version: 66.04
glider: 512
mission: 2
dive: 396
start: 9 12 111 8 46 16
data:
$ID,512
$MISSION,2
$DIVE,396
$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,-40980.133
$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,53
$R_STBD_OVSHOOT,39
$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
$GPS1,083706,2310.962,-15801.194,35,1.1,35,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-78.4
$GPS2,084519,2310.998,-15801.252,12,1.1,17,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,-0.041
$KALMAN_X,-327797.7,926.1,450.0,316624.8,-5866.6
$KALMAN_Y,-35928.7,745.3,822.4,159811.4,-3543.3
$MHEAD_RNG_PITCHd_Wd,89.2,98036,-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,-82.88,0.000,6,0.000,0.000,36,2517,3287
$GC,111,-0.77,-136.3,4.1,-7.7,11,127,8.35,2.12,0.00,0.000,4,0.197,0.021,2261,1085,3289
$GC,164,-0.77,-136.3,30.0,-35.2,19,168,0.00,2.17,0.00,0.000,6,0.000,0.040,2253,2483,3289
$GC,434,-0.77,-136.3,94.5,-20.1,44,438,0.00,2.22,0.00,0.000,4,0.000,0.046,2241,3907,3290
$GC,531,-0.77,-136.3,113.9,-17.2,52,539,0.00,2.10,0.00,0.000,6,0.000,0.021,2244,2490,3290
$GC,796,-0.77,-136.3,157.9,-16.1,77,799,0.00,2.00,0.00,0.000,4,0.000,0.024,2247,1101,3291
$GC,848,-0.77,-136.3,166.6,-14.9,81,856,0.00,2.17,0.00,0.000,6,0.000,0.039,2238,2502,3292
$GC,1140,-0.77,-136.3,213.4,-16.1,103,1144,0.00,2.05,0.00,0.000,4,0.000,0.024,2238,1089,3292
$GC,1181,-0.77,-136.3,220.0,-15.3,103,1187,0.00,2.17,0.00,0.000,6,0.000,0.038,2236,2510,3292
$GC,1433,-0.77,-136.3,255.8,-14.2,110,1437,0.00,2.15,0.00,0.000,4,0.000,0.046,2225,3906,3292
$GC,1554,-0.77,-136.3,270.0,-10.9,112,1559,0.12,2.08,0.00,0.000,6,0.137,0.021,2260,2478,3292
$GC,1817,-0.77,-136.3,291.7,-7.8,119,1821,0.00,2.00,0.00,0.000,4,0.000,0.025,2260,1081,3292
$GC,1836,-0.77,-136.3,293.6,-8.3,119,1840,0.00,2.17,0.00,0.000,6,0.000,0.036,2251,2510,3292
$GC,2112,-0.77,-136.3,322.1,-10.8,126,2116,0.00,2.15,0.00,0.000,4,0.000,0.048,2240,3899,3291
$GC,2153,-0.77,-136.3,327.2,-12.0,126,2159,0.00,2.05,0.00,0.000,6,0.000,0.021,2239,2492,3291
$GC,2406,-0.77,-136.3,358.0,-12.4,133,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2485,3290
$GC,2649,-0.77,-136.3,385.9,-11.4,139,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2485,3288
$GC,2893,-0.77,-136.3,413.3,-11.3,145,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2485,3287
$GC,3139,-0.77,-136.3,441.2,-11.6,151,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2485,3285
$GC,3380,-0.77,-136.3,469.4,-11.4,157,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2485,3283
$GC,3626,-0.77,-136.3,495.8,-10.7,163,3629,0.00,2.25,0.00,0.000,4,0.000,0.049,2229,3908,3281
$GC,3644,-0.77,-136.3,498.0,-10.5,163,3649,0.12,2.08,0.00,0.000,6,0.128,0.025,2265,2494,3282
$GC,3914,-0.77,-136.3,518.7,-7.4,170,3918,0.00,2.03,0.00,0.000,4,0.000,0.028,2265,1097,3280
$GC,3956,-0.77,-136.3,522.1,-7.8,170,3963,0.00,2.17,0.00,0.000,6,0.000,0.041,2263,2490,3280
$GC,4208,-0.77,-136.3,540.4,-7.4,177,4212,0.00,2.22,0.00,0.000,4,0.000,0.052,2252,3904,3277
