version: 66.04
glider: 512
mission: 2
dive: 487
start: 9 29 111 10 14 25
data:
$ID,512
$MISSION,2
$DIVE,487
$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,-42636.633
$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,32
$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
$GPS1,100036,2313.325,-15754.648,32,1.1,32,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-82.1
$GPS2,101325,2313.214,-15754.794,18,1.1,18,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15704.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.246,-0.054
$KALMAN_X,-33092.0,-48.2,183.5,46841.5,-2720.3
$KALMAN_Y,-26978.4,426.6,197.4,14267.7,-4885.5
$MHEAD_RNG_PITCHd_Wd,79.3,89984,-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,-136.3,0.0,0.0,0,89,0.00,0.00,-67.88,0.000,2,0.000,0.000,37,2493,3185
$GC,95,-0.77,-136.3,3.8,-6.1,9,121,8.30,2.20,-7.62,0.000,4,0.196,0.052,2221,3899,3627
$GC,139,-0.77,-136.3,24.8,-50.8,14,147,0.00,2.10,0.00,0.000,6,0.000,0.023,2229,2496,3627
$GC,412,-0.77,-136.3,95.9,-21.6,40,416,0.00,2.05,0.00,0.000,4,0.000,0.026,2240,1072,3628
$GC,472,-0.77,-136.3,106.3,-13.5,45,477,0.00,2.17,0.00,0.000,6,0.000,0.039,2233,2490,3628
$GC,739,-0.77,-136.3,152.5,-17.7,69,743,0.00,2.20,0.00,0.000,4,0.000,0.048,2222,3908,3629
$GC,800,-0.77,-136.3,163.3,-15.1,74,804,0.00,2.10,0.00,0.000,6,0.000,0.021,2225,2468,3629
$GC,1069,-0.77,-136.3,208.2,-18.0,96,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2462,3630
$GC,1310,-0.77,-136.3,250.2,-17.0,102,1314,0.00,1.98,0.00,0.000,4,0.000,0.024,2225,1081,3630
$GC,1346,-0.77,-136.3,255.9,-14.6,102,1349,0.00,2.15,0.00,0.000,6,0.000,0.039,2223,2491,3630
$GC,1604,-0.77,-136.3,294.6,-15.1,109,1607,0.00,2.17,0.00,0.000,4,0.000,0.048,2212,3899,3629
$GC,1668,-0.77,-136.3,304.1,-14.2,110,1672,0.00,2.05,0.00,0.000,6,0.000,0.022,2212,2475,3629
$GC,1942,-0.77,-136.3,341.8,-13.6,117,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2469,3628
$GC,2188,-0.77,-136.3,371.0,-11.6,123,2192,0.00,2.25,0.00,0.000,4,0.000,0.049,2202,3902,3627
$GC,2212,-0.77,-136.3,374.1,-11.7,123,2216,0.12,2.05,0.00,0.000,6,0.120,0.022,2243,2480,3627
$GC,2476,-0.77,-136.3,396.6,-8.5,130,2480,0.00,2.25,0.00,0.000,4,0.000,0.051,2234,3906,3625
$GC,2518,-0.77,-136.3,400.6,-9.0,130,2525,0.00,2.10,0.00,0.000,6,0.000,0.024,2234,2481,3624
$GC,2770,-0.77,-136.3,424.3,-9.8,137,2774,0.00,2.00,0.00,0.000,4,0.000,0.026,2234,1096,3622
$GC,2800,-0.77,-136.3,427.5,-10.2,137,2804,0.00,2.15,0.00,0.000,6,0.000,0.040,2224,2500,3622
$GC,3065,-0.77,-136.3,454.7,-10.6,144,3069,0.00,2.20,0.00,0.000,4,0.000,0.051,2213,3906,3620
