version: 66.04
glider: 512
mission: 2
dive: 431
start: 9 18 111 20 24 34
data:
$ID,512
$MISSION,2
$DIVE,431
$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,-41632.746
$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,49
$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
$GPS1,195924,2318.496,-15756.277,46,1.0,63,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-79.0
$GPS2,202334,2318.481,-15756.630,11,1.6,12,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.195,0.182
$KALMAN_X,-452654.8,477.7,166.4,450146.3,-5554.4
$KALMAN_Y,-87031.6,713.6,-296.3,225952.6,-2495.3
$MHEAD_RNG_PITCHd_Wd,36.9,94438,-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,-68.00,0.000,2,0.000,0.000,42,2487,3193
$GC,95,-0.75,-155.7,3.5,-5.1,9,120,8.43,2.17,-8.93,0.000,4,0.199,0.051,2249,3905,3706
$GC,184,-0.75,-155.7,35.6,-20.3,21,188,0.00,2.08,0.00,0.000,6,0.000,0.021,2249,2488,3707
$GC,455,-0.75,-155.7,100.9,-21.5,46,459,0.00,2.22,0.00,0.000,4,0.000,0.046,2238,3896,3707
$GC,481,-0.75,-155.7,106.5,-21.0,47,488,0.00,2.08,0.00,0.000,6,0.000,0.021,2238,2498,3708
$GC,746,-0.75,-155.7,161.2,-20.5,72,750,0.00,2.03,0.00,0.000,4,0.000,0.025,2238,1095,3708
$GC,784,-0.75,-155.7,168.4,-18.3,75,789,0.10,2.12,0.00,0.000,6,0.123,0.039,2264,2497,3708
$GC,1051,-0.75,-155.7,206.6,-13.7,97,1055,0.00,2.17,0.00,0.000,4,0.000,0.048,2255,3899,3709
$GC,1127,-0.75,-155.7,215.5,-9.5,98,1130,0.00,2.05,0.00,0.000,6,0.000,0.021,2255,2470,3708
$GC,1391,-0.75,-155.7,250.7,-14.2,105,1395,0.00,2.25,0.00,0.000,4,0.000,0.047,2244,3903,3709
$GC,1421,-0.75,-155.7,255.3,-14.6,105,1425,0.00,2.03,0.00,0.000,6,0.000,0.021,2243,2497,3709
$GC,1684,-0.75,-155.7,291.4,-13.9,112,1688,0.00,2.03,0.00,0.000,4,0.000,0.025,2243,1092,3708
$GC,1737,-0.75,-155.7,298.0,-10.5,113,1741,0.10,2.15,0.00,0.000,6,0.114,0.038,2267,2504,3708
$GC,2018,-0.75,-155.7,322.9,-8.9,120,2021,0.00,2.17,0.00,0.000,4,0.000,0.048,2258,3900,3706
$GC,2087,-0.75,-155.7,329.2,-8.3,121,2091,0.00,2.03,0.00,0.000,6,0.000,0.021,2259,2491,3706
$GC,2357,-0.75,-155.7,355.4,-9.9,128,2360,0.00,2.00,0.00,0.000,4,0.000,0.025,2258,1100,3704
$GC,2411,-0.75,-155.7,360.5,-8.7,129,2414,0.00,2.12,0.00,0.000,6,0.000,0.038,2250,2501,3704
$GC,2698,-0.75,-155.7,389.5,-10.0,136,2701,0.00,2.17,0.00,0.000,4,0.000,0.049,2239,3897,3702
$GC,2762,-0.75,-155.7,395.7,-9.1,137,2765,0.00,2.03,0.00,0.000,6,0.000,0.022,2238,2495,3701
$GC,3037,-0.75,-155.7,423.7,-10.3,144,3041,0.00,2.00,0.00,0.000,4,0.000,0.026,2238,1109,3699
$GC,3086,-0.75,-155.7,428.3,-8.7,145,3090,0.10,2.12,0.00,0.000,6,0.115,0.040,2267,2501,3699
$GC,3371,-0.75,-155.7,447.2,-6.5,152,3376,0.00,2.22,-0.08,0.000,4,0.000,0.064,2259,3901,3721
$GC,3414,-0.75,-155.7,450.1,-6.6,153,3418,0.00,2.03,0.00,0.000,6,0.000,0.024,2259,2496,3721
$GC,3706,-0.75,-155.7,472.1,-7.7,160,3710,0.00,2.03,0.00,0.000,4,0.000,0.026,2258,1102,3719
$GC,3748,-0.75,-155.7,475.5,-8.0,160,3755,0.00,2.17,0.00,0.000,6,0.000,0.040,2250,2497,3718
$GC,4001,-0.75,-155.7,497.6,-8.8,167,4005,0.00,2.22,0.00,0.000,4,0.000,0.052,2239,3906,3716
$GC,4043,-0.75,-155.7,501.6,-8.9,167,4049,0.00,2.05,0.00,0.000,6,0.000,0.025,2239,2500,3715
$GC,4295,-0.75,-155.7,526.1,-9.9,174,4299,0.00,2.03,0.00,0.000,4,0.000,0.028,2238,1107,3714
