version: 66.04
glider: 512
mission: 4
dive: 49
start: 9 25 113 1 0 43
data:
$ID,512
$MISSION,4
$DIVE,49
$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,-107457.62
$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,61
$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,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
$GPS1,004523,2224.984,-15748.124,35,1.1,52,10.0
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-82.6
$GPS2,005951,2225.005,-15748.174,16,4.1,35,10.0
$SPEED_LIMITS,0.122,0.231
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.202,-0.113
$KALMAN_X,6925.7,-290.4,-372.8,14036.1,5256.4
$KALMAN_Y,21896.5,-533.8,-444.1,-56239.0,2342.6
$MHEAD_RNG_PITCHd_Wd,230.6,80207,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.60,-126.5,0.0,0.0,0,99,0.00,0.00,-74.40,0.000,2,0.000,0.000,10,2587,2996
$GC,105,-0.60,-126.5,2.2,-1.7,9,132,9.23,1.55,-6.75,0.000,4,0.206,0.040,2500,1492,3308
$GC,238,-0.60,-126.5,43.5,-27.4,25,241,0.00,1.60,0.00,0.000,6,0.000,0.035,2494,2567,3309
$GC,509,-0.60,-126.5,109.1,-21.6,50,513,0.00,1.60,0.00,0.000,4,0.000,0.041,2486,3653,3310
$GC,549,-0.60,-126.5,118.2,-23.5,53,553,0.00,1.55,0.00,0.000,6,0.000,0.021,2491,2587,3311
$GC,820,-0.60,-126.5,170.5,-19.2,78,824,0.00,1.50,0.00,0.000,4,0.000,0.022,2499,1513,3311
$GC,949,-0.60,-126.5,192.6,-16.0,89,952,0.00,1.62,0.00,0.000,6,0.000,0.037,2493,2586,3311
$GC,1241,-0.60,-126.5,239.3,-15.2,99,1244,0.00,1.58,0.00,0.000,4,0.000,0.043,2485,3638,3311
$GC,1316,-0.60,-126.5,251.9,-15.6,100,1319,0.00,1.50,0.00,0.000,6,0.000,0.021,2490,2577,3311
$GC,1582,-0.60,-126.5,291.1,-14.9,107,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2569,3310
$GC,1825,-0.60,-126.5,323.8,-13.5,113,1828,0.00,1.45,0.00,0.000,4,0.000,0.023,2492,1528,3309
$GC,1860,-0.60,-126.5,329.2,-13.6,113,1864,0.00,1.62,0.00,0.000,6,0.000,0.037,2486,2625,3308
$GC,2120,-0.60,-126.5,365.7,-14.1,120,2124,0.00,1.55,0.00,0.000,4,0.000,0.023,2486,1535,3307
$GC,2156,-0.60,-126.5,371.4,-14.3,120,2160,0.00,1.60,0.00,0.000,6,0.000,0.039,2480,2610,3307
$GC,2417,-0.60,-126.5,409.3,-14.9,127,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2610,3305
$GC,2662,-0.60,-126.5,445.3,-14.7,133,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2610,3303
$GC,2906,-0.60,-126.5,477.5,-13.2,139,2909,0.00,1.55,0.00,0.000,4,0.000,0.026,2480,1535,3300
$GC,2969,-0.60,-126.5,486.0,-11.6,140,2973,0.08,1.62,0.00,0.000,6,0.153,0.041,2498,2600,3300
$GC,3245,-0.60,-126.5,512.2,-9.6,147,3249,0.00,1.52,0.00,0.000,4,0.000,0.025,2505,1536,3297
$GC,3376,-0.60,-126.5,524.1,-8.8,149,3384,0.00,1.60,0.00,0.000,6,0.000,0.040,2500,2583,3296
$GC,3631,-0.60,-126.5,550.9,-11.0,156,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2583,3294
$GC,3875,-0.60,-126.5,578.0,-10.9,162,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2583,3292
$GC,4118,-0.60,-126.5,602.9,-10.1,168,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2584,3290
