version: 66.04
glider: 512
mission: 2
dive: 372
start: 9 8 111 9 2 1
data:
$ID,512
$MISSION,2
$DIVE,372
$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,-40525.48
$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,2500
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$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,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
$GPS1,085336,2256.076,-15811.914,39,1.2,44,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-80.2
$GPS2,090107,2256.038,-15811.956,9,1.2,14,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,-0.025
$KALMAN_X,-277218.6,892.2,-6.6,248176.3,-4395.4
$KALMAN_Y,3506.7,-628.4,-667.1,95558.4,450.6
$MHEAD_RNG_PITCHd_Wd,85.5,114381,-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,-136.3,0.0,0.0,0,109,0.00,0.00,-83.12,0.000,2,0.000,0.000,38,2464,3281
$GC,115,-0.77,-136.3,3.9,-7.1,11,131,8.27,2.22,0.00,0.000,4,0.199,0.031,2217,3905,3282
$GC,191,-0.77,-136.3,36.3,-27.8,21,195,0.00,2.08,0.00,0.000,6,0.000,0.025,2226,2510,3283
$GC,461,-0.77,-136.3,99.4,-20.5,46,465,0.00,2.17,0.00,0.000,4,0.000,0.044,2217,3888,3285
$GC,477,-0.77,-136.3,102.4,-20.4,47,481,0.00,2.05,0.00,0.000,6,0.000,0.022,2226,2482,3285
$GC,747,-0.77,-136.3,153.2,-17.4,72,751,0.00,2.00,0.00,0.000,4,0.000,0.025,2234,1100,3286
$GC,777,-0.77,-136.3,158.7,-17.3,74,784,0.00,2.15,0.00,0.000,6,0.000,0.038,2228,2485,3286
$GC,1041,-0.77,-136.3,200.6,-13.7,99,1045,0.00,2.20,0.00,0.000,4,0.000,0.046,2216,3905,3287
$GC,1077,-0.77,-136.3,206.2,-14.6,99,1081,0.00,2.05,0.00,0.000,6,0.000,0.021,2216,2492,3286
$GC,1336,-0.77,-136.3,242.5,-13.6,106,1340,0.00,2.03,0.00,0.000,4,0.000,0.025,2220,1091,3286
$GC,1377,-0.77,-136.3,248.3,-12.8,106,1383,0.00,2.15,0.00,0.000,6,0.000,0.037,2212,2506,3286
$GC,1629,-0.77,-136.3,282.3,-14.0,113,1633,0.00,2.15,0.00,0.000,4,0.000,0.046,2201,3901,3287
$GC,1716,-0.77,-136.3,296.6,-16.5,114,1723,0.12,2.05,0.00,0.000,6,0.143,0.021,2240,2494,3287
$GC,1971,-0.77,-136.3,329.4,-12.8,121,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2487,3285
$GC,2212,-0.77,-136.3,359.6,-12.2,127,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2488,3284
$GC,2456,-0.77,-136.3,387.3,-11.2,133,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2488,3283
$GC,2703,-0.77,-136.3,410.5,-9.2,139,2706,0.00,2.03,0.00,0.000,4,0.000,0.027,2246,1097,3282
$GC,2744,-0.77,-136.3,414.5,-7.9,139,2751,0.00,2.15,0.00,0.000,6,0.000,0.039,2237,2504,3282
$GC,2998,-0.77,-136.3,437.2,-9.3,146,3002,0.00,2.17,0.00,0.000,4,0.000,0.050,2226,3899,3279
$GC,3057,-0.77,-136.3,443.4,-10.2,147,3061,0.00,2.05,0.00,0.000,6,0.000,0.024,2226,2499,3278
$GC,3337,-0.77,-136.3,474.3,-11.3,154,3342,0.00,2.05,-0.08,0.000,4,0.000,0.041,2226,1097,3302
$GC,3372,-0.77,-136.3,478.4,-11.4,154,3376,0.00,2.15,0.00,0.000,6,0.000,0.040,2216,2501,3302
$GC,3631,-0.77,-136.3,509.6,-12.2,161,3635,0.00,2.20,0.00,0.000,4,0.000,0.051,2205,3908,3300
