version: 66.04
glider: 512
mission: 2
dive: 68
start: 8 22 111 23 10 55
data:
$ID,512
$MISSION,2
$DIVE,68
$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,-33852.977
$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,70
$R_STBD_OVSHOOT,31
$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
$GPS1,225906,2222.664,-15755.035,34,1.3,34,10.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-79.5
$GPS2,230956,2222.659,-15755.108,14,1.2,14,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp1
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,0.221
$KALMAN_X,7317.9,-205.0,-63.4,-6282.3,-13.6
$KALMAN_Y,-36450.4,320.9,-27.2,72107.0,-2866.5
$MHEAD_RNG_PITCHd_Wd,9.7,21999,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.80,-116.8,0.0,0.0,0,89,0.00,0.00,-67.95,0.000,2,0.000,0.000,42,2452,3187
$GC,94,-0.80,-116.8,3.7,-6.7,9,119,8.23,2.28,-6.40,0.000,4,0.207,0.055,2233,3900,3550
$GC,185,-0.80,-116.8,40.3,-29.2,20,188,0.00,2.05,0.00,0.000,6,0.000,0.025,2233,2514,3551
$GC,456,-0.80,-116.8,111.4,-23.8,45,460,0.00,2.10,0.00,0.000,4,0.000,0.028,2234,1075,3553
$GC,551,-0.80,-116.8,129.8,-16.2,53,558,0.00,2.17,0.00,0.000,6,0.000,0.040,2223,2480,3553
$GC,818,-0.80,-116.8,178.0,-17.4,78,822,0.00,2.20,0.00,0.000,4,0.000,0.048,2212,3908,3554
$GC,848,-0.80,-116.8,184.3,-18.6,80,855,0.10,2.12,0.00,0.000,6,0.135,0.023,2249,2476,3554
$GC,1125,-0.80,-116.8,225.8,-14.9,95,1129,0.00,2.00,0.00,0.000,4,0.000,0.028,2249,1086,3554
$GC,1177,-0.80,-116.8,232.9,-12.7,96,1181,0.00,2.15,0.00,0.000,6,0.000,0.041,2249,2498,3554
$GC,1457,-0.80,-116.8,268.2,-12.4,103,1460,0.00,2.17,0.00,0.000,4,0.000,0.050,2238,3909,3553
$GC,1504,-0.80,-116.8,273.8,-12.0,104,1508,0.00,2.08,0.00,0.000,6,0.000,0.024,2238,2485,3553
$GC,1798,-0.80,-116.8,309.7,-12.3,111,1801,0.00,2.20,0.00,0.000,4,0.000,0.050,2227,3899,3552
$GC,1839,-0.80,-116.8,315.0,-11.7,111,1845,0.00,2.05,0.00,0.000,6,0.000,0.025,2227,2492,3552
$GC,2091,-0.80,-116.8,346.7,-12.9,118,2094,0.00,2.03,0.00,0.000,4,0.000,0.028,2227,1089,3551
$GC,2160,-0.80,-116.8,355.3,-11.7,119,2163,0.00,2.12,0.00,0.000,6,0.000,0.041,2222,2491,3551
$GC,2432,-0.80,-116.8,390.7,-13.4,126,2436,0.00,2.17,0.00,0.000,4,0.000,0.051,2211,3907,3549
$GC,2480,-0.80,-116.8,397.5,-13.1,127,2484,0.15,2.08,0.00,0.000,6,0.123,0.026,2255,2488,3549
$GC,2765,-0.80,-116.8,425.4,-9.3,134,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2481,3547
$GC,3009,-0.80,-116.8,445.9,-8.2,140,3013,0.00,2.22,0.00,0.000,4,0.000,0.052,2246,3904,3545
$GC,3051,-0.80,-116.8,449.3,-8.0,140,3058,0.00,2.10,0.00,0.000,6,0.000,0.028,2246,2496,3545
$GC,3304,-0.80,-116.8,471.4,-9.0,147,3308,0.00,2.05,0.00,0.000,4,0.000,0.031,2247,1086,3543
$GC,3352,-0.80,-116.8,475.8,-8.6,148,3356,0.00,2.15,0.00,0.000,6,0.000,0.044,2238,2494,3542
$GC,3644,-0.80,-116.8,505.8,-10.5,155,3648,0.00,2.17,0.00,0.000,4,0.000,0.056,2227,3896,3540
$GC,3706,-0.80,-116.8,512.6,-10.1,156,3710,0.00,2.10,0.00,0.000,6,0.000,0.028,2227,2474,3539
$GC,3981,-0.80,-116.8,543.8,-11.5,163,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2468,3537
$GC,4225,-0.80,-116.8,570.6,-10.8,169,4228,0.00,2.03,0.00,0.000,4,0.000,0.032,2227,1088,3535
$GC,4261,-0.80,-116.8,574.2,-10.3,169,4265,0.00,2.15,0.00,0.000,6,0.000,0.045,2222,2493,3535
