version: 66.04
glider: 512
mission: 4
dive: 50
start: 9 25 113 5 19 51
data:
$ID,512
$MISSION,4
$DIVE,50
$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,586.50275
$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,-107491.37
$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,65
$R_STBD_OVSHOOT,27
$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
$GPS1,044406,2223.788,-15749.286,40,1.0,40,10.0
$_CALLS,5
$_XMS_NAKs,26
$_XMS_TOUTs,1
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-82.1
$GPS2,051854,2223.847,-15749.273,16,1.1,33,10.0
$SPEED_LIMITS,0.122,0.231
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.227,-0.045
$KALMAN_X,9218.9,-660.3,-203.2,10066.2,5429.7
$KALMAN_Y,21413.0,-562.3,115.2,-58429.1,905.8
$MHEAD_RNG_PITCHd_Wd,248.7,78436,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.60,-126.5,0.0,0.0,0,85,0.00,0.00,-65.80,0.000,2,0.000,0.000,10,2555,2790
$GC,91,-0.60,-126.5,2.0,-1.2,8,119,9.27,1.67,-13.18,0.000,4,0.209,0.053,2486,3648,3308
$GC,391,-0.60,-126.5,81.0,-24.4,40,394,0.00,1.55,0.00,0.000,6,0.000,0.019,2486,2559,3309
$GC,663,-0.60,-126.5,139.7,-19.4,65,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2550,3310
$GC,928,-0.60,-126.5,193.4,-19.8,90,932,0.00,1.42,0.00,0.000,4,0.000,0.020,2486,1514,3310
$GC,1026,-0.60,-126.5,211.3,-16.9,95,1029,0.00,1.55,0.00,0.000,6,0.000,0.036,2480,2545,3310
$GC,1314,-0.60,-126.5,257.2,-15.4,102,1317,0.00,1.42,0.00,0.000,4,0.000,0.021,2480,1518,3309
$GC,1343,-0.60,-126.5,261.9,-13.9,102,1348,0.08,1.52,0.00,0.000,6,0.156,0.038,2497,2530,3309
$GC,1610,-0.60,-126.5,295.3,-12.4,109,1613,0.00,1.65,0.00,0.000,4,0.000,0.044,2490,3649,3308
$GC,1757,-0.60,-126.5,316.3,-13.8,112,1761,0.00,1.58,0.00,0.000,6,0.000,0.020,2496,2533,3306
$GC,2040,-0.60,-126.5,352.0,-12.5,119,2043,0.00,1.38,0.00,0.000,4,0.000,0.021,2504,1526,3305
$GC,2114,-0.60,-126.5,360.8,-10.5,120,2118,0.00,1.52,0.00,0.000,6,0.000,0.038,2498,2539,3304
$GC,2381,-0.60,-126.5,392.1,-12.0,127,2384,0.00,1.42,0.00,0.000,4,0.000,0.023,2504,1526,3302
$GC,2443,-0.60,-126.5,400.2,-11.6,128,2447,0.00,1.50,0.00,0.000,6,0.000,0.038,2498,2518,3301
$GC,2721,-0.60,-126.5,434.3,-12.5,135,2724,0.00,1.65,0.00,0.000,4,0.000,0.048,2490,3628,3298
$GC,2772,-0.60,-126.5,440.7,-12.7,136,2775,0.00,1.60,0.00,0.000,6,0.000,0.023,2496,2523,3298
$GC,3066,-0.60,-126.5,472.3,-10.5,143,3070,0.00,1.40,-0.08,0.000,4,0.000,0.046,2503,1512,3320
$GC,3115,-0.60,-126.5,477.2,-9.1,144,3119,0.00,1.50,0.00,0.000,6,0.000,0.041,2498,2501,3320
$GC,3410,-0.60,-126.5,506.4,-9.8,151,3413,0.00,1.70,0.00,0.000,4,0.000,0.050,2489,3637,3317
$GC,3467,-0.60,-126.5,513.0,-10.9,152,3471,0.00,1.65,0.00,0.000,6,0.000,0.024,2496,2501,3316
