version: 66.04
glider: 512
mission: 2
dive: 496
start: 10 1 111 3 43 25
data:
$ID,512
$MISSION,2
$DIVE,496
$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,-42782.727
$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,54
$R_STBD_OVSHOOT,35
$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
$GPS1,033136,2308.112,-15745.983,38,1.3,38,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-77.4
$GPS2,034225,2307.998,-15746.155,11,1.6,16,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15704.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,0.102
$KALMAN_X,-54024.2,547.4,915.7,81111.3,-3868.2
$KALMAN_Y,-46960.4,-851.8,-748.3,26826.7,-1890.2
$MHEAD_RNG_PITCHd_Wd,81.0,73376,-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,-67.90,0.000,2,0.000,0.000,40,2500,3203
$GC,95,-0.77,-136.3,3.9,-7.2,9,122,8.35,2.12,-7.18,0.000,4,0.200,0.039,2237,1076,3629
$GC,165,-0.77,-136.3,34.3,-30.3,18,169,0.00,2.20,0.00,0.000,6,0.000,0.042,2229,2489,3630
$GC,430,-0.77,-136.3,95.8,-20.6,42,434,0.00,2.20,0.00,0.000,4,0.000,0.048,2218,3901,3630
$GC,468,-0.77,-136.3,102.9,-18.5,45,472,0.00,2.08,0.00,0.000,6,0.000,0.022,2218,2481,3630
$GC,741,-0.77,-136.3,154.5,-18.3,70,745,0.00,2.03,0.00,0.000,4,0.000,0.025,2221,1083,3631
$GC,814,-0.77,-136.3,166.4,-13.5,76,818,0.00,2.15,0.00,0.000,6,0.000,0.038,2214,2493,3631
$GC,1091,-0.77,-136.3,215.4,-17.4,96,1095,0.00,2.17,0.00,0.000,4,0.000,0.048,2203,3905,3631
$GC,1127,-0.77,-136.3,221.8,-16.7,96,1131,0.12,2.08,0.00,0.000,6,0.125,0.021,2241,2479,3631
$GC,1380,-0.77,-136.3,253.1,-12.2,102,1384,0.00,2.00,0.00,0.000,4,0.000,0.025,2244,1088,3631
$GC,1416,-0.77,-136.3,257.5,-11.0,102,1419,0.00,2.15,0.00,0.000,6,0.000,0.039,2236,2493,3631
$GC,1673,-0.77,-136.3,286.4,-11.6,109,1677,0.00,2.20,0.00,0.000,4,0.000,0.051,2226,3901,3631
$GC,1754,-0.77,-136.3,295.0,-9.5,110,1758,0.00,2.03,0.00,0.000,6,0.000,0.022,2226,2489,3630
$GC,2015,-0.77,-136.3,323.6,-11.3,117,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2482,3629
$GC,2256,-0.77,-136.3,349.4,-10.6,123,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2482,3628
$GC,2499,-0.77,-136.3,375.8,-10.8,129,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2482,3626
$GC,2743,-0.77,-136.3,401.1,-10.4,135,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2482,3624
$GC,2989,-0.77,-136.3,425.2,-9.7,141,2993,0.00,2.25,0.00,0.000,4,0.000,0.052,2214,3902,3622
$GC,3025,-0.77,-136.3,429.0,-9.7,141,3031,0.00,2.08,0.00,0.000,6,0.000,0.024,2215,2490,3622
$GC,3278,-0.77,-136.3,455.8,-10.9,148,3282,0.00,2.05,0.00,0.000,4,0.000,0.028,2218,1087,3620
