version: 66.04
glider: 512
mission: 2
dive: 408
start: 9 14 111 9 47 48
data:
$ID,512
$MISSION,2
$DIVE,408
$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,-41199.785
$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,59
$R_STBD_OVSHOOT,32
$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
$GPS1,093855,2315.440,-15758.817,39,2.0,39,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-78.7
$GPS2,094650,2315.422,-15758.907,14,1.7,14,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.244,-0.061
$KALMAN_X,-366410.9,333.2,517.0,359779.2,-5219.6
$KALMAN_Y,-51811.6,519.1,454.9,184501.4,-4186.5
$MHEAD_RNG_PITCHd_Wd,93.9,96235,-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,20,-0.77,-136.3,0.0,0.0,0,90,0.00,0.00,-67.97,0.000,2,0.000,0.000,39,2493,3176
$GC,96,-0.77,-136.3,3.5,-5.5,9,120,8.35,2.22,-7.82,0.000,4,0.196,0.051,2240,3898,3627
$GC,143,-0.77,-136.3,25.5,-48.4,15,152,0.00,2.10,0.00,0.000,6,0.000,0.025,2242,2516,3629
$GC,418,-0.77,-136.3,95.9,-22.5,41,421,0.00,2.10,0.00,0.000,4,0.000,0.025,2246,1083,3629
$GC,481,-0.77,-136.3,107.1,-13.6,46,489,0.00,2.20,0.00,0.000,6,0.000,0.038,2237,2489,3629
$GC,746,-0.77,-136.3,160.9,-20.7,71,750,0.00,2.20,0.00,0.000,4,0.000,0.047,2226,3899,3630
$GC,816,-0.77,-136.3,175.0,-17.6,77,821,0.12,2.08,0.00,0.000,6,0.117,0.021,2263,2474,3630
$GC,1077,-0.77,-136.3,213.0,-14.4,95,1081,0.00,2.00,0.00,0.000,4,0.000,0.024,2263,1103,3631
$GC,1112,-0.77,-136.3,217.6,-11.7,95,1116,0.00,2.15,0.00,0.000,6,0.000,0.038,2255,2512,3631
$GC,1370,-0.77,-136.3,248.6,-12.0,102,1374,0.00,2.15,0.00,0.000,4,0.000,0.048,2245,3899,3631
$GC,1405,-0.77,-136.3,252.6,-11.1,102,1409,0.00,2.05,0.00,0.000,6,0.000,0.021,2245,2482,3631
$GC,1663,-0.77,-136.3,283.5,-12.9,109,1666,0.00,2.00,0.00,0.000,4,0.000,0.025,2247,1094,3631
$GC,1715,-0.77,-136.3,289.3,-9.6,110,1719,0.00,2.15,0.00,0.000,6,0.000,0.038,2238,2503,3631
$GC,2001,-0.77,-136.3,325.4,-13.0,117,2005,0.00,2.17,0.00,0.000,4,0.000,0.048,2227,3901,3630
$GC,2039,-0.77,-136.3,330.4,-13.6,117,2043,0.12,2.05,0.00,0.000,6,0.115,0.022,2266,2492,3630
$GC,2294,-0.77,-136.3,356.0,-9.7,123,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2486,3629
$GC,2535,-0.77,-136.3,376.9,-8.3,129,2539,0.00,2.22,0.00,0.000,4,0.000,0.050,2257,3900,3627
$GC,2576,-0.77,-136.3,380.4,-8.0,129,2582,0.00,2.05,0.00,0.000,6,0.000,0.023,2257,2483,3627
$GC,2832,-0.77,-136.3,403.7,-9.5,136,2836,0.00,2.25,0.00,0.000,4,0.000,0.051,2246,3896,3625
$GC,2861,-0.77,-136.3,407.2,-10.6,136,2865,0.00,2.03,0.00,0.000,6,0.000,0.022,2246,2501,3625
