version: 66.04
glider: 512
mission: 2
dive: 412
start: 9 15 111 4 30 41
data:
$ID,512
$MISSION,2
$DIVE,412
$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,-41260.059
$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,54
$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,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
$GPS1,042200,2315.705,-15757.690,39,1.1,44,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-80.2
$GPS2,042944,2315.709,-15757.786,14,1.7,14,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,0.109
$KALMAN_X,-376963.1,-311.0,-12.1,373432.6,-2853.9
$KALMAN_Y,-56903.1,105.9,-198.0,191204.6,-2357.6
$MHEAD_RNG_PITCHd_Wd,54.2,94575,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.77,-136.3,0.0,0.0,0,89,0.00,0.00,-67.75,0.000,2,0.000,0.000,38,2474,3192
$GC,96,-0.77,-136.3,3.7,-6.2,9,120,8.43,2.08,-7.30,0.000,4,0.201,0.038,2260,1097,3630
$GC,137,-0.77,-136.3,25.1,-51.8,14,145,0.00,2.17,0.00,0.000,6,0.000,0.037,2252,2483,3630
$GC,409,-0.77,-136.3,100.2,-25.0,40,413,0.00,2.22,0.00,0.000,4,0.000,0.048,2241,3899,3632
$GC,457,-0.77,-136.3,110.6,-20.1,44,461,0.00,2.05,0.00,0.000,6,0.000,0.021,2242,2499,3631
$GC,728,-0.77,-136.3,166.2,-21.3,69,732,0.00,2.05,0.00,0.000,4,0.000,0.025,2247,1088,3632
$GC,744,-0.77,-136.3,169.5,-20.7,70,748,0.00,2.17,0.00,0.000,6,0.000,0.038,2238,2507,3633
$GC,1034,-0.77,-136.3,223.3,-17.8,88,1038,0.00,2.05,0.00,0.000,4,0.000,0.023,2238,1094,3634
$GC,1054,-0.77,-136.3,226.6,-16.9,88,1058,0.00,2.15,0.00,0.000,6,0.000,0.039,2235,2501,3634
$GC,1328,-0.77,-136.3,271.4,-17.0,95,1332,0.00,2.17,0.00,0.000,4,0.000,0.047,2224,3908,3634
$GC,1414,-0.77,-136.3,284.4,-13.6,96,1421,0.12,2.08,0.00,0.000,6,0.121,0.021,2262,2485,3634
$GC,1668,-0.77,-136.3,313.0,-11.4,103,1671,0.00,2.00,0.00,0.000,4,0.000,0.024,2263,1100,3634
$GC,1703,-0.77,-136.3,317.1,-10.5,103,1707,0.00,2.15,0.00,0.000,6,0.000,0.038,2262,2508,3634
$GC,1961,-0.77,-136.3,343.8,-10.6,110,1965,0.00,2.17,0.00,0.000,4,0.000,0.049,2252,3903,3633
$GC,2036,-0.77,-136.3,350.2,-7.6,111,2040,0.00,2.05,0.00,0.000,6,0.000,0.022,2252,2489,3633
$GC,2300,-0.77,-136.3,373.0,-8.9,118,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2482,3632
$GC,2543,-0.77,-136.3,395.3,-9.5,124,2547,0.00,2.25,0.00,0.000,4,0.000,0.051,2241,3905,3630
$GC,2573,-0.77,-136.3,398.2,-9.4,124,2576,0.00,2.05,0.00,0.000,6,0.000,0.023,2241,2502,3630
$GC,2833,-0.77,-136.3,422.4,-9.4,131,2836,0.00,2.03,0.00,0.000,4,0.000,0.027,2242,1107,3628