$GC,4362,-0.60,-126.5,626.6,-9.6,174,4366,0.00,1.52,0.00,0.000,4,0.000,0.028,2505,1527,3288
$GC,4432,-0.60,-126.5,633.5,-9.8,175,4435,0.00,1.60,0.00,0.000,6,0.000,0.044,2499,2589,3288
$GC,4703,-0.60,-126.5,663.3,-11.8,182,4707,0.00,1.60,0.00,0.000,4,0.000,0.054,2491,3631,3285
$GC,4743,-0.60,-126.5,669.2,-13.6,182,4752,0.00,1.50,0.00,0.000,6,0.000,0.028,2497,2589,3285
$GC,4998,-0.60,-126.5,700.6,-12.1,189,5001,0.00,1.52,0.00,0.000,4,0.000,0.029,2505,1520,3283
$GC,5056,-0.60,-126.5,707.5,-10.3,190,5060,0.00,1.60,0.00,0.000,6,0.000,0.046,2499,2578,3283
$GC,5339,-0.60,-126.5,732.2,-8.3,197,5343,0.00,1.52,0.00,0.000,4,0.000,0.028,2504,1522,3281
$GC,5408,-0.60,-126.5,737.4,-6.9,198,5412,0.00,1.58,0.00,0.000,6,0.000,0.046,2498,2541,3280
$GC,5681,-0.60,-126.5,755.7,-6.9,205,5684,0.00,1.65,0.00,0.000,4,0.000,0.055,2490,3630,3279
$GC,5751,-0.60,-126.5,762.1,-9.2,206,5755,0.00,1.55,0.00,0.000,6,0.000,0.029,2492,2566,3279
$GC,6022,-0.60,-126.5,787.4,-9.7,213,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2557,3277
$GC,6266,-0.60,-126.5,811.9,-10.1,219,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2557,3276
$GC,6510,-0.60,-126.5,835.4,-9.5,225,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2557,3274
$GC,6754,-0.60,-126.5,855.9,-8.2,231,6757,0.00,1.50,0.00,0.000,4,0.000,0.032,2491,1514,3273
$GC,6824,-0.60,-126.5,862.2,-7.5,232,6827,0.00,1.60,0.00,0.000,6,0.000,0.048,2485,2566,3273
$GC,7095,-0.60,-126.5,882.7,-7.8,239,7099,0.00,1.52,0.00,0.000,4,0.000,0.031,2485,1522,3272
$GC,7131,-0.60,-126.5,885.9,-8.3,239,7135,0.00,1.60,0.00,0.000,6,0.000,0.051,2480,2569,3272
$STATE,7307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7307,begin apogee
$GC,7318,-0.23,0.0,901.2,8.8,244,7429,0.45,0.00,104.30,1.266,6,0.127,0.000,2624,2223,2790
$STATE,7429,end apogee,CONTROL_FINISHED_OK
$STATE,7429,begin climb
$GC,7434,0.60,126.5,904.2,0.0,247,7565,0.75,0.00,118.85,1.200,6,0.064,0.000,2888,2222,2275
$GC,7815,0.60,126.5,842.3,19.7,256,7818,0.00,1.60,0.00,0.000,4,0.000,0.033,2896,1171,2266
$GC,7833,0.60,126.5,837.2,19.5,256,7837,0.00,1.67,0.00,0.000,6,0.000,0.044,2892,2217,2265
$GC,8110,0.60,126.5,782.1,20.7,263,8114,0.00,1.65,0.00,0.000,4,0.000,0.051,2891,3280,2263
$GC,8196,0.60,126.5,762.3,23.1,264,8205,0.00,1.58,0.00,0.000,6,0.000,0.031,2897,2243,2261
$GC,8451,0.60,126.5,706.1,22.3,271,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2237,2261
$GC,8696,0.60,126.5,656.5,19.9,277,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2237,2261
$GC,8940,0.60,126.5,609.0,19.5,283,8943,0.00,1.60,0.00,0.000,4,0.000,0.033,2905,1161,2260
$GC,8997,0.60,126.5,597.1,17.9,284,9001,0.00,1.67,0.00,0.000,6,0.000,0.046,2905,2230,2260
$GC,9279,0.60,126.5,542.5,19.9,291,9283,0.00,1.62,0.00,0.000,4,0.000,0.051,2905,3295,2259
$GC,9338,0.60,126.5,529.8,21.2,292,9341,0.00,1.58,0.00,0.000,6,0.000,0.031,2911,2240,2258