$GC,3297,-0.77,-136.3,458.1,-11.0,148,3301,0.12,2.15,0.00,0.000,6,0.120,0.042,2246,2488,3620
$GC,3572,-0.77,-136.3,482.0,-8.8,155,3577,0.00,2.25,-0.08,0.000,4,0.000,0.067,2237,3900,3643
$GC,3614,-0.77,-136.3,486.0,-9.3,155,3622,0.00,2.10,0.00,0.000,6,0.000,0.025,2237,2482,3643
$GC,3868,-0.77,-136.3,509.7,-9.5,162,3872,0.00,2.03,0.00,0.000,4,0.000,0.029,2239,1106,3641
$GC,3911,-0.77,-136.3,513.7,-8.4,162,3917,0.00,2.15,0.00,0.000,6,0.000,0.044,2237,2490,3641
$GC,4167,-0.77,-136.3,535.7,-8.7,169,4170,0.00,2.22,0.00,0.000,4,0.000,0.054,2225,3899,3638
$GC,4231,-0.77,-136.3,542.0,-8.7,170,4234,0.00,2.08,0.00,0.000,6,0.000,0.026,2226,2491,3638
$GC,4507,-0.77,-136.3,568.2,-9.5,177,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2485,3636
$GC,4750,-0.77,-136.3,590.6,-9.0,183,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2485,3635
$GC,4993,-0.77,-136.3,610.8,-8.0,189,4997,0.00,2.30,0.00,0.000,4,0.000,0.058,2215,3907,3633
$GC,5023,-0.77,-136.3,613.0,-7.6,189,5027,0.00,2.10,0.00,0.000,6,0.000,0.028,2215,2491,3633
$GC,5283,-0.77,-136.3,632.4,-7.5,196,5286,0.00,2.08,0.00,0.000,4,0.000,0.031,2218,1087,3631
$GC,5320,-0.77,-136.3,635.1,-6.8,196,5324,0.12,2.20,0.00,0.000,6,0.114,0.046,2247,2490,3631
$GC,5572,-0.77,-136.3,647.1,-4.7,202,5576,0.00,2.25,0.00,0.000,4,0.000,0.059,2238,3895,3629
$GC,5621,-0.77,-136.3,649.7,-5.1,203,5624,0.00,2.10,0.00,0.000,6,0.000,0.028,2238,2478,3628
$GC,5914,-0.77,-136.3,667.2,-6.0,210,5917,0.00,2.03,0.00,0.000,4,0.000,0.031,2240,1100,3627
$GC,5949,-0.77,-136.3,669.6,-6.2,210,5953,0.00,2.17,0.00,0.000,6,0.000,0.046,2237,2490,3626
$GC,6208,-0.77,-136.3,686.6,-6.8,217,6212,0.00,2.25,0.00,0.000,4,0.000,0.058,2226,3898,3626
$GC,6266,-0.77,-136.3,690.8,-6.9,218,6270,0.00,2.10,0.00,0.000,6,0.000,0.028,2226,2482,3625
$GC,6548,-0.77,-136.3,714.3,-8.6,225,6552,0.00,2.05,0.00,0.000,4,0.000,0.031,2226,1093,3623
$GC,6584,-0.77,-136.3,717.5,-8.3,225,6588,0.00,2.20,0.00,0.000,6,0.000,0.048,2223,2488,3624
$GC,6838,-0.77,-136.3,739.3,-8.6,231,6842,0.00,2.28,0.00,0.000,4,0.000,0.059,2212,3901,3622
$GC,6886,-0.77,-136.3,743.9,-9.2,232,6889,0.00,2.12,0.00,0.000,6,0.000,0.029,2213,2484,3622
$GC,7174,-0.77,-136.3,771.8,-9.9,239,7177,0.00,2.08,0.00,0.000,4,0.000,0.032,2216,1087,3621
$GC,7217,-0.77,-136.3,776.2,-9.3,239,7225,0.12,2.22,0.00,0.000,6,0.116,0.048,2246,2492,3621
$GC,7472,-0.77,-136.3,794.5,-6.9,246,7476,0.00,2.28,0.00,0.000,4,0.000,0.061,2237,3898,3619
$GC,7519,-0.77,-136.3,797.9,-6.7,247,7523,0.00,2.10,0.00,0.000,6,0.000,0.030,2237,2485,3619
$GC,7807,-0.77,-136.3,818.5,-7.1,254,7810,0.00,2.08,0.00,0.000,4,0.000,0.032,2236,1087,3618
