version: 66.04
glider: 512
mission: 2
dive: 485
start: 9 29 111 0 51 24
data:
$ID,512
$MISSION,2
$DIVE,485
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,-42603.094
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2490
$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,2490
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,37
$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
$GPS1,004224,2315.158,-15755.902,27,1.2,45,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-80.1
$GPS2,005025,2315.076,-15756.011,15,1.6,20,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15704.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.244,-0.063
$KALMAN_X,-27974.4,53.0,466.7,39270.2,-3814.2
$KALMAN_Y,-22036.3,650.4,448.3,12268.2,-3900.0
$MHEAD_RNG_PITCHd_Wd,89.8,92959,-18.2,-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,-0.77,-136.3,0.0,0.0,0,82,0.00,0.00,-60.38,0.000,2,0.000,0.000,37,2496,2975
$GC,87,-0.77,-136.3,3.3,-5.4,8,115,8.35,2.22,-12.12,0.000,4,0.200,0.054,2219,3885,3627
$GC,132,-0.77,-136.3,20.4,-40.2,13,140,0.00,2.10,0.00,0.000,6,0.000,0.023,2227,2489,3628
$GC,405,-0.77,-136.3,93.5,-22.4,40,409,0.00,2.05,0.00,0.000,4,0.000,0.026,2234,1079,3629
$GC,446,-0.77,-136.3,101.6,-20.6,43,450,0.00,2.15,0.00,0.000,6,0.000,0.039,2225,2476,3630
$GC,717,-0.77,-136.3,160.4,-20.8,68,720,0.00,2.20,0.00,0.000,4,0.000,0.046,2214,3902,3631
$GC,780,-0.77,-136.3,172.1,-16.3,73,784,0.00,2.08,0.00,0.000,6,0.000,0.021,2214,2482,3631
$GC,1067,-0.77,-136.3,222.4,-17.4,91,1071,0.00,2.00,0.00,0.000,4,0.000,0.025,2220,1092,3632
$GC,1115,-0.77,-136.3,230.1,-13.2,92,1119,0.00,2.15,0.00,0.000,6,0.000,0.038,2211,2504,3632
$GC,1409,-0.77,-136.3,276.2,-16.2,99,1412,0.00,2.17,0.00,0.000,4,0.000,0.047,2200,3908,3632
$GC,1456,-0.77,-136.3,283.8,-14.0,100,1461,0.12,2.08,0.00,0.000,6,0.120,0.021,2247,2482,3632
$GC,1746,-0.77,-136.3,315.3,-10.9,107,1750,0.00,2.00,0.00,0.000,4,0.000,0.025,2250,1093,3631
$GC,1799,-0.77,-136.3,321.4,-9.4,108,1803,0.00,2.12,0.00,0.000,6,0.000,0.038,2246,2492,3631
$GC,2086,-0.77,-136.3,352.5,-11.0,115,2089,0.00,2.20,0.00,0.000,4,0.000,0.051,2234,3900,3630
$GC,2156,-0.77,-136.3,359.3,-8.7,116,2160,0.00,2.08,0.00,0.000,6,0.000,0.022,2234,2475,3630
$GC,2426,-0.77,-136.3,386.2,-10.0,123,2429,0.00,2.00,0.00,0.000,4,0.000,0.026,2234,1092,3627
$GC,2467,-0.77,-136.3,390.0,-8.2,123,2473,0.00,2.15,0.00,0.000,6,0.000,0.039,2224,2498,3627
$GC,2720,-0.77,-136.3,415.9,-10.7,130,2724,0.00,2.20,0.00,0.000,4,0.000,0.051,2213,3900,3625
$GC,2795,-0.77,-136.3,424.1,-9.8,131,2799,0.00,2.05,0.00,0.000,6,0.000,0.023,2214,2493,3624
