version: 66.04
glider: 512
mission: 2
dive: 623
start: 10 24 111 2 53 3
data:
$ID,512
$MISSION,2
$DIVE,623
$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,-45465.617
$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,66
$R_STBD_OVSHOOT,22
$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
$GPS1,024430,2148.535,-15812.021,43,1.5,48,9.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-79.5
$GPS2,025201,2148.556,-15812.036,12,1.8,12,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,SECOND
$TGT_LATLONG,2148.000,-15812.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.232,-0.097
$KALMAN_X,-103806.4,121.6,-127.8,88393.0,3939.6
$KALMAN_Y,-123640.0,-1132.2,479.4,-44564.9,6815.0
$MHEAD_RNG_PITCHd_Wd,170.1,1032,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.99,-63.0,0.0,0.0,0,90,0.00,0.00,-68.00,0.000,2,0.000,0.000,38,2482,3171
$GC,96,-1.03,-102.5,3.6,-5.8,9,122,7.95,2.10,-5.75,0.000,4,0.189,0.038,2163,1089,3489
$GC,180,-1.03,-102.5,35.5,-29.4,20,183,0.00,2.15,0.00,0.000,6,0.000,0.038,2155,2496,3491
$GC,451,-1.03,-102.5,115.8,-28.6,45,455,0.00,2.05,0.00,0.000,4,0.000,0.025,2154,1094,3492
$GC,491,-1.03,-102.5,125.3,-20.3,48,500,0.00,2.15,0.00,0.000,6,0.000,0.038,2144,2481,3492
$GC,758,-1.03,-102.5,186.8,-23.3,73,762,0.00,2.00,0.00,0.000,4,0.000,0.025,2145,1093,3493
$GC,784,-1.03,-102.5,192.9,-21.0,75,788,0.00,2.12,0.00,0.000,6,0.000,0.035,2135,2499,3493
$GC,1064,-1.03,-102.5,254.5,-21.4,84,1067,0.00,2.15,0.00,0.000,4,0.000,0.045,2124,3897,3493
$GC,1140,-1.03,-102.5,269.9,-18.9,85,1144,0.12,2.05,0.00,0.000,6,0.150,0.021,2156,2490,3493
$GC,1403,-1.03,-102.5,315.4,-16.7,92,1407,0.00,2.03,0.00,0.000,4,0.000,0.025,2156,1082,3493
$GC,1422,-1.03,-102.5,318.9,-16.2,92,1425,0.00,2.15,0.00,0.000,6,0.000,0.037,2147,2497,3493
$GC,1698,-1.03,-102.5,366.3,-17.6,99,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2498,3492
$GC,1940,-1.03,-102.5,408.1,-17.3,105,1944,0.00,2.05,0.00,0.000,4,0.000,0.025,2147,1092,3490
$GC,1981,-1.03,-102.5,415.4,-16.7,105,1988,0.00,2.15,0.00,0.000,6,0.000,0.039,2137,2480,3490
$GC,2234,-1.03,-102.5,459.5,-17.8,112,2238,0.00,2.05,0.00,0.000,4,0.000,0.027,2139,1081,3488
$GC,2259,-1.03,-102.5,464.2,-17.9,112,2263,0.00,2.15,0.00,0.000,6,0.000,0.038,2130,2489,3488
$GC,2529,-1.03,-102.5,511.0,-17.5,119,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2489,3486
$GC,2772,-1.03,-102.5,551.7,-16.6,125,2776,0.00,2.05,0.00,0.000,4,0.000,0.028,2130,1088,3484
$GC,2807,-1.03,-102.5,557.7,-16.4,125,2812,0.12,2.17,0.00,0.000,6,0.138,0.041,2160,2498,3483
$GC,3062,-1.03,-102.5,593.2,-14.4,131,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2498,3481
$GC,3303,-1.03,-102.5,627.5,-13.9,137,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2498,3478
$GC,3549,-1.03,-102.5,659.1,-12.7,143,3552,0.00,2.10,0.00,0.000,4,0.000,0.030,2160,1084,3476
