version: 66.04
glider: 512
mission: 2
dive: 490
start: 9 29 111 23 52 57
data:
$ID,512
$MISSION,2
$DIVE,490
$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,-42680.262
$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,56
$R_STBD_OVSHOOT,28
$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
$GPS1,233931,2311.860,-15751.528,39,1.5,39,10.1
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-80.6
$GPS2,235201,2311.661,-15751.674,12,1.3,17,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15704.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,0.130
$KALMAN_X,-40230.1,307.6,347.3,58767.6,-4159.0
$KALMAN_Y,-32480.3,101.9,34.7,17383.1,-2259.0
$MHEAD_RNG_PITCHd_Wd,89.9,84094,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.77,-136.3,0.0,0.0,0,89,0.00,0.00,-67.93,0.000,2,0.000,0.000,38,2476,3182
$GC,95,-0.77,-136.3,3.6,-5.8,9,120,8.32,2.10,-7.75,0.000,4,0.198,0.040,2242,1092,3628
$GC,143,-0.77,-136.3,25.6,-46.4,15,153,0.00,2.20,0.00,0.000,6,0.000,0.040,2232,2489,3628
$GC,419,-0.77,-136.3,93.7,-20.6,41,422,0.00,2.20,0.00,0.000,4,0.000,0.048,2222,3901,3629
$GC,456,-0.77,-136.3,101.4,-19.3,44,460,0.00,2.05,0.00,0.000,6,0.000,0.021,2222,2493,3629
$GC,729,-0.77,-136.3,152.3,-17.8,69,733,0.00,2.03,0.00,0.000,4,0.000,0.024,2222,1086,3630
$GC,780,-0.77,-136.3,161.2,-16.2,73,784,0.00,2.15,0.00,0.000,6,0.000,0.038,2212,2495,3630
$GC,1077,-0.77,-136.3,216.0,-18.7,95,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2496,3630
$GC,1322,-0.77,-136.3,259.5,-17.9,101,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2496,3631
$GC,1565,-0.77,-136.3,299.7,-16.0,107,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2495,3630
$GC,1808,-0.77,-136.3,335.3,-14.2,113,1811,0.00,2.17,0.00,0.000,4,0.000,0.048,2201,3893,3629
$GC,1845,-0.77,-136.3,340.4,-14.5,113,1849,0.12,2.05,0.00,0.000,6,0.119,0.022,2242,2470,3629
$GC,2104,-0.77,-136.3,365.3,-9.3,120,2108,0.00,2.25,0.00,0.000,4,0.000,0.050,2233,3899,3627
$GC,2146,-0.77,-136.3,369.3,-9.4,120,2153,0.00,2.08,0.00,0.000,6,0.000,0.022,2233,2493,3627
$GC,2398,-0.77,-136.3,393.1,-9.6,127,2402,0.00,2.22,0.00,0.000,4,0.000,0.051,2222,3904,3625
$GC,2417,-0.77,-136.3,395.1,-10.0,127,2421,0.00,2.08,0.00,0.000,6,0.000,0.023,2222,2480,3625
$GC,2693,-0.77,-136.3,424.9,-11.0,134,2697,0.00,2.25,0.00,0.000,4,0.000,0.051,2211,3894,3622
$GC,2722,-0.77,-136.3,428.5,-11.6,134,2726,0.10,2.05,0.00,0.000,6,0.117,0.023,2240,2477,3622
$GC,2981,-0.77,-136.3,453.5,-9.7,141,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2471,3621
$GC,3223,-0.77,-136.3,477.3,-9.8,147,3227,0.00,2.28,0.00,0.000,4,0.000,0.051,2232,3903,3618
$GC,3261,-0.77,-136.3,481.0,-10.1,147,3270,0.00,2.08,0.00,0.000,6,0.000,0.025,2231,2486,3617
$GC,3514,-0.77,-136.3,507.9,-10.7,154,3517,0.00,2.03,0.00,0.000,4,0.000,0.027,2231,1100,3616
$GC,3532,-0.77,-136.3,509.9,-10.4,154,3536,0.00,2.15,0.00,0.000,6,0.000,0.042,2223,2492,3616
$GC,3808,-0.77,-136.3,538.4,-10.5,161,3812,0.00,2.22,0.00,0.000,4,0.000,0.054,2212,3902,3613
$GC,3850,-0.77,-136.3,543.1,-11.1,161,3857,0.00,2.08,0.00,0.000,6,0.000,0.025,2212,2498,3613
$GC,4103,-0.77,-136.3,571.3,-11.1,168,4107,0.00,2.25,0.00,0.000,4,0.000,0.054,2201,3899,3610
$GC,4128,-0.77,-136.3,574.2,-10.8,168,4132,0.12,2.08,0.00,0.000,6,0.117,0.026,2241,2486,3611
