version: 66.04
glider: 512
mission: 2
dive: 409
start: 9 14 111 14 25 25
data:
$ID,512
$MISSION,2
$DIVE,409
$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,-41211.691
$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,59
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3070
$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
$GPS1,141725,2314.446,-15758.127,41,1.8,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-80.3
$GPS2,142431,2314.410,-15758.201,11,1.2,11,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,0.229
$KALMAN_X,-370111.5,1219.2,237.9,364094.8,-6075.6
$KALMAN_Y,-51927.6,-130.0,562.2,183272.4,-2899.7
$MHEAD_RNG_PITCHd_Wd,14.2,94541,-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,-136.3,0.0,0.0,0,93,0.00,0.00,-67.88,0.000,2,0.000,0.000,38,2506,3197
$GC,99,-0.77,-136.3,3.7,-6.0,9,124,8.40,2.20,-7.35,0.000,4,0.199,0.050,2242,3906,3627
$GC,189,-0.77,-136.3,38.1,-21.5,20,193,0.00,2.08,0.00,0.000,6,0.000,0.023,2242,2504,3628
$GC,461,-0.77,-136.3,107.1,-22.1,45,464,0.00,2.08,0.00,0.000,4,0.000,0.027,2247,1092,3629
$GC,511,-0.77,-136.3,116.6,-15.7,49,515,0.00,2.17,0.00,0.000,6,0.000,0.039,2238,2500,3630
$GC,777,-0.77,-136.3,169.1,-19.6,73,781,0.00,2.17,0.00,0.000,4,0.000,0.047,2227,3899,3631
$GC,816,-0.77,-136.3,177.0,-20.8,76,820,0.12,2.05,0.00,0.000,6,0.126,0.021,2263,2482,3630
$GC,1102,-0.77,-136.3,212.9,-10.6,94,1106,0.00,2.00,0.00,0.000,4,0.000,0.025,2263,1096,3631
$GC,1132,-0.77,-136.3,216.2,-10.1,94,1136,0.00,2.15,0.00,0.000,6,0.000,0.039,2261,2511,3632
$GC,1397,-0.77,-136.3,243.8,-11.6,101,1400,0.00,2.15,0.00,0.000,4,0.000,0.048,2250,3897,3631
$GC,1472,-0.77,-136.3,252.5,-9.5,102,1475,0.00,2.03,0.00,0.000,6,0.000,0.021,2250,2486,3631
$GC,1735,-0.77,-136.3,288.7,-14.6,109,1739,0.00,1.98,0.00,0.000,4,0.000,0.024,2250,1110,3631
$GC,1776,-0.77,-136.3,294.6,-13.2,109,1782,0.00,2.12,0.00,0.000,6,0.000,0.039,2250,2502,3631
$GC,2029,-0.77,-136.3,325.9,-12.4,116,2033,0.00,2.17,0.00,0.000,4,0.000,0.048,2238,3903,3630
$GC,2093,-0.77,-136.3,333.4,-11.3,117,2097,0.00,2.03,0.00,0.000,6,0.000,0.022,2239,2501,3630
$GC,2370,-0.77,-136.3,366.1,-11.9,124,2374,0.00,2.03,0.00,0.000,4,0.000,0.025,2240,1101,3629
$GC,2423,-0.77,-136.3,372.3,-9.9,125,2426,0.00,2.15,0.00,0.000,6,0.000,0.038,2237,2507,3629
$GC,2710,-0.77,-136.3,404.9,-11.8,132,2714,0.00,2.17,0.00,0.000,4,0.000,0.050,2226,3896,3627
$GC,2792,-0.77,-136.3,414.3,-10.3,133,2796,0.12,2.03,0.00,0.000,6,0.112,0.022,2264,2496,3626
$GC,3044,-0.77,-136.3,436.4,-8.6,139,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2489,3624
$GC,3288,-0.77,-136.3,457.0,-8.4,145,3292,0.00,2.22,0.00,0.000,4,0.000,0.051,2255,3895,3623
