version: 66.04
glider: 512
mission: 2
dive: 503
start: 10 2 111 12 52 51
data:
$ID,512
$MISSION,2
$DIVE,503
$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,-42901.02
$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,51
$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
$GPS1,124207,2305.349,-15738.253,34,1.1,34,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-78.7
$GPS2,125156,2305.293,-15738.303,11,2.0,11,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15704.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,-0.019
$KALMAN_X,-63547.3,155.7,-364.7,105686.1,-1077.7
$KALMAN_Y,-70806.7,169.7,880.3,42999.6,-5363.2
$MHEAD_RNG_PITCHd_Wd,89.4,59295,-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,-136.3,0.0,0.0,0,94,0.00,0.00,-68.00,0.000,2,0.000,0.000,36,2498,3182
$GC,100,-0.77,-136.3,3.7,-6.0,9,125,8.32,0.00,-7.68,0.000,6,0.198,0.000,2226,2498,3627
$GC,396,-0.77,-136.3,92.3,-22.2,39,400,0.00,2.08,0.00,0.000,4,0.000,0.025,2226,1087,3629
$GC,446,-0.77,-136.3,102.2,-16.8,43,450,0.00,2.15,0.00,0.000,6,0.000,0.040,2218,2482,3629
$GC,717,-0.77,-136.3,154.3,-20.8,68,720,0.00,2.20,0.00,0.000,4,0.000,0.048,2207,3901,3630
$GC,745,-0.77,-136.3,159.9,-21.0,70,749,0.12,2.05,0.00,0.000,6,0.137,0.021,2243,2485,3630
$GC,1028,-0.77,-136.3,207.2,-15.6,93,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2478,3631
$GC,1271,-0.77,-136.3,240.2,-13.0,99,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2478,3631
$GC,1515,-0.77,-136.3,267.3,-11.0,105,1519,0.00,2.25,0.00,0.000,4,0.000,0.049,2234,3906,3630
$GC,1533,-0.77,-136.3,269.5,-10.8,105,1537,0.00,2.08,0.00,0.000,6,0.000,0.022,2234,2472,3631
$GC,1810,-0.77,-136.3,301.8,-12.2,112,1814,0.00,1.98,0.00,0.000,4,0.000,0.025,2233,1093,3630
$GC,1891,-0.77,-136.3,311.0,-10.6,113,1894,0.00,2.15,0.00,0.000,6,0.000,0.039,2223,2503,3630
$GC,2149,-0.77,-136.3,344.2,-13.4,120,2153,0.00,2.17,0.00,0.000,4,0.000,0.049,2212,3902,3628
$GC,2213,-0.77,-136.3,352.5,-11.3,121,2216,0.00,2.08,0.00,0.000,6,0.000,0.023,2213,2482,3628
$GC,2489,-0.77,-136.3,389.4,-13.5,128,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2476,3627
$GC,2733,-0.77,-136.3,420.8,-12.7,134,2736,0.00,2.25,0.00,0.000,4,0.000,0.051,2201,3901,3624
$GC,2768,-0.77,-136.3,425.4,-12.2,134,2773,0.12,2.05,0.00,0.000,6,0.111,0.024,2242,2488,3624
$GC,3030,-0.77,-136.3,447.4,-8.3,141,3034,0.00,2.25,0.00,0.000,4,0.000,0.052,2233,3895,3623
$GC,3060,-0.77,-136.3,450.4,-8.7,141,3064,0.00,2.05,0.00,0.000,6,0.000,0.024,2233,2486,3622
$GC,3325,-0.77,-136.3,475.0,-9.6,148,3329,0.00,2.03,0.00,0.000,4,0.000,0.028,2233,1085,3621
$GC,3377,-0.77,-136.3,480.1,-9.0,149,3381,0.00,2.17,0.00,0.000,6,0.000,0.042,2223,2499,3620
$GC,3665,-0.77,-136.3,510.3,-10.9,156,3669,0.00,2.22,0.00,0.000,4,0.000,0.054,2212,3904,3617
$GC,3729,-0.77,-136.3,517.4,-9.8,157,3733,0.00,2.08,0.00,0.000,6,0.000,0.026,2213,2487,3617
$GC,4006,-0.77,-136.3,548.6,-11.5,164,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2481,3616
$GC,4248,-0.77,-136.3,574.8,-10.6,170,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2481,3614
$GC,4494,-0.77,-136.3,599.8,-10.2,176,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2481,3612
$GC,4735,-0.77,-136.3,623.2,-9.5,182,4739,0.00,2.28,0.00,0.000,4,0.000,0.055,2202,3895,3610
