version: 66.04
glider: 512
mission: 2
dive: 493
start: 9 30 111 13 48 39
data:
$ID,512
$MISSION,2
$DIVE,493
$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,-42731.66
$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,48
$R_STBD_OVSHOOT,29
$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
$GPS1,132525,2309.890,-15748.627,64,1.1,64,10.1
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-76.3
$GPS2,134743,2309.644,-15748.860,12,1.0,17,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15704.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,-0.042
$KALMAN_X,-47477.2,51.1,294.7,71104.1,-3196.7
$KALMAN_Y,-40761.0,724.2,369.0,20969.1,-4425.4
$MHEAD_RNG_PITCHd_Wd,85.3,78535,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-0.77,-136.3,0.0,0.0,0,91,0.00,0.00,-64.95,0.000,2,0.000,0.000,39,2495,3097
$GC,97,-0.77,-136.3,3.3,-5.0,8,123,8.45,2.10,-9.55,0.000,4,0.203,0.037,2239,1066,3627
$GC,224,-0.77,-136.3,39.9,-19.7,24,228,0.00,2.20,0.00,0.000,6,0.000,0.039,2230,2495,3627
$GC,488,-0.77,-136.3,97.2,-19.8,48,492,0.00,2.17,0.00,0.000,4,0.000,0.048,2219,3893,3627
$GC,515,-0.77,-136.3,102.3,-20.3,50,518,0.00,2.05,0.00,0.000,6,0.000,0.021,2225,2478,3627
$GC,786,-0.77,-136.3,153.4,-18.7,75,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2471,3628
$GC,1052,-0.77,-136.3,200.9,-17.2,100,1056,0.00,2.22,0.00,0.000,4,0.000,0.048,2216,3903,3628
$GC,1070,-0.77,-136.3,204.5,-17.2,100,1074,0.00,2.08,0.00,0.000,6,0.000,0.021,2216,2473,3629
$GC,1348,-0.77,-136.3,252.7,-17.9,107,1352,0.00,1.98,0.00,0.000,4,0.000,0.024,2219,1090,3628
$GC,1378,-0.77,-136.3,258.1,-15.4,107,1382,0.10,2.12,0.00,0.000,6,0.131,0.038,2239,2498,3628
$GC,1641,-0.77,-136.3,290.3,-12.0,114,1645,0.00,2.17,0.00,0.000,4,0.000,0.049,2230,3894,3628
$GC,1705,-0.77,-136.3,296.7,-9.2,115,1709,0.00,2.05,0.00,0.000,6,0.000,0.021,2230,2479,3628
$GC,1981,-0.77,-136.3,325.3,-10.7,122,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2472,3626
$GC,2223,-0.77,-136.3,353.4,-11.7,128,2227,0.00,2.25,0.00,0.000,4,0.000,0.050,2219,3903,3624
$GC,2270,-0.77,-136.3,359.2,-11.6,129,2274,0.00,2.05,0.00,0.000,6,0.000,0.023,2219,2494,3624
$GC,2558,-0.77,-136.3,395.7,-13.0,136,2562,0.00,2.03,0.00,0.000,4,0.000,0.026,2222,1092,3622
$GC,2583,-0.77,-136.3,399.3,-13.0,136,2587,0.00,2.15,0.00,0.000,6,0.000,0.041,2213,2490,3621
$GC,2854,-0.77,-136.3,434.4,-13.2,143,2858,0.00,2.20,0.00,0.000,4,0.000,0.051,2202,3897,3619
$GC,2940,-0.77,-136.3,446.0,-12.6,144,2947,0.12,2.05,0.00,0.000,6,0.118,0.024,2244,2485,3618
