,3484
$GC,2552,-1.03,-102.0,520.3,-16.5,118,2556,0.00,2.03,0.00,0.000,4,0.000,0.028,2133,1092,3482
$GC,2617,-1.03,-102.0,531.0,-15.0,119,2622,0.12,2.15,0.00,0.000,6,0.140,0.041,2159,2490,3482
$GC,2888,-1.03,-102.0,567.5,-13.8,126,2892,0.00,2.05,0.00,0.000,4,0.000,0.028,2159,1091,3479
$GC,2931,-1.03,-102.0,573.4,-12.8,126,2937,0.00,2.17,0.00,0.000,6,0.000,0.042,2153,2500,3479
$GC,3185,-1.03,-102.0,610.4,-14.8,133,3189,0.00,2.20,0.00,0.000,4,0.000,0.053,2142,3894,3476
$GC,3256,-1.03,-102.0,621.6,-15.3,134,3259,0.00,2.08,0.00,0.000,6,0.000,0.026,2142,2485,3475
$GC,3527,-1.03,-102.0,661.6,-14.8,141,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2477,3473
$GC,3768,-1.03,-102.0,696.3,-14.1,147,3772,0.00,2.05,0.00,0.000,4,0.000,0.029,2144,1084,3471
$GC,3849,-1.03,-102.0,707.1,-12.4,148,3853,0.00,2.20,0.00,0.000,6,0.000,0.044,2136,2495,3470
$GC,4102,-1.03,-102.0,743.7,-14.7,154,4106,0.00,2.08,0.00,0.000,4,0.000,0.029,2137,1094,3467
$GC,4160,-1.03,-102.0,752.3,-13.5,155,4164,0.00,2.17,0.00,0.000,6,0.000,0.044,2129,2488,3467
$GC,4441,-1.03,-102.0,793.5,-15.2,162,4444,0.00,2.25,0.00,0.000,4,0.000,0.057,2118,3899,3465
$GC,4535,-1.03,-102.0,808.5,-15.8,164,4540,0.15,2.10,0.00,0.000,6,0.232,0.028,2156,2489,3464
$GC,4827,-1.03,-102.0,847.1,-13.0,171,4831,0.00,2.30,0.00,0.000,4,0.000,0.057,2147,3907,3462
$GC,4857,-1.03,-102.0,851.3,-13.8,171,4861,0.00,2.12,0.00,0.000,6,0.000,0.028,2146,2486,3462
$GC,5116,-1.03,-102.0,886.3,-13.4,178,5120,0.00,2.30,0.00,0.000,4,0.000,0.058,2136,3899,3460
$GC,5159,-1.03,-102.0,892.4,-14.3,179,5162,0.00,2.10,0.00,0.000,6,0.000,0.028,2136,2490,3460
$STATE,5243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5243,begin apogee
$GC,5254,-0.27,0.0,904.5,13.5,181,5344,0.85,0.00,86.62,1.242,6,0.127,0.000,2402,2482,3070
$STATE,5345,end apogee,CONTROL_FINISHED_OK
$STATE,5345,begin climb
$GC,5350,1.03,102.0,907.7,0.0,183,5462,1.12,2.40,99.43,1.168,4,0.037,0.047,2836,3908,2653
$GC,5691,1.03,102.0,886.9,15.1,190,5694,0.00,2.15,0.00,0.000,6,0.000,0.028,2845,2481,2646
$GC,5950,1.03,102.0,850.8,14.0,197,5954,0.00,2.25,0.00,0.000,4,0.000,0.047,2846,3904,2642
$GC,6210,1.03,102.0,811.1,14.8,202,6217,0.15,2.12,0.00,0.000,6,0.231,0.028,2825,2477,2641
$GC,6464,1.03,102.0,780.2,12.1,209,6468,0.00,2.25,0.00,0.000,4,0.000,0.050,2823,3904,2638
$GC,6724,1.03,102.0,746.8,12.6,214,6730,0.00,2.12,0.00,0.000,6,0.000,0.027,2832,2470,2637
$GC,6979,1.03,102.0,718.2,11.2,221,6983,0.00,2.25,0.00,0.000,4,0.000,0.046,2832,3904,2636
$GC,7059,1.03,102.0,708.9,11.1,222,7065,0.00,2.12,0.00,0.000,6,0.000,0.027,2842,2468,2636
$GC,7314,1.04,110.5,685.2,9.1,229,7324,0.00,2.08,5.45,0.854,4,0.000,0.030,2853,1072,2621
$GC,7582,1.04,110.5,658.6,10.0,235,7586,0.00,2.17,0.00,0.000,6,0.000,0.038,2850,2493,2619
$GC,7868,1.04,110.5,629.1,10.3,242,7872,0.00,2.10,0.00,0.000,4,0.000,0.030,2858,1081,2618
$GC,8131,1.07,134.7,606.8,7.4,247,8167,0.00,2.15,26.27,1.004,6,0.000,0.039,2858,2481,2520
$GC,8432,1.07,134.7,566.4,14.7,255,8435,0.00,2.10,0.00,0.000,4,0.000,0.031,2869,1081,2515
$GC,8591,1.07,134.7,545.3,12.8,258,8595,0.00,2.15,0.00,0.000,6,0.000,0.039,2863,2480,2514
$GC,8860,1.07,134.7,509.6,12.9,265,8864,0.00,2.10,0.00,0.000,4,0.000,0.031,2871,1073,2513
$GC,8980,1.07,134.7,494.5,12.7,267,8985,0.15,2.17,0.00,0.000,6,0.215,0.040,2837,2483,2513
