version: 66.04
glider: 512
mission: 2
dive: 418
start: 9 16 111 8 59 51
data:
$ID,512
$MISSION,2
$DIVE,418
$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,-41393.172
$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,62
$R_STBD_OVSHOOT,34
$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
$GPS1,082406,2317.212,-15755.924,59,1.1,65,10.1
$_CALLS,5
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.4
$GPS2,085856,2317.262,-15756.305,16,1.2,16,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.267,0.007
$KALMAN_X,-398369.1,-140.0,-301.8,397522.7,-3551.4
$KALMAN_Y,-65069.2,-209.5,-294.4,202651.3,-590.1
$MHEAD_RNG_PITCHd_Wd,78.3,93123,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.75,-155.7,0.0,0.0,0,89,0.00,0.00,-67.88,0.000,2,0.000,0.000,40,2483,3206
$GC,95,-0.75,-155.7,3.9,-6.8,9,120,8.35,0.00,-8.50,0.000,6,0.197,0.000,2252,2483,3706
$GC,386,-0.75,-155.7,88.8,-22.0,39,389,0.00,2.00,0.00,0.000,4,0.000,0.024,2258,1105,3707
$GC,423,-0.75,-155.7,98.2,-21.2,42,427,0.00,2.12,0.00,0.000,6,0.000,0.039,2250,2489,3707
$GC,695,-0.75,-155.7,149.1,-19.0,67,699,0.00,2.17,0.00,0.000,4,0.000,0.048,2238,3900,3707
$GC,747,-0.75,-155.7,159.2,-16.6,71,754,0.08,2.08,0.00,0.000,6,0.120,0.020,2265,2491,3707
$GC,1012,-0.75,-155.7,196.4,-13.5,96,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2483,3707
$GC,1286,-0.75,-155.7,232.3,-12.8,105,1290,0.00,2.20,0.00,0.000,4,0.000,0.047,2256,3904,3707
$GC,1335,-0.75,-155.7,237.9,-10.9,106,1338,0.00,2.03,0.00,0.000,6,0.000,0.021,2256,2499,3707
$GC,1627,-0.75,-155.7,274.3,-12.8,113,1630,0.00,2.20,0.00,0.000,4,0.000,0.048,2245,3902,3706
$GC,1646,-0.75,-155.7,276.9,-12.6,113,1650,0.00,2.03,0.00,0.000,6,0.000,0.021,2245,2499,3706
$GC,1921,-0.75,-155.7,311.6,-12.7,120,1925,0.00,2.20,0.00,0.000,4,0.000,0.048,2234,3903,3704
$GC,1951,-0.75,-155.7,315.5,-12.2,120,1956,0.12,2.03,0.00,0.000,6,0.112,0.021,2272,2498,3704
$GC,2214,-0.75,-155.7,338.4,-8.7,127,2218,0.00,2.00,0.00,0.000,4,0.000,0.025,2273,1103,3703
$GC,2234,-0.75,-155.7,340.1,-8.7,127,2238,0.00,2.12,0.00,0.000,6,0.000,0.038,2264,2510,3703
$GC,2511,-0.75,-155.7,363.7,-8.7,134,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2510,3701
$GC,2753,-0.75,-155.7,384.1,-8.4,140,2757,0.00,2.15,0.00,0.000,4,0.000,0.049,2254,3898,3699
$GC,2802,-0.75,-155.7,388.4,-8.6,141,2806,0.00,2.00,0.00,0.000,6,0.000,0.022,2254,2498,3698
$GC,3096,-0.75,-155.7,416.6,-9.7,148,3100,0.00,2.03,-0.08,0.000,4,0.000,0.038,2253,1115,3720
$GC,3137,-0.75,-155.7,420.6,-8.8,148,3143,0.00,2.12,0.00,0.000,6,0.000,0.039,2250,2502,3720
$GC,3389,-0.75,-155.7,445.4,-10.1,155,3393,0.00,2.17,0.00,0.000,4,0.000,0.050,2239,3896,3718
$GC,3465,-0.75,-155.7,452.0,-8.1,156,3469,0.00,2.03,0.00,0.000,6,0.000,0.023,2238,2498,3717
$GC,3729,-0.75,-155.7,475.6,-8.9,163,3733,0.00,2.03,0.00,0.000,4,0.000,0.027,2241,1107,3715
$GC,3765,-0.75,-155.7,478.7,-7.7,163,3770,0.10,2.15,0.00,0.000,6,0.116,0.040,2267,2509,3715
$GC,4019,-0.75,-155.7,492.4,-5.3,169,4023,0.00,2.20,0.00,0.000,4,0.000,0.052,2258,3904,3713
$GC,4077,-0.75,-155.7,495.8,-5.5,170,4081,0.00,2.05,0.00,0.000,6,0.000,0.025,2259,2490,3712
$GC,4358,-0.75,-155.7,515.1,-7.3,177,4362,0.00,2.00,0.00,0.000,4,0.000,0.027,2258,1110,3710
$GC,4382,-0.75,-155.7,517.2,-7.9,177,4386,0.00,2.12,0.00,0.000,6,0.000,0.041,2250,2500,3709
