version: 66.04
glider: 512
mission: 2
dive: 421
start: 9 16 111 22 42 2
data:
$ID,512
$MISSION,2
$DIVE,421
$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,-41449.242
$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,70
$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
$GPS1,222325,2317.180,-15755.668,41,1.6,41,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-78.7
$GPS2,224107,2317.220,-15755.841,16,1.4,16,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.225,0.145
$KALMAN_X,-411557.2,203.9,-80.0,410933.2,-4902.9
$KALMAN_Y,-70215.0,217.2,228.6,206769.9,-2290.9
$MHEAD_RNG_PITCHd_Wd,47.1,92353,-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,-67.97,0.000,2,0.000,0.000,39,2456,3213
$GC,95,-0.75,-155.7,3.9,-7.1,9,120,8.38,2.25,-8.30,0.000,4,0.196,0.048,2250,3895,3706
$GC,197,-0.75,-155.7,41.5,-18.2,21,206,0.00,2.05,0.00,0.000,6,0.000,0.021,2250,2518,3708
$GC,463,-0.75,-155.7,104.2,-23.7,46,466,0.00,2.05,0.00,0.000,4,0.000,0.024,2252,1091,3708
$GC,502,-0.75,-155.7,112.4,-21.1,49,506,0.00,2.15,0.00,0.000,6,0.000,0.037,2243,2500,3708
$GC,773,-0.75,-155.7,165.7,-19.7,74,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2500,3708
$GC,1054,-0.75,-155.7,213.4,-16.0,95,1058,0.00,2.15,0.00,0.000,4,0.000,0.045,2232,3903,3709
$GC,1083,-0.75,-155.7,218.0,-15.2,95,1088,0.12,2.05,0.00,0.000,6,0.123,0.021,2268,2489,3709
$GC,1349,-0.75,-155.7,248.2,-11.4,102,1352,0.00,2.22,0.00,0.000,4,0.000,0.046,2260,3908,3709
$GC,1374,-0.75,-155.7,251.1,-10.9,102,1378,0.00,2.05,0.00,0.000,6,0.000,0.020,2259,2483,3709
$GC,1642,-0.75,-155.7,282.3,-12.1,109,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2476,3708
$GC,1886,-0.75,-155.7,311.2,-11.7,115,1890,0.00,2.22,0.00,0.000,4,0.000,0.048,2249,3896,3707
$GC,1912,-0.75,-155.7,314.0,-11.3,115,1916,0.00,2.00,0.00,0.000,6,0.000,0.020,2249,2497,3707
$GC,2182,-0.75,-155.7,343.8,-11.0,122,2186,0.00,2.20,0.00,0.000,4,0.000,0.048,2238,3896,3705
$GC,2217,-0.75,-155.7,347.7,-10.5,122,2221,0.00,2.00,0.00,0.000,6,0.000,0.021,2238,2501,3705
$GC,2475,-0.75,-155.7,374.2,-10.4,129,2479,0.00,2.00,0.00,0.000,4,0.000,0.025,2238,1110,3703
$GC,2518,-0.75,-155.7,378.2,-9.2,129,2525,0.10,2.12,0.00,0.000,6,0.123,0.038,2266,2504,3703
$GC,2773,-0.75,-155.7,397.4,-7.9,136,2777,0.00,2.15,0.00,0.000,4,0.000,0.048,2256,3896,3700
$GC,2843,-0.75,-155.7,405.3,-7.2,137,2847,0.00,2.03,0.00,0.000,6,0.000,0.021,2256,2488,3700
$GC,3112,-0.75,-155.7,429.7,-9.4,144,3116,0.00,2.00,0.00,0.000,4,0.000,0.025,2256,1100,3698
$GC,3132,-0.75,-155.7,431.7,-9.5,144,3136,0.00,2.15,0.00,0.000,6,0.000,0.038,2250,2509,3698
$GC,3408,-0.75,-155.7,459.8,-10.4,151,3412,0.00,2.20,-0.08,0.000,4,0.000,0.062,2239,3901,3720
$GC,3466,-0.75,-155.7,465.4,-8.9,152,3470,0.00,2.05,0.00,0.000,6,0.000,0.023,2239,2496,3720
$GC,3747,-0.75,-155.7,492.5,-9.5,159,3750,0.00,2.03,0.00,0.000,4,0.000,0.026,2240,1105,3718
$GC,3784,-0.75,-155.7,495.8,-9.0,159,3787,0.00,2.15,0.00,0.000,6,0.000,0.039,2236,2506,3718
$GC,4043,-0.75,-155.7,518.5,-9.0,166,4047,0.00,2.17,0.00,0.000,4,0.000,0.051,2225,3896,3715
$GC,4118,-0.75,-155.7,525.2,-8.0,167,4123,0.15,2.05,0.00,0.000,6,0.108,0.024,2272,2492,3715
$GC,4382,-0.75,-155.7,539.9,-5.4,174,4386,0.00,2.00,0.00,0.000,4,0.000,0.025,2273,1104,3714
