version: 66.04
glider: 512
mission: 2
dive: 369
start: 9 7 111 20 29 54
data:
$ID,512
$MISSION,2
$DIVE,369
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-40476.621
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2530
$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,2500
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2730
$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
$GPS1,202237,2256.812,-15815.353,28,1.5,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-79.3
$GPS2,202901,2256.797,-15815.368,11,1.9,16,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,-0.035
$KALMAN_X,-271508.6,-189.0,279.1,237402.7,-3798.6
$KALMAN_Y,8470.0,280.7,-1247.3,91674.4,669.8
$MHEAD_RNG_PITCHd_Wd,88.0,120109,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.77,-136.3,0.0,0.0,0,104,0.00,0.00,-83.12,0.000,2,0.000,0.000,38,2484,3236
$GC,110,-0.77,-136.3,3.6,-6.0,11,127,8.02,2.12,-0.93,0.000,4,0.189,0.042,2263,3906,3286
$GC,288,-0.77,-136.3,51.5,-17.6,32,292,0.00,2.03,0.00,0.000,6,0.000,0.021,2262,2497,3287
$GC,560,-0.77,-136.3,105.0,-18.6,57,563,0.00,2.00,0.00,0.000,4,0.000,0.023,2262,1091,3288
$GC,587,-0.77,-136.3,109.9,-17.7,59,591,0.00,2.10,0.00,0.000,6,0.000,0.036,2262,2489,3288
$GC,857,-0.77,-136.3,147.4,-13.1,84,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2490,3288
$GC,1123,-0.77,-136.3,179.0,-11.3,109,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2490,3288
$GC,1393,-0.77,-136.3,210.7,-11.8,129,1397,0.00,2.12,0.00,0.000,4,0.000,0.043,2252,3898,3288
$GC,1431,-0.77,-136.3,214.6,-10.3,129,1435,0.00,2.00,0.00,0.000,6,0.000,0.020,2251,2487,3288
$GC,1690,-0.77,-136.3,242.2,-10.5,136,1694,0.00,1.98,0.00,0.000,4,0.000,0.023,2251,1091,3288
$GC,1790,-0.77,-136.3,252.4,-9.5,138,1794,0.12,2.10,0.00,0.000,6,0.125,0.035,2282,2503,3288
$GC,2071,-0.77,-136.3,276.1,-8.3,145,2075,0.00,2.12,0.00,0.000,4,0.000,0.045,2273,3903,3286
$GC,2101,-0.77,-136.3,279.1,-9.4,145,2105,0.00,2.00,0.00,0.000,6,0.000,0.020,2273,2491,3286
$GC,2364,-0.77,-136.3,303.4,-9.2,152,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2485,3284
$GC,2611,-0.77,-136.3,323.7,-8.2,158,2614,0.00,2.17,0.00,0.000,4,0.000,0.046,2262,3891,3283
$GC,2630,-0.77,-136.3,325.4,-7.8,158,2634,0.00,2.00,0.00,0.000,6,0.000,0.021,2262,2495,3283
$GC,2905,-0.77,-136.3,349.3,-8.7,165,2908,0.00,1.98,0.00,0.000,4,0.000,0.025,2263,1103,3281
$GC,2935,-0.77,-136.3,352.1,-9.6,165,2939,0.00,2.10,0.00,0.000,6,0.000,0.035,2253,2500,3281
$GC,3199,-0.77,-136.3,377.1,-9.6,172,3203,0.00,2.15,0.00,0.000,4,0.000,0.047,2242,3903,3279
