version: 66.04
glider: 512
mission: 2
dive: 420
start: 9 16 111 18 15 33
data:
$ID,512
$MISSION,2
$DIVE,420
$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,-41432.355
$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,58
$R_STBD_OVSHOOT,35
$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
$GPS1,175107,2317.004,-15755.870,60,1.4,60,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-79.1
$GPS2,181438,2317.046,-15756.119,16,1.6,16,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,0.070
$KALMAN_X,-407167.2,-62.8,-45.8,406306.5,-4896.6
$KALMAN_Y,-68491.1,132.8,-469.0,205508.1,-1174.2
$MHEAD_RNG_PITCHd_Wd,64.6,92689,-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,-68.00,0.000,2,0.000,0.000,38,2458,3201
$GC,95,-0.75,-155.7,3.6,-5.7,9,119,8.38,2.22,-8.55,0.000,4,0.196,0.049,2246,3896,3708
$GC,197,-0.75,-155.7,39.9,-19.7,21,201,0.00,2.05,0.00,0.000,6,0.000,0.020,2245,2497,3708
$GC,467,-0.75,-155.7,101.8,-20.2,46,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2489,3709
$GC,732,-0.75,-155.7,156.3,-18.9,71,736,0.00,2.03,0.00,0.000,4,0.000,0.024,2245,1091,3710
$GC,773,-0.75,-155.7,164.1,-17.7,74,781,0.00,2.17,0.00,0.000,6,0.000,0.039,2236,2492,3709
$GC,1054,-0.75,-155.7,216.1,-18.3,95,1059,0.12,2.17,0.00,0.000,4,0.155,0.044,2259,3903,3709
$GC,1124,-0.75,-155.7,225.0,-8.8,96,1128,0.00,2.05,0.00,0.000,6,0.000,0.020,2259,2477,3709
$GC,1394,-0.75,-155.7,255.6,-11.6,103,1397,0.00,1.95,0.00,0.000,4,0.000,0.023,2259,1110,3709
$GC,1418,-0.75,-155.7,258.5,-11.4,103,1422,0.00,2.12,0.00,0.000,6,0.000,0.036,2250,2512,3709
$GC,1687,-0.75,-155.7,290.0,-12.1,110,1690,0.00,2.15,0.00,0.000,4,0.000,0.046,2239,3905,3708
$GC,1736,-0.75,-155.7,295.5,-10.2,111,1740,0.00,2.03,0.00,0.000,6,0.000,0.021,2238,2503,3708
$GC,2028,-0.75,-155.7,330.8,-12.3,118,2032,0.00,2.00,0.00,0.000,4,0.000,0.024,2238,1107,3707
$GC,2076,-0.75,-155.7,336.2,-10.5,119,2081,0.10,2.12,0.00,0.000,6,0.117,0.038,2266,2506,3707
$GC,2364,-0.75,-155.7,360.0,-8.4,126,2368,0.00,2.15,0.00,0.000,4,0.000,0.049,2257,3897,3705
$GC,2412,-0.75,-155.7,364.2,-8.0,127,2416,0.00,2.03,0.00,0.000,6,0.000,0.021,2257,2482,3705
$GC,2704,-0.75,-155.7,392.7,-10.0,134,2707,0.00,1.98,0.00,0.000,4,0.000,0.025,2257,1106,3702
$GC,2752,-0.75,-155.7,397.2,-8.8,135,2756,0.00,2.12,0.00,0.000,6,0.000,0.038,2250,2501,3702
$GC,3046,-0.75,-155.7,426.7,-10.2,142,3050,0.00,2.17,0.00,0.000,4,0.000,0.048,2239,3899,3699
$GC,3116,-0.75,-155.7,433.9,-9.4,143,3119,0.00,2.03,0.00,0.000,6,0.000,0.022,2239,2505,3698
$GC,3385,-0.75,-155.7,462.6,-10.9,150,3389,0.00,2.05,-0.08,0.000,4,0.000,0.039,2238,1111,3722
$GC,3444,-0.75,-155.7,468.2,-8.7,151,3449,0.10,2.15,0.00,0.000,6,0.119,0.039,2267,2509,3721
$GC,3718,-0.75,-155.7,488.3,-7.1,158,3722,0.00,2.17,0.00,0.000,4,0.000,0.051,2258,3895,3719
$GC,3777,-0.75,-155.7,492.3,-6.9,159,3780,0.00,2.05,0.00,0.000,6,0.000,0.023,2258,2479,3719
$GC,4060,-0.75,-155.7,512.9,-7.4,166,4063,0.00,1.98,0.00,0.000,4,0.000,0.026,2258,1113,3716
$GC,4079,-0.75,-155.7,514.5,-7.3,166,4083,0.00,2.10,0.00,0.000,6,0.000,0.039,2251,2500,3716
$GC,4355,-0.75,-155.7,535.4,-7.6,173,4359,0.00,2.20,0.00,0.000,4,0.000,0.051,2241,3898,3714
