version: 66.04
glider: 512
mission: 2
dive: 489
start: 9 29 111 19 18 20
data:
$ID,512
$MISSION,2
$DIVE,489
$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,-42662
$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,52
$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
$GPS1,190931,2312.071,-15752.841,41,1.7,41,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-80.3
$GPS2,191720,2312.052,-15752.902,11,1.7,11,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15704.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,0.048
$KALMAN_X,-37669.6,524.6,-90.8,54331.1,-2791.7
$KALMAN_Y,-29680.4,-376.2,-686.7,16512.9,-1307.6
$MHEAD_RNG_PITCHd_Wd,77.7,86303,-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,20,-0.77,-136.3,0.0,0.0,0,90,0.00,0.00,-67.97,0.000,2,0.000,0.000,40,2470,3186
$GC,96,-0.77,-136.3,3.7,-6.1,9,122,8.38,2.08,-7.57,0.000,4,0.201,0.039,2240,1086,3628
$GC,166,-0.77,-136.3,32.8,-28.7,18,170,0.00,2.17,0.00,0.000,6,0.000,0.041,2231,2484,3628
$GC,437,-0.77,-136.3,100.1,-21.6,43,440,0.00,2.22,0.00,0.000,4,0.000,0.048,2220,3907,3629
$GC,509,-0.77,-136.3,114.6,-18.1,49,513,0.00,2.08,0.00,0.000,6,0.000,0.022,2224,2485,3629
$GC,781,-0.77,-136.3,168.3,-20.8,74,785,0.00,2.03,0.00,0.000,4,0.000,0.026,2224,1086,3630
$GC,833,-0.77,-136.3,178.6,-16.1,78,842,0.00,2.17,0.00,0.000,6,0.000,0.039,2216,2490,3631
$GC,1122,-0.77,-136.3,231.4,-18.4,94,1126,0.00,2.20,0.00,0.000,4,0.000,0.048,2204,3907,3631
$GC,1163,-0.77,-136.3,238.7,-17.0,94,1170,0.12,2.08,0.00,0.000,6,0.123,0.021,2243,2483,3631
$GC,1417,-0.77,-136.3,270.4,-12.7,101,1420,0.00,2.00,0.00,0.000,4,0.000,0.025,2246,1091,3632
$GC,1441,-0.77,-136.3,273.9,-13.0,101,1445,0.00,2.15,0.00,0.000,6,0.000,0.038,2237,2502,3632
$GC,1712,-0.77,-136.3,307.6,-12.5,108,1716,0.00,2.17,0.00,0.000,4,0.000,0.048,2226,3903,3631
$GC,1787,-0.77,-136.3,316.3,-9.9,109,1791,0.00,2.08,0.00,0.000,6,0.000,0.022,2226,2476,3631
$GC,2052,-0.77,-136.3,346.3,-11.3,116,2056,0.00,2.25,0.00,0.000,4,0.000,0.050,2215,3898,3630
$GC,2087,-0.77,-136.3,350.5,-10.5,116,2093,0.00,2.05,0.00,0.000,6,0.000,0.021,2216,2487,3630
$GC,2342,-0.77,-136.3,381.7,-12.8,123,2346,0.00,2.25,0.00,0.000,4,0.000,0.051,2205,3904,3629
$GC,2384,-0.77,-136.3,387.5,-12.6,124,2388,0.12,2.05,0.00,0.000,6,0.114,0.023,2243,2487,3628
$GC,2678,-0.77,-136.3,417.7,-10.5,131,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2481,3627
$GC,2920,-0.77,-136.3,442.7,-10.2,137,2924,0.00,2.25,0.00,0.000,4,0.000,0.052,2234,3895,3624
$GC,2980,-0.77,-136.3,448.6,-9.2,138,2983,0.00,2.08,0.00,0.000,6,0.000,0.024,2234,2480,3623
$GC,3261,-0.77,-136.3,476.2,-9.9,145,3264,0.00,2.03,0.00,0.000,4,0.000,0.027,2234,1083,3622
$GC,3296,-0.77,-136.3,479.9,-9.7,145,3300,0.00,2.17,0.00,0.000,6,0.000,0.041,2224,2495,3622
$GC,3551,-0.77,-136.3,503.3,-9.2,151,3555,0.00,2.20,0.00,0.000,4,0.000,0.053,2213,3894,3619
$GC,3609,-0.77,-136.3,508.4,-7.7,152,3613,0.00,2.05,0.00,0.000,6,0.000,0.025,2213,2495,3619
$GC,3892,-0.77,-136.3,534.3,-9.5,159,3895,0.00,2.05,0.00,0.000,4,0.000,0.028,2216,1090,3617
$GC,3942,-0.77,-136.3,538.9,-8.8,160,3946,0.12,2.17,0.00,0.000,6,0.120,0.042,2244,2497,3617
$GC,4229,-0.77,-136.3,560.7,-7.7,167,4233,0.00,2.22,0.00,0.000,4,0.000,0.055,2236,3895,3615
$GC,4293,-0.77,-136.3,566.7,-8.8,168,4297,0.00,2.08,0.00,0.000,6,0.000,0.025,2236,2478,3613
