version: 66.04
glider: 512
mission: 2
dive: 377
start: 9 9 111 4 1 7
data:
$ID,512
$MISSION,2
$DIVE,377
$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,-40665.438
$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,2500
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,36
$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
$GPS1,035237,2258.395,-15808.858,33,0.9,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-79.5
$GPS2,040013,2258.448,-15808.862,11,0.9,16,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,0.197
$KALMAN_X,-284891.2,1035.9,265.5,260737.4,-4811.4
$KALMAN_Y,-6079.9,439.4,492.1,107354.3,-3591.4
$MHEAD_RNG_PITCHd_Wd,28.5,108909,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.77,-136.3,0.0,0.0,0,108,0.00,0.00,-83.03,0.000,6,0.000,0.000,40,2494,3287
$GC,114,-0.77,-136.3,4.1,-7.6,11,131,8.40,2.17,0.00,0.000,4,0.202,0.034,2239,3903,3289
$GC,234,-0.77,-136.3,45.7,-20.1,25,237,0.00,2.10,0.00,0.000,6,0.000,0.024,2247,2488,3290
$GC,504,-0.77,-136.3,97.6,-17.4,50,507,0.00,2.05,0.00,0.000,4,0.000,0.026,2247,1084,3291
$GC,573,-0.77,-136.3,108.9,-15.3,56,577,0.00,2.15,0.00,0.000,6,0.000,0.038,2239,2490,3291
$GC,846,-0.77,-136.3,154.7,-17.2,81,849,0.00,2.17,0.00,0.000,4,0.000,0.046,2228,3896,3292
$GC,909,-0.77,-136.3,166.2,-15.7,86,917,0.08,2.08,0.00,0.000,6,0.143,0.021,2252,2484,3292
$GC,1194,-0.77,-136.3,205.6,-13.3,110,1198,0.00,2.22,0.00,0.000,4,0.000,0.046,2243,3903,3293
$GC,1231,-0.77,-136.3,210.8,-12.8,110,1235,0.00,2.05,0.00,0.000,6,0.000,0.021,2243,2495,3293
$GC,1489,-0.77,-136.3,243.6,-12.2,117,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2488,3293
$GC,1734,-0.77,-136.3,273.2,-12.1,123,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2488,3293
$GC,1977,-0.77,-136.3,300.0,-11.1,129,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2488,3292
$GC,2220,-0.77,-136.3,328.3,-11.6,135,2224,0.00,2.03,0.00,0.000,4,0.000,0.025,2243,1090,3292
$GC,2272,-0.77,-136.3,334.3,-11.1,136,2276,0.00,2.15,0.00,0.000,6,0.000,0.038,2235,2506,3292
$GC,2558,-0.77,-136.3,366.0,-11.2,143,2562,0.00,2.17,0.00,0.000,4,0.000,0.048,2224,3910,3290
$GC,2607,-0.77,-136.3,371.4,-11.0,144,2611,0.12,2.08,0.00,0.000,6,0.135,0.023,2258,2488,3290
$GC,2895,-0.77,-136.3,398.5,-9.4,151,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2481,3289
$GC,3136,-0.77,-136.3,420.2,-8.8,157,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2481,3287
$GC,3380,-0.77,-136.3,440.9,-8.3,163,3384,0.00,2.25,0.00,0.000,4,0.000,0.050,2250,3908,3286
$GC,3439,-0.77,-136.3,446.2,-9.3,164,3442,0.00,2.08,0.00,0.000,6,0.000,0.025,2249,2498,3285
$GC,3715,-0.77,-136.3,472.7,-9.7,171,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2490,3283
$GC,3957,-0.77,-136.3,494.9,-8.9,177,3961,0.00,2.22,0.00,0.000,4,0.000,0.051,2238,3898,3281
$GC,4000,-0.77,-136.3,498.9,-9.7,177,4006,0.00,2.08,0.00,0.000,6,0.000,0.025,2238,2492,3281
$GC,4252,-0.77,-136.3,522.2,-9.2,184,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2486,3279
$GC,4496,-0.77,-136.3,545.3,-9.6,190,4500,0.00,2.05,0.00,0.000,4,0.000,0.028,2238,1089,3278
