version: 66.04
glider: 512
mission: 2
dive: 388
start: 9 11 111 0 26 13
data:
$ID,512
$MISSION,2
$DIVE,388
$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,571.78497
$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,-40845.773
$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,51
$R_STBD_OVSHOOT,30
$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
$GPS1,001106,2303.708,-15802.180,40,0.9,40,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-79.0
$GPS2,002519,2303.682,-15802.414,11,1.2,16,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.152,0.200
$KALMAN_X,-308054.8,113.7,-27.9,296181.1,-4177.4
$KALMAN_Y,-24529.3,719.0,108.3,135625.5,-3505.6
$MHEAD_RNG_PITCHd_Wd,27.2,98116,-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,-82.65,0.000,6,0.000,0.000,40,2483,3287
$GC,110,-0.77,-136.3,4.4,-9.0,11,126,8.32,2.17,0.00,0.000,4,0.199,0.030,2238,3913,3289
$GC,219,-0.77,-136.3,43.6,-23.6,25,227,0.00,2.12,0.00,0.000,6,0.000,0.023,2246,2500,3290
$GC,484,-0.77,-136.3,100.5,-19.6,50,488,0.00,2.05,0.00,0.000,4,0.000,0.026,2247,1090,3290
$GC,545,-0.77,-136.3,110.5,-13.8,55,549,0.00,2.15,0.00,0.000,6,0.000,0.038,2238,2498,3290
$GC,816,-0.77,-136.3,156.7,-16.5,80,819,0.00,2.17,0.00,0.000,4,0.000,0.046,2228,3904,3291
$GC,844,-0.77,-136.3,161.3,-17.0,82,848,0.12,2.08,0.00,0.000,6,0.149,0.021,2262,2475,3290
$GC,1109,-0.77,-136.3,199.2,-13.9,106,1113,0.00,2.00,0.00,0.000,4,0.000,0.025,2262,1104,3292
$GC,1128,-0.77,-136.3,202.4,-14.6,107,1131,0.00,2.10,0.00,0.000,6,0.000,0.037,2253,2500,3292
$GC,1404,-0.77,-136.3,238.9,-13.3,114,1407,0.00,2.15,0.00,0.000,4,0.000,0.046,2242,3897,3291
$GC,1462,-0.77,-136.3,246.5,-11.7,115,1466,0.00,2.03,0.00,0.000,6,0.000,0.021,2242,2493,3291
$GC,1744,-0.77,-136.3,282.0,-13.0,122,1747,0.00,2.20,0.00,0.000,4,0.000,0.046,2232,3900,3291
$GC,1780,-0.77,-136.3,287.3,-14.3,122,1784,0.00,2.00,0.00,0.000,6,0.000,0.021,2231,2506,3291
$GC,2037,-0.77,-136.3,320.9,-12.8,129,2041,0.00,2.03,0.00,0.000,4,0.000,0.025,2232,1095,3290
$GC,2090,-0.77,-136.3,327.0,-10.5,130,2094,0.12,2.12,0.00,0.000,6,0.134,0.037,2258,2502,3290
$GC,2376,-0.77,-136.3,352.6,-9.0,137,2380,0.00,2.15,0.00,0.000,4,0.000,0.048,2248,3896,3288
$GC,2445,-0.77,-136.3,359.7,-10.2,138,2449,0.00,2.03,0.00,0.000,6,0.000,0.022,2248,2497,3288
$GC,2715,-0.77,-136.3,386.6,-10.1,145,2718,0.00,2.00,0.00,0.000,4,0.000,0.026,2251,1104,3287
$GC,2795,-0.77,-136.3,394.3,-9.2,146,2799,0.00,2.12,0.00,0.000,6,0.000,0.039,2242,2501,3286
$GC,3054,-0.77,-136.3,421.9,-10.9,153,3058,0.00,2.17,0.00,0.000,4,0.000,0.049,2231,3903,3284
$GC,3202,-0.77,-136.3,439.2,-11.4,156,3205,0.00,2.05,0.00,0.000,6,0.000,0.024,2230,2500,3283
$GC,3482,-0.77,-136.3,471.3,-11.5,163,3486,0.00,2.20,0.00,0.000,4,0.000,0.049,2220,3900,3281
$GC,3524,-0.77,-136.3,475.9,-10.6,163,3530,0.15,2.05,0.00,0.000,6,0.133,0.024,2264,2496,3280
$GC,3776,-0.77,-136.3,494.7,-6.9,170,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2490,3278
$GC,4021,-0.77,-136.3,510.6,-6.5,176,4024,0.00,2.03,0.00,0.000,4,0.000,0.028,2263,1101,3277