$GC,3329,-0.77,-136.3,460.4,-7.9,145,3337,0.00,2.05,0.00,0.000,6,0.000,0.023,2255,2497,3622
$GC,3583,-0.77,-136.3,481.0,-8.2,152,3587,0.00,2.05,0.00,0.000,4,0.000,0.027,2255,1096,3620
$GC,3631,-0.77,-136.3,485.1,-8.3,153,3635,0.00,2.15,0.00,0.000,6,0.000,0.040,2250,2501,3620
$GC,3923,-0.77,-136.3,511.7,-9.3,160,3926,0.00,2.20,0.00,0.000,4,0.000,0.051,2239,3899,3618
$GC,3961,-0.77,-136.3,515.4,-10.3,160,3965,0.00,2.05,0.00,0.000,6,0.000,0.025,2239,2505,3617
$GC,4219,-0.77,-136.3,542.1,-10.3,167,4222,0.00,2.05,0.00,0.000,4,0.000,0.028,2239,1102,3615
$GC,4260,-0.77,-136.3,546.1,-9.2,167,4266,0.00,2.17,0.00,0.000,6,0.000,0.042,2237,2508,3615
$GC,4513,-0.77,-136.3,569.6,-9.2,174,4516,0.00,2.20,0.00,0.000,4,0.000,0.054,2227,3899,3613
$GC,4583,-0.77,-136.3,576.2,-9.0,175,4588,0.12,2.05,0.00,0.000,6,0.112,0.025,2265,2495,3613
$GC,4854,-0.77,-136.3,595.4,-7.0,182,4858,0.00,2.03,0.00,0.000,4,0.000,0.028,2265,1106,3610
$GC,4897,-0.77,-136.3,598.8,-7.5,182,4904,0.00,2.17,0.00,0.000,6,0.000,0.041,2263,2512,3611
$GC,5153,-0.77,-136.3,617.0,-7.1,189,5156,0.00,2.20,0.00,0.000,4,0.000,0.054,2252,3902,3608
$GC,5205,-0.77,-136.3,621.0,-7.4,190,5209,0.00,2.08,0.00,0.000,6,0.000,0.026,2252,2497,3608
$GC,5493,-0.77,-136.3,642.2,-7.3,197,5497,0.00,2.05,0.00,0.000,4,0.000,0.028,2252,1100,3607
$GC,5529,-0.77,-136.3,645.0,-6.9,197,5533,0.00,2.17,0.00,0.000,6,0.000,0.043,2250,2500,3607
$GC,5788,-0.77,-136.3,662.4,-6.9,204,5792,0.00,2.22,0.00,0.000,4,0.000,0.055,2239,3901,3605
$GC,5857,-0.77,-136.3,667.6,-7.5,205,5861,0.00,2.08,0.00,0.000,6,0.000,0.027,2239,2501,3604
$GC,6127,-0.77,-136.3,689.4,-8.3,212,6130,0.00,2.05,0.00,0.000,4,0.000,0.030,2239,1108,3603
$GC,6176,-0.77,-136.3,693.6,-8.6,213,6180,0.00,2.17,0.00,0.000,6,0.000,0.044,2237,2502,3603
$GC,6468,-0.77,-136.3,720.0,-9.2,220,6472,0.00,2.22,0.00,0.000,4,0.000,0.056,2226,3897,3600
$GC,6526,-0.77,-136.3,725.3,-8.5,221,6530,0.12,2.08,0.00,0.000,6,0.116,0.028,2263,2499,3600
$GC,6801,-0.77,-136.3,743.7,-6.4,228,6805,0.00,2.08,0.00,0.000,4,0.000,0.030,2263,1094,3599
$GC,6831,-0.77,-136.3,745.9,-6.8,228,6835,0.00,2.20,0.00,0.000,6,0.000,0.044,2263,2501,3599
$GC,7090,-0.77,-136.3,760.5,-5.5,235,7094,0.00,2.25,0.00,0.000,4,0.000,0.058,2253,3905,3598
$GC,7143,-0.77,-136.3,763.6,-5.7,236,7147,0.00,2.10,0.00,0.000,6,0.000,0.028,2253,2493,3597
$GC,7426,-0.77,-136.3,778.8,-5.4,243,7429,0.00,2.05,0.00,0.000,4,0.000,0.030,2253,1103,3596
$GC,7456,-0.77,-136.3,780.5,-6.1,243,7460,0.00,2.17,0.00,0.000,6,0.000,0.044,2250,2499,3596
$GC,7720,-0.77,-136.3,794.6,-5.4,250,7724,0.00,2.25,0.00,0.000,4,0.000,0.058,2239,3903,3595
$GC,7784,-0.77,-136.3,798.1,-5.2,251,7788,0.00,2.10,0.00,0.000,6,0.000,0.028,2239,2490,3595