$GC,4396,-0.77,-136.3,596.2,-7.9,175,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2480,3609
$GC,4642,-0.77,-136.3,613.8,-7.0,181,4646,0.00,2.30,0.00,0.000,4,0.000,0.057,2234,3907,3607
$GC,4678,-0.77,-136.3,616.4,-6.8,181,4684,0.00,2.10,0.00,0.000,6,0.000,0.028,2233,2494,3606
$GC,4931,-0.77,-136.3,633.9,-7.0,188,4935,0.00,2.08,0.00,0.000,4,0.000,0.030,2233,1082,3605
$GC,4968,-0.77,-136.3,636.7,-8.3,188,4972,0.00,2.20,0.00,0.000,6,0.000,0.044,2231,2491,3605
$GC,5223,-0.77,-136.3,654.5,-7.1,194,5226,0.00,2.25,0.00,0.000,4,0.000,0.057,2222,3904,3603
$GC,5281,-0.77,-136.3,658.9,-6.8,195,5285,0.00,2.10,0.00,0.000,6,0.000,0.028,2222,2490,3602
$GC,5563,-0.77,-136.3,680.9,-8.1,202,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2483,3600
$GC,5807,-0.77,-136.3,701.3,-8.3,208,5811,0.00,2.28,0.00,0.000,4,0.000,0.057,2211,3896,3599
$GC,5848,-0.77,-136.3,705.1,-8.8,208,5854,0.00,2.10,0.00,0.000,6,0.000,0.028,2211,2489,3599
$GC,6100,-0.77,-136.3,728.8,-9.4,215,6104,0.00,2.30,0.00,0.000,4,0.000,0.058,2206,3901,3598
$GC,6136,-0.77,-136.3,732.4,-10.2,215,6145,0.08,2.15,0.00,0.000,6,0.107,0.028,2236,2478,3597
$GC,6390,-0.77,-136.3,751.9,-7.6,222,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2478,3596
$GC,6634,-0.77,-136.3,768.7,-6.7,228,6638,0.00,2.05,0.00,0.000,4,0.000,0.031,2236,1098,3595
$GC,6665,-0.77,-136.3,770.8,-6.5,228,6669,0.00,2.20,0.00,0.000,6,0.000,0.048,2235,2495,3594
$GC,6929,-0.77,-136.3,786.4,-5.8,235,6933,0.00,2.25,0.00,0.000,4,0.000,0.059,2226,3901,3594
$GC,6980,-0.77,-136.3,789.4,-6.6,236,6984,0.00,2.10,0.00,0.000,6,0.000,0.029,2225,2490,3593
$GC,7272,-0.77,-136.3,809.1,-6.7,243,7275,0.00,2.08,0.00,0.000,4,0.000,0.031,2225,1089,3593
$GC,7308,-0.77,-136.3,811.7,-7.0,243,7312,0.00,2.22,0.00,0.000,6,0.000,0.048,2223,2495,3593
$GC,7561,-0.77,-136.3,830.5,-7.7,249,7565,0.00,2.28,0.00,0.000,4,0.000,0.059,2212,3902,3591
$GC,7631,-0.77,-136.3,836.3,-8.1,250,7635,0.00,2.10,0.00,0.000,6,0.000,0.030,2213,2493,3591
$GC,7894,-0.77,-136.3,859.4,-8.9,257,7898,0.00,2.10,0.00,0.000,4,0.000,0.033,2217,1085,3590
$GC,7931,-0.77,-136.3,862.6,-8.2,257,7936,0.12,2.20,0.00,0.000,6,0.115,0.048,2246,2489,3590
$GC,8189,-0.77,-136.3,878.2,-6.0,264,8193,0.00,2.30,0.00,0.000,4,0.000,0.061,2237,3908,3588
$GC,8237,-0.77,-136.3,881.1,-6.2,265,8241,0.00,2.15,0.00,0.000,6,0.000,0.031,2237,2475,3588
$STATE,8524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8525,begin apogee
$GC,8536,-0.27,0.0,900.4,6.7,272,8653,0.50,0.00,114.70,1.285,6,0.101,0.000,2402,2468,3071
$STATE,8654,end apogee,CONTROL_FINISHED_OK
$STATE,8654,begin climb
$GC,8659,0.77,136.3,905.7,0.0,275,8900,0.90,2.42,156.50,1.077,4,0.042,0.052,2742,3899,2514
$GC,9156,0.77,136.3,862.5,17.9,286,9160,0.00,2.15,0.00,0.000,6,0.000,0.028,2750,2488,2507
$GC,9438,0.77,136.3,814.6,16.5,293,9442,0.00,2.28,0.00,0.000,4,0.000,0.050,2750,3910,2504
$GC,9553,0.77,136.3,793.2,18.5,295,9557,0.00,2.17,0.00,0.000,6,0.000,0.029,2760,2469,2503
$GC,9810,0.77,136.3,752.4,15.5,302,9814,0.00,2.10,0.00,0.000,4,0.000,0.032,2770,1062,2503
$GC,10016,0.77,136.3,722.9,13.4,306,10020,0.00,2.22,0.00,0.000,6,0.000,0.041,2768,2493,2502
$GC,10279,0.77,136.3,684.9,14.6,313,10283,0.00,2.20,0.00,0.000,4,0.000,0.051,2767,3889,2501
$GC,10471,0.77,136.3,651.6,18.1,317,10476,0.15,2.12,0.00,0.000,6,0.222,0.029,2744,2467,2499