$GC,3750,-0.60,-126.5,544.5,-11.6,159,3753,0.00,1.38,0.00,0.000,4,0.000,0.026,2503,1511,3313
$GC,3791,-0.60,-126.5,549.6,-10.5,159,3800,0.00,1.50,0.00,0.000,6,0.000,0.041,2497,2497,3313
$GC,4047,-0.60,-126.5,577.0,-10.9,166,4051,0.00,1.70,0.00,0.000,4,0.000,0.051,2489,3626,3311
$GC,4122,-0.60,-126.5,586.3,-11.9,167,4125,0.00,1.60,0.00,0.000,6,0.000,0.026,2495,2504,3310
$GC,4387,-0.60,-126.5,613.9,-10.3,174,4391,0.00,1.73,0.00,0.000,4,0.000,0.050,2488,3627,3308
$GC,4451,-0.60,-126.5,620.6,-9.6,175,4455,0.00,1.60,0.00,0.000,6,0.000,0.027,2492,2505,3307
$GC,4728,-0.60,-126.5,645.9,-9.2,182,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2498,3304
$GC,4972,-0.60,-126.5,671.0,-10.5,188,4975,0.00,1.40,0.00,0.000,4,0.000,0.028,2492,1506,3303
$GC,5013,-0.60,-126.5,675.8,-10.3,188,5021,0.00,1.58,0.00,0.000,6,0.000,0.045,2486,2530,3302
$GC,5267,-0.60,-126.5,704.6,-11.5,195,5271,0.00,1.67,0.00,0.000,4,0.000,0.053,2477,3639,3301
$GC,5318,-0.60,-126.5,710.7,-11.4,196,5322,0.00,1.62,0.00,0.000,6,0.000,0.027,2477,2505,3300
$GC,5612,-0.60,-126.5,745.9,-11.9,203,5616,0.00,1.77,0.00,0.000,4,0.000,0.051,2469,3634,3299
$GC,5662,-0.60,-126.5,752.0,-12.9,204,5666,0.08,1.58,0.00,0.000,6,0.128,0.027,2507,2541,3299
$GC,5956,-0.60,-126.5,778.7,-8.4,211,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2536,3297
$GC,6201,-0.60,-126.5,797.4,-7.6,217,6205,0.00,1.67,0.00,0.000,4,0.000,0.054,2500,3630,3295
$GC,6287,-0.60,-126.5,804.9,-7.9,218,6295,0.00,1.55,0.00,0.000,6,0.000,0.029,2506,2559,3295
$GC,6542,-0.60,-126.5,825.9,-8.4,225,6545,0.00,1.48,0.00,0.000,4,0.000,0.031,2508,1528,3294
$GC,6601,-0.60,-126.5,831.4,-8.4,226,6604,0.00,1.60,0.00,0.000,6,0.000,0.048,2503,2582,3293
$GC,6883,-0.60,-126.5,856.3,-8.8,233,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2582,3292
$GC,7127,-0.60,-126.5,877.1,-8.4,239,7130,0.00,1.52,0.00,0.000,4,0.000,0.030,2508,1531,3291
$GC,7163,-0.60,-126.5,880.3,-8.1,239,7166,0.00,1.58,0.00,0.000,6,0.000,0.048,2502,2543,3291
$STATE,7418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7418,begin apogee
$GC,7430,-0.23,0.0,900.8,7.8,246,7542,0.38,0.00,109.45,1.256,6,0.137,0.000,2627,2233,2790
$STATE,7543,end apogee,CONTROL_FINISHED_OK
$STATE,7543,begin climb
$GC,7548,0.60,126.5,902.8,0.0,249,7680,0.73,1.65,118.62,1.194,4,0.062,0.030,2893,1171,2274
$GC,7697,0.60,126.5,884.4,20.0,252,7701,0.00,1.70,0.00,0.000,6,0.000,0.042,2892,2224,2271
$GC,7981,0.60,126.5,821.4,22.0,259,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2225,2265
$GC,8225,0.60,126.5,769.6,21.0,265,8229,0.00,1.65,0.00,0.000,4,0.000,0.050,2891,3293,2262
$GC,8268,0.60,126.5,759.9,21.9,265,8276,0.00,1.62,0.00,0.000,6,0.000,0.031,2898,2224,2261