$GC,7843,-0.77,-136.3,821.2,-7.3,254,7847,0.00,2.22,0.00,0.000,6,0.000,0.049,2236,2492,3618
$GC,8103,-0.77,-136.3,839.6,-7.1,261,8107,0.00,2.30,0.00,0.000,4,0.000,0.061,2225,3908,3617
$GC,8156,-0.77,-136.3,844.0,-7.5,262,8160,0.00,2.15,0.00,0.000,6,0.000,0.031,2225,2482,3617
$GC,8431,-0.77,-136.3,866.2,-8.2,269,8435,0.00,2.05,0.00,0.000,4,0.000,0.033,2225,1095,3616
$GC,8456,-0.77,-136.3,868.3,-8.1,269,8460,0.00,2.22,0.00,0.000,6,0.000,0.049,2224,2493,3616
$GC,8723,-0.77,-136.3,890.7,-8.6,276,8727,0.00,2.28,0.00,0.000,4,0.000,0.060,2213,3901,3615
$GC,8770,-0.77,-136.3,895.1,-8.4,277,8774,0.00,2.12,0.00,0.000,6,0.000,0.030,2213,2493,3615
$STATE,8848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8848,begin apogee
$GC,8860,-0.27,0.0,902.6,9.2,279,8984,0.57,0.00,121.43,1.280,6,0.105,0.000,2401,2485,3070
$STATE,8985,end apogee,CONTROL_FINISHED_OK
$STATE,8985,begin climb
$GC,8990,0.77,136.3,909.1,0.0,282,9233,0.90,2.30,157.20,1.080,4,0.041,0.031,2758,1082,2514
$GC,9439,0.77,136.3,881.7,16.9,292,9443,0.00,2.25,0.00,0.000,6,0.000,0.042,2755,2495,2508
$GC,9720,0.77,136.3,831.7,17.6,299,9724,0.00,2.22,0.00,0.000,4,0.000,0.053,2754,3891,2505
$GC,9745,0.77,136.3,826.9,18.2,299,9749,0.00,2.12,0.00,0.000,6,0.000,0.029,2764,2478,2503
$GC,10016,0.77,136.3,780.1,17.3,306,10020,0.00,2.25,0.00,0.000,4,0.000,0.051,2763,3892,2503
$GC,10057,0.77,136.3,772.3,18.2,307,10062,0.15,2.12,0.00,0.000,6,0.216,0.028,2740,2474,2502
$GC,10343,0.77,136.3,726.1,16.2,314,10347,0.00,2.28,0.00,0.000,4,0.000,0.051,2740,3893,2501
$GC,10373,0.77,136.3,720.9,17.7,314,10377,0.00,2.12,0.00,0.000,6,0.000,0.028,2749,2470,2501
$GC,10632,0.77,136.3,681.0,15.4,321,10636,0.00,2.30,0.00,0.000,4,0.000,0.051,2750,3894,2500
$GC,10791,0.77,136.3,653.9,15.8,324,10795,0.00,2.12,0.00,0.000,6,0.000,0.028,2760,2471,2499
$GC,11056,0.77,136.3,618.0,13.4,331,11057,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2465,2499
$GC,11298,0.77,136.3,589.0,11.7,337,11301,0.00,2.08,0.00,0.000,4,0.000,0.032,2770,1074,2499
$GC,11322,0.77,136.3,586.2,11.1,337,11326,0.00,2.20,0.00,0.000,6,0.000,0.041,2767,2490,2499
$GC,11587,0.77,136.3,554.1,12.6,344,11591,0.00,2.22,0.00,0.000,4,0.000,0.051,2767,3903,2498
$GC,11791,0.77,136.3,527.0,14.9,348,11796,0.15,2.12,0.00,0.000,6,0.219,0.028,2744,2471,2498
$GC,12060,0.77,136.3,496.1,10.7,355,12063,0.00,2.08,0.00,0.000,4,0.000,0.032,2753,1080,2498
$GC,12163,0.82,174.1,487.0,8.1,357,12203,0.00,2.20,32.70,1.022,6,0.000,0.043,2753,2492,2360
$GC,12485,0.82,174.1,440.8,15.4,365,12489,0.00,2.12,0.00,0.000,4,0.000,0.031,2763,1075,2354
