version: 66.04
glider: 512
mission: 2
dive: 397
start: 9 12 111 12 34 20
data:
$ID,512
$MISSION,2
$DIVE,397
$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,-40993.824
$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,50
$R_STBD_OVSHOOT,35
$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
$GPS1,122624,2310.336,-15800.344,44,0.9,44,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-79.6
$GPS2,123326,2310.334,-15800.372,12,1.8,12,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,0.131
$KALMAN_X,-329949.9,437.5,291.7,320930.7,-5698.8
$KALMAN_Y,-35435.0,666.2,96.3,158904.6,-1991.8
$MHEAD_RNG_PITCHd_Wd,48.5,96318,-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,13,begin dive
$GC,19,-0.77,-136.3,0.0,0.0,0,104,0.00,0.00,-83.05,0.000,3,0.000,0.000,38,2474,3288
$GC,110,-0.77,-136.3,4.2,-7.8,11,127,8.25,2.20,0.00,0.000,4,0.196,0.031,2238,3895,3289
$GC,208,-0.77,-136.3,41.4,-25.4,23,212,0.00,2.05,0.00,0.000,6,0.000,0.023,2243,2504,3290
$GC,478,-0.77,-136.3,105.5,-20.5,48,482,0.00,2.08,0.00,0.000,4,0.000,0.026,2248,1088,3291
$GC,548,-0.77,-136.3,117.6,-15.5,54,552,0.00,2.15,0.00,0.000,6,0.000,0.038,2239,2491,3292
$GC,821,-0.77,-136.3,165.6,-17.3,79,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2491,3293
$GC,1085,-0.77,-136.3,207.2,-14.7,101,1088,0.00,2.17,0.00,0.000,4,0.000,0.045,2228,3901,3293
$GC,1137,-0.77,-136.3,215.3,-13.7,102,1141,0.12,2.08,0.00,0.000,6,0.138,0.021,2262,2476,3293
$GC,1416,-0.77,-136.3,249.9,-12.0,109,1420,0.00,1.98,0.00,0.000,4,0.000,0.025,2262,1105,3293
$GC,1452,-0.77,-136.3,254.2,-11.1,109,1456,0.00,2.12,0.00,0.000,6,0.000,0.037,2253,2505,3294
$GC,1711,-0.77,-136.3,283.0,-11.4,116,1714,0.00,2.15,0.00,0.000,4,0.000,0.045,2242,3893,3294
$GC,1747,-0.77,-136.3,287.5,-12.6,116,1751,0.00,2.00,0.00,0.000,6,0.000,0.021,2242,2498,3293
$GC,2005,-0.77,-136.3,319.5,-12.6,123,2009,0.00,2.00,0.00,0.000,4,0.000,0.025,2244,1108,3293
$GC,2053,-0.77,-136.3,325.6,-11.5,124,2056,0.00,2.12,0.00,0.000,6,0.000,0.037,2236,2510,3293
$GC,2346,-0.77,-136.3,360.6,-11.6,131,2349,0.00,2.15,0.00,0.000,4,0.000,0.048,2225,3896,3291
$GC,2439,-0.77,-136.3,371.2,-10.5,133,2444,0.12,2.03,0.00,0.000,6,0.128,0.022,2260,2486,3290
$GC,2731,-0.77,-136.3,396.8,-8.6,140,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2479,3289
$GC,2976,-0.77,-136.3,419.1,-9.2,146,2979,0.00,2.00,0.00,0.000,4,0.000,0.026,2260,1101,3287
$GC,3007,-0.77,-136.3,422.4,-10.4,146,3011,0.00,2.15,0.00,0.000,6,0.000,0.039,2252,2511,3287
$GC,3270,-0.77,-136.3,447.9,-9.6,153,3274,0.00,2.15,0.00,0.000,4,0.000,0.050,2241,3897,3286
$GC,3330,-0.77,-136.3,453.8,-9.8,154,3334,0.00,2.05,0.00,0.000,6,0.000,0.023,2241,2495,3284
$GC,3612,-0.77,-136.3,481.2,-9.5,161,3616,0.00,2.03,0.00,0.000,4,0.000,0.027,2243,1099,3283
$GC,3666,-0.77,-136.3,485.9,-8.9,162,3670,0.00,2.15,0.00,0.000,6,0.000,0.041,2236,2506,3283
$GC,3952,-0.77,-136.3,510.6,-8.8,169,3955,0.00,2.17,0.00,0.000,4,0.000,0.051,2225,3895,3280
