version: 66.04
glider: 512
mission: 2
dive: 386
start: 9 10 111 16 27 36
data:
$ID,512
$MISSION,2
$DIVE,386
$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,-40813.215
$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,52
$R_STBD_OVSHOOT,29
$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
$GPS1,161907,2302.328,-15803.104,38,0.9,38,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-79.1
$GPS2,162638,2302.348,-15803.201,14,1.4,14,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,0.137
$KALMAN_X,-302314.3,-79.5,115.6,289140.7,-4382.5
$KALMAN_Y,-21095.2,-37.4,248.2,130339.2,-2439.5
$MHEAD_RNG_PITCHd_Wd,46.9,99316,-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,19,-0.77,-136.3,0.0,0.0,0,105,0.00,0.00,-83.07,0.000,2,0.000,0.000,40,2468,3285
$GC,110,-0.77,-136.3,4.2,-8.0,11,127,8.32,2.22,0.00,0.000,4,0.196,0.038,2242,3908,3287
$GC,176,-0.77,-136.3,33.2,-30.5,20,180,0.00,2.10,0.00,0.000,6,0.000,0.024,2245,2502,3288
$GC,447,-0.77,-136.3,93.4,-20.9,45,451,0.00,2.08,0.00,0.000,4,0.000,0.025,2248,1081,3289
$GC,478,-0.77,-136.3,99.8,-19.5,47,485,0.00,2.20,0.00,0.000,6,0.000,0.039,2238,2492,3289
$GC,743,-0.77,-136.3,148.8,-18.5,72,747,0.00,2.17,0.00,0.000,4,0.000,0.046,2228,3899,3290
$GC,813,-0.77,-136.3,161.7,-16.8,78,818,0.12,2.05,0.00,0.000,6,0.146,0.021,2260,2482,3290
$GC,1086,-0.77,-136.3,198.4,-12.7,103,1089,0.00,2.00,0.00,0.000,4,0.000,0.025,2260,1094,3291
$GC,1134,-0.77,-136.3,204.5,-10.6,105,1137,0.00,2.15,0.00,0.000,6,0.000,0.038,2252,2506,3291
$GC,1425,-0.77,-136.3,242.7,-13.2,112,1429,0.00,2.15,0.00,0.000,4,0.000,0.047,2241,3899,3291
$GC,1495,-0.77,-136.3,251.5,-12.3,113,1499,0.00,2.03,0.00,0.000,6,0.000,0.021,2240,2495,3291
$GC,1764,-0.77,-136.3,286.4,-12.9,120,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2488,3291
$GC,2008,-0.77,-136.3,315.8,-12.0,126,2012,0.00,2.00,0.00,0.000,4,0.000,0.025,2240,1101,3290
$GC,2038,-0.77,-136.3,319.4,-11.8,126,2042,0.00,2.12,0.00,0.000,6,0.000,0.038,2235,2499,3290
$GC,2302,-0.77,-136.3,350.6,-12.0,133,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2500,3289
$GC,2548,-0.77,-136.3,381.7,-13.1,139,2552,0.00,2.17,0.00,0.000,4,0.000,0.048,2225,3905,3287
$GC,2628,-0.77,-136.3,393.3,-13.3,140,2633,0.12,2.05,0.00,0.000,6,0.131,0.023,2260,2498,3287
$GC,2888,-0.77,-136.3,420.0,-9.8,147,2892,0.00,2.00,0.00,0.000,4,0.000,0.027,2260,1100,3286
$GC,2937,-0.77,-136.3,424.4,-8.7,148,2941,0.00,2.15,0.00,0.000,6,0.000,0.039,2252,2508,3286
$GC,3229,-0.77,-136.3,449.9,-8.7,155,3232,0.00,2.17,0.00,0.000,4,0.000,0.051,2240,3906,3283
$GC,3326,-0.77,-136.3,458.8,-9.1,157,3330,0.00,2.05,0.00,0.000,6,0.000,0.025,2240,2504,3282
$GC,3614,-0.77,-136.3,484.2,-8.8,164,3617,0.00,2.05,0.00,0.000,4,0.000,0.028,2240,1093,3280
$GC,3694,-0.77,-136.3,491.3,-8.2,165,3698,0.00,2.15,0.00,0.000,6,0.000,0.041,2236,2498,3281
$GC,3953,-0.77,-136.3,514.7,-9.3,172,3956,0.00,2.20,0.00,0.000,4,0.000,0.051,2225,3906,3278
$GC,4056,-0.77,-136.3,525.1,-10.1,174,4061,0.12,2.08,0.00,0.000,6,0.130,0.025,2260,2497,3277
$GC,4334,-0.77,-136.3,546.0,-7.6,181,4337,0.00,2.05,0.00,0.000,4,0.000,0.028,2260,1088,3276
$GC,4392,-0.77,-136.3,550.9,-8.1,182,4396,0.00,2.17,0.00,0.000,6,0.000,0.041,2252,2501,3275
