version: 66.04
glider: 512
mission: 2
dive: 394
start: 9 12 111 0 32 56
data:
$ID,512
$MISSION,2
$DIVE,394
$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,-40942.25
$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,27
$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
$GPS1,001725,2309.498,-15802.094,40,1.5,40,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-78.3
$GPS2,003202,2309.486,-15802.320,14,1.3,14,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.112,0.225
$KALMAN_X,-322450.3,245.0,206.1,310364.7,-4221.9
$KALMAN_Y,-34854.5,617.9,53.0,156851.9,-3663.3
$MHEAD_RNG_PITCHd_Wd,16.3,99285,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,24,-0.77,-136.3,0.0,0.0,0,110,0.00,0.00,-83.15,0.000,2,0.000,0.000,40,2475,3277
$GC,115,-0.77,-136.3,4.0,-7.2,11,132,8.30,2.20,0.00,0.000,4,0.197,0.031,2243,3906,3278
$GC,191,-0.77,-136.3,34.2,-24.5,22,194,0.00,2.05,0.00,0.000,6,0.000,0.022,2248,2499,3279
$GC,463,-0.77,-136.3,92.4,-20.1,47,466,0.00,2.05,0.00,0.000,4,0.000,0.026,2248,1092,3279
$GC,503,-0.77,-136.3,100.4,-16.8,50,511,0.00,2.17,0.00,0.000,6,0.000,0.038,2240,2494,3279
$GC,769,-0.77,-136.3,148.0,-17.3,75,773,0.00,2.17,0.00,0.000,4,0.000,0.046,2229,3897,3280
$GC,857,-0.77,-136.3,164.3,-18.1,82,864,0.05,2.05,0.00,0.000,6,0.147,0.021,2247,2499,3279
$GC,1142,-0.77,-136.3,206.1,-13.7,106,1145,0.00,2.03,0.00,0.000,4,0.000,0.025,2250,1089,3280
$GC,1223,-0.77,-136.3,215.2,-9.2,107,1227,0.00,2.15,0.00,0.000,6,0.000,0.037,2242,2509,3281
$GC,1483,-0.77,-136.3,246.0,-12.6,114,1487,0.00,2.15,0.00,0.000,4,0.000,0.046,2231,3903,3280
$GC,1627,-0.77,-136.3,263.5,-12.8,117,1631,0.00,2.05,0.00,0.000,6,0.000,0.021,2231,2493,3280
$GC,1913,-0.77,-136.3,298.9,-12.1,124,1917,0.00,2.00,0.00,0.000,4,0.000,0.025,2231,1099,3279
$GC,1994,-0.77,-136.3,309.2,-11.5,125,1999,0.15,2.10,0.00,0.000,6,0.128,0.037,2263,2500,3279
$GC,2253,-0.77,-136.3,335.4,-10.1,132,2257,0.00,2.15,0.00,0.000,4,0.000,0.047,2254,3895,3278
$GC,2339,-0.77,-136.3,345.1,-10.5,133,2346,0.00,2.03,-0.08,0.000,6,0.000,0.021,2254,2493,3298
$GC,2593,-0.77,-136.3,372.0,-10.7,140,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2487,3298
$GC,2838,-0.77,-136.3,398.4,-10.9,146,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2486,3296
$GC,3079,-0.77,-136.3,423.0,-9.8,152,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2487,3294
$GC,3325,-0.77,-136.3,445.3,-9.1,158,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2486,3292
$GC,3568,-0.77,-136.3,467.8,-9.2,164,3572,0.00,2.20,0.00,0.000,4,0.000,0.049,2243,3893,3290
$GC,3705,-0.77,-136.3,480.3,-8.2,167,3709,0.00,2.05,0.00,0.000,6,0.000,0.024,2243,2493,3289
$GC,3999,-0.77,-136.3,506.3,-9.0,174,4003,0.00,2.03,0.00,0.000,4,0.000,0.028,2244,1099,3287
$GC,4036,-0.77,-136.3,509.7,-8.4,174,4040,0.00,2.15,0.00,0.000,6,0.000,0.041,2236,2504,3287
$GC,4296,-0.77,-136.3,532.1,-8.5,181,4300,0.00,2.20,0.00,0.000,4,0.000,0.051,2225,3906,3285
$GC,4338,-0.77,-136.3,536.1,-9.4,181,4345,0.12,2.08,0.00,0.000,6,0.135,0.025,2260,2499,3284
$GC,4593,-0.77,-136.3,552.9,-6.5,188,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2492,3282
