version: 66.04
glider: 512
mission: 2
dive: 406
start: 9 14 111 0 59 5
data:
$ID,512
$MISSION,2
$DIVE,406
$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,170
$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,-41164.227
$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,48
$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,3070
$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
$GPS1,004630,2314.079,-15758.207,42,1.9,42,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-81.0
$GPS2,005809,2314.081,-15758.403,16,2.0,16,10.1
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.223,0.160
$KALMAN_X,-358975.3,104.1,377.4,353592.5,-6850.4
$KALMAN_Y,-47381.8,455.6,246.3,177844.0,-2079.4
$MHEAD_RNG_PITCHd_Wd,44.2,94702,-16.3,-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,-0.75,-165.5,0.0,0.0,0,89,0.00,0.00,-67.88,0.000,2,0.000,0.000,40,2473,3208
$GC,95,-0.75,-165.5,3.9,-7.3,9,120,8.40,2.05,-8.93,0.000,4,0.201,0.038,2264,1086,3743
$GC,131,-0.75,-165.5,22.1,-45.9,13,139,0.00,2.20,0.00,0.000,6,0.000,0.035,2255,2498,3743
$GC,400,-0.75,-165.5,94.1,-22.6,39,404,0.00,2.20,0.00,0.000,4,0.000,0.048,2244,3908,3745
$GC,460,-0.75,-165.5,107.3,-17.6,44,464,0.00,2.10,0.00,0.000,6,0.000,0.021,2244,2480,3744
$GC,732,-0.75,-165.5,162.0,-19.2,69,736,0.00,2.25,0.00,0.000,4,0.000,0.047,2233,3904,3745
$GC,757,-0.75,-165.5,167.9,-20.4,70,765,0.08,2.08,0.00,0.000,6,0.127,0.021,2260,2494,3745
$GC,1049,-0.75,-165.5,210.9,-13.0,92,1052,0.00,2.22,0.00,0.000,4,0.000,0.046,2251,3907,3746
$GC,1079,-0.75,-165.5,214.7,-12.4,92,1083,0.00,2.03,0.00,0.000,6,0.000,0.021,2251,2497,3746
$GC,1345,-0.75,-165.5,247.9,-13.1,99,1349,0.00,2.00,0.00,0.000,4,0.000,0.024,2250,1104,3746
$GC,1380,-0.75,-165.5,253.3,-13.1,99,1384,0.00,2.12,0.00,0.000,6,0.000,0.039,2250,2503,3746
$GC,1641,-0.75,-165.5,288.3,-14.4,106,1645,0.00,2.17,0.00,0.000,4,0.000,0.048,2238,3906,3746
$GC,1717,-0.75,-165.5,299.1,-11.9,107,1721,0.10,2.05,0.00,0.000,6,0.111,0.021,2269,2490,3746
$GC,1980,-0.75,-165.5,328.0,-11.3,114,1983,0.00,1.98,0.00,0.000,4,0.000,0.024,2269,1110,3745
$GC,2009,-0.75,-165.5,331.2,-10.4,114,2013,0.00,2.12,0.00,0.000,6,0.000,0.036,2264,2515,3745
$GC,2274,-0.75,-165.5,354.3,-8.3,121,2278,0.00,2.15,0.00,0.000,4,0.000,0.049,2253,3893,3743
$GC,2334,-0.75,-165.5,359.0,-7.3,122,2338,0.00,2.00,0.00,0.000,6,0.000,0.022,2253,2491,3742
$GC,2616,-0.75,-165.5,382.9,-8.7,129,2620,0.00,2.00,0.00,0.000,4,0.000,0.025,2252,1103,3740
$GC,2669,-0.75,-165.5,387.2,-6.9,130,2673,0.00,2.12,0.00,0.000,6,0.000,0.039,2250,2495,3740
$GC,2958,-0.75,-165.5,410.6,-8.5,137,2961,0.00,2.20,0.00,0.000,4,0.000,0.050,2239,3905,3738
$GC,3027,-0.75,-165.5,416.6,-7.1,138,3031,0.00,2.05,0.00,0.000,6,0.000,0.024,2239,2499,3738
$GC,3296,-0.75,-165.5,440.8,-9.1,145,3300,0.00,2.05,-0.08,0.000,4,0.000,0.039,2240,1110,3760
$GC,3332,-0.75,-165.5,443.7,-7.6,145,3337,0.12,2.15,0.00,0.000,6,0.115,0.040,2275,2505,3761
$GC,3586,-0.75,-165.5,456.7,-5.1,151,3590,0.00,2.20,0.00,0.000,4,0.000,0.052,2266,3905,3759
$GC,3634,-0.75,-165.5,459.5,-5.0,152,3638,0.00,2.08,0.00,0.000,6,0.000,0.025,2266,2482,3758
$GC,3926,-0.75,-165.5,482.2,-8.5,159,3930,0.00,2.28,0.00,0.000,4,0.000,0.053,2266,3905,3756
$GC,3969,-0.75,-165.5,486.3,-10.3,160,3972,0.00,2.05,0.00,0.000,6,0.000,0.025,2266,2497,3756
