version: 66.04
glider: 512
mission: 2
dive: 414
start: 9 15 111 14 2 56
data:
$ID,512
$MISSION,2
$DIVE,414
$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,-41307.25
$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,61
$R_STBD_OVSHOOT,33
$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
$GPS1,135336,2316.056,-15756.642,41,0.9,46,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-80.7
$GPS2,140202,2316.063,-15756.752,15,2.0,15,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.186,0.170
$KALMAN_X,-384370.1,166.5,157.5,381987.4,-3920.2
$KALMAN_Y,-59708.9,15.9,583.0,193966.5,-2863.1
$MHEAD_RNG_PITCHd_Wd,37.5,93106,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.77,-136.3,0.0,0.0,0,93,0.00,0.00,-67.85,0.000,2,0.000,0.000,38,2509,3187
$GC,99,-0.77,-136.3,3.5,-4.9,9,124,8.38,2.17,-7.60,0.000,4,0.197,0.051,2242,3893,3629
$GC,179,-0.77,-136.3,35.2,-25.5,20,183,0.00,2.05,0.00,0.000,6,0.000,0.022,2242,2506,3630
$GC,451,-0.77,-136.3,104.6,-24.6,45,454,0.00,2.08,0.00,0.000,4,0.000,0.026,2247,1086,3630
$GC,488,-0.77,-136.3,113.0,-20.1,48,492,0.00,2.17,0.00,0.000,6,0.000,0.038,2239,2501,3631
$GC,752,-0.77,-136.3,164.6,-17.9,72,756,0.00,2.17,0.00,0.000,4,0.000,0.046,2228,3906,3631
$GC,814,-0.77,-136.3,175.7,-15.9,77,822,0.08,2.10,0.00,0.000,6,0.133,0.021,2253,2488,3631
$GC,1107,-0.77,-136.3,218.9,-14.6,96,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2480,3632
$GC,1348,-0.77,-136.3,252.6,-13.6,102,1352,0.00,1.98,0.00,0.000,4,0.000,0.024,2254,1101,3632
$GC,1366,-0.77,-136.3,255.4,-13.8,102,1370,0.00,2.15,0.00,0.000,6,0.000,0.038,2250,2507,3633
$GC,1641,-0.77,-136.3,293.5,-14.2,109,1645,0.00,2.15,0.00,0.000,4,0.000,0.048,2238,3896,3632
$GC,1706,-0.77,-136.3,302.3,-11.8,110,1710,0.00,2.03,0.00,0.000,6,0.000,0.021,2239,2482,3632
$GC,1980,-0.77,-136.3,336.0,-12.0,117,1984,0.00,2.00,0.00,0.000,4,0.000,0.025,2240,1096,3631
$GC,2022,-0.77,-136.3,340.4,-9.4,117,2028,0.00,2.15,0.00,0.000,6,0.000,0.039,2237,2502,3631
$GC,2274,-0.77,-136.3,368.9,-12.1,124,2277,0.00,2.17,0.00,0.000,4,0.000,0.048,2225,3904,3629
$GC,2355,-0.77,-136.3,378.0,-10.6,125,2360,0.12,2.05,0.00,0.000,6,0.114,0.022,2263,2496,3629
$GC,2609,-0.77,-136.3,397.9,-7.7,131,2613,0.00,2.03,0.00,0.000,4,0.000,0.025,2265,1094,3628
$GC,2645,-0.77,-136.3,400.8,-6.9,131,2648,0.00,2.15,0.00,0.000,6,0.000,0.038,2263,2502,3628
$GC,2904,-0.77,-136.3,421.2,-8.0,138,2908,0.00,2.17,0.00,0.000,4,0.000,0.050,2252,3898,3625
$GC,2957,-0.77,-136.3,425.4,-7.6,139,2960,0.00,2.03,0.00,0.000,6,0.000,0.023,2253,2496,3624