$GC,10751,0.77,136.3,611.6,13.4,324,10755,0.00,2.08,0.00,0.000,4,0.000,0.032,2753,1076,2499
$GC,10985,0.77,136.3,579.2,13.6,329,10989,0.00,2.17,0.00,0.000,6,0.000,0.042,2753,2479,2498
$GC,11268,0.77,136.3,542.1,13.0,336,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2480,2498
$GC,11508,0.77,136.3,515.0,11.1,342,11512,0.00,2.10,0.00,0.000,4,0.000,0.032,2763,1079,2497
$GC,11612,0.77,136.3,504.3,10.5,344,11617,0.00,2.17,0.00,0.000,6,0.000,0.043,2763,2486,2498
$GC,11894,0.77,136.3,475.4,10.1,351,11897,0.00,2.22,0.00,0.000,4,0.000,0.051,2763,3891,2497
$GC,12156,0.79,151.4,446.7,9.2,356,12180,0.00,2.10,14.38,0.821,6,0.000,0.028,2773,2471,2452
$GC,12457,0.79,151.4,410.9,12.5,364,12458,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2471,2449
$GC,12700,0.79,151.4,384.1,10.7,370,12704,0.00,2.08,0.00,0.000,4,0.000,0.031,2782,1074,2449
$GC,12781,0.79,151.4,375.7,10.5,371,12786,0.15,2.20,0.00,0.000,6,0.202,0.041,2747,2495,2448
$GC,13036,0.83,184.2,353.9,8.4,377,13078,0.00,2.30,32.25,0.875,4,0.000,0.051,2742,3898,2317
$GC,13222,0.83,184.2,330.0,14.7,381,13225,0.00,2.12,0.00,0.000,6,0.000,0.027,2750,2490,2314
$GC,13511,0.83,184.2,289.5,14.3,388,13514,0.00,2.12,0.00,0.000,4,0.000,0.031,2761,1067,2312
$GC,13585,0.83,184.2,278.8,14.4,389,13590,0.00,2.20,0.00,0.000,6,0.000,0.039,2754,2482,2311
$GC,13845,0.83,184.2,243.9,13.4,396,13849,0.00,2.10,0.00,0.000,4,0.000,0.029,2763,1064,2311
$GC,14106,0.83,184.2,209.2,12.0,401,14111,0.00,2.20,0.00,0.000,6,0.000,0.039,2763,2490,2311
$GC,14367,0.85,197.3,180.7,9.4,419,14386,0.00,0.00,11.55,0.718,6,0.000,0.000,2763,2490,2266
$GC,14644,0.85,197.3,146.2,11.6,445,14648,0.00,2.10,0.00,0.000,4,0.000,0.028,2772,1069,2264
$GC,14906,0.85,197.3,115.3,11.5,468,14910,0.00,2.17,0.00,0.000,6,0.000,0.038,2768,2490,2264
$GC,15172,0.91,248.5,91.7,7.5,492,15224,0.00,2.15,44.65,0.690,4,0.000,0.026,2776,1066,2057
$GC,15334,0.91,248.5,73.2,14.2,505,15338,0.00,2.20,0.00,0.000,6,0.000,0.036,2776,2489,2053
$GC,15605,0.91,248.5,35.6,10.3,530,15612,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2489,2052
$GC,15879,0.91,248.5,5.4,13.2,574,15888,0.00,2.12,0.00,0.000,4,0.000,0.025,2785,1061,2051
$STATE,15896,end climb,SURFACE_DEPTH_REACHED
$STATE,15896,begin surface coast
$FINISH,0.3,1.023383
$STATE,15919,end surface coast,CONTROL_FINISHED_OK
$STATE,15919,begin surface
$SM_CCo,15946,78.18,0.597,0,0,1397,410.13
$SM_GC,1.16,0.00,0.00,78.18,0.000,0.000,0.597,36,2495,1397,-7.67,0.14,410.13
$IRIDIUM_FIX,2305.10,-15750.58,231200,232325
$TT8_MAMPS,0.023777
$HUMID,2047
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.90
$XPDR_PINGS,26
$24V_AH,22.9,58.339
$10V_AH,10.7,44.636
$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,17.725,155.750,374.025,78.175,0.000,59.147,68.035,344.133,6.500,0.000,0.000,17.635,1375.378,11364.626,582.709,2304.874,1145.238,33.351,1627.405,0.000,2271.788,0.000,0.543,0.000
$DEVICE_MAMPS,222.430,60.593,1284.725,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,393.423,745.930,770.808,138.316,628.271,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47906,580
$CAP_FILE_SIZE,131204,0
$CFSIZE,260165632,196481024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,16,0
$CURRENT,0.150,213.6,1
$GPS,300911,042136,2310.268,-15750.756,38,1.3,43,10.1