$GC,4262,-0.75,-165.5,511.9,-8.6,167,4266,0.00,2.00,0.00,0.000,4,0.000,0.027,2274,1114,3753
$GC,4326,-0.75,-165.5,517.8,-8.3,168,4330,0.00,2.12,0.00,0.000,6,0.000,0.040,2274,2504,3753
$GC,4602,-0.75,-165.5,541.9,-9.0,175,4605,0.00,2.20,0.00,0.000,4,0.000,0.053,2274,3899,3750
$GC,4705,-0.75,-165.5,551.6,-9.7,177,4709,0.00,2.03,0.00,0.000,6,0.000,0.025,2274,2506,3749
$GC,4988,-0.75,-165.5,576.7,-9.0,184,4992,0.00,2.05,0.00,0.000,4,0.000,0.027,2282,1096,3748
$GC,5036,-0.75,-165.5,581.4,-8.5,185,5040,0.00,2.15,0.00,0.000,6,0.000,0.040,2282,2501,3748
$GC,5330,-0.75,-165.5,605.5,-8.5,192,5333,0.00,2.22,0.00,0.000,4,0.000,0.055,2282,3903,3746
$GC,5388,-0.75,-165.5,610.7,-7.5,193,5392,0.00,2.08,0.00,0.000,6,0.000,0.026,2286,2493,3745
$GC,5670,-0.75,-165.5,634.7,-8.7,200,5674,0.00,2.25,0.00,0.000,4,0.000,0.053,2285,3897,3743
$GC,5744,-0.75,-165.5,641.2,-8.9,201,5748,0.00,2.08,0.00,0.000,6,0.000,0.027,2286,2487,3743
$GC,6003,-0.75,-165.5,664.2,-9.2,208,6006,0.00,2.03,0.00,0.000,4,0.000,0.028,2287,1105,3741
$GC,6078,-0.75,-165.5,671.4,-10.2,209,6082,0.00,2.15,0.00,0.000,6,0.000,0.041,2288,2501,3741
$GC,6345,-0.75,-165.5,696.7,-9.7,216,6349,0.00,2.22,0.00,0.000,4,0.000,0.056,2288,3898,3739
$GC,6393,-0.75,-165.5,701.8,-10.2,217,6396,0.00,2.08,0.00,0.000,6,0.000,0.028,2288,2489,3738
$GC,6685,-0.75,-165.5,731.1,-10.3,224,6689,0.00,2.28,0.00,0.000,4,0.000,0.055,2288,3896,3737
$GC,6727,-0.75,-165.5,735.7,-11.1,225,6731,0.00,2.08,0.00,0.000,6,0.000,0.027,2288,2494,3737
$GC,7019,-0.75,-165.5,767.9,-11.4,232,7023,0.00,2.28,0.00,0.000,4,0.000,0.057,2288,3896,3735
$GC,7076,-0.75,-165.5,774.5,-10.5,233,7080,0.00,2.08,0.00,0.000,6,0.000,0.028,2287,2491,3735
$GC,7352,-0.75,-165.5,804.5,-11.0,240,7356,0.00,2.28,0.00,0.000,4,0.000,0.055,2288,3891,3734
$GC,7439,-0.75,-165.5,813.4,-9.9,242,7443,0.00,2.05,0.00,0.000,6,0.000,0.028,2288,2498,3732
$GC,7732,-0.75,-165.5,843.2,-10.4,249,7736,0.00,2.05,0.00,0.000,4,0.000,0.030,2288,1103,3732
$GC,7785,-0.75,-165.5,848.9,-10.3,250,7789,0.00,2.17,0.00,0.000,6,0.000,0.041,2288,2508,3732
$GC,8066,-0.75,-165.5,876.6,-10.0,257,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2508,3731
$STATE,8304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8305,begin apogee
$GC,8316,-0.27,0.0,900.3,9.7,263,8461,0.38,0.00,142.68,1.305,6,0.061,0.000,2436,2508,3070
$STATE,8462,end apogee,CONTROL_FINISHED_OK
$STATE,8462,begin climb
$GC,8467,0.75,165.5,908.4,0.0,266,8664,0.85,2.42,163.10,1.223,4,0.045,0.047,2754,3885,2394
$GC,8920,0.75,165.5,843.1,26.8,276,8925,0.00,2.12,0.00,0.000,6,0.000,0.028,2763,2502,2385
$GC,9197,0.75,165.5,777.0,24.0,283,9200,0.00,2.25,0.00,0.000,4,0.000,0.047,2764,3897,2382
$GC,9322,0.75,165.5,746.2,24.6,285,9326,0.00,2.15,0.00,0.000,6,0.000,0.028,2773,2483,2382
$GC,9581,0.75,165.5,688.2,22.5,292,9585,0.00,2.25,0.00,0.000,4,0.000,0.047,2767,3903,2380
$GC,9594,0.75,165.5,684.7,22.1,292,9597,0.00,2.15,0.00,0.000,6,0.000,0.028,2776,2474,2380
$GC,9868,0.75,165.5,623.6,22.4,299,9872,0.00,2.25,0.00,0.000,4,0.000,0.047,2767,3899,2380
$GC,9893,0.75,165.5,617.8,22.9,299,9897,0.00,2.15,0.00,0.000,6,0.000,0.028,2776,2478,2379
$GC,10158,0.75,165.5,566.0,19.3,306,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2472,2379
