version: 66.04
glider: 512
mission: 2
dive: 395
start: 9 12 111 4 45 8
data:
$ID,512
$MISSION,2
$DIVE,395
$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,-40957.707
$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,49
$R_STBD_OVSHOOT,33
$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
$GPS1,042924,2310.862,-15802.368,40,1.5,40,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-79.5
$GPS2,044414,2310.895,-15802.576,14,1.7,14,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,-0.039
$KALMAN_X,-325278.1,864.1,69.1,312277.6,-4514.5
$KALMAN_Y,-36471.6,730.4,236.9,160778.9,-3827.8
$MHEAD_RNG_PITCHd_Wd,88.9,100207,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,25,-0.77,-136.3,0.0,0.0,0,110,0.00,0.00,-83.03,0.000,2,0.000,0.000,37,2474,3269
$GC,116,-0.77,-136.3,3.8,-6.8,11,132,8.25,0.00,-0.30,0.000,6,0.193,0.000,2259,2474,3287
$GC,402,-0.77,-136.3,78.7,-19.0,41,406,0.00,2.20,0.00,0.000,4,0.000,0.044,2250,3885,3289
$GC,420,-0.77,-136.3,82.3,-18.7,42,424,0.00,2.05,0.00,0.000,6,0.000,0.021,2250,2485,3289
$GC,692,-0.77,-136.3,129.0,-17.0,67,695,0.00,2.03,0.00,0.000,4,0.000,0.025,2251,1083,3289
$GC,743,-0.77,-136.3,137.0,-14.3,71,747,0.00,2.15,0.00,0.000,6,0.000,0.037,2242,2493,3289
$GC,1014,-0.77,-136.3,186.7,-18.5,96,1017,0.00,2.17,0.00,0.000,4,0.000,0.045,2231,3906,3290
$GC,1029,-0.77,-136.3,189.4,-17.5,97,1033,0.00,2.05,0.00,0.000,6,0.000,0.021,2230,2489,3290
$GC,1300,-0.77,-136.3,237.2,-17.5,108,1303,0.00,2.00,0.00,0.000,4,0.000,0.025,2234,1095,3291
$GC,1318,-0.77,-136.3,240.5,-16.2,108,1323,0.12,2.12,0.00,0.000,6,0.133,0.036,2259,2501,3291
$GC,1588,-0.77,-136.3,272.3,-10.7,115,1591,0.00,2.15,0.00,0.000,4,0.000,0.046,2250,3894,3291
$GC,1606,-0.77,-136.3,274.7,-11.0,115,1610,0.00,2.00,0.00,0.000,6,0.000,0.021,2250,2494,3290
$GC,1881,-0.77,-136.3,305.9,-11.4,122,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2487,3290
$GC,2126,-0.77,-136.3,335.0,-12.0,128,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2487,3290
$GC,2369,-0.77,-136.3,363.7,-11.7,134,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2487,3288
$GC,2612,-0.77,-136.3,390.8,-11.0,140,2616,0.00,2.00,0.00,0.000,4,0.000,0.025,2250,1104,3286
$GC,2648,-0.77,-136.3,394.8,-10.2,140,2651,0.00,2.12,0.00,0.000,6,0.000,0.038,2239,2502,3286
$GC,2907,-0.77,-136.3,420.5,-9.7,147,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2503,3285
$GC,3152,-0.77,-136.3,442.5,-9.0,153,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2503,3282
$GC,3393,-0.77,-136.3,466.2,-9.8,159,3397,0.00,2.17,0.00,0.000,4,0.000,0.049,2228,3904,3281
$GC,3487,-0.77,-136.3,475.9,-10.2,161,3492,0.12,2.03,0.00,0.000,6,0.133,0.025,2264,2503,3279
$GC,3779,-0.77,-136.3,497.5,-7.1,168,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2496,3278
$GC,4022,-0.77,-136.3,515.6,-7.7,174,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2496,3276
$GC,4266,-0.77,-136.3,534.7,-7.8,180,4269,0.00,2.22,0.00,0.000,4,0.000,0.051,2255,3901,3274
$GC,4307,-0.77,-136.3,537.9,-8.0,180,4314,0.00,2.08,0.00,0.000,6,0.000,0.025,2254,2495,3274