$GC,4668,-0.77,-136.3,574.1,-8.5,189,4671,0.00,2.20,0.00,0.000,4,0.000,0.052,2241,3903,3273
$GC,4726,-0.77,-136.3,579.6,-9.2,190,4730,0.00,2.08,0.00,0.000,6,0.000,0.026,2241,2492,3273
$GC,5006,-0.77,-136.3,604.9,-9.0,197,5010,0.00,2.25,0.00,0.000,4,0.000,0.052,2230,3900,3271
$GC,5049,-0.77,-136.3,608.9,-10.1,198,5054,0.12,2.08,0.00,0.000,6,0.130,0.026,2265,2497,3270
$GC,5341,-0.77,-136.3,629.1,-6.5,205,5345,0.00,2.22,0.00,0.000,4,0.000,0.053,2256,3897,3269
$GC,5383,-0.77,-136.3,631.9,-6.8,205,5390,0.00,2.10,0.00,0.000,6,0.000,0.026,2256,2491,3269
$GC,5635,-0.77,-136.3,647.7,-6.0,212,5639,0.00,2.03,0.00,0.000,4,0.000,0.029,2257,1106,3267
$GC,5672,-0.77,-136.3,650.0,-5.8,212,5676,0.00,2.15,0.00,0.000,6,0.000,0.043,2249,2499,3267
$GC,5930,-0.77,-136.3,666.1,-6.3,219,5934,0.00,2.22,0.00,0.000,4,0.000,0.055,2238,3906,3266
$GC,5989,-0.77,-136.3,670.4,-7.8,220,5993,0.00,2.08,0.00,0.000,6,0.000,0.028,2238,2503,3265
$GC,6270,-0.77,-136.3,691.6,-7.7,227,6274,0.00,2.08,0.00,0.000,4,0.000,0.031,2238,1093,3265
$GC,6312,-0.77,-136.3,695.0,-8.0,227,6319,0.00,2.20,0.00,0.000,6,0.000,0.045,2236,2505,3264
$GC,6564,-0.77,-136.3,713.9,-7.5,234,6568,0.00,2.22,0.00,0.000,4,0.000,0.056,2226,3906,3263
$GC,6680,-0.77,-136.3,724.1,-9.1,236,6684,0.12,2.10,0.00,0.000,6,0.132,0.028,2260,2490,3262
$GC,6949,-0.77,-136.3,741.2,-6.2,243,6953,0.00,2.03,0.00,0.000,4,0.000,0.031,2260,1102,3261
$GC,6997,-0.77,-136.3,744.3,-6.4,244,7001,0.00,2.17,0.00,0.000,6,0.000,0.045,2253,2506,3261
$GC,7290,-0.77,-136.3,763.0,-6.5,251,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2506,3259
$GC,7532,-0.77,-136.3,779.1,-6.6,257,7535,0.00,2.22,0.00,0.000,4,0.000,0.058,2241,3900,3258
$GC,7569,-0.77,-136.3,781.9,-8.0,257,7573,0.00,2.10,0.00,0.000,6,0.000,0.029,2241,2495,3258
$GC,7829,-0.77,-136.3,802.2,-8.0,264,7833,0.00,2.08,0.00,0.000,4,0.000,0.031,2241,1090,3257
$GC,7878,-0.77,-136.3,806.4,-8.5,265,7883,0.00,2.20,0.00,0.000,6,0.000,0.046,2237,2499,3257
$GC,8165,-0.77,-136.3,830.5,-8.5,272,8169,0.00,2.25,0.00,0.000,4,0.000,0.058,2225,3905,3256
$GC,8202,-0.77,-136.3,833.9,-9.4,272,8209,0.12,2.10,0.00,0.000,6,0.133,0.029,2260,2500,3256
$GC,8457,-0.77,-136.3,851.9,-6.9,279,8461,0.00,2.08,0.00,0.000,4,0.000,0.031,2260,1095,3256
$GC,8481,-0.77,-136.3,853.7,-6.4,279,8485,0.00,2.20,0.00,0.000,6,0.000,0.046,2252,2510,3256
$GC,8752,-0.77,-136.3,873.1,-7.1,286,8756,0.00,2.22,0.00,0.000,4,0.000,0.058,2241,3898,3255
$GC,8822,-0.77,-136.3,878.8,-7.6,287,8825,0.00,2.10,0.00,0.000,6,0.000,0.029,2241,2499,3254
$STATE,9086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9086,begin apogee
$GC,9098,-0.27,0.0,900.4,8.0,294,9218,0.57,0.00,117.45,1.313,6,0.112,0.000,2427,2491,2730
$STATE,9219,end apogee,CONTROL_FINISHED_OK
$STATE,9219,begin climb
$GC,9224,0.77,136.3,904.3,0.0,297,9442,0.90,2.42,149.07,1.121,4,0.040,0.049,2768,3910,2173
$GC,9456,0.77,136.3,866.4,28.5,302,9460,0.00,2.28,0.00,0.000,6,0.000,0.028,2776,2492,2171
$GC,9720,0.77,136.3,788.4,29.8,309,9723,0.00,2.17,0.00,0.000,4,0.000,0.031,2787,1068,2165
$GC,9767,0.77,136.3,773.8,30.0,310,9772,0.00,2.25,0.00,0.000,6,0.000,0.040,2780,2492,2164