$GC,3197,-0.77,-136.3,469.0,-8.8,151,3199,0.00,0.00,-0.08,0.000,6,0.000,0.000,2244,2479,3641
$GC,3436,-0.77,-136.3,488.3,-7.8,157,3440,0.00,2.25,0.00,0.000,4,0.000,0.053,2235,3905,3639
$GC,3472,-0.77,-136.3,491.4,-8.4,157,3476,0.00,2.08,0.00,0.000,6,0.000,0.025,2235,2486,3638
$GC,3732,-0.77,-136.3,513.9,-8.8,164,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2480,3637
$GC,3974,-0.77,-136.3,535.6,-9.0,170,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2480,3635
$GC,4219,-0.77,-136.3,558.3,-9.4,176,4223,0.00,2.28,0.00,0.000,4,0.000,0.054,2224,3898,3632
$GC,4251,-0.77,-136.3,561.5,-9.8,176,4255,0.00,2.08,0.00,0.000,6,0.000,0.027,2224,2489,3632
$GC,4512,-0.77,-136.3,587.7,-10.0,183,4516,0.00,2.05,0.00,0.000,4,0.000,0.030,2224,1091,3630
$GC,4542,-0.77,-136.3,591.1,-10.4,183,4546,0.00,2.17,0.00,0.000,6,0.000,0.046,2223,2494,3630
$GC,4805,-0.77,-136.3,616.0,-9.6,190,4809,0.00,2.22,0.00,0.000,4,0.000,0.056,2213,3901,3627
$GC,4869,-0.77,-136.3,622.0,-9.3,191,4872,0.00,2.10,0.00,0.000,6,0.000,0.027,2212,2487,3626
$GC,5145,-0.77,-136.3,648.3,-9.6,198,5149,0.00,2.05,0.00,0.000,4,0.000,0.031,2216,1094,3625
$GC,5175,-0.77,-136.3,651.1,-9.0,198,5180,0.12,2.20,0.00,0.000,6,0.118,0.046,2245,2499,3625
$GC,5433,-0.77,-136.3,667.9,-6.3,205,5436,0.00,2.22,0.00,0.000,4,0.000,0.056,2236,3898,3623
$GC,5475,-0.77,-136.3,670.6,-6.7,205,5482,0.00,2.12,0.00,0.000,6,0.000,0.028,2236,2483,3623
$GC,5728,-0.77,-136.3,687.2,-6.5,212,5732,0.00,2.05,0.00,0.000,4,0.000,0.030,2236,1096,3621
$GC,5769,-0.77,-136.3,689.8,-6.1,212,5775,0.00,2.20,0.00,0.000,6,0.000,0.048,2236,2494,3621
$GC,6023,-0.77,-136.3,706.0,-6.5,219,6027,0.00,2.25,0.00,0.000,4,0.000,0.058,2224,3900,3619
$GC,6088,-0.77,-136.3,710.4,-7.0,220,6092,0.00,2.10,0.00,0.000,6,0.000,0.028,2225,2495,3619
$GC,6360,-0.77,-136.3,730.5,-7.5,227,6363,0.00,2.08,0.00,0.000,4,0.000,0.031,2225,1093,3617
$GC,6408,-0.77,-136.3,734.3,-7.5,228,6412,0.00,2.20,0.00,0.000,6,0.000,0.048,2223,2489,3617
$GC,6695,-0.77,-136.3,758.7,-8.8,235,6699,0.00,2.28,0.00,0.000,4,0.000,0.058,2212,3905,3615
$GC,6759,-0.77,-136.3,764.8,-9.3,236,6763,0.00,2.12,0.00,0.000,6,0.000,0.030,2213,2485,3615
$GC,7029,-0.77,-136.3,791.8,-10.2,243,7033,0.00,2.08,0.00,0.000,4,0.000,0.033,2217,1092,3614
$GC,7078,-0.77,-136.3,796.6,-9.4,244,7083,0.12,2.22,0.00,0.000,6,0.117,0.048,2245,2500,3614
$GC,7366,-0.77,-136.3,818.3,-7.4,251,7370,0.00,2.25,0.00,0.000,4,0.000,0.059,2236,3897,3612
$GC,7419,-0.77,-136.3,822.6,-7.7,252,7422,0.00,2.12,0.00,0.000,6,0.000,0.030,2236,2476,3612
$GC,7707,-0.77,-136.3,845.1,-7.8,259,7710,0.00,2.05,0.00,0.000,4,0.000,0.032,2236,1093,3611
