version: 66.04
glider: 512
mission: 2
dive: 370
start: 9 8 111 0 58 2
data:
$ID,512
$MISSION,2
$DIVE,370
$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,-40493.988
$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,49
$R_STBD_OVSHOOT,36
$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
$GPS1,004931,2256.075,-15813.920,43,1.2,43,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-80.7
$GPS2,005708,2256.080,-15813.939,16,1.5,16,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,0.230
$KALMAN_X,-273487.5,213.0,-125.0,241836.5,-2230.5
$KALMAN_Y,5016.7,1343.1,414.9,91078.2,-4163.0
$MHEAD_RNG_PITCHd_Wd,13.9,117751,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.77,-136.3,0.0,0.0,0,108,0.00,0.00,-83.12,0.000,2,0.000,0.000,38,2490,3255
$GC,114,-0.77,-136.3,3.6,-6.5,11,132,8.27,2.17,-0.55,0.000,4,0.195,0.048,2259,3898,3287
$GC,321,-0.77,-136.3,59.9,-19.0,34,325,0.00,2.08,0.00,0.000,6,0.000,0.022,2259,2485,3289
$GC,593,-0.77,-136.3,106.2,-15.1,59,597,0.00,2.03,0.00,0.000,4,0.000,0.025,2259,1090,3289
$GC,666,-0.77,-136.3,117.2,-13.7,65,671,0.12,2.15,0.00,0.000,6,0.129,0.038,2283,2498,3290
$GC,932,-0.77,-136.3,149.7,-11.5,89,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2498,3291
$GC,1199,-0.77,-136.3,180.8,-11.2,114,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2498,3291
$GC,1459,-0.77,-136.3,208.1,-9.8,133,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2498,3291
$GC,1704,-0.77,-136.3,232.0,-10.0,139,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2498,3292
$GC,1946,-0.77,-136.3,256.2,-10.0,145,1950,0.00,2.17,0.00,0.000,4,0.000,0.048,2274,3909,3291
$GC,1999,-0.77,-136.3,261.4,-9.0,146,2003,0.00,2.08,0.00,0.000,6,0.000,0.021,2274,2478,3291
$GC,2286,-0.77,-136.3,287.4,-8.7,153,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2472,3291
$GC,2529,-0.77,-136.3,309.1,-9.0,159,2533,0.00,2.22,0.00,0.000,4,0.000,0.046,2263,3901,3290
$GC,2617,-0.77,-136.3,316.5,-9.0,160,2624,0.00,2.08,0.00,0.000,6,0.000,0.022,2263,2496,3289
$GC,2871,-0.77,-136.3,338.1,-8.6,167,2875,0.00,2.00,0.00,0.000,4,0.000,0.025,2263,1103,3289
$GC,2935,-0.77,-136.3,344.6,-9.4,168,2938,0.00,2.12,0.00,0.000,6,0.000,0.039,2263,2501,3288
$GC,3210,-0.77,-136.3,373.6,-11.1,175,3214,0.00,2.17,0.00,0.000,4,0.000,0.048,2252,3908,3287
$GC,3308,-0.77,-136.3,385.5,-11.6,177,3311,0.00,2.05,0.00,0.000,6,0.000,0.023,2252,2500,3287
$GC,3595,-0.77,-136.3,418.2,-11.2,184,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2493,3285
