version: 66.04
glider: 512
mission: 2
dive: 428
start: 9 18 111 6 52 35
data:
$ID,512
$MISSION,2
$DIVE,428
$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,-41588.562
$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,50
$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
$GPS1,063707,2318.552,-15756.582,42,1.1,42,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.0
$GPS2,065137,2318.498,-15756.710,14,1.2,19,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.245,0.106
$KALMAN_X,-440420.4,54.9,221.6,438143.9,-5457.9
$KALMAN_Y,-82157.9,-65.8,-344.8,221943.6,-1506.9
$MHEAD_RNG_PITCHd_Wd,56.5,94576,-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,-67.93,0.000,2,0.000,0.000,38,2478,3203
$GC,95,-0.75,-155.7,3.9,-6.9,9,119,8.43,0.00,-8.48,0.000,6,0.199,0.000,2255,2478,3706
$GC,390,-0.75,-155.7,90.6,-21.3,39,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2478,3707
$GC,654,-0.75,-155.7,142.7,-17.9,64,658,0.00,2.20,0.00,0.000,4,0.000,0.047,2246,3887,3708
$GC,685,-0.75,-155.7,148.7,-19.3,66,693,0.00,2.05,0.00,0.000,6,0.000,0.021,2246,2499,3708
$GC,950,-0.75,-155.7,193.7,-15.4,91,954,0.00,2.03,0.00,0.000,4,0.000,0.025,2246,1091,3709
$GC,998,-0.75,-155.7,200.4,-11.7,95,1002,0.00,2.15,0.00,0.000,6,0.000,0.038,2237,2502,3708
$GC,1290,-0.75,-155.7,243.0,-15.2,102,1294,0.00,2.15,0.00,0.000,4,0.000,0.047,2226,3895,3709
$GC,1371,-0.75,-155.7,253.7,-11.2,103,1375,0.15,2.03,0.00,0.000,6,0.110,0.021,2273,2492,3708
$GC,1631,-0.75,-155.7,279.8,-10.4,110,1634,0.00,2.22,0.00,0.000,4,0.000,0.048,2263,3905,3708
$GC,1661,-0.75,-155.7,283.5,-11.0,110,1665,0.00,2.00,0.00,0.000,6,0.000,0.021,2263,2502,3708
$GC,1925,-0.75,-155.7,312.4,-11.0,117,1929,0.00,2.03,0.00,0.000,4,0.000,0.025,2263,1096,3707
$GC,1963,-0.75,-155.7,315.9,-8.6,117,1967,0.00,2.15,0.00,0.000,6,0.000,0.038,2263,2508,3707
$GC,2223,-0.75,-155.7,339.4,-9.2,124,2226,0.00,2.17,0.00,0.000,4,0.000,0.050,2253,3905,3706
$GC,2287,-0.75,-155.7,345.2,-8.0,125,2291,0.00,2.05,0.00,0.000,6,0.000,0.022,2252,2494,3705
$GC,2564,-0.75,-155.7,372.9,-10.4,132,2567,0.00,2.00,0.00,0.000,4,0.000,0.025,2252,1106,3704
$GC,2628,-0.75,-155.7,379.6,-9.2,133,2631,0.00,2.12,0.00,0.000,6,0.000,0.039,2250,2499,3703
$GC,2904,-0.75,-155.7,406.9,-9.9,140,2907,0.00,2.20,0.00,0.000,4,0.000,0.051,2239,3903,3701
$GC,2934,-0.75,-155.7,409.8,-8.8,140,2938,0.00,2.05,0.00,0.000,6,0.000,0.023,2239,2492,3701
$GC,3198,-0.75,-155.7,433.7,-9.3,147,3202,0.00,2.25,0.00,0.000,4,0.000,0.051,2229,3905,3699
$GC,3228,-0.75,-155.7,436.4,-9.3,147,3232,0.12,2.08,0.00,0.000,6,0.109,0.024,2268,2489,3699
$GC,3482,-0.75,-155.7,453.5,-6.8,153,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2483,3697
$GC,3726,-0.75,-155.7,471.7,-7.7,159,3731,0.00,2.28,-0.08,0.000,4,0.000,0.064,2260,3896,3720
$GC,3763,-0.75,-155.7,474.9,-8.1,159,3769,0.00,2.05,0.00,0.000,6,0.000,0.024,2260,2484,3720
$GC,4016,-0.75,-155.7,499.3,-10.0,166,4020,0.00,2.00,0.00,0.000,4,0.000,0.027,2260,1118,3718
$GC,4047,-0.75,-155.7,502.6,-10.2,166,4051,0.00,2.12,0.00,0.000,6,0.000,0.041,2250,2499,3718
$GC,4311,-0.75,-155.7,529.7,-10.2,173,4315,0.00,2.20,0.00,0.000,4,0.000,0.053,2239,3901,3716