$GC,4415,-0.75,-155.7,540.3,-7.8,174,4419,0.00,2.03,0.00,0.000,6,0.000,0.024,2241,2506,3713
$GC,4698,-0.75,-155.7,565.8,-9.4,181,4702,0.00,2.05,0.00,0.000,4,0.000,0.027,2243,1100,3711
$GC,4741,-0.75,-155.7,570.2,-9.2,181,4747,0.00,2.15,0.00,0.000,6,0.000,0.041,2237,2498,3711
$GC,4995,-0.75,-155.7,595.4,-10.1,188,4999,0.00,2.22,0.00,0.000,4,0.000,0.054,2234,3905,3709
$GC,5049,-0.75,-155.7,600.9,-9.7,189,5054,0.12,2.08,0.00,0.000,6,0.107,0.025,2273,2492,3708
$GC,5332,-0.75,-155.7,620.4,-6.7,196,5335,0.00,2.03,0.00,0.000,4,0.000,0.027,2273,1101,3706
$GC,5351,-0.75,-155.7,621.9,-6.6,196,5355,0.00,2.15,0.00,0.000,6,0.000,0.041,2267,2502,3706
$GC,5627,-0.75,-155.7,644.4,-9.1,203,5631,0.00,2.20,0.00,0.000,4,0.000,0.053,2267,3898,3704
$GC,5741,-0.75,-155.7,656.2,-10.1,205,5745,0.00,2.05,0.00,0.000,6,0.000,0.025,2272,2492,3703
$GC,6009,-0.75,-155.7,683.0,-10.3,212,6013,0.00,2.03,0.00,0.000,4,0.000,0.027,2280,1096,3701
$GC,6068,-0.75,-155.7,689.1,-11.1,213,6072,0.00,2.17,0.00,0.000,6,0.000,0.040,2280,2509,3701
$GC,6349,-0.75,-155.7,717.9,-10.4,220,6352,0.00,2.20,0.00,0.000,4,0.000,0.054,2279,3897,3699
$GC,6418,-0.75,-155.7,725.2,-10.1,221,6422,0.00,2.05,0.00,0.000,6,0.000,0.025,2286,2499,3698
$GC,6689,-0.75,-155.7,751.3,-9.7,228,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2493,3697
$GC,6933,-0.75,-155.7,773.7,-9.1,234,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2493,3696
$GC,7175,-0.75,-155.7,795.1,-8.7,240,7179,0.00,2.25,0.00,0.000,4,0.000,0.054,2286,3889,3694
$GC,7222,-0.75,-155.7,799.1,-8.4,241,7226,0.00,2.05,0.00,0.000,6,0.000,0.026,2287,2478,3693
$GC,7509,-0.75,-155.7,823.3,-8.9,248,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2471,3693
$GC,7752,-0.75,-155.7,846.3,-9.6,254,7756,0.00,2.30,0.00,0.000,4,0.000,0.054,2287,3904,3692
$GC,7833,-0.75,-155.7,853.9,-9.4,255,7836,0.00,2.05,0.00,0.000,6,0.000,0.025,2288,2507,3691
$GC,8090,-0.75,-155.7,880.4,-10.6,262,8094,0.00,2.05,0.00,0.000,4,0.000,0.028,2288,1105,3690
$GC,8139,-0.75,-155.7,885.5,-10.6,263,8143,0.00,2.15,0.00,0.000,6,0.000,0.040,2287,2497,3690
$STATE,8304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8304,begin apogee
$GC,8315,-0.27,0.0,902.8,10.3,267,8452,0.38,0.00,133.65,1.306,6,0.059,0.000,2439,2497,3070
$STATE,8452,end apogee,CONTROL_FINISHED_OK
$STATE,8452,begin climb
$GC,8457,0.75,155.7,912.0,0.0,270,8627,0.85,2.35,147.38,1.227,4,0.043,0.028,2771,1096,2434
$GC,8884,0.75,155.7,860.0,21.9,279,8888,0.00,2.20,0.00,0.000,6,0.000,0.037,2768,2492,2424
$GC,9143,0.75,155.7,801.8,22.4,286,9147,0.00,2.10,0.00,0.000,4,0.000,0.028,2776,1094,2422
$GC,9184,0.75,155.7,792.3,21.6,286,9190,0.00,2.15,0.00,0.000,6,0.000,0.038,2776,2481,2422
$GC,9436,0.75,155.7,738.2,21.3,293,9440,0.00,2.22,0.00,0.000,4,0.000,0.046,2768,3888,2420
$GC,9472,0.75,155.7,730.4,21.5,293,9476,0.00,2.08,0.00,0.000,6,0.000,0.025,2776,2500,2419
$GC,9731,0.75,155.7,679.9,18.8,300,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2494,2419
$GC,9976,0.75,155.7,634.5,18.4,306,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2494,2418
