version: 66.04
glider: 512
mission: 4
dive: 45
start: 9 24 113 8 44 54
data:
$ID,512
$MISSION,4
$DIVE,45
$D_SURF,3
$D_FLARE,2
$D_TGT,900
$D_ABORT,990
$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,350
$T_MISSION,650
$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,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$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,576.69092
$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,-107369.8
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2698
$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,30
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,2
$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,0.004340203
$SEABIRD_T_H,0.00063076179
$SEABIRD_T_I,2.430566e-05
$SEABIRD_T_J,2.6124515e-06
$SEABIRD_C_G,-9.8985863
$SEABIRD_C_H,1.1020875
$SEABIRD_C_I,-0.0015707363
$SEABIRD_C_J,0.00019845086
$GPS1,080936,2228.330,-15742.285,63,0.8,63,10.0
$_CALLS,5
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-81.0
$GPS2,084401,2228.487,-15742.440,12,1.6,12,10.0
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.215,-0.105
$KALMAN_X,237.3,-869.2,-250.9,30984.3,5172.8
$KALMAN_Y,20316.0,-489.9,101.5,-48797.4,2223.5
$MHEAD_RNG_PITCHd_Wd,234.0,90035,-15.7,-8.571
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.58,-136.3,0.0,0.0,0,86,0.00,0.00,-66.38,0.000,2,0.000,0.000,10,2579,2784
$GC,92,-0.58,-136.3,2.4,-2.0,8,120,9.25,1.52,-12.65,0.000,4,0.205,0.055,2494,3615,3307
$GC,387,-0.58,-136.3,80.2,-20.6,39,391,0.00,1.58,0.00,0.000,6,0.000,0.020,2497,2521,3307
$GC,658,-0.58,-136.3,135.9,-19.3,64,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2513,3308
$GC,924,-0.58,-136.3,187.5,-17.4,89,928,0.00,1.65,0.00,0.000,4,0.000,0.039,2491,3607,3308
$GC,987,-0.58,-136.3,198.0,-15.9,94,995,0.00,1.50,0.00,0.000,6,0.000,0.020,2497,2548,3308
$GC,1253,-0.58,-136.3,240.5,-16.3,102,1256,0.00,1.60,0.00,0.000,4,0.000,0.041,2491,3622,3308
$GC,1304,-0.58,-136.3,248.9,-16.6,103,1307,0.00,1.50,0.00,0.000,6,0.000,0.021,2496,2564,3307
$GC,1597,-0.58,-136.3,292.1,-14.1,110,1601,0.00,1.45,0.00,0.000,4,0.000,0.022,2504,1510,3307
$GC,1723,-0.58,-136.3,307.2,-10.2,112,1727,0.00,1.58,0.00,0.000,6,0.000,0.036,2499,2561,3306
$GC,1983,-0.58,-136.3,337.2,-11.8,119,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2562,3304
$GC,2227,-0.58,-136.3,366.0,-11.8,125,2230,0.00,1.50,0.00,0.000,4,0.000,0.023,2504,1501,3302
$GC,2290,-0.58,-136.3,373.1,-9.8,126,2293,0.00,1.60,0.00,0.000,6,0.000,0.038,2498,2584,3301
$GC,2568,-0.58,-136.3,406.8,-12.9,133,2571,0.00,1.55,0.00,0.000,4,0.000,0.048,2490,3613,3299
$GC,2617,-0.58,-136.3,413.3,-12.3,134,2621,0.00,1.48,0.00,0.000,6,0.000,0.023,2496,2574,3298
$GC,2912,-0.58,-136.3,447.4,-11.6,141,2916,0.00,1.48,-0.08,0.000,4,0.000,0.044,2504,1490,3320
$GC,2952,-0.58,-136.3,452.4,-11.6,141,2962,0.00,1.62,0.00,0.000,6,0.000,0.041,2498,2560,3320
$GC,3209,-0.58,-136.3,480.1,-11.0,148,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2560,3317
$GC,3453,-0.58,-136.3,507.7,-11.3,154,3456,0.00,1.60,0.00,0.000,4,0.000,0.050,2489,3634,3315