$GC,7742,-0.77,-136.3,848.3,-7.8,259,7746,0.00,2.22,0.00,0.000,6,0.000,0.049,2236,2495,3611
$GC,7995,-0.77,-136.3,867.4,-7.7,265,7999,0.00,2.28,0.00,0.000,4,0.000,0.061,2226,3901,3610
$GC,8041,-0.77,-136.3,871.2,-8.1,266,8045,0.00,2.12,0.00,0.000,6,0.000,0.030,2226,2485,3610
$GC,8329,-0.77,-136.3,894.2,-8.0,273,8332,0.00,2.08,0.00,0.000,4,0.000,0.033,2226,1090,3609
$GC,8364,-0.77,-136.3,897.1,-7.6,273,8368,0.00,2.22,0.00,0.000,6,0.000,0.050,2223,2490,3609
$STATE,8408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8408,begin apogee
$GC,8419,-0.27,0.0,901.1,8.1,274,8541,0.55,0.00,119.22,1.282,6,0.110,0.000,2401,2491,3070
$STATE,8542,end apogee,CONTROL_FINISHED_OK
$STATE,8542,begin climb
$GC,8548,0.77,136.3,906.8,0.0,277,8746,0.90,2.40,145.55,1.149,4,0.040,0.051,2750,3900,2514
$GC,9003,0.77,136.3,866.6,20.7,287,9007,0.00,2.15,0.00,0.000,6,0.000,0.028,2760,2487,2505
$GC,9278,0.77,136.3,814.5,18.7,294,9282,0.00,2.25,0.00,0.000,4,0.000,0.050,2755,3902,2502
$GC,9358,0.77,136.3,798.3,20.2,295,9362,0.00,2.15,0.00,0.000,6,0.000,0.028,2763,2473,2501
$GC,9612,0.77,136.3,752.6,18.2,301,9617,0.00,2.28,0.00,0.000,4,0.000,0.051,2763,3904,2499
$GC,9655,0.77,136.3,744.3,19.0,302,9660,0.15,2.12,0.00,0.000,6,0.222,0.028,2741,2486,2500
$GC,9943,0.77,136.3,695.8,16.3,309,9947,0.00,2.12,0.00,0.000,4,0.000,0.032,2750,1064,2499
$GC,10069,0.77,136.3,676.0,14.3,311,10073,0.00,2.22,0.00,0.000,6,0.000,0.043,2750,2491,2498
$GC,10321,0.77,136.3,638.4,14.7,317,10322,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2491,2497
$GC,10567,0.77,136.3,605.8,13.0,323,10571,0.00,2.22,0.00,0.000,4,0.000,0.051,2750,3902,2496
$GC,10586,0.77,136.3,603.0,12.6,323,10590,0.00,2.12,0.00,0.000,6,0.000,0.028,2760,2466,2495
$GC,10862,0.77,136.3,568.3,12.8,330,10866,0.00,2.25,0.00,0.000,4,0.000,0.049,2755,3888,2496
$GC,10925,0.77,136.3,559.6,13.4,331,10929,0.00,2.10,0.00,0.000,6,0.000,0.028,2763,2477,2496
$GC,11194,0.77,136.3,526.7,12.4,338,11195,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2471,2495
$GC,11440,0.77,136.3,497.7,11.8,344,11444,0.00,2.10,0.00,0.000,4,0.000,0.032,2774,1064,2495
$GC,11492,0.77,136.3,491.8,10.5,345,11497,0.00,2.20,0.00,0.000,6,0.000,0.041,2768,2484,2495
$GC,11774,0.77,136.3,463.4,10.3,352,11778,0.00,2.22,0.00,0.000,4,0.000,0.050,2767,3901,2494
$GC,11788,0.78,139.1,461.8,9.9,352,11792,0.15,2.12,0.00,0.000,6,0.225,0.028,2745,2466,2494
$GC,12064,0.80,158.0,436.5,9.1,359,12092,0.00,0.00,19.50,0.877,6,0.000,0.000,2744,2463,2425
$GC,12355,0.80,158.0,403.1,12.3,366,12356,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2463,2422
