version: 66.04
glider: 512
mission: 2
dive: 506
start: 10 3 111 2 52 58
data:
$ID,512
$MISSION,2
$DIVE,506
$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,-42953.559
$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,52
$R_STBD_OVSHOOT,34
$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
$GPS1,023400,2304.123,-15734.743,42,1.3,42,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.8
$GPS2,025202,2304.046,-15734.953,15,1.3,15,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15704.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,-0.012
$KALMAN_X,-68787.5,72.0,-499.8,116849.0,-994.9
$KALMAN_Y,-77709.7,91.9,914.5,47637.9,-4992.2
$MHEAD_RNG_PITCHd_Wd,81.6,53297,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,24,-0.77,-136.3,0.0,0.0,0,95,0.00,0.00,-68.00,0.000,2,0.000,0.000,39,2492,3186
$GC,101,-0.77,-136.3,3.6,-5.6,9,127,8.38,2.20,-7.68,0.000,4,0.200,0.054,2219,3887,3627
$GC,154,-0.77,-136.3,28.1,-45.1,16,163,0.00,2.10,0.00,0.000,6,0.000,0.024,2227,2492,3627
$GC,421,-0.77,-136.3,92.5,-21.3,41,425,0.00,2.05,0.00,0.000,4,0.000,0.025,2234,1075,3628
$GC,461,-0.77,-136.3,100.7,-17.6,44,470,0.00,2.17,0.00,0.000,6,0.000,0.038,2226,2474,3628
$GC,729,-0.77,-136.3,146.5,-16.8,69,732,0.00,2.22,0.00,0.000,4,0.000,0.048,2214,3909,3628
$GC,767,-0.77,-136.3,153.1,-16.5,72,771,0.00,2.10,0.00,0.000,6,0.000,0.021,2214,2467,3628
$GC,1038,-0.77,-136.3,201.5,-19.4,97,1042,0.00,1.98,0.00,0.000,4,0.000,0.025,2219,1089,3629
$GC,1102,-0.77,-136.3,212.8,-14.6,98,1107,0.10,2.15,0.00,0.000,6,0.126,0.038,2239,2501,3629
$GC,1372,-0.77,-136.3,250.4,-14.1,105,1375,0.00,2.17,0.00,0.000,4,0.000,0.048,2230,3908,3629
$GC,1429,-0.77,-136.3,257.8,-11.4,106,1433,0.00,2.08,0.00,0.000,6,0.000,0.022,2230,2480,3628
$GC,1710,-0.77,-136.3,292.7,-12.4,113,1713,0.00,2.00,0.00,0.000,4,0.000,0.025,2230,1086,3628
$GC,1769,-0.77,-136.3,299.3,-9.5,114,1773,0.00,2.15,0.00,0.000,6,0.000,0.038,2222,2499,3628
$GC,2051,-0.77,-136.3,332.3,-12.0,121,2055,0.00,2.17,0.00,0.000,4,0.000,0.049,2211,3902,3625
$GC,2137,-0.77,-136.3,342.2,-10.4,122,2143,0.00,2.08,0.00,0.000,6,0.000,0.022,2211,2477,3624
$GC,2390,-0.77,-136.3,373.8,-12.9,129,2394,0.00,2.25,0.00,0.000,4,0.000,0.049,2201,3905,3623
$GC,2426,-0.77,-136.3,378.8,-13.1,129,2433,0.12,2.08,0.00,0.000,6,0.117,0.023,2241,2483,3622
$GC,2680,-0.77,-136.3,403.6,-9.5,136,2684,0.00,2.25,0.00,0.000,4,0.000,0.051,2232,3904,3621
$GC,2699,-0.77,-136.3,405.7,-9.3,136,2703,0.00,2.08,0.00,0.000,6,0.000,0.023,2232,2477,3621