$GC,4337,-0.75,-155.7,530.4,-9.8,174,4343,0.00,2.15,0.00,0.000,6,0.000,0.041,2236,2504,3714
$GC,4591,-0.75,-155.7,555.0,-9.7,181,4596,0.10,2.20,0.00,0.000,4,0.137,0.054,2257,3899,3711
$GC,4649,-0.75,-155.7,559.4,-6.4,182,4653,0.00,2.05,0.00,0.000,6,0.000,0.026,2257,2491,3711
$GC,4925,-0.75,-155.7,576.6,-6.1,189,4929,0.00,2.03,0.00,0.000,4,0.000,0.028,2257,1101,3709
$GC,4956,-0.75,-155.7,578.8,-6.9,189,4960,0.00,2.17,0.00,0.000,6,0.000,0.042,2250,2505,3709
$GC,5222,-0.75,-155.7,595.6,-6.4,196,5225,0.00,2.22,0.00,0.000,4,0.000,0.055,2239,3907,3706
$GC,5285,-0.75,-155.7,599.8,-6.4,197,5289,0.00,2.08,0.00,0.000,6,0.000,0.027,2239,2496,3705
$GC,5562,-0.75,-155.7,617.2,-6.0,204,5565,0.00,2.05,0.00,0.000,4,0.000,0.029,2239,1099,3704
$GC,5603,-0.75,-155.7,619.5,-4.8,204,5609,0.00,2.17,0.00,0.000,6,0.000,0.044,2237,2499,3703
$GC,5857,-0.75,-155.7,634.0,-6.0,211,5861,0.10,2.22,0.00,0.000,4,0.133,0.056,2258,3899,3702
$GC,5903,-0.75,-155.7,636.6,-4.5,212,5907,0.00,2.08,0.00,0.000,6,0.000,0.028,2258,2496,3701
$GC,6192,-0.75,-155.7,658.6,-9.3,219,6196,0.00,2.05,0.00,0.000,4,0.000,0.029,2258,1095,3699
$GC,6240,-0.75,-155.7,664.1,-11.0,220,6244,0.00,2.17,0.00,0.000,6,0.000,0.042,2257,2504,3699
$GC,6527,-0.75,-155.7,697.4,-12.0,227,6531,0.00,2.22,0.00,0.000,4,0.000,0.056,2257,3900,3697
$GC,6591,-0.75,-155.7,705.5,-11.9,228,6594,0.00,2.08,0.00,0.000,6,0.000,0.028,2262,2502,3696
$GC,6865,-0.75,-155.7,736.7,-11.2,235,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2495,3695
$GC,7110,-0.75,-155.7,763.0,-10.7,241,7114,0.00,2.08,0.00,0.000,4,0.000,0.031,2269,1095,3694
$GC,7145,-0.75,-155.7,767.0,-11.0,241,7149,0.00,2.20,0.00,0.000,6,0.000,0.043,2269,2510,3694
$GC,7399,-0.75,-155.7,792.2,-10.0,247,7402,0.00,2.22,0.00,0.000,4,0.000,0.058,2269,3894,3693
$GC,7457,-0.75,-155.7,798.3,-9.6,248,7461,0.00,2.08,0.00,0.000,6,0.000,0.028,2274,2492,3692
$GC,7738,-0.75,-155.7,825.3,-9.7,255,7741,0.00,2.05,0.00,0.000,4,0.000,0.030,2281,1097,3691
$GC,7788,-0.75,-155.7,830.2,-10.7,256,7792,0.00,2.17,0.00,0.000,6,0.000,0.043,2281,2508,3691
$GC,8079,-0.75,-155.7,858.2,-9.8,263,8083,0.00,2.25,0.00,0.000,4,0.000,0.058,2280,3905,3690
$GC,8154,-0.75,-155.7,865.3,-8.6,264,8158,0.00,2.10,0.00,0.000,6,0.000,0.029,2280,2494,3689
$GC,8415,-0.75,-155.7,889.5,-9.5,271,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2488,3688
$STATE,8529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8529,begin apogee
$GC,8540,-0.27,0.0,901.1,9.5,274,8678,0.40,0.00,134.80,1.302,6,0.054,0.000,2444,2487,3070
$STATE,8678,end apogee,CONTROL_FINISHED_OK
$STATE,8678,begin climb
$GC,8684,0.75,155.7,909.7,0.0,277,8854,0.82,2.47,150.88,1.254,4,0.040,0.048,2764,3902,2435
$GC,9008,0.75,155.7,878.8,24.2,284,9012,0.00,2.20,0.00,0.000,6,0.000,0.027,2775,2483,2428
$GC,9279,0.75,155.7,821.4,21.3,291,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2478,2423
$GC,9520,0.75,155.7,771.9,20.2,297,9524,0.00,2.10,0.00,0.000,4,0.000,0.032,2786,1073,2422
$GC,9579,0.75,155.7,760.7,18.5,298,9583,0.00,2.20,0.00,0.000,6,0.000,0.041,2780,2493,2422
$GC,9859,0.75,155.7,708.5,18.5,305,9863,0.00,2.15,0.00,0.000,4,0.000,0.030,2789,1058,2421
$GC,9877,0.75,155.7,705.0,17.8,305,9882,0.00,2.22,0.00,0.000,6,0.000,0.040,2781,2490,2421
