version: 66.04
glider: 512
mission: 2
dive: 75
start: 8 24 111 6 56 12
data:
$ID,512
$MISSION,2
$DIVE,75
$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,-33962.426
$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,53
$R_STBD_OVSHOOT,27
$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
$GPS1,063154,2229.139,-15749.319,39,1.3,39,10.0
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-79.1
$GPS2,065514,2229.102,-15749.410,11,1.7,11,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp1
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.097,0.214
$KALMAN_X,5462.7,69.8,71.6,4939.9,-576.6
$KALMAN_Y,-51824.4,448.2,114.7,99143.7,-3586.5
$MHEAD_RNG_PITCHd_Wd,14.4,7727,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.80,-116.8,0.0,0.0,0,90,0.00,0.00,-67.93,0.000,2,0.000,0.000,47,2455,3165
$GC,96,-0.80,-116.8,3.3,-5.6,9,121,8.12,2.25,-7.03,0.000,4,0.206,0.054,2229,3900,3551
$GC,240,-0.80,-116.8,50.8,-24.1,26,244,0.00,2.08,0.00,0.000,6,0.000,0.024,2233,2488,3551
$GC,511,-0.80,-116.8,113.5,-20.4,51,515,0.00,2.03,0.00,0.000,4,0.000,0.026,2233,1084,3551
$GC,549,-0.80,-116.8,121.5,-19.4,54,553,0.00,2.15,0.00,0.000,6,0.000,0.039,2224,2499,3552
$GC,815,-0.80,-116.8,175.2,-19.7,78,818,0.00,2.15,0.00,0.000,4,0.000,0.048,2213,3898,3553
$GC,874,-0.80,-116.8,186.6,-17.1,83,879,0.12,2.05,0.00,0.000,6,0.136,0.022,2248,2478,3553
$GC,1131,-0.80,-116.8,225.8,-15.0,95,1135,0.00,2.00,0.00,0.000,4,0.000,0.026,2251,1085,3553
$GC,1161,-0.80,-116.8,230.4,-14.2,95,1165,0.00,2.12,0.00,0.000,6,0.000,0.038,2243,2493,3553
$GC,1424,-0.80,-116.8,266.8,-13.7,102,1428,0.00,2.15,0.00,0.000,4,0.000,0.049,2231,3896,3552
$GC,1494,-0.80,-116.8,276.2,-13.2,103,1498,0.00,2.03,0.00,0.000,6,0.000,0.024,2231,2489,3552
$GC,1763,-0.80,-116.8,310.5,-12.7,110,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2482,3550
$GC,2008,-0.80,-116.8,341.1,-12.5,116,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2482,3549
$GC,2251,-0.80,-116.8,370.8,-12.1,122,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2482,3547
$GC,2496,-0.80,-116.8,400.2,-12.1,128,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2482,3545
$GC,2739,-0.80,-116.8,430.8,-12.7,134,2743,0.00,2.20,0.00,0.000,4,0.000,0.051,2222,3899,3542
$GC,2768,-0.80,-116.8,434.9,-13.1,134,2772,0.00,2.05,0.00,0.000,6,0.000,0.026,2222,2491,3542
$GC,3034,-0.80,-116.8,470.2,-13.3,141,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2484,3541
$GC,3276,-0.80,-116.8,500.5,-12.2,147,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2484,3539
$GC,3520,-0.80,-116.8,528.7,-11.6,153,3524,0.00,2.20,0.00,0.000,4,0.000,0.052,2211,3895,3536
$GC,3561,-0.80,-116.8,533.9,-12.2,153,3568,0.15,2.08,0.00,0.000,6,0.126,0.028,2256,2490,3535
$GC,3813,-0.80,-116.8,555.6,-8.5,160,3817,0.00,2.05,0.00,0.000,4,0.000,0.031,2256,1083,3533
$GC,3838,-0.80,-116.8,557.8,-8.8,160,3842,0.00,2.15,0.00,0.000,6,0.000,0.044,2250,2486,3533
$GC,4107,-0.80,-116.8,580.7,-8.5,167,4111,0.00,2.20,0.00,0.000,4,0.000,0.055,2239,3899,3530
$GC,4182,-0.80,-116.8,587.3,-8.1,168,4186,0.00,2.08,0.00,0.000,6,0.000,0.029,2239,2487,3529
