version: 66.04
glider: 512
mission: 2
dive: 380
start: 9 9 111 16 21 56
data:
$ID,512
$MISSION,2
$DIVE,380
$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,-40707.492
$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,31
$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
$GPS1,155931,2259.856,-15807.062,40,1.9,40,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-76.2
$GPS2,162102,2259.909,-15807.283,11,1.8,11,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,0.011
$KALMAN_X,-288217.0,-176.6,-178.8,268434.6,-1728.5
$KALMAN_Y,-13533.7,-164.2,547.3,118084.0,-4660.9
$MHEAD_RNG_PITCHd_Wd,77.3,106179,-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,-83.00,0.000,2,0.000,0.000,36,2483,3286
$GC,114,-0.77,-136.3,4.0,-7.2,11,131,8.30,2.17,0.00,0.000,4,0.197,0.031,2241,3909,3287
$GC,174,-0.77,-136.3,30.5,-32.7,20,183,0.00,2.12,0.00,0.000,6,0.000,0.024,2242,2495,3288
$GC,440,-0.77,-136.3,91.9,-19.4,45,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2488,3288
$GC,705,-0.77,-136.3,137.2,-16.6,70,708,0.00,2.05,0.00,0.000,4,0.000,0.025,2242,1079,3289
$GC,744,-0.77,-136.3,143.1,-16.1,73,748,0.00,2.15,0.00,0.000,6,0.000,0.036,2234,2497,3289
$GC,1014,-0.77,-136.3,189.5,-17.1,98,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2497,3289
$GC,1279,-0.77,-136.3,232.6,-15.9,109,1282,0.00,2.05,0.00,0.000,4,0.000,0.024,2233,1079,3289
$GC,1337,-0.77,-136.3,241.4,-14.4,110,1342,0.12,2.15,0.00,0.000,6,0.130,0.036,2258,2499,3289
$GC,1612,-0.77,-136.3,275.4,-12.2,117,1615,0.00,2.17,0.00,0.000,4,0.000,0.047,2248,3907,3289
$GC,1731,-0.77,-136.3,289.8,-11.9,119,1735,0.00,2.08,0.00,0.000,6,0.000,0.021,2249,2481,3289
$GC,1997,-0.77,-136.3,320.1,-11.5,126,2000,0.00,1.98,0.00,0.000,4,0.000,0.025,2250,1101,3288
$GC,2021,-0.77,-136.3,323.2,-12.0,126,2025,0.00,2.12,0.00,0.000,6,0.000,0.038,2249,2503,3287
$GC,2290,-0.77,-136.3,351.9,-10.5,133,2294,0.00,2.15,0.00,0.000,4,0.000,0.046,2238,3900,3286
$GC,2320,-0.77,-136.3,355.1,-10.8,133,2324,0.00,2.05,0.00,0.000,6,0.000,0.022,2238,2494,3285
$GC,2584,-0.77,-136.3,382.1,-10.2,140,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2487,3284
$GC,2828,-0.77,-136.3,407.6,-10.4,146,2832,0.00,2.20,0.00,0.000,4,0.000,0.047,2228,3896,3283
$GC,2886,-0.77,-136.3,414.5,-11.5,147,2891,0.12,2.03,0.00,0.000,6,0.130,0.023,2263,2497,3282
$GC,3167,-0.77,-136.3,440.2,-9.1,154,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2490,3280
$GC,3410,-0.77,-136.3,460.8,-8.4,160,3414,0.00,2.03,0.00,0.000,4,0.000,0.027,2264,1096,3278
$GC,3434,-0.77,-136.3,463.0,-8.3,160,3438,0.00,2.15,0.00,0.000,6,0.000,0.041,2263,2500,3278
$GC,3703,-0.77,-136.3,485.5,-8.4,167,3708,0.00,2.20,-0.08,0.000,4,0.000,0.063,2252,3900,3300
$GC,3753,-0.77,-136.3,489.8,-9.1,168,3757,0.00,2.05,0.00,0.000,6,0.000,0.024,2252,2496,3300
$GC,4044,-0.77,-136.3,514.5,-8.3,175,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2489,3298
$GC,4289,-0.77,-136.3,534.0,-7.9,181,4293,0.00,2.03,0.00,0.000,4,0.000,0.028,2252,1103,3296