$GC,3244,-0.77,-136.3,451.0,-9.0,146,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2489,3622
$GC,3487,-0.77,-136.3,472.8,-9.1,152,3491,0.00,2.22,0.00,0.000,4,0.000,0.051,2243,3900,3621
$GC,3529,-0.77,-136.3,476.8,-9.7,152,3535,0.00,2.05,0.00,0.000,6,0.000,0.024,2243,2492,3620
$GC,3782,-0.77,-136.3,499.5,-9.0,159,3785,0.00,2.03,0.00,0.000,4,0.000,0.027,2244,1100,3619
$GC,3806,-0.77,-136.3,501.8,-9.1,159,3810,0.00,2.17,0.00,0.000,6,0.000,0.041,2237,2510,3618
$GC,4071,-0.77,-136.3,525.5,-9.0,166,4075,0.00,2.17,0.00,0.000,4,0.000,0.052,2227,3895,3616
$GC,4131,-0.77,-136.3,530.8,-8.8,167,4135,0.12,2.03,0.00,0.000,6,0.111,0.025,2265,2499,3616
$GC,4412,-0.77,-136.3,549.2,-6.6,174,4416,0.00,2.03,0.00,0.000,4,0.000,0.028,2266,1106,3614
$GC,4456,-0.77,-136.3,552.2,-7.1,174,4462,0.00,2.15,0.00,0.000,6,0.000,0.041,2263,2500,3614
$GC,4711,-0.77,-136.3,570.8,-7.5,181,4714,0.00,2.22,0.00,0.000,4,0.000,0.054,2252,3905,3612
$GC,4775,-0.77,-136.3,576.4,-8.4,182,4778,0.00,2.08,0.00,0.000,6,0.000,0.026,2252,2493,3611
$GC,5050,-0.77,-136.3,599.9,-8.6,189,5054,0.00,2.05,0.00,0.000,4,0.000,0.028,2252,1088,3609
$GC,5086,-0.77,-136.3,602.9,-8.7,189,5091,0.00,2.20,0.00,0.000,6,0.000,0.043,2250,2501,3609
$GC,5339,-0.77,-136.3,623.2,-8.1,195,5343,0.00,2.22,0.00,0.000,4,0.000,0.054,2239,3901,3607
$GC,5392,-0.77,-136.3,627.5,-7.7,196,5396,0.00,2.05,0.00,0.000,6,0.000,0.027,2238,2502,3607
$GC,5678,-0.77,-136.3,651.7,-8.4,203,5682,0.00,2.08,0.00,0.000,4,0.000,0.030,2240,1093,3605
$GC,5721,-0.77,-136.3,655.2,-7.7,203,5727,0.00,2.20,0.00,0.000,6,0.000,0.044,2236,2501,3605
$GC,5974,-0.77,-136.3,676.4,-8.3,210,5978,0.00,2.22,0.00,0.000,4,0.000,0.055,2225,3902,3603
$GC,6023,-0.77,-136.3,680.5,-8.2,211,6028,0.12,2.08,0.00,0.000,6,0.117,0.028,2263,2498,3603
$GC,6310,-0.77,-136.3,697.0,-5.6,218,6314,0.00,2.05,0.00,0.000,4,0.000,0.030,2263,1103,3602
$GC,6329,-0.77,-136.3,698.3,-5.9,218,6333,0.00,2.17,0.00,0.000,6,0.000,0.043,2263,2502,3601
$GC,6604,-0.77,-136.3,713.8,-5.8,225,6607,0.00,2.22,0.00,0.000,4,0.000,0.056,2253,3895,3600
$GC,6663,-0.77,-136.3,717.6,-6.4,226,6667,0.00,2.08,0.00,0.000,6,0.000,0.028,2253,2493,3599
$GC,6943,-0.77,-136.3,737.7,-7.4,233,6947,0.00,2.05,0.00,0.000,4,0.000,0.030,2253,1103,3598
$GC,6985,-0.77,-136.3,741.1,-7.8,233,6991,0.00,2.20,0.00,0.000,6,0.000,0.045,2250,2506,3599
$GC,7238,-0.77,-136.3,760.4,-7.5,240,7242,0.00,2.22,0.00,0.000,4,0.000,0.058,2239,3897,3597
$GC,7302,-0.77,-136.3,765.3,-7.5,241,7306,0.00,2.10,0.00,0.000,6,0.000,0.028,2239,2494,3597
$GC,7577,-0.77,-136.3,786.6,-7.5,248,7581,0.00,2.08,0.00,0.000,4,0.000,0.031,2240,1096,3595