$GC,3119,-0.77,-136.3,435.6,-11.3,143,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2494,3623
$GC,3363,-0.77,-136.3,461.6,-10.5,149,3366,0.00,2.22,0.00,0.000,4,0.000,0.051,2236,3896,3622
$GC,3389,-0.77,-136.3,464.2,-10.7,149,3392,0.00,2.05,0.00,0.000,6,0.000,0.024,2236,2498,3622
$GC,3660,-0.77,-136.3,494.7,-11.5,156,3663,0.00,2.03,0.00,0.000,4,0.000,0.027,2236,1105,3619
$GC,3684,-0.77,-136.3,497.9,-11.7,156,3688,0.00,2.15,0.00,0.000,6,0.000,0.042,2236,2499,3619
$GC,3953,-0.77,-136.3,529.1,-11.9,163,3957,0.00,2.20,0.00,0.000,4,0.000,0.052,2225,3898,3617
$GC,4023,-0.77,-136.3,537.4,-11.8,164,4028,0.12,2.05,0.00,0.000,6,0.115,0.025,2263,2496,3617
$GC,4289,-0.77,-136.3,560.6,-8.5,171,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2489,3615
$GC,4530,-0.77,-136.3,579.2,-7.4,177,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2489,3614
$GC,4774,-0.77,-136.3,595.4,-6.5,183,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2489,3612
$GC,5020,-0.77,-136.3,612.3,-7.0,189,5024,0.00,2.28,0.00,0.000,4,0.000,0.054,2254,3904,3609
$GC,5051,-0.77,-136.3,614.9,-7.9,189,5055,0.00,2.08,0.00,0.000,6,0.000,0.027,2254,2491,3610
$GC,5312,-0.77,-136.3,635.4,-8.1,196,5315,0.00,2.05,0.00,0.000,4,0.000,0.029,2254,1094,3608
$GC,5355,-0.77,-136.3,639.0,-7.6,196,5361,0.00,2.20,0.00,0.000,6,0.000,0.044,2250,2508,3608
$GC,5610,-0.77,-136.3,659.4,-8.1,203,5614,0.00,2.22,0.00,0.000,4,0.000,0.056,2239,3905,3606
$GC,5663,-0.77,-136.3,664.0,-7.5,204,5666,0.00,2.10,0.00,0.000,6,0.000,0.028,2239,2496,3605
$GC,5952,-0.77,-136.3,688.1,-8.5,211,5955,0.00,2.05,0.00,0.000,4,0.000,0.030,2241,1102,3605
$GC,5983,-0.77,-136.3,691.0,-8.5,211,5987,0.00,2.17,0.00,0.000,6,0.000,0.044,2237,2505,3604
$GC,6246,-0.77,-136.3,712.0,-7.9,218,6250,0.00,2.22,0.00,0.000,4,0.000,0.057,2227,3903,3603
$GC,6305,-0.77,-136.3,716.6,-8.0,219,6309,0.12,2.10,0.00,0.000,6,0.117,0.028,2264,2497,3602
$GC,6581,-0.77,-136.3,731.1,-5.0,226,6585,0.00,2.08,0.00,0.000,4,0.000,0.030,2265,1090,3600
$GC,6606,-0.77,-136.3,732.5,-5.5,226,6610,0.00,2.20,0.00,0.000,6,0.000,0.044,2263,2502,3600
$GC,6869,-0.77,-136.3,746.5,-5.5,233,6873,0.00,2.25,0.00,0.000,4,0.000,0.057,2253,3904,3599
$GC,6917,-0.77,-136.3,749.7,-6.4,234,6921,0.00,2.10,0.00,0.000,6,0.000,0.028,2253,2496,3598
$GC,7212,-0.77,-136.3,769.4,-6.8,241,7215,0.00,2.05,0.00,0.000,4,0.000,0.030,2253,1105,3597
$GC,7248,-0.77,-136.3,772.3,-7.3,241,7252,0.00,2.20,0.00,0.000,6,0.000,0.045,2250,2509,3598
$GC,7502,-0.77,-136.3,790.8,-7.3,247,7506,0.00,2.25,0.00,0.000,4,0.000,0.058,2239,3906,3596
$GC,7541,-0.77,-136.3,793.6,-7.8,247,7545,0.00,2.10,0.00,0.000,6,0.000,0.028,2239,2497,3596
