version: 66.04
glider: 512
mission: 2
dive: 376
start: 9 9 111 0 3 3
data:
$ID,512
$MISSION,2
$DIVE,376
$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,-40647.836
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2510
$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,60
$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
$GPS1,235358,2258.335,-15810.220,13,2.8,32,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-80.1
$GPS2,000206,2258.403,-15810.295,42,1.0,47,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,0.019
$KALMAN_X,-282765.8,1158.5,1.0,256284.3,-3130.3
$KALMAN_Y,-6256.8,477.0,585.0,107338.0,-5918.2
$MHEAD_RNG_PITCHd_Wd,75.5,111353,-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,14,begin dive
$GC,19,-0.77,-136.3,0.0,0.0,0,104,0.00,0.00,-83.18,0.000,2,0.000,0.000,38,2456,3282
$GC,110,-0.77,-136.3,3.9,-6.8,11,127,8.27,2.22,0.00,0.000,4,0.196,0.031,2239,3901,3283
$GC,186,-0.77,-136.3,35.7,-28.4,22,190,0.00,2.05,0.00,0.000,6,0.000,0.023,2247,2503,3283
$GC,458,-0.77,-136.3,99.8,-19.4,47,461,0.00,2.08,0.00,0.000,4,0.000,0.026,2247,1084,3285
$GC,508,-0.77,-136.3,108.2,-16.2,51,512,0.00,2.17,0.00,0.000,6,0.000,0.038,2238,2501,3285
$GC,774,-0.77,-136.3,150.2,-15.0,75,778,0.00,2.17,0.00,0.000,4,0.000,0.046,2227,3906,3286
$GC,827,-0.77,-136.3,158.9,-14.9,79,834,0.08,2.08,0.00,0.000,6,0.146,0.022,2252,2491,3286
$GC,1092,-0.77,-136.3,193.0,-12.4,104,1096,0.00,2.22,0.00,0.000,4,0.000,0.046,2243,3908,3287
$GC,1122,-0.77,-136.3,196.7,-13.8,106,1126,0.00,2.03,0.00,0.000,6,0.000,0.021,2243,2505,3287
$GC,1391,-0.77,-136.3,233.1,-13.3,114,1394,0.00,2.03,0.00,0.000,4,0.000,0.025,2246,1098,3287
$GC,1439,-0.77,-136.3,239.2,-12.2,115,1442,0.00,2.12,0.00,0.000,6,0.000,0.037,2238,2502,3286
$GC,1731,-0.77,-136.3,278.6,-13.6,122,1735,0.00,2.05,0.00,0.000,4,0.000,0.025,2238,1088,3286
$GC,1772,-0.77,-136.3,284.9,-13.9,122,1778,0.00,2.15,0.00,0.000,6,0.000,0.038,2236,2500,3287
$GC,2024,-0.77,-136.3,317.8,-12.9,129,2028,0.00,2.17,0.00,0.000,4,0.000,0.047,2225,3909,3285
$GC,2119,-0.77,-136.3,328.9,-11.5,131,2124,0.12,2.05,0.00,0.000,6,0.132,0.022,2259,2496,3285
$GC,2405,-0.77,-136.3,352.5,-7.8,138,2409,0.00,2.00,0.00,0.000,4,0.000,0.025,2259,1103,3284
$GC,2458,-0.77,-136.3,356.7,-7.0,139,2462,0.00,2.12,0.00,0.000,6,0.000,0.038,2251,2501,3285
$GC,2746,-0.77,-136.3,381.9,-9.0,146,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2501,3282
$GC,2988,-0.77,-136.3,404.2,-9.2,152,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2501,3281
$GC,3232,-0.77,-136.3,426.8,-9.3,158,3235,0.00,2.17,0.00,0.000,4,0.000,0.049,2239,3903,3279
$GC,3267,-0.77,-136.3,430.3,-9.5,158,3271,0.00,2.05,0.00,0.000,6,0.000,0.025,2239,2502,3278
$GC,3527,-0.77,-136.3,455.6,-9.9,165,3531,0.00,2.05,-0.08,0.000,4,0.000,0.041,2239,1108,3302
$GC,3551,-0.77,-136.3,458.4,-10.5,165,3555,0.00,2.12,0.00,0.000,6,0.000,0.041,2236,2499,3302
$GC,3820,-0.77,-136.3,487.7,-11.2,172,3824,0.00,2.20,0.00,0.000,4,0.000,0.051,2225,3907,3300
$GC,3919,-0.77,-136.3,499.8,-12.0,174,3923,0.12,2.08,0.00,0.000,6,0.130,0.026,2260,2500,3299