$GC,4418,-0.75,-155.7,542.1,-5.3,174,4422,0.00,2.15,0.00,0.000,6,0.000,0.039,2265,2506,3713
$GC,4677,-0.75,-155.7,558.2,-6.3,181,4681,0.00,2.20,0.00,0.000,4,0.000,0.053,2259,3897,3711
$GC,4738,-0.75,-155.7,562.1,-6.8,182,4742,0.00,2.05,0.00,0.000,6,0.000,0.025,2259,2487,3711
$GC,5019,-0.75,-155.7,582.6,-7.8,189,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2480,3709
$GC,5263,-0.75,-155.7,603.7,-8.7,195,5267,0.00,2.25,0.00,0.000,4,0.000,0.052,2259,3897,3706
$GC,5312,-0.75,-155.7,608.3,-9.3,196,5316,0.00,2.05,0.00,0.000,6,0.000,0.025,2259,2488,3706
$GC,5605,-0.75,-155.7,636.5,-9.9,203,5609,0.00,2.00,0.00,0.000,4,0.000,0.026,2259,1107,3704
$GC,5708,-0.75,-155.7,647.7,-11.3,205,5712,0.00,2.15,0.00,0.000,6,0.000,0.039,2259,2508,3703
$GC,5988,-0.75,-155.7,676.3,-10.3,212,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2508,3702
$GC,6233,-0.75,-155.7,699.4,-9.4,218,6237,0.00,2.03,0.00,0.000,4,0.000,0.028,2261,1118,3700
$GC,6246,-0.75,-155.7,700.8,-9.1,218,6250,0.00,2.12,0.00,0.000,6,0.000,0.041,2261,2501,3700
$GC,6527,-0.75,-155.7,725.0,-8.8,225,6531,0.00,2.22,0.00,0.000,4,0.000,0.054,2261,3900,3698
$GC,6579,-0.75,-155.7,729.2,-8.7,226,6583,0.00,2.05,0.00,0.000,6,0.000,0.026,2261,2509,3697
$GC,6871,-0.75,-155.7,753.4,-8.3,233,6875,0.00,2.05,0.00,0.000,4,0.000,0.028,2269,1108,3696
$GC,6930,-0.75,-155.7,758.7,-9.1,234,6934,0.00,2.15,0.00,0.000,6,0.000,0.041,2269,2505,3696
$GC,7211,-0.75,-155.7,782.1,-8.4,241,7215,0.00,2.05,0.00,0.000,4,0.000,0.028,2270,1107,3695
$GC,7254,-0.75,-155.7,785.8,-8.6,241,7260,0.00,2.17,0.00,0.000,6,0.000,0.042,2269,2509,3694
$GC,7507,-0.75,-155.7,807.1,-8.7,248,7510,0.00,2.22,0.00,0.000,4,0.000,0.055,2269,3901,3693
$GC,7559,-0.75,-155.7,811.9,-8.8,249,7563,0.00,2.05,0.00,0.000,6,0.000,0.026,2271,2502,3693
$GC,7848,-0.75,-155.7,837.8,-9.3,256,7852,0.00,2.05,0.00,0.000,4,0.000,0.029,2278,1108,3692
$GC,7951,-0.75,-155.7,848.3,-10.2,258,7955,0.00,2.17,0.00,0.000,6,0.000,0.043,2278,2507,3692
$GC,8231,-0.75,-155.7,875.9,-10.1,265,8235,0.00,2.22,0.00,0.000,4,0.000,0.055,2278,3900,3690
$GC,8284,-0.75,-155.7,880.8,-9.3,266,8288,0.00,2.08,0.00,0.000,6,0.000,0.028,2280,2495,3690
$STATE,8490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8490,begin apogee
$GC,8501,-0.27,0.0,902.0,10.1,271,8638,0.40,0.00,133.90,1.305,6,0.059,0.000,2438,2489,3070
$STATE,8639,end apogee,CONTROL_FINISHED_OK
$STATE,8639,begin climb
$GC,8644,0.75,155.7,910.6,0.0,274,8815,0.85,2.47,148.02,1.256,4,0.048,0.045,2755,3891,2434
$GC,9070,0.75,155.7,853.0,23.9,283,9074,0.00,2.12,0.00,0.000,6,0.000,0.025,2763,2497,2426
$GC,9334,0.75,155.7,795.3,21.8,290,9338,0.00,2.25,0.00,0.000,4,0.000,0.044,2763,3902,2422
$GC,9352,0.75,155.7,790.7,21.9,290,9356,0.00,2.15,0.00,0.000,6,0.000,0.025,2773,2474,2422
$GC,9621,0.75,155.7,732.2,21.5,297,9625,0.00,2.25,0.00,0.000,4,0.000,0.046,2768,3895,2420
$GC,9667,0.75,155.7,721.6,22.5,298,9671,0.00,2.12,0.00,0.000,6,0.000,0.025,2776,2477,2421
$GC,9957,0.75,155.7,664.4,19.7,305,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2471,2420
$GC,10198,0.75,155.7,620.8,17.6,311,10202,0.00,2.08,0.00,0.000,4,0.000,0.028,2787,1069,2419
$GC,10211,0.75,155.7,617.9,18.0,311,10215,0.00,2.20,0.00,0.000,6,0.000,0.038,2781,2491,2419
