version: 66.04
glider: 512
mission: 4
dive: 48
start: 9 24 113 21 2 25
data:
$ID,512
$MISSION,4
$DIVE,48
$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,130
$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,380
$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,-107420.64
$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,2570
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2790
$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
$GPS1,204106,2225.972,-15746.662,30,0.8,30,10.0
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-81.8
$GPS2,210131,2226.106,-15746.599,16,1.0,16,10.0
$SPEED_LIMITS,0.122,0.231
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.219,-0.074
$KALMAN_X,4850.5,-105.3,-150.5,18394.2,4569.1
$KALMAN_Y,21903.4,-198.1,-125.3,-54866.1,1557.5
$MHEAD_RNG_PITCHd_Wd,241.3,82855,-16.4,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.60,-126.5,0.0,0.0,0,98,0.00,0.00,-74.10,0.000,2,0.000,0.000,10,2562,2954
$GC,104,-0.60,-126.5,2.1,-1.7,9,130,9.27,1.52,-7.95,0.000,4,0.206,0.041,2502,1495,3306
$GC,276,-0.60,-126.5,52.1,-27.8,29,285,0.00,1.62,0.00,0.000,6,0.000,0.035,2496,2563,3307
$GC,541,-0.60,-126.5,118.3,-19.6,54,545,0.00,1.50,0.00,0.000,4,0.000,0.021,2502,1502,3307
$GC,592,-0.60,-126.5,128.9,-21.0,58,596,0.00,1.58,0.00,0.000,6,0.000,0.035,2496,2545,3307
$GC,863,-0.60,-126.5,183.1,-18.2,83,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2545,3308
$GC,1134,-0.60,-126.5,226.8,-16.1,97,1137,0.00,1.60,0.00,0.000,4,0.000,0.043,2488,3637,3308
$GC,1219,-0.60,-126.5,240.9,-15.1,98,1227,0.00,1.60,0.00,0.000,6,0.000,0.020,2494,2513,3308
$GC,1474,-0.60,-126.5,280.7,-16.4,105,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2505,3307
$GC,1717,-0.60,-126.5,313.5,-13.3,111,1721,0.00,1.40,0.00,0.000,4,0.000,0.022,2502,1492,3305
$GC,1770,-0.60,-126.5,319.6,-11.4,112,1773,0.00,1.58,0.00,0.000,6,0.000,0.037,2496,2534,3305
$GC,2063,-0.60,-126.5,356.1,-12.4,119,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2534,3304
$GC,2307,-0.60,-126.5,386.2,-12.3,125,2310,0.00,1.62,0.00,0.000,4,0.000,0.045,2487,3633,3302
$GC,2416,-0.60,-126.5,400.8,-12.6,127,2419,0.00,1.62,0.00,0.000,6,0.000,0.022,2493,2493,3301
$GC,2692,-0.60,-126.5,432.6,-11.4,134,2696,0.00,1.73,0.00,0.000,4,0.000,0.045,2487,3631,3298
$GC,2716,-0.60,-126.5,435.8,-11.7,134,2720,0.00,1.60,-0.08,0.000,6,0.000,0.023,2493,2489,3322
$GC,2988,-0.60,-126.5,467.5,-12.1,141,2991,0.00,1.38,0.00,0.000,4,0.000,0.025,2501,1496,3320
$GC,3069,-0.60,-126.5,477.5,-11.5,142,3072,0.00,1.55,0.00,0.000,6,0.000,0.041,2495,2519,3319
$GC,3329,-0.60,-126.5,506.7,-11.4,149,3333,0.00,1.70,0.00,0.000,4,0.000,0.050,2487,3632,3317
$GC,3392,-0.60,-126.5,514.8,-12.7,150,3395,0.00,1.60,0.00,0.000,6,0.000,0.025,2493,2505,3316
$GC,3670,-0.60,-126.5,545.2,-11.2,157,3674,0.00,1.73,0.00,0.000,4,0.000,0.048,2486,3637,3314
