version: 66.04
glider: 512
mission: 2
dive: 78
start: 8 24 111 20 5 38
data:
$ID,512
$MISSION,2
$DIVE,78
$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,630
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-34011.117
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2510
$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,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$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
$GPS1,195001,2230.546,-15746.020,43,1.7,43,10.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-79.0
$GPS2,200444,2230.575,-15746.041,13,1.7,13,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp1
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,0.111
$KALMAN_X,4443.3,-91.2,5.6,11969.8,-657.7
$KALMAN_Y,-58895.7,63.3,81.8,109360.6,-3050.3
$MHEAD_RNG_PITCHd_Wd,40.8,2075,-27.0,-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,-0.98,-64.3,0.0,0.0,0,94,0.00,0.00,-67.95,0.000,2,0.000,0.000,44,2460,3151
$GC,100,-1.04,-116.8,3.0,-4.2,9,125,7.93,2.25,-7.47,0.000,4,0.205,0.052,2161,3900,3550
$GC,162,-1.04,-116.8,31.6,-44.9,18,170,0.00,2.10,0.00,0.000,6,0.000,0.025,2161,2505,3550
$GC,428,-1.04,-116.8,128.3,-33.6,43,432,0.00,2.08,0.00,0.000,4,0.000,0.026,2163,1075,3551
$GC,535,-1.04,-116.8,157.6,-20.4,52,543,0.00,2.17,0.00,0.000,6,0.000,0.039,2155,2483,3551
$GC,826,-1.04,-116.8,229.9,-24.2,71,829,0.00,2.17,0.00,0.000,4,0.000,0.047,2144,3904,3552
$GC,901,-1.04,-116.8,250.3,-25.3,72,905,0.00,2.08,0.00,0.000,6,0.000,0.023,2148,2478,3552
$GC,1164,-1.04,-116.8,309.0,-22.6,79,1168,0.00,2.03,0.00,0.000,4,0.000,0.027,2153,1088,3552
$GC,1228,-1.04,-116.8,322.9,-19.7,80,1232,0.00,2.12,0.00,0.000,6,0.000,0.038,2145,2494,3552
$GC,1503,-1.04,-116.8,384.3,-22.9,87,1506,0.00,2.15,0.00,0.000,4,0.000,0.048,2134,3896,3550
$GC,1617,-1.04,-116.8,410.5,-21.9,89,1622,0.15,2.08,0.00,0.000,6,0.165,0.025,2175,2475,3550
$GC,1883,-1.04,-116.8,456.7,-17.1,96,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2468,3548
$GC,2124,-1.04,-116.8,496.1,-15.9,102,2128,0.00,2.22,0.00,0.000,4,0.000,0.050,2165,3900,3545
$GC,2177,-1.04,-116.8,505.0,-17.0,103,2181,0.00,2.08,0.00,0.000,6,0.000,0.026,2165,2481,3544
$GC,2462,-1.04,-116.8,552.6,-16.5,110,2466,0.00,2.03,0.00,0.000,4,0.000,0.031,2166,1090,3542
$GC,2537,-1.04,-116.8,564.3,-14.0,111,2541,0.00,2.15,0.00,0.000,6,0.000,0.043,2155,2498,3542
$GC,2800,-1.04,-116.8,608.9,-17.4,118,2804,0.00,2.15,0.00,0.000,4,0.000,0.053,2144,3894,3539
$GC,2898,-1.04,-116.8,626.8,-17.7,120,2902,0.10,2.08,0.00,0.000,6,0.159,0.028,2170,2484,3538
$GC,3177,-1.04,-116.8,670.6,-15.5,127,3181,0.00,2.05,0.00,0.000,4,0.000,0.032,2170,1082,3535
$GC,3241,-1.04,-116.8,680.2,-13.6,128,3245,0.00,2.15,0.00,0.000,6,0.000,0.044,2162,2489,3535
$GC,3516,-1.04,-116.8,721.9,-15.1,135,3520,0.00,2.20,0.00,0.000,4,0.000,0.054,2152,3904,3532
$GC,3596,-1.04,-116.8,734.7,-16.2,136,3600,0.00,2.10,0.00,0.000,6,0.000,0.030,2151,2491,3531
$GC,3854,-1.04,-116.8,775.8,-16.0,143,3858,0.00,2.05,0.00,0.000,4,0.000,0.033,2152,1089,3528
$GC,3890,-1.04,-116.8,781.5,-16.2,143,3895,0.12,2.15,0.00,0.000,6,0.154,0.045,2176,2490,3528
$GC,4145,-1.04,-116.8,815.8,-13.4,149,4148,0.00,2.20,0.00,0.000,4,0.000,0.057,2167,3896,3526
$GC,4231,-1.04,-116.8,828.3,-13.4,150,4237,0.00,2.10,0.00,0.000,6,0.000,0.030,2166,2495,3525
$GC,4485,-1.04,-116.8,862.9,-13.9,157,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2488,3524
$GC,4727,-1.04,-116.8,895.9,-13.5,163,4730,0.00,2.08,0.00,0.000,4,0.000,0.035,2167,1084,3522
$STATE,4757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4757,begin apogee
$GC,4770,-0.27,0.0,900.8,13.3,163,4869,0.80,0.00,95.15,1.285,6,0.138,0.000,2415,2466,3070
$STATE,4869,end apogee,CONTROL_FINISHED_OK
$STATE,4869,begin climb
$GC,4874,1.04,116.8,905.1,0.0,166,4998,1.15,2.28,110.12,1.229,4,0.038,0.031,2867,1050,2593