$GC,3838,-0.77,-136.3,442.8,-10.0,190,3841,0.00,2.03,0.00,0.000,4,0.000,0.027,2252,1103,3283
$GC,3888,-0.77,-136.3,447.7,-9.7,191,3892,0.12,2.12,0.00,0.000,6,0.127,0.040,2285,2502,3283
$GC,4179,-0.77,-136.3,470.3,-7.6,198,4183,0.00,2.17,0.00,0.000,4,0.000,0.051,2277,3899,3281
$GC,4272,-0.77,-136.3,477.7,-7.9,200,4276,0.00,2.05,0.00,0.000,6,0.000,0.025,2277,2497,3280
$GC,4564,-0.77,-136.3,497.7,-6.3,207,4568,0.00,2.03,0.00,0.000,4,0.000,0.028,2277,1103,3278
$GC,4628,-0.77,-136.3,501.7,-5.9,208,4632,0.00,2.15,0.00,0.000,6,0.000,0.041,2267,2505,3278
$GC,4903,-0.77,-136.3,518.1,-6.0,215,4907,0.00,2.20,0.00,0.000,4,0.000,0.052,2257,3907,3276
$GC,5002,-0.77,-136.3,524.6,-7.0,217,5006,0.00,2.08,0.00,0.000,6,0.000,0.026,2257,2500,3275
$GC,5290,-0.77,-136.3,547.0,-8.1,224,5293,0.00,2.05,0.00,0.000,4,0.000,0.029,2257,1097,3273
$GC,5320,-0.77,-136.3,550.0,-8.8,224,5325,0.12,2.15,0.00,0.000,6,0.122,0.042,2286,2498,3273
$GC,5585,-0.77,-136.3,568.2,-6.9,231,5589,0.00,2.22,0.00,0.000,4,0.000,0.054,2277,3904,3271
$GC,5627,-0.77,-136.3,571.4,-7.9,231,5633,0.00,2.08,0.00,0.000,6,0.000,0.027,2277,2493,3271
$GC,5879,-0.77,-136.3,588.7,-6.8,238,5883,0.00,2.05,0.00,0.000,4,0.000,0.030,2277,1101,3270
$GC,5928,-0.77,-136.3,592.0,-7.3,239,5932,0.00,2.17,0.00,0.000,6,0.000,0.044,2276,2506,3269
$GC,6223,-0.77,-136.3,610.8,-6.4,246,6227,0.00,2.20,0.00,0.000,4,0.000,0.055,2266,3900,3267
$GC,6304,-0.77,-136.3,617.1,-7.8,247,6308,0.00,2.08,0.00,0.000,6,0.000,0.027,2265,2505,3267
$GC,6563,-0.77,-136.3,638.0,-8.3,254,6567,0.00,2.08,0.00,0.000,4,0.000,0.030,2265,1094,3266
$GC,6621,-0.77,-136.3,643.6,-9.2,255,6625,0.00,2.20,0.00,0.000,6,0.000,0.044,2263,2509,3265
$GC,6902,-0.77,-136.3,666.7,-7.9,262,6905,0.00,2.20,0.00,0.000,4,0.000,0.056,2252,3899,3265
$GC,6984,-0.77,-136.3,673.5,-8.3,263,6988,0.00,2.08,0.00,0.000,6,0.000,0.028,2252,2497,3264
$GC,7242,-0.77,-136.3,693.0,-7.4,270,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2489,3263
$GC,7486,-0.77,-136.3,709.8,-6.9,276,7490,0.00,2.28,0.00,0.000,4,0.000,0.057,2242,3895,3262
$GC,7522,-0.77,-136.3,712.6,-7.5,276,7529,0.12,2.10,0.00,0.000,6,0.130,0.028,2277,2492,3261
$GC,7776,-0.77,-136.3,727.1,-5.7,283,7779,0.00,2.05,0.00,0.000,4,0.000,0.031,2278,1102,3261
$GC,7806,-0.77,-136.3,729.2,-6.9,283,7810,0.00,2.17,0.00,0.000,6,0.000,0.045,2277,2498,3261
$GC,8069,-0.77,-136.3,745.8,-6.5,290,8073,0.00,2.25,0.00,0.000,4,0.000,0.058,2266,3905,3259
$GC,8123,-0.77,-136.3,749.7,-6.9,291,8127,0.00,2.10,0.00,0.000,6,0.000,0.029,2265,2502,3259