$GC,4782,-0.77,-136.3,628.0,-10.0,183,4787,0.12,2.08,0.00,0.000,6,0.114,0.028,2241,2490,3610
$GC,5064,-0.77,-136.3,646.8,-6.5,190,5068,0.00,2.28,0.00,0.000,4,0.000,0.057,2236,3901,3607
$GC,5089,-0.77,-136.3,648.6,-6.7,190,5093,0.00,2.10,0.00,0.000,6,0.000,0.028,2236,2481,3607
$GC,5360,-0.77,-136.3,667.8,-7.2,197,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2475,3606
$GC,5602,-0.77,-136.3,685.4,-7.2,203,5606,0.00,2.30,0.00,0.000,4,0.000,0.058,2227,3888,3604
$GC,5644,-0.77,-136.3,688.6,-7.7,203,5652,0.00,2.08,0.00,0.000,6,0.000,0.028,2226,2484,3603
$GC,5897,-0.77,-136.3,709.6,-8.4,210,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2484,3602
$GC,6142,-0.77,-136.3,729.7,-8.3,216,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2484,3601
$GC,6384,-0.77,-136.3,749.8,-8.2,222,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2484,3600
$GC,6631,-0.77,-136.3,769.2,-8.0,228,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2484,3599
$GC,6871,-0.77,-136.3,788.5,-7.8,234,6875,0.00,2.30,0.00,0.000,4,0.000,0.061,2218,3894,3597
$GC,6913,-0.77,-136.3,791.8,-7.6,234,6919,0.00,2.10,0.00,0.000,6,0.000,0.029,2218,2496,3597
$GC,7168,-0.77,-136.3,812.7,-8.4,241,7172,0.00,2.10,0.00,0.000,4,0.000,0.031,2219,1081,3596
$GC,7194,-0.77,-136.3,815.1,-8.6,241,7198,0.00,2.20,0.00,0.000,6,0.000,0.047,2212,2486,3596
$GC,7465,-0.77,-136.3,837.9,-8.4,248,7469,0.00,2.30,0.00,0.000,4,0.000,0.061,2207,3904,3594
$GC,7512,-0.77,-136.3,842.2,-8.2,249,7517,0.12,2.12,0.00,0.000,6,0.110,0.029,2244,2490,3594
$GC,7796,-0.77,-136.3,860.0,-6.2,256,7800,0.00,2.08,0.00,0.000,4,0.000,0.031,2244,1091,3594
$GC,7820,-0.77,-136.3,861.8,-6.1,256,7824,0.00,2.22,0.00,0.000,6,0.000,0.047,2237,2501,3594
$GC,8084,-0.77,-136.3,877.7,-6.0,263,8088,0.00,2.28,0.00,0.000,4,0.000,0.061,2227,3905,3593
$GC,8131,-0.77,-136.3,880.5,-5.8,264,8135,0.00,2.15,0.00,0.000,6,0.000,0.031,2227,2480,3593
$GC,8420,-0.77,-136.3,897.3,-5.8,271,8424,0.00,2.08,0.00,0.000,4,0.000,0.033,2227,1088,3592
$GC,8445,-0.77,-136.3,898.9,-5.5,271,8449,0.00,2.22,0.00,0.000,6,0.000,0.049,2223,2498,3592
$STATE,8467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8467,begin apogee
$GC,8478,-0.27,0.0,900.4,6.2,272,8597,0.55,0.00,115.93,1.278,6,0.109,0.000,2402,2499,3070
$STATE,8598,end apogee,CONTROL_FINISHED_OK
$STATE,8598,begin climb
$GC,8604,0.77,136.3,903.2,0.0,275,8778,0.90,2.47,138.25,1.202,4,0.041,0.054,2751,3889,2513
$GC,9036,0.77,136.3,853.5,21.7,284,9040,0.00,2.15,0.00,0.000,6,0.000,0.029,2760,2485,2504
$GC,9302,0.77,136.3,804.8,18.2,291,9306,0.00,2.15,0.00,0.000,4,0.000,0.034,2770,1064,2501
$GC,9360,0.77,136.3,793.8,17.0,292,9364,0.00,2.25,0.00,0.000,6,0.000,0.043,2767,2498,2500
$GC,9635,0.77,136.3,747.1,16.7,299,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2499,2499
$GC,9878,0.77,136.3,708.0,15.9,305,9881,0.00,2.15,0.00,0.000,4,0.000,0.033,2776,1072,2497
$GC,9981,0.77,136.3,692.5,14.1,307,9985,0.00,2.20,0.00,0.000,6,0.000,0.041,2768,2486,2497
$GC,10255,0.77,136.3,652.7,14.4,314,10259,0.00,2.22,0.00,0.000,4,0.000,0.051,2767,3895,2496
$GC,10286,0.77,136.3,648.0,15.5,314,10291,0.15,2.12,0.00,0.000,6,0.221,0.028,2744,2467,2496
$GC,10545,0.77,136.3,612.2,13.7,321,10549,0.00,2.28,0.00,0.000,4,0.000,0.051,2742,3894,2495
$GC,10705,0.77,136.3,588.4,15.5,324,10709,0.00,2.12,0.00,0.000,6,0.000,0.028,2751,2471,2494