$GC,3235,-0.77,-136.3,380.8,-10.3,172,3239,0.12,2.03,0.00,0.000,6,0.123,0.022,2278,2498,3278
$GC,3493,-0.77,-136.3,402.4,-8.2,179,3497,0.00,2.03,-0.08,0.000,4,0.000,0.044,2280,1107,3299
$GC,3528,-0.77,-136.3,405.5,-8.2,179,3532,0.00,2.12,0.00,0.000,6,0.000,0.039,2277,2503,3299
$GC,3788,-0.77,-136.3,425.3,-7.6,186,3792,0.00,2.17,0.00,0.000,4,0.000,0.048,2266,3907,3298
$GC,3841,-0.77,-136.3,429.4,-7.6,187,3845,0.00,2.05,0.00,0.000,6,0.000,0.023,2266,2496,3297
$GC,4128,-0.77,-136.3,451.9,-8.0,194,4132,0.00,2.22,0.00,0.000,4,0.000,0.049,2254,3906,3294
$GC,4165,-0.77,-136.3,455.1,-8.5,194,4169,0.00,2.03,0.00,0.000,6,0.000,0.024,2255,2500,3294
$GC,4426,-0.77,-136.3,478.1,-8.9,201,4430,0.00,2.03,0.00,0.000,4,0.000,0.028,2255,1098,3293
$GC,4469,-0.77,-136.3,482.3,-9.2,201,4476,0.12,2.12,0.00,0.000,6,0.123,0.039,2283,2501,3293
$GC,4724,-0.77,-136.3,500.4,-7.1,208,4728,0.00,2.17,0.00,0.000,4,0.000,0.051,2274,3904,3291
$GC,4762,-0.77,-136.3,503.2,-7.3,208,4766,0.00,2.05,0.00,0.000,6,0.000,0.025,2274,2500,3290
$GC,5020,-0.77,-136.3,522.2,-7.3,215,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2493,3289
$GC,5265,-0.77,-136.3,539.5,-7.1,221,5268,0.00,2.20,0.00,0.000,4,0.000,0.051,2263,3896,3287
$GC,5307,-0.77,-136.3,543.2,-8.3,221,5313,0.00,2.05,0.00,0.000,6,0.000,0.025,2263,2494,3286
$GC,5560,-0.77,-136.3,564.7,-8.7,228,5563,0.00,2.22,0.00,0.000,4,0.000,0.052,2252,3898,3285
$GC,5595,-0.77,-136.3,568.3,-10.1,228,5599,0.00,2.05,0.00,0.000,6,0.000,0.025,2253,2497,3285
$GC,5853,-0.77,-136.3,591.7,-8.9,235,5857,0.00,2.03,0.00,0.000,4,0.000,0.028,2252,1103,3283
$GC,5884,-0.77,-136.3,594.6,-9.6,235,5889,0.12,2.15,0.00,0.000,6,0.120,0.041,2278,2503,3283
$GC,6142,-0.77,-136.3,610.7,-6.0,242,6146,0.00,2.17,0.00,0.000,4,0.000,0.054,2269,3893,3281
$GC,6183,-0.77,-136.3,613.2,-5.9,242,6190,0.00,2.05,0.00,0.000,6,0.000,0.026,2269,2495,3281
$GC,6436,-0.77,-136.3,628.6,-6.1,249,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2495,3280
$GC,6680,-0.77,-136.3,644.6,-6.7,255,6684,0.00,2.22,0.00,0.000,4,0.000,0.054,2259,3897,3278
$GC,6722,-0.77,-136.3,647.7,-7.4,255,6729,0.00,2.08,0.00,0.000,6,0.000,0.026,2259,2503,3278
$GC,6974,-0.77,-136.3,668.0,-8.0,262,6978,0.00,2.05,0.00,0.000,4,0.000,0.030,2259,1108,3277
$GC,7017,-0.77,-136.3,671.6,-8.6,262,7024,0.12,2.15,0.00,0.000,6,0.122,0.043,2285,2499,3277
$GC,7269,-0.77,-136.3,687.2,-6.0,269,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2499,3275
$GC,7513,-0.77,-136.3,700.9,-5.5,275,7517,0.00,2.22,0.00,0.000,4,0.000,0.056,2277,3899,3274
$GC,7543,-0.77,-136.3,702.6,-5.8,275,7547,0.00,2.05,0.00,0.000,6,0.000,0.028,2277,2506,3273
