version: 66.04
glider: 512
mission: 2
dive: 379
start: 9 9 111 12 9 0
data:
$ID,512
$MISSION,2
$DIVE,379
$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,-40695.719
$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,42
$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
$GPS1,115207,2259.181,-15807.299,34,1.2,34,10.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-82.2
$GPS2,120801,2259.101,-15807.427,12,1.5,12,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.134,0.213
$KALMAN_X,-286288.8,-279.0,125.5,266048.9,-2544.9
$KALMAN_Y,-10998.2,291.4,-197.5,114350.3,-3837.0
$MHEAD_RNG_PITCHd_Wd,22.1,106437,-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,-136.3,0.0,0.0,0,104,0.00,0.00,-83.00,0.000,6,0.000,0.000,39,2484,3287
$GC,110,-0.77,-136.3,4.1,-7.6,11,127,8.30,2.17,0.00,0.000,4,0.197,0.032,2240,3902,3288
$GC,229,-0.77,-136.3,45.8,-22.7,26,232,0.00,2.10,0.00,0.000,6,0.000,0.023,2242,2483,3289
$GC,501,-0.77,-136.3,100.7,-17.4,51,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2477,3289
$GC,765,-0.77,-136.3,146.5,-16.9,76,769,0.00,2.20,0.00,0.000,4,0.000,0.044,2233,3890,3290
$GC,782,-0.77,-136.3,149.1,-17.2,77,786,0.00,2.03,0.00,0.000,6,0.000,0.021,2233,2488,3290
$GC,1053,-0.77,-136.3,193.4,-15.2,102,1056,0.00,2.00,0.00,0.000,4,0.000,0.025,2233,1100,3291
$GC,1128,-0.77,-136.3,204.1,-13.7,106,1132,0.12,2.12,0.00,0.000,6,0.133,0.036,2257,2500,3291
$GC,1385,-0.77,-136.3,234.6,-11.8,113,1389,0.00,2.15,0.00,0.000,4,0.000,0.046,2248,3897,3291
$GC,1485,-0.77,-136.3,247.1,-12.9,115,1489,0.00,2.03,0.00,0.000,6,0.000,0.020,2248,2486,3291
$GC,1771,-0.77,-136.3,283.6,-12.4,122,1775,0.00,2.20,0.00,0.000,4,0.000,0.047,2237,3900,3290
$GC,1806,-0.77,-136.3,287.8,-11.9,122,1810,0.00,2.05,0.00,0.000,6,0.000,0.021,2237,2488,3290
$GC,2065,-0.77,-136.3,316.9,-11.1,129,2068,0.00,2.00,0.00,0.000,4,0.000,0.025,2240,1100,3289
$GC,2159,-0.77,-136.3,326.9,-10.0,131,2162,0.00,2.12,0.00,0.000,6,0.000,0.037,2231,2506,3288
$GC,2452,-0.77,-136.3,360.0,-11.8,138,2455,0.00,2.15,0.00,0.000,4,0.000,0.048,2220,3897,3287
$GC,2572,-0.77,-136.3,375.6,-12.6,140,2577,0.15,2.05,0.00,0.000,6,0.131,0.023,2263,2491,3286
$GC,2830,-0.77,-136.3,402.4,-10.3,147,2833,0.00,2.00,0.00,0.000,4,0.000,0.025,2264,1103,3284
$GC,2871,-0.77,-136.3,407.1,-10.7,147,2877,0.00,2.12,0.00,0.000,6,0.000,0.038,2255,2498,3283
$GC,3124,-0.77,-136.3,434.9,-11.0,154,3128,0.00,2.20,0.00,0.000,4,0.000,0.051,2245,3910,3282
$GC,3148,-0.77,-136.3,437.8,-10.9,154,3152,0.00,2.08,0.00,0.000,6,0.000,0.024,2245,2494,3281
$GC,3419,-0.77,-136.3,467.8,-11.2,161,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2487,3280
$GC,3662,-0.77,-136.3,491.1,-9.1,167,3665,0.00,2.03,0.00,0.000,4,0.000,0.027,2247,1100,3278
$GC,3704,-0.77,-136.3,494.7,-8.0,167,3711,0.00,2.15,-0.08,0.000,6,0.000,0.040,2238,2501,3303
$GC,3959,-0.77,-136.3,516.4,-8.8,174,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2501,3301
$GC,4201,-0.77,-136.3,538.8,-9.3,180,4204,0.00,2.20,0.00,0.000,4,0.000,0.052,2227,3906,3299