$GC,4532,-0.77,-136.3,548.9,-9.8,190,4536,0.00,2.17,0.00,0.000,6,0.000,0.042,2236,2499,3278
$GC,4787,-0.77,-136.3,573.4,-9.8,196,4790,0.00,2.20,0.00,0.000,4,0.000,0.052,2225,3898,3275
$GC,4845,-0.77,-136.3,579.9,-10.5,197,4849,0.12,2.08,0.00,0.000,6,0.130,0.026,2260,2490,3275
$GC,5119,-0.77,-136.3,600.7,-7.3,204,5123,0.00,2.25,0.00,0.000,4,0.000,0.053,2251,3906,3273
$GC,5168,-0.77,-136.3,604.3,-7.6,205,5172,0.00,2.08,0.00,0.000,6,0.000,0.028,2251,2497,3273
$GC,5460,-0.77,-136.3,627.0,-7.6,212,5463,0.00,2.05,0.00,0.000,4,0.000,0.030,2251,1100,3271
$GC,5495,-0.77,-136.3,629.9,-7.7,212,5500,0.00,2.17,0.00,0.000,6,0.000,0.043,2241,2503,3271
$GC,5748,-0.77,-136.3,651.0,-8.4,218,5751,0.00,2.22,0.00,0.000,4,0.000,0.054,2229,3910,3269
$GC,5842,-0.77,-136.3,659.9,-9.9,220,5847,0.12,2.10,0.00,0.000,6,0.131,0.028,2265,2497,3268
$GC,6135,-0.77,-136.3,681.3,-7.2,227,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2491,3267
$GC,6377,-0.77,-136.3,697.6,-6.6,233,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2491,3266
$GC,6622,-0.77,-136.3,713.2,-6.4,239,6626,0.00,2.25,0.00,0.000,4,0.000,0.056,2256,3900,3265
$GC,6657,-0.77,-136.3,715.8,-8.2,239,6661,0.00,2.10,0.00,0.000,6,0.000,0.028,2256,2498,3265
$GC,6917,-0.77,-136.3,734.4,-7.3,246,6921,0.00,2.05,0.00,0.000,4,0.000,0.031,2256,1095,3264
$GC,6982,-0.77,-136.3,739.4,-7.3,247,6986,0.00,2.20,0.00,0.000,6,0.000,0.045,2250,2502,3263
$GC,7251,-0.77,-136.3,760.2,-7.9,254,7255,0.00,2.22,0.00,0.000,4,0.000,0.056,2239,3900,3262
$GC,7349,-0.77,-136.3,769.0,-9.4,256,7352,0.00,2.10,0.00,0.000,6,0.000,0.029,2239,2499,3261
$GC,7636,-0.77,-136.3,793.7,-8.7,263,7640,0.00,2.28,0.00,0.000,4,0.000,0.057,2228,3900,3260
$GC,7694,-0.77,-136.3,799.2,-9.2,264,7698,0.12,2.10,0.00,0.000,6,0.132,0.029,2264,2497,3260
$GC,7969,-0.77,-136.3,818.2,-6.6,271,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2491,3259
$GC,8212,-0.77,-136.3,833.5,-6.3,277,8216,0.00,2.08,0.00,0.000,4,0.000,0.031,2265,1096,3258
$GC,8249,-0.77,-136.3,835.9,-6.8,277,8253,0.00,2.20,0.00,0.000,6,0.000,0.047,2263,2505,3258
$GC,8507,-0.77,-136.3,851.6,-6.1,284,8511,0.00,2.22,0.00,0.000,4,0.000,0.058,2252,3900,3257
$GC,8559,-0.77,-136.3,855.4,-7.2,285,8563,0.00,2.10,0.00,0.000,6,0.000,0.029,2252,2500,3257
$GC,8846,-0.77,-136.3,874.4,-6.7,292,8850,0.00,2.08,0.00,0.000,4,0.000,0.032,2252,1101,3257
$GC,8882,-0.77,-136.3,876.8,-6.1,292,8886,0.00,2.20,0.00,0.000,6,0.000,0.048,2250,2501,3257
$GC,9135,-0.77,-136.3,892.9,-6.3,298,9139,0.00,2.25,0.00,0.000,4,0.000,0.058,2239,3903,3256
$GC,9198,-0.77,-136.3,897.2,-6.6,299,9202,0.00,2.12,0.00,0.000,6,0.000,0.030,2239,2494,3256
$STATE,9260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9260,begin apogee
$GC,9272,-0.27,0.0,901.4,6.6,301,9393,0.57,0.00,117.50,1.323,6,0.112,0.000,2425,2486,2730
$STATE,9394,end apogee,CONTROL_FINISHED_OK
$STATE,9394,begin climb
$GC,9399,0.77,136.3,902.4,0.0,304,9554,0.90,2.45,132.12,1.206,4,0.041,0.048,2766,3902,2175
$GC,9568,0.77,136.3,873.5,29.4,308,9572,0.00,2.28,0.00,0.000,6,0.000,0.028,2776,2496,2172
