version: 66.04
glider: 512
mission: 2
dive: 79
start: 8 24 111 23 42 23
data:
$ID,512
$MISSION,2
$DIVE,79
$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,-34029.859
$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,66
$R_STBD_OVSHOOT,38
$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
$GPS1,232537,2230.820,-15745.146,27,1.6,27,10.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-79.3
$GPS2,234126,2230.902,-15745.132,13,1.6,13,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp1
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.067,0.160
$KALMAN_X,3744.2,-244.3,-32.3,14420.6,-717.3
$KALMAN_Y,-60873.2,600.3,186.1,111296.8,-3907.6
$MHEAD_RNG_PITCHd_Wd,12.7,1685,-27.2,-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,18,-0.99,-63.0,0.0,0.0,0,95,0.00,0.00,-73.15,0.000,6,0.000,0.000,44,2466,3328
$GC,101,-1.00,-76.6,4.4,-8.5,10,118,7.90,2.20,-0.95,0.000,4,0.202,0.045,2169,3899,3385
$GC,199,-1.00,-76.6,50.5,-36.0,22,203,0.00,2.05,0.00,0.000,6,0.000,0.025,2169,2509,3386
$GC,470,-1.00,-76.6,133.2,-28.7,47,473,0.00,2.08,0.00,0.000,4,0.000,0.028,2169,1082,3386
$GC,577,-1.00,-76.6,158.0,-20.8,56,584,0.00,2.15,0.00,0.000,6,0.000,0.037,2158,2481,3386
$GC,837,-1.00,-76.6,222.7,-25.5,75,841,0.00,2.15,0.00,0.000,4,0.000,0.046,2148,3898,3387
$GC,922,-1.00,-76.6,243.6,-24.4,76,929,0.15,2.05,0.00,0.000,6,0.158,0.023,2187,2482,3387
$GC,1175,-1.00,-76.6,290.0,-18.0,83,1179,0.00,2.03,0.00,0.000,4,0.000,0.028,2192,1078,3387
$GC,1227,-1.00,-76.6,299.2,-15.7,84,1231,0.00,2.15,0.00,0.000,6,0.000,0.038,2184,2501,3387
$GC,1514,-1.00,-76.6,349.4,-18.1,91,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2502,3385
$GC,1757,-1.00,-76.6,391.2,-17.1,97,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2502,3384
$GC,2000,-1.00,-76.6,431.9,-16.6,103,2004,0.00,2.15,0.00,0.000,4,0.000,0.048,2173,3903,3383
$GC,2048,-1.00,-76.6,439.8,-16.8,104,2052,0.00,2.05,0.00,0.000,6,0.000,0.025,2173,2492,3382
$GC,2341,-1.00,-76.6,487.5,-16.1,111,2344,0.00,2.05,0.00,0.000,4,0.000,0.030,2173,1076,3380
$GC,2366,-1.00,-76.6,491.5,-15.0,111,2370,0.00,2.15,0.00,0.000,6,0.000,0.040,2162,2499,3380
$GC,2635,-1.00,-76.6,533.3,-15.5,118,2638,0.00,2.12,0.00,0.000,4,0.000,0.050,2152,3894,3376
$GC,2743,-1.00,-76.6,551.0,-15.9,120,2748,0.12,2.05,0.00,0.000,6,0.162,0.027,2183,2484,3376
$GC,3018,-1.00,-76.6,587.8,-13.2,127,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2477,3375
$GC,3262,-1.00,-76.6,619.3,-13.0,133,3266,0.00,2.22,0.00,0.000,4,0.000,0.051,2173,3904,3371
$GC,3292,-1.00,-76.6,623.6,-14.2,133,3296,0.00,2.08,0.00,0.000,6,0.000,0.028,2173,2496,3371
$GC,3550,-1.00,-76.6,659.8,-14.1,140,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2489,3368
