version: 66.04
glider: 512
mission: 2
dive: 67
start: 8 22 111 18 53 20
data:
$ID,512
$MISSION,2
$DIVE,67
$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,630
$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,120
$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,-33837.379
$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,2490
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,34
$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
$GPS1,183537,2221.521,-15755.510,35,1.3,35,10.0
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-80.7
$GPS2,185226,2221.535,-15755.495,13,1.3,13,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp1
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.061,0.227
$KALMAN_X,8001.3,-305.0,-192.3,-7396.4,310.3
$KALMAN_Y,-34236.7,-97.0,158.0,68051.4,-2854.0
$MHEAD_RNG_PITCHd_Wd,5.0,23837,-19.8,-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,-0.80,-116.8,0.0,0.0,0,101,0.00,0.00,-75.53,0.000,2,0.000,0.000,48,2468,3434
$GC,107,-0.80,-116.8,4.7,-9.8,10,124,8.23,2.15,-1.77,0.000,4,0.206,0.046,2234,3909,3545
$GC,194,-0.80,-116.8,46.6,-30.7,20,198,0.00,2.10,0.00,0.000,6,0.000,0.025,2234,2495,3546
$GC,466,-0.80,-116.8,123.3,-26.2,45,470,0.00,2.05,0.00,0.000,4,0.000,0.026,2234,1076,3547
$GC,529,-0.80,-116.8,139.0,-21.1,50,537,0.00,2.17,0.00,0.000,6,0.000,0.040,2224,2482,3547
$GC,796,-0.80,-116.8,194.4,-18.0,75,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2482,3548
$GC,1069,-0.80,-116.8,239.6,-15.8,84,1073,0.00,2.05,0.00,0.000,4,0.000,0.025,2226,1064,3548
$GC,1116,-0.80,-116.8,245.9,-13.1,85,1120,0.00,2.17,0.00,0.000,6,0.000,0.040,2222,2499,3548
$GC,1401,-0.80,-116.8,289.1,-15.4,92,1405,0.00,2.15,0.00,0.000,4,0.000,0.048,2212,3904,3547
$GC,1454,-0.80,-116.8,297.3,-14.8,93,1459,0.15,2.08,0.00,0.000,6,0.130,0.025,2255,2476,3547
$GC,1734,-0.80,-116.8,330.2,-11.7,100,1738,0.00,2.00,0.00,0.000,4,0.000,0.028,2258,1086,3545
$GC,1775,-0.80,-116.8,334.9,-11.0,100,1782,0.00,2.15,0.00,0.000,6,0.000,0.040,2250,2488,3545
$GC,2028,-0.80,-116.8,365.0,-12.3,107,2031,0.00,2.17,0.00,0.000,4,0.000,0.051,2239,3905,3543
$GC,2091,-0.80,-116.8,373.2,-12.7,108,2095,0.00,2.08,0.00,0.000,6,0.000,0.025,2239,2484,3543
$GC,2366,-0.80,-116.8,407.8,-12.6,115,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2476,3540
$GC,2611,-0.80,-116.8,436.0,-11.4,121,2614,0.00,2.22,0.00,0.000,4,0.000,0.051,2228,3904,3540
$GC,2652,-0.80,-116.8,440.8,-10.8,121,2658,0.00,2.08,0.00,0.000,6,0.000,0.026,2228,2490,3539
$GC,2904,-0.80,-116.8,469.0,-11.1,128,2906,0.00,0.00,-0.08,0.000,6,0.000,0.000,2227,2483,3561
$GC,3150,-0.80,-116.8,496.5,-11.4,134,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2483,3560
$GC,3392,-0.80,-116.8,523.2,-10.8,140,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2483,3558
$GC,3637,-0.80,-116.8,550.0,-11.1,146,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2482,3555
$GC,3879,-0.80,-116.8,578.1,-11.6,152,3883,0.00,2.22,0.00,0.000,4,0.000,0.054,2222,3901,3554
$GC,3914,-0.80,-116.8,582.4,-11.9,152,3919,0.10,2.08,0.00,0.000,6,0.132,0.029,2250,2493,3553