$GC,2874,-0.77,-136.3,426.2,-7.9,131,2880,0.00,2.15,0.00,0.000,6,0.000,0.040,2236,2507,3628
$GC,3127,-0.77,-136.3,448.8,-9.2,138,3130,0.00,2.20,0.00,0.000,4,0.000,0.052,2226,3906,3626
$GC,3180,-0.77,-136.3,454.0,-9.4,139,3184,0.12,2.08,0.00,0.000,6,0.111,0.025,2264,2496,3625
$GC,3462,-0.77,-136.3,474.3,-7.3,146,3466,0.00,2.03,0.00,0.000,4,0.000,0.028,2264,1105,3623
$GC,3504,-0.77,-136.3,477.4,-7.1,146,3510,0.00,2.15,0.00,0.000,6,0.000,0.041,2264,2500,3623
$GC,3756,-0.77,-136.3,494.9,-6.9,153,3760,0.00,2.20,0.00,0.000,4,0.000,0.052,2253,3900,3621
$GC,3815,-0.77,-136.3,499.1,-7.2,154,3819,0.00,2.08,0.00,0.000,6,0.000,0.025,2253,2489,3621
$GC,4099,-0.77,-136.3,521.9,-8.2,161,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2482,3618
$GC,4340,-0.77,-136.3,540.6,-7.5,167,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2482,3617
$GC,4584,-0.77,-136.3,557.9,-7.1,173,4588,0.00,2.28,0.00,0.000,4,0.000,0.054,2243,3900,3615
$GC,4615,-0.77,-136.3,560.2,-7.5,173,4618,0.00,2.08,0.00,0.000,6,0.000,0.026,2243,2496,3615
$GC,4873,-0.77,-136.3,581.9,-8.7,180,4876,0.00,2.05,0.00,0.000,4,0.000,0.029,2244,1101,3614
$GC,4909,-0.77,-136.3,585.1,-8.7,180,4913,0.00,2.17,0.00,0.000,6,0.000,0.044,2237,2499,3613
$GC,5169,-0.77,-136.3,608.4,-9.2,187,5172,0.00,2.25,0.00,0.000,4,0.000,0.056,2231,3908,3611
$GC,5245,-0.77,-136.3,615.5,-8.9,188,5249,0.00,2.08,0.00,0.000,6,0.000,0.027,2231,2504,3610
$GC,5509,-0.77,-136.3,640.8,-9.7,195,5512,0.00,2.08,0.00,0.000,4,0.000,0.030,2231,1097,3609
$GC,5558,-0.77,-136.3,645.4,-8.9,196,5563,0.12,2.20,0.00,0.000,6,0.123,0.044,2258,2512,3608
$GC,5850,-0.77,-136.3,666.8,-7.1,203,5854,0.00,2.22,0.00,0.000,4,0.000,0.057,2250,3903,3607
$GC,5898,-0.77,-136.3,670.4,-7.5,204,5902,0.00,2.10,0.00,0.000,6,0.000,0.028,2250,2491,3607
$GC,6192,-0.77,-136.3,691.8,-7.2,211,6195,0.00,2.05,0.00,0.000,4,0.000,0.030,2250,1100,3605
$GC,6223,-0.77,-136.3,694.2,-7.7,211,6227,0.00,2.20,0.00,0.000,6,0.000,0.045,2250,2501,3605
$GC,6487,-0.77,-136.3,713.9,-7.8,218,6491,0.00,2.22,0.00,0.000,4,0.000,0.058,2239,3898,3604
$GC,6539,-0.77,-136.3,718.2,-7.9,219,6543,0.00,2.10,0.00,0.000,6,0.000,0.028,2239,2495,3603
$GC,6828,-0.77,-136.3,741.3,-7.9,226,6831,0.00,2.08,0.00,0.000,4,0.000,0.031,2239,1093,3602
$GC,6858,-0.77,-136.3,743.8,-7.9,226,6862,0.00,2.20,0.00,0.000,6,0.000,0.045,2237,2499,3602
$GC,7116,-0.77,-136.3,763.3,-7.5,233,7120,0.00,2.25,0.00,0.000,4,0.000,0.058,2227,3905,3600
$GC,7186,-0.77,-136.3,768.6,-8.0,234,7190,0.12,2.10,0.00,0.000,6,0.119,0.028,2264,2499,3600