$GC,4255,-0.77,-136.3,544.2,-9.6,181,4259,0.12,2.08,0.00,0.000,6,0.129,0.026,2265,2500,3298
$GC,4536,-0.77,-136.3,565.9,-7.5,188,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2493,3297
$GC,4780,-0.77,-136.3,584.4,-7.7,194,4784,0.00,2.25,0.00,0.000,4,0.000,0.052,2256,3907,3295
$GC,4844,-0.77,-136.3,590.4,-8.4,195,4848,0.00,2.10,0.00,0.000,6,0.000,0.027,2256,2495,3294
$GC,5117,-0.77,-136.3,615.7,-9.8,202,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2488,3293
$GC,5357,-0.77,-136.3,638.4,-9.2,208,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2488,3291
$GC,5601,-0.77,-136.3,660.0,-8.6,214,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2488,3290
$GC,5845,-0.77,-136.3,680.8,-8.5,220,5849,0.00,2.28,0.00,0.000,4,0.000,0.054,2246,3904,3288
$GC,5926,-0.77,-136.3,687.9,-8.4,221,5930,0.00,2.10,0.00,0.000,6,0.000,0.028,2246,2494,3288
$GC,6184,-0.77,-136.3,708.0,-7.6,228,6187,0.00,2.08,0.00,0.000,4,0.000,0.031,2248,1087,3287
$GC,6232,-0.77,-136.3,711.4,-7.1,229,6236,0.00,2.20,0.00,0.000,6,0.000,0.044,2239,2500,3286
$GC,6521,-0.77,-136.3,732.6,-7.3,236,6524,0.00,2.22,0.00,0.000,4,0.000,0.056,2228,3900,3284
$GC,6646,-0.77,-136.3,742.1,-7.1,238,6651,0.12,2.10,0.00,0.000,6,0.129,0.028,2264,2498,3284
$GC,6899,-0.77,-136.3,754.1,-4.6,244,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2491,3283
$GC,7144,-0.77,-136.3,765.9,-4.8,250,7148,0.00,2.25,0.00,0.000,4,0.000,0.056,2255,3896,3282
$GC,7179,-0.77,-136.3,768.0,-6.2,250,7183,0.00,2.10,0.00,0.000,6,0.000,0.028,2255,2497,3281
$GC,7438,-0.77,-136.3,783.0,-5.9,257,7441,0.00,2.05,0.00,0.000,4,0.000,0.031,2254,1099,3281
$GC,7468,-0.77,-136.3,784.9,-6.6,257,7472,0.00,2.20,0.00,0.000,6,0.000,0.046,2250,2503,3281
$GC,7726,-0.77,-136.3,802.0,-6.8,264,7730,0.00,2.22,0.00,0.000,4,0.000,0.058,2239,3899,3279
$GC,7768,-0.77,-136.3,805.2,-8.2,264,7774,0.00,2.10,0.00,0.000,6,0.000,0.029,2239,2500,3279
$GC,8021,-0.77,-136.3,824.1,-7.6,271,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2494,3279
$GC,8264,-0.77,-136.3,842.0,-7.3,277,8268,0.00,2.28,0.00,0.000,4,0.000,0.058,2235,3898,3278
$GC,8300,-0.77,-136.3,844.8,-7.6,277,8306,0.00,2.10,0.00,0.000,6,0.000,0.029,2235,2495,3278
$GC,8553,-0.77,-136.3,863.8,-7.4,284,8557,0.00,2.08,0.00,0.000,4,0.000,0.032,2235,1097,3277
$GC,8617,-0.77,-136.3,868.5,-8.1,285,8622,0.12,2.20,0.00,0.000,6,0.135,0.047,2258,2502,3278
$GC,8888,-0.77,-136.3,884.7,-5.9,292,8892,0.00,2.25,0.00,0.000,4,0.000,0.058,2250,3903,3276
$GC,8931,-0.77,-136.3,887.6,-7.3,293,8934,0.00,2.12,0.00,0.000,6,0.000,0.030,2250,2491,3276
$STATE,9136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9136,begin apogee
$GC,9147,-0.27,0.0,900.4,6.0,298,9272,0.55,0.00,121.90,1.319,6,0.124,0.000,2427,2482,2730
$STATE,9273,end apogee,CONTROL_FINISHED_OK
$STATE,9273,begin climb
$GC,9279,0.77,136.3,902.1,0.0,301,9455,0.90,2.47,136.55,1.170,4,0.039,0.048,2767,3893,2173
$GC,9586,0.77,136.3,830.0,33.2,308,9590,0.00,2.20,0.00,0.000,6,0.000,0.028,2777,2495,2167
