version: 66.04
glider: 512
mission: 2
dive: 374
start: 9 8 111 16 18 18
data:
$ID,512
$MISSION,2
$DIVE,374
$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,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,-40558.629
$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,2500
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2730
$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
$GPS1,160931,2256.180,-15810.729,38,1.8,38,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-77.2
$GPS2,161720,2256.177,-15810.819,16,0.9,16,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.073,0.241
$KALMAN_X,-281085.5,-82.2,637.1,254318.6,-4790.3
$KALMAN_Y,-1842.0,718.0,79.3,99071.2,-4551.4
$MHEAD_RNG_PITCHd_Wd,6.8,112431,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.77,-136.3,0.0,0.0,0,105,0.00,0.00,-83.00,0.000,2,0.000,0.000,41,2455,3268
$GC,110,-0.77,-136.3,3.8,-7.0,11,127,8.35,2.25,-0.22,0.000,4,0.204,0.046,2219,3903,3282
$GC,219,-0.77,-136.3,43.3,-24.5,25,223,0.00,2.08,0.00,0.000,6,0.000,0.024,2228,2506,3284
$GC,489,-0.77,-136.3,102.5,-19.9,50,493,0.00,2.17,0.00,0.000,4,0.000,0.044,2219,3888,3284
$GC,519,-0.77,-136.3,108.8,-20.2,52,528,0.00,2.08,0.00,0.000,6,0.000,0.022,2227,2493,3285
$GC,784,-0.77,-136.3,158.8,-19.3,77,788,0.00,2.20,0.00,0.000,4,0.000,0.045,2218,3893,3286
$GC,821,-0.77,-136.3,166.4,-20.5,80,825,0.00,2.05,0.00,0.000,6,0.000,0.021,2219,2495,3285
$GC,1098,-0.77,-136.3,215.0,-17.4,100,1101,0.00,2.03,0.00,0.000,4,0.000,0.025,2224,1093,3286
$GC,1212,-0.77,-136.3,233.3,-15.2,102,1215,0.00,2.12,0.00,0.000,6,0.000,0.037,2214,2494,3286
$GC,1481,-0.77,-136.3,273.1,-14.6,109,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2495,3286
$GC,1724,-0.77,-136.3,305.4,-12.6,115,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2495,3286
$GC,1970,-0.77,-136.3,335.4,-12.7,121,1974,0.00,2.17,0.00,0.000,4,0.000,0.048,2204,3903,3286
$GC,2124,-0.77,-136.3,358.1,-14.4,124,2128,0.12,2.05,0.00,0.000,6,0.146,0.023,2239,2493,3286
$GC,2399,-0.77,-136.3,392.0,-12.3,131,2403,0.00,2.03,0.00,0.000,4,0.000,0.026,2249,1090,3284
$GC,2430,-0.77,-136.3,396.1,-13.0,131,2434,0.00,2.15,0.00,0.000,6,0.000,0.039,2240,2510,3284
$GC,2693,-0.77,-136.3,424.8,-10.8,138,2697,0.00,2.15,0.00,0.000,4,0.000,0.050,2230,3903,3282
$GC,2734,-0.77,-136.3,429.4,-11.2,138,2740,0.00,2.08,0.00,0.000,6,0.000,0.023,2230,2485,3282
$GC,2987,-0.77,-136.3,457.2,-11.0,145,2990,0.00,2.03,0.00,0.000,4,0.000,0.028,2229,1092,3280
$GC,3036,-0.77,-136.3,462.0,-10.1,146,3040,0.00,2.15,0.00,0.000,6,0.000,0.040,2219,2500,3279
$GC,3330,-0.77,-136.3,491.0,-9.5,153,3334,0.00,2.20,-0.08,0.000,4,0.000,0.063,2208,3897,3303
$GC,3428,-0.77,-136.3,501.0,-10.8,155,3433,0.12,2.05,0.00,0.000,6,0.135,0.025,2242,2492,3302
$GC,3703,-0.77,-136.3,522.4,-7.7,162,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2486,3300
$GC,3946,-0.77,-136.3,541.0,-7.5,168,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2486,3298
$GC,4192,-0.77,-136.3,560.3,-7.9,174,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2486,3296
$GC,4435,-0.77,-136.3,580.8,-8.5,180,4439,0.00,2.25,0.00,0.000,4,0.000,0.053,2233,3898,3294
$GC,4498,-0.77,-136.3,587.0,-9.5,181,4502,0.00,2.05,0.00,0.000,6,0.000,0.027,2233,2504,3294
$GC,4768,-0.77,-136.3,611.0,-8.8,188,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2497,3293
$GC,5012,-0.77,-136.3,631.3,-8.3,194,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2497,3291
$GC,5256,-0.77,-136.3,652.2,-8.6,200,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2497,3289
$GC,5500,-0.77,-136.3,673.6,-8.9,206,5504,0.00,2.25,0.00,0.000,4,0.000,0.054,2223,3900,3288
$GC,5570,-0.77,-136.3,680.7,-10.0,207,5573,0.00,2.08,0.00,0.000,6,0.000,0.028,2223,2498,3288
$GC,5835,-0.77,-136.3,705.7,-9.5,214,5838,0.00,2.08,0.00,0.000,4,0.000,0.031,2222,1092,3286
$GC,5921,-0.77,-136.3,714.3,-9.2,215,5928,0.00,2.22,0.00,0.000,6,0.000,0.044,2213,2501,3285
$GC,6173,-0.77,-136.3,740.6,-10.5,222,6177,0.00,2.22,0.00,0.000,4,0.000,0.056,2202,3901,3284
$GC,6214,-0.77,-136.3,745.4,-11.8,222,6221,0.12,2.10,0.00,0.000,6,0.135,0.028,2239,2494,3284
$GC,6468,-0.77,-136.3,767.5,-8.5,229,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2487,3283