$GC,4172,-0.80,-116.8,606.8,-9.5,159,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2487,3551
$GC,4417,-0.80,-116.8,629.7,-9.5,165,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2487,3549
$GC,4661,-0.80,-116.8,653.0,-9.5,171,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2486,3547
$GC,4904,-0.80,-116.8,675.3,-9.1,177,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2487,3546
$GC,5149,-0.80,-116.8,697.6,-9.1,183,5153,0.00,2.22,0.00,0.000,4,0.000,0.056,2241,3895,3544
$GC,5178,-0.80,-116.8,700.5,-9.3,183,5182,0.00,2.08,0.00,0.000,6,0.000,0.031,2241,2484,3544
$GC,5437,-0.80,-116.8,724.7,-9.4,190,5441,0.00,2.05,0.00,0.000,4,0.000,0.035,2241,1085,3542
$GC,5492,-0.80,-116.8,729.5,-8.5,191,5495,0.00,2.15,0.00,0.000,6,0.000,0.048,2237,2486,3543
$GC,5778,-0.80,-116.8,755.3,-9.0,198,5781,0.00,2.22,0.00,0.000,4,0.000,0.058,2226,3904,3541
$GC,5854,-0.80,-116.8,762.7,-9.5,199,5858,0.00,2.10,0.00,0.000,6,0.000,0.032,2225,2488,3540
$GC,6119,-0.80,-116.8,789.0,-10.0,206,6122,0.00,2.05,0.00,0.000,4,0.000,0.035,2225,1089,3539
$GC,6160,-0.80,-116.8,793.4,-10.1,206,6166,0.00,2.17,0.00,0.000,6,0.000,0.049,2222,2496,3539
$GC,6413,-0.80,-116.8,817.7,-9.7,213,6416,0.00,2.20,0.00,0.000,4,0.000,0.060,2212,3897,3537
$GC,6493,-0.80,-116.8,825.9,-9.7,214,6498,0.12,2.10,0.00,0.000,6,0.128,0.032,2248,2493,3537
$GC,6754,-0.80,-116.8,844.5,-7.0,221,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2486,3536
$GC,6995,-0.80,-116.8,861.5,-6.9,227,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2486,3535
$GC,7239,-0.80,-116.8,878.5,-7.0,233,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2486,3534
$GC,7484,-0.80,-116.8,895.8,-7.1,239,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2486,3533
$STATE,7561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7561,begin apogee
$GC,7571,-0.27,0.0,901.7,7.2,241,7673,0.52,0.00,98.32,1.302,6,0.137,0.000,2426,2485,3070
$STATE,7673,end apogee,CONTROL_FINISHED_OK
$STATE,7673,begin climb
$GC,7678,0.80,116.8,904.7,0.0,243,7803,0.93,2.35,110.68,1.251,4,0.041,0.048,2779,3876,2592
$GC,8043,0.80,116.8,873.0,19.0,251,8047,0.00,2.17,0.00,0.000,6,0.000,0.031,2789,2463,2584
$GC,8318,0.80,116.8,827.3,16.5,258,8322,0.00,2.25,0.00,0.000,4,0.000,0.050,2781,3879,2580
$GC,8392,0.80,116.8,813.9,18.0,259,8397,0.00,2.15,0.00,0.000,6,0.000,0.031,2790,2456,2579
$GC,8645,0.80,116.8,772.7,16.5,265,8649,0.00,2.25,0.00,0.000,4,0.000,0.050,2781,3876,2578
$GC,8905,0.80,116.8,727.0,18.4,270,8909,0.00,2.12,0.00,0.000,6,0.000,0.032,2790,2462,2578
$GC,9165,0.80,116.8,687.2,15.1,277,9168,0.00,2.22,0.00,0.000,4,0.000,0.051,2781,3875,2576
$GC,9251,0.80,116.8,673.4,15.4,278,9257,0.00,2.12,0.00,0.000,6,0.000,0.031,2789,2459,2575
$GC,9503,0.80,116.8,639.3,13.3,285,9507,0.00,2.22,0.00,0.000,4,0.000,0.051,2781,3876,2575
$GC,9522,0.80,116.8,636.4,13.5,285,9526,0.00,2.12,0.00,0.000,6,0.000,0.031,2790,2458,2574
$GC,9791,0.80,116.8,602.9,12.1,292,9794,0.00,2.22,0.00,0.000,4,0.000,0.051,2781,3876,2573
$GC,9810,0.80,116.8,600.4,11.8,292,9814,0.00,2.12,0.00,0.000,6,0.000,0.031,2790,2456,2573
$GC,10085,0.80,116.8,567.5,11.8,299,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2450,2573