$GC,12596,0.80,158.0,375.7,11.3,372,12600,0.00,2.28,0.00,0.000,4,0.000,0.049,2742,3899,2421
$GC,12615,0.80,158.0,373.5,11.0,372,12619,0.00,2.12,0.00,0.000,6,0.000,0.028,2751,2476,2420
$GC,12890,0.80,158.0,345.1,10.3,379,12894,0.00,2.08,0.00,0.000,4,0.000,0.031,2761,1069,2420
$GC,13088,0.82,171.4,326.1,9.3,383,13113,0.00,2.20,14.80,0.758,6,0.000,0.040,2754,2492,2371
$GC,13361,0.82,171.4,294.3,12.1,389,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2492,2369
$GC,13605,0.82,171.4,266.2,11.4,395,13608,0.00,2.20,0.00,0.000,4,0.000,0.051,2754,3888,2368
$GC,13815,0.82,171.4,241.6,11.1,399,13819,0.00,2.08,0.00,0.000,6,0.000,0.027,2763,2478,2367
$GC,14080,0.90,236.2,222.0,6.8,406,14142,0.00,2.12,57.00,0.815,4,0.000,0.029,2773,1081,2106
$GC,14221,0.90,236.2,202.6,19.8,409,14226,0.00,2.20,0.00,0.000,6,0.000,0.038,2768,2481,2102
$GC,14492,0.90,236.2,152.4,17.1,432,14500,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2481,2099
$GC,14760,0.90,236.2,109.4,15.4,457,14766,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2481,2098
$GC,15026,0.90,236.2,70.3,10.9,482,15030,0.00,2.08,0.00,0.000,4,0.000,0.028,2776,1079,2098
$GC,15144,0.91,245.2,58.9,9.6,492,15158,0.00,2.15,7.95,0.568,6,0.000,0.036,2768,2492,2070
$GC,15421,0.91,245.2,30.4,10.6,517,15425,0.00,2.17,0.00,0.000,4,0.000,0.045,2767,3896,2069
$GC,15466,0.91,245.2,24.5,12.5,523,15474,0.00,2.10,0.00,0.000,6,0.000,0.023,2776,2480,2069
$STATE,15646,end climb,SURFACE_DEPTH_REACHED
$STATE,15646,begin surface coast
$FINISH,0.3,1.002844
$STATE,15670,end surface coast,CONTROL_FINISHED_OK
$STATE,15670,begin surface
$SM_CCo,15695,77.68,0.599,0,0,1397,410.13
$SM_GC,1.17,0.00,0.00,77.68,0.000,0.000,0.599,38,2469,1397,-7.66,-0.59,410.13
$IRIDIUM_FIX,2305.10,-15747.53,241200,131336
$TT8_MAMPS,0.023777
$HUMID,2079
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,24.10
$XPDR_PINGS,28
$24V_AH,23.2,58.816
$10V_AH,10.6,44.988
$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,17.800,159.450,364.025,77.675,0.000,144.030,218.015,513.531,7.000,0.000,0.000,17.359,1338.329,11536.662,548.886,2118.337,1566.657,33.349,1513.768,0.000,2096.527,0.000,0.543,0.000
$DEVICE_MAMPS,225.498,60.593,1281.657,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,380.045,699.347,722.193,138.477,622.214,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44562,559
$CAP_FILE_SIZE,132877,0
$CFSIZE,260165632,196292608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,10,0
$CURRENT,0.145,232.8,1
$GPS,300911,181300,2308.713,-15748.208,37,1.2,37,10.1