version: 66.04
glider: 512
mission: 2
dive: 499
start: 10 1 111 17 52 16
data:
$ID,512
$MISSION,2
$DIVE,499
$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,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,-42827.555
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2490
$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,2490
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$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
$GPS1,174101,2306.494,-15742.623,44,1.2,44,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-78.4
$GPS2,175120,2306.486,-15742.737,12,1.6,12,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15704.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.164,0.191
$KALMAN_X,-57841.5,-400.1,671.7,91949.2,-2884.2
$KALMAN_Y,-58835.0,815.2,-857.9,34341.4,-3447.4
$MHEAD_RNG_PITCHd_Wd,74.5,67123,-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,24,-0.77,-136.3,0.0,0.0,0,94,0.00,0.00,-67.95,0.000,2,0.000,0.000,39,2464,3195
$GC,100,-0.77,-136.3,3.9,-6.9,9,125,8.40,2.25,-7.32,0.000,4,0.200,0.051,2226,3893,3626
$GC,160,-0.77,-136.3,33.0,-37.5,17,168,0.00,2.12,0.00,0.000,6,0.000,0.023,2232,2479,3627
$GC,425,-0.77,-136.3,98.6,-22.1,42,429,0.00,2.05,0.00,0.000,4,0.000,0.026,2232,1073,3628
$GC,455,-0.77,-136.3,105.4,-20.4,44,465,0.00,2.20,0.00,0.000,6,0.000,0.040,2223,2479,3628
$GC,721,-0.77,-136.3,153.9,-18.0,69,725,0.00,2.20,0.00,0.000,4,0.000,0.047,2212,3904,3629
$GC,826,-0.77,-136.3,171.9,-15.4,78,830,0.00,2.08,0.00,0.000,6,0.000,0.021,2212,2476,3630
$GC,1100,-0.77,-136.3,224.7,-19.3,95,1104,0.00,2.00,0.00,0.000,4,0.000,0.026,2215,1090,3630
$GC,1152,-0.77,-136.3,233.3,-13.7,96,1157,0.12,2.12,0.00,0.000,6,0.120,0.038,2244,2494,3630
$GC,1439,-0.77,-136.3,267.7,-12.0,103,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2495,3630
$GC,1683,-0.77,-136.3,293.7,-10.4,109,1687,0.00,2.05,0.00,0.000,4,0.000,0.025,2244,1077,3630
$GC,1708,-0.77,-136.3,296.6,-10.5,109,1711,0.00,2.15,0.00,0.000,6,0.000,0.038,2236,2491,3630
$GC,1978,-0.77,-136.3,326.9,-11.5,116,1982,0.00,2.20,0.00,0.000,4,0.000,0.049,2225,3906,3629
$GC,2032,-0.77,-136.3,332.7,-10.0,117,2036,0.00,2.08,0.00,0.000,6,0.000,0.023,2225,2473,3629
$GC,2317,-0.77,-136.3,364.2,-11.0,124,2321,0.00,2.00,0.00,0.000,4,0.000,0.025,2225,1086,3627
$GC,2361,-0.77,-136.3,368.6,-9.8,124,2368,0.00,2.15,0.00,0.000,6,0.000,0.040,2223,2491,3627
$GC,2614,-0.77,-136.3,393.8,-10.0,131,2618,0.00,2.20,0.00,0.000,4,0.000,0.051,2213,3901,3624
$GC,2697,-0.77,-136.3,401.9,-9.1,132,2700,0.00,2.08,0.00,0.000,6,0.000,0.023,2213,2481,3624
$GC,2956,-0.77,-136.3,431.3,-11.7,139,2960,0.00,2.03,0.00,0.000,4,0.000,0.028,2215,1086,3622