$GC,3584,-1.03,-102.5,663.9,-12.6,143,3588,0.00,2.17,0.00,0.000,6,0.000,0.042,2151,2496,3476
$GC,3843,-1.03,-102.5,700.5,-14.7,150,3847,0.00,2.20,0.00,0.000,4,0.000,0.054,2141,3896,3473
$GC,3913,-1.03,-102.5,711.9,-15.5,151,3917,0.00,2.10,0.00,0.000,6,0.000,0.028,2141,2488,3473
$GC,4182,-1.03,-102.5,752.7,-15.0,158,4186,0.00,2.08,0.00,0.000,4,0.000,0.031,2142,1085,3471
$GC,4223,-1.03,-102.5,758.9,-14.7,158,4229,0.00,2.20,0.00,0.000,6,0.000,0.045,2133,2492,3470
$GC,4477,-1.03,-102.5,799.6,-16.8,165,4480,0.00,2.08,0.00,0.000,4,0.000,0.031,2134,1092,3468
$GC,4518,-1.03,-102.5,807.0,-16.0,165,4525,0.00,2.22,0.00,0.000,6,0.000,0.047,2127,2486,3468
$GC,4771,-1.03,-102.5,850.6,-17.4,172,4775,0.12,2.10,0.00,0.000,4,0.160,0.029,2158,1092,3466
$GC,4800,-1.03,-102.5,855.3,-14.3,172,4804,0.00,2.20,0.00,0.000,6,0.000,0.045,2148,2494,3466
$GC,5055,-1.03,-102.5,888.2,-12.9,178,5059,0.00,2.25,0.00,0.000,4,0.000,0.058,2138,3901,3465
$GC,5079,-1.03,-102.5,892.1,-13.6,178,5083,0.00,2.10,0.00,0.000,6,0.000,0.029,2137,2495,3464
$STATE,5141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5141,begin apogee
$GC,5152,-0.27,0.0,900.5,13.1,180,5243,0.82,0.00,87.53,1.240,6,0.120,0.000,2398,2486,3070
$STATE,5244,end apogee,CONTROL_FINISHED_OK
$STATE,5244,begin climb
$GC,5249,1.03,102.5,903.0,0.0,182,5362,1.15,2.42,99.18,1.164,4,0.037,0.047,2836,3909,2651
$GC,5621,1.03,102.5,876.0,16.9,191,5626,0.00,2.15,0.00,0.000,6,0.000,0.028,2846,2477,2643
$GC,5914,1.03,102.5,832.8,14.6,198,5918,0.00,2.25,0.00,0.000,4,0.000,0.047,2846,3904,2639
$GC,6137,1.03,102.5,799.4,15.3,203,6142,0.15,2.12,0.00,0.000,6,0.239,0.028,2825,2475,2638
$GC,6424,1.03,102.5,765.0,11.6,210,6428,0.00,2.08,0.00,0.000,4,0.000,0.031,2834,1076,2637
$GC,6684,1.03,102.5,734.9,10.9,215,6688,0.00,2.17,0.00,0.000,6,0.000,0.039,2834,2495,2635
$GC,6939,1.03,102.5,708.0,10.6,221,6942,0.00,2.12,0.00,0.000,4,0.000,0.031,2845,1064,2634
$GC,7058,1.03,102.5,695.2,10.4,223,7062,0.00,2.17,0.00,0.000,6,0.000,0.039,2844,2482,2634
$GC,7322,1.03,102.5,668.9,10.2,230,7326,0.00,2.20,0.00,0.000,4,0.000,0.048,2845,3899,2633
$GC,7583,1.03,102.5,643.2,10.2,235,7588,0.15,2.10,0.00,0.000,6,0.240,0.028,2825,2474,2632
$GC,7841,1.05,117.0,620.7,8.5,242,7857,0.00,2.25,10.85,0.989,4,0.000,0.047,2822,3889,2593
$GC,8113,1.05,117.0,591.3,11.8,248,8117,0.00,2.10,0.00,0.000,6,0.000,0.028,2831,2481,2592
$GC,8400,1.06,124.1,563.5,9.2,255,8414,0.00,2.28,7.95,0.907,4,0.000,0.048,2831,3885,2563
$GC,8468,1.06,124.1,555.9,12.1,256,8472,0.00,2.10,0.00,0.000,6,0.000,0.028,2842,2477,2563
$GC,8738,1.07,129.2,530.2,9.5,263,8749,0.00,2.15,6.47,0.838,4,0.000,0.031,2852,1073,2543
$GC,8912,1.08,136.7,513.7,9.2,266,8927,0.00,2.17,9.05,0.905,6,0.000,0.038,2849,2486,2511
$GC,9210,1.08,136.7,481.7,10.9,274,9214,0.00,2.10,0.00,0.000,4,0.000,0.031,2858,1082,2508
