version: 66.04
glider: 512
mission: 2
dive: 419
start: 9 16 111 13 34 25
data:
$ID,512
$MISSION,2
$DIVE,419
$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,-41414.895
$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,64
$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
$GPS1,131637,2317.015,-15755.313,69,1.1,69,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.5
$GPS2,133332,2316.916,-15755.561,21,2.0,21,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,0.151
$KALMAN_X,-402383.8,-154.8,193.1,402331.2,-4407.1
$KALMAN_Y,-66761.1,-87.4,501.3,202787.3,-2563.1
$MHEAD_RNG_PITCHd_Wd,45.4,91711,-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,19,-0.75,-155.7,0.0,0.0,0,89,0.00,0.00,-67.93,0.000,2,0.000,0.000,37,2486,3203
$GC,95,-0.75,-155.7,3.8,-6.5,9,120,8.40,2.22,-8.55,0.000,4,0.198,0.054,2245,3888,3706
$GC,164,-0.75,-155.7,34.0,-34.5,18,168,0.00,2.05,0.00,0.000,6,0.000,0.023,2245,2506,3706
$GC,435,-0.75,-155.7,99.5,-20.1,43,439,0.00,2.08,0.00,0.000,4,0.000,0.025,2245,1086,3707
$GC,476,-0.75,-155.7,108.0,-18.3,46,485,0.08,2.20,0.00,0.000,6,0.110,0.041,2264,2487,3708
$GC,743,-0.75,-155.7,151.0,-15.9,71,747,0.00,2.20,0.00,0.000,4,0.000,0.048,2255,3902,3708
$GC,825,-0.75,-155.7,162.8,-10.9,78,829,0.00,2.05,0.00,0.000,6,0.000,0.021,2255,2474,3708
$GC,1124,-0.75,-155.7,206.8,-14.5,103,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2467,3708
$GC,1367,-0.75,-155.7,240.3,-13.6,109,1371,0.00,2.25,0.00,0.000,4,0.000,0.048,2244,3903,3708
$GC,1396,-0.75,-155.7,244.5,-14.1,109,1400,0.00,2.03,0.00,0.000,6,0.000,0.021,2244,2503,3708
$GC,1654,-0.75,-155.7,281.5,-14.8,116,1658,0.00,2.03,0.00,0.000,4,0.000,0.024,2246,1094,3708
$GC,1680,-0.75,-155.7,285.2,-14.1,116,1684,0.00,2.15,0.00,0.000,6,0.000,0.038,2237,2503,3708
$GC,1949,-0.75,-155.7,322.3,-14.1,123,1953,0.00,2.17,0.00,0.000,4,0.000,0.048,2226,3904,3707
$GC,2023,-0.75,-155.7,331.3,-10.8,124,2028,0.15,2.03,0.00,0.000,6,0.109,0.022,2273,2496,3706
$GC,2282,-0.75,-155.7,350.5,-7.2,131,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2490,3705
$GC,2526,-0.75,-155.7,369.8,-8.1,137,2529,0.00,2.22,0.00,0.000,4,0.000,0.049,2264,3903,3704
$GC,2574,-0.75,-155.7,374.1,-8.5,138,2578,0.00,2.05,0.00,0.000,6,0.000,0.022,2264,2487,3703
$GC,2866,-0.75,-155.7,401.4,-9.4,145,2870,0.00,1.98,0.00,0.000,4,0.000,0.025,2264,1104,3701
$GC,2908,-0.75,-155.7,405.2,-7.9,145,2915,0.00,2.17,0.00,0.000,6,0.000,0.040,2263,2503,3700
$GC,3161,-0.75,-155.7,426.4,-8.4,152,3165,0.00,2.17,0.00,0.000,4,0.000,0.051,2252,3903,3698