$GC,4000,-0.77,-136.3,515.3,-10.0,170,4004,0.12,2.05,0.00,0.000,6,0.128,0.025,2261,2497,3280
$GC,4288,-0.77,-136.3,537.4,-7.7,177,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2489,3278
$GC,4529,-0.77,-136.3,555.9,-7.5,183,4533,0.00,2.22,0.00,0.000,4,0.000,0.052,2251,3890,3276
$GC,4582,-0.77,-136.3,560.2,-8.0,184,4586,0.00,2.05,0.00,0.000,6,0.000,0.025,2252,2490,3276
$GC,4870,-0.77,-136.3,582.2,-7.8,191,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2483,3274
$GC,5111,-0.77,-136.3,600.9,-7.7,197,5115,0.00,2.28,0.00,0.000,4,0.000,0.054,2240,3900,3272
$GC,5164,-0.77,-136.3,605.5,-8.6,198,5168,0.00,2.08,0.00,0.000,6,0.000,0.026,2241,2494,3271
$GC,5446,-0.77,-136.3,630.7,-9.1,205,5449,0.00,2.05,0.00,0.000,4,0.000,0.029,2242,1097,3269
$GC,5481,-0.77,-136.3,634.2,-9.3,205,5486,0.00,2.17,0.00,0.000,6,0.000,0.044,2236,2497,3269
$GC,5735,-0.77,-136.3,657.9,-9.5,211,5739,0.00,2.22,0.00,0.000,4,0.000,0.054,2225,3900,3268
$GC,5799,-0.77,-136.3,664.7,-10.3,212,5803,0.12,2.08,0.00,0.000,6,0.131,0.027,2260,2489,3268
$GC,6076,-0.77,-136.3,684.9,-7.1,219,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2483,3266
$GC,6317,-0.77,-136.3,701.4,-6.8,225,6321,0.00,2.30,0.00,0.000,4,0.000,0.055,2251,3905,3265
$GC,6347,-0.77,-136.3,703.7,-7.3,225,6351,0.00,2.10,0.00,0.000,6,0.000,0.028,2251,2494,3265
$GC,6606,-0.77,-136.3,723.7,-7.9,232,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2487,3264
$GC,6849,-0.77,-136.3,742.6,-7.7,238,6853,0.00,2.28,0.00,0.000,4,0.000,0.056,2240,3898,3263
$GC,6884,-0.77,-136.3,745.6,-8.7,238,6890,0.00,2.10,0.00,0.000,6,0.000,0.028,2240,2497,3262
$GC,7137,-0.77,-136.3,766.1,-8.1,245,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2490,3261
$GC,7383,-0.77,-136.3,785.5,-7.9,251,7387,0.00,2.30,0.00,0.000,4,0.000,0.056,2231,3908,3260
$GC,7425,-0.77,-136.3,789.2,-8.7,252,7429,0.10,2.10,0.00,0.000,6,0.133,0.029,2258,2500,3260
$GC,7711,-0.77,-136.3,807.8,-6.3,259,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2493,3259
$GC,7954,-0.77,-136.3,822.9,-6.3,265,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2493,3258
$GC,8200,-0.77,-136.3,838.1,-6.3,271,8204,0.00,2.30,0.00,0.000,4,0.000,0.058,2249,3904,3257
$GC,8236,-0.77,-136.3,840.7,-7.0,271,8242,0.00,2.10,0.00,0.000,6,0.000,0.029,2250,2500,3257
$GC,8490,-0.77,-136.3,857.6,-6.8,278,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2493,3257
$GC,8732,-0.77,-136.3,874.7,-7.0,284,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2493,3257
$GC,8977,-0.77,-136.3,891.9,-7.1,290,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2493,3256
$STATE,9093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9093,begin apogee
$GC,9104,-0.27,0.0,900.4,7.0,293,9225,0.52,0.00,118.20,1.314,6,0.110,0.000,2420,2492,2730
$STATE,9225,end apogee,CONTROL_FINISHED_OK
$STATE,9226,begin climb
$GC,9231,0.77,136.3,903.7,0.0,296,9408,0.90,2.45,138.30,1.178,4,0.041,0.048,2766,3894,2173
$GC,9421,0.77,136.3,874.7,29.5,300,9425,0.00,2.28,0.00,0.000,6,0.000,0.028,2776,2492,2171