$GC,9867,0.77,136.3,742.3,31.0,315,9871,0.00,2.28,0.00,0.000,4,0.000,0.047,2768,3909,2163
$GC,9880,0.77,136.3,738.1,30.5,315,9884,0.00,2.20,0.00,0.000,6,0.000,0.028,2777,2471,2162
$GC,10149,0.77,136.3,660.8,28.1,322,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2466,2161
$GC,10394,0.77,136.3,598.0,25.4,328,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2466,2160
$GC,10637,0.77,136.3,539.6,23.7,334,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2467,2159
$GC,10880,0.77,136.3,481.7,23.6,340,10883,0.00,2.10,0.00,0.000,4,0.000,0.032,2787,1070,2159
$GC,10932,0.77,136.3,470.2,21.9,341,10936,0.00,2.20,0.00,0.000,6,0.000,0.041,2780,2492,2158
$GC,11218,0.77,136.3,406.1,22.8,348,11222,0.00,2.15,0.00,0.000,4,0.000,0.031,2788,1064,2157
$GC,11249,0.77,136.3,398.8,22.8,348,11253,0.00,2.20,0.00,0.000,6,0.000,0.041,2780,2480,2157
$GC,11507,0.77,136.3,341.3,22.5,355,11511,0.00,2.22,0.00,0.000,4,0.000,0.051,2779,3898,2156
$GC,11581,0.77,136.3,323.5,22.8,356,11584,0.00,2.12,0.00,0.000,6,0.000,0.028,2788,2480,2156
$GC,11845,0.77,136.3,265.5,22.2,363,11849,0.00,2.25,0.00,0.000,4,0.000,0.050,2780,3895,2156
$GC,11920,0.77,136.3,248.7,20.8,364,11924,0.00,2.12,0.00,0.000,6,0.000,0.028,2788,2482,2156
$GC,12185,0.77,136.3,197.9,18.9,371,12189,0.00,2.10,0.00,0.000,4,0.000,0.031,2798,1067,2155
$GC,12201,0.77,136.3,195.4,17.9,372,12205,0.12,2.17,0.00,0.000,6,0.205,0.039,2765,2480,2155
$GC,12472,0.77,136.3,155.1,14.5,396,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2481,2155
$GC,12738,0.77,136.3,111.6,17.9,421,12742,0.00,2.10,0.00,0.000,4,0.000,0.029,2774,1065,2155
$GC,12813,0.77,136.3,99.7,14.6,427,12820,0.00,2.20,0.00,0.000,6,0.000,0.038,2767,2481,2155
$GC,13080,0.77,136.3,66.7,11.0,452,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2481,2155
$GC,13347,0.89,227.0,47.0,5.5,477,13426,0.00,0.00,72.35,0.675,6,0.000,0.000,2766,2481,1802
$STATE,13623,end climb,SURFACE_DEPTH_REACHED
$STATE,13623,begin surface coast
$FINISH,0.3,1.023135
$STATE,13635,end surface coast,CONTROL_FINISHED_OK
$STATE,13635,begin surface
$SM_CCo,13660,80.85,0.621,0,0,1057,410.13
$SM_GC,1.07,0.00,0.00,80.85,0.000,0.000,0.621,36,2481,1057,-7.73,-0.54,410.13
$IRIDIUM_FIX,2251.04,-15808.00,031200,121245
$TT8_MAMPS,0.023777
$HUMID,2083
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,23.40
$XPDR_PINGS,15
$24V_AH,22.9,40.462
$10V_AH,10.7,31.997
$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,17.750,124.600,330.800,80.850,0.000,80.970,111.026,438.361,3.750,0.000,0.000,12.262,1099.513,10063.280,498.623,1810.667,1227.940,33.395,1314.384,0.000,1812.652,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,58.292,1319.240,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,350.605,687.991,712.473,135.781,608.264,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41367,518
$CAP_FILE_SIZE,111472,0
$CFSIZE,260165632,203370496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,5,0
$GPS,090911,155931,2259.856,-15807.062,40,1.9,40,10.1