version: 66.04
glider: 512
mission: 2
dive: 637
start: 10 26 111 7 40 28
data:
$ID,512
$MISSION,2
$DIVE,637
$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,-45789.5
$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,50
$R_STBD_OVSHOOT,33
$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
$GPS1,073228,2144.576,-15810.747,11,3.4,30,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-78.2
$GPS2,073934,2144.593,-15810.668,14,3.7,33,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,10mile
$TGT_LATLONG,2145.000,-15812.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.226,-0.110
$KALMAN_X,-59027.0,-794.2,-43.9,46768.6,11260.3
$KALMAN_Y,-93506.6,-676.6,-415.5,-81585.9,7336.4
$MHEAD_RNG_PITCHd_Wd,249.5,2412,-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,-68.05,0.000,2,0.000,0.000,39,2482,3186
$GC,96,-0.77,-136.3,3.8,-6.0,9,123,8.30,2.08,-7.60,0.000,4,0.194,0.038,2238,1086,3629
$GC,260,-0.77,-136.3,49.3,-17.2,26,264,0.00,2.15,0.00,0.000,6,0.000,0.038,2230,2492,3631
$GC,532,-0.77,-136.3,111.5,-21.6,51,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2493,3632
$GC,797,-0.77,-136.3,163.3,-18.1,76,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2493,3633
$GC,1071,-0.77,-136.3,206.8,-15.1,99,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2493,3634
$GC,1313,-0.77,-136.3,241.5,-13.7,105,1317,0.00,2.17,0.00,0.000,4,0.000,0.048,2219,3905,3634
$GC,1332,-0.77,-136.3,244.2,-13.2,105,1335,0.00,2.08,0.00,0.000,6,0.000,0.021,2218,2472,3634
$GC,1609,-0.77,-136.3,282.0,-14.7,112,1613,0.00,1.98,0.00,0.000,4,0.000,0.025,2220,1095,3634
$GC,1657,-0.77,-136.3,288.4,-11.2,113,1661,0.00,2.12,0.00,0.000,6,0.000,0.037,2211,2501,3634
$GC,1949,-0.77,-136.3,324.9,-12.3,120,1952,0.00,2.05,0.00,0.000,4,0.000,0.025,2216,1094,3633
$GC,1967,-0.77,-136.3,327.5,-12.4,120,1972,0.12,2.12,0.00,0.000,6,0.113,0.037,2245,2498,3633
$GC,2238,-0.77,-136.3,350.3,-8.5,127,2242,0.00,2.17,0.00,0.000,4,0.000,0.049,2236,3896,3632
$GC,2268,-0.77,-136.3,353.1,-8.5,127,2272,0.00,2.05,0.00,0.000,6,0.000,0.022,2236,2474,3632
$GC,2532,-0.77,-136.3,375.4,-8.5,134,2536,0.00,1.98,0.00,0.000,4,0.000,0.026,2236,1098,3630
$GC,2597,-0.77,-136.3,381.9,-9.1,135,2601,0.00,2.12,0.00,0.000,6,0.000,0.041,2236,2488,3630
$GC,2872,-0.77,-136.3,411.4,-10.8,142,2876,0.00,2.20,0.00,0.000,4,0.000,0.051,2225,3898,3627
$GC,2914,-0.77,-136.3,415.4,-9.4,142,2922,0.00,2.05,0.00,0.000,6,0.000,0.024,2225,2486,3627
$GC,3167,-0.77,-136.3,437.8,-8.8,149,3170,0.00,2.03,0.00,0.000,4,0.000,0.027,2225,1099,3625
$GC,3232,-0.77,-136.3,442.9,-7.6,150,3236,0.00,2.15,0.00,0.000,6,0.000,0.041,2223,2497,3624
$GC,3509,-0.77,-136.3,467.8,-9.4,157,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2497,3623
$GC,3751,-0.77,-136.3,489.6,-9.0,163,3755,0.00,2.05,0.00,0.000,4,0.000,0.028,2223,1100,3621
$GC,3777,-0.77,-136.3,491.8,-8.5,163,3781,0.00,2.15,0.00,0.000,6,0.000,0.042,2223,2494,3621
$GC,4046,-0.77,-136.3,514.3,-8.7,170,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2495,3618
$GC,4291,-0.77,-136.3,537.1,-9.4,176,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2494,3617
$GC,4533,-0.77,-136.3,562.3,-10.7,182,4537,0.00,2.05,0.00,0.000,4,0.000,0.029,2223,1105,3615
$GC,4564,-0.77,-136.3,565.3,-10.2,182,4568,0.00,2.15,0.00,0.000,6,0.000,0.042,2223,2494,3615
$GC,4829,-0.77,-136.3,588.5,-8.7,189,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2495,3613