$GC,4561,-0.77,-136.3,557.3,-7.7,187,4564,0.00,2.22,0.00,0.000,4,0.000,0.051,2244,3896,3272
$GC,4591,-0.77,-136.3,560.0,-8.8,187,4595,0.00,2.05,0.00,0.000,6,0.000,0.025,2243,2507,3271
$GC,4855,-0.77,-136.3,581.9,-8.5,194,4858,0.00,2.05,0.00,0.000,4,0.000,0.028,2246,1103,3270
$GC,4879,-0.77,-136.3,584.2,-8.8,194,4883,0.00,2.17,0.00,0.000,6,0.000,0.042,2238,2508,3270
$GC,5150,-0.77,-136.3,608.1,-8.9,201,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2509,3268
$GC,5392,-0.77,-136.3,629.9,-8.9,207,5396,0.00,2.08,0.00,0.000,4,0.000,0.028,2239,1097,3266
$GC,5444,-0.77,-136.3,634.5,-8.5,208,5449,0.00,2.17,0.00,0.000,6,0.000,0.043,2236,2501,3266
$GC,5732,-0.77,-136.3,657.7,-8.0,215,5735,0.00,2.20,0.00,0.000,4,0.000,0.054,2225,3897,3265
$GC,5897,-0.77,-136.3,672.3,-8.4,218,5901,0.12,2.08,0.00,0.000,6,0.136,0.027,2260,2499,3264
$GC,6154,-0.77,-136.3,688.1,-5.9,225,6158,0.00,2.25,0.00,0.000,4,0.000,0.054,2250,3899,3263
$GC,6180,-0.77,-136.3,689.9,-6.8,225,6184,0.00,2.08,0.00,0.000,6,0.000,0.027,2250,2495,3262
$GC,6449,-0.77,-136.3,706.2,-6.0,232,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2488,3261
$GC,6693,-0.77,-136.3,721.1,-6.0,238,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2488,3260
$GC,6938,-0.77,-136.3,737.1,-6.6,244,6942,0.00,2.28,0.00,0.000,4,0.000,0.054,2239,3901,3258
$GC,6981,-0.77,-136.3,740.3,-7.7,245,6985,0.00,2.08,0.00,0.000,6,0.000,0.028,2239,2500,3258
$GC,7275,-0.77,-136.3,765.1,-8.6,252,7278,0.00,2.08,0.00,0.000,4,0.000,0.031,2242,1097,3257
$GC,7299,-0.77,-136.3,767.6,-9.1,252,7303,0.00,2.20,0.00,0.000,6,0.000,0.045,2236,2507,3258
$GC,7571,-0.77,-136.3,791.8,-9.1,259,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2507,3256
$GC,7812,-0.77,-136.3,812.5,-8.5,265,7816,0.00,2.22,0.00,0.000,4,0.000,0.057,2225,3899,3255
$GC,7867,-0.77,-136.3,817.4,-9.5,266,7871,0.12,2.10,0.00,0.000,6,0.133,0.028,2260,2499,3254
$GC,8148,-0.77,-136.3,835.3,-6.1,273,8151,0.00,2.08,0.00,0.000,4,0.000,0.031,2260,1097,3253
$GC,8178,-0.77,-136.3,837.5,-6.7,273,8182,0.00,2.20,0.00,0.000,6,0.000,0.046,2252,2501,3253
$GC,8436,-0.77,-136.3,853.2,-5.9,280,8440,0.00,2.22,0.00,0.000,4,0.000,0.058,2241,3897,3252
$GC,8478,-0.77,-136.3,855.6,-6.3,280,8485,0.00,2.12,0.00,0.000,6,0.000,0.029,2241,2497,3252
$GC,8733,-0.77,-136.3,871.0,-6.0,287,8737,0.00,2.08,0.00,0.000,4,0.000,0.032,2244,1105,3252
$GC,8752,-0.77,-136.3,872.5,-6.1,287,8756,0.00,2.20,0.00,0.000,6,0.000,0.046,2237,2503,3252
$GC,9021,-0.77,-136.3,889.8,-6.5,294,9025,0.00,2.25,0.00,0.000,4,0.000,0.058,2225,3905,3251
$GC,9114,-0.77,-136.3,896.8,-7.3,296,9119,0.12,2.12,0.00,0.000,6,0.134,0.030,2260,2497,3251
$STATE,9186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9186,begin apogee
$GC,9197,-0.27,0.0,901.5,5.4,298,9317,0.50,0.00,117.47,1.316,6,0.104,0.000,2427,2489,2730
$STATE,9318,end apogee,CONTROL_FINISHED_OK
$STATE,9318,begin climb
$GC,9323,0.77,136.3,903.7,0.0,301,9557,0.88,2.42,153.02,1.088,4,0.039,0.048,2755,3895,2173
$GC,9688,0.77,136.3,821.0,32.3,309,9692,0.00,2.20,0.00,0.000,6,0.000,0.028,2763,2491,2169
