version: 66.04
glider: 512
mission: 2
dive: 505
start: 10 2 111 22 3 9
data:
$ID,512
$MISSION,2
$DIVE,505
$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,-42937.434
$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,31
$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
$GPS1,215207,2304.228,-15735.882,35,1.2,35,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-80.9
$GPS2,220213,2304.234,-15735.922,16,1.6,16,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15704.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.244,0.061
$KALMAN_X,-66826.1,-169.7,521.3,112448.6,-2410.9
$KALMAN_Y,-74587.2,380.0,-1043.1,46535.4,-1387.9
$MHEAD_RNG_PITCHd_Wd,77.0,54981,-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,-136.3,0.0,0.0,0,96,0.00,0.00,-70.22,0.000,2,0.000,0.000,36,2476,3282
$GC,103,-0.77,-136.3,4.4,-8.1,9,129,8.38,2.22,-5.60,0.000,4,0.200,0.048,2221,3908,3630
$GC,177,-0.77,-136.3,38.8,-29.3,17,185,0.00,2.12,0.00,0.000,6,0.000,0.023,2221,2496,3632
$GC,442,-0.77,-136.3,110.0,-24.3,42,446,0.00,2.08,0.00,0.000,4,0.000,0.025,2221,1067,3633
$GC,516,-0.77,-136.3,124.9,-15.8,48,524,0.05,2.20,0.00,0.000,6,0.124,0.040,2231,2477,3633
$GC,781,-0.77,-136.3,169.6,-17.0,73,785,0.00,2.20,0.00,0.000,4,0.000,0.047,2222,3905,3634
$GC,855,-0.77,-136.3,181.3,-14.3,79,859,0.00,2.08,0.00,0.000,6,0.000,0.021,2222,2476,3634
$GC,1127,-0.77,-136.3,228.8,-17.7,93,1131,0.00,2.00,0.00,0.000,4,0.000,0.025,2222,1087,3634
$GC,1163,-0.77,-136.3,234.4,-14.3,93,1166,0.00,2.15,0.00,0.000,6,0.000,0.038,2212,2499,3634
$GC,1421,-0.77,-136.3,273.3,-15.2,100,1425,0.00,2.05,0.00,0.000,4,0.000,0.025,2214,1084,3634
$GC,1458,-0.77,-136.3,278.9,-13.8,100,1462,0.12,2.15,0.00,0.000,6,0.115,0.038,2243,2496,3635
$GC,1711,-0.77,-136.3,305.3,-10.6,106,1715,0.00,2.17,0.00,0.000,4,0.000,0.050,2233,3892,3633
$GC,1780,-0.77,-136.3,313.1,-10.0,107,1785,0.00,2.08,0.00,0.000,6,0.000,0.022,2233,2461,3633
$GC,2051,-0.77,-136.3,343.5,-11.6,114,2055,0.00,2.00,0.00,0.000,4,0.000,0.026,2233,1094,3632
$GC,2099,-0.77,-136.3,348.7,-9.9,115,2103,0.00,2.12,0.00,0.000,6,0.000,0.039,2223,2499,3632
$GC,2390,-0.77,-136.3,382.0,-11.8,122,2393,0.00,2.20,0.00,0.000,4,0.000,0.050,2213,3910,3630
$GC,2477,-0.77,-136.3,392.2,-11.5,123,2485,0.00,2.08,0.00,0.000,6,0.000,0.024,2212,2491,3629
$GC,2729,-0.77,-136.3,424.9,-13.1,130,2733,0.00,2.03,0.00,0.000,4,0.000,0.026,2215,1091,3627
$GC,2787,-0.77,-136.3,431.8,-10.8,131,2792,0.12,2.15,0.00,0.000,6,0.111,0.040,2244,2493,3627
$GC,3062,-0.77,-136.3,455.6,-8.6,138,3066,0.00,2.20,0.00,0.000,4,0.000,0.053,2234,3901,3625