$GC,3707,-0.77,-136.3,519.4,-12.5,162,3712,0.12,2.08,0.00,0.000,6,0.133,0.026,2243,2502,3299
$GC,3965,-0.77,-136.3,544.2,-9.3,169,3968,0.00,2.05,0.00,0.000,4,0.000,0.028,2247,1098,3298
$GC,4034,-0.77,-136.3,550.6,-8.9,170,4038,0.00,2.15,0.00,0.000,6,0.000,0.041,2238,2500,3297
$GC,4306,-0.77,-136.3,575.7,-9.3,177,4310,0.00,2.20,0.00,0.000,4,0.000,0.052,2227,3897,3294
$GC,4381,-0.77,-136.3,583.4,-10.1,178,4384,0.00,2.05,0.00,0.000,6,0.000,0.027,2227,2501,3295
$GC,4644,-0.77,-136.3,610.0,-10.4,185,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2494,3293
$GC,4889,-0.77,-136.3,634.8,-10.2,191,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2494,3291
$GC,5133,-0.77,-136.3,658.0,-9.3,197,5137,0.00,2.25,0.00,0.000,4,0.000,0.055,2223,3897,3290
$GC,5168,-0.77,-136.3,661.4,-9.5,197,5174,0.00,2.08,0.00,0.000,6,0.000,0.028,2223,2491,3289
$GC,5421,-0.77,-136.3,682.9,-8.4,204,5425,0.00,2.28,0.00,0.000,4,0.000,0.055,2212,3904,3288
$GC,5497,-0.77,-136.3,689.9,-9.6,205,5501,0.00,2.10,0.00,0.000,6,0.000,0.028,2212,2497,3287
$GC,5755,-0.77,-136.3,712.4,-8.8,212,5759,0.00,2.25,0.00,0.000,4,0.000,0.055,2202,3898,3286
$GC,5790,-0.77,-136.3,715.9,-10.0,212,5795,0.12,2.08,0.00,0.000,6,0.136,0.028,2238,2496,3285
$GC,6043,-0.77,-136.3,734.4,-7.3,218,6046,0.00,2.05,0.00,0.000,4,0.000,0.031,2242,1103,3284
$GC,6070,-0.77,-136.3,736.3,-7.4,218,6074,0.00,2.17,0.00,0.000,6,0.000,0.044,2236,2498,3284
$GC,6333,-0.77,-136.3,757.4,-8.2,225,6337,0.00,2.22,0.00,0.000,4,0.000,0.057,2225,3901,3282
$GC,6415,-0.77,-136.3,765.1,-10.0,226,6419,0.00,2.10,0.00,0.000,6,0.000,0.029,2225,2499,3283
$GC,6676,-0.77,-136.3,790.8,-10.0,233,6679,0.00,2.08,0.00,0.000,4,0.000,0.032,2225,1096,3281
$GC,6694,-0.77,-136.3,793.2,-10.3,233,6698,0.00,2.20,0.00,0.000,6,0.000,0.045,2222,2504,3281
$GC,6963,-0.77,-136.3,820.8,-10.1,240,6967,0.00,2.22,0.00,0.000,4,0.000,0.057,2211,3899,3280
$GC,7012,-0.77,-136.3,826.0,-11.3,241,7016,0.00,2.10,0.00,0.000,6,0.000,0.030,2211,2500,3280
$GC,7304,-0.77,-136.3,856.0,-10.1,248,7308,0.00,2.28,0.00,0.000,4,0.000,0.057,2200,3905,3279
$GC,7361,-0.77,-136.3,862.4,-11.4,249,7366,0.12,2.12,0.00,0.000,6,0.138,0.030,2237,2488,3278
$GC,7633,-0.77,-136.3,884.2,-7.9,256,7637,0.00,2.08,0.00,0.000,4,0.000,0.033,2240,1092,3278
$GC,7670,-0.77,-136.3,887.4,-8.3,256,7674,0.00,2.20,0.00,0.000,6,0.000,0.047,2236,2500,3278
$STATE,7842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7842,begin apogee
$GC,7853,-0.27,0.0,901.2,7.9,261,7978,0.52,0.00,122.07,1.317,6,0.117,0.000,2405,2500,2730
$STATE,7979,end apogee,CONTROL_FINISHED_OK
$STATE,7979,begin climb
$GC,7984,0.77,136.3,904.3,0.0,264,8159,0.90,0.00,139.48,1.180,6,0.041,0.000,2752,2500,2173
$GC,8394,0.77,136.3,812.4,28.8,274,8398,0.00,2.20,0.00,0.000,4,0.000,0.032,2763,1084,2164
$GC,8430,0.77,136.3,802.4,27.2,274,8434,0.00,2.25,0.00,0.000,6,0.000,0.041,2763,2492,2163
$GC,8682,0.77,136.3,730.8,28.6,280,8683,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2493,2161