$GC,5073,-0.77,-136.3,606.1,-7.0,195,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2495,3611
$GC,5317,-0.77,-136.3,622.3,-6.7,201,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2495,3609
$GC,5561,-0.77,-136.3,640.5,-7.6,207,5565,0.00,2.08,0.00,0.000,4,0.000,0.031,2222,1100,3608
$GC,5597,-0.77,-136.3,643.4,-7.3,207,5601,0.00,2.17,0.00,0.000,6,0.000,0.044,2223,2493,3608
$GC,5855,-0.77,-136.3,663.2,-7.6,214,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2494,3606
$GC,6099,-0.77,-136.3,680.3,-6.8,220,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2494,3604
$GC,6344,-0.77,-136.3,698.0,-7.3,226,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2494,3603
$GC,6586,-0.77,-136.3,716.3,-7.5,232,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2494,3602
$GC,6831,-0.77,-136.3,734.5,-7.5,238,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2494,3601
$GC,7073,-0.77,-136.3,753.4,-7.8,244,7077,0.00,2.08,0.00,0.000,4,0.000,0.032,2223,1101,3599
$GC,7110,-0.77,-136.3,756.3,-8.3,244,7114,0.00,2.17,0.00,0.000,6,0.000,0.046,2223,2490,3600
$GC,7370,-0.77,-136.3,775.4,-7.3,251,7374,0.00,2.28,0.00,0.000,4,0.000,0.061,2214,3899,3598
$GC,7406,-0.77,-136.3,778.1,-6.8,251,7410,0.00,2.08,0.00,0.000,6,0.000,0.030,2214,2503,3598
$GC,7665,-0.77,-136.3,797.6,-7.8,258,7668,0.00,2.10,0.00,0.000,4,0.000,0.033,2216,1092,3598
$GC,7718,-0.77,-136.3,801.7,-7.2,259,7723,0.12,2.20,0.00,0.000,6,0.111,0.047,2246,2494,3597
$GC,8005,-0.77,-136.3,818.5,-6.0,266,8009,0.00,2.28,0.00,0.000,4,0.000,0.060,2236,3901,3596
$GC,8041,-0.77,-136.3,821.0,-6.7,266,8045,0.00,2.12,0.00,0.000,6,0.000,0.030,2236,2477,3596
$GC,8300,-0.77,-136.3,838.9,-6.9,273,8304,0.00,2.05,0.00,0.000,4,0.000,0.031,2236,1087,3595
$GC,8381,-0.77,-136.3,844.8,-6.9,274,8385,0.00,2.20,0.00,0.000,6,0.000,0.045,2236,2494,3595
$GC,8640,-0.77,-136.3,860.3,-5.9,281,8644,0.00,2.28,0.00,0.000,4,0.000,0.062,2236,3896,3594
$GC,8710,-0.77,-136.3,864.4,-6.1,282,8714,0.00,2.10,0.00,0.000,6,0.000,0.031,2236,2481,3594
$GC,8973,-0.77,-136.3,878.9,-5.4,289,8977,0.00,2.33,0.00,0.000,4,0.000,0.061,2236,3894,3594
$GC,9202,-0.77,-136.3,892.7,-5.6,294,9206,0.00,2.10,0.00,0.000,6,0.000,0.031,2236,2489,3593
$STATE,9366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9366,begin apogee
$GC,9379,-0.27,0.0,901.4,4.9,298,9500,0.47,0.00,117.97,1.255,6,0.077,0.000,2405,2484,3069
$STATE,9500,end apogee,CONTROL_FINISHED_OK
$STATE,9500,begin climb
$GC,9506,0.77,136.3,906.3,0.0,301,9652,0.90,2.45,132.35,1.182,4,0.039,0.049,2754,3898,2514
$GC,9917,0.77,136.3,858.9,21.7,310,9921,0.00,2.12,0.00,0.000,6,0.000,0.029,2763,2495,2504
$GC,10204,0.77,136.3,803.6,18.6,317,10208,0.00,2.25,0.00,0.000,4,0.000,0.049,2764,3906,2501
$GC,10306,0.77,136.3,782.7,20.6,319,10311,0.15,2.15,0.00,0.000,6,0.218,0.030,2742,2480,2501
$GC,10578,0.77,136.3,736.1,16.7,326,10582,0.00,2.28,0.00,0.000,4,0.000,0.053,2741,3896,2499
$GC,10602,0.77,136.3,731.3,17.6,326,10606,0.00,2.12,0.00,0.000,6,0.000,0.028,2751,2478,2499
$GC,10866,0.77,136.3,686.8,16.6,333,10870,0.00,2.08,0.00,0.000,4,0.000,0.031,2760,1075,2497
$GC,10890,0.77,136.3,682.6,16.8,333,10894,0.00,2.20,0.00,0.000,6,0.000,0.041,2754,2495,2498
$GC,11153,0.77,136.3,644.1,14.1,340,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2496,2497
$GC,11399,0.77,136.3,614.4,12.2,346,11402,0.00,2.12,0.00,0.000,4,0.000,0.031,2763,1075,2497
$GC,11473,0.77,136.3,604.8,12.4,347,11478,0.00,2.17,0.00,0.000,6,0.000,0.041,2763,2492,2496