$GC,8059,-0.77,-136.3,814.5,-6.1,258,8063,0.00,2.05,0.00,0.000,4,0.000,0.030,2239,1104,3594
$GC,8107,-0.77,-136.3,817.4,-6.6,259,8111,0.00,2.20,0.00,0.000,6,0.000,0.046,2237,2502,3594
$GC,8395,-0.77,-136.3,837.3,-7.3,266,8399,0.00,2.25,0.00,0.000,4,0.000,0.061,2236,3894,3593
$GC,8465,-0.77,-136.3,842.8,-7.2,267,8469,0.00,2.08,0.00,0.000,6,0.000,0.029,2236,2500,3593
$GC,8729,-0.77,-136.3,865.1,-8.8,274,8732,0.00,2.08,0.00,0.000,4,0.000,0.031,2236,1104,3592
$GC,8760,-0.77,-136.3,868.0,-9.5,274,8764,0.00,2.20,0.00,0.000,6,0.000,0.047,2236,2499,3592
$GC,9018,-0.77,-136.3,891.6,-9.3,281,9023,0.00,2.28,0.00,0.000,4,0.000,0.059,2226,3905,3591
$GC,9082,-0.77,-136.3,897.7,-9.7,282,9087,0.12,2.10,0.00,0.000,6,0.116,0.030,2264,2497,3590
$STATE,9143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9143,begin apogee
$GC,9155,-0.27,0.0,902.5,7.2,284,9271,0.47,0.00,113.35,1.320,6,0.093,0.000,2429,2490,3070
$STATE,9272,end apogee,CONTROL_FINISHED_OK
$STATE,9272,begin climb
$GC,9277,0.77,136.3,909.3,0.0,287,9420,0.88,2.30,130.57,1.225,4,0.040,0.029,2777,1084,2513
$GC,9685,0.77,136.3,872.3,19.1,296,9689,0.00,2.25,0.00,0.000,6,0.000,0.041,2777,2496,2502
$GC,9967,0.77,136.3,817.4,19.0,303,9970,0.00,2.15,0.00,0.000,4,0.000,0.030,2787,1082,2500
$GC,10048,0.77,136.3,802.2,18.3,304,10052,0.00,2.20,0.00,0.000,6,0.000,0.040,2781,2483,2500
$GC,10300,0.77,136.3,752.7,19.9,310,10304,0.00,2.12,0.00,0.000,4,0.000,0.031,2789,1072,2498
$GC,10335,0.77,136.3,745.5,19.6,310,10339,0.00,2.20,0.00,0.000,6,0.000,0.041,2780,2479,2499
$GC,10589,0.77,136.3,701.2,17.1,316,10593,0.00,2.25,0.00,0.000,4,0.000,0.050,2780,3899,2497
$GC,10602,0.77,136.3,698.4,17.2,316,10606,0.00,2.12,0.00,0.000,6,0.000,0.027,2789,2484,2496
$GC,10879,0.77,136.3,654.3,15.5,323,10882,0.00,2.10,0.00,0.000,4,0.000,0.031,2799,1074,2496
$GC,10892,0.77,136.3,652.0,15.1,323,10896,0.15,2.20,0.00,0.000,6,0.214,0.040,2762,2485,2496
$GC,11166,0.77,136.3,615.1,13.1,330,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2485,2495
$GC,11411,0.77,136.3,584.1,12.7,336,11415,0.00,2.22,0.00,0.000,4,0.000,0.048,2755,3897,2495
$GC,11459,0.77,136.3,577.5,14.3,337,11463,0.00,2.12,0.00,0.000,6,0.000,0.027,2763,2470,2494
$GC,11752,0.77,136.3,540.5,12.8,344,11756,0.00,2.28,0.00,0.000,4,0.000,0.048,2764,3892,2494
$GC,11891,0.77,136.3,520.3,14.6,347,11895,0.00,2.10,0.00,0.000,6,0.000,0.027,2774,2475,2493
$GC,12183,0.77,136.3,484.8,11.4,354,12187,0.00,2.08,0.00,0.000,4,0.000,0.031,2784,1080,2493
$GC,12445,0.80,160.2,459.3,8.8,359,12470,0.00,2.17,18.75,1.002,6,0.000,0.040,2781,2484,2416
$GC,12745,0.80,160.2,420.7,13.9,367,12749,0.00,2.12,0.00,0.000,4,0.000,0.030,2789,1072,2412
