version: 66.04
glider: 512
mission: 2
dive: 430
start: 9 18 111 15 45 6
data:
$ID,512
$MISSION,2
$DIVE,430
$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,-41619.004
$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
$GPS1,153356,2317.985,-15756.079,51,1.9,52,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.5
$GPS2,154408,2317.963,-15756.253,14,2.0,14,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.173,0.204
$KALMAN_X,-448813.4,182.4,332.3,447092.6,-5921.9
$KALMAN_Y,-85050.3,619.6,499.6,222281.0,-2607.4
$MHEAD_RNG_PITCHd_Wd,30.2,93494,-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,-67.93,0.000,2,0.000,0.000,41,2487,3198
$GC,95,-0.75,-155.7,3.8,-6.8,9,119,8.43,2.17,-8.68,0.000,4,0.200,0.051,2245,3900,3707
$GC,167,-0.75,-155.7,34.1,-28.3,19,171,0.00,2.08,0.00,0.000,6,0.000,0.025,2245,2512,3708
$GC,438,-0.75,-155.7,100.9,-21.0,44,441,0.00,2.10,0.00,0.000,4,0.000,0.027,2245,1079,3709
$GC,478,-0.75,-155.7,109.0,-19.9,47,483,0.10,2.17,0.00,0.000,6,0.130,0.038,2263,2493,3709
$GC,743,-0.75,-155.7,153.5,-15.8,71,747,0.00,2.20,0.00,0.000,4,0.000,0.048,2253,3902,3710
$GC,793,-0.75,-155.7,160.9,-13.9,75,797,0.00,2.08,0.00,0.000,6,0.000,0.021,2254,2477,3711
$GC,1092,-0.75,-155.7,206.4,-14.8,100,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2470,3711
$GC,1337,-0.75,-155.7,242.8,-15.3,106,1341,0.00,2.25,0.00,0.000,4,0.000,0.047,2243,3905,3711
$GC,1373,-0.75,-155.7,248.5,-15.8,106,1380,0.00,2.05,0.00,0.000,6,0.000,0.021,2243,2487,3711
$GC,1627,-0.75,-155.7,286.0,-15.0,113,1631,0.00,2.00,0.00,0.000,4,0.000,0.025,2242,1098,3711
$GC,1663,-0.75,-155.7,291.0,-12.5,113,1667,0.10,2.12,0.00,0.000,6,0.118,0.038,2266,2500,3711
$GC,1920,-0.75,-155.7,312.9,-8.5,120,1924,0.00,2.17,0.00,0.000,4,0.000,0.048,2257,3904,3710
$GC,1985,-0.75,-155.7,317.8,-6.8,121,1989,0.00,2.05,0.00,0.000,6,0.000,0.022,2257,2487,3710
$GC,2260,-0.75,-155.7,342.1,-9.1,128,2264,0.00,1.98,0.00,0.000,4,0.000,0.025,2257,1111,3709
$GC,2319,-0.75,-155.7,347.4,-7.9,129,2322,0.00,2.12,0.00,0.000,6,0.000,0.038,2250,2505,3709
$GC,2601,-0.75,-155.7,375.9,-10.5,136,2605,0.00,2.17,0.00,0.000,4,0.000,0.050,2239,3898,3707
$GC,2659,-0.75,-155.7,382.4,-10.1,137,2663,0.00,2.03,0.00,0.000,6,0.000,0.022,2238,2497,3707
$GC,2940,-0.75,-155.7,414.2,-11.5,144,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2489,3705
$GC,3183,-0.75,-155.7,441.3,-11.2,150,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2489,3703
$GC,3429,-0.75,-155.7,467.4,-10.5,156,3433,0.00,2.03,0.00,0.000,4,0.000,0.027,2238,1102,3701
$GC,3471,-0.75,-155.7,471.9,-9.7,156,3477,0.00,2.15,0.00,0.000,6,0.000,0.041,2237,2500,3701
$GC,3723,-0.75,-155.7,497.7,-10.6,163,3727,0.10,2.20,0.00,0.000,4,0.140,0.051,2256,3897,3700
$GC,3760,-0.75,-155.7,501.0,-8.8,163,3766,0.00,2.05,0.00,0.000,6,0.000,0.025,2256,2501,3699
$GC,4013,-0.75,-155.7,521.3,-7.9,170,4017,0.00,2.03,0.00,0.000,4,0.000,0.028,2256,1100,3697
$GC,4066,-0.75,-155.7,525.3,-6.8,171,4070,0.00,2.15,0.00,0.000,6,0.000,0.041,2250,2500,3697
$GC,4352,-0.75,-155.7,546.6,-7.5,178,4356,0.00,2.22,0.00,0.000,4,0.000,0.054,2239,3906,3694
$GC,4417,-0.75,-155.7,551.6,-8.0,179,4421,0.00,2.05,0.00,0.000,6,0.000,0.026,2239,2496,3693