$GC,10147,0.75,155.7,661.5,15.8,312,10151,0.00,2.12,0.00,0.000,4,0.000,0.031,2789,1070,2420
$GC,10172,0.75,155.7,657.6,15.1,312,10176,0.00,2.20,0.00,0.000,6,0.000,0.039,2781,2493,2420
$GC,10435,0.75,155.7,616.4,15.9,319,10439,0.00,2.20,0.00,0.000,4,0.000,0.049,2780,3887,2419
$GC,10499,0.75,155.7,605.0,17.7,320,10503,0.15,2.12,0.00,0.000,6,0.227,0.028,2758,2465,2418
$GC,10774,0.75,155.7,559.7,16.6,327,10775,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2459,2418
$GC,11018,0.75,155.7,524.9,13.8,333,11022,0.00,2.28,0.00,0.000,4,0.000,0.049,2755,3894,2418
$GC,11116,0.75,155.7,509.6,14.9,335,11120,0.00,2.12,0.00,0.000,6,0.000,0.028,2764,2475,2417
$GC,11398,0.75,155.7,471.3,13.0,342,11401,0.00,2.10,0.00,0.000,4,0.000,0.031,2774,1061,2416
$GC,11658,0.75,155.7,438.3,11.9,347,11663,0.00,2.20,0.00,0.000,6,0.000,0.040,2768,2486,2416
$GC,11912,0.75,155.7,405.8,12.7,353,11915,0.00,2.12,0.00,0.000,4,0.000,0.030,2776,1063,2416
$GC,11998,0.75,155.7,395.3,11.1,354,12004,0.00,2.20,0.00,0.000,6,0.000,0.041,2776,2485,2416
$GC,12253,0.75,155.7,365.2,11.8,361,12256,0.00,2.22,0.00,0.000,4,0.000,0.048,2768,3899,2415
$GC,12515,0.75,155.7,331.4,12.9,366,12519,0.00,2.12,0.00,0.000,6,0.000,0.027,2776,2470,2415
$GC,12774,0.76,161.6,304.6,9.7,373,12778,0.00,2.25,0.00,0.000,4,0.000,0.047,2768,3896,2415
$GC,13036,0.83,219.5,279.5,7.5,378,13102,0.00,2.10,54.65,0.851,6,0.000,0.027,2777,2469,2176
$GC,13377,0.83,219.5,226.3,17.5,387,13382,0.00,2.28,0.00,0.000,4,0.000,0.048,2768,3896,2169
$GC,13526,0.83,219.5,197.7,18.7,390,13530,0.00,2.12,0.00,0.000,6,0.000,0.026,2776,2487,2167
$GC,13792,0.83,219.5,152.5,15.9,413,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2482,2166
$GC,14058,0.83,219.5,113.1,14.4,438,14061,0.00,2.22,0.00,0.000,4,0.000,0.044,2768,3900,2166
$GC,14074,0.83,219.5,110.7,14.5,439,14078,0.00,2.12,0.00,0.000,6,0.000,0.025,2776,2469,2166
$GC,14344,0.84,225.1,79.4,9.8,464,14358,0.00,2.25,5.00,0.505,4,0.000,0.044,2768,3886,2152
$GC,14608,0.90,276.8,54.3,7.8,487,14658,0.00,2.10,44.90,0.647,6,0.000,0.023,2777,2471,1940
$GC,14924,0.90,276.8,11.5,16.4,526,14932,0.00,2.28,0.00,0.000,4,0.000,0.043,2776,3889,1935
$STATE,14970,end climb,SURFACE_DEPTH_REACHED
$STATE,14970,begin surface coast
$FINISH,0.4,1.023030
$STATE,14987,end surface coast,CONTROL_FINISHED_OK
$STATE,14988,begin surface
$SM_CCo,15015,61.88,0.605,0,0,1397,410.13
$SM_GC,1.41,0.00,0.00,61.88,0.000,0.000,0.605,40,2485,1397,-7.72,-0.42,410.13
$IRIDIUM_FIX,2309.79,-15757.10,121200,202023
$TT8_MAMPS,0.023777
$HUMID,2084
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.00
$XPDR_PINGS,18
$24V_AH,23.1,48.686
$10V_AH,10.7,37.803
$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,17.450,167.075,390.225,61.875,0.000,118.333,140.432,789.181,4.500,0.000,0.000,13.114,1232.714,10877.943,522.917,2186.886,1710.066,33.380,1526.261,0.000,2160.587,0.000,0.545,0.000
$DEVICE_MAMPS,227.032,63.661,1301.599,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,363.756,676.887,694.830,127.738,580.452,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44628,537
$CAP_FILE_SIZE,136058,0
$CFSIZE,260165632,200187904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,2,0
$GPS,190911,003757,2319.031,-15756.302,55,2.2,74,10.1