$GC,3059,-0.77,-136.3,455.3,-12.2,138,3063,0.00,2.25,0.00,0.000,4,0.000,0.051,2203,3908,3623
$GC,3101,-0.77,-136.3,460.7,-12.7,139,3106,0.12,2.08,0.00,0.000,6,0.114,0.025,2243,2482,3622
$GC,3389,-0.77,-136.3,488.5,-9.7,146,3393,0.00,2.03,0.00,0.000,4,0.000,0.028,2243,1093,3621
$GC,3414,-0.77,-136.3,491.3,-9.7,146,3417,0.00,2.15,0.00,0.000,6,0.000,0.041,2236,2489,3621
$GC,3683,-0.77,-136.3,517.8,-9.8,153,3687,0.00,2.22,0.00,0.000,4,0.000,0.054,2225,3899,3618
$GC,3742,-0.77,-136.3,523.5,-9.2,154,3746,0.00,2.10,0.00,0.000,6,0.000,0.025,2225,2478,3618
$GC,4024,-0.77,-136.3,549.1,-9.0,161,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2471,3616
$GC,4267,-0.77,-136.3,570.9,-9.0,167,4271,0.00,2.30,0.00,0.000,4,0.000,0.054,2215,3906,3614
$GC,4303,-0.77,-136.3,574.6,-9.6,167,4310,0.00,2.10,0.00,0.000,6,0.000,0.026,2215,2483,3614
$GC,4558,-0.77,-136.3,600.0,-10.2,174,4562,0.00,2.05,0.00,0.000,4,0.000,0.030,2219,1089,3611
$GC,4583,-0.77,-136.3,602.8,-10.0,174,4587,0.10,2.17,0.00,0.000,6,0.126,0.044,2239,2495,3612
$GC,4853,-0.77,-136.3,624.6,-7.9,181,4856,0.00,2.25,0.00,0.000,4,0.000,0.056,2230,3908,3609
$GC,4902,-0.77,-136.3,628.3,-7.7,182,4906,0.00,2.10,0.00,0.000,6,0.000,0.028,2229,2485,3609
$GC,5194,-0.77,-136.3,651.0,-7.6,189,5198,0.00,2.05,0.00,0.000,4,0.000,0.030,2229,1086,3608
$GC,5229,-0.77,-136.3,653.6,-7.3,189,5233,0.00,2.20,0.00,0.000,6,0.000,0.044,2223,2495,3607
$GC,5483,-0.77,-136.3,671.8,-7.3,195,5487,0.00,2.25,0.00,0.000,4,0.000,0.057,2212,3904,3605
$GC,5531,-0.77,-136.3,675.6,-8.1,196,5535,0.00,2.10,0.00,0.000,6,0.000,0.028,2212,2485,3605
$GC,5817,-0.77,-136.3,699.7,-8.6,203,5821,0.00,2.08,0.00,0.000,4,0.000,0.031,2216,1082,3604
$GC,5865,-0.77,-136.3,703.8,-8.1,204,5870,0.12,2.20,0.00,0.000,6,0.119,0.044,2243,2489,3603
$GC,6156,-0.77,-136.3,723.7,-7.0,211,6160,0.00,2.28,0.00,0.000,4,0.000,0.058,2236,3901,3601
$GC,6198,-0.77,-136.3,727.2,-7.1,212,6202,0.00,2.10,0.00,0.000,6,0.000,0.028,2236,2485,3601
$GC,6490,-0.77,-136.3,749.6,-7.5,219,6494,0.00,2.05,0.00,0.000,4,0.000,0.031,2236,1092,3599
$GC,6521,-0.77,-136.3,752.1,-7.8,219,6525,0.00,2.20,0.00,0.000,6,0.000,0.046,2236,2492,3600
$GC,6780,-0.77,-136.3,770.2,-7.1,226,6784,0.00,2.28,0.00,0.000,4,0.000,0.059,2225,3907,3598
$GC,6832,-0.77,-136.3,774.1,-6.8,227,6836,0.00,2.12,0.00,0.000,6,0.000,0.029,2225,2480,3598
$GC,7119,-0.77,-136.3,797.0,-8.3,234,7122,0.00,2.08,0.00,0.000,4,0.000,0.032,2225,1083,3596
$GC,7138,-0.77,-136.3,798.8,-8.7,234,7142,0.00,2.22,0.00,0.000,6,0.000,0.047,2223,2491,3596
$GC,7414,-0.77,-136.3,822.7,-8.8,241,7418,0.00,2.28,0.00,0.000,4,0.000,0.060,2212,3902,3596
$GC,7456,-0.77,-136.3,826.5,-8.9,242,7460,0.00,2.12,0.00,0.000,6,0.000,0.028,2211,2486,3595