$GC,4521,-0.80,-116.8,601.7,-10.9,176,4525,0.00,2.20,0.00,0.000,4,0.000,0.057,2212,3903,3533
$GC,4601,-0.80,-116.8,610.9,-10.4,177,4606,0.15,2.10,0.00,0.000,6,0.124,0.031,2256,2491,3532
$GC,4855,-0.80,-116.8,630.9,-7.9,183,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2485,3530
$GC,5099,-0.80,-116.8,652.0,-8.7,189,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2485,3529
$GC,5341,-0.80,-116.8,672.9,-8.5,195,5345,0.00,2.05,0.00,0.000,4,0.000,0.034,2256,1089,3528
$GC,5366,-0.80,-116.8,674.9,-8.2,195,5370,0.00,2.17,0.00,0.000,6,0.000,0.047,2251,2500,3528
$GC,5630,-0.80,-116.8,696.3,-8.0,202,5634,0.00,2.20,0.00,0.000,4,0.000,0.059,2240,3903,3526
$GC,5688,-0.80,-116.8,701.3,-7.8,203,5692,0.00,2.10,0.00,0.000,6,0.000,0.032,2239,2490,3525
$GC,5969,-0.80,-116.8,725.2,-8.4,210,5973,0.00,2.05,0.00,0.000,4,0.000,0.034,2239,1088,3524
$GC,6004,-0.80,-116.8,728.4,-8.4,210,6008,0.00,2.17,0.00,0.000,6,0.000,0.048,2237,2495,3524
$GC,6258,-0.80,-116.8,749.4,-8.4,216,6262,0.00,2.20,0.00,0.000,4,0.000,0.060,2225,3898,3522
$GC,6334,-0.80,-116.8,756.1,-8.0,217,6338,0.00,2.10,0.00,0.000,6,0.000,0.031,2225,2484,3522
$GC,6598,-0.80,-116.8,780.1,-9.1,224,6601,0.00,2.08,0.00,0.000,4,0.000,0.035,2226,1077,3521
$GC,6640,-0.80,-116.8,783.8,-8.7,224,6646,0.00,2.20,0.00,0.000,6,0.000,0.049,2223,2497,3521
$GC,6893,-0.80,-116.8,806.7,-9.2,231,6897,0.00,2.20,0.00,0.000,4,0.000,0.060,2213,3897,3520
$GC,6991,-0.80,-116.8,816.4,-9.3,233,6996,0.12,2.10,0.00,0.000,6,0.129,0.031,2249,2486,3519
$GC,7272,-0.80,-116.8,837.2,-7.2,240,7275,0.00,2.05,0.00,0.000,4,0.000,0.035,2248,1090,3518
$GC,7302,-0.80,-116.8,839.6,-7.3,240,7306,0.00,2.17,0.00,0.000,6,0.000,0.050,2249,2494,3519
$GC,7566,-0.80,-116.8,857.2,-6.6,247,7569,0.00,2.22,0.00,0.000,4,0.000,0.061,2239,3907,3517
$GC,7624,-0.80,-116.8,861.4,-7.3,248,7628,0.00,2.10,0.00,0.000,6,0.000,0.033,2238,2490,3517
$GC,7905,-0.80,-116.8,881.4,-7.0,255,7909,0.00,2.08,0.00,0.000,4,0.000,0.035,2239,1083,3516
$GC,7954,-0.80,-116.8,884.9,-6.9,256,7958,0.00,2.20,0.00,0.000,6,0.000,0.050,2237,2501,3516
$STATE,8194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8194,begin apogee
$GC,8205,-0.27,0.0,902.3,7.2,262,8303,0.57,0.00,94.90,1.306,6,0.114,0.000,2428,2500,3070
$STATE,8304,end apogee,CONTROL_FINISHED_OK
$STATE,8304,begin climb
$GC,8309,0.80,116.8,904.1,0.0,264,8434,0.90,2.35,110.85,1.253,4,0.044,0.032,2784,1052,2592
$GC,8691,0.80,116.8,869.6,17.0,272,8695,0.00,2.22,0.00,0.000,6,0.000,0.041,2781,2467,2582
$GC,8948,0.80,116.8,826.0,17.0,279,8952,0.00,2.12,0.00,0.000,4,0.000,0.033,2790,1055,2579
$GC,9069,0.80,116.8,806.6,16.5,281,9073,0.00,2.20,0.00,0.000,6,0.000,0.041,2790,2470,2579
$GC,9329,0.80,116.8,765.2,16.0,288,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2471,2577
$GC,9570,0.80,116.8,727.5,15.3,294,9574,0.00,2.17,0.00,0.000,4,0.000,0.051,2780,3868,2576
$GC,9588,0.80,116.8,724.8,15.2,294,9592,0.00,2.12,0.00,0.000,6,0.000,0.031,2788,2453,2575
$GC,9865,0.80,116.8,685.3,14.2,301,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2448,2574
$GC,10107,0.80,116.8,651.4,13.8,307,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2448,2573