$GC,4266,-0.77,-136.3,545.4,-8.8,178,4271,0.00,2.05,0.00,0.000,6,0.000,0.025,2252,2499,3277
$GC,4548,-0.77,-136.3,569.9,-8.8,185,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2492,3275
$GC,4792,-0.77,-136.3,591.0,-8.7,191,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2492,3273
$GC,5035,-0.77,-136.3,611.9,-8.5,197,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2492,3270
$GC,5280,-0.77,-136.3,633.2,-8.7,203,5284,0.00,2.05,0.00,0.000,4,0.000,0.029,2252,1102,3270
$GC,5334,-0.77,-136.3,638.1,-8.8,204,5338,0.00,2.17,0.00,0.000,6,0.000,0.044,2250,2499,3270
$GC,5617,-0.77,-136.3,661.7,-8.4,211,5620,0.00,2.22,0.00,0.000,4,0.000,0.054,2238,3906,3267
$GC,5703,-0.77,-136.3,669.7,-8.7,212,5709,0.00,2.10,0.00,0.000,6,0.000,0.028,2239,2498,3267
$GC,5957,-0.77,-136.3,691.1,-8.5,219,5961,0.00,2.05,0.00,0.000,4,0.000,0.030,2238,1095,3266
$GC,5981,-0.77,-136.3,693.4,-8.6,219,5985,0.00,2.20,0.00,0.000,6,0.000,0.044,2237,2504,3266
$GC,6246,-0.77,-136.3,714.7,-8.1,226,6250,0.00,2.22,0.00,0.000,4,0.000,0.054,2225,3907,3265
$GC,6300,-0.77,-136.3,719.6,-9.8,227,6304,0.12,2.10,0.00,0.000,6,0.128,0.028,2261,2496,3264
$GC,6586,-0.77,-136.3,738.8,-6.7,234,6590,0.00,2.28,0.00,0.000,4,0.000,0.055,2252,3902,3263
$GC,6612,-0.77,-136.3,740.6,-7.3,234,6615,0.00,2.10,0.00,0.000,6,0.000,0.028,2252,2495,3262
$GC,6877,-0.77,-136.3,759.6,-7.1,241,6881,0.00,2.28,0.00,0.000,4,0.000,0.055,2241,3899,3261
$GC,6913,-0.77,-136.3,762.4,-8.5,241,6919,0.00,2.10,0.00,0.000,6,0.000,0.027,2241,2492,3261
$GC,7166,-0.77,-136.3,782.9,-8.2,248,7170,0.00,2.05,0.00,0.000,4,0.000,0.031,2243,1103,3260
$GC,7196,-0.77,-136.3,785.6,-8.6,248,7200,0.00,2.20,0.00,0.000,6,0.000,0.045,2236,2510,3260
$GC,7460,-0.77,-136.3,808.5,-8.8,255,7464,0.00,2.20,0.00,0.000,4,0.000,0.056,2226,3899,3258
$GC,7518,-0.77,-136.3,814.5,-10.3,256,7523,0.12,2.10,0.00,0.000,6,0.132,0.028,2260,2496,3258
$GC,7793,-0.77,-136.3,836.2,-7.8,263,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2490,3257
$GC,8037,-0.77,-136.3,854.8,-7.7,269,8041,0.00,2.30,0.00,0.000,4,0.000,0.057,2251,3905,3257
$GC,8062,-0.77,-136.3,856.8,-8.3,269,8066,0.00,2.10,0.00,0.000,6,0.000,0.029,2251,2489,3256
$GC,8327,-0.77,-136.3,878.3,-8.1,276,8331,0.00,2.30,0.00,0.000,4,0.000,0.058,2240,3899,3256
$GC,8359,-0.77,-136.3,881.0,-9.0,276,8362,0.00,2.10,0.00,0.000,6,0.000,0.028,2240,2500,3255
$STATE,8613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8613,begin apogee
$GC,8625,-0.27,0.0,902.6,8.1,283,8746,0.55,0.00,117.47,1.314,6,0.110,0.000,2419,2491,2730
$STATE,8747,end apogee,CONTROL_FINISHED_OK
$STATE,8747,begin climb
$GC,8752,0.77,136.3,905.9,0.0,286,8929,0.93,2.45,137.27,1.180,4,0.038,0.048,2767,3897,2173
$GC,9027,0.77,136.3,848.0,34.1,292,9031,0.00,2.22,0.00,0.000,6,0.000,0.027,2776,2484,2168
$GC,9303,0.77,136.3,762.1,31.2,299,9307,0.00,2.17,0.00,0.000,4,0.000,0.031,2787,1059,2163
$GC,9327,0.77,136.3,753.8,30.9,299,9331,0.00,2.25,0.00,0.000,6,0.000,0.040,2781,2494,2162