$GC,3225,-0.75,-155.7,431.6,-8.4,153,3229,0.00,2.05,0.00,0.000,6,0.000,0.024,2253,2496,3698
$GC,3501,-0.75,-155.7,455.3,-8.7,160,3505,0.00,2.05,-0.08,0.000,4,0.000,0.039,2252,1109,3720
$GC,3550,-0.75,-155.7,459.2,-7.3,161,3554,0.00,2.15,0.00,0.000,6,0.000,0.040,2250,2503,3720
$GC,3843,-0.75,-155.7,482.8,-8.1,168,3847,0.00,2.20,0.00,0.000,4,0.000,0.052,2239,3898,3718
$GC,3920,-0.75,-155.7,488.9,-7.7,169,3923,0.00,2.03,0.00,0.000,6,0.000,0.024,2239,2504,3717
$GC,4186,-0.75,-155.7,511.3,-8.5,176,4190,0.00,2.05,0.00,0.000,4,0.000,0.028,2239,1097,3715
$GC,4234,-0.75,-155.7,515.4,-7.1,177,4239,0.10,2.17,0.00,0.000,6,0.121,0.042,2266,2506,3715
$GC,4521,-0.75,-155.7,531.9,-5.8,184,4525,0.00,2.20,0.00,0.000,4,0.000,0.054,2258,3899,3714
$GC,4569,-0.75,-155.7,534.9,-6.2,185,4573,0.00,2.05,0.00,0.000,6,0.000,0.025,2257,2488,3713
$GC,4861,-0.75,-155.7,555.7,-7.3,192,4865,0.00,2.00,0.00,0.000,4,0.000,0.027,2259,1112,3710
$GC,4891,-0.75,-155.7,558.3,-8.8,192,4895,0.00,2.15,0.00,0.000,6,0.000,0.041,2251,2502,3711
$GC,5156,-0.75,-155.7,582.0,-9.3,199,5160,0.00,2.22,0.00,0.000,4,0.000,0.054,2240,3906,3709
$GC,5220,-0.75,-155.7,588.4,-9.4,200,5224,0.00,2.08,0.00,0.000,6,0.000,0.027,2240,2496,3708
$GC,5496,-0.75,-155.7,615.1,-9.6,207,5500,0.00,2.05,0.00,0.000,4,0.000,0.029,2240,1100,3706
$GC,5540,-0.75,-155.7,619.0,-8.1,207,5547,0.10,2.17,0.00,0.000,6,0.120,0.044,2266,2500,3706
$GC,5793,-0.75,-155.7,635.7,-6.4,214,5797,0.00,2.22,0.00,0.000,4,0.000,0.056,2258,3898,3704
$GC,5851,-0.75,-155.7,639.4,-6.4,215,5855,0.00,2.08,0.00,0.000,6,0.000,0.028,2259,2485,3703
$GC,6135,-0.75,-155.7,657.8,-7.0,222,6138,0.00,2.03,0.00,0.000,4,0.000,0.029,2259,1100,3702
$GC,6176,-0.75,-155.7,661.3,-7.5,222,6183,0.00,2.17,0.00,0.000,6,0.000,0.041,2258,2504,3702
$GC,6429,-0.75,-155.7,679.5,-7.4,229,6433,0.00,2.22,0.00,0.000,4,0.000,0.057,2258,3901,3701
$GC,6641,-0.75,-155.7,699.2,-10.5,233,6645,0.00,2.08,0.00,0.000,6,0.000,0.028,2258,2500,3698
$GC,6904,-0.75,-155.7,725.6,-10.4,240,6908,0.00,2.05,0.00,0.000,4,0.000,0.030,2265,1105,3697
$GC,6979,-0.75,-155.7,734.1,-11.0,241,6983,0.00,2.17,0.00,0.000,6,0.000,0.044,2265,2510,3697
$GC,7237,-0.75,-155.7,760.1,-10.0,248,7241,0.00,2.22,0.00,0.000,4,0.000,0.057,2265,3903,3695
$GC,7297,-0.75,-155.7,766.0,-9.9,249,7301,0.00,2.05,0.00,0.000,6,0.000,0.027,2265,2494,3695
$GC,7579,-0.75,-155.7,790.6,-8.6,256,7582,0.00,2.05,0.00,0.000,4,0.000,0.030,2274,1104,3694