$GC,3135,-0.77,-136.3,462.3,-10.1,145,3139,0.00,2.05,0.00,0.000,6,0.000,0.025,2213,2496,3619
$GC,3404,-0.77,-136.3,492.1,-11.1,152,3409,0.00,2.08,-0.08,0.000,4,0.000,0.041,2218,1087,3643
$GC,3458,-0.77,-136.3,497.9,-9.8,153,3463,0.12,2.17,0.00,0.000,6,0.116,0.041,2247,2499,3643
$GC,3733,-0.77,-136.3,520.5,-8.3,160,3737,0.00,2.20,0.00,0.000,4,0.000,0.053,2238,3900,3640
$GC,3803,-0.77,-136.3,526.5,-8.4,161,3807,0.00,2.08,0.00,0.000,6,0.000,0.025,2238,2484,3638
$GC,4074,-0.77,-136.3,548.5,-7.9,168,4077,0.00,2.03,0.00,0.000,4,0.000,0.028,2238,1093,3637
$GC,4099,-0.77,-136.3,550.7,-8.2,168,4103,0.00,2.17,0.00,0.000,6,0.000,0.043,2237,2497,3637
$GC,4368,-0.77,-136.3,571.3,-7.8,175,4372,0.00,2.22,0.00,0.000,4,0.000,0.055,2225,3898,3635
$GC,4420,-0.77,-136.3,575.5,-7.8,176,4424,0.00,2.08,0.00,0.000,6,0.000,0.026,2225,2486,3635
$GC,4710,-0.77,-136.3,599.9,-8.9,183,4713,0.00,2.05,0.00,0.000,4,0.000,0.029,2225,1087,3632
$GC,4740,-0.77,-136.3,602.9,-9.3,183,4744,0.00,2.17,0.00,0.000,6,0.000,0.044,2223,2490,3632
$GC,5004,-0.77,-136.3,626.7,-9.2,190,5008,0.00,2.25,0.00,0.000,4,0.000,0.056,2212,3900,3630
$GC,5074,-0.77,-136.3,633.2,-8.6,191,5078,0.00,2.08,0.00,0.000,6,0.000,0.028,2212,2493,3630
$GC,5343,-0.77,-136.3,659.2,-9.5,198,5347,0.00,2.08,0.00,0.000,4,0.000,0.031,2218,1083,3628
$GC,5379,-0.77,-136.3,662.6,-9.0,198,5384,0.12,2.20,0.00,0.000,6,0.115,0.044,2246,2491,3627
$GC,5633,-0.77,-136.3,678.8,-6.3,204,5637,0.00,2.25,0.00,0.000,4,0.000,0.058,2237,3898,3626
$GC,5686,-0.77,-136.3,682.5,-6.6,205,5690,0.00,2.10,0.00,0.000,6,0.000,0.028,2237,2477,3626
$GC,5972,-0.77,-136.3,702.3,-6.9,212,5976,0.00,2.33,0.00,0.000,4,0.000,0.058,2227,3903,3624
$GC,5997,-0.77,-136.3,704.2,-7.0,212,6001,0.00,2.10,0.00,0.000,6,0.000,0.028,2228,2493,3624
$GC,6261,-0.77,-136.3,724.2,-7.8,219,6265,0.00,2.05,0.00,0.000,4,0.000,0.031,2227,1089,3622
$GC,6292,-0.77,-136.3,726.6,-8.0,219,6296,0.00,2.20,0.00,0.000,6,0.000,0.046,2223,2490,3622
$GC,6551,-0.77,-136.3,747.2,-8.1,226,6555,0.00,2.25,0.00,0.000,4,0.000,0.058,2212,3899,3620
$GC,6605,-0.77,-136.3,751.6,-8.0,227,6609,0.00,2.08,0.00,0.000,6,0.000,0.028,2212,2492,3620
$GC,6891,-0.77,-136.3,776.3,-8.7,234,6895,0.00,2.08,0.00,0.000,4,0.000,0.031,2218,1089,3619
$GC,6944,-0.77,-136.3,780.7,-8.0,235,6949,0.12,2.20,0.00,0.000,6,0.114,0.046,2246,2488,3619
$GC,7227,-0.77,-136.3,797.8,-6.1,242,7231,0.00,2.28,0.00,0.000,4,0.000,0.059,2237,3900,3617
$GC,7279,-0.77,-136.3,801.6,-6.5,243,7283,0.00,2.10,0.00,0.000,6,0.000,0.028,2237,2485,3617
$GC,7560,-0.77,-136.3,822.5,-7.5,250,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2478,3616