$GC,10486,0.75,155.7,569.9,16.9,318,10490,0.00,2.12,0.00,0.000,4,0.000,0.028,2789,1061,2418
$GC,10625,0.75,155.7,547.6,14.9,321,10629,0.00,2.20,0.00,0.000,6,0.000,0.038,2781,2491,2418
$GC,10912,0.75,155.7,502.6,15.6,328,10916,0.00,2.20,0.00,0.000,4,0.000,0.048,2780,3896,2417
$GC,11038,0.75,155.7,481.5,15.3,330,11043,0.15,2.10,0.00,0.000,6,0.233,0.025,2758,2477,2416
$GC,11292,0.75,155.7,449.5,12.3,336,11295,0.00,2.08,0.00,0.000,4,0.000,0.029,2767,1072,2416
$GC,11322,0.75,155.7,445.5,12.3,336,11326,0.00,2.17,0.00,0.000,6,0.000,0.038,2767,2483,2416
$GC,11581,0.75,155.7,413.6,12.4,343,11584,0.00,2.22,0.00,0.000,4,0.000,0.048,2767,3896,2415
$GC,11629,0.75,155.7,407.2,13.2,344,11633,0.00,2.10,0.00,0.000,6,0.000,0.025,2776,2477,2415
$GC,11922,0.75,155.7,371.6,12.0,351,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2471,2415
$GC,12165,0.75,155.7,344.2,11.4,357,12169,0.00,2.22,0.00,0.000,4,0.000,0.048,2776,3888,2415
$GC,12246,0.75,155.7,335.0,11.3,358,12251,0.15,2.10,0.00,0.000,6,0.224,0.024,2754,2464,2415
$GC,12498,0.75,155.7,309.1,10.2,364,12502,0.00,2.05,0.00,0.000,4,0.000,0.028,2763,1067,2414
$GC,12673,0.78,177.9,292.0,9.0,367,12697,0.00,2.17,17.27,0.842,6,0.000,0.037,2763,2486,2344
$GC,12974,0.78,177.9,255.6,12.8,375,12978,0.00,2.10,0.00,0.000,4,0.000,0.026,2772,1066,2340
$GC,13015,0.78,177.9,250.6,11.7,375,13022,0.00,2.20,0.00,0.000,6,0.000,0.036,2767,2477,2340
$GC,13267,0.78,177.9,221.0,11.8,382,13271,0.00,2.22,0.00,0.000,4,0.000,0.048,2767,3897,2340
$GC,13360,0.78,177.9,210.6,12.1,384,13364,0.00,2.10,0.00,0.000,6,0.000,0.024,2776,2471,2339
$GC,13630,0.83,213.0,187.9,8.5,400,13667,0.00,2.05,30.83,0.772,4,0.000,0.026,2787,1075,2201
$GC,13774,0.83,213.0,168.9,16.5,412,13778,0.00,2.17,0.00,0.000,6,0.000,0.035,2781,2485,2196
$GC,14046,0.83,213.0,127.3,14.6,437,14049,0.00,2.10,0.00,0.000,4,0.000,0.026,2789,1065,2195
$GC,14211,0.83,213.0,105.2,12.6,451,14217,0.00,2.20,0.00,0.000,6,0.000,0.035,2781,2483,2195
$GC,14475,0.91,278.6,79.3,7.2,476,14540,0.00,2.15,54.70,0.679,4,0.000,0.026,2789,1082,1932
$GC,14725,0.91,278.6,44.8,14.4,497,14734,0.00,2.17,0.00,0.000,6,0.000,0.034,2781,2478,1927
$STATE,14989,end climb,SURFACE_DEPTH_REACHED
$STATE,14990,begin surface coast
$FINISH,0.3,1.023354
$STATE,15007,end surface coast,CONTROL_FINISHED_OK
$STATE,15007,begin surface
$SM_CCo,15032,59.97,0.602,0,0,1397,410.13
$SM_GC,1.32,0.00,0.00,59.97,0.000,0.000,0.602,39,2479,1397,-7.72,-0.59,410.13
$IRIDIUM_FIX,2309.79,-15757.10,101200,222219
$TT8_MAMPS,0.023777
$HUMID,2094
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.90
$XPDR_PINGS,15
$24V_AH,23.1,46.868
$10V_AH,10.7,36.638
$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,17.425,161.875,384.725,59.975,0.000,56.999,68.742,671.693,3.750,0.000,0.000,16.258,1218.129,10874.570,507.370,2118.616,1432.949,33.369,1484.347,0.000,2089.498,0.000,0.543,0.000
$DEVICE_MAMPS,233.168,62.127,1305.434,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,365.657,685.898,708.384,124.646,563.091,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44536,540
$CAP_FILE_SIZE,128928,0
$CFSIZE,260165632,200826880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,1,0
$GPS,170911,025507,2317.380,-15755.397,42,1.0,42,10.1