$GC,3488,-0.58,-136.3,512.6,-12.2,154,3492,0.00,1.55,0.00,0.000,6,0.000,0.025,2496,2555,3315
$GC,3748,-0.58,-136.3,542.6,-11.4,161,3751,0.00,1.48,0.00,0.000,4,0.000,0.026,2503,1496,3312
$GC,3844,-0.58,-136.3,551.9,-8.7,163,3847,0.00,1.60,0.00,0.000,6,0.000,0.043,2498,2539,3312
$GC,4137,-0.58,-136.3,579.6,-9.1,170,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2539,3309
$GC,4381,-0.58,-136.3,605.3,-10.8,176,4385,0.00,1.62,0.00,0.000,4,0.000,0.051,2489,3623,3307
$GC,4417,-0.58,-136.3,609.8,-12.0,176,4420,0.00,1.58,0.00,0.000,6,0.000,0.027,2496,2538,3306
$GC,4677,-0.58,-136.3,639.3,-11.6,183,4680,0.00,1.65,0.00,0.000,4,0.000,0.050,2489,3617,3303
$GC,4730,-0.58,-136.3,645.9,-11.6,184,4733,0.00,1.52,0.00,0.000,6,0.000,0.028,2495,2562,3303
$GC,5018,-0.58,-136.3,675.4,-10.0,191,5022,0.00,1.50,0.00,0.000,4,0.000,0.028,2503,1497,3301
$GC,5068,-0.58,-136.3,680.1,-9.0,192,5071,0.00,1.62,0.00,0.000,6,0.000,0.045,2497,2569,3301
$GC,5363,-0.58,-136.3,706.0,-8.8,199,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2570,3299
$GC,5608,-0.58,-136.3,725.6,-7.9,205,5611,0.00,1.60,0.00,0.000,4,0.000,0.054,2488,3631,3297
$GC,5676,-0.58,-136.3,732.3,-9.1,206,5680,0.00,1.55,0.00,0.000,6,0.000,0.028,2495,2564,3297
$GC,5948,-0.58,-136.3,755.0,-8.5,213,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2555,3295
$GC,6192,-0.58,-136.3,776.3,-8.7,219,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2555,3294
$GC,6435,-0.58,-136.3,798.5,-9.1,225,6439,0.00,1.50,0.00,0.000,4,0.000,0.031,2502,1511,3292
$GC,6516,-0.58,-136.3,805.8,-8.2,226,6520,0.00,1.60,0.00,0.000,6,0.000,0.047,2496,2566,3292
$GC,6777,-0.58,-136.3,826.9,-8.2,233,6781,0.00,1.55,0.00,0.000,4,0.000,0.031,2501,1501,3291
$GC,6813,-0.58,-136.3,830.1,-7.9,233,6816,0.00,1.60,0.00,0.000,6,0.000,0.049,2496,2552,3291
$GC,7073,-0.58,-136.3,849.6,-7.6,240,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2552,3290
$GC,7317,-0.58,-136.3,868.8,-8.0,246,7320,0.00,1.52,0.00,0.000,4,0.000,0.030,2501,1504,3288
$GC,7368,-0.58,-136.3,872.8,-7.5,247,7372,0.00,1.60,0.00,0.000,6,0.000,0.049,2496,2530,3288
$GC,7662,-0.58,-136.3,896.7,-8.2,254,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2530,3287
$STATE,7697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7697,begin apogee
$GC,7709,-0.23,0.0,900.0,8.3,255,7827,0.38,0.00,116.07,1.268,6,0.116,0.000,2621,2218,2750
$STATE,7828,end apogee,CONTROL_FINISHED_OK
$STATE,7828,begin climb
$GC,7833,0.58,136.3,902.7,0.0,258,7969,0.73,0.00,126.18,1.197,6,0.065,0.000,2877,2218,2194
$GC,8210,0.58,136.3,831.9,22.6,267,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2218,2184
$GC,8454,0.58,136.3,777.2,22.5,273,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2218,2182
$GC,8698,0.58,136.3,724.0,21.7,279,8701,0.00,1.70,0.00,0.000,4,0.000,0.052,2877,3301,2181
$GC,8729,0.58,136.3,716.9,23.3,279,8732,0.00,1.60,0.00,0.000,6,0.000,0.031,2884,2225,2180
$GC,8996,0.58,136.3,661.5,20.9,286,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2219,2179
$GC,9240,0.58,136.3,610.3,20.7,292,9244,0.00,1.67,0.00,0.000,4,0.000,0.051,2884,3295,2178