$GC,4371,-0.75,-155.7,535.4,-9.5,174,4375,0.00,2.03,0.00,0.000,6,0.000,0.025,2239,2513,3715
$GC,4653,-0.75,-155.7,561.4,-8.9,181,4657,0.00,2.08,0.00,0.000,4,0.000,0.028,2239,1097,3714
$GC,4702,-0.75,-155.7,565.5,-7.5,182,4705,0.00,2.17,0.00,0.000,6,0.000,0.043,2237,2500,3714
$GC,4995,-0.75,-155.7,587.9,-7.5,189,5000,0.10,2.22,0.00,0.000,4,0.143,0.054,2256,3900,3711
$GC,5043,-0.75,-155.7,591.0,-5.6,190,5046,0.00,2.05,0.00,0.000,6,0.000,0.027,2256,2499,3710
$GC,5331,-0.75,-155.7,607.2,-5.8,197,5334,0.00,2.05,0.00,0.000,4,0.000,0.029,2256,1102,3708
$GC,5355,-0.75,-155.7,608.9,-6.2,197,5359,0.00,2.15,0.00,0.000,6,0.000,0.041,2250,2501,3709
$GC,5624,-0.75,-155.7,627.2,-7.1,204,5628,0.00,2.22,0.00,0.000,4,0.000,0.056,2239,3899,3706
$GC,5673,-0.75,-155.7,630.8,-7.4,205,5677,0.00,2.05,0.00,0.000,6,0.000,0.027,2239,2496,3706
$GC,5965,-0.75,-155.7,657.4,-9.4,212,5968,0.00,2.05,0.00,0.000,4,0.000,0.029,2239,1102,3704
$GC,5994,-0.75,-155.7,660.5,-10.7,212,5998,0.00,2.20,0.00,0.000,6,0.000,0.044,2237,2512,3704
$GC,6253,-0.75,-155.7,686.7,-10.5,219,6258,0.10,2.22,0.00,0.000,4,0.137,0.056,2257,3899,3702
$GC,6300,-0.75,-155.7,691.0,-8.1,220,6304,0.00,2.08,0.00,0.000,6,0.000,0.028,2257,2495,3701
$GC,6587,-0.75,-155.7,717.8,-10.1,227,6591,0.00,2.05,0.00,0.000,4,0.000,0.029,2257,1100,3700
$GC,6702,-0.75,-155.7,730.2,-10.7,229,6707,0.00,2.17,0.00,0.000,6,0.000,0.042,2257,2506,3700
$GC,6967,-0.75,-155.7,753.2,-8.5,236,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2507,3697
$GC,7210,-0.75,-155.7,772.2,-7.9,242,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2507,3697
$GC,7455,-0.75,-155.7,791.3,-7.9,248,7459,0.00,2.22,0.00,0.000,4,0.000,0.056,2256,3893,3695
$GC,7543,-0.75,-155.7,798.6,-8.4,249,7549,0.00,2.08,0.00,0.000,6,0.000,0.029,2257,2490,3695
$GC,7798,-0.75,-155.7,817.8,-7.6,256,7802,0.00,2.30,0.00,0.000,4,0.000,0.058,2256,3902,3694
$GC,7885,-0.75,-155.7,825.0,-9.0,258,7889,0.00,2.08,0.00,0.000,6,0.000,0.028,2257,2495,3693
$GC,8177,-0.75,-155.7,848.7,-8.4,265,8181,0.00,2.05,0.00,0.000,4,0.000,0.030,2257,1103,3692
$GC,8227,-0.75,-155.7,853.3,-9.7,266,8231,0.00,2.17,0.00,0.000,6,0.000,0.044,2257,2500,3692
$GC,8514,-0.75,-155.7,880.1,-9.6,273,8518,0.00,2.25,0.00,0.000,4,0.000,0.059,2257,3892,3691
$GC,8668,-0.75,-155.7,896.3,-11.0,276,8672,0.00,2.08,0.00,0.000,6,0.000,0.029,2257,2503,3690
$STATE,8735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8735,begin apogee
$GC,8746,-0.27,0.0,903.2,9.3,278,8883,0.45,0.00,134.35,1.297,6,0.049,0.000,2447,2495,3070
$STATE,8884,end apogee,CONTROL_FINISHED_OK
$STATE,8884,begin climb
$GC,8889,0.75,155.7,912.2,0.0,281,9051,0.82,2.50,146.60,1.234,4,0.054,0.049,2750,3897,2434
$GC,9307,0.75,155.7,853.0,26.1,290,9311,0.00,2.15,0.00,0.000,6,0.000,0.027,2759,2496,2426
$GC,9578,0.75,155.7,791.2,22.8,297,9582,0.00,2.25,0.00,0.000,4,0.000,0.047,2755,3905,2422
$GC,9641,0.75,155.7,775.8,24.1,298,9645,0.00,2.17,0.00,0.000,6,0.000,0.028,2763,2469,2422
$GC,9904,0.75,155.7,719.6,21.0,305,9908,0.00,2.28,0.00,0.000,4,0.000,0.047,2763,3902,2420
$GC,9923,0.75,155.7,715.4,21.0,305,9927,0.00,2.15,0.00,0.000,6,0.000,0.026,2773,2467,2420
$GC,10192,0.75,155.7,661.7,19.4,312,10196,0.00,2.28,0.00,0.000,4,0.000,0.046,2767,3905,2420
