version: 66.04
glider: 512
mission: 2
dive: 440
start: 9 20 111 13 18 1
data:
$ID,512
$MISSION,2
$DIVE,440
$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,-41778.977
$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,57
$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
$GPS1,130907,2315.609,-15756.521,34,1.0,34,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.1
$GPS2,131702,2315.521,-15756.612,13,2.0,13,10.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.167,0.208
$KALMAN_X,-487404.4,-135.7,-166.4,485878.2,-4776.0
$KALMAN_Y,-103382.5,-330.6,460.0,237118.0,-3177.8
$MHEAD_RNG_PITCHd_Wd,28.7,92565,-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,20,-0.75,-155.7,0.0,0.0,0,90,0.00,0.00,-67.85,0.000,2,0.000,0.000,40,2483,3197
$GC,96,-0.75,-155.7,3.8,-6.4,9,121,8.43,2.22,-8.68,0.000,4,0.199,0.054,2245,3919,3706
$GC,186,-0.75,-155.7,38.0,-23.5,21,190,0.00,2.08,0.00,0.000,6,0.000,0.022,2245,2511,3707
$GC,456,-0.75,-155.7,107.5,-21.6,46,459,0.00,2.08,0.00,0.000,4,0.000,0.025,2245,1087,3708
$GC,508,-0.75,-155.7,116.8,-14.4,50,516,0.00,2.20,0.00,0.000,6,0.000,0.041,2236,2488,3708
$GC,772,-0.75,-155.7,162.7,-18.5,75,776,0.12,2.20,0.00,0.000,4,0.146,0.046,2260,3900,3709
$GC,814,-0.75,-155.7,169.5,-14.2,78,818,0.00,2.05,0.00,0.000,6,0.000,0.021,2260,2479,3709
$GC,1082,-0.75,-155.7,207.1,-14.6,100,1086,0.00,2.00,0.00,0.000,4,0.000,0.025,2260,1078,3710
$GC,1100,-0.75,-155.7,210.0,-14.5,100,1105,0.00,2.17,0.00,0.000,6,0.000,0.038,2250,2503,3710
$GC,1369,-0.75,-155.7,248.3,-14.3,107,1373,0.00,2.17,0.00,0.000,4,0.000,0.048,2238,3908,3710
$GC,1440,-0.75,-155.7,257.5,-12.4,108,1443,0.00,2.05,0.00,0.000,6,0.000,0.021,2239,2497,3710
$GC,1709,-0.75,-155.7,294.1,-13.7,115,1712,0.00,2.00,0.00,0.000,4,0.000,0.025,2241,1108,3710
$GC,1750,-0.75,-155.7,298.9,-10.3,115,1757,0.08,2.15,0.00,0.000,6,0.103,0.038,2266,2497,3709
$GC,2002,-0.75,-155.7,319.6,-8.2,122,2006,0.00,2.20,0.00,0.000,4,0.000,0.049,2258,3909,3709
$GC,2056,-0.75,-155.7,323.6,-6.5,123,2060,0.00,2.05,0.00,0.000,6,0.000,0.022,2258,2492,3709
$GC,2342,-0.75,-155.7,347.9,-8.8,130,2346,0.00,2.00,0.00,0.000,4,0.000,0.025,2258,1102,3707
$GC,2384,-0.75,-155.7,351.6,-8.3,130,2391,0.00,2.17,0.00,0.000,6,0.000,0.039,2250,2503,3706
$GC,2637,-0.75,-155.7,376.2,-10.0,137,2641,0.00,2.17,0.00,0.000,4,0.000,0.050,2239,3905,3705
$GC,2690,-0.75,-155.7,381.4,-9.1,138,2694,0.00,2.03,0.00,0.000,6,0.000,0.023,2238,2506,3704
$GC,2975,-0.75,-155.7,410.6,-10.3,145,2979,0.00,2.03,0.00,0.000,4,0.000,0.026,2238,1110,3702
$GC,3024,-0.75,-155.7,415.4,-9.0,146,3028,0.00,2.15,0.00,0.000,6,0.000,0.040,2237,2513,3702
$GC,3319,-0.75,-155.7,445.5,-10.4,153,3322,0.00,2.17,0.00,0.000,4,0.000,0.051,2226,3896,3700
$GC,3367,-0.75,-155.7,450.7,-9.7,154,3371,0.15,2.03,0.00,0.000,6,0.105,0.024,2273,2500,3700
$GC,3661,-0.75,-155.7,472.5,-7.3,161,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2493,3697
$GC,3903,-0.75,-155.7,489.8,-7.1,167,3907,0.00,2.25,-0.08,0.000,4,0.000,0.064,2264,3895,3722
$GC,3938,-0.75,-155.7,492.3,-6.5,167,3942,0.00,2.05,0.00,0.000,6,0.000,0.025,2265,2486,3721
$GC,4196,-0.75,-155.7,512.2,-8.1,174,4199,0.00,2.00,0.00,0.000,4,0.000,0.026,2264,1104,3720