$GC,7627,-0.75,-155.7,794.7,-8.6,257,7631,0.00,2.17,0.00,0.000,6,0.000,0.042,2274,2503,3694
$GC,7914,-0.75,-155.7,816.1,-7.7,264,7917,0.00,2.22,0.00,0.000,4,0.000,0.058,2274,3898,3693
$GC,8000,-0.75,-155.7,822.6,-7.2,265,8008,0.00,2.10,0.00,0.000,6,0.000,0.028,2274,2498,3692
$GC,8253,-0.75,-155.7,840.7,-7.4,272,8256,0.00,2.08,0.00,0.000,4,0.000,0.030,2281,1098,3691
$GC,8318,-0.75,-155.7,845.6,-7.3,273,8322,0.00,2.20,0.00,0.000,6,0.000,0.044,2281,2508,3691
$GC,8587,-0.75,-155.7,867.1,-8.4,280,8590,0.00,2.22,0.00,0.000,4,0.000,0.058,2280,3893,3690
$GC,8651,-0.75,-155.7,872.6,-8.2,281,8654,0.00,2.08,0.00,0.000,6,0.000,0.028,2282,2488,3689
$GC,8927,-0.75,-155.7,896.7,-9.1,288,8931,0.00,2.30,0.00,0.000,4,0.000,0.057,2281,3899,3688
$STATE,8957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8957,begin apogee
$GC,8971,-0.27,0.0,900.2,9.8,288,9107,0.38,0.00,133.57,1.303,6,0.086,0.000,2421,2470,3070
$STATE,9108,end apogee,CONTROL_FINISHED_OK
$STATE,9108,begin climb
$GC,9113,0.75,155.7,908.1,0.0,292,9283,0.90,2.47,146.62,1.228,4,0.038,0.047,2768,3887,2433
$GC,9539,0.75,155.7,841.1,25.4,301,9543,0.00,2.12,0.00,0.000,6,0.000,0.025,2777,2493,2425
$GC,9803,0.75,155.7,777.2,23.7,308,9807,0.00,2.22,0.00,0.000,4,0.000,0.045,2769,3897,2422
$GC,9945,0.75,155.7,741.3,23.9,311,9949,0.00,2.12,0.00,0.000,6,0.000,0.025,2777,2480,2421
$GC,10231,0.75,155.7,678.4,21.6,318,10235,0.00,2.25,0.00,0.000,4,0.000,0.047,2768,3902,2419
$GC,10380,0.75,155.7,646.7,21.4,321,10384,0.00,2.12,0.00,0.000,6,0.000,0.026,2777,2479,2419
$GC,10661,0.75,155.7,595.7,17.6,328,10665,0.00,2.25,0.00,0.000,4,0.000,0.048,2777,3898,2418
$GC,10680,0.75,155.7,591.9,17.3,328,10685,0.15,2.12,0.00,0.000,6,0.237,0.025,2758,2464,2418
$GC,10944,0.75,155.7,551.1,14.8,335,10948,0.00,2.08,0.00,0.000,4,0.000,0.030,2766,1068,2418
$GC,10979,0.75,155.7,545.3,15.9,335,10984,0.00,2.20,0.00,0.000,6,0.000,0.039,2766,2491,2417
$GC,11233,0.75,155.7,504.6,16.6,341,11236,0.00,2.20,0.00,0.000,4,0.000,0.048,2766,3888,2416
$GC,11251,0.75,155.7,501.2,16.4,341,11255,0.00,2.10,0.00,0.000,6,0.000,0.025,2776,2473,2416
$GC,11527,0.75,155.7,460.2,14.5,348,11531,0.00,2.25,0.00,0.000,4,0.000,0.048,2776,3890,2416
$GC,11635,0.75,155.7,444.2,15.7,350,11640,0.15,2.10,0.00,0.000,6,0.227,0.025,2755,2477,2415
$GC,11899,0.75,155.7,413.6,11.3,357,11903,0.00,2.08,0.00,0.000,4,0.000,0.029,2763,1074,2415
$GC,11947,0.75,155.7,408.2,11.1,358,11951,0.00,2.17,0.00,0.000,6,0.000,0.039,2763,2485,2415
$GC,12233,0.75,155.7,374.3,12.1,365,12237,0.00,2.10,0.00,0.000,4,0.000,0.028,2772,1074,2415