$GC,8404,-0.77,-136.3,770.6,-7.3,298,8407,0.00,2.08,0.00,0.000,4,0.000,0.032,2265,1089,3258
$GC,8439,-0.77,-136.3,773.6,-8.5,298,8443,0.00,2.22,0.00,0.000,6,0.000,0.046,2263,2511,3258
$GC,8692,-0.77,-136.3,792.7,-7.6,304,8696,0.00,2.22,0.00,0.000,4,0.000,0.058,2252,3899,3257
$GC,8751,-0.77,-136.3,797.5,-8.4,305,8755,0.00,2.10,0.00,0.000,6,0.000,0.029,2252,2499,3257
$GC,9032,-0.77,-136.3,819.6,-7.8,312,9035,0.00,2.08,0.00,0.000,4,0.000,0.031,2252,1101,3256
$GC,9089,-0.77,-136.3,824.2,-8.1,313,9094,0.12,2.20,0.00,0.000,6,0.129,0.047,2282,2503,3256
$GC,9365,-0.77,-136.3,839.8,-5.5,320,9369,0.00,2.25,0.00,0.000,4,0.000,0.060,2274,3904,3255
$GC,9408,-0.77,-136.3,842.2,-5.7,321,9412,0.00,2.10,0.00,0.000,6,0.000,0.031,2275,2500,3255
$GC,9700,-0.77,-136.3,857.2,-4.8,328,9703,0.00,2.08,0.00,0.000,4,0.000,0.033,2275,1100,3254
$GC,9749,-0.77,-136.3,859.5,-5.3,329,9753,0.00,2.20,0.00,0.000,6,0.000,0.047,2265,2505,3254
$GC,10038,-0.77,-136.3,873.5,-4.8,336,10042,0.00,2.25,0.00,0.000,4,0.000,0.059,2253,3905,3253
$GC,10096,-0.77,-136.3,876.9,-5.8,337,10100,0.00,2.12,0.00,0.000,6,0.000,0.031,2253,2496,3252
$GC,10372,-0.77,-136.3,892.0,-5.7,344,10376,0.00,2.08,0.00,0.000,4,0.000,0.033,2254,1099,3252
$GC,10420,-0.77,-136.3,895.1,-7.2,345,10425,0.12,2.20,0.00,0.000,6,0.130,0.048,2284,2499,3252
$STATE,10539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10539,begin apogee
$GC,10550,-0.27,0.0,900.7,4.5,348,10670,0.47,0.00,117.10,1.328,6,0.099,0.000,2444,2499,2730
$STATE,10671,end apogee,CONTROL_FINISHED_OK
$STATE,10671,begin climb
$GC,10677,0.77,136.3,903.7,0.0,351,10832,0.90,2.38,131.38,1.220,4,0.048,0.031,2786,1077,2173
$GC,10893,0.77,136.3,865.6,26.8,356,10897,0.00,2.30,0.00,0.000,6,0.000,0.041,2780,2483,2167
$GC,11179,0.77,136.3,782.1,28.9,363,11183,0.00,2.17,0.00,0.000,4,0.000,0.032,2788,1074,2162
$GC,11231,0.77,136.3,767.0,27.5,364,11236,0.00,2.25,0.00,0.000,6,0.000,0.041,2780,2495,2162
$GC,11513,0.77,136.3,688.2,28.8,371,11517,0.00,2.15,0.00,0.000,4,0.000,0.031,2788,1081,2160
$GC,11537,0.77,136.3,680.8,28.5,371,11541,0.00,2.17,0.00,0.000,6,0.000,0.041,2780,2483,2159
$GC,11806,0.77,136.3,607.0,27.4,378,11808,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2483,2159
$GC,12049,0.77,136.3,541.5,26.5,384,12053,0.00,2.12,0.00,0.000,4,0.000,0.032,2788,1078,2158
$GC,12097,0.77,136.3,529.6,23.6,385,12101,0.00,2.17,0.00,0.000,6,0.000,0.041,2780,2481,2157
$GC,12383,0.77,136.3,457.2,25.6,392,12387,0.00,2.25,0.00,0.000,4,0.000,0.051,2779,3897,2157