$GC,9305,1.08,136.7,470.3,12.3,276,9309,0.00,2.15,0.00,0.000,6,0.000,0.039,2858,2478,2508
$GC,9598,1.08,136.7,436.1,11.3,283,9602,0.00,2.10,0.00,0.000,4,0.000,0.032,2869,1076,2507
$GC,9763,1.10,154.3,421.3,8.1,286,9793,0.00,2.17,19.00,0.857,6,0.000,0.039,2863,2493,2441
$GC,10070,1.10,154.3,388.2,10.8,294,10074,0.00,2.12,0.00,0.000,4,0.000,0.031,2871,1072,2437
$GC,10330,1.10,154.3,358.4,12.1,299,10334,0.00,2.15,0.00,0.000,6,0.000,0.039,2871,2477,2436
$GC,10592,1.10,154.3,327.0,12.3,306,10596,0.00,2.10,0.00,0.000,4,0.000,0.031,2880,1072,2435
$GC,10791,1.10,154.3,303.9,10.6,310,10796,0.12,2.17,0.00,0.000,6,0.217,0.039,2849,2482,2435
$GC,11066,1.11,166.5,280.6,8.7,317,11090,0.00,2.15,13.95,0.704,4,0.000,0.030,2857,1077,2391
$GC,11173,1.11,166.5,269.5,10.9,319,11177,0.00,2.17,0.00,0.000,6,0.000,0.039,2857,2486,2390
$GC,11450,1.12,176.0,243.4,9.0,326,11464,0.00,2.20,10.27,0.746,4,0.000,0.045,2858,3897,2351
$GC,11682,1.12,176.1,219.0,10.0,331,11686,0.00,2.10,0.00,0.000,6,0.000,0.026,2868,2472,2350
$GC,11948,1.12,176.1,188.1,10.7,342,11952,0.00,2.25,0.00,0.000,4,0.000,0.044,2862,3903,2348
$GC,12209,1.12,176.1,159.4,10.5,364,12216,0.00,2.12,0.00,0.000,6,0.000,0.025,2872,2476,2348
$GC,12475,1.15,193.6,135.8,8.1,389,12504,0.00,2.20,18.88,0.629,4,0.000,0.044,2871,3891,2280
$GC,12674,1.16,202.9,115.5,9.0,406,12688,0.00,2.08,9.93,0.621,6,0.000,0.024,2882,2470,2242
$GC,12950,1.21,245.8,96.1,5.4,431,12993,0.00,2.28,38.30,0.663,4,0.000,0.041,2875,3900,2066
$GC,13245,1.21,245.8,51.0,15.2,456,13253,0.00,2.10,0.00,0.000,6,0.000,0.024,2884,2499,2063
$GC,13520,1.21,245.8,5.6,16.8,492,13528,0.00,2.20,0.00,0.000,4,0.000,0.041,2875,3894,2062
$STATE,13534,end climb,SURFACE_DEPTH_REACHED
$STATE,13534,begin surface coast
$FINISH,0.3,1.010414
$STATE,13553,end surface coast,CONTROL_FINISHED_OK
$STATE,13553,begin surface
$SM_CCo,13581,79.72,0.574,0,0,1398,410.13
$SM_GC,1.20,0.00,0.00,79.72,0.000,0.000,0.574,38,2453,1398,-7.66,-1.02,410.13
$IRIDIUM_FIX,2136.49,-15812.78,160101,222233
$TT8_MAMPS,0.023777
$HUMID,2070
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.20
$XPDR_PINGS,20
$24V_AH,23.4,79.050
$10V_AH,10.6,59.810
$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,18.125,137.300,331.350,79.725,0.000,28.605,32.815,191.094,5.000,0.000,0.000,12.182,1246.816,9287.480,484.407,2225.763,870.322,33.357,1476.755,0.000,2196.291,0.000,0.543,0.000
$DEVICE_MAMPS,240.071,57.525,1240.239,573.716,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,336.795,654.376,673.956,117.833,538.754,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41440,497
$CAP_FILE_SIZE,116158,0
$CFSIZE,260165632,188440576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,4,0
$CURRENT,0.098, 53.9,1
$GPS,241011,064206,2147.890,-15811.295,32,1.9,32,9.9