$GC,3794,-1.00,-76.6,694.7,-14.4,146,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2489,3366
$GC,4038,-1.00,-76.6,729.5,-14.3,152,4041,0.00,2.20,0.00,0.000,4,0.000,0.054,2163,3896,3365
$GC,4130,-1.00,-76.6,743.7,-15.4,154,4134,0.00,2.08,0.00,0.000,6,0.000,0.030,2162,2486,3364
$GC,4424,-1.00,-76.6,785.3,-14.2,161,4428,0.00,2.05,0.00,0.000,4,0.000,0.034,2162,1089,3361
$GC,4468,-1.00,-76.6,791.6,-13.6,161,4474,0.12,2.15,0.00,0.000,6,0.166,0.045,2184,2490,3361
$GC,4721,-1.00,-76.6,822.1,-11.9,168,4725,0.00,2.20,0.00,0.000,4,0.000,0.056,2175,3902,3358
$GC,4769,-1.00,-76.6,828.4,-13.4,169,4773,0.00,2.10,0.00,0.000,6,0.000,0.031,2176,2490,3358
$GC,5063,-1.00,-76.6,864.1,-12.4,176,5067,0.00,2.08,0.00,0.000,4,0.000,0.035,2176,1080,3356
$GC,5094,-1.00,-76.6,868.2,-12.2,176,5097,0.00,2.17,0.00,0.000,6,0.000,0.046,2167,2497,3356
$STATE,5352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5352,begin apogee
$GC,5363,-0.27,0.0,900.9,12.4,183,5426,0.80,0.00,60.17,1.285,6,0.140,0.000,2421,2498,3070
$STATE,5427,end apogee,CONTROL_FINISHED_OK
$STATE,5427,begin climb
$GC,5432,1.00,76.6,902.7,0.0,184,5518,1.10,0.00,74.03,1.236,6,0.045,0.000,2840,2497,2758
$GC,5765,1.01,80.7,892.9,9.6,193,5769,0.00,2.17,0.00,0.000,4,0.000,0.048,2836,3876,2749
$GC,6026,1.01,83.1,864.9,9.7,198,6038,0.00,2.15,5.35,0.911,6,0.000,0.030,2845,2441,2730
$GC,6284,1.01,86.6,839.6,9.6,205,6293,0.00,2.25,4.47,0.827,4,0.000,0.046,2846,3876,2716
$GC,6550,1.01,86.6,810.5,10.6,210,6557,0.00,2.15,0.00,0.000,6,0.000,0.029,2855,2458,2715
$GC,6803,1.03,95.1,787.3,9.1,217,6818,0.00,2.28,8.85,1.058,4,0.000,0.047,2849,3876,2682
$GC,6939,1.03,95.1,772.6,11.6,220,6943,0.00,2.12,0.00,0.000,6,0.000,0.031,2858,2463,2680
$GC,7231,1.03,95.1,742.9,10.0,227,7234,0.00,2.22,0.00,0.000,4,0.000,0.049,2858,3878,2679
$GC,7329,1.03,96.1,732.8,9.9,229,7333,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,2458,2679
$GC,7616,1.04,109.1,707.0,8.6,236,7642,0.00,2.28,15.52,0.983,4,0.000,0.048,2863,3876,2626
$GC,7898,1.04,109.1,670.4,13.3,242,7902,0.00,2.12,0.00,0.000,6,0.000,0.031,2872,2458,2624
$GC,8172,1.04,109.1,634.8,13.2,249,8176,0.00,2.25,0.00,0.000,4,0.000,0.048,2863,3880,2622
$GC,8434,1.04,109.1,600.4,12.1,254,8437,0.00,2.12,0.00,0.000,6,0.000,0.031,2872,2456,2621
$GC,8692,1.04,109.1,573.0,10.3,261,8696,0.00,2.25,0.00,0.000,4,0.000,0.048,2863,3887,2620
$GC,8954,1.05,115.3,547.6,9.3,266,8967,0.00,2.12,6.38,0.882,6,0.000,0.030,2872,2452,2600
$GC,9211,1.05,116.7,522.0,9.8,273,9215,0.00,2.22,0.00,0.000,4,0.000,0.047,2863,3877,2598
$GC,9473,1.07,134.4,497.7,8.1,278,9498,0.00,2.12,18.58,1.005,6,0.000,0.031,2872,2450,2521
$GC,9775,1.07,134.4,458.7,14.0,286,9779,0.00,2.25,0.00,0.000,4,0.000,0.048,2863,3888,2516
