version: 66.04
glider: 512
mission: 2
dive: 81
start: 8 25 111 6 22 56
data:
$ID,512
$MISSION,2
$DIVE,81
$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,-34062.543
$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,50
$R_STBD_OVSHOOT,44
$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
$GPS1,061224,2232.634,-15744.503,41,1.0,42,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-79.4
$GPS2,062202,2232.609,-15744.464,15,1.3,15,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp1
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,0.153
$KALMAN_X,2961.9,257.9,165.6,15643.1,-1178.3
$KALMAN_Y,-63601.7,677.0,294.0,116995.2,-5307.7
$MHEAD_RNG_PITCHd_Wd,18.0,4919,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.99,-63.0,0.0,0.0,0,94,0.00,0.00,-67.93,0.000,2,0.000,0.000,44,2508,3154
$GC,99,-1.05,-112.9,3.1,-4.7,9,124,7.93,2.17,-6.95,0.000,4,0.209,0.055,2156,3890,3533
$GC,212,-1.05,-112.9,52.4,-35.8,22,216,0.00,2.08,0.00,0.000,6,0.000,0.026,2157,2495,3534
$GC,484,-1.05,-112.9,137.4,-29.0,47,488,0.00,2.05,0.00,0.000,4,0.000,0.025,2157,1073,3536
$GC,547,-1.05,-112.9,154.9,-23.4,52,554,0.00,2.15,0.00,0.000,6,0.000,0.039,2147,2465,3536
$GC,837,-1.05,-112.9,236.5,-28.1,71,841,0.00,2.03,0.00,0.000,4,0.000,0.026,2149,1067,3537
$GC,862,-1.05,-112.9,243.2,-25.3,71,867,0.12,2.17,0.00,0.000,6,0.152,0.038,2171,2503,3537
$GC,1126,-1.05,-112.9,298.3,-20.6,78,1129,0.00,2.15,0.00,0.000,4,0.000,0.048,2162,3905,3538
$GC,1201,-1.05,-112.9,313.6,-20.3,79,1205,0.00,2.10,0.00,0.000,6,0.000,0.024,2162,2467,3538
$GC,1465,-1.05,-112.9,365.8,-20.0,86,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2460,3537
$GC,1709,-1.05,-112.9,413.7,-19.4,92,1713,0.00,2.22,0.00,0.000,4,0.000,0.048,2151,3899,3536
$GC,1755,-1.05,-112.9,423.5,-20.3,93,1759,0.00,2.08,0.00,0.000,6,0.000,0.025,2151,2486,3536
$GC,2041,-1.05,-112.9,478.5,-19.2,100,2045,0.00,2.03,0.00,0.000,4,0.000,0.029,2151,1085,3535
$GC,2065,-1.05,-112.9,483.1,-18.4,100,2070,0.12,2.15,0.00,0.000,6,0.144,0.041,2173,2500,3534
$GC,2329,-1.05,-112.9,523.2,-15.0,107,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2501,3532
$GC,2572,-1.05,-112.9,559.8,-15.0,113,2575,0.00,2.17,0.00,0.000,4,0.000,0.052,2164,3905,3530
$GC,2612,-1.05,-112.9,566.8,-16.9,113,2618,0.00,2.08,0.00,0.000,6,0.000,0.028,2164,2491,3529
$GC,2865,-1.05,-112.9,607.6,-16.2,120,2869,0.00,2.05,0.00,0.000,4,0.000,0.031,2164,1083,3527
$GC,2895,-1.05,-112.9,612.4,-15.5,120,2899,0.00,2.15,0.00,0.000,6,0.000,0.043,2154,2491,3527
$GC,3158,-1.05,-112.9,654.5,-16.1,127,3161,0.00,2.20,0.00,0.000,4,0.000,0.053,2143,3908,3525
$GC,3221,-1.05,-112.9,665.1,-16.1,128,3226,0.12,2.12,0.00,0.000,6,0.159,0.029,2175,2482,3524
$GC,3490,-1.05,-112.9,703.6,-14.2,135,3494,0.00,2.25,0.00,0.000,4,0.000,0.054,2166,3907,3522
$GC,3544,-1.05,-112.9,711.7,-14.4,136,3548,0.00,2.12,0.00,0.000,6,0.000,0.029,2166,2478,3521