$GC,9239,1.07,134.7,465.5,11.1,274,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2483,2511
$GC,9482,1.09,147.1,444.0,8.7,280,9503,0.00,2.22,11.20,0.889,4,0.000,0.046,2836,3901,2472
$GC,9682,1.09,147.1,421.4,12.3,284,9686,0.00,2.12,0.00,0.000,6,0.000,0.028,2845,2475,2471
$GC,9952,1.09,147.1,388.9,12.7,291,9956,0.00,2.25,0.00,0.000,4,0.000,0.048,2846,3892,2469
$GC,9966,1.09,147.1,386.9,12.8,291,9970,0.00,2.10,0.00,0.000,6,0.000,0.028,2856,2478,2469
$GC,10241,1.09,147.1,356.5,10.7,298,10245,0.00,2.25,0.00,0.000,4,0.000,0.046,2850,3899,2469
$GC,10255,1.09,147.1,355.0,10.0,298,10259,0.00,2.12,0.00,0.000,6,0.000,0.027,2858,2475,2469
$GC,10530,1.09,147.1,328.0,10.1,305,10534,0.00,2.08,0.00,0.000,4,0.000,0.030,2869,1066,2468
$GC,10599,1.09,147.1,320.3,11.2,306,10603,0.00,2.17,0.00,0.000,6,0.000,0.038,2862,2487,2468
$GC,10868,1.10,158.2,295.3,8.8,313,10893,0.00,2.15,13.73,0.717,4,0.000,0.029,2871,1072,2424
$GC,11057,1.10,158.2,275.0,10.8,317,11061,0.00,2.17,0.00,0.000,6,0.000,0.038,2871,2488,2423
$GC,11338,1.10,158.6,247.3,10.0,324,11339,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2488,2422
$GC,11582,1.11,167.0,224.3,9.1,330,11596,0.00,2.12,9.57,0.732,4,0.000,0.029,2880,1064,2389
$GC,11679,1.13,178.0,216.5,8.8,332,11695,0.00,2.17,11.35,0.739,6,0.000,0.036,2875,2486,2344
$GC,11956,1.13,178.0,184.8,11.8,347,11959,0.00,2.10,0.00,0.000,4,0.000,0.028,2884,1070,2340
$GC,12019,1.13,178.0,177.9,10.2,352,12026,0.00,2.17,0.00,0.000,6,0.000,0.035,2876,2476,2340
$GC,12284,1.16,202.8,153.4,7.4,377,12313,0.00,2.25,22.75,0.726,4,0.000,0.044,2875,3879,2243
$GC,12425,1.16,202.8,136.9,13.4,389,12428,0.00,2.10,0.00,0.000,6,0.000,0.026,2884,2473,2240
$GC,12695,1.16,208.0,106.1,9.5,414,12709,0.00,2.10,5.70,0.542,4,0.000,0.027,2894,1068,2222
$GC,12835,1.16,208.0,90.6,12.2,426,12839,0.00,2.15,0.00,0.000,6,0.000,0.032,2888,2487,2221
$GC,13107,1.19,228.9,69.2,7.8,451,13135,0.00,2.15,19.50,0.624,4,0.000,0.025,2897,1067,2136
$GC,13387,1.19,228.9,42.2,11.6,475,13397,0.00,2.15,0.00,0.000,6,0.000,0.031,2888,2478,2133
$GC,13660,1.19,228.9,7.3,15.0,515,13670,0.00,2.08,0.00,0.000,4,0.000,0.025,2897,1074,2133
$STATE,13687,end climb,SURFACE_DEPTH_REACHED
$STATE,13687,begin surface coast
$FINISH,0.5,1.023161
$STATE,13705,end surface coast,CONTROL_FINISHED_OK
$STATE,13705,begin surface
$SM_CCo,13733,84.45,0.570,0,0,1397,410.13
$SM_GC,1.35,0.00,0.00,84.45,0.000,0.000,0.570,35,2496,1397,-7.67,0.17,410.13
$IRIDIUM_FIX,2141.13,-15756.39,130101,131352
$TT8_MAMPS,0.023777
$HUMID,2050
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.40
$XPDR_PINGS,24
$24V_AH,23.4,76.252
$10V_AH,10.6,57.525
$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,18.000,137.550,311.575,84.450,0.000,57.569,95.036,323.776,6.000,0.000,0.000,18.537,1274.735,9474.154,482.421,2251.668,1082.161,33.361,1455.540,0.000,2218.968,0.000,0.544,0.000
$DEVICE_MAMPS,231.634,57.525,1241.773,569.881,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,354.302,706.039,728.131,135.790,618.659,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44654,522
$CAP_FILE_SIZE,118915,0
$CFSIZE,260165632,189669376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,4,0
$CURRENT,0.120, 69.3,1
$GPS,201011,173207,2151.906,-15812.689,41,1.9,41,9.9