$GC,10008,1.07,134.4,426.0,12.7,291,10012,0.00,2.12,0.00,0.000,6,0.000,0.031,2872,2465,2516
$GC,10289,1.07,134.4,392.4,12.0,298,10293,0.00,2.22,0.00,0.000,4,0.000,0.046,2863,3882,2514
$GC,10428,1.07,134.4,375.9,11.0,301,10432,0.00,2.15,0.00,0.000,6,0.000,0.031,2872,2448,2514
$GC,10720,1.08,142.0,347.9,9.2,308,10733,0.00,2.12,6.97,0.794,4,0.000,0.032,2883,1046,2491
$GC,10815,1.08,142.0,338.0,11.5,310,10819,0.00,2.17,0.00,0.000,6,0.000,0.040,2876,2471,2490
$GC,11097,1.08,142.0,305.4,11.5,317,11101,0.00,2.12,0.00,0.000,4,0.000,0.032,2884,1038,2489
$GC,11217,1.08,142.0,290.2,11.5,319,11221,0.00,2.17,0.00,0.000,6,0.000,0.039,2876,2468,2489
$GC,11481,1.11,165.4,267.9,7.5,326,11509,0.00,2.25,21.45,0.843,4,0.000,0.046,2875,3870,2395
$GC,11767,1.11,165.4,229.6,13.4,332,11771,0.00,2.10,0.00,0.000,6,0.000,0.028,2884,2458,2393
$GC,12042,1.11,165.4,198.5,11.4,339,12045,0.00,2.20,0.00,0.000,4,0.000,0.043,2875,3871,2391
$GC,12101,1.11,165.4,192.3,10.5,344,12105,0.00,2.10,0.00,0.000,6,0.000,0.027,2884,2444,2392
$GC,12371,1.11,165.4,165.2,10.6,369,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2440,2391
$GC,12637,1.11,165.4,136.8,10.1,394,12640,0.00,2.00,0.00,0.000,4,0.000,0.028,2895,1050,2391
$GC,12684,1.12,176.0,132.1,8.9,398,12699,0.00,2.12,10.10,0.666,6,0.000,0.035,2888,2471,2352
$GC,12959,1.12,176.0,103.9,11.0,423,12962,0.00,2.08,0.00,0.000,4,0.000,0.028,2897,1047,2351
$GC,13220,1.15,200.6,78.0,7.4,446,13249,0.00,2.12,21.98,0.648,6,0.000,0.034,2888,2475,2251
$GC,13511,1.18,221.4,52.7,7.8,472,13538,0.00,2.15,18.15,0.613,4,0.000,0.026,2897,1053,2166
$GC,13644,1.18,221.4,36.0,14.6,483,13652,0.00,2.15,0.00,0.000,6,0.000,0.032,2888,2462,2164
$STATE,13871,end climb,SURFACE_DEPTH_REACHED
$STATE,13871,begin surface coast
$FINISH,0.3,1.023151
$STATE,13889,end surface coast,CONTROL_FINISHED_OK
$STATE,13889,begin surface
$SM_CCo,13913,92.90,0.596,0,0,1397,410.13
$SM_GC,1.27,0.00,0.00,92.90,0.000,0.000,0.596,44,2463,1397,-7.71,-0.76,410.13
$IRIDIUM_FIX,2220.67,-15745.06,171100,232355
$TT8_MAMPS,0.023777
$HUMID,1981
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.30
$XPDR_PINGS,13
$24V_AH,24.2,11.472
$10V_AH,10.7,9.049
$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,17.450,124.350,272.000,92.900,0.000,91.407,123.491,427.027,3.250,0.000,0.000,18.112,1200.460,9803.147,457.282,2295.770,1202.960,33.355,1434.138,0.000,2270.204,0.000,0.543,0.000
$DEVICE_MAMPS,202.488,55.991,1285.492,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,355.619,699.338,719.677,133.269,608.415,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44613,524
$CAP_FILE_SIZE,117819,0
$CFSIZE,260165632,213000192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,2,0
$GPS,250811,033706,2231.646,-15744.676,28,1.3,28,10.0