$GC,4694,-0.75,-155.7,577.6,-9.9,186,4697,0.00,2.05,0.00,0.000,4,0.000,0.028,2240,1095,3692
$GC,4742,-0.75,-155.7,582.7,-9.5,187,4746,0.00,2.17,0.00,0.000,6,0.000,0.043,2237,2500,3691
$GC,5034,-0.75,-155.7,613.4,-10.6,194,5039,0.10,2.22,0.00,0.000,4,0.139,0.054,2256,3896,3690
$GC,5103,-0.75,-155.7,619.8,-8.7,195,5107,0.00,2.05,0.00,0.000,6,0.000,0.027,2256,2495,3689
$GC,5373,-0.75,-155.7,643.0,-8.5,202,5376,0.00,2.03,0.00,0.000,4,0.000,0.028,2256,1110,3687
$GC,5414,-0.75,-155.7,646.4,-7.0,202,5420,0.00,2.17,0.00,0.000,6,0.000,0.043,2250,2510,3687
$GC,5668,-0.75,-155.7,664.5,-7.0,209,5672,0.00,2.22,0.00,0.000,4,0.000,0.055,2239,3904,3685
$GC,5726,-0.75,-155.7,668.3,-6.3,210,5730,0.00,2.08,0.00,0.000,6,0.000,0.027,2239,2498,3685
$GC,6007,-0.75,-155.7,687.5,-6.8,217,6010,0.00,2.05,0.00,0.000,4,0.000,0.029,2242,1101,3682
$GC,6044,-0.75,-155.7,690.2,-7.4,217,6048,0.00,2.17,0.00,0.000,6,0.000,0.044,2237,2506,3682
$GC,6302,-0.75,-155.7,709.6,-7.8,224,6306,0.10,2.22,0.00,0.000,4,0.137,0.055,2257,3897,3680
$GC,6354,-0.75,-155.7,713.2,-6.2,225,6358,0.00,2.08,0.00,0.000,6,0.000,0.028,2257,2493,3680
$GC,6641,-0.75,-155.7,735.2,-8.5,232,6644,0.00,2.05,0.00,0.000,4,0.000,0.029,2260,1097,3679
$GC,6689,-0.75,-155.7,740.1,-9.9,233,6693,0.00,2.20,0.00,0.000,6,0.000,0.043,2260,2513,3679
$GC,6975,-0.75,-155.7,766.1,-9.1,240,6979,0.00,2.08,0.00,0.000,4,0.000,0.030,2266,1107,3677
$GC,7056,-0.75,-155.7,773.7,-9.8,241,7060,0.00,2.17,0.00,0.000,6,0.000,0.044,2266,2504,3677
$GC,7314,-0.75,-155.7,797.6,-9.4,248,7318,0.00,2.08,0.00,0.000,4,0.000,0.031,2273,1108,3675
$GC,7349,-0.75,-155.7,801.1,-10.4,248,7354,0.00,2.17,0.00,0.000,6,0.000,0.044,2272,2501,3675
$GC,7602,-0.75,-155.7,822.9,-8.9,254,7606,0.00,2.25,0.00,0.000,4,0.000,0.058,2271,3897,3674
$GC,7723,-0.75,-155.7,833.8,-8.9,256,7727,0.00,2.08,0.00,0.000,6,0.000,0.029,2274,2493,3673
$GC,7981,-0.75,-155.7,856.2,-8.7,263,7984,0.00,2.05,0.00,0.000,4,0.000,0.031,2282,1104,3673
$GC,8011,-0.75,-155.7,859.0,-9.3,263,8015,0.00,2.17,0.00,0.000,6,0.000,0.044,2282,2500,3673
$GC,8269,-0.75,-155.7,880.3,-8.6,270,8272,0.00,2.25,0.00,0.000,4,0.000,0.059,2282,3894,3672
$GC,8328,-0.75,-155.7,885.7,-8.7,271,8332,0.00,2.10,0.00,0.000,6,0.000,0.029,2283,2486,3672
$STATE,8525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8525,begin apogee
$GC,8536,-0.27,0.0,903.4,9.1,276,8670,0.40,0.00,131.30,1.299,6,0.056,0.000,2446,2478,3070
$STATE,8671,end apogee,CONTROL_FINISHED_OK
$STATE,8671,begin climb
$GC,8677,0.75,155.7,912.2,0.0,279,8846,0.82,2.28,150.40,1.262,4,0.042,0.031,2767,1094,2434
$GC,9046,0.75,155.7,876.4,21.7,287,9050,0.00,2.22,0.00,0.000,6,0.000,0.039,2767,2485,2425
$GC,9315,0.75,155.7,816.4,22.2,294,9318,0.00,2.25,0.00,0.000,4,0.000,0.048,2767,3899,2422
$GC,9339,0.75,155.7,810.5,22.3,294,9343,0.00,2.12,0.00,0.000,6,0.000,0.027,2776,2486,2422
$GC,9609,0.75,155.7,750.6,22.1,301,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2480,2421
$GC,9852,0.75,155.7,697.0,21.8,307,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2480,2420
$GC,10095,0.75,155.7,646.9,20.4,313,10099,0.00,2.10,0.00,0.000,4,0.000,0.031,2786,1075,2419
$GC,10215,0.75,155.7,623.8,17.6,315,10219,0.00,2.20,0.00,0.000,6,0.000,0.041,2780,2492,2419