$GC,10400,0.75,165.5,521.5,18.1,312,10404,0.00,2.12,0.00,0.000,4,0.000,0.032,2787,1056,2378
$GC,10418,0.75,165.5,518.1,17.9,312,10422,0.00,2.20,0.00,0.000,6,0.000,0.038,2780,2483,2378
$GC,10687,0.75,165.5,470.2,17.7,319,10691,0.00,2.22,0.00,0.000,4,0.000,0.049,2780,3886,2377
$GC,10701,0.75,165.5,467.9,17.2,319,10706,0.15,2.12,0.00,0.000,6,0.227,0.028,2757,2468,2377
$GC,10977,0.75,165.5,423.1,15.7,326,10981,0.00,2.28,0.00,0.000,4,0.000,0.048,2754,3901,2377
$GC,11120,0.75,165.5,399.0,15.5,329,11124,0.00,2.12,0.00,0.000,6,0.000,0.028,2763,2481,2376
$GC,11401,0.75,165.5,361.7,12.7,336,11405,0.00,2.10,0.00,0.000,4,0.000,0.031,2774,1072,2376
$GC,11482,0.75,165.5,352.2,11.9,337,11485,0.00,2.17,0.00,0.000,6,0.000,0.040,2768,2479,2376
$GC,11739,0.75,165.5,320.1,12.4,344,11743,0.00,2.22,0.00,0.000,4,0.000,0.049,2768,3887,2376
$GC,11793,0.75,165.5,312.7,13.8,345,11797,0.00,2.12,0.00,0.000,6,0.000,0.028,2777,2464,2375
$GC,12079,0.75,165.5,278.7,11.6,352,12083,0.00,2.28,0.00,0.000,4,0.000,0.046,2768,3906,2375
$GC,12097,0.75,165.5,276.6,10.8,352,12101,0.00,2.12,0.00,0.000,6,0.000,0.028,2777,2473,2374
$GC,12368,0.81,213.5,253.9,8.0,359,12412,0.00,2.33,38.80,0.855,4,0.000,0.048,2768,3895,2198
$GC,12438,0.81,213.5,245.2,16.9,360,12442,0.00,2.15,0.00,0.000,6,0.000,0.025,2776,2479,2197
$GC,12701,0.81,213.5,198.4,18.5,367,12705,0.00,2.25,0.00,0.000,4,0.000,0.046,2768,3892,2193
$GC,12722,0.81,213.5,194.9,17.7,368,12726,0.00,2.12,0.00,0.000,6,0.000,0.025,2776,2481,2193
$GC,12993,0.81,213.5,150.6,14.8,393,12996,0.00,2.10,0.00,0.000,4,0.000,0.028,2787,1065,2192
$GC,13064,0.81,213.5,139.7,15.6,399,13069,0.00,2.20,0.00,0.000,6,0.000,0.037,2780,2493,2192
$GC,13331,0.81,213.5,104.5,12.2,423,13335,0.00,2.20,0.00,0.000,4,0.000,0.046,2780,3893,2192
$GC,13438,0.81,213.5,92.4,10.0,432,13446,0.00,2.12,0.00,0.000,6,0.000,0.023,2789,2461,2192
$GC,13704,0.89,283.2,71.5,7.2,457,13768,0.00,2.05,57.30,0.675,4,0.000,0.025,2799,1083,1915
$GC,13796,0.89,283.2,61.1,16.3,464,13800,0.00,2.17,0.00,0.000,6,0.000,0.035,2793,2491,1913
$GC,14069,0.89,283.2,12.6,19.1,497,14076,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2492,1910
$STATE,14108,end climb,SURFACE_DEPTH_REACHED
$STATE,14108,begin surface coast
$FINISH,0.3,1.009045
$STATE,14126,end surface coast,CONTROL_FINISHED_OK
$STATE,14126,begin surface
$SM_CCo,14151,59.62,0.614,0,0,1397,410.13
$SM_GC,1.45,0.00,0.00,59.62,0.000,0.000,0.614,40,2494,1397,-7.72,-0.17,410.13
$IRIDIUM_FIX,2305.10,-15755.81,081200,000024
$TT8_MAMPS,0.023777
$HUMID,2076
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.90
$XPDR_PINGS,9
$24V_AH,23.1,44.448
$10V_AH,10.7,34.867
$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,17.375,167.350,401.875,59.625,0.000,48.590,76.692,305.716,2.250,0.000,0.000,16.253,1163.507,10181.739,524.423,1996.459,1042.014,33.371,1462.964,0.000,1962.974,0.000,0.543,0.000
$DEVICE_MAMPS,227.032,56.758,1305.434,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,343.630,642.508,658.898,116.277,530.504,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41701,507
$CAP_FILE_SIZE,121915,0
$CFSIZE,260165632,201809920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,4,1
$GPS,140911,045736,2314.123,-15758.904,39,1.1,50,10.1