$GC,8928,0.77,136.3,658.9,29.5,286,8931,0.00,2.22,0.00,0.000,4,0.000,0.050,2764,3894,2160
$GC,8957,0.77,136.3,648.8,32.0,286,8962,0.15,2.12,0.00,0.000,6,0.232,0.028,2742,2483,2159
$GC,9220,0.77,136.3,577.6,26.7,293,9224,0.00,2.12,0.00,0.000,4,0.000,0.034,2751,1073,2158
$GC,9295,0.77,136.3,558.2,25.3,294,9299,0.00,2.20,0.00,0.000,6,0.000,0.041,2751,2487,2158
$GC,9554,0.77,136.3,495.6,24.8,301,9558,0.00,2.12,0.00,0.000,4,0.000,0.032,2761,1073,2157
$GC,9589,0.77,136.3,486.7,23.4,301,9593,0.00,2.17,0.00,0.000,6,0.000,0.041,2762,2480,2157
$GC,9842,0.77,136.3,429.3,23.0,307,9845,0.00,2.22,0.00,0.000,4,0.000,0.050,2754,3890,2157
$GC,9871,0.77,136.3,421.8,26.1,307,9875,0.00,2.10,0.00,0.000,6,0.000,0.029,2763,2479,2156
$GC,10136,0.77,136.3,361.7,22.5,314,10140,0.00,2.10,0.00,0.000,4,0.000,0.033,2774,1068,2156
$GC,10199,0.77,136.3,346.9,22.2,315,10204,0.00,2.20,0.00,0.000,6,0.000,0.042,2767,2485,2156
$GC,10469,0.77,136.3,290.2,20.6,322,10472,0.00,2.12,0.00,0.000,4,0.000,0.031,2776,1064,2155
$GC,10544,0.77,136.3,275.7,20.8,323,10548,0.00,2.20,0.00,0.000,6,0.000,0.041,2768,2486,2154
$GC,10807,0.77,136.3,221.3,20.5,330,10811,0.00,2.20,0.00,0.000,4,0.000,0.048,2767,3890,2155
$GC,11029,0.77,136.3,177.6,18.6,340,11036,0.12,2.12,0.00,0.000,6,0.208,0.027,2744,2486,2154
$GC,11300,0.77,136.3,141.8,13.8,365,11303,0.00,2.10,0.00,0.000,4,0.000,0.031,2753,1066,2154
$GC,11559,0.77,136.3,103.2,13.2,388,11563,0.00,2.17,0.00,0.000,6,0.000,0.037,2753,2496,2154
$GC,11829,0.83,185.0,72.3,7.6,412,11873,0.00,2.17,38.53,0.702,4,0.000,0.028,2763,1066,1975
$GC,11897,0.86,209.9,66.9,8.8,417,11924,0.00,2.20,21.58,0.674,6,0.000,0.038,2763,2485,1874
$GC,12184,0.86,209.9,23.1,15.9,446,12192,0.00,2.15,0.00,0.000,4,0.000,0.028,2772,1063,1869
$GC,12241,0.86,209.9,13.7,16.9,455,12250,0.00,2.20,0.00,0.000,6,0.000,0.034,2767,2481,1867
$STATE,12303,end climb,SURFACE_DEPTH_REACHED
$STATE,12303,begin surface coast
$FINISH,0.1,1.016659
$STATE,12321,end surface coast,CONTROL_FINISHED_OK
$STATE,12321,begin surface
$SM_CCo,12346,93.30,0.625,0,0,1057,410.13
$SM_GC,1.04,0.00,0.00,93.30,0.000,0.000,0.625,39,2492,1057,-7.66,-0.23,410.13
$IRIDIUM_FIX,2248.70,-15825.82,021200,050526
$TT8_MAMPS,0.023777
$HUMID,2100
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,22.90
$XPDR_PINGS,13
$24V_AH,23.6,39.498
$10V_AH,10.7,31.271
$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,17.625,137.175,321.650,93.300,0.000,30.250,40.643,190.820,3.250,0.000,0.000,14.969,1019.986,8844.396,505.863,1701.517,818.844,33.355,1287.495,0.000,1685.226,0.000,0.542,0.000
$DEVICE_MAMPS,232.401,56.758,1316.939,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,317.411,633.860,651.230,122.344,556.130,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38364,469
$CAP_FILE_SIZE,101520,0
$CFSIZE,260165632,203771904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,6,0
$GPS,080911,123036,2255.206,-15810.935,26,1.2,26,10.1