$GC,4201,-0.77,-136.3,525.3,-8.7,181,4204,0.00,2.22,0.00,0.000,4,0.000,0.052,2251,3897,3298
$GC,4270,-0.77,-136.3,531.5,-8.4,182,4274,0.00,2.05,0.00,0.000,6,0.000,0.025,2250,2498,3297
$GC,4541,-0.77,-136.3,551.9,-7.4,189,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2491,3295
$GC,4784,-0.77,-136.3,567.7,-6.5,195,4788,0.00,2.25,0.00,0.000,4,0.000,0.053,2240,3905,3294
$GC,4814,-0.77,-136.3,569.8,-7.4,195,4817,0.00,2.08,0.00,0.000,6,0.000,0.027,2240,2502,3293
$GC,5072,-0.77,-136.3,588.5,-7.3,202,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2495,3292
$GC,5318,-0.77,-136.3,607.7,-8.2,208,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2495,3291
$GC,5559,-0.77,-136.3,628.6,-8.7,214,5563,0.00,2.22,0.00,0.000,4,0.000,0.054,2231,3894,3289
$GC,5612,-0.77,-136.3,633.7,-9.4,215,5616,0.00,2.08,0.00,0.000,6,0.000,0.027,2231,2490,3289
$GC,5898,-0.77,-136.3,659.2,-8.9,222,5902,0.00,2.28,0.00,0.000,4,0.000,0.055,2220,3904,3287
$GC,5941,-0.77,-136.3,663.2,-9.9,223,5946,0.15,2.10,0.00,0.000,6,0.127,0.028,2263,2498,3287
$GC,6227,-0.77,-136.3,683.6,-6.9,230,6231,0.00,2.05,0.00,0.000,4,0.000,0.030,2263,1092,3285
$GC,6257,-0.77,-136.3,685.9,-7.9,230,6261,0.00,2.20,0.00,0.000,6,0.000,0.044,2256,2506,3285
$GC,6516,-0.77,-136.3,705.5,-7.6,237,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2507,3284
$GC,6758,-0.77,-136.3,723.7,-7.3,243,6762,0.00,2.10,0.00,0.000,4,0.000,0.031,2256,1095,3283
$GC,6794,-0.77,-136.3,726.4,-8.0,243,6798,0.00,2.20,0.00,0.000,6,0.000,0.046,2250,2502,3283
$GC,7048,-0.77,-136.3,745.7,-7.7,249,7052,0.00,2.22,0.00,0.000,4,0.000,0.057,2239,3898,3282
$GC,7113,-0.77,-136.3,751.3,-8.6,250,7117,0.00,2.10,0.00,0.000,6,0.000,0.029,2239,2497,3281
$GC,7390,-0.77,-136.3,774.0,-8.2,257,7394,0.00,2.28,0.00,0.000,4,0.000,0.058,2231,3896,3280
$GC,7427,-0.77,-136.3,777.2,-8.3,257,7433,0.00,2.10,0.00,0.000,6,0.000,0.028,2231,2497,3279
$GC,7682,-0.77,-136.3,797.9,-8.0,264,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2490,3278
$GC,7923,-0.77,-136.3,816.9,-7.8,270,7927,0.00,2.28,0.00,0.000,4,0.000,0.057,2220,3895,3278
$GC,7953,-0.77,-136.3,819.5,-9.5,270,7958,0.15,2.10,0.00,0.000,6,0.127,0.029,2264,2490,3278
$GC,8207,-0.77,-136.3,834.3,-5.7,276,8211,0.00,2.08,0.00,0.000,4,0.000,0.032,2264,1088,3278
$GC,8238,-0.77,-136.3,836.2,-6.0,276,8242,0.00,2.22,0.00,0.000,6,0.000,0.048,2262,2507,3278
$GC,8496,-0.77,-136.3,851.5,-5.9,283,8499,0.00,2.22,0.00,0.000,4,0.000,0.058,2252,3897,3276
$GC,8559,-0.77,-136.3,855.9,-7.1,284,8563,0.00,2.10,0.00,0.000,6,0.000,0.029,2252,2499,3276
$GC,8836,-0.77,-136.3,875.5,-7.3,291,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2492,3276
$GC,9078,-0.77,-136.3,893.7,-7.5,297,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2492,3275
$STATE,9154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9154,begin apogee
$GC,9165,-0.27,0.0,900.1,7.7,299,9290,0.52,0.00,122.07,1.325,6,0.110,0.000,2423,2491,2730
$STATE,9290,end apogee,CONTROL_FINISHED_OK
$STATE,9290,begin climb
$GC,9296,0.77,136.3,904.3,0.0,302,9458,0.90,2.33,133.23,1.213,4,0.041,0.032,2775,1092,2173
$GC,9505,0.77,136.3,869.2,27.5,306,9511,0.00,2.30,0.00,0.000,6,0.000,0.041,2767,2482,2167