$GC,12764,0.80,160.2,418.1,13.5,367,12768,0.00,2.20,0.00,0.000,6,0.000,0.040,2789,2479,2412
$GC,13033,0.80,160.2,383.5,12.6,374,13037,0.00,2.22,0.00,0.000,4,0.000,0.048,2780,3890,2412
$GC,13047,0.80,160.2,381.5,13.0,374,13051,0.00,2.12,0.00,0.000,6,0.000,0.027,2789,2474,2411
$GC,13322,0.80,160.2,349.0,11.7,381,13326,0.00,2.10,0.00,0.000,4,0.000,0.031,2799,1064,2411
$GC,13568,0.80,160.2,320.7,10.6,386,13572,0.00,2.20,0.00,0.000,6,0.000,0.039,2793,2483,2411
$GC,13837,0.82,177.2,293.6,9.2,393,13856,0.00,0.00,15.57,0.861,6,0.000,0.000,2793,2483,2347
$GC,14127,0.82,177.2,261.4,11.8,400,14131,0.00,2.12,0.00,0.000,4,0.000,0.029,2802,1066,2344
$GC,14266,0.82,177.2,245.6,10.8,403,14270,0.00,2.20,0.00,0.000,6,0.000,0.038,2793,2486,2344
$GC,14552,0.82,177.2,212.0,12.5,410,14555,0.00,2.20,0.00,0.000,4,0.000,0.047,2793,3887,2344
$GC,14702,0.84,187.0,193.9,9.5,417,14716,0.00,2.10,9.93,0.730,6,0.000,0.025,2802,2461,2306
$GC,14977,0.89,229.1,172.9,7.9,442,15019,0.00,0.00,36.88,0.776,6,0.000,0.000,2802,2460,2135
$GC,15282,0.89,229.1,120.9,19.0,470,15289,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2460,2130
$GC,15547,0.89,229.1,79.7,13.7,495,15551,0.00,2.28,0.00,0.000,4,0.000,0.043,2799,3904,2130
$GC,15581,0.89,229.1,75.4,14.8,497,15585,0.00,2.10,0.00,0.000,6,0.000,0.025,2808,2486,2129
$GC,15853,0.90,241.7,47.9,9.4,522,15871,0.00,2.22,11.57,0.597,4,0.000,0.043,2808,3888,2083
$GC,15939,0.90,241.7,38.1,12.5,529,15943,0.00,2.08,0.00,0.000,6,0.000,0.022,2818,2476,2083
$GC,16209,0.90,241.7,3.8,14.9,572,16217,0.00,2.25,0.00,0.000,4,0.000,0.041,2818,3890,2082
$STATE,16223,end climb,SURFACE_DEPTH_REACHED
$STATE,16223,begin surface coast
$FINISH,0.2,1.023209
$STATE,16235,end surface coast,CONTROL_FINISHED_OK
$STATE,16235,begin surface
$SM_CCo,16263,87.05,0.620,0,0,1396,410.13
$SM_GC,1.33,0.00,0.00,87.05,0.000,0.000,0.620,40,2458,1396,-7.72,-1.16,410.13
$IRIDIUM_FIX,2307.44,-15757.10,081200,090951
$TT8_MAMPS,0.023777
$HUMID,2040
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.00
$XPDR_PINGS,19
$24V_AH,23.2,44.873
$10V_AH,10.7,35.213
$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,17.825,188.400,336.625,87.050,0.000,25.196,33.537,177.889,4.750,0.000,0.000,11.279,1329.508,11728.860,509.615,2285.068,919.319,33.366,1553.581,0.000,2262.091,0.000,0.543,0.000
$DEVICE_MAMPS,213.993,60.593,1320.007,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,391.142,717.331,739.208,134.135,604.788,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47698,576
$CAP_FILE_SIZE,136029,0
$CFSIZE,260165632,201601024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,45,1,0
$GPS,140911,185925,2315.331,-15758.599,38,1.7,38,10.1