$GC,7806,-0.77,-136.3,840.0,-7.2,256,7810,0.00,2.33,0.00,0.000,4,0.000,0.061,2228,3899,3615
$GC,7836,-0.77,-136.3,842.4,-7.7,256,7840,0.00,2.10,0.00,0.000,6,0.000,0.030,2228,2492,3615
$GC,8095,-0.77,-136.3,860.3,-6.9,263,8098,0.00,2.08,0.00,0.000,4,0.000,0.031,2228,1093,3614
$GC,8125,-0.77,-136.3,862.4,-7.3,263,8129,0.00,2.20,0.00,0.000,6,0.000,0.048,2223,2491,3614
$GC,8386,-0.77,-136.3,878.8,-6.3,270,8390,0.00,2.28,0.00,0.000,4,0.000,0.060,2212,3902,3613
$GC,8429,-0.77,-136.3,881.6,-5.8,271,8433,0.00,2.10,0.00,0.000,6,0.000,0.029,2212,2495,3613
$STATE,8718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8718,begin apogee
$GC,8729,-0.27,0.0,901.3,6.9,278,8852,0.60,0.00,120.22,1.278,6,0.111,0.000,2405,2486,3070
$STATE,8853,end apogee,CONTROL_FINISHED_OK
$STATE,8853,begin climb
$GC,8859,0.77,136.3,904.9,0.0,281,9032,0.90,2.47,137.85,1.200,4,0.041,0.048,2750,3893,2513
$GC,9254,0.77,136.3,865.2,21.6,289,9260,0.00,2.15,0.00,0.000,6,0.000,0.028,2760,2483,2504
$GC,9510,0.77,136.3,815.6,19.3,296,9513,0.00,2.12,0.00,0.000,4,0.000,0.031,2770,1070,2502
$GC,9539,0.77,136.3,809.2,18.9,296,9543,0.00,2.20,0.00,0.000,6,0.000,0.040,2767,2493,2501
$GC,9803,0.77,136.3,762.2,17.8,303,9807,0.00,2.20,0.00,0.000,4,0.000,0.049,2767,3893,2500
$GC,9834,0.77,136.3,756.5,18.7,303,9838,0.15,2.12,0.00,0.000,6,0.220,0.028,2744,2475,2499
$GC,10091,0.77,136.3,715.3,15.7,310,10095,0.00,2.10,0.00,0.000,4,0.000,0.031,2753,1067,2498
$GC,10289,0.77,136.3,687.3,14.6,314,10293,0.00,2.20,0.00,0.000,6,0.000,0.041,2753,2481,2497
$GC,10565,0.77,136.3,647.1,14.3,321,10568,0.00,2.22,0.00,0.000,4,0.000,0.050,2753,3893,2496
$GC,10684,0.77,136.3,629.7,14.6,323,10688,0.00,2.10,0.00,0.000,6,0.000,0.028,2763,2478,2496
$GC,10949,0.77,136.3,597.4,11.7,330,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2473,2495
$GC,11193,0.77,136.3,565.3,13.4,336,11197,0.00,2.10,0.00,0.000,4,0.000,0.032,2774,1067,2495
$GC,11223,0.77,136.3,561.1,13.4,336,11227,0.00,2.17,0.00,0.000,6,0.000,0.041,2768,2485,2494
$GC,11487,0.77,136.3,524.3,14.4,343,11491,0.00,2.20,0.00,0.000,4,0.000,0.050,2767,3892,2494
$GC,11500,0.77,136.3,522.3,14.3,343,11505,0.15,2.10,0.00,0.000,6,0.220,0.027,2744,2474,2494
$GC,11775,0.78,137.7,492.3,9.9,350,11779,0.00,2.25,0.00,0.000,4,0.000,0.051,2742,3885,2494
$GC,11830,0.78,142.4,486.8,9.8,351,11833,0.00,2.10,0.00,0.000,6,0.000,0.028,2751,2475,2494
$GC,12110,0.81,169.3,460.5,8.7,358,12152,0.00,2.12,29.62,0.949,4,0.000,0.031,2761,1070,2379
$GC,12206,0.81,169.3,450.5,12.6,360,12210,0.00,2.20,0.00,0.000,6,0.000,0.041,2755,2479,2375
$GC,12491,0.81,169.3,409.4,14.9,367,12495,0.00,2.25,0.00,0.000,4,0.000,0.051,2755,3893,2373