$GC,3004,-0.77,-136.3,436.9,-10.5,140,3009,0.12,2.15,0.00,0.000,6,0.115,0.041,2244,2487,3621
$GC,3291,-0.77,-136.3,463.3,-9.2,147,3295,0.00,2.22,0.00,0.000,4,0.000,0.053,2235,3906,3619
$GC,3340,-0.77,-136.3,467.6,-8.7,148,3344,0.00,2.08,0.00,0.000,6,0.000,0.026,2235,2487,3618
$GC,3632,-0.77,-136.3,495.6,-9.7,155,3636,0.00,2.08,-0.08,0.000,4,0.000,0.041,2234,1091,3642
$GC,3657,-0.77,-136.3,498.1,-9.7,155,3661,0.00,2.20,0.00,0.000,6,0.000,0.042,2231,2502,3642
$GC,3927,-0.77,-136.3,522.2,-9.0,162,3930,0.00,2.20,0.00,0.000,4,0.000,0.054,2220,3898,3639
$GC,3980,-0.77,-136.3,527.3,-9.5,163,3983,0.00,2.08,0.00,0.000,6,0.000,0.026,2220,2491,3639
$GC,4266,-0.77,-136.3,557.2,-10.7,170,4269,0.00,2.05,0.00,0.000,4,0.000,0.029,2220,1090,3637
$GC,4308,-0.77,-136.3,561.7,-10.0,170,4315,0.00,2.20,0.00,0.000,6,0.000,0.043,2210,2485,3637
$GC,4561,-0.77,-136.3,589.9,-11.3,177,4565,0.10,2.22,0.00,0.000,4,0.143,0.054,2228,3895,3636
$GC,4624,-0.77,-136.3,595.9,-8.5,178,4628,0.00,2.08,0.00,0.000,6,0.000,0.026,2228,2482,3635
$GC,4901,-0.77,-136.3,621.2,-9.4,185,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2476,3633
$GC,5144,-0.77,-136.3,643.9,-9.3,191,5148,0.00,2.30,0.00,0.000,4,0.000,0.058,2219,3897,3631
$GC,5174,-0.77,-136.3,646.9,-9.7,191,5178,0.00,2.08,0.00,0.000,6,0.000,0.028,2219,2494,3631
$GC,5432,-0.77,-136.3,670.9,-9.3,198,5436,0.00,2.08,0.00,0.000,4,0.000,0.030,2220,1085,3629
$GC,5469,-0.77,-136.3,674.2,-8.4,198,5473,0.00,2.20,0.00,0.000,6,0.000,0.046,2220,2497,3629
$GC,5728,-0.77,-136.3,697.2,-9.1,205,5731,0.00,2.25,0.00,0.000,4,0.000,0.058,2209,3898,3627
$GC,5791,-0.77,-136.3,703.1,-8.9,206,5796,0.12,2.10,0.00,0.000,6,0.114,0.028,2247,2482,3626
$GC,6062,-0.77,-136.3,721.5,-6.7,213,6066,0.00,2.05,0.00,0.000,4,0.000,0.031,2247,1091,3626
$GC,6087,-0.77,-136.3,723.5,-7.7,213,6091,0.00,2.20,0.00,0.000,6,0.000,0.045,2248,2495,3626
$GC,6351,-0.77,-136.3,741.5,-7.0,220,6355,0.00,2.25,0.00,0.000,4,0.000,0.058,2239,3897,3624
$GC,6401,-0.77,-136.3,745.1,-7.1,221,6405,0.00,2.10,0.00,0.000,6,0.000,0.028,2239,2485,3624
$GC,6696,-0.77,-136.3,768.9,-8.2,228,6699,0.00,2.05,0.00,0.000,4,0.000,0.031,2241,1096,3622
$GC,6720,-0.77,-136.3,771.1,-8.2,228,6724,0.00,2.20,0.00,0.000,6,0.000,0.048,2237,2497,3622
$GC,6990,-0.77,-136.3,791.6,-7.5,235,6994,0.00,2.25,0.00,0.000,4,0.000,0.061,2234,3895,3621
$GC,7021,-0.77,-136.3,793.9,-7.7,235,7024,0.00,2.10,0.00,0.000,6,0.000,0.030,2233,2491,3621
$GC,7286,-0.77,-136.3,811.4,-6.5,242,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2484,3620
$GC,7528,-0.77,-136.3,826.6,-6.2,248,7532,0.00,2.30,0.00,0.000,4,0.000,0.061,2223,3896,3618