$GC,7801,-0.77,-136.3,813.7,-7.9,254,7804,0.00,2.08,0.00,0.000,4,0.000,0.030,2239,1093,3595
$GC,7836,-0.77,-136.3,816.6,-8.0,254,7841,0.00,2.20,0.00,0.000,6,0.000,0.046,2237,2500,3595
$GC,8097,-0.77,-136.3,836.8,-7.8,261,8101,0.00,2.25,0.00,0.000,4,0.000,0.058,2227,3898,3594
$GC,8156,-0.77,-136.3,841.8,-7.8,262,8161,0.12,2.10,0.00,0.000,6,0.117,0.028,2264,2488,3594
$GC,8430,-0.77,-136.3,857.4,-5.5,269,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2481,3593
$GC,8674,-0.77,-136.3,870.6,-5.4,275,8678,0.00,2.33,0.00,0.000,4,0.000,0.059,2263,3900,3593
$GC,8711,-0.77,-136.3,872.7,-5.3,275,8718,0.00,2.12,0.00,0.000,6,0.000,0.029,2263,2490,3592
$GC,8964,-0.77,-136.3,889.0,-6.8,282,8967,0.00,2.05,0.00,0.000,4,0.000,0.031,2268,1111,3592
$GC,9005,-0.77,-136.3,892.6,-8.3,282,9011,0.00,2.20,0.00,0.000,6,0.000,0.044,2268,2515,3592
$STATE,9131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9131,begin apogee
$GC,9142,-0.27,0.0,902.6,7.6,286,9259,0.43,0.00,113.35,1.312,6,0.053,0.000,2447,2514,3070
$STATE,9259,end apogee,CONTROL_FINISHED_OK
$STATE,9259,begin climb
$GC,9266,0.77,136.3,910.6,0.0,289,9408,0.82,2.35,130.70,1.223,4,0.041,0.029,2774,1091,2513
$GC,9673,0.77,136.3,873.2,18.7,298,9677,0.00,2.22,0.00,0.000,6,0.000,0.040,2767,2482,2503
$GC,9953,0.77,136.3,818.8,19.0,305,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2483,2500
$GC,10198,0.77,136.3,774.9,17.9,311,10202,0.00,2.12,0.00,0.000,4,0.000,0.031,2776,1081,2499
$GC,10370,0.77,136.3,745.7,16.1,314,10374,0.00,2.20,0.00,0.000,6,0.000,0.040,2776,2491,2499
$GC,10622,0.77,136.3,703.8,16.5,320,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2491,2497
$GC,10867,0.77,136.3,665.9,15.5,326,10870,0.00,2.22,0.00,0.000,4,0.000,0.048,2767,3899,2497
$GC,10899,0.77,136.3,660.6,17.2,326,10903,0.00,2.10,0.00,0.000,6,0.000,0.028,2776,2491,2496
$GC,11163,0.77,136.3,617.3,16.4,333,11166,0.00,2.22,0.00,0.000,4,0.000,0.048,2768,3895,2495
$GC,11232,0.77,136.3,605.8,16.3,334,11236,0.00,2.12,0.00,0.000,6,0.000,0.028,2776,2477,2495
$GC,11504,0.77,136.3,567.7,13.9,341,11507,0.00,2.10,0.00,0.000,4,0.000,0.031,2787,1072,2495
$GC,11523,0.77,136.3,564.6,13.7,341,11527,0.00,2.20,0.00,0.000,6,0.000,0.040,2780,2487,2495
$GC,11792,0.77,136.3,530.4,12.1,348,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2487,2494
$GC,12035,0.77,136.3,504.6,10.5,354,12039,0.00,2.12,0.00,0.000,4,0.000,0.030,2789,1065,2494
$GC,12060,0.78,141.2,502.1,9.8,354,12064,0.00,2.20,0.00,0.000,6,0.000,0.039,2781,2485,2494
$GC,12331,0.78,141.2,473.0,10.9,361,12332,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2485,2494