$GC,12511,0.81,169.3,406.3,14.9,367,12515,0.00,2.12,0.00,0.000,6,0.000,0.027,2763,2482,2373
$GC,12782,0.81,169.3,367.3,14.3,374,12783,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2478,2372
$GC,13025,0.81,169.3,333.7,13.6,380,13029,0.00,2.10,0.00,0.000,4,0.000,0.031,2774,1067,2371
$GC,13094,0.81,169.3,325.5,11.7,381,13098,0.00,2.20,0.00,0.000,6,0.000,0.041,2768,2487,2371
$GC,13359,0.81,169.3,294.1,12.2,388,13362,0.00,2.12,0.00,0.000,4,0.000,0.030,2776,1062,2371
$GC,13498,0.85,201.2,279.4,8.4,391,13532,0.00,2.20,27.88,0.864,6,0.000,0.040,2776,2487,2250
$GC,13785,0.85,201.2,233.6,17.0,398,13789,0.00,2.20,0.00,0.000,4,0.000,0.048,2768,3888,2245
$GC,13805,0.85,201.2,230.5,16.5,398,13809,0.00,2.12,0.00,0.000,6,0.000,0.027,2776,2470,2244
$GC,14063,0.85,201.2,193.4,14.2,406,14066,0.00,2.08,0.00,0.000,4,0.000,0.029,2787,1063,2243
$GC,14168,0.85,201.2,178.9,14.0,415,14172,0.00,2.17,0.00,0.000,6,0.000,0.038,2780,2484,2243
$GC,14440,0.85,201.2,146.7,10.9,440,14447,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2484,2242
$GC,14706,0.85,201.2,115.4,12.8,465,14710,0.00,2.08,0.00,0.000,4,0.000,0.027,2789,1074,2242
$GC,14844,0.85,201.2,98.5,11.6,477,14848,0.00,2.15,0.00,0.000,6,0.000,0.036,2781,2487,2243
$GC,15115,0.91,246.7,72.3,7.8,502,15159,0.00,2.15,38.90,0.660,4,0.000,0.027,2789,1073,2064
$GC,15359,0.91,246.7,45.5,10.9,523,15363,0.00,2.15,0.00,0.000,6,0.000,0.034,2781,2484,2059
$GC,15631,0.91,246.7,16.5,11.3,558,15640,0.00,2.20,0.00,0.000,4,0.000,0.044,2780,3885,2059
$STATE,15744,end climb,SURFACE_DEPTH_REACHED
$STATE,15744,begin surface coast
$FINISH,0.9,1.023053
$STATE,15757,end surface coast,CONTROL_FINISHED_OK
$STATE,15757,begin surface
$SM_CCo,15785,81.22,0.597,0,0,1397,410.13
$SM_GC,1.26,0.00,0.00,81.22,0.000,0.000,0.597,38,2489,1397,-7.66,-0.03,410.13
$IRIDIUM_FIX,2305.10,-15752.75,231200,101035
$TT8_MAMPS,0.023777
$HUMID,2049
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.20
$XPDR_PINGS,23
$24V_AH,22.6,57.899
$10V_AH,10.7,44.288
$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,17.800,180.700,354.475,81.225,0.000,61.149,71.790,367.089,5.750,0.000,0.000,18.379,1384.129,11357.356,528.643,2196.541,1168.369,33.345,1525.415,0.000,2165.554,0.000,0.543,0.000
$DEVICE_MAMPS,220.129,60.593,1277.822,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,394.119,748.812,771.223,140.283,643.001,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47719,580
$CAP_FILE_SIZE,134700,0
$CFSIZE,260165632,196669440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,41,5,1
$CURRENT,0.064,223.5,1
$GPS,290911,144025,2312.748,-15753.541,43,0.9,43,10.1