version: 66.04
glider: 512
mission: 2
dive: 417
start: 9 16 111 4 10 6
data:
$ID,512
$MISSION,2
$DIVE,417
$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,160
$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,-41376.484
$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,63
$R_STBD_OVSHOOT,31
$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
$GPS1,034507,2317.079,-15755.572,31,1.1,31,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-78.1
$GPS2,040913,2317.116,-15755.978,16,1.2,33,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,0.123
$KALMAN_X,-394288.2,45.0,263.5,393241.5,-4328.2
$KALMAN_Y,-63654.1,4.8,9.2,200447.1,-2188.2
$MHEAD_RNG_PITCHd_Wd,52.6,92506,-16.9,-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,-0.75,-155.7,0.0,0.0,0,90,0.00,0.00,-67.95,0.000,2,0.000,0.000,39,2462,3202
$GC,96,-0.75,-155.7,3.8,-5.8,9,120,8.35,2.22,-8.60,0.000,4,0.196,0.049,2244,3899,3707
$GC,207,-0.75,-155.7,41.6,-21.6,23,211,0.00,2.03,0.00,0.000,6,0.000,0.021,2244,2512,3708
$GC,477,-0.75,-155.7,110.3,-21.3,48,480,0.00,2.08,0.00,0.000,4,0.000,0.025,2244,1083,3709
$GC,527,-0.75,-155.7,119.6,-15.2,52,536,0.00,2.20,0.00,0.000,6,0.000,0.040,2236,2489,3709
$GC,793,-0.75,-155.7,165.2,-17.0,77,797,0.12,2.20,0.00,0.000,4,0.150,0.044,2260,3913,3709
$GC,840,-0.75,-155.7,172.4,-12.7,81,844,0.00,2.08,0.00,0.000,6,0.000,0.021,2260,2477,3709
$GC,1137,-0.75,-155.7,213.3,-14.7,103,1140,0.00,1.98,0.00,0.000,4,0.000,0.023,2260,1095,3709
$GC,1162,-0.75,-155.7,217.1,-14.5,103,1166,0.00,2.15,0.00,0.000,6,0.000,0.038,2250,2508,3709
$GC,1431,-0.75,-155.7,255.8,-14.8,110,1435,0.00,2.15,0.00,0.000,4,0.000,0.047,2239,3898,3709
$GC,1506,-0.75,-155.7,265.8,-10.8,111,1510,0.00,2.03,0.00,0.000,6,0.000,0.021,2239,2485,3709
$GC,1772,-0.75,-155.7,302.1,-14.0,118,1776,0.00,1.98,0.00,0.000,4,0.000,0.025,2239,1106,3708
$GC,1802,-0.75,-155.7,306.5,-13.2,118,1807,0.10,2.12,0.00,0.000,6,0.115,0.040,2266,2502,3708
$GC,2065,-0.75,-155.7,329.8,-9.0,125,2069,0.00,2.17,0.00,0.000,4,0.000,0.048,2257,3905,3706
$GC,2135,-0.75,-155.7,335.7,-7.4,126,2138,0.00,2.05,0.00,0.000,6,0.000,0.021,2257,2486,3706
$GC,2405,-0.75,-155.7,361.4,-9.8,133,2409,0.00,1.98,0.00,0.000,4,0.000,0.025,2257,1110,3704
$GC,2464,-0.75,-155.7,366.7,-8.2,134,2468,0.00,2.12,0.00,0.000,6,0.000,0.038,2250,2512,3703
$GC,2745,-0.75,-155.7,393.7,-9.7,141,2749,0.00,2.15,0.00,0.000,4,0.000,0.050,2239,3895,3701
$GC,2810,-0.75,-155.7,399.9,-8.6,142,2814,0.00,2.03,0.00,0.000,6,0.000,0.022,2239,2491,3701