$GC,3711,-0.60,-126.5,550.6,-12.4,157,3719,0.00,1.60,0.00,0.000,6,0.000,0.025,2486,2523,3313
$GC,3965,-0.60,-126.5,579.7,-11.6,164,3969,0.00,1.40,0.00,0.000,4,0.000,0.026,2486,1526,3312
$GC,4017,-0.60,-126.5,585.7,-11.5,165,4020,0.00,1.55,0.00,0.000,6,0.000,0.043,2480,2535,3312
$GC,4311,-0.60,-126.5,622.2,-12.3,172,4315,0.00,1.65,0.00,0.000,4,0.000,0.051,2472,3637,3309
$GC,4436,-0.60,-126.5,638.4,-12.2,174,4440,0.05,1.55,0.00,0.000,6,0.127,0.026,2501,2553,3307
$GC,4697,-0.60,-126.5,664.0,-9.8,181,4700,0.00,1.45,0.00,0.000,4,0.000,0.028,2508,1526,3305
$GC,4782,-0.60,-126.5,672.4,-9.6,182,4790,0.00,1.58,0.00,0.000,6,0.000,0.044,2503,2552,3304
$GC,5037,-0.60,-126.5,697.2,-10.0,189,5040,0.00,1.62,0.00,0.000,4,0.000,0.051,2494,3632,3303
$GC,5087,-0.60,-126.5,702.6,-10.9,190,5091,0.00,1.55,0.00,0.000,6,0.000,0.027,2500,2564,3302
$GC,5381,-0.60,-126.5,729.5,-8.8,197,5385,0.00,1.48,0.00,0.000,4,0.000,0.029,2509,1519,3300
$GC,5433,-0.60,-126.5,733.9,-7.5,198,5437,0.00,1.58,0.00,0.000,6,0.000,0.045,2503,2540,3300
$GC,5723,-0.60,-126.5,756.0,-7.8,205,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2540,3298
$GC,5968,-0.60,-126.5,776.0,-8.3,211,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2540,3297
$GC,6211,-0.60,-126.5,798.8,-9.5,217,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2540,3296
$GC,6455,-0.60,-126.5,822.6,-9.7,223,6458,0.00,1.67,0.00,0.000,4,0.000,0.055,2494,3642,3294
$GC,6479,-0.60,-126.5,825.3,-9.1,223,6483,0.00,1.60,0.00,0.000,6,0.000,0.030,2500,2550,3294
$GC,6750,-0.60,-126.5,847.5,-8.0,230,6754,0.00,1.48,0.00,0.000,4,0.000,0.031,2508,1514,3292
$GC,6814,-0.60,-126.5,852.3,-6.4,231,6817,0.00,1.60,0.00,0.000,6,0.000,0.048,2502,2567,3292
$GC,7092,-0.60,-126.5,870.4,-6.5,238,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2567,3292
$GC,7337,-0.60,-126.5,887.2,-6.9,244,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2567,3290
$STATE,7532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7532,begin apogee
$GC,7544,-0.23,0.0,902.2,7.4,249,7655,0.35,0.00,107.80,1.262,6,0.117,0.000,2618,2221,2790
$STATE,7656,end apogee,CONTROL_FINISHED_OK
$STATE,7656,begin climb
$GC,7661,0.60,126.5,904.7,0.0,252,7790,0.77,0.00,119.43,1.196,6,0.069,0.000,2889,2221,2274
$GC,8035,0.60,126.5,834.7,22.2,261,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2221,2263
$GC,8279,0.60,126.5,781.0,22.0,267,8282,0.00,1.67,0.00,0.000,4,0.000,0.051,2889,3282,2261
$GC,8360,0.60,126.5,761.4,24.0,268,8363,0.00,1.60,0.00,0.000,6,0.000,0.031,2896,2211,2261
$GC,8619,0.60,126.5,704.5,21.8,275,8623,0.00,1.55,0.00,0.000,4,0.000,0.034,2905,1161,2260
$GC,8655,0.60,126.5,696.3,20.5,275,8658,0.00,1.65,0.00,0.000,6,0.000,0.045,2904,2230,2259
$GC,8915,0.60,126.5,638.9,22.2,282,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2230,2258
$GC,9159,0.60,126.5,588.1,20.3,288,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2230,2258