$GC,4332,-0.77,-136.3,537.7,-8.1,181,4338,0.00,2.15,0.00,0.000,6,0.000,0.042,2250,2499,3296
$GC,4585,-0.77,-136.3,559.6,-8.7,188,4588,0.00,2.20,0.00,0.000,4,0.000,0.052,2238,3901,3294
$GC,4665,-0.77,-136.3,567.4,-9.3,189,4669,0.00,2.08,0.00,0.000,6,0.000,0.025,2238,2497,3293
$GC,4925,-0.77,-136.3,591.4,-9.5,196,4929,0.00,2.05,0.00,0.000,4,0.000,0.029,2240,1092,3292
$GC,4955,-0.77,-136.3,594.4,-10.6,196,4959,0.00,2.17,0.00,0.000,6,0.000,0.042,2236,2500,3291
$GC,5214,-0.77,-136.3,620.0,-10.0,203,5217,0.00,2.20,0.00,0.000,4,0.000,0.053,2225,3900,3289
$GC,5333,-0.77,-136.3,633.6,-12.0,205,5338,0.12,2.08,0.00,0.000,6,0.127,0.027,2261,2495,3288
$GC,5597,-0.77,-136.3,657.0,-8.6,212,5601,0.00,2.25,0.00,0.000,4,0.000,0.054,2253,3895,3287
$GC,5628,-0.77,-136.3,659.8,-9.5,212,5632,0.00,2.08,0.00,0.000,6,0.000,0.026,2253,2488,3287
$GC,5886,-0.77,-136.3,682.3,-8.5,219,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2481,3285
$GC,6129,-0.77,-136.3,700.6,-7.3,225,6133,0.00,2.28,0.00,0.000,4,0.000,0.055,2241,3894,3283
$GC,6183,-0.77,-136.3,704.7,-7.7,226,6187,0.00,2.08,0.00,0.000,6,0.000,0.028,2241,2492,3283
$GC,6463,-0.77,-136.3,724.2,-6.8,233,6467,0.00,2.05,0.00,0.000,4,0.000,0.031,2244,1100,3282
$GC,6511,-0.77,-136.3,727.6,-7.0,234,6515,0.00,2.17,0.00,0.000,6,0.000,0.044,2237,2497,3282
$GC,6801,-0.77,-136.3,747.8,-7.1,241,6805,0.00,2.22,0.00,0.000,4,0.000,0.056,2225,3896,3280
$GC,6882,-0.77,-136.3,755.0,-8.3,242,6887,0.12,2.10,0.00,0.000,6,0.132,0.028,2261,2493,3280
$GC,7135,-0.77,-136.3,770.9,-6.2,248,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2487,3279
$GC,7381,-0.77,-136.3,787.0,-6.5,254,7385,0.00,2.28,0.00,0.000,4,0.000,0.056,2253,3895,3277
$GC,7423,-0.77,-136.3,790.0,-6.8,255,7427,0.00,2.10,0.00,0.000,6,0.000,0.028,2253,2498,3278
$GC,7717,-0.77,-136.3,809.5,-6.5,262,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2490,3276
$GC,7960,-0.77,-136.3,825.7,-6.7,268,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2491,3275
$GC,8203,-0.77,-136.3,842.0,-6.8,274,8206,0.00,2.08,0.00,0.000,4,0.000,0.031,2253,1096,3274
$GC,8251,-0.77,-136.3,845.4,-6.5,275,8255,0.00,2.20,0.00,0.000,6,0.000,0.047,2250,2499,3274
$GC,8537,-0.77,-136.3,865.1,-6.8,282,8541,0.00,2.25,0.00,0.000,4,0.000,0.058,2238,3905,3273
$GC,8580,-0.77,-136.3,868.2,-7.4,283,8584,0.00,2.12,0.00,0.000,6,0.000,0.030,2238,2493,3273
$GC,8872,-0.77,-136.3,888.8,-6.9,290,8876,0.00,2.08,0.00,0.000,4,0.000,0.032,2242,1094,3272
$GC,8913,-0.77,-136.3,891.7,-6.8,290,8920,0.00,2.25,0.00,0.000,6,0.000,0.046,2236,2506,3272
$STATE,9038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9038,begin apogee
$GC,9050,-0.27,0.0,900.3,6.7,294,9173,0.57,0.00,120.55,1.327,6,0.114,0.000,2422,2507,2730
$STATE,9174,end apogee,CONTROL_FINISHED_OK
$STATE,9174,begin climb
$GC,9179,0.77,136.3,901.7,0.0,297,9340,0.90,2.42,131.88,1.191,4,0.040,0.048,2767,3896,2173
$GC,9371,0.77,136.3,865.7,31.8,301,9375,0.00,2.25,0.00,0.000,6,0.000,0.028,2776,2484,2169
$GC,9641,0.77,136.3,780.2,31.6,308,9644,0.00,2.15,0.00,0.000,4,0.000,0.031,2786,1064,2164