$GC,3825,-1.05,-112.9,753.2,-14.8,143,3828,0.00,2.05,0.00,0.000,4,0.000,0.034,2165,1083,3519
$GC,3865,-1.05,-112.9,759.3,-13.7,143,3871,0.00,2.17,0.00,0.000,6,0.000,0.047,2155,2496,3519
$GC,4119,-1.05,-112.9,797.3,-15.3,150,4122,0.00,2.20,0.00,0.000,4,0.000,0.057,2145,3902,3517
$GC,4211,-1.05,-112.9,812.3,-15.6,152,4215,0.00,2.12,0.00,0.000,6,0.000,0.031,2144,2480,3516
$GC,4503,-1.05,-112.9,859.2,-16.1,159,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2472,3514
$GC,4747,-1.05,-112.9,898.1,-16.0,165,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2472,3513
$STATE,4785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4785,begin apogee
$GC,4796,-0.27,0.0,904.4,15.9,166,4892,0.88,0.00,93.18,1.285,6,0.142,0.000,2421,2472,3070
$STATE,4893,end apogee,CONTROL_FINISHED_OK
$STATE,4893,begin climb
$GC,4898,1.05,112.9,908.2,0.0,168,5016,1.12,2.38,106.57,1.237,4,0.040,0.046,2849,3884,2609
$GC,5083,1.05,112.9,907.6,19.6,173,5087,0.00,2.22,0.00,0.000,6,0.000,0.029,2858,2455,2603
$GC,5357,1.05,112.9,855.6,18.4,180,5361,0.00,2.28,0.00,0.000,4,0.000,0.048,2859,3881,2597
$GC,5375,1.05,112.9,852.0,18.4,180,5379,0.00,2.17,0.00,0.000,6,0.000,0.029,2869,2446,2598
$GC,5644,1.05,112.9,804.1,17.6,187,5647,0.00,2.25,0.00,0.000,4,0.000,0.046,2864,3876,2595
$GC,5888,1.05,112.9,762.9,16.5,192,5892,0.00,2.12,0.00,0.000,6,0.000,0.030,2872,2454,2594
$GC,6164,1.05,112.9,721.9,14.9,199,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2448,2592
$GC,6407,1.05,112.9,686.9,14.4,205,6411,0.00,2.22,0.00,0.000,4,0.000,0.049,2871,3878,2592
$GC,6532,1.05,112.9,668.0,14.8,207,6537,0.15,2.12,0.00,0.000,6,0.252,0.031,2850,2453,2590
$GC,6786,1.05,112.9,633.9,13.4,213,6790,0.00,2.22,0.00,0.000,4,0.000,0.051,2850,3874,2589
$GC,6800,1.05,112.9,631.9,13.0,213,6804,0.00,2.12,0.00,0.000,6,0.000,0.030,2859,2450,2589
$GC,7080,1.05,112.9,597.1,12.4,220,7084,0.00,2.22,0.00,0.000,4,0.000,0.048,2859,3877,2588
$GC,7184,1.05,112.9,584.1,12.6,222,7188,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,2447,2588
$GC,7464,1.05,112.9,552.6,11.0,229,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2443,2587
$GC,7708,1.05,112.9,526.8,10.3,235,7712,0.00,2.22,0.00,0.000,4,0.000,0.046,2862,3887,2587
$GC,7757,1.05,112.9,521.5,11.5,236,7761,0.00,2.12,0.00,0.000,6,0.000,0.030,2871,2453,2587
$GC,8049,1.06,125.2,494.4,8.7,243,8059,0.00,0.00,7.85,0.899,6,0.000,0.000,2872,2449,2559
$GC,8293,1.06,125.2,468.6,11.1,249,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2448,2558
$GC,8536,1.06,125.2,443.6,10.1,255,8540,0.00,2.05,0.00,0.000,4,0.000,0.033,2882,1056,2557
$GC,8555,1.06,125.2,441.5,10.8,255,8559,0.00,2.15,0.00,0.000,6,0.000,0.040,2875,2471,2557
$GC,8831,1.07,133.6,415.8,9.1,262,8845,0.00,2.15,8.93,0.873,4,0.000,0.033,2884,1053,2525
$GC,8899,1.07,133.6,408.9,10.3,263,8903,0.00,2.15,0.00,0.000,6,0.000,0.039,2876,2467,2524