$GC,10056,0.77,136.3,691.5,28.7,317,10059,0.00,2.17,0.00,0.000,4,0.000,0.031,2789,1063,2162
$GC,10091,0.77,136.3,680.5,28.4,317,10095,0.00,2.22,0.00,0.000,6,0.000,0.041,2781,2483,2161
$GC,10349,0.77,136.3,609.1,27.8,324,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2483,2160
$GC,10593,0.77,136.3,541.3,27.7,330,10596,0.00,2.22,0.00,0.000,4,0.000,0.050,2780,3894,2160
$GC,10607,0.77,136.3,537.5,26.6,330,10611,0.00,2.15,0.00,0.000,6,0.000,0.028,2788,2467,2159
$GC,10887,0.77,136.3,463.3,26.3,337,10888,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2461,2158
$GC,11132,0.77,136.3,402.2,24.9,343,11137,0.12,2.30,0.00,0.000,4,0.229,0.048,2764,3903,2158
$GC,11195,0.77,136.3,385.2,25.4,344,11199,0.00,2.15,0.00,0.000,6,0.000,0.029,2773,2475,2157
$GC,11468,0.77,136.3,324.9,22.2,351,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2471,2157
$GC,11708,0.77,136.3,274.4,20.5,357,11712,0.00,2.25,0.00,0.000,4,0.000,0.050,2767,3890,2157
$GC,11743,0.77,136.3,266.8,20.9,357,11747,0.00,2.12,0.00,0.000,6,0.000,0.028,2776,2475,2156
$GC,12001,0.77,136.3,217.5,18.7,364,12005,0.00,2.10,0.00,0.000,4,0.000,0.029,2787,1053,2156
$GC,12026,0.77,136.3,212.3,18.9,364,12030,0.00,2.20,0.00,0.000,6,0.000,0.039,2781,2481,2156
$GC,12288,0.77,136.3,166.3,18.1,382,12292,0.00,2.22,0.00,0.000,4,0.000,0.049,2780,3904,2156
$GC,12314,0.77,136.3,161.5,18.1,384,12319,0.00,2.12,0.00,0.000,6,0.000,0.027,2789,2465,2155
$GC,12587,0.77,136.3,115.1,16.4,409,12591,0.00,2.25,0.00,0.000,4,0.000,0.046,2781,3903,2156
$GC,12607,0.77,136.3,111.5,15.9,410,12611,0.00,2.10,0.00,0.000,6,0.000,0.025,2789,2474,2156
$GC,12880,0.77,136.3,72.8,11.0,435,12884,0.12,2.25,0.00,0.000,4,0.218,0.044,2763,3901,2156
$GC,12901,0.77,136.3,70.2,10.4,436,12905,0.00,2.10,0.00,0.000,6,0.000,0.025,2773,2466,2156
$GC,13172,0.78,141.0,42.6,9.8,461,13176,0.00,2.03,0.00,0.000,4,0.000,0.028,2782,1070,2156
$GC,13280,0.78,141.0,32.9,10.0,470,13288,0.00,2.17,0.00,0.000,6,0.000,0.035,2780,2485,2157
$GC,13549,0.82,170.2,10.4,8.6,517,13581,0.00,2.22,27.17,0.614,4,0.000,0.044,2780,3887,2035
$STATE,13614,end climb,SURFACE_DEPTH_REACHED
$STATE,13614,begin surface coast
$FINISH,0.2,1.023293
$STATE,13637,end surface coast,CONTROL_FINISHED_OK
$STATE,13637,begin surface
$SM_CCo,13664,116.18,0.612,0,0,1058,410.13
$SM_GC,1.20,0.00,0.00,116.18,0.000,0.000,0.612,38,2478,1058,-7.73,-0.62,410.13
$IRIDIUM_FIX,2255.72,-15804.96,041200,121227
$TT8_MAMPS,0.023777
$HUMID,2024
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,24.10
$XPDR_PINGS,20
$24V_AH,23.6,41.456
$10V_AH,10.6,32.749
$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,18.025,158.925,293.700,116.175,0.000,25.129,36.027,202.298,5.000,0.000,0.000,14.374,1161.758,9744.720,524.639,1949.352,855.073,33.395,1395.455,0.000,1933.843,0.000,0.542,0.000
$DEVICE_MAMPS,229.333,58.292,1313.104,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,360.075,721.790,744.182,148.218,674.264,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44729,531
$CAP_FILE_SIZE,114329,0
$CFSIZE,260165632,202960896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,11,0
$GPS,100911,201836,2302.971,-15802.559,29,1.0,29,10.1