$GC,3115,-0.77,-136.3,460.1,-8.0,139,3119,0.00,2.08,0.00,0.000,6,0.000,0.025,2234,2478,3624
$GC,3403,-0.77,-136.3,486.2,-9.2,146,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2471,3622
$GC,3645,-0.77,-136.3,508.1,-8.8,152,3649,0.00,2.28,0.00,0.000,4,0.000,0.052,2223,3897,3620
$GC,3705,-0.77,-136.3,513.1,-7.7,153,3708,0.00,2.08,0.00,0.000,6,0.000,0.025,2223,2482,3619
$GC,3986,-0.77,-136.3,538.3,-9.1,160,3990,0.00,2.03,0.00,0.000,4,0.000,0.029,2223,1097,3618
$GC,4011,-0.77,-136.3,540.7,-9.4,160,4014,0.00,2.15,0.00,0.000,6,0.000,0.043,2223,2490,3618
$GC,4280,-0.77,-136.3,565.1,-9.2,167,4284,0.00,2.22,0.00,0.000,4,0.000,0.054,2213,3896,3616
$GC,4330,-0.77,-136.3,569.6,-9.3,168,4334,0.00,2.08,0.00,0.000,6,0.000,0.026,2212,2488,3615
$GC,4622,-0.77,-136.3,598.5,-9.8,175,4626,0.00,2.28,0.00,0.000,4,0.000,0.055,2201,3904,3613
$GC,4663,-0.77,-136.3,603.0,-10.7,175,4673,0.10,2.12,0.00,0.000,6,0.096,0.027,2242,2483,3612
$GC,4917,-0.77,-136.3,622.8,-7.9,182,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2483,3611
$GC,5160,-0.77,-136.3,642.5,-8.1,188,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2482,3609
$GC,5405,-0.77,-136.3,663.8,-8.8,194,5409,0.00,2.30,0.00,0.000,4,0.000,0.057,2237,3902,3608
$GC,5435,-0.77,-136.3,666.6,-9.0,194,5439,0.00,2.08,0.00,0.000,6,0.000,0.028,2236,2497,3607
$GC,5697,-0.77,-136.3,690.6,-9.4,201,5700,0.00,2.08,0.00,0.000,4,0.000,0.031,2236,1091,3606
$GC,5727,-0.77,-136.3,693.9,-9.6,201,5731,0.00,2.17,0.00,0.000,6,0.000,0.046,2236,2484,3606
$GC,5991,-0.77,-136.3,716.5,-8.4,208,5995,0.00,2.28,0.00,0.000,4,0.000,0.058,2226,3909,3604
$GC,6040,-0.77,-136.3,720.8,-8.4,209,6044,0.00,2.12,0.00,0.000,6,0.000,0.028,2226,2483,3603
$GC,6333,-0.77,-136.3,745.9,-8.5,216,6337,0.00,2.08,0.00,0.000,4,0.000,0.031,2226,1082,3602
$GC,6369,-0.77,-136.3,749.1,-8.4,216,6373,0.00,2.22,0.00,0.000,6,0.000,0.048,2223,2491,3602
$GC,6622,-0.77,-136.3,769.5,-8.1,222,6626,0.00,2.28,0.00,0.000,4,0.000,0.059,2212,3904,3600
$GC,6675,-0.77,-136.3,774.1,-7.7,223,6679,0.00,2.12,0.00,0.000,6,0.000,0.030,2212,2481,3600
$GC,6956,-0.77,-136.3,798.7,-8.8,230,6960,0.00,2.05,0.00,0.000,4,0.000,0.033,2216,1093,3599
$GC,6986,-0.77,-136.3,801.4,-8.8,230,6991,0.12,2.22,0.00,0.000,6,0.116,0.048,2244,2500,3599
$GC,7245,-0.77,-136.3,816.5,-5.8,237,7249,0.00,2.25,0.00,0.000,4,0.000,0.060,2236,3903,3598
$GC,7280,-0.77,-136.3,818.7,-6.1,237,7284,0.00,2.12,0.00,0.000,6,0.000,0.030,2236,2488,3598
$GC,7540,-0.77,-136.3,834.0,-5.9,244,7543,0.00,2.08,0.00,0.000,4,0.000,0.031,2236,1088,3597