$GC,9854,0.77,136.3,783.9,30.8,315,9858,0.00,2.22,0.00,0.000,4,0.000,0.032,2787,1055,2165
$GC,9873,0.77,136.3,777.6,31.1,315,9877,0.00,2.30,0.00,0.000,6,0.000,0.041,2780,2492,2164
$GC,10142,0.77,136.3,699.3,29.3,322,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2492,2162
$GC,10385,0.77,136.3,631.4,27.3,328,10389,0.00,2.25,0.00,0.000,4,0.000,0.050,2779,3903,2161
$GC,10410,0.77,136.3,624.1,28.7,328,10414,0.00,2.17,0.00,0.000,6,0.000,0.029,2788,2463,2160
$GC,10667,0.77,136.3,551.9,27.5,335,10671,0.00,2.28,0.00,0.000,4,0.000,0.049,2780,3898,2160
$GC,10704,0.77,136.3,541.4,28.8,335,10707,0.00,2.15,0.00,0.000,6,0.000,0.028,2789,2477,2159
$GC,10961,0.77,136.3,474.1,25.6,342,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2471,2159
$GC,11205,0.77,136.3,413.7,24.7,348,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2472,2158
$GC,11450,0.77,136.3,354.4,24.3,354,11455,0.00,2.25,0.00,0.000,4,0.000,0.049,2781,3896,2158
$GC,11480,0.77,136.3,346.6,25.6,354,11484,0.00,2.15,0.00,0.000,6,0.000,0.028,2789,2460,2157
$GC,11742,0.77,136.3,291.3,20.8,361,11743,0.12,0.00,0.00,0.000,6,0.223,0.000,2764,2453,2157
$GC,11982,0.77,136.3,240.7,20.7,367,11986,0.00,2.05,0.00,0.000,4,0.000,0.032,2773,1080,2156
$GC,12119,0.77,136.3,210.8,22.1,370,12124,0.00,2.17,0.00,0.000,6,0.000,0.039,2767,2489,2156
$GC,12385,0.77,136.3,165.9,15.8,389,12389,0.00,2.10,0.00,0.000,4,0.000,0.029,2776,1077,2156
$GC,12422,0.77,136.3,160.2,14.0,392,12426,0.00,2.17,0.00,0.000,6,0.000,0.038,2768,2493,2156
$GC,12687,0.77,136.3,123.4,12.8,416,12691,0.00,2.17,0.00,0.000,4,0.000,0.048,2767,3887,2156
$GC,12714,0.77,136.3,119.5,13.9,418,12718,0.00,2.08,0.00,0.000,6,0.000,0.025,2776,2482,2156
$GC,12986,0.77,136.3,80.2,12.8,443,12990,0.00,2.08,0.00,0.000,4,0.000,0.028,2786,1072,2156
$GC,13227,0.81,168.7,49.6,8.4,464,13265,0.00,2.17,27.45,0.636,6,0.000,0.036,2781,2481,2042
$GC,13531,0.81,168.7,10.6,13.2,503,13539,0.00,2.10,0.00,0.000,4,0.000,0.028,2789,1081,2039
$STATE,13587,end climb,SURFACE_DEPTH_REACHED
$STATE,13588,begin surface coast
$FINISH,0.2,0.999081
$STATE,13610,end surface coast,CONTROL_FINISHED_OK
$STATE,13610,begin surface
$SM_CCo,13637,120.32,0.631,0,0,1057,410.13
$SM_GC,1.12,0.00,0.00,120.32,0.000,0.000,0.631,39,2497,1057,-7.72,-0.08,410.13
$IRIDIUM_FIX,2248.70,-15813.22,031200,000048
$TT8_MAMPS,0.023777
$HUMID,2043
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,23.10
$XPDR_PINGS,17
$24V_AH,23.4,40.175
$10V_AH,10.7,31.782
$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,17.775,133.825,277.075,120.325,0.000,24.773,40.258,196.274,4.250,0.000,0.000,16.974,1115.417,9963.281,482.733,1818.263,834.264,33.368,1278.209,0.000,1803.291,0.000,0.543,0.000
$DEVICE_MAMPS,223.197,58.292,1323.075,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,351.114,690.367,712.449,134.170,608.387,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41515,517
$CAP_FILE_SIZE,107133,0
$CFSIZE,260165632,203493376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,3,0
$GPS,090911,075200,2259.108,-15807.842,45,0.9,45,10.1