$GC,12578,0.82,174.1,426.5,15.1,367,12582,0.00,2.20,0.00,0.000,6,0.000,0.042,2763,2489,2353
$GC,12869,0.82,174.1,379.3,16.1,374,12873,0.00,2.22,0.00,0.000,4,0.000,0.051,2763,3892,2352
$GC,12966,0.82,174.1,362.2,17.6,376,12970,0.00,2.12,0.00,0.000,6,0.000,0.028,2772,2481,2350
$GC,13253,0.82,174.1,322.1,13.4,383,13257,0.00,2.10,0.00,0.000,4,0.000,0.031,2782,1068,2350
$GC,13277,0.82,174.1,319.0,11.8,383,13282,0.00,2.20,0.00,0.000,6,0.000,0.040,2780,2490,2351
$GC,13541,0.82,174.1,288.5,11.5,390,13542,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2490,2350
$GC,13786,0.82,174.1,260.3,11.4,396,13790,0.00,2.22,0.00,0.000,4,0.000,0.050,2780,3901,2350
$GC,13952,0.82,174.1,242.3,10.2,399,13957,0.15,2.12,0.00,0.000,6,0.211,0.027,2756,2469,2350
$GC,14211,0.84,187.0,217.7,9.4,406,14232,0.00,2.28,11.23,0.729,4,0.000,0.048,2754,3898,2309
$GC,14489,0.84,187.0,184.9,11.6,419,14493,0.00,2.10,0.00,0.000,6,0.000,0.026,2763,2482,2309
$GC,14760,0.87,217.5,160.5,8.5,444,14796,0.00,2.12,28.27,0.738,4,0.000,0.029,2774,1084,2182
$GC,14952,0.87,217.5,133.1,15.3,460,14961,0.00,2.17,0.00,0.000,6,0.000,0.037,2767,2474,2179
$GC,15219,0.87,217.5,95.8,12.0,485,15223,0.00,2.08,0.00,0.000,4,0.000,0.028,2776,1069,2178
$GC,15247,0.87,217.5,93.0,10.3,487,15251,0.00,2.15,0.00,0.000,6,0.000,0.036,2767,2486,2178
$GC,15518,0.91,246.6,65.2,8.6,512,15549,0.00,2.12,25.62,0.634,4,0.000,0.026,2776,1074,2064
$GC,15659,0.99,313.4,54.6,6.7,523,15727,0.12,2.15,56.20,0.637,6,0.081,0.035,2809,2484,1791
$STATE,15941,end climb,SURFACE_DEPTH_REACHED
$STATE,15941,begin surface coast
$FINISH,0.4,1.023218
$STATE,15954,end surface coast,CONTROL_FINISHED_OK
$STATE,15954,begin surface
$SM_CCo,15980,45.72,0.581,0,0,1397,410.13
$SM_GC,1.12,0.00,0.00,45.72,0.000,0.000,0.581,39,2494,1397,-7.66,0.11,410.13
$IRIDIUM_FIX,2255.72,-15744.07,241200,232306
$TT8_MAMPS,0.023777
$HUMID,2104
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.70
$XPDR_PINGS,25
$24V_AH,23.3,59.293
$10V_AH,10.6,45.338
$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,18.150,172.575,432.650,45.725,0.000,23.873,34.764,389.789,6.250,0.000,0.000,16.815,1350.893,11448.194,581.313,2178.339,1116.244,33.354,1621.613,0.000,2143.739,0.000,0.544,0.000
$DEVICE_MAMPS,219.362,66.729,1280.123,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,380.492,691.671,714.239,122.213,556.165,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44573,561
$CAP_FILE_SIZE,132991,0
$CFSIZE,260165632,196096000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,15,0
$CURRENT,0.084,230.1,1
$GPS,011011,081206,2307.489,-15745.018,40,1.0,45,10.1