$GC,4653,-0.75,-155.7,540.9,-9.1,184,4657,0.00,2.20,0.00,0.000,4,0.000,0.053,2240,3902,3707
$GC,4701,-0.75,-155.7,545.4,-9.0,185,4705,0.00,2.05,0.00,0.000,6,0.000,0.025,2240,2506,3706
$GC,4992,-0.75,-155.7,575.2,-10.1,192,4996,0.00,2.25,0.00,0.000,4,0.000,0.055,2236,3899,3704
$GC,5023,-0.75,-155.7,578.3,-11.1,192,5027,0.10,2.05,0.00,0.000,6,0.113,0.025,2267,2495,3704
$GC,5281,-0.75,-155.7,598.3,-7.7,199,5284,0.00,2.03,0.00,0.000,4,0.000,0.028,2269,1104,3702
$GC,5305,-0.75,-155.7,600.4,-8.1,199,5309,0.00,2.15,0.00,0.000,6,0.000,0.041,2264,2510,3702
$GC,5577,-0.75,-155.7,621.0,-7.7,206,5580,0.00,2.20,0.00,0.000,4,0.000,0.054,2255,3902,3700
$GC,5625,-0.75,-155.7,624.7,-7.5,207,5628,0.00,2.08,0.00,0.000,6,0.000,0.025,2254,2484,3699
$GC,5917,-0.75,-155.7,647.0,-7.5,214,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2477,3697
$GC,6160,-0.75,-155.7,663.4,-6.7,220,6164,0.00,2.30,0.00,0.000,4,0.000,0.055,2245,3903,3695
$GC,6205,-0.75,-155.7,666.3,-6.8,221,6209,0.00,2.05,0.00,0.000,6,0.000,0.026,2245,2505,3695
$GC,6499,-0.75,-155.7,687.7,-7.2,228,6502,0.00,2.05,0.00,0.000,4,0.000,0.028,2246,1107,3694
$GC,6523,-0.75,-155.7,689.7,-7.4,228,6527,0.00,2.15,0.00,0.000,6,0.000,0.043,2237,2497,3693
$GC,6793,-0.75,-155.7,711.9,-8.5,235,6798,0.10,2.22,0.00,0.000,4,0.137,0.055,2258,3898,3692
$GC,6845,-0.75,-155.7,715.8,-6.6,236,6849,0.00,2.08,0.00,0.000,6,0.000,0.028,2258,2499,3691
$GC,7131,-0.75,-155.7,738.9,-8.8,243,7135,0.00,2.05,0.00,0.000,4,0.000,0.029,2263,1110,3690
$GC,7271,-0.75,-155.7,751.9,-10.7,246,7275,0.00,2.17,0.00,0.000,6,0.000,0.042,2263,2514,3689
$GC,7558,-0.75,-155.7,776.5,-8.5,253,7562,0.00,2.08,0.00,0.000,4,0.000,0.028,2272,1110,3688
$GC,7638,-0.75,-155.7,783.5,-9.2,254,7642,0.00,2.15,0.00,0.000,6,0.000,0.042,2272,2501,3688
$GC,7899,-0.75,-155.7,803.9,-7.9,261,7902,0.00,2.25,0.00,0.000,4,0.000,0.057,2273,3905,3686
$GC,7947,-0.75,-155.7,808.0,-8.4,262,7951,0.00,2.08,0.00,0.000,6,0.000,0.028,2272,2495,3686
$GC,8242,-0.75,-155.7,831.4,-8.3,269,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2490,3685
$GC,8484,-0.75,-155.7,853.2,-9.1,275,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2490,3684
$GC,8727,-0.75,-155.7,878.2,-10.5,281,8731,0.00,2.30,0.00,0.000,4,0.000,0.058,2272,3903,3683
$GC,8762,-0.75,-155.7,882.2,-11.3,281,8768,0.00,2.08,0.00,0.000,6,0.000,0.029,2272,2496,3683
$STATE,8968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8968,begin apogee
$GC,8979,-0.27,0.0,904.0,10.5,287,9114,0.43,0.00,131.80,1.307,6,0.054,0.000,2444,2496,3070
$STATE,9115,end apogee,CONTROL_FINISHED_OK
$STATE,9115,begin climb
$GC,9121,0.75,155.7,914.3,0.0,290,9284,0.82,2.42,146.12,1.230,4,0.042,0.047,2755,3888,2434
$GC,9541,0.75,155.7,861.1,24.3,298,9545,0.00,2.12,0.00,0.000,6,0.000,0.026,2763,2501,2425
$GC,9804,0.75,155.7,804.7,21.5,305,9808,0.00,2.22,0.00,0.000,4,0.000,0.048,2763,3893,2422
$GC,9906,0.75,155.7,780.2,25.1,307,9910,0.00,2.15,0.00,0.000,6,0.000,0.026,2772,2471,2421
$GC,10184,0.75,155.7,720.3,21.0,314,10187,0.00,2.10,0.00,0.000,4,0.000,0.030,2783,1064,2420
$GC,10208,0.75,155.7,714.4,21.6,314,10212,0.00,2.20,0.00,0.000,6,0.000,0.038,2781,2485,2420
$GC,10478,0.75,155.7,658.1,21.0,321,10479,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2485,2419