$GC,9168,1.07,133.6,380.2,10.5,270,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2467,2522
$GC,9413,1.08,137.4,356.2,9.6,276,9420,0.00,0.00,4.78,0.690,6,0.000,0.000,2876,2468,2509
$GC,9656,1.08,137.4,330.1,10.6,282,9659,0.00,2.15,0.00,0.000,4,0.000,0.046,2875,3867,2508
$GC,9692,1.08,137.4,326.1,11.6,282,9695,0.00,2.10,0.00,0.000,6,0.000,0.028,2884,2447,2508
$GC,9950,1.08,142.7,300.3,9.4,289,9960,0.00,2.22,5.97,0.727,4,0.000,0.043,2875,3873,2489
$GC,10002,1.09,145.9,295.4,9.7,290,10011,0.00,2.10,4.93,0.665,6,0.000,0.028,2884,2453,2475
$GC,10282,1.09,151.4,267.6,9.4,297,10293,0.00,2.22,6.00,0.702,4,0.000,0.046,2875,3867,2454
$GC,10324,1.10,159.8,263.9,9.1,298,10339,0.00,2.10,9.60,0.772,6,0.000,0.028,2884,2448,2417
$GC,10615,1.10,159.8,229.5,12.4,305,10619,0.00,2.20,0.00,0.000,4,0.000,0.044,2875,3869,2414
$GC,10674,1.10,159.8,221.5,12.9,306,10678,0.00,2.10,0.00,0.000,6,0.000,0.028,2884,2460,2414
$GC,10938,1.12,168.3,192.4,9.1,317,10948,0.00,0.00,8.18,0.701,6,0.000,0.000,2884,2455,2384
$GC,11202,1.12,168.3,163.2,12.2,342,11206,0.00,2.08,0.00,0.000,4,0.000,0.030,2895,1037,2382
$GC,11219,1.12,168.3,161.6,11.6,343,11223,0.00,2.15,0.00,0.000,6,0.000,0.036,2888,2460,2382
$GC,11485,1.12,168.3,131.0,10.1,367,11488,0.00,2.15,0.00,0.000,4,0.000,0.044,2889,3870,2382
$GC,11557,1.12,168.3,123.3,10.9,373,11560,0.00,2.08,0.00,0.000,6,0.000,0.026,2897,2459,2382
$GC,11828,1.12,170.1,96.8,9.8,398,11831,0.00,2.05,0.00,0.000,4,0.000,0.028,2908,1036,2382
$GC,11844,1.13,179.8,95.4,9.0,399,11861,0.12,2.12,11.12,0.640,6,0.215,0.035,2876,2463,2337
$GC,12121,1.13,179.8,63.4,11.4,424,12124,0.00,2.08,0.00,0.000,4,0.000,0.028,2886,1037,2335
$GC,12381,1.24,273.8,57.5,-0.0,447,12463,0.00,2.12,77.12,0.643,6,0.000,0.033,2876,2470,1953
$STATE,12660,end climb,SURFACE_DEPTH_REACHED
$STATE,12660,begin surface coast
$FINISH,0.4,1.023241
$STATE,12673,end surface coast,CONTROL_FINISHED_OK
$STATE,12674,begin surface
$SM_CCo,12698,61.17,0.589,0,0,1397,410.13
$SM_GC,1.14,0.00,0.00,61.17,0.000,0.000,0.589,45,2478,1397,-7.71,-0.31,410.13
$IRIDIUM_FIX,2225.34,-15744.17,181100,060638
$TT8_MAMPS,0.023777
$HUMID,2012
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.50
$XPDR_PINGS,6
$24V_AH,24.1,11.726
$10V_AH,10.7,9.220
$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,18.000,124.425,344.225,61.175,0.000,55.634,64.710,238.130,1.500,0.000,0.000,15.822,1047.154,9203.686,459.429,1760.982,874.787,33.353,1241.251,0.000,1750.118,0.000,0.543,0.000
$DEVICE_MAMPS,252.343,56.758,1285.492,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,327.659,649.818,667.745,123.425,566.589,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41515,483
$CAP_FILE_SIZE,103011,0
$CFSIZE,260165632,212910080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,250811,095706,2233.090,-15743.835,31,1.2,41,10.0