$GC,7807,-0.77,-136.3,716.6,-5.2,282,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2499,3273
$GC,8050,-0.77,-136.3,727.6,-4.4,288,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2499,3272
$GC,8294,-0.77,-136.3,737.3,-3.9,294,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2499,3271
$GC,8537,-0.77,-136.3,747.7,-4.3,300,8541,0.00,2.25,0.00,0.000,4,0.000,0.058,2267,3899,3270
$GC,8562,-0.77,-136.3,748.8,-4.7,300,8565,0.00,2.10,0.00,0.000,6,0.000,0.029,2267,2493,3270
$GC,8833,-0.77,-136.3,763.0,-5.4,307,8836,0.00,2.05,0.00,0.000,4,0.000,0.031,2267,1101,3269
$GC,8857,-0.77,-136.3,764.6,-5.7,307,8861,0.00,2.17,0.00,0.000,6,0.000,0.045,2263,2500,3269
$GC,9128,-0.77,-136.3,780.2,-5.8,314,9132,0.00,2.25,0.00,0.000,4,0.000,0.057,2252,3908,3268
$GC,9187,-0.77,-136.3,784.3,-7.4,315,9191,0.00,2.10,0.00,0.000,6,0.000,0.030,2252,2498,3267
$GC,9464,-0.77,-136.3,802.7,-6.8,322,9468,0.00,2.08,0.00,0.000,4,0.000,0.032,2252,1093,3267
$GC,9494,-0.77,-136.3,805.1,-7.4,322,9499,0.12,2.20,0.00,0.000,6,0.127,0.046,2283,2502,3267
$GC,9759,-0.77,-136.3,819.2,-5.2,329,9763,0.00,2.22,0.00,0.000,4,0.000,0.058,2276,3902,3265
$GC,9789,-0.77,-136.3,821.0,-6.2,329,9792,0.00,2.10,0.00,0.000,6,0.000,0.030,2276,2500,3265
$GC,10055,-0.77,-136.3,837.1,-6.2,336,10059,0.00,2.08,0.00,0.000,4,0.000,0.032,2276,1098,3265
$GC,10085,-0.77,-136.3,839.5,-6.9,336,10089,0.00,2.20,0.00,0.000,6,0.000,0.045,2265,2503,3265
$GC,10350,-0.77,-136.3,858.0,-7.1,343,10354,0.00,2.22,0.00,0.000,4,0.000,0.058,2254,3903,3264
$GC,10413,-0.77,-136.3,863.3,-8.6,344,10417,0.00,2.12,0.00,0.000,6,0.000,0.030,2254,2492,3264
$GC,10689,-0.77,-136.3,885.1,-7.9,351,10693,0.00,2.08,0.00,0.000,4,0.000,0.033,2254,1092,3263
$GC,10726,-0.77,-136.3,888.0,-7.6,351,10731,0.10,2.22,0.00,0.000,6,0.133,0.047,2276,2509,3263
$STATE,10934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10934,begin apogee
$GC,10945,-0.27,0.0,901.4,6.0,356,11068,0.50,0.00,119.47,1.330,6,0.102,0.000,2444,2509,2730
$STATE,11068,end apogee,CONTROL_FINISHED_OK
$STATE,11068,begin climb
$GC,11073,0.77,136.3,905.3,0.0,359,11227,0.90,2.38,130.30,1.208,4,0.046,0.049,2779,3922,2174
$GC,11375,0.77,136.3,834.6,33.6,365,11382,0.00,2.25,0.00,0.000,6,0.000,0.029,2788,2489,2167
$GC,11627,0.77,136.3,755.4,31.5,372,11631,0.00,2.15,0.00,0.000,4,0.000,0.031,2799,1057,2163
$GC,11676,0.77,136.3,741.0,27.2,373,11680,0.00,2.22,0.00,0.000,6,0.000,0.039,2796,2488,2162
$GC,11961,0.77,136.3,656.1,29.5,380,11965,0.00,2.12,0.00,0.000,4,0.000,0.031,2804,1064,2160
$GC,12070,0.77,136.3,624.7,26.8,382,12074,0.00,2.20,0.00,0.000,6,0.000,0.041,2805,2482,2159