$GC,10350,0.80,116.8,617.3,13.9,313,10353,0.00,2.22,0.00,0.000,4,0.000,0.050,2781,3871,2573
$GC,10402,0.80,116.8,609.3,15.6,314,10406,0.00,2.12,0.00,0.000,6,0.000,0.031,2790,2449,2573
$GC,10689,0.80,116.8,571.6,12.9,321,10693,0.00,2.22,0.00,0.000,4,0.000,0.049,2789,3875,2572
$GC,10742,0.80,116.8,564.4,13.6,322,10746,0.00,2.10,0.00,0.000,6,0.000,0.031,2798,2461,2572
$GC,11028,0.80,116.8,530.9,11.3,329,11032,0.12,2.22,0.00,0.000,4,0.225,0.049,2770,3877,2571
$GC,11126,0.80,116.8,520.8,10.3,331,11130,0.00,2.12,0.00,0.000,6,0.000,0.032,2779,2459,2571
$GC,11413,0.83,137.9,494.7,8.8,338,11433,0.00,2.25,15.77,0.984,4,0.000,0.051,2780,3871,2508
$GC,11463,0.83,137.9,489.0,12.6,339,11467,0.00,2.15,0.00,0.000,6,0.000,0.030,2789,2448,2507
$GC,11747,0.83,137.9,452.6,13.1,346,11751,0.00,2.25,0.00,0.000,4,0.000,0.048,2781,3870,2504
$GC,11947,0.83,137.9,424.2,13.5,350,11950,0.00,2.10,0.00,0.000,6,0.000,0.031,2790,2458,2504
$GC,12216,0.83,137.9,392.0,11.7,357,12219,0.00,2.25,0.00,0.000,4,0.000,0.051,2781,3878,2503
$GC,12449,0.83,137.9,364.2,11.0,362,12452,0.00,2.12,0.00,0.000,6,0.000,0.031,2789,2458,2503
$GC,12735,0.84,147.0,336.8,9.5,369,12749,0.00,2.12,9.10,0.830,4,0.000,0.034,2800,1052,2470
$GC,12871,0.84,147.0,322.9,10.3,372,12875,0.00,2.17,0.00,0.000,6,0.000,0.041,2793,2473,2468
$GC,13157,0.84,151.2,294.2,9.8,379,13167,0.00,2.15,4.95,0.673,4,0.000,0.032,2802,1042,2453
$GC,13424,0.84,151.2,264.0,11.3,385,13428,0.00,2.17,0.00,0.000,6,0.000,0.040,2794,2468,2453
$GC,13710,0.85,153.6,234.5,9.9,392,13719,0.00,2.12,3.88,0.554,4,0.000,0.031,2802,1054,2443
$GC,13976,0.91,208.0,210.2,6.9,397,14030,0.00,2.15,47.50,0.815,6,0.000,0.039,2793,2470,2221
$GC,14295,0.91,208.0,155.2,19.5,421,14299,0.00,2.15,0.00,0.000,4,0.000,0.031,2802,1041,2214
$GC,14500,0.91,208.0,117.2,15.6,439,14504,0.00,2.17,0.00,0.000,6,0.000,0.038,2794,2459,2213
$GC,14771,0.91,208.0,82.4,12.3,464,14775,0.00,2.10,0.00,0.000,4,0.000,0.030,2802,1042,2212
$GC,14864,1.01,285.3,75.4,5.5,472,14933,0.12,2.15,62.78,0.681,6,0.097,0.035,2844,2464,1907
$GC,15192,1.01,285.3,10.4,22.5,509,15201,0.00,2.22,0.00,0.000,4,0.000,0.044,2845,3868,1900
$STATE,15217,end climb,SURFACE_DEPTH_REACHED
$STATE,15218,begin surface coast
$FINISH,0.9,1.023154
$STATE,15224,end surface coast,CONTROL_FINISHED_OK
$STATE,15225,begin surface
$SM_CCo,15251,54.45,0.611,0,0,1397,410.13
$SM_GC,1.27,0.00,0.00,54.45,0.000,0.000,0.611,48,2462,1397,-7.70,-0.79,410.13
$IRIDIUM_FIX,2213.68,-15756.33,151100,181821
$TT8_MAMPS,0.023777
$HUMID,2093
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,22.00
$XPDR_PINGS,4
$24V_AH,24.0,9.788
$10V_AH,10.7,7.812
$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,17.725,158.875,349.725,54.450,0.000,26.009,38.270,404.211,1.000,0.000,0.000,14.965,1206.608,11088.712,465.870,2133.542,1066.638,33.357,1463.341,0.000,2105.039,0.000,0.544,0.000
$DEVICE_MAMPS,225.498,60.593,1306.201,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,349.279,598.022,617.070,100.461,462.338,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41504,514
$CAP_FILE_SIZE,126995,0
$CFSIZE,260165632,213659648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,35,1,0
$GPS,230811,032730,2223.720,-15754.042,39,1.3,39,10.0