$GC,7452,-0.77,-136.3,782.2,-4.9,241,7456,0.00,2.08,0.00,0.000,4,0.000,0.031,2264,1101,3599
$GC,7483,-0.77,-136.3,783.8,-4.9,241,7487,0.00,2.17,0.00,0.000,6,0.000,0.044,2263,2500,3599
$GC,7746,-0.77,-136.3,796.3,-4.7,248,7750,0.00,2.25,0.00,0.000,4,0.000,0.058,2254,3901,3598
$GC,7806,-0.77,-136.3,799.4,-5.8,249,7810,0.00,2.10,0.00,0.000,6,0.000,0.029,2253,2497,3598
$GC,8088,-0.77,-136.3,815.4,-5.8,256,8091,0.00,2.08,0.00,0.000,4,0.000,0.030,2253,1094,3596
$GC,8163,-0.77,-136.3,820.6,-7.0,257,8167,0.00,2.20,0.00,0.000,6,0.000,0.044,2250,2502,3596
$GC,8424,-0.77,-136.3,837.9,-6.8,264,8428,0.00,2.28,0.00,0.000,4,0.000,0.061,2250,3904,3596
$GC,8628,-0.77,-136.3,853.6,-8.6,268,8632,0.00,2.12,0.00,0.000,6,0.000,0.029,2250,2492,3595
$GC,8893,-0.77,-136.3,875.7,-8.7,275,8897,0.00,2.30,0.00,0.000,4,0.000,0.058,2250,3897,3594
$GC,8913,-0.77,-136.3,877.6,-9.0,275,8917,0.00,2.10,0.00,0.000,6,0.000,0.028,2252,2488,3594
$STATE,9177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9177,begin apogee
$GC,9188,-0.27,0.0,902.8,9.6,282,9306,0.47,0.00,114.38,1.318,6,0.061,0.000,2435,2480,3070
$STATE,9306,end apogee,CONTROL_FINISHED_OK
$STATE,9306,begin climb
$GC,9312,0.77,136.3,912.9,0.0,285,9455,0.88,2.28,130.85,1.242,4,0.044,0.029,2773,1092,2514
$GC,9719,0.77,136.3,879.2,17.9,294,9724,0.00,2.22,0.00,0.000,6,0.000,0.039,2767,2489,2503
$GC,9996,0.77,136.3,825.8,19.4,301,10000,0.00,2.12,0.00,0.000,4,0.000,0.031,2776,1092,2501
$GC,10127,0.77,136.3,801.2,17.9,303,10133,0.00,2.17,0.00,0.000,6,0.000,0.040,2776,2481,2500
$GC,10380,0.77,136.3,755.5,18.1,310,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2481,2498
$GC,10625,0.77,136.3,712.1,17.7,316,10629,0.00,2.25,0.00,0.000,4,0.000,0.049,2767,3899,2498
$GC,10689,0.77,136.3,699.8,19.2,317,10693,0.00,2.12,0.00,0.000,6,0.000,0.029,2776,2491,2497
$GC,10964,0.77,136.3,655.9,15.4,324,10967,0.00,2.12,0.00,0.000,4,0.000,0.031,2787,1072,2496
$GC,11135,0.77,136.3,632.3,13.6,327,11139,0.00,2.20,0.00,0.000,6,0.000,0.040,2781,2486,2497
$GC,11392,0.77,136.3,597.9,13.1,334,11396,0.00,2.22,0.00,0.000,4,0.000,0.049,2780,3899,2495
$GC,11648,0.77,136.3,559.5,13.9,339,11652,0.00,2.15,0.00,0.000,6,0.000,0.028,2789,2467,2495
$GC,11915,0.77,136.3,527.7,12.0,346,11916,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2462,2494
$GC,12155,0.77,136.3,501.0,10.9,352,12160,0.00,2.28,0.00,0.000,4,0.000,0.048,2781,3903,2494
$GC,12417,0.77,136.3,470.4,11.4,357,12421,0.00,2.15,0.00,0.000,6,0.000,0.029,2790,2470,2493