$GC,7564,-0.77,-136.3,835.6,-5.8,244,7568,0.00,2.22,0.00,0.000,6,0.000,0.049,2235,2490,3596
$GC,7830,-0.77,-136.3,850.4,-5.6,251,7834,0.00,2.28,0.00,0.000,4,0.000,0.060,2225,3899,3595
$GC,7888,-0.77,-136.3,853.9,-5.9,252,7892,0.00,2.10,0.00,0.000,6,0.000,0.029,2225,2488,3595
$GC,8164,-0.77,-136.3,871.3,-6.4,259,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2481,3595
$GC,8407,-0.77,-136.3,887.8,-6.8,265,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2481,3594
$STATE,8604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8604,begin apogee
$GC,8615,-0.27,0.0,903.0,7.5,270,8734,0.55,0.00,116.57,1.284,6,0.125,0.000,2403,2481,3070
$STATE,8735,end apogee,CONTROL_FINISHED_OK
$STATE,8735,begin climb
$GC,8740,0.77,136.3,908.8,0.0,273,8916,0.93,2.50,139.38,1.203,4,0.044,0.051,2751,3892,2513
$GC,9100,0.77,136.3,884.4,19.8,281,9104,0.00,2.15,0.00,0.000,6,0.000,0.028,2760,2491,2505
$GC,9392,0.77,136.3,829.8,18.6,288,9396,0.00,2.25,0.00,0.000,4,0.000,0.050,2754,3898,2501
$GC,9450,0.77,136.3,818.2,20.4,289,9454,0.00,2.12,0.00,0.000,6,0.000,0.029,2763,2479,2500
$GC,9727,0.77,136.3,767.0,18.7,296,9731,0.00,2.12,0.00,0.000,4,0.000,0.034,2774,1070,2499
$GC,9880,0.77,136.3,738.8,16.9,299,9884,0.00,2.22,0.00,0.000,6,0.000,0.042,2768,2497,2498
$GC,10157,0.77,136.3,694.7,15.7,306,10161,0.00,2.15,0.00,0.000,4,0.000,0.034,2776,1075,2496
$GC,10295,0.77,136.3,673.4,15.0,309,10300,0.00,2.20,0.00,0.000,6,0.000,0.043,2767,2490,2496
$GC,10584,0.77,136.3,632.6,14.1,316,10588,0.00,2.12,0.00,0.000,4,0.000,0.031,2776,1068,2495
$GC,10726,0.77,136.3,612.6,13.5,319,10730,0.00,2.20,0.00,0.000,6,0.000,0.041,2768,2487,2495
$GC,11009,0.77,136.3,576.2,12.7,326,11012,0.00,2.22,0.00,0.000,4,0.000,0.050,2767,3898,2494
$GC,11090,0.77,136.3,564.9,14.4,327,11095,0.15,2.12,0.00,0.000,6,0.225,0.028,2745,2468,2494
$GC,11342,0.77,136.3,535.2,11.7,333,11346,0.00,2.08,0.00,0.000,4,0.000,0.032,2753,1073,2493
$GC,11406,0.77,136.3,527.8,11.5,334,11410,0.00,2.20,0.00,0.000,6,0.000,0.041,2753,2489,2493
$GC,11678,0.77,136.3,496.6,11.6,341,11682,0.00,2.22,0.00,0.000,4,0.000,0.051,2754,3898,2493
$GC,11777,0.77,136.3,485.0,11.4,343,11781,0.00,2.10,0.00,0.000,6,0.000,0.028,2763,2477,2493
$GC,12063,0.80,157.7,458.0,8.9,350,12092,0.00,2.30,18.95,0.888,4,0.000,0.051,2763,3885,2427
$GC,12271,0.80,157.7,432.9,12.0,354,12275,0.00,2.12,0.00,0.000,6,0.000,0.028,2773,2472,2424
$GC,12535,0.80,157.7,403.6,10.5,361,12539,0.00,2.08,0.00,0.000,4,0.000,0.031,2783,1074,2423
$GC,12684,0.80,157.7,388.4,10.7,364,12689,0.12,2.20,0.00,0.000,6,0.207,0.041,2753,2494,2422