$GC,10210,0.75,155.7,657.8,19.8,312,10214,0.00,2.15,0.00,0.000,6,0.000,0.028,2776,2474,2419
$GC,10479,0.75,155.7,607.0,18.8,319,10483,0.00,2.25,0.00,0.000,4,0.000,0.048,2767,3900,2419
$GC,10521,0.75,155.7,598.7,20.6,320,10525,0.00,2.12,0.00,0.000,6,0.000,0.027,2776,2476,2418
$GC,10815,0.75,155.7,546.2,17.5,327,10818,0.00,2.10,0.00,0.000,4,0.000,0.029,2787,1062,2418
$GC,10958,0.75,155.7,522.1,16.1,330,10962,0.00,2.20,0.00,0.000,6,0.000,0.038,2780,2489,2417
$GC,11238,0.75,155.7,477.9,15.5,337,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2489,2417
$GC,11481,0.75,155.7,445.0,13.2,343,11485,0.00,2.20,0.00,0.000,4,0.000,0.048,2779,3895,2416
$GC,11742,0.75,155.7,405.4,16.8,348,11747,0.15,2.12,0.00,0.000,6,0.226,0.027,2757,2468,2416
$GC,12000,0.75,155.7,368.7,14.2,355,12003,0.00,2.08,0.00,0.000,4,0.000,0.030,2766,1072,2415
$GC,12211,0.75,155.7,342.0,11.2,359,12215,0.00,2.17,0.00,0.000,6,0.000,0.038,2767,2492,2415
$GC,12475,0.78,173.5,317.1,9.2,366,12501,0.00,2.20,15.45,0.781,4,0.000,0.047,2766,3894,2363
$GC,12701,0.78,173.5,290.4,11.9,371,12705,0.00,2.10,0.00,0.000,6,0.000,0.026,2776,2481,2361
$GC,12989,0.79,187.5,262.8,9.4,378,13008,0.00,2.25,13.88,0.808,4,0.000,0.046,2767,3882,2304
$GC,13203,0.79,187.5,229.6,16.2,382,13207,0.00,2.10,0.00,0.000,6,0.000,0.026,2776,2480,2302
$GC,13461,0.79,187.5,198.1,11.0,389,13465,0.00,2.08,0.00,0.000,4,0.000,0.029,2786,1076,2301
$GC,13636,0.81,199.4,181.2,9.5,404,13652,0.00,2.15,11.70,0.720,6,0.000,0.035,2781,2485,2256
$GC,13917,0.81,199.4,149.1,11.6,429,13920,0.00,2.20,0.00,0.000,4,0.000,0.044,2780,3895,2253
$GC,14024,0.81,199.4,132.9,14.6,438,14032,0.00,2.12,0.00,0.000,6,0.000,0.024,2789,2477,2253
$GC,14291,0.81,199.4,102.4,11.5,463,14295,0.00,2.05,0.00,0.000,4,0.000,0.025,2799,1069,2253
$GC,14376,0.81,200.3,93.0,10.0,470,14384,0.00,2.17,0.00,0.000,6,0.000,0.034,2792,2480,2253
$GC,14643,0.99,346.7,79.9,3.7,495,14775,0.10,2.20,122.93,0.666,4,0.102,0.026,2837,1082,1655
$GC,14868,0.99,346.7,40.7,24.8,513,14872,0.00,2.17,0.00,0.000,6,0.000,0.034,2835,2479,1649
$STATE,15011,end climb,SURFACE_DEPTH_REACHED
$STATE,15011,begin surface coast
$FINISH,0.3,1.011502
$STATE,15030,end surface coast,CONTROL_FINISHED_OK
$STATE,15030,begin surface
$SM_CCo,15055,27.98,0.584,0,0,1398,410.13
$SM_GC,1.48,0.00,0.00,27.98,0.000,0.000,0.584,39,2486,1398,-7.72,-0.40,410.13
$IRIDIUM_FIX,2307.44,-15754.93,121200,060601
$TT8_MAMPS,0.023777
$HUMID,2102
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.70
$XPDR_PINGS,33
$24V_AH,23.1,48.149
$10V_AH,10.7,37.456
$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,17.750,158.575,444.900,27.975,0.000,56.079,80.563,466.123,8.250,0.000,0.000,19.694,1243.443,10736.935,506.422,2216.303,1249.300,33.377,1541.320,0.000,2178.825,0.000,0.543,0.000
$DEVICE_MAMPS,226.265,64.428,1296.997,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,364.151,681.400,698.265,111.407,517.911,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44596,538
$CAP_FILE_SIZE,129803,0
$CFSIZE,260165632,200384512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,1,0
$GPS,180911,110531,2318.542,-15756.489,43,1.5,43,10.1