$GC,6710,-0.77,-136.3,785.7,-7.3,235,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2487,3282
$GC,6955,-0.77,-136.3,802.4,-6.6,241,6959,0.00,2.28,0.00,0.000,4,0.000,0.057,2229,3897,3281
$GC,6990,-0.77,-136.3,804.9,-7.7,241,6996,0.00,2.08,0.00,0.000,6,0.000,0.029,2229,2500,3280
$GC,7244,-0.77,-136.3,822.5,-7.1,248,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2493,3279
$GC,7488,-0.77,-136.3,838.2,-6.4,254,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2493,3279
$GC,7730,-0.77,-136.3,853.3,-6.3,260,7734,0.00,2.28,0.00,0.000,4,0.000,0.058,2218,3901,3278
$GC,7788,-0.77,-136.3,857.7,-8.5,261,7792,0.00,2.10,0.00,0.000,6,0.000,0.030,2218,2502,3278
$GC,8064,-0.77,-136.3,878.0,-7.5,268,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2495,3277
$GC,8308,-0.77,-136.3,897.0,-7.8,274,8312,0.00,2.28,0.00,0.000,4,0.000,0.058,2208,3897,3276
$STATE,8332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8332,begin apogee
$GC,8346,-0.27,0.0,900.0,10.1,274,8471,0.60,0.00,121.88,1.322,6,0.125,0.000,2403,2469,2730
$STATE,8471,end apogee,CONTROL_FINISHED_OK
$STATE,8471,begin climb
$GC,8477,0.77,136.3,902.3,0.0,277,8693,0.90,0.00,151.93,1.113,6,0.041,0.000,2752,2469,2174
$GC,8930,0.77,136.3,802.0,27.5,289,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2469,2165
$GC,9174,0.77,136.3,734.6,27.4,295,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2469,2163
$GC,9418,0.77,136.3,670.0,26.4,301,9422,0.00,2.12,0.00,0.000,4,0.000,0.032,2762,1070,2162
$GC,9471,0.77,136.3,655.7,26.3,302,9475,0.00,2.22,0.00,0.000,6,0.000,0.042,2763,2488,2161
$GC,9751,0.77,136.3,581.5,26.8,309,9755,0.00,2.12,0.00,0.000,4,0.000,0.031,2773,1070,2160
$GC,9769,0.77,136.3,575.9,27.3,309,9773,0.00,2.20,0.00,0.000,6,0.000,0.040,2767,2486,2160
$GC,10040,0.77,136.3,503.7,27.0,316,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2486,2159
$GC,10281,0.77,136.3,439.6,25.3,322,10285,0.00,2.12,0.00,0.000,4,0.000,0.032,2775,1074,2159
$GC,10300,0.77,136.3,434.6,25.8,322,10304,0.00,2.17,0.00,0.000,6,0.000,0.040,2767,2484,2158
$GC,10576,0.77,136.3,364.2,25.7,329,10577,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2484,2158
$GC,10819,0.77,136.3,310.1,21.4,335,10823,0.00,2.12,0.00,0.000,4,0.000,0.031,2776,1067,2157
$GC,10838,0.77,136.3,306.0,20.2,335,10842,0.00,2.17,0.00,0.000,6,0.000,0.039,2769,2481,2157
$GC,11107,0.77,136.3,258.5,16.4,342,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2481,2157
$GC,11350,0.77,136.3,214.9,18.0,348,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2481,2157
$GC,11603,0.77,136.3,171.5,18.2,363,11607,0.00,2.10,0.00,0.000,4,0.000,0.031,2776,1075,2157
$GC,11796,0.77,136.3,136.6,15.0,380,11800,0.00,2.15,0.00,0.000,6,0.000,0.038,2768,2481,2156
$GC,12061,0.85,194.5,107.3,7.1,404,12114,0.00,2.17,46.85,0.748,4,0.000,0.029,2776,1073,1936
$GC,12230,0.85,194.5,89.4,12.0,418,12234,0.00,2.17,0.00,0.000,6,0.000,0.035,2768,2482,1931
$GC,12497,0.85,194.5,51.8,15.6,442,12501,0.00,2.20,0.00,0.000,4,0.000,0.045,2767,3898,1929
$GC,12534,0.85,194.5,44.9,18.9,445,12538,0.00,2.10,0.00,0.000,6,0.000,0.024,2775,2480,1929
$STATE,12777,end climb,SURFACE_DEPTH_REACHED
$STATE,12777,begin surface coast
$FINISH,0.2,1.023116
$STATE,12795,end surface coast,CONTROL_FINISHED_OK
$STATE,12795,begin surface
$SM_CCo,12820,99.47,0.636,0,0,1058,410.13
$SM_GC,0.98,0.00,0.00,99.47,0.000,0.000,0.636,38,2470,1058,-7.66,-0.88,410.13
$IRIDIUM_FIX,2246.36,-15811.92,021200,121214
$TT8_MAMPS,0.02301
$HUMID,2097
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,23.00
$XPDR_PINGS,21
$24V_AH,23.7,39.767
$10V_AH,10.7,31.465
$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,17.425,98.625,320.650,99.475,0.000,30.616,35.697,223.488,5.250,0.000,0.000,16.896,1002.488,9446.399,572.571,1572.871,799.320,33.366,1239.656,0.000,1568.647,0.000,0.542,0.000
$DEVICE_MAMPS,204.022,62.894,1321.541,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,328.704,636.353,657.262,123.467,552.636,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38334,485
$CAP_FILE_SIZE,92196,0
$CFSIZE,260165632,203673600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,12,0
$GPS,080911,195457,2257.313,-15810.446,10,4.0,29,10.1