$GC,9598,0.77,136.3,672.6,30.5,306,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2493,2161
$GC,9839,0.77,136.3,602.8,28.7,312,9843,0.00,2.17,0.00,0.000,4,0.000,0.031,2789,1057,2160
$GC,9863,0.77,136.3,595.4,30.1,312,9867,0.00,2.22,0.00,0.000,6,0.000,0.039,2789,2482,2159
$GC,10126,0.77,136.3,520.3,28.7,319,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2482,2158
$GC,10370,0.77,136.3,455.0,26.3,325,10374,0.00,2.15,0.00,0.000,4,0.000,0.031,2798,1056,2158
$GC,10406,0.77,136.3,445.6,26.8,325,10411,0.15,2.20,0.00,0.000,6,0.207,0.040,2762,2481,2158
$GC,10663,0.77,136.3,387.9,22.4,332,10667,0.00,2.22,0.00,0.000,4,0.000,0.048,2755,3892,2157
$GC,10705,0.77,136.3,377.9,24.7,332,10711,0.00,2.12,0.00,0.000,6,0.000,0.028,2763,2475,2157
$GC,10959,0.77,136.3,324.1,21.4,339,10964,0.00,2.25,0.00,0.000,4,0.000,0.048,2764,3895,2156
$GC,11040,0.77,136.3,305.7,21.5,340,11047,0.00,2.15,0.00,0.000,6,0.000,0.027,2773,2480,2156
$GC,11292,0.77,136.3,253.7,20.0,347,11296,0.00,2.10,0.00,0.000,4,0.000,0.031,2783,1063,2156
$GC,11340,0.77,136.3,244.3,18.5,348,11344,0.00,2.17,0.00,0.000,6,0.000,0.039,2780,2481,2155
$GC,11604,0.77,136.3,192.2,20.1,355,11608,0.00,2.10,0.00,0.000,4,0.000,0.031,2789,1068,2155
$GC,11644,0.77,136.3,184.5,19.8,358,11648,0.00,2.17,0.00,0.000,6,0.000,0.039,2781,2482,2155
$GC,11908,0.77,136.3,139.4,14.0,382,11916,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2482,2155
$GC,12175,0.77,136.3,100.9,14.8,407,12179,0.00,2.20,0.00,0.000,4,0.000,0.046,2779,3893,2155
$GC,12192,0.77,136.3,98.2,14.7,408,12196,0.00,2.10,0.00,0.000,6,0.000,0.025,2789,2469,2155
$GC,12464,0.77,136.3,60.6,11.1,433,12468,0.12,2.05,0.00,0.000,4,0.221,0.025,2772,1066,2155
$GC,12476,0.77,136.3,59.1,10.2,433,12484,0.00,2.17,0.00,0.000,6,0.000,0.035,2767,2480,2155
$GC,12742,0.88,223.0,41.2,5.7,458,12819,0.00,2.25,68.60,0.661,4,0.000,0.044,2767,3876,1821
$GC,12889,0.88,223.0,22.2,19.0,474,12897,0.00,2.12,0.00,0.000,6,0.000,0.022,2776,2485,1818
$STATE,12988,end climb,SURFACE_DEPTH_REACHED
$STATE,12988,begin surface coast
$FINISH,0.3,1.017890
$STATE,13006,end surface coast,CONTROL_FINISHED_OK
$STATE,13006,begin surface
$SM_CCo,13031,82.93,0.617,0,0,1058,410.13
$SM_GC,1.09,0.00,0.00,82.93,0.000,0.000,0.617,38,2474,1058,-7.73,-0.76,410.13
$IRIDIUM_FIX,2300.41,-15806.26,061200,040435
$TT8_MAMPS,0.023777
$HUMID,2083
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,23.60
$XPDR_PINGS,13
$24V_AH,23.4,42.901
$10V_AH,10.7,33.811
$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,17.750,133.700,323.350,82.925,0.000,30.272,37.736,232.537,3.250,0.000,0.000,21.792,1043.107,9522.631,498.781,1684.795,861.025,33.365,1278.038,0.000,1671.119,0.000,0.543,0.000
$DEVICE_MAMPS,220.896,57.525,1313.871,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,334.529,656.492,677.650,129.573,590.423,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41675,495
$CAP_FILE_SIZE,103157,0
$CFSIZE,260165632,202391552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,5,0
$GPS,120911,122624,2310.336,-15800.344,44,0.9,44,10.1