$GC,3085,-0.75,-155.7,427.7,-10.1,149,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2484,3699
$GC,3329,-0.75,-155.7,452.3,-10.1,155,3333,0.00,2.03,-0.08,0.000,4,0.000,0.039,2240,1114,3721
$GC,3359,-0.75,-155.7,455.3,-10.0,155,3364,0.10,2.12,0.00,0.000,6,0.116,0.040,2267,2497,3721
$GC,3618,-0.75,-155.7,473.9,-7.2,162,3621,0.00,2.22,0.00,0.000,4,0.000,0.051,2258,3909,3719
$GC,3670,-0.75,-155.7,477.7,-7.3,163,3674,0.00,2.08,0.00,0.000,6,0.000,0.025,2258,2486,3719
$GC,3957,-0.75,-155.7,499.9,-7.8,170,3960,0.00,2.00,0.00,0.000,4,0.000,0.026,2258,1106,3716
$GC,3993,-0.75,-155.7,503.0,-7.9,170,3997,0.00,2.15,0.00,0.000,6,0.000,0.041,2250,2504,3716
$GC,4252,-0.75,-155.7,524.5,-8.5,177,4255,0.00,2.20,0.00,0.000,4,0.000,0.052,2240,3900,3714
$GC,4300,-0.75,-155.7,528.4,-7.8,178,4304,0.00,2.05,0.00,0.000,6,0.000,0.025,2240,2497,3713
$GC,4593,-0.75,-155.7,554.3,-9.0,185,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2489,3711
$GC,4837,-0.75,-155.7,575.9,-8.8,191,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2489,3709
$GC,5079,-0.75,-155.7,597.4,-8.8,197,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2489,3707
$GC,5323,-0.75,-155.7,618.3,-8.5,203,5327,0.00,2.28,0.00,0.000,4,0.000,0.056,2236,3902,3705
$GC,5354,-0.75,-155.7,620.9,-8.6,203,5358,0.10,2.08,0.00,0.000,6,0.112,0.027,2267,2500,3704
$GC,5608,-0.75,-155.7,636.0,-5.8,209,5612,0.00,2.05,0.00,0.000,4,0.000,0.029,2268,1102,3703
$GC,5633,-0.75,-155.7,637.6,-5.7,209,5637,0.00,2.17,0.00,0.000,6,0.000,0.042,2264,2507,3703
$GC,5904,-0.75,-155.7,653.2,-5.8,216,5907,0.00,2.22,0.00,0.000,4,0.000,0.057,2258,3900,3701
$GC,5957,-0.75,-155.7,656.5,-6.0,217,5961,0.00,2.08,0.00,0.000,6,0.000,0.028,2258,2488,3700
$GC,6244,-0.75,-155.7,677.6,-8.1,224,6247,0.00,2.03,0.00,0.000,4,0.000,0.030,2262,1110,3698
$GC,6285,-0.75,-155.7,681.3,-8.4,224,6291,0.00,2.15,0.00,0.000,6,0.000,0.041,2262,2506,3698
$GC,6540,-0.75,-155.7,702.2,-8.4,231,6543,0.00,2.05,0.00,0.000,4,0.000,0.029,2269,1102,3696
$GC,6620,-0.75,-155.7,709.9,-9.2,232,6625,0.00,2.17,0.00,0.000,6,0.000,0.041,2269,2506,3696
$GC,6873,-0.75,-155.7,734.6,-10.2,238,6876,0.00,2.22,0.00,0.000,4,0.000,0.057,2270,3901,3694
$GC,6948,-0.75,-155.7,742.7,-10.9,239,6952,0.00,2.08,0.00,0.000,6,0.000,0.028,2273,2502,3694
$GC,7215,-0.75,-155.7,768.9,-9.9,246,7219,0.00,2.05,0.00,0.000,4,0.000,0.031,2280,1104,3692
$GC,7258,-0.75,-155.7,773.5,-9.9,246,7264,0.00,2.17,0.00,0.000,6,0.000,0.042,2280,2501,3692
$GC,7512,-0.75,-155.7,797.0,-9.4,253,7516,0.00,2.25,0.00,0.000,4,0.000,0.058,2280,3903,3691