$GC,4255,-0.75,-155.7,517.8,-9.7,175,4259,0.00,2.15,0.00,0.000,6,0.000,0.041,2263,2502,3719
$GC,4536,-0.75,-155.7,540.0,-8.1,182,4539,0.00,2.20,0.00,0.000,4,0.000,0.054,2263,3894,3717
$GC,4555,-0.75,-155.7,541.5,-8.1,182,4559,0.00,2.03,0.00,0.000,6,0.000,0.026,2270,2493,3717
$GC,4831,-0.75,-155.7,563.4,-8.3,189,4835,0.00,2.00,0.00,0.000,4,0.000,0.028,2278,1120,3715
$GC,4881,-0.75,-155.7,567.7,-9.5,190,4884,0.00,2.12,0.00,0.000,6,0.000,0.041,2278,2503,3715
$GC,5174,-0.75,-155.7,594.3,-9.5,197,5178,0.00,2.22,0.00,0.000,4,0.000,0.054,2278,3902,3713
$GC,5288,-0.75,-155.7,606.2,-10.7,199,5292,0.00,2.05,0.00,0.000,6,0.000,0.027,2280,2506,3712
$GC,5559,-0.75,-155.7,634.5,-10.9,206,5563,0.00,2.05,0.00,0.000,4,0.000,0.029,2287,1106,3711
$GC,5595,-0.75,-155.7,638.9,-10.9,206,5599,0.00,2.15,0.00,0.000,6,0.000,0.041,2288,2498,3710
$GC,5853,-0.75,-155.7,664.6,-10.2,213,5856,0.00,2.22,0.00,0.000,4,0.000,0.055,2287,3898,3708
$GC,5963,-0.75,-155.7,675.1,-9.6,215,5966,0.00,2.08,0.00,0.000,6,0.000,0.027,2288,2490,3708
$GC,6239,-0.75,-155.7,700.2,-9.1,222,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2483,3706
$GC,6481,-0.75,-155.7,721.6,-8.7,228,6485,0.00,2.28,0.00,0.000,4,0.000,0.055,2287,3902,3705
$GC,6563,-0.75,-155.7,728.7,-9.0,229,6567,0.00,2.08,0.00,0.000,6,0.000,0.028,2288,2502,3704
$GC,6822,-0.75,-155.7,751.3,-8.9,236,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2494,3703
$GC,7065,-0.75,-155.7,772.4,-8.8,242,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2494,3702
$GC,7310,-0.75,-155.7,795.3,-9.5,248,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2494,3701
$GC,7552,-0.75,-155.7,819.8,-10.0,254,7556,0.00,2.28,0.00,0.000,4,0.000,0.058,2288,3894,3700
$GC,7601,-0.75,-155.7,824.7,-10.2,255,7605,0.00,2.08,0.00,0.000,6,0.000,0.030,2288,2493,3699
$GC,7893,-0.75,-155.7,852.8,-9.6,262,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2486,3698
$GC,8137,-0.75,-155.7,874.6,-8.8,268,8141,0.00,2.30,0.00,0.000,4,0.000,0.058,2287,3895,3697
$GC,8219,-0.75,-155.7,881.4,-7.9,269,8225,0.00,2.08,0.00,0.000,6,0.000,0.030,2287,2493,3696
$STATE,8469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8469,begin apogee
$GC,8480,-0.27,0.0,900.8,7.9,276,8619,0.38,0.00,135.82,1.305,6,0.058,0.000,2439,2493,3070
$STATE,8619,end apogee,CONTROL_FINISHED_OK
$STATE,8620,begin climb
$GC,8625,0.75,155.7,907.0,0.0,279,8795,0.85,2.33,149.23,1.251,4,0.051,0.031,2764,1102,2433
$GC,9052,0.75,155.7,850.2,22.3,288,9056,0.00,2.20,0.00,0.000,6,0.000,0.041,2764,2486,2425
$GC,9310,0.75,155.7,791.2,23.2,295,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2487,2422
$GC,9554,0.75,155.7,737.7,21.9,301,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2487,2421
$GC,9796,0.75,155.7,688.8,20.1,307,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2486,2420
$GC,10040,0.75,155.7,643.3,18.3,313,10044,0.00,2.22,0.00,0.000,4,0.000,0.048,2764,3897,2420
$GC,10116,0.75,155.7,628.2,20.6,314,10120,0.00,2.10,0.00,0.000,6,0.000,0.028,2774,2495,2418
$GC,10381,0.75,155.7,585.0,15.7,321,10384,0.00,2.12,0.00,0.000,4,0.000,0.031,2785,1075,2418
$GC,10518,0.75,155.7,564.7,14.8,324,10522,0.00,2.20,0.00,0.000,6,0.000,0.041,2780,2492,2417