$GC,7751,-0.77,-136.3,853.2,-9.0,249,7754,0.00,2.08,0.00,0.000,4,0.000,0.032,2216,1089,3594
$GC,7788,-0.77,-136.3,856.6,-8.7,249,7793,0.12,2.22,0.00,0.000,6,0.119,0.047,2243,2498,3594
$GC,8041,-0.77,-136.3,872.5,-6.2,255,8045,0.00,2.28,0.00,0.000,4,0.000,0.061,2236,3904,3593
$GC,8092,-0.77,-136.3,875.7,-7.0,256,8096,0.00,2.12,0.00,0.000,6,0.000,0.029,2236,2484,3593
$GC,8384,-0.77,-136.3,895.4,-6.7,263,8388,0.00,2.08,0.00,0.000,4,0.000,0.031,2236,1088,3593
$GC,8426,-0.77,-136.3,898.2,-6.5,263,8432,0.00,2.22,0.00,0.000,6,0.000,0.048,2236,2496,3593
$STATE,8470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8470,begin apogee
$GC,8482,-0.27,0.0,901.5,6.5,265,8600,0.50,0.00,114.65,1.278,6,0.103,0.000,2401,2496,3070
$STATE,8600,end apogee,CONTROL_FINISHED_OK
$STATE,8600,begin climb
$GC,8606,0.77,136.3,906.7,0.0,268,8774,0.90,2.42,136.60,1.205,4,0.041,0.051,2749,3902,2516
$GC,9031,0.77,136.3,865.3,20.2,276,9035,0.00,2.15,0.00,0.000,6,0.000,0.027,2759,2489,2507
$GC,9295,0.77,136.3,817.7,17.9,283,9299,0.00,2.25,0.00,0.000,4,0.000,0.048,2754,3901,2504
$GC,9324,0.77,136.3,812.1,18.5,283,9328,0.00,2.15,0.00,0.000,6,0.000,0.026,2763,2469,2503
$GC,9583,0.77,136.3,768.0,17.2,290,9587,0.00,2.08,0.00,0.000,4,0.000,0.030,2774,1070,2502
$GC,9635,0.77,136.3,758.8,17.2,291,9639,0.00,2.20,0.00,0.000,6,0.000,0.039,2768,2491,2502
$GC,9915,0.77,136.3,714.4,15.6,298,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2491,2500
$GC,10160,0.77,136.3,679.0,14.3,304,10163,0.00,2.12,0.00,0.000,4,0.000,0.031,2776,1072,2500
$GC,10207,0.77,136.3,672.5,13.7,305,10211,0.00,2.17,0.00,0.000,6,0.000,0.040,2768,2480,2500
$GC,10493,0.77,136.3,635.3,13.0,312,10497,0.00,2.12,0.00,0.000,4,0.000,0.031,2776,1065,2499
$GC,10620,0.77,136.3,618.6,13.6,314,10624,0.00,2.20,0.00,0.000,6,0.000,0.040,2768,2487,2498
$GC,10872,0.77,136.3,584.8,13.4,320,10876,0.00,2.22,0.00,0.000,4,0.000,0.050,2767,3892,2497
$GC,10947,0.77,136.3,574.0,14.7,321,10952,0.15,2.10,0.00,0.000,6,0.222,0.026,2744,2476,2497
$GC,11204,0.77,136.3,540.3,13.1,328,11208,0.00,2.10,0.00,0.000,4,0.000,0.031,2752,1065,2497
$GC,11241,0.77,136.3,535.7,12.0,328,11245,0.00,2.20,0.00,0.000,6,0.000,0.043,2753,2477,2497
$GC,11499,0.77,136.3,504.4,11.9,335,11503,0.00,2.28,0.00,0.000,4,0.000,0.054,2754,3903,2496
$GC,11704,0.77,136.3,481.3,10.0,339,11708,0.00,2.12,0.00,0.000,6,0.000,0.028,2763,2477,2496
$GC,11971,0.80,159.7,458.0,8.8,346,12002,0.00,2.28,21.10,0.906,4,0.000,0.051,2763,3893,2420
$GC,12044,0.80,159.7,449.7,12.9,347,12048,0.00,2.12,0.00,0.000,6,0.000,0.028,2773,2481,2418
$GC,12303,0.80,159.7,415.3,13.5,354,12307,0.00,2.28,0.00,0.000,4,0.000,0.050,2768,3893,2415