$GC,7588,-0.75,-155.7,804.4,-9.2,254,7592,0.00,2.08,0.00,0.000,6,0.000,0.028,2282,2498,3691
$GC,7848,-0.75,-155.7,828.6,-9.5,261,7852,0.00,2.05,0.00,0.000,4,0.000,0.031,2287,1102,3690
$GC,7867,-0.75,-155.7,830.6,-9.7,261,7870,0.00,2.17,0.00,0.000,6,0.000,0.043,2287,2501,3690
$GC,8143,-0.75,-155.7,855.1,-9.1,268,8147,0.00,2.25,0.00,0.000,4,0.000,0.058,2287,3897,3689
$GC,8229,-0.75,-155.7,863.1,-9.3,269,8236,0.00,2.10,0.00,0.000,6,0.000,0.028,2287,2483,3688
$GC,8483,-0.75,-155.7,886.5,-9.5,276,8487,0.00,2.30,0.00,0.000,4,0.000,0.058,2288,3900,3688
$GC,8513,-0.75,-155.7,889.6,-9.8,276,8517,0.00,2.08,0.00,0.000,6,0.000,0.029,2288,2497,3687
$STATE,8644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8644,begin apogee
$GC,8656,-0.27,0.0,902.0,9.0,280,8792,0.38,0.00,133.43,1.301,6,0.057,0.000,2439,2490,3070
$STATE,8793,end apogee,CONTROL_FINISHED_OK
$STATE,8793,begin climb
$GC,8798,0.75,155.7,910.7,0.0,283,8972,0.85,2.30,149.43,1.206,4,0.040,0.030,2772,1105,2434
$GC,9131,0.75,155.7,882.4,21.8,290,9136,0.00,2.22,0.00,0.000,6,0.000,0.041,2768,2484,2426
$GC,9389,0.75,155.7,826.3,22.0,297,9393,0.00,2.12,0.00,0.000,4,0.000,0.029,2776,1088,2422
$GC,9426,0.75,155.7,818.5,20.4,297,9430,0.00,2.20,0.00,0.000,6,0.000,0.039,2768,2491,2423
$GC,9678,0.75,155.7,764.5,21.4,303,9681,0.00,2.22,0.00,0.000,4,0.000,0.049,2767,3887,2421
$GC,9726,0.75,155.7,754.0,23.8,304,9729,0.00,2.10,0.00,0.000,6,0.000,0.027,2776,2491,2420
$GC,10018,0.75,155.7,691.1,21.4,311,10022,0.00,2.12,0.00,0.000,4,0.000,0.031,2786,1067,2419
$GC,10105,0.75,155.7,673.6,20.3,312,10111,0.00,2.20,0.00,0.000,6,0.000,0.040,2781,2484,2419
$GC,10358,0.75,155.7,622.3,20.3,319,10362,0.00,2.22,0.00,0.000,4,0.000,0.049,2780,3899,2418
$GC,10376,0.75,155.7,618.1,21.1,319,10381,0.15,2.12,0.00,0.000,6,0.239,0.027,2759,2474,2417
$GC,10647,0.75,155.7,566.8,18.6,326,10648,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2469,2417
$GC,10888,0.75,155.7,525.3,17.1,332,10893,0.00,2.28,0.00,0.000,4,0.000,0.050,2755,3900,2417
$GC,11072,0.75,155.7,494.3,16.7,336,11076,0.00,2.12,0.00,0.000,6,0.000,0.028,2763,2479,2415
$GC,11365,0.75,155.7,455.5,12.5,343,11366,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2475,2415
$GC,11608,0.75,155.7,424.7,12.4,349,11611,0.00,2.10,0.00,0.000,4,0.000,0.032,2774,1076,2415
$GC,11750,0.75,155.7,405.8,13.3,352,11754,0.00,2.17,0.00,0.000,6,0.000,0.041,2768,2480,2415
$GC,12031,0.75,155.7,370.3,12.1,359,12034,0.00,2.22,0.00,0.000,4,0.000,0.050,2767,3887,2415