$GC,2970,-0.77,-136.3,432.8,-10.3,143,2974,0.00,2.25,0.00,0.000,4,0.000,0.051,2221,3895,3618
$GC,2994,-0.77,-136.3,435.7,-10.7,143,2998,0.00,2.05,0.00,0.000,6,0.000,0.023,2221,2483,3618
$GC,3257,-0.77,-136.3,463.6,-10.5,150,3261,0.00,2.28,-0.08,0.000,4,0.000,0.064,2210,3894,3640
$GC,3306,-0.77,-136.3,468.5,-9.9,151,3310,0.10,2.08,0.00,0.000,6,0.116,0.024,2240,2477,3640
$GC,3593,-0.77,-136.3,491.3,-7.8,158,3597,0.00,2.25,0.00,0.000,4,0.000,0.053,2231,3894,3638
$GC,3628,-0.77,-136.3,494.4,-8.3,158,3634,0.00,2.05,0.00,0.000,6,0.000,0.024,2231,2486,3637
$GC,3881,-0.77,-136.3,516.1,-8.8,165,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2478,3636
$GC,4127,-0.77,-136.3,538.6,-9.3,171,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2478,3634
$GC,4368,-0.77,-136.3,561.9,-9.5,177,4372,0.00,2.03,0.00,0.000,4,0.000,0.029,2231,1097,3632
$GC,4404,-0.77,-136.3,565.5,-9.3,177,4408,0.00,2.17,0.00,0.000,6,0.000,0.043,2223,2499,3632
$GC,4663,-0.77,-136.3,589.5,-9.4,184,4667,0.00,2.22,0.00,0.000,4,0.000,0.056,2213,3905,3630
$GC,4723,-0.77,-136.3,595.0,-8.2,185,4727,0.00,2.10,0.00,0.000,6,0.000,0.027,2212,2486,3629
$GC,5004,-0.77,-136.3,620.2,-8.8,192,5007,0.00,2.05,0.00,0.000,4,0.000,0.030,2216,1091,3627
$GC,5045,-0.77,-136.3,623.9,-7.9,192,5052,0.12,2.17,0.00,0.000,6,0.116,0.044,2244,2488,3626
$GC,5299,-0.77,-136.3,638.6,-5.7,199,5303,0.00,2.28,0.00,0.000,4,0.000,0.058,2236,3906,3625
$GC,5351,-0.77,-136.3,641.9,-5.9,200,5355,0.00,2.10,0.00,0.000,6,0.000,0.028,2236,2488,3624
$GC,5632,-0.77,-136.3,661.5,-7.2,207,5635,0.00,2.05,0.00,0.000,4,0.000,0.030,2236,1094,3623
$GC,5669,-0.77,-136.3,664.4,-8.4,207,5673,0.00,2.17,0.00,0.000,6,0.000,0.048,2236,2488,3622
$GC,5926,-0.77,-136.3,684.0,-7.7,214,5930,0.00,2.25,0.00,0.000,4,0.000,0.059,2225,3900,3620
$GC,5975,-0.77,-136.3,688.0,-8.2,215,5979,0.00,2.10,0.00,0.000,6,0.000,0.028,2225,2482,3620
$GC,6267,-0.77,-136.3,713.3,-8.7,222,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2475,3619
$GC,6511,-0.77,-136.3,733.6,-8.1,228,6515,0.00,2.33,0.00,0.000,4,0.000,0.061,2216,3904,3617
$GC,6546,-0.77,-136.3,736.6,-7.9,228,6552,0.00,2.12,0.00,0.000,6,0.000,0.028,2216,2485,3617
$GC,6799,-0.77,-136.3,757.3,-8.2,235,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2478,3616
$GC,7044,-0.77,-136.3,777.1,-8.1,241,7048,0.00,2.33,0.00,0.000,4,0.000,0.061,2207,3901,3614
$GC,7069,-0.77,-136.3,779.2,-7.9,241,7074,0.12,2.10,0.00,0.000,6,0.110,0.029,2244,2492,3615
$GC,7333,-0.77,-136.3,795.9,-6.2,248,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2485,3614