$GC,9682,0.77,136.3,766.9,30.9,308,9689,0.00,2.25,0.00,0.000,6,0.000,0.040,2780,2488,2162
$GC,9934,0.77,136.3,691.5,29.8,315,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2489,2160
$GC,10180,0.77,136.3,623.3,27.3,321,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2488,2159
$GC,10421,0.77,136.3,560.5,25.9,327,10425,0.00,2.22,0.00,0.000,4,0.000,0.049,2779,3900,2159
$GC,10462,0.77,136.3,550.0,25.9,327,10468,0.00,2.15,0.00,0.000,6,0.000,0.028,2789,2470,2158
$GC,10714,0.77,136.3,486.1,25.4,334,10717,0.00,2.10,0.00,0.000,4,0.000,0.031,2799,1065,2158
$GC,10795,0.77,136.3,467.5,24.0,335,10800,0.12,2.20,0.00,0.000,6,0.212,0.041,2766,2490,2156
$GC,11052,0.77,136.3,406.0,24.5,342,11056,0.00,2.22,0.00,0.000,4,0.000,0.049,2766,3902,2156
$GC,11121,0.77,136.3,388.4,26.8,343,11125,0.00,2.15,0.00,0.000,6,0.000,0.028,2775,2471,2156
$GC,11391,0.77,136.3,327.3,22.2,350,11394,0.00,2.08,0.00,0.000,4,0.000,0.031,2786,1069,2155
$GC,11405,0.77,136.3,324.3,21.7,350,11408,0.00,2.17,0.00,0.000,6,0.000,0.039,2780,2479,2155
$GC,11685,0.77,136.3,260.5,22.8,357,11689,0.00,2.22,0.00,0.000,4,0.000,0.049,2780,3893,2155
$GC,11726,0.77,136.3,250.4,25.4,357,11732,0.00,2.12,0.00,0.000,6,0.000,0.027,2788,2471,2155
$GC,11978,0.77,136.3,200.1,19.2,364,11982,0.00,2.08,0.00,0.000,4,0.000,0.031,2799,1072,2154
$GC,12086,0.77,136.3,181.4,18.0,370,12094,0.10,2.17,0.00,0.000,6,0.197,0.038,2765,2475,2154
$GC,12358,0.77,136.3,138.5,16.0,395,12362,0.00,2.10,0.00,0.000,4,0.000,0.029,2774,1059,2155
$GC,12453,0.77,136.3,121.0,17.4,403,12457,0.00,2.17,0.00,0.000,6,0.000,0.038,2767,2480,2155
$GC,12719,0.77,136.3,80.2,13.0,427,12722,0.00,2.10,0.00,0.000,4,0.000,0.028,2776,1061,2154
$GC,12803,0.77,136.3,69.4,11.1,434,12812,0.00,2.20,0.00,0.000,6,0.000,0.037,2767,2482,2154
$GC,13069,0.84,187.6,44.2,7.5,459,13121,0.00,2.28,40.45,0.670,4,0.000,0.044,2766,3901,1963
$GC,13129,0.84,187.6,38.4,11.1,463,13137,0.00,2.15,0.00,0.000,6,0.000,0.023,2775,2473,1963
$STATE,13351,end climb,SURFACE_DEPTH_REACHED
$STATE,13351,begin surface coast
$FINISH,0.3,1.010600
$STATE,13369,end surface coast,CONTROL_FINISHED_OK
$STATE,13369,begin surface
$SM_CCo,13393,104.10,0.630,0,0,1057,410.13
$SM_GC,1.17,0.00,0.00,104.10,0.000,0.000,0.630,40,2466,1057,-7.72,-0.96,410.13
$IRIDIUM_FIX,2251.04,-15805.83,031200,161612
$TT8_MAMPS,0.023777
$HUMID,2074
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,23.10
$XPDR_PINGS,15
$24V_AH,22.9,40.627
$10V_AH,10.7,32.107
$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,17.675,137.400,292.875,104.100,0.000,122.739,147.181,626.008,3.750,0.000,0.000,11.146,1077.396,9943.989,498.254,1774.036,1494.879,33.366,1309.391,0.000,1763.994,0.000,0.544,0.000
$DEVICE_MAMPS,211.692,62.894,1326.910,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,339.903,658.570,678.914,131.029,587.404,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41423,502
$CAP_FILE_SIZE,118834,0
$CFSIZE,260165632,203304960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,3,0
$GPS,090911,200824,2259.885,-15806.309,40,1.5,40,10.1