$GC,12151,0.75,155.7,352.7,15.0,361,12155,0.00,2.10,0.00,0.000,6,0.000,0.028,2777,2484,2414
$GC,12415,0.76,156.8,325.1,10.0,368,12418,0.00,2.10,0.00,0.000,4,0.000,0.030,2786,1068,2414
$GC,12479,0.76,156.8,318.5,11.1,369,12483,0.00,2.17,0.00,0.000,6,0.000,0.039,2781,2480,2414
$GC,12751,0.80,191.1,294.1,8.5,376,12785,0.00,2.28,28.67,0.878,4,0.000,0.048,2780,3892,2289
$GC,12840,0.80,191.1,283.3,15.2,378,12844,0.00,2.15,0.00,0.000,6,0.000,0.026,2789,2466,2287
$GC,13132,0.80,191.1,242.3,13.9,385,13136,0.00,2.30,0.00,0.000,4,0.000,0.045,2780,3905,2284
$GC,13270,0.80,191.1,221.0,14.7,388,13273,0.00,2.12,0.00,0.000,6,0.000,0.027,2789,2483,2284
$GC,13530,0.80,191.1,188.2,11.6,401,13534,0.00,2.10,0.00,0.000,4,0.000,0.028,2800,1060,2283
$GC,13583,0.80,191.1,181.1,12.9,405,13592,0.00,2.22,0.00,0.000,6,0.000,0.038,2793,2481,2284
$GC,13849,0.80,191.1,150.0,10.8,430,13853,0.00,2.10,0.00,0.000,4,0.000,0.028,2801,1062,2284
$GC,13897,0.80,191.1,144.5,11.4,434,13901,0.00,2.17,0.00,0.000,6,0.000,0.037,2793,2481,2283
$GC,14170,0.80,191.1,118.1,10.0,459,14173,0.00,2.22,0.00,0.000,4,0.000,0.047,2793,3902,2284
$GC,14409,0.89,267.8,98.6,6.7,480,14484,0.00,2.10,64.10,0.696,6,0.000,0.024,2802,2465,1977
$GC,14741,0.89,267.8,48.0,16.3,510,14745,0.00,2.05,0.00,0.000,4,0.000,0.026,2813,1080,1972
$GC,14857,0.89,267.8,29.4,16.6,520,14865,0.00,2.17,0.00,0.000,6,0.000,0.034,2809,2483,1970
$STATE,15002,end climb,SURFACE_DEPTH_REACHED
$STATE,15003,begin surface coast
$FINISH,0.4,1.022957
$STATE,15030,end surface coast,CONTROL_FINISHED_OK
$STATE,15030,begin surface
$SM_CCo,15055,68.22,0.604,0,0,1397,410.13
$SM_GC,1.31,0.00,0.00,68.22,0.000,0.000,0.604,40,2483,1397,-7.72,-0.48,410.13
$IRIDIUM_FIX,2307.44,-15757.98,101200,040456
$TT8_MAMPS,0.023777
$HUMID,2053
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.10
$XPDR_PINGS,21
$24V_AH,23.2,46.085
$10V_AH,10.7,36.153
$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,17.325,166.750,375.625,68.225,0.000,81.000,99.921,924.383,5.250,0.000,0.000,33.920,1236.321,10925.578,514.939,2147.390,1741.510,33.377,1487.359,0.000,2101.532,0.000,0.544,0.000
$DEVICE_MAMPS,239.304,58.292,1300.832,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,373.431,714.218,738.227,128.265,579.769,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44789,551
$CAP_FILE_SIZE,135925,0
$CFSIZE,260165632,201080832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,2,1
$GPS,160911,082406,2317.212,-15755.924,59,1.1,65,10.1