$GC,9620,0.60,126.5,478.8,17.6,299,9624,0.00,1.58,0.00,0.000,4,0.000,0.032,2919,1162,2258
$GC,9656,0.60,126.5,472.0,17.1,299,9659,0.00,1.65,0.00,0.000,6,0.000,0.045,2918,2242,2258
$GC,9916,0.60,126.5,423.5,19.3,306,9919,0.00,1.62,0.00,0.000,4,0.000,0.032,2924,1141,2258
$GC,9991,0.60,126.5,409.2,17.3,307,9995,0.12,1.62,0.00,0.000,6,0.166,0.045,2894,2206,2257
$GC,10256,0.60,126.5,368.9,14.9,314,10260,0.00,1.67,0.00,0.000,4,0.000,0.050,2893,3289,2257
$GC,10274,0.60,126.5,365.5,15.7,314,10278,0.00,1.62,0.00,0.000,6,0.000,0.030,2899,2180,2257
$GC,10551,0.60,126.5,320.1,17.1,321,10555,0.00,1.48,0.00,0.000,4,0.000,0.032,2907,1161,2257
$GC,10621,0.60,126.5,308.0,16.2,322,10624,0.00,1.55,0.00,0.000,6,0.000,0.044,2905,2162,2257
$GC,10892,0.60,126.5,269.8,13.9,329,10896,0.00,1.73,0.00,0.000,4,0.000,0.049,2905,3280,2257
$GC,11032,0.60,126.5,247.6,17.9,332,11036,0.00,1.62,0.00,0.000,6,0.000,0.029,2911,2187,2257
$GC,11326,0.60,126.5,201.8,15.0,339,11327,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2180,2256
$GC,11578,0.60,126.5,167.6,12.7,360,11582,0.00,1.48,0.00,0.000,4,0.000,0.029,2919,1164,2256
$GC,11607,0.60,126.5,163.7,12.8,362,11615,0.00,1.58,0.00,0.000,6,0.000,0.041,2918,2193,2256
$GC,11874,0.60,126.5,129.3,13.3,387,11877,0.00,1.65,0.00,0.000,4,0.000,0.045,2918,3298,2256
$GC,11936,0.60,126.5,119.5,16.3,392,11940,0.12,1.58,0.00,0.000,6,0.186,0.026,2896,2219,2256
$GC,12212,0.60,126.5,88.7,11.5,417,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2213,2256
$GC,12479,0.60,132.3,64.5,8.3,442,12483,0.00,1.65,0.00,0.000,4,0.000,0.044,2891,3289,2257
$GC,12757,0.63,207.7,50.9,5.1,465,12828,0.00,1.50,63.83,0.608,6,0.000,0.023,2897,2235,1942
$GC,13103,0.63,207.7,13.3,11.3,506,13112,0.00,1.62,0.00,0.000,4,0.000,0.041,2897,3280,1936
$STATE,13187,end climb,SURFACE_DEPTH_REACHED
$STATE,13187,begin surface coast
$FINISH,0.3,1.023054
$STATE,13219,end surface coast,CONTROL_FINISHED_OK
$STATE,13219,begin surface
$SM_CCo,13245,69.07,0.541,0,0,1239,380.21
$SM_GC,1.13,0.00,0.00,69.07,0.000,0.000,0.541,25,2558,1239,-8.34,-0.34,380.21
$IRIDIUM_FIX,2216.01,-15748.98,201202,000051
$TT8_MAMPS,0.023777
$HUMID,2185
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.70
$XPDR_PINGS,4
$24V_AH,24.1,7.126
$10V_AH,10.7,7.302
$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,18.025,88.600,286.975,69.075,0.000,52.935,70.265,462.462,1.000,0.000,0.000,36.352,1108.134,8853.281,400.422,2694.034,1123.823,33.360,1226.137,0.000,2685.017,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,55.224,1265.550,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,357.691,1726.317,1785.946,218.329,1210.102,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44602,524
$CAP_FILE_SIZE,106720,0
$CFSIZE,260165632,255324160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250913,044406,2223.788,-15749.286,40,1.0,40,10.0