$GC,12675,0.79,150.9,445.9,9.3,364,12690,0.00,2.25,10.68,0.946,4,0.000,0.048,2781,3892,2454
$GC,12946,0.79,150.9,411.8,12.1,370,12950,0.00,2.12,0.00,0.000,6,0.000,0.028,2790,2475,2452
$GC,13232,0.79,150.9,376.2,13.0,377,13236,0.00,2.28,0.00,0.000,4,0.000,0.048,2781,3898,2451
$GC,13494,0.79,150.9,344.9,10.3,382,13500,0.00,2.12,0.00,0.000,6,0.000,0.027,2790,2477,2451
$GC,13748,0.88,221.5,326.8,6.5,389,13823,0.00,2.20,63.65,0.904,4,0.000,0.031,2800,1078,2166
$GC,13924,0.88,221.5,300.2,21.1,393,13928,0.00,2.22,0.00,0.000,6,0.000,0.039,2793,2479,2162
$GC,14209,0.88,221.5,241.8,20.4,400,14210,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2479,2158
$GC,14454,0.88,221.5,195.3,19.2,406,14458,0.00,2.25,0.00,0.000,4,0.000,0.048,2793,3896,2157
$GC,14496,0.88,221.5,187.4,18.3,409,14503,0.00,2.15,0.00,0.000,6,0.000,0.026,2802,2488,2157
$GC,14760,0.88,221.5,138.8,17.2,434,14764,0.00,2.22,0.00,0.000,4,0.000,0.045,2794,3898,2156
$GC,14910,0.88,221.5,112.1,18.7,447,14914,0.00,2.12,0.00,0.000,6,0.000,0.025,2802,2470,2156
$GC,15181,0.88,221.5,77.9,11.8,472,15185,0.00,2.22,0.00,0.000,4,0.000,0.044,2797,3893,2156
$GC,15316,0.88,221.5,62.9,11.2,484,15319,0.00,2.10,0.00,0.000,6,0.000,0.023,2806,2467,2157
$GC,15588,0.91,250.9,41.2,8.5,509,15618,0.00,2.08,24.70,0.635,4,0.000,0.026,2817,1076,2046
$GC,15694,0.91,250.9,29.3,13.8,518,15703,0.00,2.17,0.00,0.000,6,0.000,0.040,2809,2479,2043
$STATE,15878,end climb,SURFACE_DEPTH_REACHED
$STATE,15878,begin surface coast
$FINISH,0.5,1.022743
$STATE,15896,end surface coast,CONTROL_FINISHED_OK
$STATE,15896,begin surface
$SM_CCo,15920,82.78,0.621,0,0,1397,410.13
$SM_GC,1.21,0.00,0.00,82.78,0.000,0.000,0.621,39,2480,1397,-7.72,-0.57,410.13
$IRIDIUM_FIX,2307.44,-15754.93,081200,232351
$TT8_MAMPS,0.024544
$HUMID,2016
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.20
$XPDR_PINGS,18
$24V_AH,23.2,45.311
$10V_AH,10.7,35.553
$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,17.550,167.975,344.250,82.775,0.000,30.969,35.207,204.225,4.500,0.000,0.000,18.786,1286.243,11462.612,504.805,2288.880,924.228,33.379,1542.751,0.000,2260.697,0.000,0.542,0.000
$DEVICE_MAMPS,200.954,60.593,1317.706,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,376.435,670.113,692.990,128.281,580.455,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44688,554
$CAP_FILE_SIZE,131010,0
$CFSIZE,260165632,201416704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,2,1
$GPS,150911,085854,2316.024,-15757.520,39,1.8,39,10.1