$GC,9402,0.60,126.5,537.8,20.3,294,9406,0.00,1.62,0.00,0.000,4,0.000,0.050,2905,3298,2257
$GC,9420,0.60,126.5,533.5,19.7,294,9424,0.00,1.62,0.00,0.000,6,0.000,0.031,2911,2216,2257
$GC,9699,0.60,126.5,478.5,19.4,301,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2211,2256
$GC,9943,0.60,126.5,432.3,18.9,307,9947,0.00,1.55,0.00,0.000,4,0.000,0.033,2919,1164,2256
$GC,9962,0.60,126.5,427.6,19.0,307,9965,0.00,1.60,0.00,0.000,6,0.000,0.044,2918,2214,2256
$GC,10238,0.60,126.5,373.9,19.3,314,10242,0.00,1.65,0.00,0.000,4,0.000,0.050,2918,3279,2255
$GC,10290,0.60,126.5,363.2,20.7,315,10295,0.12,1.58,0.00,0.000,6,0.181,0.030,2895,2224,2255
$GC,10579,0.60,126.5,316.6,16.0,322,10581,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2217,2254
$GC,10824,0.60,126.5,280.2,14.4,328,10828,0.00,1.65,0.00,0.000,4,0.000,0.050,2891,3292,2254
$GC,10893,0.60,126.5,269.3,15.4,329,10897,0.00,1.58,0.00,0.000,6,0.000,0.029,2897,2228,2255
$GC,11164,0.60,126.5,230.4,15.0,336,11168,0.00,1.52,0.00,0.000,4,0.000,0.031,2905,1171,2255
$GC,11194,0.60,126.5,225.1,16.4,336,11198,0.00,1.67,0.00,0.000,6,0.000,0.043,2905,2256,2255
$GC,11453,0.60,126.5,188.0,12.7,348,11457,0.00,1.58,0.00,0.000,4,0.000,0.047,2904,3288,2254
$GC,11548,0.60,126.5,175.0,14.0,356,11552,0.00,1.50,0.00,0.000,6,0.000,0.027,2911,2263,2255
$GC,11824,0.60,126.5,136.6,12.5,381,11828,0.00,1.58,0.00,0.000,4,0.000,0.030,2915,1168,2255
$GC,11933,0.60,126.5,124.5,9.2,390,11942,0.00,1.65,0.00,0.000,6,0.000,0.038,2915,2253,2254
$GC,12199,0.60,126.5,91.1,12.6,415,12203,0.00,1.60,0.00,0.000,4,0.000,0.027,2924,1157,2255
$GC,12369,0.60,126.5,69.0,13.5,429,12373,0.00,1.62,0.00,0.000,6,0.000,0.038,2918,2225,2255
$GC,12645,0.61,163.1,43.6,6.9,454,12677,0.00,1.55,28.20,0.610,4,0.000,0.025,2924,1158,2124
$GC,12880,0.61,163.1,22.6,9.1,478,12888,0.08,1.55,0.00,0.000,6,0.126,0.036,2898,2176,2120
$STATE,13124,end climb,SURFACE_DEPTH_REACHED
$STATE,13124,begin surface coast
$FINISH,0.2,1.011798
$STATE,13163,end surface coast,CONTROL_FINISHED_OK
$STATE,13163,begin surface
$SM_CCo,13188,89.38,0.546,0,0,1239,380.21
$SM_GC,1.18,0.00,0.00,89.38,0.000,0.000,0.546,27,2590,1239,-8.32,0.57,380.21
$IRIDIUM_FIX,2216.01,-15743.78,191202,202035
$TT8_MAMPS,0.023777
$HUMID,2174
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.30
$XPDR_PINGS,7
$24V_AH,24.1,6.994
$10V_AH,10.7,7.125
$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,17.850,86.525,255.425,89.375,0.000,51.041,72.419,862.261,1.750,0.000,0.000,16.206,1114.747,8836.344,411.541,2643.060,1496.173,33.361,1207.149,0.000,2646.241,0.000,0.545,0.000
$DEVICE_MAMPS,206.323,55.224,1262.482,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,357.780,1724.489,1777.112,224.881,1207.300,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44693,524
$CAP_FILE_SIZE,109629,0
$CFSIZE,260165632,255381504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250913,004523,2224.984,-15748.124,35,1.1,52,10.0