$GC,4446,-0.80,-116.8,611.3,-9.3,175,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2480,3528
$GC,4691,-0.80,-116.8,634.6,-9.6,181,4695,0.00,2.25,0.00,0.000,4,0.000,0.056,2227,3907,3526
$GC,4733,-0.80,-116.8,639.0,-10.2,182,4737,0.00,2.10,0.00,0.000,6,0.000,0.030,2227,2484,3525
$GC,5026,-0.80,-116.8,669.8,-10.3,189,5029,0.00,2.05,0.00,0.000,4,0.000,0.034,2227,1086,3523
$GC,5074,-0.80,-116.8,674.9,-9.9,190,5078,0.00,2.17,0.00,0.000,6,0.000,0.047,2223,2498,3523
$GC,5360,-0.80,-116.8,704.4,-10.6,197,5364,0.00,2.17,0.00,0.000,4,0.000,0.058,2212,3897,3521
$GC,5440,-0.80,-116.8,713.3,-10.6,198,5444,0.12,2.10,0.00,0.000,6,0.128,0.031,2249,2478,3520
$GC,5692,-0.80,-116.8,735.7,-8.8,204,5696,0.00,2.05,0.00,0.000,4,0.000,0.034,2248,1081,3519
$GC,5723,-0.80,-116.8,738.5,-9.7,204,5727,0.00,2.17,0.00,0.000,6,0.000,0.048,2249,2490,3519
$GC,5988,-0.80,-116.8,761.4,-8.8,211,5991,0.00,2.22,0.00,0.000,4,0.000,0.058,2239,3906,3517
$GC,6046,-0.80,-116.8,766.9,-9.2,212,6049,0.00,2.10,0.00,0.000,6,0.000,0.031,2238,2488,3517
$GC,6327,-0.80,-116.8,792.7,-9.2,219,6331,0.00,2.08,0.00,0.000,4,0.000,0.035,2238,1081,3515
$GC,6368,-0.80,-116.8,796.6,-9.2,219,6374,0.00,2.20,0.00,0.000,6,0.000,0.049,2237,2501,3515
$GC,6622,-0.80,-116.8,819.4,-9.1,226,6626,0.00,2.20,0.00,0.000,4,0.000,0.059,2226,3898,3514
$GC,6703,-0.80,-116.8,827.2,-9.2,227,6706,0.00,2.10,0.00,0.000,6,0.000,0.032,2225,2486,3514
$GC,6961,-0.80,-116.8,853.0,-10.1,234,6965,0.00,2.08,0.00,0.000,4,0.000,0.035,2226,1082,3513
$GC,6998,-0.80,-116.8,856.9,-10.7,234,7002,0.00,2.17,0.00,0.000,6,0.000,0.048,2223,2490,3512
$GC,7250,-0.80,-116.8,882.6,-10.3,240,7254,0.00,2.22,0.00,0.000,4,0.000,0.059,2212,3903,3511
$GC,7325,-0.80,-116.8,890.8,-10.9,241,7330,0.12,2.10,0.00,0.000,6,0.130,0.032,2248,2492,3511
$STATE,7455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7455,begin apogee
$GC,7467,-0.27,0.0,901.9,8.1,245,7563,0.52,0.00,93.45,1.301,6,0.110,0.000,2427,2484,3070
$STATE,7564,end apogee,CONTROL_FINISHED_OK
$STATE,7564,begin climb
$GC,7569,0.80,116.8,905.4,0.0,247,7693,0.95,2.33,110.45,1.252,4,0.044,0.032,2789,1046,2592
$GC,7843,0.80,116.8,892.6,16.0,254,7847,0.00,2.25,0.00,0.000,6,0.000,0.041,2781,2468,2584
$GC,8130,0.80,116.8,843.6,17.5,261,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2468,2580
$GC,8372,0.80,116.8,801.4,17.3,267,8376,0.00,2.20,0.00,0.000,4,0.000,0.049,2780,3870,2578
$GC,8453,0.80,116.8,786.6,17.5,268,8457,0.00,2.12,0.00,0.000,6,0.000,0.030,2789,2456,2577
$GC,8710,0.80,116.8,744.2,16.4,275,8714,0.00,2.22,0.00,0.000,4,0.000,0.049,2781,3869,2576
$GC,8774,0.80,116.8,733.4,17.8,276,8778,0.00,2.12,0.00,0.000,6,0.000,0.030,2789,2453,2576
$GC,9049,0.80,116.8,691.1,15.1,283,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2447,2574
$GC,9294,0.80,116.8,655.7,14.6,289,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2448,2574
$GC,9536,0.80,116.8,622.0,13.9,295,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2447,2573
$GC,9781,0.80,116.8,588.8,13.9,301,9784,0.00,2.22,0.00,0.000,4,0.000,0.049,2781,3878,2573