$GC,12366,0.80,159.7,406.7,13.0,355,12370,0.00,2.12,0.00,0.000,6,0.000,0.028,2776,2473,2415
$GC,12635,0.80,159.7,374.5,12.4,362,12639,0.00,2.28,0.00,0.000,4,0.000,0.049,2768,3902,2414
$GC,12678,0.80,159.7,369.1,13.2,363,12682,0.00,2.12,0.00,0.000,6,0.000,0.028,2776,2479,2415
$GC,12971,0.80,159.7,335.8,11.4,370,12975,0.00,2.10,0.00,0.000,4,0.000,0.031,2787,1066,2414
$GC,13064,0.80,159.7,325.3,12.0,372,13068,0.12,2.20,0.00,0.000,6,0.205,0.041,2753,2485,2414
$GC,13353,0.83,179.6,298.4,9.0,379,13383,0.00,2.15,20.58,0.789,4,0.000,0.029,2762,1073,2337
$GC,13639,0.85,199.9,268.6,9.0,385,13665,0.00,2.17,19.15,0.824,6,0.000,0.038,2754,2482,2254
$GC,13955,0.85,199.9,228.2,13.8,393,13959,0.00,2.12,0.00,0.000,4,0.000,0.030,2763,1070,2250
$GC,14142,0.85,199.9,204.0,12.5,397,14146,0.00,2.17,0.00,0.000,6,0.000,0.038,2763,2487,2249
$GC,14416,0.85,199.9,169.9,13.2,419,14419,0.00,2.10,0.00,0.000,4,0.000,0.028,2772,1070,2248
$GC,14637,0.85,199.9,144.6,10.5,438,14646,0.00,2.20,0.00,0.000,6,0.000,0.038,2767,2483,2248
$GC,14904,0.85,199.9,114.3,11.2,463,14908,0.00,2.08,0.00,0.000,4,0.000,0.028,2776,1069,2249
$GC,14990,0.85,199.9,104.3,10.7,470,14999,0.00,2.17,0.00,0.000,6,0.000,0.037,2776,2473,2248
$GC,15257,0.95,279.1,79.7,6.1,495,15328,0.00,2.15,66.70,0.675,4,0.000,0.026,2785,1067,1931
$GC,15356,0.95,279.1,69.9,14.5,502,15360,0.00,2.22,0.00,0.000,6,0.000,0.038,2780,2482,1927
$GC,15623,0.95,279.1,28.5,14.6,527,15631,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2483,1925
$STATE,15777,end climb,SURFACE_DEPTH_REACHED
$STATE,15777,begin surface coast
$FINISH,0.3,1.022996
$STATE,15799,end surface coast,CONTROL_FINISHED_OK
$STATE,15799,begin surface
$SM_CCo,15823,63.83,0.592,0,0,1398,410.13
$SM_GC,1.53,0.00,0.00,63.83,0.000,0.000,0.592,40,2483,1398,-7.66,-0.20,410.13
$IRIDIUM_FIX,2307.44,-15757.10,221200,202054
$TT8_MAMPS,0.023777
$HUMID,2065
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.80
$XPDR_PINGS,23
$24V_AH,22.9,57.576
$10V_AH,10.7,44.045
$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,17.775,185.350,378.775,63.825,0.000,22.790,39.821,216.092,5.750,0.000,0.000,20.173,1383.868,11220.260,526.432,2283.156,955.478,33.341,1587.123,0.000,2244.414,0.000,0.543,0.000
$DEVICE_MAMPS,222.430,60.593,1277.822,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,378.837,697.114,717.500,123.476,563.090,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44639,558
$CAP_FILE_SIZE,135404,0
$CFSIZE,260165632,196800512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,6,0
$CURRENT,0.179,222.0,1
$GPS,290911,051736,2313.550,-15755.398,33,1.1,33,10.1