$GC,10969,0.77,136.3,551.3,13.8,331,10973,0.00,2.08,0.00,0.000,4,0.000,0.032,2762,1070,2494
$GC,11072,0.77,136.3,537.9,11.9,333,11077,0.00,2.20,0.00,0.000,6,0.000,0.041,2755,2486,2494
$GC,11349,0.77,136.3,505.3,11.6,340,11352,0.00,2.22,0.00,0.000,4,0.000,0.051,2755,3893,2494
$GC,11418,0.77,136.3,496.4,12.5,341,11422,0.00,2.10,0.00,0.000,6,0.000,0.028,2763,2477,2493
$GC,11688,0.77,136.3,465.6,10.8,348,11692,0.00,2.25,0.00,0.000,4,0.000,0.051,2764,3892,2493
$GC,11701,0.77,136.3,464.0,10.9,348,11705,0.15,2.10,0.00,0.000,6,0.220,0.028,2741,2472,2493
$GC,11976,0.79,153.4,438.1,9.2,355,12000,0.00,2.10,14.88,0.836,4,0.000,0.031,2750,1076,2444
$GC,12257,0.79,153.4,410.3,10.0,361,12261,0.00,2.20,0.00,0.000,6,0.000,0.041,2750,2485,2442
$GC,12540,0.79,153.4,380.2,10.9,368,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2485,2441
$GC,12781,0.79,153.4,354.0,10.8,374,12784,0.00,2.20,0.00,0.000,4,0.000,0.051,2750,3888,2441
$GC,13019,0.79,153.4,326.2,11.3,379,13023,0.00,2.10,0.00,0.000,6,0.000,0.028,2759,2480,2441
$GC,13303,0.80,160.8,299.8,9.6,386,13317,0.00,2.12,7.95,0.770,4,0.000,0.031,2770,1075,2414
$GC,13342,0.84,187.0,296.1,8.7,386,13372,0.00,2.17,25.12,0.867,6,0.000,0.039,2767,2484,2307
$GC,13638,0.84,187.0,255.8,14.1,394,13642,0.00,2.10,0.00,0.000,4,0.000,0.030,2776,1079,2301
$GC,13847,0.84,187.0,227.2,13.6,398,13852,0.00,2.17,0.00,0.000,6,0.000,0.040,2767,2485,2300
$GC,14104,0.84,187.0,195.8,12.3,407,14108,0.00,2.10,0.00,0.000,4,0.000,0.029,2776,1075,2299
$GC,14120,0.84,187.0,194.0,11.7,408,14124,0.00,2.17,0.00,0.000,6,0.000,0.038,2776,2485,2299
$GC,14387,0.84,187.0,163.7,12.1,432,14391,0.00,2.10,0.00,0.000,4,0.000,0.028,2785,1073,2299
$GC,14652,0.86,210.4,137.3,8.8,455,14690,0.00,2.17,22.55,0.667,6,0.000,0.037,2780,2492,2212
$GC,14947,0.86,210.4,100.8,12.7,482,14951,0.00,2.17,0.00,0.000,4,0.000,0.048,2780,3895,2208
$GC,14985,0.86,210.4,96.0,13.1,485,14989,0.00,2.10,0.00,0.000,6,0.000,0.024,2789,2473,2207
$GC,15257,0.94,274.2,71.5,6.8,510,15314,0.00,0.00,54.90,0.670,6,0.000,0.000,2789,2467,1951
$GC,15578,0.94,274.2,26.9,15.4,540,15585,0.00,2.08,0.00,0.000,4,0.000,0.027,2799,1082,1945
$GC,15629,0.94,274.2,18.1,15.5,548,15637,0.00,2.17,0.00,0.000,6,0.000,0.035,2793,2479,1945
$STATE,15713,end climb,SURFACE_DEPTH_REACHED
$STATE,15713,begin surface coast
$FINISH,0.4,1.023267
$STATE,15734,end surface coast,CONTROL_FINISHED_OK
$STATE,15735,begin surface
$SM_CCo,15760,66.15,0.599,0,0,1396,410.13
$SM_GC,1.24,0.00,0.00,66.15,0.000,0.000,0.599,38,2484,1396,-7.66,-0.17,410.13
$IRIDIUM_FIX,2248.70,-15738.46,261200,080835
$TT8_MAMPS,0.023777
$HUMID,2078
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.40
$XPDR_PINGS,21
$24V_AH,22.9,60.395
$10V_AH,10.6,46.172
$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,17.775,146.850,379.575,66.150,0.000,22.475,39.384,332.348,5.250,0.000,0.000,11.945,1337.639,11367.350,522.822,2129.789,1053.541,33.356,1495.098,0.000,2110.921,0.000,0.543,0.000
$DEVICE_MAMPS,220.896,61.360,1277.822,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,384.371,710.347,730.686,129.483,579.772,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47840,566
$CAP_FILE_SIZE,124718,0
$CFSIZE,260165632,195645440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,6,0
$CURRENT,0.056,194.1,1
$GPS,021011,171807,2304.563,-15736.778,39,1.2,39,10.1