$GC,12402,0.77,136.3,452.2,23.4,392,12406,0.00,2.12,0.00,0.000,6,0.000,0.029,2788,2484,2157
$GC,12678,0.77,136.3,387.4,23.6,399,12681,0.00,2.10,0.00,0.000,4,0.000,0.032,2799,1070,2157
$GC,12702,0.77,136.3,381.5,22.3,399,12706,0.00,2.20,0.00,0.000,6,0.000,0.041,2793,2488,2156
$GC,12973,0.77,136.3,320.1,23.0,406,12977,0.00,2.12,0.00,0.000,4,0.000,0.031,2801,1069,2156
$GC,12997,0.77,136.3,313.8,22.2,406,13001,0.00,2.17,0.00,0.000,6,0.000,0.038,2793,2482,2156
$GC,13266,0.77,136.3,257.5,21.3,413,13270,0.00,2.12,0.00,0.000,4,0.000,0.031,2802,1057,2156
$GC,13295,0.77,136.3,250.9,21.8,413,13300,0.00,2.20,0.00,0.000,6,0.000,0.040,2793,2481,2156
$GC,13554,0.77,136.3,203.2,18.2,420,13558,0.00,2.12,0.00,0.000,4,0.000,0.031,2802,1060,2155
$GC,13641,0.77,136.3,188.3,16.2,424,13648,0.00,2.22,0.00,0.000,6,0.000,0.038,2793,2485,2155
$GC,13908,0.77,136.3,143.7,15.9,449,13912,0.00,2.10,0.00,0.000,4,0.000,0.029,2802,1070,2155
$GC,14027,0.77,136.3,123.6,16.9,459,14031,0.00,2.17,0.00,0.000,6,0.000,0.038,2793,2493,2155
$GC,14293,0.77,136.3,89.1,11.4,483,14297,0.00,2.12,0.00,0.000,4,0.000,0.028,2802,1058,2156
$GC,14411,0.77,136.3,75.6,10.9,493,14419,0.00,2.20,0.00,0.000,6,0.000,0.036,2794,2484,2155
$GC,14677,0.85,202.0,50.1,6.7,518,14734,0.00,2.28,52.40,0.681,4,0.000,0.044,2793,3895,1905
$GC,14773,0.85,202.0,39.9,17.0,526,14777,0.00,2.12,0.00,0.000,6,0.000,0.024,2802,2474,1903
$STATE,14978,end climb,SURFACE_DEPTH_REACHED
$STATE,14979,begin surface coast
$FINISH,0.1,1.008284
$STATE,14996,end surface coast,CONTROL_FINISHED_OK
$STATE,14996,begin surface
$SM_CCo,15021,99.45,0.614,0,0,1058,410.13
$SM_GC,1.08,0.00,0.00,99.45,0.000,0.000,0.614,38,2464,1058,-7.79,-1.02,410.13
$IRIDIUM_FIX,2248.70,-15816.26,011200,202055
$TT8_MAMPS,0.023777
$HUMID,2144
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,23.20
$XPDR_PINGS,14
$24V_AH,23.5,39.235
$10V_AH,10.7,31.071
$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,17.725,163.200,300.875,99.450,0.000,30.235,36.751,196.786,3.500,0.000,0.000,16.733,1248.299,10846.595,494.021,2104.665,882.305,33.364,1432.718,0.000,2081.613,0.000,0.542,0.000
$DEVICE_MAMPS,194.818,59.826,1328.444,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,381.271,742.093,762.774,140.465,636.111,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44701,562
$CAP_FILE_SIZE,123582,0
$CFSIZE,260165632,203853824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,2,0
$GPS,080911,051137,2256.820,-15813.103,44,1.2,44,10.1