$GC,10473,0.75,155.7,580.4,16.5,322,10477,0.00,2.22,0.00,0.000,4,0.000,0.051,2780,3900,2418
$GC,10643,0.75,155.7,549.2,18.4,325,10648,0.15,2.12,0.00,0.000,6,0.225,0.028,2757,2478,2416
$GC,10897,0.75,155.7,513.0,13.8,331,10901,0.00,2.25,0.00,0.000,4,0.000,0.051,2755,3886,2416
$GC,10933,0.75,155.7,508.0,13.0,331,10939,0.00,2.12,0.00,0.000,6,0.000,0.028,2764,2471,2416
$GC,11185,0.75,155.7,473.8,13.7,338,11188,0.00,2.08,0.00,0.000,4,0.000,0.030,2774,1070,2416
$GC,11440,0.75,155.7,440.2,13.2,343,11444,0.00,2.17,0.00,0.000,6,0.000,0.039,2768,2490,2416
$GC,11704,0.75,155.7,407.0,12.1,350,11708,0.00,2.22,0.00,0.000,4,0.000,0.049,2767,3899,2415
$GC,11722,0.75,155.7,404.4,12.8,350,11726,0.00,2.12,0.00,0.000,6,0.000,0.026,2777,2461,2414
$GC,11999,0.75,155.7,368.0,12.5,357,12003,0.00,2.28,0.00,0.000,4,0.000,0.048,2767,3895,2414
$GC,12232,0.75,155.7,340.2,10.6,362,12236,0.00,2.10,0.00,0.000,6,0.000,0.027,2776,2488,2414
$GC,12512,0.78,178.2,314.5,9.0,369,12539,0.00,0.00,19.65,0.804,6,0.000,0.000,2777,2482,2343
$GC,12757,0.78,178.2,285.8,12.6,375,12760,0.00,2.25,0.00,0.000,4,0.000,0.045,2768,3899,2340
$GC,12831,0.78,178.2,275.0,14.0,376,12835,0.00,2.12,0.00,0.000,6,0.000,0.026,2776,2479,2339
$GC,13095,0.78,178.2,244.2,11.3,383,13096,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2474,2339
$GC,13339,0.81,202.9,222.4,8.9,389,13368,0.00,2.28,22.65,0.798,4,0.000,0.046,2768,3886,2241
$GC,13450,0.81,202.9,207.8,14.5,391,13454,0.00,2.12,0.00,0.000,6,0.000,0.025,2777,2474,2239
$GC,13721,0.81,202.9,169.3,15.7,412,13725,0.00,2.25,0.00,0.000,4,0.000,0.044,2768,3891,2237
$GC,13799,0.81,202.9,157.3,15.9,418,13802,0.00,2.10,0.00,0.000,6,0.000,0.025,2776,2481,2237
$GC,14070,0.81,202.9,124.2,10.8,443,14074,0.00,2.08,0.00,0.000,4,0.000,0.026,2787,1061,2237
$GC,14120,0.83,219.1,119.4,9.3,447,14146,0.00,2.17,14.95,0.672,6,0.000,0.035,2780,2489,2174
$GC,14408,0.83,219.1,86.5,12.1,473,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2490,2172
$GC,14674,0.93,298.3,65.7,6.6,498,14751,0.00,2.17,66.35,0.659,4,0.000,0.025,2789,1079,1851
$GC,14823,0.93,298.3,45.7,17.4,510,14827,0.00,2.17,0.00,0.000,6,0.000,0.034,2780,2486,1847
$STATE,15049,end climb,SURFACE_DEPTH_REACHED
$STATE,15049,begin surface coast
$FINISH,0.4,1.011204
$STATE,15067,end surface coast,CONTROL_FINISHED_OK
$STATE,15067,begin surface
$SM_CCo,15093,51.72,0.596,0,0,1397,410.13
$SM_GC,1.43,0.00,0.00,51.72,0.000,0.000,0.596,41,2488,1397,-7.71,-0.37,410.13
$IRIDIUM_FIX,2309.79,-15754.93,121200,111156
$TT8_MAMPS,0.023777
$HUMID,2066
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.20
$XPDR_PINGS,23
$24V_AH,23.0,48.491
$10V_AH,10.7,37.681
$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,17.425,158.400,405.300,51.725,0.000,31.268,34.977,354.811,5.750,0.000,0.000,14.183,1219.388,10850.919,525.275,2124.305,1038.695,33.376,1490.037,0.000,2097.282,0.000,0.544,0.000
$DEVICE_MAMPS,224.731,59.059,1299.298,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,369.901,698.711,720.111,128.001,583.223,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44624,546
$CAP_FILE_SIZE,124551,0
$CFSIZE,260165632,200261632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,2,0
$GPS,180911,195924,2318.496,-15756.277,46,1.0,63,10.1