$GC,4834,-0.77,-136.3,569.4,-6.8,194,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2492,3281
$GC,5078,-0.77,-136.3,587.7,-7.6,200,5082,0.00,2.05,0.00,0.000,4,0.000,0.028,2260,1098,3279
$GC,5154,-0.77,-136.3,593.5,-7.3,201,5158,0.00,2.17,0.00,0.000,6,0.000,0.042,2251,2504,3279
$GC,5414,-0.77,-136.3,612.9,-7.5,208,5418,0.00,2.20,0.00,0.000,4,0.000,0.054,2239,3898,3277
$GC,5535,-0.77,-136.3,622.5,-7.7,210,5538,0.00,2.08,0.00,0.000,6,0.000,0.027,2239,2500,3276
$GC,5798,-0.77,-136.3,641.5,-7.1,217,5802,0.00,2.25,0.00,0.000,4,0.000,0.053,2229,3899,3274
$GC,5880,-0.77,-136.3,648.0,-8.3,218,5887,0.12,2.10,0.00,0.000,6,0.128,0.027,2264,2490,3274
$GC,6133,-0.77,-136.3,663.0,-5.8,225,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2483,3273
$GC,6378,-0.77,-136.3,677.9,-6.2,231,6382,0.00,2.30,0.00,0.000,4,0.000,0.055,2255,3907,3271
$GC,6410,-0.77,-136.3,680.1,-7.5,231,6414,0.00,2.10,0.00,0.000,6,0.000,0.028,2255,2494,3271
$GC,6670,-0.77,-136.3,698.1,-6.9,238,6674,0.00,2.05,0.00,0.000,4,0.000,0.030,2256,1099,3269
$GC,6701,-0.77,-136.3,700.4,-7.2,238,6705,0.00,2.17,0.00,0.000,6,0.000,0.045,2249,2502,3269
$GC,6964,-0.77,-136.3,718.9,-7.0,245,6968,0.00,2.22,0.00,0.000,4,0.000,0.056,2238,3906,3268
$GC,7001,-0.77,-136.3,721.4,-7.4,245,7005,0.00,2.10,0.00,0.000,6,0.000,0.028,2238,2501,3267
$GC,7259,-0.77,-136.3,740.3,-7.2,252,7263,0.00,2.05,0.00,0.000,4,0.000,0.031,2239,1101,3267
$GC,7290,-0.77,-136.3,742.5,-7.6,252,7294,0.00,2.20,0.00,0.000,6,0.000,0.045,2236,2507,3266
$GC,7548,-0.77,-136.3,762.6,-7.9,259,7551,0.00,2.22,0.00,0.000,4,0.000,0.057,2225,3902,3265
$GC,7624,-0.77,-136.3,769.2,-9.0,260,7629,0.12,2.10,0.00,0.000,6,0.132,0.028,2261,2488,3264
$GC,7884,-0.77,-136.3,786.0,-6.3,267,7887,0.00,2.05,0.00,0.000,4,0.000,0.031,2261,1099,3263
$GC,7914,-0.77,-136.3,788.2,-7.7,267,7918,0.00,2.20,0.00,0.000,6,0.000,0.045,2252,2504,3264
$GC,8172,-0.77,-136.3,806.7,-7.2,274,8177,0.00,2.25,0.00,0.000,4,0.000,0.058,2241,3904,3262
$GC,8225,-0.77,-136.3,811.2,-8.1,275,8229,0.00,2.12,0.00,0.000,6,0.000,0.029,2241,2492,3263
$GC,8507,-0.77,-136.3,834.4,-8.3,282,8511,0.00,2.08,0.00,0.000,4,0.000,0.031,2244,1093,3262
$GC,8538,-0.77,-136.3,837.1,-8.2,282,8542,0.00,2.20,0.00,0.000,6,0.000,0.046,2237,2501,3262
$GC,8801,-0.77,-136.3,858.3,-8.0,289,8805,0.00,2.25,0.00,0.000,4,0.000,0.058,2225,3906,3261
$GC,8900,-0.77,-136.3,867.0,-9.1,291,8905,0.12,2.12,0.00,0.000,6,0.133,0.030,2260,2498,3261
$GC,9181,-0.77,-136.3,885.0,-6.2,298,9185,0.00,2.30,0.00,0.000,4,0.000,0.058,2252,3902,3260
$GC,9211,-0.77,-136.3,887.4,-7.7,298,9215,0.00,2.10,0.00,0.000,6,0.000,0.027,2251,2486,3260
$STATE,9425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9425,begin apogee
$GC,9436,-0.27,0.0,902.5,7.1,304,9558,0.52,0.00,119.25,1.318,6,0.109,0.000,2422,2478,2730
$STATE,9559,end apogee,CONTROL_FINISHED_OK
$STATE,9559,begin climb
$GC,9564,0.77,136.3,906.3,0.0,307,9763,0.90,2.47,143.35,1.146,4,0.040,0.048,2767,3899,2173
$GC,9805,0.77,136.3,864.1,30.5,312,9809,0.00,2.25,0.00,0.000,6,0.000,0.027,2776,2478,2170