$GC,12339,0.77,136.3,550.4,27.5,389,12343,0.00,2.12,0.00,0.000,4,0.000,0.032,2815,1064,2159
$GC,12363,0.77,136.3,543.5,26.2,389,12368,0.00,2.17,0.00,0.000,6,0.000,0.040,2809,2483,2159
$GC,12634,0.77,136.3,473.3,26.1,396,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2484,2158
$GC,12877,0.77,136.3,413.9,24.9,402,12881,0.00,2.20,0.00,0.000,4,0.000,0.049,2809,3896,2158
$GC,12889,0.77,136.3,410.4,24.9,402,12894,0.15,2.12,0.00,0.000,6,0.225,0.028,2787,2476,2158
$GC,13164,0.77,136.3,346.5,23.0,409,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2471,2157
$GC,13407,0.77,136.3,293.1,21.4,415,13411,0.00,2.25,0.00,0.000,4,0.000,0.050,2781,3899,2157
$GC,13490,0.77,136.3,274.5,20.9,416,13494,0.00,2.12,0.00,0.000,6,0.000,0.028,2789,2480,2156
$GC,13750,0.77,136.3,222.6,19.2,423,13753,0.00,2.10,0.00,0.000,4,0.000,0.032,2800,1065,2156
$GC,13835,0.77,136.3,206.8,17.4,424,13842,0.00,2.17,0.00,0.000,6,0.000,0.038,2793,2485,2155
$GC,14099,0.77,136.3,162.4,16.9,446,14102,0.00,2.20,0.00,0.000,4,0.000,0.047,2793,3900,2155
$GC,14172,0.77,136.3,149.5,16.1,452,14180,0.00,2.15,0.00,0.000,6,0.000,0.026,2802,2470,2155
$GC,14438,0.77,136.3,108.7,16.8,477,14442,0.00,2.05,0.00,0.000,4,0.000,0.029,2813,1070,2155
$GC,14565,0.77,136.3,90.5,13.3,488,14569,0.00,2.15,0.00,0.000,6,0.000,0.036,2809,2491,2155
$GC,14836,0.77,136.3,58.4,10.6,513,14840,0.00,2.10,0.00,0.000,4,0.000,0.028,2818,1057,2155
$GC,15093,0.84,186.6,40.7,7.5,536,15145,0.00,2.15,42.03,0.640,6,0.000,0.034,2818,2489,1969
$STATE,15332,end climb,SURFACE_DEPTH_REACHED
$STATE,15332,begin surface coast
$FINISH,0.1,1.022624
$STATE,15349,end surface coast,CONTROL_FINISHED_OK
$STATE,15349,begin surface
$SM_CCo,15374,109.47,0.621,0,0,1057,410.13
$SM_GC,1.03,0.00,0.00,109.47,0.000,0.000,0.621,38,2489,1057,-7.79,-0.31,410.13
$IRIDIUM_FIX,2248.70,-15818.43,011200,191910
$TT8_MAMPS,0.024544
$HUMID,2181
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,23.30
$XPDR_PINGS,17
$24V_AH,23.8,39.103
$10V_AH,10.7,30.957
$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,17.800,161.550,291.800,109.475,0.000,30.364,33.354,155.306,4.250,0.000,0.000,16.765,1252.157,11269.306,504.919,2018.353,830.386,33.334,1406.453,0.000,1999.223,0.000,0.545,0.000
$DEVICE_MAMPS,224.731,58.292,1329.978,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,389.627,754.232,776.229,144.067,656.929,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47807,574
$CAP_FILE_SIZE,122075,0
$CFSIZE,260165632,203919360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,3,0
$GPS,080911,004931,2256.075,-15813.920,43,1.2,43,10.1