$GC,10720,0.75,155.7,611.1,18.9,327,10724,0.00,2.20,0.00,0.000,4,0.000,0.047,2780,3895,2419
$GC,10835,0.75,155.7,589.3,18.6,329,10840,0.15,2.12,0.00,0.000,6,0.232,0.026,2758,2474,2418
$GC,11105,0.75,155.7,550.1,13.8,336,11109,0.00,2.25,0.00,0.000,4,0.000,0.049,2755,3888,2417
$GC,11288,0.75,155.7,523.1,15.7,340,11291,0.00,2.10,0.00,0.000,6,0.000,0.025,2764,2474,2417
$GC,11579,0.75,155.7,485.5,12.3,347,11580,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2469,2416
$GC,11825,0.75,155.7,456.0,12.1,353,11828,0.00,2.08,0.00,0.000,4,0.000,0.029,2774,1075,2416
$GC,11877,0.75,155.7,449.9,10.1,354,11881,0.00,2.17,0.00,0.000,6,0.000,0.038,2768,2485,2416
$GC,12159,0.75,155.7,414.5,12.9,361,12163,0.00,2.20,0.00,0.000,4,0.000,0.047,2767,3902,2415
$GC,12356,0.75,155.7,384.7,14.6,365,12359,0.00,2.12,0.00,0.000,6,0.000,0.026,2776,2473,2415
$GC,12638,0.75,155.7,348.4,12.3,372,12643,0.00,2.25,0.00,0.000,4,0.000,0.046,2768,3899,2415
$GC,12775,0.75,155.7,330.3,13.0,375,12779,0.00,2.12,0.00,0.000,6,0.000,0.025,2776,2469,2415
$GC,13061,0.80,195.9,304.2,8.3,382,13103,0.00,2.15,32.50,0.895,4,0.000,0.028,2787,1068,2270
$GC,13174,0.80,195.9,287.9,17.3,384,13178,0.00,2.20,0.00,0.000,6,0.000,0.037,2781,2481,2267
$GC,13438,0.80,195.9,240.3,18.1,391,13442,0.00,2.22,0.00,0.000,4,0.000,0.046,2780,3897,2264
$GC,13457,0.80,195.9,236.8,17.5,391,13461,0.00,2.12,0.00,0.000,6,0.000,0.024,2789,2479,2264
$GC,13714,0.80,195.9,196.1,14.4,399,13718,0.00,2.08,0.00,0.000,4,0.000,0.028,2799,1065,2263
$GC,13733,0.80,195.9,193.1,14.1,400,13740,0.00,2.20,0.00,0.000,6,0.000,0.036,2793,2477,2263
$GC,13997,0.80,195.9,157.2,13.2,425,14001,0.00,2.10,0.00,0.000,4,0.000,0.028,2801,1067,2264
$GC,14260,0.80,195.9,123.0,11.4,448,14264,0.00,2.17,0.00,0.000,6,0.000,0.036,2793,2487,2264
$GC,14532,0.85,232.7,94.2,8.4,473,14569,0.00,2.17,30.67,0.696,4,0.000,0.042,2793,3891,2122
$GC,14595,0.85,232.7,87.9,12.7,478,14599,0.00,2.12,0.00,0.000,6,0.000,0.022,2802,2454,2122
$GC,14867,0.95,311.2,61.1,6.6,503,14944,0.00,2.12,65.18,0.670,4,0.000,0.026,2813,1082,1799
$GC,15061,0.95,311.2,31.5,19.1,519,15069,0.00,2.20,0.00,0.000,6,0.000,0.038,2809,2476,1793
$STATE,15198,end climb,SURFACE_DEPTH_REACHED
$STATE,15198,begin surface coast
$FINISH,0.6,1.023031
$STATE,15215,end surface coast,CONTROL_FINISHED_OK
$STATE,15215,begin surface
$SM_CCo,15241,45.35,0.609,0,0,1397,410.13
$SM_GC,1.07,0.00,0.00,45.35,0.000,0.000,0.609,37,2477,1397,-7.73,-0.62,410.13
$IRIDIUM_FIX,2309.79,-15837.19,101200,080801
$TT8_MAMPS,0.02301
$HUMID,2106
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.40
$XPDR_PINGS,16
$24V_AH,23.3,46.313
$10V_AH,10.7,36.282
$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,17.550,157.950,406.275,45.350,0.000,130.166,185.745,1314.220,4.000,0.000,0.000,16.058,1228.156,11207.544,503.100,2146.126,2288.176,33.378,1494.853,0.000,2114.529,0.000,0.545,0.000
$DEVICE_MAMPS,232.401,58.292,1306.968,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,369.899,692.204,715.366,121.819,563.077,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44565,546
$CAP_FILE_SIZE,145084,0
$CFSIZE,260165632,201007104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,1,0
$GPS,160911,131637,2317.015,-15755.313,69,1.1,69,10.1