$GC,10328,0.80,116.8,538.3,12.1,305,10332,0.00,2.25,0.00,0.000,4,0.000,0.051,2781,3887,2572
$GC,10590,0.80,116.8,506.4,11.6,310,10594,0.00,2.12,0.00,0.000,6,0.000,0.031,2790,2457,2572
$GC,10849,0.82,133.4,481.4,9.0,317,10874,0.00,2.28,13.88,0.841,4,0.000,0.048,2781,3877,2526
$GC,10899,0.82,133.4,476.0,11.4,318,10903,0.00,2.12,0.00,0.000,6,0.000,0.031,2790,2463,2525
$GC,11185,0.82,133.4,443.8,10.6,325,11189,0.00,2.25,0.00,0.000,4,0.000,0.050,2781,3887,2524
$GC,11299,0.82,133.4,431.8,11.0,327,11303,0.00,2.15,0.00,0.000,6,0.000,0.031,2790,2452,2524
$GC,11563,0.86,160.4,408.1,8.4,334,11604,0.00,2.33,27.08,0.908,4,0.000,0.048,2781,3877,2414
$GC,11656,0.86,160.4,396.6,16.1,336,11660,0.00,2.15,0.00,0.000,6,0.000,0.030,2790,2459,2412
$GC,11942,0.86,160.4,349.9,15.8,343,11945,0.00,2.28,0.00,0.000,4,0.000,0.050,2782,3878,2409
$GC,12027,0.86,160.4,334.7,17.1,344,12034,0.00,2.15,0.00,0.000,6,0.000,0.030,2790,2452,2409
$GC,12281,0.86,160.4,299.1,14.0,351,12285,0.00,2.08,0.00,0.000,4,0.000,0.034,2801,1051,2408
$GC,12379,0.86,160.4,286.0,11.8,353,12383,0.00,2.17,0.00,0.000,6,0.000,0.040,2793,2470,2407
$GC,12659,0.86,160.4,254.3,10.8,360,12662,0.00,2.12,0.00,0.000,4,0.000,0.032,2802,1045,2407
$GC,12813,0.86,160.4,238.5,10.4,363,12817,0.00,2.17,0.00,0.000,6,0.000,0.039,2793,2470,2407
$GC,13082,0.88,182.2,213.7,8.7,370,13106,0.00,2.17,18.67,0.792,4,0.000,0.031,2802,1047,2326
$GC,13150,0.88,182.2,205.8,12.3,371,13154,0.00,2.15,0.00,0.000,6,0.000,0.038,2793,2462,2324
$GC,13418,0.88,182.2,164.1,16.0,392,13422,0.00,2.17,0.00,0.000,4,0.000,0.046,2793,3874,2322
$GC,13446,0.88,182.2,159.8,16.2,394,13449,0.00,2.10,0.00,0.000,6,0.000,0.028,2802,2459,2322
$GC,13719,0.91,203.4,128.7,8.8,419,13744,0.00,0.00,18.85,0.712,6,0.000,0.000,2802,2453,2239
$GC,14002,0.91,203.4,89.2,14.3,446,14005,0.00,2.22,0.00,0.000,4,0.000,0.045,2803,3877,2235
$GC,14028,0.91,203.4,85.6,13.8,448,14032,0.00,2.12,0.00,0.000,6,0.000,0.027,2813,2445,2235
$GC,14295,1.03,302.0,57.4,4.3,472,14385,0.00,2.33,80.20,0.660,4,0.000,0.042,2809,3868,1837
$STATE,14579,end climb,SURFACE_DEPTH_REACHED
$STATE,14579,begin surface coast
$FINISH,0.2,1.023137
$STATE,14591,end surface coast,CONTROL_FINISHED_OK
$STATE,14591,begin surface
$SM_CCo,14619,44.65,0.597,0,0,1397,410.13
$SM_GC,1.07,0.00,0.00,44.65,0.000,0.000,0.597,42,2452,1397,-7.71,-1.07,410.13
$IRIDIUM_FIX,2213.68,-15758.50,151100,181819
$TT8_MAMPS,0.023777
$HUMID,2083
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,22.70
$XPDR_PINGS,4
$24V_AH,24.0,9.646
$10V_AH,10.7,7.708
$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,17.350,129.650,367.675,44.650,0.000,55.421,67.060,637.500,1.000,0.000,0.000,14.067,1121.368,10849.808,475.306,1901.699,1322.022,33.354,1366.748,0.000,1881.546,0.000,0.543,0.000
$DEVICE_MAMPS,206.323,59.826,1301.599,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,345.031,613.895,632.224,107.870,493.610,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41478,509
$CAP_FILE_SIZE,117647,0
$CFSIZE,260165632,213737472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,3,0
$GPS,220811,225906,2222.664,-15755.035,34,1.3,34,10.0