$GC,10806,0.75,155.7,524.2,14.0,331,10810,0.00,2.20,0.00,0.000,4,0.000,0.050,2779,3890,2417
$GC,10875,0.75,155.7,513.2,15.8,332,10880,0.15,2.12,0.00,0.000,6,0.222,0.028,2757,2469,2416
$GC,11138,0.75,155.7,478.1,13.3,339,11142,0.00,2.28,0.00,0.000,4,0.000,0.049,2755,3901,2416
$GC,11361,0.75,155.7,445.2,13.3,343,11368,0.00,2.12,0.00,0.000,6,0.000,0.028,2764,2470,2416
$GC,11613,0.75,155.7,413.5,12.6,350,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2470,2415
$GC,11858,0.75,155.7,385.5,11.7,356,11862,0.00,2.08,0.00,0.000,4,0.000,0.030,2774,1076,2415
$GC,11952,0.77,170.5,376.0,9.4,358,11968,0.00,2.15,10.98,0.869,6,0.000,0.039,2768,2484,2375
$GC,12237,0.77,170.5,341.9,11.7,365,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2484,2372
$GC,12482,0.77,170.5,314.1,11.2,371,12486,0.00,2.22,0.00,0.000,4,0.000,0.048,2767,3892,2372
$GC,12694,0.77,170.5,288.9,11.0,375,12697,0.00,2.10,0.00,0.000,6,0.000,0.027,2776,2480,2372
$GC,12957,0.77,170.5,262.1,10.6,382,12961,0.00,2.08,0.00,0.000,4,0.000,0.030,2786,1075,2372
$GC,13078,0.77,170.5,249.2,10.1,384,13082,0.00,2.15,0.00,0.000,6,0.000,0.038,2781,2485,2372
$GC,13342,0.77,170.5,219.7,10.9,391,13346,0.00,2.20,0.00,0.000,4,0.000,0.047,2780,3891,2372
$GC,13552,0.77,170.5,194.7,12.3,397,13556,0.00,2.10,0.00,0.000,6,0.000,0.025,2789,2470,2372
$GC,13824,0.85,230.7,171.6,7.4,422,13885,0.00,2.30,51.95,0.758,4,0.000,0.043,2781,3878,2129
$GC,13893,0.85,230.7,164.6,13.2,427,13900,0.00,2.15,0.00,0.000,6,0.000,0.025,2789,2485,2128
$GC,14158,0.85,230.7,115.9,19.1,452,14162,0.00,2.25,0.00,0.000,4,0.000,0.043,2781,3903,2124
$GC,14193,0.85,230.7,109.0,18.2,454,14202,0.00,2.15,0.00,0.000,6,0.000,0.025,2789,2485,2124
$GC,14460,0.85,230.7,71.3,12.2,479,14464,0.00,2.22,0.00,0.000,4,0.000,0.044,2781,3894,2123
$GC,14607,0.85,237.0,55.6,9.7,492,14622,0.00,2.10,6.32,0.528,6,0.000,0.023,2790,2463,2103
$GC,14885,0.85,237.0,28.9,12.1,517,14894,0.00,2.05,0.00,0.000,4,0.000,0.026,2800,1080,2102
$GC,14978,0.85,237.0,16.9,11.1,533,14986,0.00,2.15,0.00,0.000,6,0.000,0.034,2793,2480,2102
$STATE,15082,end climb,SURFACE_DEPTH_REACHED
$STATE,15082,begin surface coast
$FINISH,0.4,1.023480
$STATE,15104,end surface coast,CONTROL_FINISHED_OK
$STATE,15109,begin surface
$SM_CCo,15134,81.20,0.593,0,0,1397,410.13
$SM_GC,1.18,0.00,0.00,81.20,0.000,0.000,0.593,40,2487,1397,-7.72,-0.37,410.13
$IRIDIUM_FIX,2309.79,-15800.16,141200,080834
$TT8_MAMPS,0.023777
$HUMID,2043
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.00
$XPDR_PINGS,33
$24V_AH,23.0,50.210
$10V_AH,10.7,38.842
$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,17.350,145.375,354.300,81.200,0.000,29.895,40.358,210.063,8.250,0.000,0.000,14.099,1229.874,10900.382,510.671,2144.864,905.134,33.370,1472.946,0.000,2125.780,0.000,0.543,0.000
$DEVICE_MAMPS,221.663,63.661,1304.667,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,376.841,717.215,741.131,135.324,615.194,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44566,556
$CAP_FILE_SIZE,120048,0
$CFSIZE,260165632,199639040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,200911,173407,2316.196,-15756.916,100,0.9,100,10.1