$GC,4568,-0.77,-136.3,595.4,-10.7,175,4572,0.00,2.03,0.00,0.000,4,0.000,0.029,2236,1091,3612
$GC,4587,-0.77,-136.3,597.7,-10.9,175,4591,0.00,2.17,0.00,0.000,6,0.000,0.044,2236,2489,3612
$GC,4862,-0.77,-136.3,626.4,-10.3,182,4865,0.00,2.25,0.00,0.000,4,0.000,0.056,2225,3902,3610
$GC,4914,-0.77,-136.3,631.8,-9.3,183,4918,0.00,2.08,0.00,0.000,6,0.000,0.026,2225,2494,3609
$GC,5202,-0.77,-136.3,660.5,-10.0,190,5206,0.00,2.05,0.00,0.000,4,0.000,0.030,2225,1085,3608
$GC,5243,-0.77,-136.3,664.4,-8.3,190,5250,0.00,2.22,0.00,0.000,6,0.000,0.045,2223,2486,3607
$GC,5496,-0.77,-136.3,687.1,-9.0,197,5500,0.00,2.25,0.00,0.000,4,0.000,0.056,2212,3905,3605
$GC,5583,-0.77,-136.3,694.9,-8.6,198,5589,0.00,2.10,0.00,0.000,6,0.000,0.028,2212,2492,3605
$GC,5836,-0.77,-136.3,718.1,-9.1,205,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2485,3604
$GC,6081,-0.77,-136.3,739.7,-8.9,211,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2485,3602
$GC,6323,-0.77,-136.3,762.2,-9.2,217,6327,0.00,2.28,0.00,0.000,4,0.000,0.057,2202,3901,3600
$GC,6372,-0.77,-136.3,767.0,-10.4,218,6377,0.12,2.10,0.00,0.000,6,0.119,0.029,2241,2483,3600
$GC,6664,-0.77,-136.3,790.1,-7.8,225,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2476,3599
$GC,6909,-0.77,-136.3,810.2,-8.2,231,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2477,3598
$GC,7152,-0.77,-136.3,830.9,-8.6,237,7156,0.00,2.30,0.00,0.000,4,0.000,0.060,2236,3901,3597
$GC,7182,-0.77,-136.3,833.8,-8.9,237,7186,0.00,2.12,0.00,0.000,6,0.000,0.029,2236,2483,3597
$GC,7447,-0.77,-136.3,857.0,-8.8,244,7450,0.00,2.08,0.00,0.000,4,0.000,0.032,2235,1084,3595
$GC,7482,-0.77,-136.3,860.4,-9.1,244,7487,0.00,2.22,0.00,0.000,6,0.000,0.047,2236,2494,3595
$GC,7736,-0.77,-136.3,881.3,-8.3,250,7740,0.00,2.28,0.00,0.000,4,0.000,0.060,2227,3905,3594
$GC,7794,-0.77,-136.3,886.4,-8.1,251,7798,0.00,2.12,0.00,0.000,6,0.000,0.029,2226,2489,3594
$STATE,7948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7948,begin apogee
$GC,7959,-0.27,0.0,900.2,8.7,255,8077,0.52,0.00,115.47,1.279,6,0.103,0.000,2400,2482,3071
$STATE,8078,end apogee,CONTROL_FINISHED_OK
$STATE,8078,begin climb
$GC,8084,0.77,136.3,906.8,0.0,258,8258,0.90,2.50,137.70,1.199,4,0.040,0.049,2750,3899,2513
$GC,8516,0.77,136.3,869.5,18.2,267,8520,0.00,2.15,0.00,0.000,6,0.000,0.028,2760,2483,2504
$GC,8779,0.77,136.3,825.2,16.8,274,8783,0.00,2.25,0.00,0.000,4,0.000,0.048,2755,3902,2501
$GC,8803,0.77,136.3,820.6,17.9,274,8807,0.00,2.15,0.00,0.000,6,0.000,0.028,2763,2471,2500
$GC,9068,0.77,136.3,776.1,16.8,281,9072,0.00,2.28,0.00,0.000,4,0.000,0.049,2763,3903,2499
$GC,9149,0.77,136.3,760.9,17.8,282,9156,0.15,2.12,0.00,0.000,6,0.221,0.028,2741,2475,2498
$GC,9403,0.77,136.3,720.7,15.4,289,9407,0.00,2.08,0.00,0.000,4,0.000,0.031,2750,1078,2497
$GC,9497,0.77,136.3,706.7,14.4,291,9501,0.00,2.17,0.00,0.000,6,0.000,0.041,2750,2488,2496
$GC,9784,0.77,136.3,668.6,12.7,298,9788,0.00,2.22,0.00,0.000,4,0.000,0.050,2750,3899,2495
$GC,9865,0.77,136.3,657.2,14.7,299,9868,0.00,2.12,0.00,0.000,6,0.000,0.027,2760,2469,2496
$GC,10123,0.77,136.3,624.6,12.2,306,10127,0.00,2.08,0.00,0.000,4,0.000,0.031,2770,1066,2495
$GC,10233,0.77,136.3,611.4,11.6,308,10237,0.00,2.20,0.00,0.000,6,0.000,0.041,2767,2486,2494
$GC,10502,0.77,136.3,581.0,11.0,315,10503,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2487,2494