$GC,9264,0.58,136.3,604.3,20.4,292,9268,0.00,1.65,0.00,0.000,6,0.000,0.031,2890,2199,2179
$GC,9536,0.58,136.3,549.4,20.4,299,9539,0.00,1.70,0.00,0.000,4,0.000,0.051,2891,3286,2178
$GC,9560,0.58,136.3,543.7,20.9,299,9563,0.00,1.60,0.00,0.000,6,0.000,0.031,2898,2197,2177
$GC,9831,0.58,136.3,487.3,21.3,306,9835,0.00,1.52,0.00,0.000,4,0.000,0.032,2906,1158,2177
$GC,9855,0.58,136.3,481.6,21.2,306,9859,0.00,1.67,0.00,0.000,6,0.000,0.044,2905,2235,2177
$GC,10128,0.58,136.3,424.7,21.3,313,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2235,2177
$GC,10373,0.58,136.3,374.1,20.2,319,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2235,2176
$GC,10616,0.58,136.3,327.9,19.4,325,10620,0.00,1.62,0.00,0.000,4,0.000,0.050,2906,3308,2177
$GC,10666,0.58,136.3,317.2,21.6,326,10670,0.00,1.62,0.00,0.000,6,0.000,0.030,2911,2204,2176
$GC,10960,0.58,136.3,259.7,18.9,333,10963,0.00,1.67,0.00,0.000,4,0.000,0.048,2912,3288,2176
$GC,10996,0.58,136.3,252.7,18.6,333,11000,0.15,1.60,0.00,0.000,6,0.188,0.029,2884,2188,2175
$GC,11256,0.58,136.3,217.5,13.5,340,11260,0.00,1.48,0.00,0.000,4,0.000,0.031,2890,1153,2175
$GC,11286,0.58,136.3,212.9,14.7,340,11290,0.00,1.65,0.00,0.000,6,0.000,0.042,2891,2224,2175
$GC,11550,0.58,136.3,173.9,13.5,358,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2224,2175
$GC,11817,0.58,136.3,142.7,12.1,383,11820,0.00,1.62,0.00,0.000,4,0.000,0.048,2890,3306,2176
$GC,11847,0.58,136.3,137.9,14.8,385,11855,0.00,1.62,0.00,0.000,6,0.000,0.028,2898,2200,2175
$GC,12113,0.58,136.3,100.0,14.1,410,12116,0.00,1.67,0.00,0.000,4,0.000,0.045,2898,3298,2175
$GC,12199,0.58,136.3,89.1,10.7,417,12202,0.00,1.60,0.00,0.000,6,0.000,0.025,2902,2209,2176
$GC,12472,0.58,136.3,56.2,11.6,442,12475,0.00,1.65,0.00,0.000,4,0.000,0.044,2902,3279,2175
$GC,12502,0.58,136.3,52.4,10.3,444,12512,0.00,1.52,0.00,0.000,6,0.000,0.025,2910,2218,2176
$GC,12769,0.59,177.3,31.8,6.8,469,12808,0.00,1.50,31.33,0.596,4,0.000,0.028,2914,1174,2029
$GC,12990,0.59,177.3,13.1,10.8,501,12999,0.00,1.58,0.00,0.000,6,0.000,0.036,2914,2207,2026
$STATE,13085,end climb,SURFACE_DEPTH_REACHED
$STATE,13085,begin surface coast
$FINISH,0.2,1.009861
$STATE,13129,end surface coast,CONTROL_FINISHED_OK
$STATE,13129,begin surface
$SM_CCo,13154,184.02,0.545,0,0,398,576.69
$SM_GC,1.09,0.00,0.00,184.02,0.000,0.000,0.545,34,2562,398,-8.29,0.34,576.69
$IRIDIUM_FIX,2220.67,-15740.74,191202,080828
$TT8_MAMPS,0.023777
$HUMID,2129
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.30
$XPDR_PINGS,5
$24V_AH,24.1,6.520
$10V_AH,10.7,6.575
$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,17.775,86.350,273.575,184.025,0.000,143.958,176.693,1293.065,1.250,0.000,0.000,12.995,1095.078,9028.915,508.321,2590.095,2179.940,33.355,1295.469,0.000,2614.177,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,55.224,1267.851,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,356.449,1719.663,1781.055,251.853,1203.059,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44650,522
$CAP_FILE_SIZE,120870,0
$CFSIZE,260165632,255541248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240913,122836,2227.450,-15744.082,36,1.3,36,10.0