$GC,12959,0.80,157.7,358.4,11.3,371,12963,0.00,2.20,0.00,0.000,4,0.000,0.051,2751,3894,2422
$GC,12984,0.80,157.7,355.3,11.4,371,12987,0.00,2.12,0.00,0.000,6,0.000,0.028,2760,2469,2422
$GC,13254,0.80,157.7,324.3,11.6,378,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2465,2422
$GC,13497,0.82,170.5,300.5,9.4,384,13521,0.00,0.00,14.27,0.726,6,0.000,0.000,2760,2465,2375
$GC,13789,0.82,170.5,269.8,10.6,391,13793,0.00,2.08,0.00,0.000,4,0.000,0.031,2770,1068,2373
$GC,13876,0.83,180.6,260.8,9.5,392,13892,0.00,2.17,10.77,0.773,6,0.000,0.038,2767,2480,2333
$GC,14167,0.83,180.6,228.1,11.5,400,14171,0.00,2.22,0.00,0.000,4,0.000,0.048,2767,3899,2330
$GC,14186,0.83,180.6,225.6,11.9,400,14190,0.00,2.12,0.00,0.000,6,0.000,0.026,2776,2469,2330
$GC,14463,0.83,184.8,197.6,9.8,407,14476,0.00,2.10,5.00,0.588,4,0.000,0.029,2787,1071,2316
$GC,14528,0.84,193.6,191.4,9.6,412,14544,0.00,2.15,9.62,0.700,6,0.000,0.037,2780,2486,2280
$GC,14814,0.84,193.6,154.4,13.0,438,14818,0.00,2.10,0.00,0.000,4,0.000,0.028,2789,1073,2278
$GC,15078,0.87,217.3,123.8,8.8,461,15106,0.00,2.15,21.88,0.693,6,0.000,0.036,2781,2485,2183
$GC,15374,0.87,217.3,83.2,12.0,488,15377,0.00,2.10,0.00,0.000,4,0.000,0.027,2789,1063,2180
$GC,15491,0.87,217.3,70.3,11.6,498,15495,0.00,2.17,0.00,0.000,6,0.000,0.035,2780,2489,2179
$GC,15758,0.91,243.1,43.0,8.7,522,15787,0.00,2.17,22.95,0.618,4,0.000,0.026,2789,1060,2077
$GC,15814,0.97,293.6,38.8,7.5,526,15868,0.00,2.17,43.20,0.630,6,0.000,0.035,2781,2491,1871
$STATE,16058,end climb,SURFACE_DEPTH_REACHED
$STATE,16058,begin surface coast
$FINISH,0.4,1.023010
$STATE,16076,end surface coast,CONTROL_FINISHED_OK
$STATE,16076,begin surface
$SM_CCo,16102,55.78,0.594,0,0,1398,410.13
$SM_GC,1.64,0.00,0.00,55.78,0.000,0.000,0.594,39,2492,1398,-7.66,0.06,410.13
$IRIDIUM_FIX,2258.07,-15733.62,261200,171712
$TT8_MAMPS,0.023777
$HUMID,2090
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.30
$XPDR_PINGS,26
$24V_AH,22.8,60.702
$10V_AH,10.6,46.399
$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,17.850,172.375,402.600,55.775,0.000,23.794,35.870,347.827,6.500,0.000,0.000,16.435,1371.512,11539.848,538.821,2233.200,1078.084,33.362,1584.951,0.000,2200.349,0.000,0.543,0.000
$DEVICE_MAMPS,225.498,59.826,1283.958,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,383.388,699.244,722.017,125.243,577.015,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47580,565
$CAP_FILE_SIZE,133187,0
$CFSIZE,260165632,195514368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,6,0
$CURRENT,0.067,253.1,1
$GPS,031011,023400,2304.123,-15734.743,42,1.3,42,10.1