$GC,10217,0.75,155.7,592.3,16.9,312,10221,0.00,2.12,0.00,0.000,4,0.000,0.029,2787,1065,2418
$GC,10311,0.75,155.7,577.3,15.0,314,10315,0.00,2.20,0.00,0.000,6,0.000,0.039,2781,2491,2418
$GC,10599,0.75,155.7,532.5,15.6,321,10603,0.00,2.20,0.00,0.000,4,0.000,0.048,2780,3887,2416
$GC,10686,0.75,155.7,515.8,18.5,322,10692,0.15,2.10,0.00,0.000,6,0.225,0.025,2757,2474,2416
$GC,10938,0.75,155.7,477.6,14.7,329,10942,0.00,2.22,0.00,0.000,4,0.000,0.047,2754,3891,2415
$GC,10957,0.75,155.7,474.6,14.6,329,10961,0.00,2.10,0.00,0.000,6,0.000,0.025,2764,2471,2415
$GC,11235,0.75,155.7,432.9,15.0,336,11238,0.00,2.05,0.00,0.000,4,0.000,0.028,2774,1068,2415
$GC,11360,0.75,155.7,415.6,12.7,338,11364,0.00,2.17,0.00,0.000,6,0.000,0.037,2768,2485,2415
$GC,11614,0.75,155.7,383.3,12.5,344,11617,0.00,2.10,0.00,0.000,4,0.000,0.028,2776,1069,2414
$GC,11761,0.75,155.7,365.3,11.5,347,11765,0.00,2.17,0.00,0.000,6,0.000,0.038,2776,2486,2415
$GC,12042,0.75,155.7,331.6,12.0,354,12045,0.00,2.20,0.00,0.000,4,0.000,0.046,2776,3890,2414
$GC,12264,0.75,155.7,305.2,11.1,358,12271,0.15,2.08,0.00,0.000,6,0.225,0.024,2754,2473,2414
$GC,12517,0.80,193.1,283.7,8.4,365,12552,0.00,2.08,30.08,0.868,4,0.000,0.028,2763,1087,2281
$GC,12791,0.80,193.1,247.2,13.4,370,12795,0.00,2.17,0.00,0.000,6,0.000,0.038,2763,2486,2277
$GC,13066,0.80,193.1,206.0,14.8,377,13070,0.00,2.08,0.00,0.000,4,0.000,0.027,2772,1082,2276
$GC,13102,0.80,193.1,201.1,12.9,377,13106,0.00,2.15,0.00,0.000,6,0.000,0.035,2767,2482,2276
$GC,13372,0.83,213.1,171.1,9.1,402,13398,0.00,2.12,17.65,0.743,4,0.000,0.025,2776,1087,2200
$GC,13427,0.83,213.1,165.6,11.7,406,13431,0.00,2.15,0.00,0.000,6,0.000,0.035,2776,2489,2198
$GC,13698,0.83,213.1,127.9,15.7,431,13702,0.00,2.08,0.00,0.000,4,0.000,0.025,2784,1080,2196
$GC,13860,0.83,213.1,106.3,11.3,445,13864,0.00,2.15,0.00,0.000,6,0.000,0.035,2781,2490,2197
$GC,14133,0.83,213.7,75.8,10.0,470,14136,0.00,2.17,0.00,0.000,4,0.000,0.043,2780,3896,2197
$GC,14392,0.95,316.8,56.2,5.5,493,14484,0.00,2.08,85.22,0.657,6,0.000,0.021,2789,2463,1777
$STATE,14701,end climb,SURFACE_DEPTH_REACHED
$STATE,14701,begin surface coast
$FINISH,0.4,1.023038
$STATE,14713,end surface coast,CONTROL_FINISHED_OK
$STATE,14713,begin surface
$SM_CCo,14739,41.28,0.595,0,0,1396,410.13
$SM_GC,1.39,0.00,0.00,41.28,0.000,0.000,0.595,38,2457,1396,-7.73,-1.19,410.13
$IRIDIUM_FIX,2305.10,-15752.75,101200,181853
$TT8_MAMPS,0.023777
$HUMID,2099
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.00
$XPDR_PINGS,18
$24V_AH,23.2,46.688
$10V_AH,10.7,36.522
$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,17.525,152.550,413.975,41.275,0.000,92.657,115.647,869.594,4.500,0.000,0.000,16.833,1217.065,10600.540,498.833,2169.498,1701.682,33.367,1490.879,0.000,2142.816,0.000,0.544,0.000
$DEVICE_MAMPS,225.498,54.457,1306.201,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,361.581,687.173,707.689,125.971,576.286,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44449,534
$CAP_FILE_SIZE,132613,0
$CFSIZE,260165632,200888320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,1,0
$GPS,160911,222325,2317.180,-15755.668,41,1.6,41,10.1