$GC,10746,0.77,136.3,555.4,10.4,321,10750,0.00,2.22,0.00,0.000,4,0.000,0.049,2767,3899,2493
$GC,11008,0.77,136.3,521.1,13.5,326,11013,0.15,2.12,0.00,0.000,6,0.219,0.028,2744,2468,2493
$GC,11261,0.77,136.3,494.3,10.2,332,11265,0.00,2.08,0.00,0.000,4,0.000,0.031,2753,1070,2493
$GC,11319,0.77,136.3,488.2,10.6,333,11323,0.00,2.20,0.00,0.000,6,0.000,0.041,2753,2491,2492
$GC,11596,0.78,140.3,460.3,9.8,340,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2492,2493
$GC,11840,0.80,154.6,437.6,9.3,346,11866,0.00,2.15,16.25,0.843,4,0.000,0.029,2763,1068,2439
$GC,11988,0.80,154.6,423.1,10.3,349,11992,0.00,2.20,0.00,0.000,6,0.000,0.041,2755,2486,2437
$GC,12264,0.80,154.6,391.5,11.7,356,12268,0.00,2.22,0.00,0.000,4,0.000,0.049,2754,3904,2435
$GC,12283,0.80,154.6,388.6,12.4,356,12286,0.00,2.12,0.00,0.000,6,0.000,0.027,2764,2470,2434
$GC,12557,0.80,154.6,352.8,13.0,363,12561,0.00,2.25,0.00,0.000,4,0.000,0.048,2764,3895,2434
$GC,12607,0.80,154.6,345.9,14.2,364,12611,0.00,2.10,0.00,0.000,6,0.000,0.026,2773,2473,2434
$GC,12899,0.80,154.6,310.1,11.5,371,12901,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2468,2434
$GC,13142,0.85,195.9,290.1,8.0,377,13192,0.00,2.12,39.03,0.840,4,0.000,0.031,2783,1089,2270
$GC,13213,0.85,195.9,283.1,13.0,378,13217,0.00,2.17,0.00,0.000,6,0.000,0.038,2781,2482,2269
$GC,13470,0.85,195.9,243.3,15.3,385,13471,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2483,2265
$GC,13715,0.85,195.9,207.1,13.7,391,13719,0.00,2.10,0.00,0.000,4,0.000,0.030,2789,1077,2264
$GC,13977,0.85,195.9,173.2,14.3,408,13981,0.00,2.15,0.00,0.000,6,0.000,0.037,2781,2492,2264
$GC,14248,0.85,195.9,139.6,10.9,433,14252,0.00,2.10,0.00,0.000,4,0.000,0.028,2789,1071,2263
$GC,14515,0.85,195.9,110.1,10.9,456,14518,0.00,2.15,0.00,0.000,6,0.000,0.036,2781,2484,2263
$GC,14787,0.85,202.0,82.8,9.7,481,14799,0.00,2.10,5.45,0.526,4,0.000,0.027,2789,1066,2248
$GC,14882,0.88,224.0,74.1,8.9,489,14910,0.00,2.15,20.83,0.641,6,0.000,0.035,2781,2493,2155
$GC,15174,0.96,289.7,46.2,6.8,515,15242,0.00,2.20,55.12,0.638,4,0.000,0.025,2789,1074,1887
$GC,15283,0.96,289.7,34.6,13.6,523,15292,0.00,2.20,0.00,0.000,6,0.000,0.035,2781,2475,1884
$STATE,15481,end climb,SURFACE_DEPTH_REACHED
$STATE,15481,begin surface coast
$FINISH,0.4,1.000052
$STATE,15499,end surface coast,CONTROL_FINISHED_OK
$STATE,15499,begin surface
$SM_CCo,15524,56.70,0.588,0,0,1397,410.13
$SM_GC,1.57,0.00,0.00,56.70,0.000,0.000,0.588,38,2476,1397,-7.66,-0.40,410.13
$IRIDIUM_FIX,2302.75,-15753.64,231200,141421
$TT8_MAMPS,0.023777
$HUMID,2072
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.00
$XPDR_PINGS,14
$24V_AH,22.9,58.188
$10V_AH,10.7,44.514
$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,17.775,159.425,389.850,56.700,0.000,31.473,34.227,210.650,3.500,0.000,0.000,11.205,1329.226,11100.158,529.468,2167.050,925.330,33.350,1523.982,0.000,2145.484,0.000,0.543,0.000
$DEVICE_MAMPS,220.896,59.826,1279.356,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,378.822,712.837,734.308,131.741,601.299,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44594,559
$CAP_FILE_SIZE,124619,0
$CFSIZE,260165632,196554752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,6,0
$CURRENT,0.032,243.8,1
$GPS,290911,233931,2311.860,-15751.528,39,1.5,39,10.1