$GC,4051,-0.77,-136.3,512.9,-7.4,176,4055,0.00,2.15,0.00,0.000,6,0.000,0.041,2254,2504,3277
$GC,4316,-0.77,-136.3,532.8,-7.6,183,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2505,3275
$GC,4560,-0.77,-136.3,552.0,-8.0,189,4564,0.00,2.05,0.00,0.000,4,0.000,0.028,2254,1103,3272
$GC,4613,-0.77,-136.3,556.6,-8.4,190,4617,0.00,2.15,0.00,0.000,6,0.000,0.042,2245,2499,3272
$GC,4902,-0.77,-136.3,581.4,-8.7,197,4905,0.00,2.20,0.00,0.000,4,0.000,0.053,2234,3896,3270
$GC,4982,-0.77,-136.3,589.4,-9.7,198,4986,0.00,2.08,0.00,0.000,6,0.000,0.026,2234,2498,3269
$GC,5241,-0.77,-136.3,614.5,-9.8,205,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2491,3267
$GC,5486,-0.77,-136.3,638.8,-10.0,211,5490,0.00,2.25,0.00,0.000,4,0.000,0.054,2223,3901,3267
$GC,5555,-0.77,-136.3,646.8,-11.1,212,5560,0.12,2.08,0.00,0.000,6,0.133,0.027,2258,2492,3266
$GC,5819,-0.77,-136.3,669.9,-8.5,219,5823,0.00,2.28,0.00,0.000,4,0.000,0.054,2249,3906,3265
$GC,5855,-0.77,-136.3,673.1,-8.6,219,5859,0.00,2.10,0.00,0.000,6,0.000,0.028,2249,2496,3265
$GC,6115,-0.77,-136.3,695.0,-8.4,226,6119,0.00,2.05,0.00,0.000,4,0.000,0.030,2250,1089,3263
$GC,6175,-0.77,-136.3,700.2,-8.5,227,6179,0.00,2.20,0.00,0.000,6,0.000,0.044,2241,2502,3263
$GC,6450,-0.77,-136.3,723.2,-8.3,234,6453,0.00,2.22,0.00,0.000,4,0.000,0.056,2230,3903,3261
$GC,6571,-0.77,-136.3,734.4,-9.5,236,6575,0.10,2.10,0.00,0.000,6,0.136,0.028,2257,2492,3260
$GC,6834,-0.77,-136.3,753.6,-7.2,243,6838,0.00,2.05,0.00,0.000,4,0.000,0.031,2258,1099,3260
$GC,6892,-0.77,-136.3,758.1,-7.6,244,6896,0.00,2.17,0.00,0.000,6,0.000,0.045,2250,2499,3259
$GC,7175,-0.77,-136.3,779.2,-7.5,251,7179,0.00,2.25,0.00,0.000,4,0.000,0.057,2238,3908,3258
$GC,7210,-0.77,-136.3,782.2,-8.3,251,7216,0.00,2.10,0.00,0.000,6,0.000,0.028,2238,2494,3257
$GC,7463,-0.77,-136.3,801.8,-7.8,258,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2488,3257
$GC,7708,-0.77,-136.3,820.9,-7.7,264,7712,0.00,2.28,0.00,0.000,4,0.000,0.057,2227,3900,3256
$GC,7761,-0.77,-136.3,825.7,-9.3,265,7766,0.12,2.10,0.00,0.000,6,0.130,0.028,2263,2496,3256
$GC,8035,-0.77,-136.3,843.6,-6.3,272,8039,0.00,2.05,0.00,0.000,4,0.000,0.031,2263,1101,3255
$GC,8071,-0.77,-136.3,846.0,-6.9,272,8075,0.00,2.20,0.00,0.000,6,0.000,0.048,2263,2505,3255
$GC,8325,-0.77,-136.3,861.9,-6.3,278,8328,0.00,2.22,0.00,0.000,4,0.000,0.058,2252,3899,3254
$GC,8377,-0.77,-136.3,865.7,-7.8,279,8381,0.00,2.10,0.00,0.000,6,0.000,0.029,2252,2500,3253
$GC,8665,-0.77,-136.3,884.8,-6.6,286,8668,0.00,2.08,0.00,0.000,4,0.000,0.031,2252,1099,3253
$GC,8718,-0.77,-136.3,888.4,-6.2,287,8722,0.00,2.20,0.00,0.000,6,0.000,0.048,2242,2501,3252
$STATE,8911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8912,begin apogee
$GC,8923,-0.27,0.0,902.5,7.1,292,9043,0.55,0.00,117.50,1.313,6,0.113,0.000,2420,2500,2730
$STATE,9044,end apogee,CONTROL_FINISHED_OK
$STATE,9044,begin climb
$GC,9049,0.77,136.3,905.2,0.0,295,9265,0.90,0.00,151.62,1.103,6,0.038,0.000,2768,2500,2173
$GC,9500,0.77,136.3,800.7,29.8,306,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2500,2165
$GC,9742,0.77,136.3,731.1,28.1,312,9746,0.00,2.17,0.00,0.000,4,0.000,0.032,2778,1079,2163