$GC,9759,0.77,136.3,797.7,28.3,313,9763,0.00,2.30,0.00,0.000,4,0.000,0.050,2767,3900,2163
$GC,9783,0.77,136.3,789.9,29.2,313,9787,0.00,2.17,0.00,0.000,6,0.000,0.028,2776,2493,2162
$GC,10047,0.77,136.3,713.9,28.2,320,10051,0.00,2.15,0.00,0.000,4,0.000,0.032,2786,1064,2160
$GC,10070,0.77,136.3,707.1,26.5,320,10075,0.00,2.25,0.00,0.000,6,0.000,0.041,2780,2494,2160
$GC,10334,0.77,136.3,634.2,27.7,327,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2495,2159
$GC,10578,0.77,136.3,568.8,26.8,333,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2495,2158
$GC,10823,0.77,136.3,505.9,25.3,339,10827,0.00,2.22,0.00,0.000,4,0.000,0.051,2780,3902,2158
$GC,10875,0.77,136.3,490.8,27.6,340,10879,0.00,2.15,0.00,0.000,6,0.000,0.028,2788,2477,2157
$GC,11161,0.77,136.3,415.9,26.1,347,11166,0.00,2.25,0.00,0.000,4,0.000,0.049,2780,3893,2156
$GC,11220,0.77,136.3,399.5,27.2,348,11224,0.00,2.15,0.00,0.000,6,0.000,0.028,2789,2467,2156
$GC,11495,0.77,136.3,335.9,22.1,355,11499,0.00,2.08,0.00,0.000,4,0.000,0.031,2799,1069,2156
$GC,11508,0.77,136.3,332.9,21.8,355,11513,0.12,2.20,0.00,0.000,6,0.203,0.039,2766,2493,2155
$GC,11783,0.77,136.3,280.5,18.9,362,11787,0.00,2.20,0.00,0.000,4,0.000,0.048,2765,3894,2155
$GC,11802,0.77,136.3,276.8,18.6,362,11806,0.00,2.12,0.00,0.000,6,0.000,0.027,2773,2475,2155
$GC,12076,0.77,136.3,227.2,17.9,369,12080,0.00,2.10,0.00,0.000,4,0.000,0.031,2784,1059,2155
$GC,12140,0.77,136.3,216.2,17.6,370,12144,0.00,2.20,0.00,0.000,6,0.000,0.039,2780,2488,2154
$GC,12409,0.77,136.3,170.8,17.4,388,12412,0.00,2.20,0.00,0.000,4,0.000,0.048,2780,3895,2155
$GC,12603,0.77,136.3,132.2,21.5,405,12607,0.00,2.10,0.00,0.000,6,0.000,0.026,2788,2482,2154
$GC,12873,0.77,136.3,87.1,14.8,430,12877,0.00,2.08,0.00,0.000,4,0.000,0.028,2799,1061,2154
$GC,13080,0.83,178.9,66.7,7.9,448,13120,0.00,2.15,33.83,0.690,6,0.000,0.035,2793,2495,2000
$GC,13376,0.83,178.9,27.2,15.3,476,13383,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2494,1995
$STATE,13532,end climb,SURFACE_DEPTH_REACHED
$STATE,13532,begin surface coast
$FINISH,0.3,1.023010
$STATE,13554,end surface coast,CONTROL_FINISHED_OK
$STATE,13554,begin surface
$SM_CCo,13579,111.88,0.628,0,0,1057,410.13
$SM_GC,1.20,0.00,0.00,111.88,0.000,0.000,0.628,39,2494,1057,-7.72,-0.17,410.13
$IRIDIUM_FIX,2248.70,-15811.05,021200,202057
$TT8_MAMPS,0.023777
$HUMID,2066
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,23.10
$XPDR_PINGS,8
$24V_AH,23.4,40.045
$10V_AH,10.7,31.678
$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,17.650,137.625,289.125,111.875,0.000,24.932,38.036,200.802,2.000,0.000,0.000,47.582,1103.490,9921.345,491.630,1815.079,849.651,33.391,1288.522,0.000,1768.238,0.000,0.543,0.000
$DEVICE_MAMPS,203.255,58.292,1324.609,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,344.857,665.408,685.839,127.209,580.518,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41527,508
$CAP_FILE_SIZE,108450,0
$CFSIZE,260165632,203546624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,3,0
$GPS,090911,035237,2258.395,-15808.858,33,0.9,33,10.1