$GC,9684,0.77,136.3,797.0,29.4,307,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2487,2165
$GC,9928,0.77,136.3,728.0,27.6,313,9929,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2487,2162
$GC,10172,0.77,136.3,660.5,27.9,319,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2487,2161
$GC,10415,0.77,136.3,593.2,27.8,325,10419,0.00,2.25,0.00,0.000,4,0.000,0.048,2767,3905,2160
$GC,10433,0.77,136.3,587.4,28.2,325,10437,0.00,2.15,0.00,0.000,6,0.000,0.028,2776,2474,2159
$GC,10702,0.77,136.3,514.5,26.9,332,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2470,2158
$GC,10946,0.77,136.3,453.5,24.7,338,10950,0.00,2.25,0.00,0.000,4,0.000,0.048,2768,3900,2158
$GC,11039,0.77,136.3,430.3,24.8,340,11043,0.00,2.15,0.00,0.000,6,0.000,0.028,2776,2474,2157
$GC,11331,0.77,136.3,363.7,23.1,347,11332,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2469,2157
$GC,11574,0.77,136.3,310.6,21.9,353,11575,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2469,2156
$GC,11819,0.77,136.3,260.7,20.2,359,11823,0.00,2.28,0.00,0.000,4,0.000,0.048,2767,3909,2157
$GC,11871,0.77,136.3,249.9,20.0,360,11875,0.00,2.15,0.00,0.000,6,0.000,0.027,2776,2479,2156
$GC,12151,0.77,136.3,200.4,17.8,367,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2473,2156
$GC,12407,0.77,136.3,159.1,15.9,388,12411,0.00,2.25,0.00,0.000,4,0.000,0.045,2768,3906,2156
$GC,12481,0.77,136.3,143.9,21.4,394,12489,0.00,2.15,0.00,0.000,6,0.000,0.026,2777,2478,2156
$GC,12748,0.77,136.3,98.0,16.3,419,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2472,2156
$GC,13015,0.83,183.9,64.3,7.6,444,13064,0.00,2.12,38.00,0.681,4,0.000,0.028,2787,1076,1978
$GC,13184,0.83,183.9,43.6,13.2,458,13188,0.00,2.17,0.00,0.000,6,0.000,0.034,2780,2500,1974
$GC,13454,0.83,183.9,4.0,16.3,498,13462,0.00,2.15,0.00,0.000,4,0.000,0.034,2788,1075,1973
$STATE,13468,end climb,SURFACE_DEPTH_REACHED
$STATE,13468,begin surface coast
$FINISH,0.4,1.023254
$STATE,13486,end surface coast,CONTROL_FINISHED_OK
$STATE,13486,begin surface
$SM_CCo,13514,106.03,0.626,0,0,1057,410.13
$SM_GC,1.29,0.00,0.00,106.03,0.000,0.000,0.626,39,2499,1057,-7.72,-0.03,410.13
$IRIDIUM_FIX,2302.75,-15803.21,061200,080859
$TT8_MAMPS,0.023777
$HUMID,2067
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,23.10
$XPDR_PINGS,15
$24V_AH,23.4,43.030
$10V_AH,10.7,33.910
$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,17.475,111.775,294.500,106.025,0.000,29.151,34.423,178.876,3.750,0.000,0.000,13.059,1052.488,10029.522,491.268,1674.236,795.071,33.369,1245.872,0.000,1675.182,0.000,0.543,0.000
$DEVICE_MAMPS,196.352,57.525,1313.871,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,341.097,649.560,671.465,126.462,566.598,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41443,503
$CAP_FILE_SIZE,99666,0
$CFSIZE,260165632,202342400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,5,0
$GPS,120911,162254,2310.485,-15800.028,28,1.0,45,10.1