$GC,7563,-0.77,-136.3,828.9,-6.7,248,7567,0.00,2.12,0.00,0.000,6,0.000,0.030,2222,2479,3618
$GC,7823,-0.77,-136.3,846.6,-7.0,255,7826,0.00,2.08,0.00,0.000,4,0.000,0.034,2222,1086,3617
$GC,7853,-0.77,-136.3,849.0,-7.5,255,7857,0.00,2.22,0.00,0.000,6,0.000,0.049,2222,2488,3618
$GC,8111,-0.77,-136.3,866.6,-7.1,262,8115,0.00,2.30,0.00,0.000,4,0.000,0.060,2212,3908,3617
$GC,8164,-0.77,-136.3,870.5,-6.7,263,8168,0.00,2.12,0.00,0.000,6,0.000,0.031,2212,2485,3617
$GC,8447,-0.77,-136.3,892.4,-7.9,270,8451,0.00,2.08,0.00,0.000,4,0.000,0.033,2217,1091,3615
$GC,8472,-0.77,-136.3,894.7,-8.4,270,8476,0.12,2.22,0.00,0.000,6,0.114,0.048,2246,2502,3615
$STATE,8574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8574,begin apogee
$GC,8585,-0.27,0.0,900.7,5.4,273,8708,0.47,0.00,120.68,1.271,6,0.092,0.000,2410,2501,3070
$STATE,8709,end apogee,CONTROL_FINISHED_OK
$STATE,8709,begin climb
$GC,8715,0.77,136.3,905.7,0.0,276,8888,0.88,2.45,138.25,1.193,4,0.038,0.054,2750,3898,2513
$GC,9145,0.77,136.3,865.1,18.9,285,9149,0.00,2.17,0.00,0.000,6,0.000,0.028,2759,2475,2504
$GC,9402,0.77,136.3,819.2,17.7,292,9406,0.00,2.30,0.00,0.000,4,0.000,0.051,2754,3905,2501
$GC,9636,0.77,136.3,774.8,18.7,297,9640,0.00,2.15,0.00,0.000,6,0.000,0.029,2763,2482,2500
$GC,9922,0.77,136.3,728.3,15.5,304,9926,0.00,2.25,0.00,0.000,4,0.000,0.052,2763,3898,2498
$GC,9934,0.77,136.3,726.3,15.4,304,9939,0.15,2.15,0.00,0.000,6,0.225,0.028,2741,2471,2498
$GC,10212,0.77,136.3,686.9,14.1,311,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2466,2497
$GC,10453,0.77,136.3,652.1,14.3,317,10457,0.00,2.30,0.00,0.000,4,0.000,0.051,2741,3906,2496
$GC,10527,0.77,136.3,640.5,15.5,318,10531,0.00,2.15,0.00,0.000,6,0.000,0.029,2750,2477,2495
$GC,10791,0.77,136.3,603.7,13.9,325,10795,0.00,2.10,0.00,0.000,4,0.000,0.032,2760,1069,2495
$GC,10822,0.77,136.3,599.5,12.9,325,10826,0.00,2.22,0.00,0.000,6,0.000,0.044,2755,2492,2495
$GC,11086,0.77,136.3,567.5,11.8,332,11087,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2493,2494
$GC,11329,0.77,136.3,540.8,10.9,338,11333,0.00,2.12,0.00,0.000,4,0.000,0.031,2763,1060,2494
$GC,11354,0.77,136.3,538.1,10.7,338,11358,0.00,2.22,0.00,0.000,6,0.000,0.041,2763,2493,2494
$GC,11619,0.77,136.3,510.7,10.3,345,11622,0.00,2.22,0.00,0.000,4,0.000,0.051,2764,3895,2494
$GC,11660,0.77,136.3,505.7,11.8,345,11667,0.10,2.15,0.00,0.000,6,0.208,0.028,2747,2470,2493
$GC,11912,0.79,152.0,482.2,9.2,352,11936,0.00,2.30,13.90,0.840,4,0.000,0.051,2742,3886,2451
$GC,11980,0.79,152.0,474.9,13.1,353,11984,0.00,2.10,0.00,0.000,6,0.000,0.028,2751,2485,2449
$GC,12249,0.79,152.0,445.3,10.5,360,12253,0.00,2.28,0.00,0.000,4,0.000,0.051,2751,3900,2448