$GC,10042,0.80,116.8,554.4,13.0,306,10046,0.00,2.12,0.00,0.000,6,0.000,0.031,2790,2454,2572
$GC,10300,0.81,119.7,527.7,9.8,313,10304,0.00,2.22,0.00,0.000,4,0.000,0.050,2781,3877,2571
$GC,10561,0.81,119.7,502.7,10.3,318,10565,0.00,2.12,0.00,0.000,6,0.000,0.032,2791,2456,2571
$GC,10819,0.84,145.4,479.8,8.5,325,10843,0.00,0.00,22.42,0.999,6,0.000,0.000,2790,2450,2477
$GC,11063,0.84,145.4,450.4,13.0,331,11067,0.00,2.25,0.00,0.000,4,0.000,0.050,2781,3877,2472
$GC,11094,0.84,145.4,445.9,15.2,331,11098,0.00,2.15,0.00,0.000,6,0.000,0.031,2790,2458,2472
$GC,11352,0.84,145.4,410.6,13.4,338,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2452,2471
$GC,11597,0.84,145.4,378.4,13.0,344,11600,0.00,2.08,0.00,0.000,4,0.000,0.034,2800,1047,2470
$GC,11858,0.84,145.4,346.5,10.8,349,11862,0.00,2.17,0.00,0.000,6,0.000,0.042,2793,2470,2469
$GC,12118,0.84,145.4,319.7,10.3,356,12122,0.00,2.10,0.00,0.000,4,0.000,0.031,2802,1042,2469
$GC,12215,0.84,145.4,309.1,10.5,358,12219,0.00,2.17,0.00,0.000,6,0.000,0.039,2793,2471,2469
$GC,12502,0.84,145.4,278.7,10.5,365,12506,0.00,2.15,0.00,0.000,4,0.000,0.048,2793,3867,2469
$GC,12520,0.84,145.4,276.5,10.3,365,12524,0.00,2.10,0.00,0.000,6,0.000,0.028,2802,2444,2469
$GC,12795,0.88,184.1,253.6,7.8,372,12837,0.00,2.10,33.03,0.851,4,0.000,0.031,2813,1063,2318
$GC,13093,0.88,184.1,209.4,14.4,378,13097,0.00,2.15,0.00,0.000,6,0.000,0.038,2809,2461,2313
$GC,13354,0.88,184.1,168.5,15.6,396,13358,0.00,2.08,0.00,0.000,4,0.000,0.031,2819,1060,2312
$GC,13603,0.88,184.1,134.3,11.8,418,13607,0.00,2.12,0.00,0.000,6,0.000,0.037,2818,2462,2312
$GC,13875,0.88,184.1,102.0,12.5,443,13879,0.00,2.08,0.00,0.000,4,0.000,0.029,2828,1046,2312
$GC,13995,0.88,184.1,87.6,11.8,453,14002,0.00,2.15,0.00,0.000,6,0.000,0.035,2822,2454,2312
$GC,14261,1.02,294.5,70.9,3.6,478,14357,0.00,2.17,89.00,0.663,4,0.000,0.030,2831,1063,1867
$GC,14500,1.02,294.5,31.7,21.5,499,14504,0.00,2.15,0.00,0.000,6,0.000,0.036,2831,2456,1860
$STATE,14606,end climb,SURFACE_DEPTH_REACHED
$STATE,14606,begin surface coast
$FINISH,0.3,1.023258
$STATE,14624,end surface coast,CONTROL_FINISHED_OK
$STATE,14624,begin surface
$SM_CCo,14648,49.10,0.591,0,0,1397,410.13
$SM_GC,1.21,0.00,0.00,49.10,0.000,0.000,0.591,47,2457,1397,-7.70,-0.90,410.13
$IRIDIUM_FIX,2220.67,-15745.06,171100,060626
$TT8_MAMPS,0.023777
$HUMID,2043
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.10
$XPDR_PINGS,8
$24V_AH,24.1,10.940
$10V_AH,10.7,8.610
$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,17.375,132.675,348.350,49.100,0.000,137.492,350.794,469.036,2.000,0.000,0.000,11.594,1160.714,10914.956,448.927,2016.251,1557.888,33.356,1359.978,0.000,2002.023,0.000,0.544,0.000
$DEVICE_MAMPS,206.323,59.059,1300.832,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,353.141,647.636,665.711,118.524,538.822,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41510,520
$CAP_FILE_SIZE,121091,0
$CFSIZE,260165632,213229568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,1,0
$GPS,240811,110307,2229.688,-15748.435,69,1.0,69,10.0