$GC,9767,0.77,136.3,724.1,29.2,312,9771,0.00,2.22,0.00,0.000,6,0.000,0.042,2778,2486,2162
$GC,10030,0.77,136.3,652.6,27.5,319,10034,0.00,2.22,0.00,0.000,4,0.000,0.049,2778,3892,2160
$GC,10066,0.77,136.3,642.1,28.9,319,10070,0.00,2.12,0.00,0.000,6,0.000,0.028,2788,2483,2160
$GC,10325,0.77,136.3,572.7,26.9,326,10329,0.00,2.22,0.00,0.000,4,0.000,0.047,2780,3891,2160
$GC,10378,0.77,136.3,557.4,28.3,327,10382,0.00,2.12,0.00,0.000,6,0.000,0.028,2789,2475,2159
$GC,10665,0.77,136.3,481.5,26.8,334,10668,0.00,2.08,0.00,0.000,4,0.000,0.031,2799,1067,2158
$GC,10717,0.77,136.3,467.4,24.8,335,10722,0.12,2.20,0.00,0.000,6,0.212,0.039,2766,2490,2158
$GC,10997,0.77,136.3,397.9,24.5,342,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2490,2157
$GC,11240,0.77,136.3,340.4,23.6,348,11244,0.00,2.10,0.00,0.000,4,0.000,0.031,2775,1074,2157
$GC,11253,0.77,136.3,337.2,23.3,348,11257,0.00,2.17,0.00,0.000,6,0.000,0.039,2767,2486,2156
$GC,11528,0.77,136.3,281.7,18.7,355,11532,0.00,2.10,0.00,0.000,4,0.000,0.030,2776,1076,2156
$GC,11569,0.77,136.3,274.3,18.4,355,11576,0.00,2.20,0.00,0.000,6,0.000,0.041,2776,2476,2156
$GC,11822,0.77,136.3,228.6,17.6,362,11826,0.00,2.22,0.00,0.000,4,0.000,0.049,2767,3895,2156
$GC,11875,0.77,136.3,218.1,19.0,363,11878,0.00,2.10,0.00,0.000,6,0.000,0.027,2775,2488,2156
$GC,12138,0.77,136.3,168.6,18.4,379,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2483,2155
$GC,12404,0.77,136.3,120.4,17.6,404,12407,0.00,2.22,0.00,0.000,4,0.000,0.045,2768,3896,2155
$GC,12420,0.77,136.3,117.9,16.4,405,12424,0.00,2.10,0.00,0.000,6,0.000,0.025,2776,2465,2156
$GC,12690,0.77,136.3,77.4,12.5,430,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2459,2156
$GC,12957,0.82,175.8,52.9,8.0,455,12996,0.00,2.30,31.40,0.663,4,0.000,0.044,2768,3898,2014
$GC,13080,0.82,175.8,40.1,13.3,465,13083,0.00,2.10,0.00,0.000,6,0.000,0.023,2776,2479,2012
$GC,13350,0.82,175.8,3.3,13.1,507,13359,0.00,2.25,0.00,0.000,4,0.000,0.043,2768,3886,2010
$STATE,13365,end climb,SURFACE_DEPTH_REACHED
$STATE,13365,begin surface coast
$FINISH,0.2,1.009537
$STATE,13388,end surface coast,CONTROL_FINISHED_OK
$STATE,13388,begin surface
$SM_CCo,13415,202.35,0.620,0,0,399,571.78
$SM_GC,1.23,0.00,0.00,202.35,0.000,0.000,0.620,39,2471,399,-7.72,-0.82,571.78
$IRIDIUM_FIX,2255.72,-15804.96,051200,000003
$TT8_MAMPS,0.023777
$HUMID,2005
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,23.70
$XPDR_PINGS,17
$24V_AH,23.7,41.736
$10V_AH,10.7,32.957
$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,17.825,145.250,300.525,202.350,0.000,132.460,276.316,0.000,4.250,0.000,0.000,16.444,1113.425,9862.024,648.228,1856.979,990.492,33.365,1472.814,0.000,1842.278,0.000,0.543,0.000
$DEVICE_MAMPS,211.692,58.292,1313.104,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,347.734,688.091,708.134,138.380,629.186,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41453,513
$CAP_FILE_SIZE,107825,0
$CFSIZE,260165632,202829824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,12,0
$GPS,110911,041437,2304.839,-15802.131,36,0.9,36,10.1