$GC,12572,0.78,141.2,447.1,10.5,367,12576,0.00,2.22,0.00,0.000,4,0.000,0.048,2780,3897,2494
$GC,12834,0.78,141.2,418.0,11.3,372,12838,0.00,2.12,0.00,0.000,6,0.000,0.028,2789,2470,2492
$GC,13092,0.84,190.0,396.7,7.6,379,13141,0.00,2.33,44.75,0.980,4,0.000,0.048,2780,3897,2294
$GC,13303,0.84,190.0,360.6,19.4,383,13307,0.00,2.15,0.00,0.000,6,0.000,0.028,2789,2485,2289
$GC,13561,0.84,190.0,312.2,19.4,390,13565,0.00,2.12,0.00,0.000,4,0.000,0.030,2799,1072,2286
$GC,13731,0.84,190.0,282.4,16.1,393,13735,0.00,2.17,0.00,0.000,6,0.000,0.038,2793,2479,2286
$GC,13990,0.84,190.0,242.8,14.7,400,13994,0.00,2.12,0.00,0.000,4,0.000,0.029,2802,1061,2285
$GC,14220,0.84,190.0,213.3,12.6,405,14224,0.00,2.20,0.00,0.000,6,0.000,0.038,2793,2487,2284
$GC,14484,0.84,190.0,183.0,12.4,421,14488,0.00,2.12,0.00,0.000,4,0.000,0.028,2802,1058,2284
$GC,14501,0.84,190.0,180.8,12.4,422,14505,0.00,2.20,0.00,0.000,6,0.000,0.037,2793,2488,2284
$GC,14765,0.84,190.0,149.3,11.7,446,14769,0.00,2.20,0.00,0.000,4,0.000,0.045,2793,3895,2284
$GC,14962,0.90,236.6,130.7,7.7,463,15012,0.00,2.10,38.62,0.734,6,0.000,0.024,2802,2460,2105
$GC,15267,0.90,236.6,87.2,16.8,491,15271,0.00,2.28,0.00,0.000,4,0.000,0.043,2793,3896,2100
$GC,15362,0.90,236.6,71.9,14.5,499,15366,0.00,2.10,0.00,0.000,6,0.000,0.023,2802,2476,2100
$GC,15634,0.90,236.6,39.8,11.2,524,15641,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2470,2100
$GC,15902,0.90,236.6,8.3,12.5,565,15911,0.00,2.08,0.00,0.000,4,0.000,0.025,2813,1069,2100
$STATE,15944,end climb,SURFACE_DEPTH_REACHED
$STATE,15944,begin surface coast
$FINISH,0.5,0.998640
$STATE,15972,end surface coast,CONTROL_FINISHED_OK
$STATE,15972,begin surface
$SM_CCo,15999,85.68,0.617,0,0,1398,410.13
$SM_GC,1.17,0.00,0.00,85.68,0.000,0.000,0.617,38,2507,1398,-7.73,0.20,410.13
$IRIDIUM_FIX,2305.10,-15757.98,081200,050531
$TT8_MAMPS,0.023777
$HUMID,2015
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.30
$XPDR_PINGS,22
$24V_AH,23.2,44.735
$10V_AH,10.7,35.097
$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,17.500,167.875,327.425,85.675,0.000,31.594,40.197,205.792,5.500,0.000,0.000,14.238,1296.719,11647.373,497.973,2165.828,952.116,33.369,1478.348,0.000,2144.406,0.000,0.544,0.000
$DEVICE_MAMPS,196.352,59.059,1311.570,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,391.832,730.695,753.473,138.121,622.155,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47780,577
$CAP_FILE_SIZE,127876,0
$CFSIZE,260165632,201670656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,1,1
$GPS,140911,141725,2314.446,-15758.127,41,1.8,41,10.1