$GC,7625,-0.77,-136.3,790.1,-7.3,249,7629,0.00,2.20,0.00,0.000,6,0.000,0.046,2237,2499,3595
$GC,7914,-0.77,-136.3,811.6,-7.6,256,7918,0.00,2.25,0.00,0.000,4,0.000,0.059,2229,3897,3594
$GC,7972,-0.77,-136.3,816.2,-8.1,257,7976,0.10,2.08,0.00,0.000,6,0.122,0.029,2259,2499,3594
$GC,8241,-0.77,-136.3,832.4,-6.0,264,8245,0.00,2.08,0.00,0.000,4,0.000,0.031,2260,1103,3593
$GC,8272,-0.77,-136.3,834.2,-6.8,264,8277,0.00,2.20,0.00,0.000,6,0.000,0.045,2259,2504,3593
$GC,8532,-0.77,-136.3,850.0,-6.1,271,8535,0.00,2.25,0.00,0.000,4,0.000,0.059,2250,3899,3592
$GC,8596,-0.77,-136.3,854.1,-7.0,272,8600,0.00,2.10,0.00,0.000,6,0.000,0.030,2250,2493,3592
$GC,8873,-0.77,-136.3,871.8,-6.4,279,8877,0.00,2.08,0.00,0.000,4,0.000,0.031,2251,1098,3591
$GC,8904,-0.77,-136.3,873.9,-7.0,279,8908,0.00,2.20,0.00,0.000,6,0.000,0.046,2249,2502,3591
$GC,9169,-0.77,-136.3,889.9,-6.0,286,9172,0.00,2.25,0.00,0.000,4,0.000,0.058,2240,3900,3589
$GC,9222,-0.77,-136.3,893.3,-6.5,287,9225,0.00,2.12,0.00,0.000,6,0.000,0.030,2240,2489,3589
$STATE,9340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9340,begin apogee
$GC,9352,-0.27,0.0,901.2,6.4,290,9468,0.55,0.00,113.25,1.314,6,0.101,0.000,2423,2481,3070
$STATE,9469,end apogee,CONTROL_FINISHED_OK
$STATE,9469,begin climb
$GC,9474,0.77,136.3,905.7,0.0,293,9628,0.90,2.30,131.80,1.221,4,0.041,0.029,2774,1079,2515
$GC,9884,0.77,136.3,865.0,19.1,302,9888,0.00,2.25,0.00,0.000,6,0.000,0.039,2768,2491,2504
$GC,10155,0.77,136.3,814.9,18.5,309,10158,0.00,2.15,0.00,0.000,4,0.000,0.030,2777,1078,2501
$GC,10225,0.77,136.3,802.1,17.9,310,10229,0.00,2.20,0.00,0.000,6,0.000,0.041,2776,2485,2501
$GC,10494,0.77,136.3,755.2,17.1,317,10498,0.00,2.12,0.00,0.000,4,0.000,0.031,2785,1077,2500
$GC,10716,0.77,136.3,718.7,16.1,321,10723,0.00,2.20,0.00,0.000,6,0.000,0.040,2781,2488,2500
$GC,10969,0.77,136.3,677.3,16.6,328,10972,0.00,2.22,0.00,0.000,4,0.000,0.049,2780,3891,2499
$GC,11230,0.77,136.3,629.0,17.0,333,11234,0.00,2.12,0.00,0.000,6,0.000,0.028,2789,2476,2497
$GC,11489,0.77,136.3,589.0,15.3,340,11492,0.00,2.10,0.00,0.000,4,0.000,0.031,2799,1063,2496
$GC,11558,0.77,136.3,578.4,14.3,341,11562,0.15,2.20,0.00,0.000,6,0.214,0.040,2762,2487,2497
$GC,11828,0.77,136.3,541.9,13.3,348,11832,0.00,2.22,0.00,0.000,4,0.000,0.048,2755,3898,2495
$GC,11842,0.77,136.3,539.8,13.0,348,11846,0.00,2.12,0.00,0.000,6,0.000,0.027,2764,2477,2495
$GC,12122,0.77,136.3,508.7,10.6,355,12126,0.00,2.08,0.00,0.000,4,0.000,0.031,2774,1074,2495
$GC,12260,0.79,147.7,495.5,9.4,358,12275,0.00,2.20,8.25,0.930,6,0.000,0.041,2768,2488,2467