$GC,7576,-0.77,-136.3,811.8,-6.5,254,7580,0.00,2.33,0.00,0.000,4,0.000,0.061,2236,3904,3612
$GC,7607,-0.77,-136.3,813.9,-7.2,254,7610,0.00,2.12,0.00,0.000,6,0.000,0.030,2236,2487,3612
$GC,7866,-0.77,-136.3,833.2,-7.4,261,7870,0.00,2.08,0.00,0.000,4,0.000,0.033,2236,1091,3611
$GC,7896,-0.77,-136.3,835.7,-8.1,261,7900,0.00,2.22,0.00,0.000,6,0.000,0.049,2236,2493,3611
$GC,8155,-0.77,-136.3,854.8,-7.5,268,8158,0.00,2.28,0.00,0.000,4,0.000,0.061,2227,3900,3611
$GC,8218,-0.77,-136.3,860.0,-8.2,269,8222,0.00,2.12,0.00,0.000,6,0.000,0.029,2226,2483,3610
$GC,8495,-0.77,-136.3,882.1,-8.0,276,8499,0.00,2.08,0.00,0.000,4,0.000,0.033,2227,1087,3610
$GC,8531,-0.77,-136.3,885.3,-7.6,276,8535,0.00,2.25,0.00,0.000,6,0.000,0.050,2223,2500,3610
$STATE,8739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8739,begin apogee
$GC,8751,-0.27,0.0,902.3,8.2,281,8874,0.55,0.00,120.05,1.282,6,0.106,0.000,2404,2500,3070
$STATE,8875,end apogee,CONTROL_FINISHED_OK
$STATE,8875,begin climb
$GC,8880,0.77,136.3,908.2,0.0,284,9054,0.90,2.45,139.52,1.206,4,0.041,0.054,2753,3902,2512
$GC,9311,0.77,136.3,864.3,21.7,293,9315,0.00,2.15,0.00,0.000,6,0.000,0.029,2763,2490,2503
$GC,9574,0.77,136.3,813.1,19.3,300,9579,0.00,2.25,0.00,0.000,4,0.000,0.051,2755,3900,2501
$GC,9645,0.77,136.3,798.4,20.8,301,9649,0.00,2.15,0.00,0.000,6,0.000,0.028,2764,2473,2500
$GC,9909,0.77,136.3,748.1,18.8,308,9911,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2467,2498
$GC,10153,0.77,136.3,704.1,17.6,314,10158,0.00,2.28,0.00,0.000,4,0.000,0.051,2764,3898,2497
$GC,10279,0.77,136.3,681.0,18.3,316,10287,0.15,2.15,0.00,0.000,6,0.219,0.029,2741,2463,2496
$GC,10532,0.77,136.3,644.2,14.3,323,10535,0.00,2.08,0.00,0.000,4,0.000,0.033,2750,1072,2495
$GC,10691,0.77,136.3,624.7,10.9,326,10695,0.00,2.20,0.00,0.000,6,0.000,0.043,2750,2489,2495
$GC,10963,0.77,136.3,593.8,11.4,333,10967,0.00,2.12,0.00,0.000,4,0.000,0.032,2760,1072,2494
$GC,11122,0.77,136.3,573.6,12.2,336,11126,0.00,2.20,0.00,0.000,6,0.000,0.041,2755,2490,2494
$GC,11385,0.77,136.3,540.2,12.6,343,11389,0.00,2.12,0.00,0.000,4,0.000,0.031,2763,1070,2493
$GC,11626,0.77,136.3,511.4,10.8,348,11630,0.00,2.20,0.00,0.000,6,0.000,0.041,2763,2488,2493
$GC,11901,0.78,140.4,482.7,9.8,355,11904,0.00,2.20,0.00,0.000,4,0.000,0.051,2764,3888,2493
$GC,11966,0.78,143.7,476.1,9.8,356,11975,0.12,2.10,4.07,0.678,6,0.230,0.028,2747,2469,2484
$GC,12239,0.82,170.5,451.3,8.7,363,12282,0.00,0.00,30.45,0.894,6,0.000,0.000,2748,2469,2374
$GC,12523,0.82,170.5,416.4,12.8,370,12527,0.00,2.30,0.00,0.000,4,0.000,0.051,2742,3898,2371