$GC,5255,1.04,116.8,866.3,18.7,174,5259,0.00,2.22,0.00,0.000,6,0.000,0.041,2863,2474,2583
$GC,5514,1.04,116.8,816.7,19.5,181,5518,0.00,2.12,0.00,0.000,4,0.000,0.032,2871,1054,2580
$GC,5774,1.04,116.8,768.5,17.6,186,5778,0.00,2.17,0.00,0.000,6,0.000,0.041,2871,2469,2578
$GC,6026,1.04,116.8,723.6,17.4,192,6030,0.00,2.10,0.00,0.000,4,0.000,0.031,2880,1053,2576
$GC,6051,1.04,116.8,719.0,18.1,192,6055,0.00,2.15,0.00,0.000,6,0.000,0.040,2876,2460,2576
$GC,6320,1.04,116.8,674.5,16.0,199,6324,0.12,2.12,0.00,0.000,4,0.238,0.032,2858,1046,2575
$GC,6580,1.04,116.8,636.5,13.8,204,6587,0.00,2.17,0.00,0.000,6,0.000,0.042,2858,2464,2574
$GC,6834,1.04,116.8,602.3,13.7,211,6837,0.00,2.20,0.00,0.000,4,0.000,0.050,2858,3879,2573
$GC,6865,1.04,116.8,597.8,13.9,211,6869,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,2451,2573
$GC,7129,1.04,116.8,563.4,12.8,218,7133,0.00,2.22,0.00,0.000,4,0.000,0.049,2863,3876,2572
$GC,7204,1.04,116.8,553.2,13.5,219,7208,0.00,2.10,0.00,0.000,6,0.000,0.031,2871,2462,2572
$GC,7470,1.04,116.8,522.1,11.7,226,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2456,2571
$GC,7711,1.04,116.8,496.5,10.2,232,7715,0.00,2.20,0.00,0.000,4,0.000,0.051,2872,3870,2571
$GC,7972,1.05,122.3,469.6,9.4,237,7977,0.15,2.10,0.00,0.000,6,0.248,0.029,2850,2449,2571
$GC,8224,1.08,143.7,449.3,7.8,243,8250,0.00,2.28,20.50,0.979,4,0.000,0.048,2849,3877,2484
$GC,8506,1.08,143.7,411.9,14.8,249,8510,0.00,2.12,0.00,0.000,6,0.000,0.031,2858,2465,2480
$GC,8783,1.08,143.7,377.4,12.5,256,8787,0.00,2.22,0.00,0.000,4,0.000,0.049,2859,3874,2478
$GC,8937,1.08,143.7,356.2,13.8,259,8941,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,2456,2478
$GC,9212,1.08,143.7,321.4,12.0,266,9216,0.00,2.22,0.00,0.000,4,0.000,0.049,2863,3871,2477
$GC,9345,1.08,143.7,304.9,13.0,269,9349,0.00,2.10,0.00,0.000,6,0.000,0.029,2871,2455,2477
$GC,9638,1.08,143.7,271.3,11.0,276,9642,0.00,2.05,0.00,0.000,4,0.000,0.032,2882,1050,2476
$GC,9900,1.12,177.2,250.7,6.5,281,9934,0.00,2.12,28.65,0.836,6,0.000,0.038,2875,2464,2348
$GC,10198,1.12,177.2,209.4,16.4,289,10202,0.00,2.17,0.00,0.000,4,0.000,0.045,2875,3866,2342
$GC,10389,1.12,177.2,179.4,16.3,299,10396,0.00,2.12,0.00,0.000,6,0.000,0.027,2884,2452,2342
$GC,10654,1.12,177.2,141.5,11.5,324,10657,0.00,2.05,0.00,0.000,4,0.000,0.029,2894,1044,2341
$GC,10693,1.12,177.2,137.4,11.8,327,10697,0.00,2.15,0.00,0.000,6,0.000,0.037,2888,2467,2341
$GC,10964,1.12,177.2,111.1,10.4,352,10967,0.00,2.08,0.00,0.000,4,0.000,0.028,2897,1046,2341
$GC,11223,1.17,218.7,91.1,5.7,375,11263,0.00,2.12,34.83,0.673,6,0.000,0.033,2888,2474,2178
$GC,11529,1.17,218.7,43.4,14.7,403,11533,0.00,2.12,0.00,0.000,4,0.000,0.044,2888,3865,2172
$STATE,11780,end climb,SURFACE_DEPTH_REACHED
$STATE,11780,begin surface coast
$FINISH,0.2,1.023208
$STATE,11803,end surface coast,CONTROL_FINISHED_OK
$STATE,11803,begin surface
$SM_CCo,11830,93.05,0.595,0,0,1397,410.13
$SM_GC,1.33,0.00,0.00,93.05,0.000,0.000,0.595,44,2467,1397,-7.71,-0.68,410.13
$IRIDIUM_FIX,2223.01,-15745.06,171100,202022
$TT8_MAMPS,0.023777
$HUMID,1997
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.80
$XPDR_PINGS,10
$24V_AH,24.1,11.342
$10V_AH,10.7,8.933
$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,17.950,119.625,289.250,93.050,0.000,73.241,120.160,377.611,2.500,0.000,0.000,14.123,1035.813,8246.043,440.893,2000.082,1082.116,33.354,1314.430,0.000,1976.327,0.000,0.544,0.000
$DEVICE_MAMPS,247.741,56.758,1285.492,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,301.718,599.907,619.266,114.018,517.932,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38245,445
$CAP_FILE_SIZE,105870,0
$CFSIZE,260165632,213065728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,240811,232537,2230.820,-15745.146,27,1.6,27,10.0