$GC,12551,0.79,147.7,461.7,11.8,365,12555,0.00,2.20,0.00,0.000,4,0.000,0.049,2767,3895,2466
$GC,12600,0.79,147.7,455.4,13.1,366,12604,0.00,2.10,0.00,0.000,6,0.000,0.027,2776,2475,2465
$GC,12892,0.79,147.7,420.3,11.7,373,12896,0.00,2.25,0.00,0.000,4,0.000,0.048,2768,3894,2465
$GC,13153,0.79,147.7,388.6,10.5,378,13159,0.00,2.10,0.00,0.000,6,0.000,0.028,2777,2480,2464
$GC,13406,0.85,198.6,368.8,7.5,385,13454,0.00,0.00,45.92,0.963,6,0.000,0.000,2777,2475,2260
$GC,13690,0.85,198.6,324.4,18.4,392,13694,0.00,2.28,0.00,0.000,4,0.000,0.048,2768,3889,2253
$GC,13849,0.85,198.6,291.0,18.8,395,13852,0.00,2.12,0.00,0.000,6,0.000,0.027,2776,2492,2252
$GC,14112,0.85,198.6,249.1,14.7,402,14113,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2487,2251
$GC,14357,0.85,198.6,215.6,13.4,408,14360,0.00,2.15,0.00,0.000,4,0.000,0.030,2787,1055,2251
$GC,14556,0.85,198.6,189.2,12.4,416,14564,0.00,2.22,0.00,0.000,6,0.000,0.038,2781,2475,2249
$GC,14822,0.85,198.6,153.7,13.1,441,14825,0.00,2.25,0.00,0.000,4,0.000,0.047,2780,3903,2249
$GC,14896,0.85,198.6,144.1,11.6,447,14903,0.00,2.15,0.00,0.000,6,0.000,0.025,2789,2475,2250
$GC,15160,0.85,198.6,117.6,10.5,472,15164,0.00,2.05,0.00,0.000,4,0.000,0.028,2799,1074,2250
$GC,15393,0.88,226.3,96.8,8.6,492,15426,0.00,2.17,23.15,0.680,6,0.000,0.035,2793,2482,2146
$GC,15683,0.94,271.7,68.1,7.8,519,15726,0.00,2.25,38.85,0.665,4,0.000,0.045,2793,3904,1961
$GC,15928,0.94,271.7,31.1,17.3,540,15933,0.00,2.12,0.00,0.000,6,0.000,0.023,2801,2477,1959
$STATE,16093,end climb,SURFACE_DEPTH_REACHED
$STATE,16093,begin surface coast
$FINISH,0.4,1.021470
$STATE,16111,end surface coast,CONTROL_FINISHED_OK
$STATE,16111,begin surface
$SM_CCo,16136,68.45,0.611,0,0,1398,410.13
$SM_GC,1.38,0.00,0.00,68.45,0.000,0.000,0.611,38,2467,1398,-7.73,-0.93,410.13
$IRIDIUM_FIX,2307.44,-15754.93,091200,090948
$TT8_MAMPS,0.023777
$HUMID,2060
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.20
$XPDR_PINGS,17
$24V_AH,23.2,45.599
$10V_AH,10.7,35.795
$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,17.800,179.950,361.225,68.450,0.000,28.391,45.593,229.512,4.250,0.000,0.000,15.633,1314.985,11528.553,517.982,2336.085,1007.831,33.375,1580.362,0.000,2314.273,0.000,0.544,0.000
$DEVICE_MAMPS,213.993,59.059,1313.871,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,387.892,714.943,742.579,131.278,583.911,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47596,572
$CAP_FILE_SIZE,134584,0
$CFSIZE,260165632,201281536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,2,0
$GPS,150911,183437,2316.572,-15756.659,46,1.1,46,10.1