$GC,12593,0.82,170.5,405.4,15.5,371,12597,0.00,2.12,0.00,0.000,6,0.000,0.028,2751,2487,2370
$GC,12856,0.82,170.5,368.1,14.1,378,12860,0.00,2.10,0.00,0.000,4,0.000,0.031,2761,1073,2368
$GC,12920,0.82,170.5,358.8,14.8,379,12924,0.00,2.20,0.00,0.000,6,0.000,0.041,2755,2490,2369
$GC,13192,0.82,170.5,322.0,13.5,386,13196,0.00,2.12,0.00,0.000,4,0.000,0.030,2763,1069,2368
$GC,13228,0.82,170.5,316.4,13.7,386,13232,0.00,2.20,0.00,0.000,6,0.000,0.041,2763,2487,2368
$GC,13486,0.82,170.5,283.9,12.1,393,13487,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2488,2368
$GC,13729,0.82,170.5,258.2,10.1,399,13733,0.00,2.12,0.00,0.000,4,0.000,0.031,2772,1062,2368
$GC,13959,0.85,195.4,236.8,8.8,404,13988,0.00,2.20,22.50,0.814,6,0.000,0.039,2768,2490,2273
$GC,14250,0.85,195.4,197.3,14.5,411,14258,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2490,2268
$GC,14517,0.85,195.4,162.4,12.8,436,14521,0.00,2.12,0.00,0.000,4,0.000,0.030,2776,1065,2267
$GC,14783,0.85,199.7,133.0,9.8,459,14795,0.00,2.17,4.45,0.517,6,0.000,0.037,2768,2488,2256
$GC,15058,0.85,199.7,105.7,10.0,484,15062,0.00,2.10,0.00,0.000,4,0.000,0.028,2776,1065,2255
$GC,15229,0.87,214.2,88.5,9.3,498,15250,0.00,2.17,14.75,0.643,6,0.000,0.036,2768,2475,2195
$GC,15514,0.92,252.2,60.5,8.1,524,15555,0.00,2.15,33.25,0.653,4,0.000,0.027,2776,1073,2041
$GC,15795,0.92,252.2,32.9,10.4,548,15799,0.00,2.15,0.00,0.000,6,0.000,0.035,2776,2478,2038
$STATE,16021,end climb,SURFACE_DEPTH_REACHED
$STATE,16021,begin surface coast
$FINISH,0.5,1.023086
$STATE,16044,end surface coast,CONTROL_FINISHED_OK
$STATE,16044,begin surface
$SM_CCo,16070,79.07,0.602,0,0,1397,410.13
$SM_GC,1.17,0.00,0.00,79.07,0.000,0.000,0.602,39,2489,1397,-7.66,-0.03,410.13
$IRIDIUM_FIX,2248.70,-15738.46,271200,020222
$TT8_MAMPS,0.023777
$HUMID,2061
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.90
$XPDR_PINGS,27
$24V_AH,23.0,60.872
$10V_AH,10.6,46.526
$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,17.800,164.175,369.050,79.075,0.000,87.682,124.038,540.285,6.750,0.000,0.000,15.495,1398.685,11545.082,559.674,2290.497,1434.592,33.359,1575.668,0.000,2261.302,0.000,0.545,0.000
$DEVICE_MAMPS,230.100,64.428,1281.657,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,400.518,762.323,784.085,142.599,657.117,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47720,590
$CAP_FILE_SIZE,137083,0
$CFSIZE,260165632,195444736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,6,0
$CURRENT,0.091,233.8,1
$GPS,031011,072337,2303.427,-15734.004,39,1.3,39,10.1