$GC,12412,0.79,152.3,427.1,10.0,363,12416,0.00,2.12,0.00,0.000,6,0.000,0.028,2760,2478,2448
$GC,12677,0.80,158.0,400.8,9.7,370,12690,0.00,2.15,6.88,0.802,4,0.000,0.031,2770,1072,2425
$GC,12716,0.80,158.0,396.6,10.1,370,12723,0.00,2.22,0.00,0.000,6,0.000,0.042,2768,2480,2425
$GC,12969,0.80,158.0,365.0,13.1,377,12973,0.00,2.22,0.00,0.000,4,0.000,0.051,2767,3891,2424
$GC,12994,0.80,158.0,361.5,12.7,377,12998,0.00,2.10,0.00,0.000,6,0.000,0.028,2776,2479,2424
$GC,13264,0.80,158.0,329.3,11.4,384,13268,0.00,2.28,0.00,0.000,4,0.000,0.050,2767,3903,2424
$GC,13428,0.80,158.0,309.7,10.4,387,13431,0.00,2.12,0.00,0.000,6,0.000,0.028,2776,2478,2423
$GC,13687,0.81,165.5,285.2,9.6,394,13701,0.00,2.12,8.62,0.765,4,0.000,0.031,2787,1069,2394
$GC,13838,0.86,207.3,273.5,7.9,397,13883,0.00,2.20,37.97,0.851,6,0.000,0.040,2780,2489,2223
$GC,14160,0.86,207.3,222.9,17.5,405,14164,0.00,2.12,0.00,0.000,4,0.000,0.029,2789,1076,2218
$GC,14284,0.86,207.3,203.2,14.8,407,14289,0.00,2.17,0.00,0.000,6,0.000,0.037,2781,2485,2216
$GC,14547,0.86,207.3,164.4,14.7,428,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2485,2216
$GC,14815,0.86,207.3,131.5,10.8,453,14819,0.00,2.10,0.00,0.000,4,0.000,0.028,2789,1073,2215
$GC,14899,0.86,207.3,122.0,11.6,460,14902,0.00,2.15,0.00,0.000,6,0.000,0.036,2781,2482,2215
$GC,15172,0.86,207.3,90.5,10.3,485,15178,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2482,2215
$GC,15438,0.88,219.6,61.7,9.4,510,15455,0.00,2.22,11.07,0.591,4,0.000,0.045,2780,3895,2173
$GC,15617,0.97,293.7,46.4,6.3,525,15686,0.00,2.08,63.10,0.640,6,0.000,0.022,2789,2462,1871
$STATE,15907,end climb,SURFACE_DEPTH_REACHED
$STATE,15907,begin surface coast
$FINISH,0.4,1.003461
$STATE,15925,end surface coast,CONTROL_FINISHED_OK
$STATE,15925,begin surface
$SM_CCo,15951,56.47,0.586,0,0,1397,410.13
$SM_GC,1.44,0.00,0.00,56.47,0.000,0.000,0.586,38,2457,1397,-7.66,-0.93,410.13
$IRIDIUM_FIX,2305.10,-15958.21,251200,131320
$TT8_MAMPS,0.024544
$HUMID,2078
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,23.90
$XPDR_PINGS,23
$24V_AH,23.0,59.764
$10V_AH,10.6,45.694
$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,17.850,177.200,400.475,56.475,0.000,30.356,37.767,353.153,5.750,0.000,0.000,12.983,1366.754,11427.743,539.736,2193.689,1096.251,33.350,1568.378,0.000,2165.462,0.000,0.544,0.000
$DEVICE_MAMPS,224.731,61.360,1270.919,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,384.648,705.961,725.043,129.887,590.884,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47737,567
$CAP_FILE_SIZE,132494,0
$CFSIZE,260165632,195899392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,5,0
$CURRENT,0.079,265.3,1
$GPS,011011,222037,2306.504,-15741.879,43,1.3,43,10.1