$GC,12282,0.76,160.9,369.5,9.8,366,12286,0.00,2.17,0.00,0.000,6,0.000,0.038,2767,2487,2415
$GC,12568,0.76,160.9,340.5,10.1,373,12572,0.00,2.20,0.00,0.000,4,0.000,0.047,2767,3894,2414
$GC,12830,0.79,187.4,312.6,8.9,378,12860,0.00,2.10,25.30,0.889,6,0.000,0.025,2776,2467,2306
$GC,13127,0.79,187.4,272.9,14.4,386,13131,0.00,2.28,0.00,0.000,4,0.000,0.045,2776,3893,2301
$GC,13173,0.79,187.4,264.8,16.1,387,13177,0.00,2.10,0.00,0.000,6,0.000,0.024,2786,2477,2300
$GC,13459,0.79,187.4,227.0,13.6,394,13463,0.00,2.08,0.00,0.000,4,0.000,0.028,2796,1069,2300
$GC,13574,0.79,187.4,213.2,11.4,396,13578,0.00,2.17,0.00,0.000,6,0.000,0.038,2793,2479,2300
$GC,13843,0.79,187.4,180.1,11.8,414,13846,0.00,2.08,0.00,0.000,4,0.000,0.027,2802,1075,2299
$GC,13861,0.79,187.4,177.4,11.7,415,13868,0.00,2.20,0.00,0.000,6,0.000,0.036,2793,2487,2299
$GC,14127,0.82,211.2,153.3,9.0,440,14153,0.00,2.25,21.05,0.730,4,0.000,0.044,2793,3896,2208
$GC,14224,0.82,211.2,139.3,18.0,448,14228,0.00,2.10,0.00,0.000,6,0.000,0.022,2802,2476,2206
$GC,14497,0.82,211.2,105.3,12.7,473,14500,0.00,2.05,0.00,0.000,4,0.000,0.026,2813,1074,2205
$GC,14635,0.82,211.2,87.1,11.3,485,14640,0.12,2.15,0.00,0.000,6,0.196,0.034,2782,2489,2205
$GC,14908,0.97,328.2,66.4,4.9,509,15009,0.12,2.30,95.85,0.668,4,0.090,0.040,2822,3892,1731
$GC,15026,0.97,328.2,49.6,21.7,518,15030,0.00,2.15,0.00,0.000,6,0.000,0.021,2831,2470,1730
$STATE,15211,end climb,SURFACE_DEPTH_REACHED
$STATE,15211,begin surface coast
$FINISH,0.4,1.010371
$STATE,15229,end surface coast,CONTROL_FINISHED_OK
$STATE,15229,begin surface
$SM_CCo,15254,37.83,0.591,0,0,1397,410.13
$SM_GC,1.14,0.00,0.00,37.83,0.000,0.000,0.591,38,2458,1397,-7.73,-1.19,410.13
$IRIDIUM_FIX,2307.44,-15757.10,101200,131336
$TT8_MAMPS,0.023777
$HUMID,2098
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.80
$XPDR_PINGS,20
$24V_AH,23.1,46.492
$10V_AH,10.7,36.401
$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,18.050,179.900,422.400,37.825,0.000,65.741,71.801,606.984,5.000,0.000,0.000,21.094,1260.632,10900.828,508.644,2243.446,1387.694,33.376,1551.330,0.000,2204.218,0.000,0.543,0.000
$DEVICE_MAMPS,237.003,57.525,1303.133,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,370.836,697.042,716.382,119.228,552.674,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44524,548
$CAP_FILE_SIZE,138063,0
$CFSIZE,260165632,200949760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,1,1
$GPS,160911,175107,2317.004,-15755.870,60,1.4,60,10.1