$GC,9953,0.77,136.3,743.8,29.1,316,9956,0.00,2.17,0.00,0.000,4,0.000,0.031,2774,1061,2165
$GC,10001,0.77,136.3,730.2,27.9,317,10006,0.00,2.25,0.00,0.000,6,0.000,0.040,2767,2491,2163
$GC,10289,0.77,136.3,652.5,26.8,324,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2492,2163
$GC,10531,0.77,136.3,590.3,25.5,330,10535,0.00,2.15,0.00,0.000,4,0.000,0.031,2776,1064,2162
$GC,10581,0.77,136.3,578.1,25.7,331,10585,0.00,2.20,0.00,0.000,6,0.000,0.041,2776,2485,2161
$GC,10872,0.77,136.3,502.3,25.4,338,10876,0.00,2.22,0.00,0.000,4,0.000,0.048,2767,3903,2161
$GC,10885,0.77,136.3,498.8,24.7,338,10889,0.00,2.15,0.00,0.000,6,0.000,0.027,2776,2470,2160
$GC,11166,0.77,136.3,430.6,24.1,345,11170,0.00,2.25,0.00,0.000,4,0.000,0.048,2767,3893,2160
$GC,11196,0.77,136.3,422.6,27.0,345,11200,0.00,2.12,0.00,0.000,6,0.000,0.027,2776,2479,2160
$GC,11462,0.77,136.3,360.2,22.8,352,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2473,2159
$GC,11704,0.77,136.3,310.1,20.2,358,11705,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2473,2159
$GC,11947,0.77,136.3,263.3,18.5,364,11948,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2473,2159
$GC,12192,0.77,136.3,214.6,20.2,370,12196,0.00,2.22,0.00,0.000,4,0.000,0.048,2767,3896,2159
$GC,12250,0.77,136.3,201.7,20.7,371,12253,0.00,2.12,0.00,0.000,6,0.000,0.027,2776,2474,2158
$GC,12522,0.77,136.3,149.6,17.5,394,12526,0.00,2.22,0.00,0.000,4,0.000,0.046,2768,3891,2158
$GC,12586,0.77,136.3,138.7,16.2,399,12593,0.00,2.12,0.00,0.000,6,0.000,0.026,2776,2489,2158
$GC,12850,0.77,136.3,100.7,17.4,424,12854,0.00,2.10,0.00,0.000,4,0.000,0.027,2787,1059,2158
$GC,12880,0.77,136.3,96.2,13.4,426,12888,0.00,2.20,0.00,0.000,6,0.000,0.036,2780,2482,2158
$GC,13146,0.77,136.3,61.9,11.1,451,13154,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2482,2158
$GC,13413,0.82,171.0,38.9,8.3,476,13452,0.00,2.25,28.15,0.640,4,0.000,0.044,2780,3899,2031
$GC,13551,0.82,171.0,22.4,13.9,492,13560,0.00,2.15,0.00,0.000,6,0.000,0.022,2788,2467,2030
$STATE,13676,end climb,SURFACE_DEPTH_REACHED
$STATE,13676,begin surface coast
$FINISH,0.6,1.023237
$STATE,13700,end surface coast,CONTROL_FINISHED_OK
$STATE,13700,begin surface
$SM_CCo,13725,107.55,0.617,0,0,1057,410.13
$SM_GC,1.17,0.00,0.00,107.55,0.000,0.000,0.617,36,2516,1057,-7.73,0.45,410.13
$IRIDIUM_FIX,2300.41,-15804.08,061200,040407
$TT8_MAMPS,0.023777
$HUMID,2073
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,23.70
$XPDR_PINGS,16
$24V_AH,22.7,42.767
$10V_AH,10.7,33.711
$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,17.425,124.725,298.650,107.550,0.000,110.301,208.364,195.419,4.000,0.000,0.000,14.829,1101.025,10217.105,526.353,1782.158,1095.248,33.374,1335.573,0.000,1770.902,0.000,0.545,0.000
$DEVICE_MAMPS,192.517,94.341,1316.172,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,351.260,681.375,702.107,137.391,622.226,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41523,518
$CAP_FILE_SIZE,107527,0
$CFSIZE,260165632,202444800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,13,0
$GPS,120911,083706,2310.962,-15801.194,35,1.1,35,10.1