$GC,11737,0.77,136.3,571.6,12.7,354,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2492,2496
$GC,11981,0.77,136.3,539.4,13.0,360,11984,0.00,2.22,0.00,0.000,4,0.000,0.051,2763,3901,2496
$GC,12006,0.77,136.3,535.9,13.1,360,12011,0.15,2.12,0.00,0.000,6,0.219,0.028,2741,2473,2495
$GC,12270,0.77,136.3,501.1,13.6,367,12274,0.00,2.08,0.00,0.000,4,0.000,0.032,2749,1079,2495
$GC,12318,0.77,136.3,494.8,12.6,368,12322,0.00,2.17,0.00,0.000,6,0.000,0.041,2742,2487,2495
$GC,12612,0.77,136.3,459.0,11.4,375,12615,0.00,2.20,0.00,0.000,4,0.000,0.051,2742,3889,2494
$GC,12805,0.79,150.0,437.4,9.3,379,12820,0.00,2.10,10.45,0.895,6,0.000,0.028,2751,2475,2458
$GC,13081,0.79,150.0,409.5,11.0,386,13082,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2475,2456
$GC,13323,0.79,150.0,385.0,10.1,392,13324,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2475,2456
$GC,13566,0.82,176.2,361.9,8.7,398,13607,0.00,0.00,29.25,0.823,6,0.000,0.000,2750,2475,2351
$GC,13849,0.82,176.2,323.9,15.1,405,13853,0.00,2.10,0.00,0.000,4,0.000,0.033,2761,1081,2347
$GC,14066,0.82,176.2,292.0,13.1,409,14070,0.00,2.17,0.00,0.000,6,0.000,0.040,2755,2481,2346
$GC,14325,0.82,176.2,256.6,14.3,416,14329,0.00,2.22,0.00,0.000,4,0.000,0.049,2754,3897,2345
$GC,14350,0.82,176.2,252.8,14.4,416,14353,0.00,2.10,0.00,0.000,6,0.000,0.028,2763,2483,2345
$GC,14620,0.82,176.2,219.1,12.3,423,14624,0.00,2.08,0.00,0.000,4,0.000,0.031,2773,1078,2345
$GC,14882,0.82,176.2,189.4,10.8,434,14886,0.00,2.15,0.00,0.000,6,0.000,0.038,2768,2480,2345
$GC,15154,0.87,217.5,164.5,8.0,459,15208,0.00,2.17,38.78,0.726,4,0.000,0.031,2776,1072,2182
$GC,15223,0.87,217.5,157.6,12.1,465,15227,0.00,2.20,0.00,0.000,6,0.000,0.038,2776,2484,2181
$GC,15490,0.87,217.5,118.3,17.3,489,15494,0.00,2.20,0.00,0.000,4,0.000,0.045,2777,3897,2177
$GC,15532,0.87,217.5,110.9,15.1,492,15540,0.00,2.12,0.00,0.000,6,0.000,0.025,2785,2482,2176
$GC,15798,0.92,258.1,85.9,8.0,517,15839,0.00,2.15,35.50,0.677,4,0.000,0.028,2796,1075,2017
$GC,15853,0.95,277.2,81.3,9.1,521,15880,0.00,2.17,17.70,0.632,6,0.000,0.036,2793,2489,1939
$GC,16142,0.95,277.2,38.8,15.3,547,16145,0.00,2.10,0.00,0.000,4,0.000,0.028,2801,1078,1934
$GC,16285,0.95,277.2,15.5,15.1,568,16294,0.00,2.17,0.00,0.000,6,0.000,0.034,2793,2487,1933
$STATE,16354,end climb,SURFACE_DEPTH_REACHED
$STATE,16354,begin surface coast
$FINISH,0.5,1.023109
$STATE,16372,end surface coast,CONTROL_FINISHED_OK
$STATE,16372,begin surface
$SM_CCo,16397,68.03,0.581,0,0,1397,410.13
$SM_GC,1.23,0.00,0.00,68.03,0.000,0.000,0.581,38,2491,1397,-7.66,0.03,410.13
$IRIDIUM_FIX,2138.81,-15812.78,190101,040410
$TT8_MAMPS,0.023777
$HUMID,2124
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.10
$XPDR_PINGS,21
$24V_AH,22.9,80.949
$10V_AH,10.5,61.270
$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,17.475,141.475,382.000,68.025,0.000,28.423,38.183,167.408,5.250,0.000,0.000,33.983,1348.980,12018.396,533.048,2110.857,880.944,33.352,1482.607,0.000,2072.596,0.000,0.544,0.000
$DEVICE_MAMPS,218.595,62.127,1254.812,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,395.917,719.372,742.429,126.354,573.573,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47752,583
$CAP_FILE_SIZE,122612,0
$CFSIZE,260165632,187658240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,4,0
$CURRENT,0.070, 82.1,1
$GPS,261011,121625,2144.419,-15811.832,41,1.8,41,9.9