$GC,10063,0.77,136.3,786.7,30.0,319,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2472,2164
$GC,10306,0.77,136.3,715.0,28.9,325,10310,0.00,2.12,0.00,0.000,4,0.000,0.031,2787,1071,2162
$GC,10325,0.77,136.3,709.2,28.6,325,10329,0.00,2.22,0.00,0.000,6,0.000,0.038,2780,2494,2161
$GC,10595,0.77,136.3,635.6,26.6,332,10599,0.00,2.22,0.00,0.000,4,0.000,0.049,2780,3900,2160
$GC,10620,0.77,136.3,628.5,27.0,332,10624,0.00,2.15,0.00,0.000,6,0.000,0.027,2788,2477,2160
$GC,10890,0.77,136.3,555.5,27.5,339,10893,0.00,2.10,0.00,0.000,4,0.000,0.031,2799,1068,2159
$GC,10908,0.77,136.3,550.0,26.8,339,10913,0.15,2.20,0.00,0.000,6,0.214,0.040,2762,2484,2158
$GC,11179,0.77,136.3,481.0,25.1,346,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2485,2158
$GC,11421,0.77,136.3,422.5,23.4,352,11425,0.00,2.25,0.00,0.000,4,0.000,0.051,2755,3901,2158
$GC,11479,0.77,136.3,407.3,24.6,353,11483,0.00,2.15,0.00,0.000,6,0.000,0.028,2763,2479,2157
$GC,11759,0.77,136.3,343.3,22.8,360,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2475,2156
$GC,12004,0.77,136.3,290.7,21.4,366,12007,0.00,2.25,0.00,0.000,4,0.000,0.051,2764,3890,2156
$GC,12052,0.77,136.3,280.1,21.3,367,12056,0.00,2.12,0.00,0.000,6,0.000,0.028,2774,2470,2156
$GC,12346,0.77,136.3,226.4,17.8,374,12349,0.00,2.25,0.00,0.000,4,0.000,0.048,2767,3893,2156
$GC,12370,0.77,136.3,221.0,19.6,374,12374,0.00,2.10,0.00,0.000,6,0.000,0.026,2776,2479,2156
$GC,12636,0.77,136.3,173.5,18.0,389,12639,0.00,2.10,0.00,0.000,4,0.000,0.030,2787,1059,2156
$GC,12763,0.77,136.3,153.1,15.2,400,12767,0.00,2.17,0.00,0.000,6,0.000,0.038,2781,2481,2155
$GC,13035,0.77,136.3,108.3,17.3,425,13041,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2481,2155
$GC,13301,0.77,136.3,69.3,14.0,450,13305,0.00,2.10,0.00,0.000,4,0.000,0.028,2789,1064,2155
$GC,13451,0.79,151.0,53.0,9.3,463,13478,0.00,2.17,11.05,0.620,6,0.000,0.035,2781,2494,2114
$GC,13740,0.79,151.4,26.0,10.0,492,13748,0.00,2.17,0.00,0.000,4,0.000,0.045,2780,3880,2113
$STATE,13927,end climb,SURFACE_DEPTH_REACHED
$STATE,13927,begin surface coast
$FINISH,0.3,1.023045
$STATE,13950,end surface coast,CONTROL_FINISHED_OK
$STATE,13950,begin surface
$SM_CCo,13978,119.72,0.619,0,0,1057,410.13
$SM_GC,1.12,0.00,0.00,119.72,0.000,0.000,0.619,37,2475,1057,-7.73,-0.71,410.13
$IRIDIUM_FIX,2300.41,-15804.08,061200,000004
$TT8_MAMPS,0.023777
$HUMID,2057
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,23.80
$XPDR_PINGS,21
$24V_AH,23.5,42.627
$10V_AH,10.7,33.604
$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,17.700,141.800,273.650,119.725,0.000,84.082,107.150,362.020,5.250,0.000,0.000,14.945,1159.316,10243.955,516.088,1907.066,1146.166,33.368,1358.615,0.000,1890.808,0.000,0.544,0.000
$DEVICE_MAMPS,213.993,57.525,1318.473,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,359.680,701.043,720.573,139.043,639.657,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44764,530
$CAP_FILE_SIZE,117273,0
$CFSIZE,260165632,202498048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,9,0
$GPS,120911,042924,2310.862,-15802.368,40,1.5,40,10.1