$GC,8522,0.60,126.5,705.6,21.6,272,8526,0.00,1.67,0.00,0.000,4,0.000,0.049,2892,3293,2260
$GC,8563,0.60,126.5,696.4,21.8,272,8571,0.00,1.60,0.00,0.000,6,0.000,0.030,2898,2232,2260
$GC,8818,0.60,126.5,644.3,20.8,279,8821,0.00,1.58,0.00,0.000,4,0.000,0.032,2906,1160,2260
$GC,8904,0.60,126.5,626.4,20.1,280,8912,0.00,1.65,0.00,0.000,6,0.000,0.046,2905,2212,2259
$GC,9158,0.60,126.5,574.2,21.2,287,9162,0.00,1.67,0.00,0.000,4,0.000,0.050,2905,3289,2259
$GC,9199,0.60,126.5,564.9,22.5,287,9207,0.00,1.60,0.00,0.000,6,0.000,0.031,2911,2221,2258
$GC,9454,0.60,126.5,516.5,19.1,294,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2216,2258
$GC,9697,0.60,126.5,469.9,19.0,300,9701,0.00,1.55,0.00,0.000,4,0.000,0.032,2920,1154,2257
$GC,9748,0.60,126.5,460.5,19.4,301,9752,0.00,1.62,0.00,0.000,6,0.000,0.043,2918,2219,2257
$GC,10042,0.60,126.5,399.0,21.3,308,10046,0.00,1.58,0.00,0.000,4,0.000,0.031,2924,1165,2257
$GC,10060,0.60,126.5,394.9,19.7,308,10064,0.12,1.60,0.00,0.000,6,0.156,0.045,2892,2215,2256
$GC,10337,0.60,126.5,352.4,15.2,315,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2216,2256
$GC,10580,0.60,126.5,314.1,15.7,321,10584,0.00,1.58,0.00,0.000,4,0.000,0.032,2898,1157,2256
$GC,10661,0.60,126.5,302.2,13.9,322,10664,0.00,1.60,0.00,0.000,6,0.000,0.043,2899,2213,2256
$GC,10921,0.60,126.5,268.2,12.9,329,10925,0.00,1.65,0.00,0.000,4,0.000,0.048,2899,3288,2255
$GC,10990,0.60,126.5,258.0,14.7,330,10993,0.00,1.58,0.00,0.000,6,0.000,0.028,2908,2216,2255
$GC,11262,0.60,126.5,214.7,16.2,337,11265,0.00,1.52,0.00,0.000,4,0.000,0.030,2915,1163,2256
$GC,11297,0.60,126.5,209.2,14.2,337,11301,0.00,1.60,0.00,0.000,6,0.000,0.043,2916,2202,2256
$GC,11565,0.60,126.5,176.0,13.4,356,11568,0.00,1.52,0.00,0.000,4,0.000,0.029,2922,1167,2256
$GC,11636,0.60,126.5,166.0,14.3,362,11640,0.00,1.60,0.00,0.000,6,0.000,0.041,2918,2206,2255
$GC,11909,0.60,126.5,128.0,12.1,387,11916,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2206,2256
$GC,12174,0.60,126.5,96.4,10.6,412,12178,0.00,1.62,0.00,0.000,4,0.000,0.045,2918,3304,2256
$GC,12306,0.60,126.5,82.8,9.0,423,12310,0.12,1.58,0.00,0.000,6,0.175,0.025,2895,2221,2256
$GC,12582,0.65,253.0,68.8,2.8,448,12693,0.00,1.58,98.95,0.624,4,0.000,0.025,2899,1166,1756
$GC,12746,0.65,253.0,57.9,10.2,460,12750,0.00,1.62,0.00,0.000,6,0.000,0.038,2899,2221,1753
$GC,13019,0.65,253.0,23.6,11.8,488,13028,0.00,1.62,0.00,0.000,4,0.000,0.042,2899,3280,1752
$GC,13059,0.65,253.0,18.4,13.0,493,13068,0.00,1.58,0.00,0.000,6,0.000,0.024,2906,2212,1751
$STATE,13167,end climb,SURFACE_DEPTH_REACHED
$STATE,13167,begin surface coast
$FINISH,0.2,1.010115
$STATE,13204,end surface coast,CONTROL_FINISHED_OK
$STATE,13204,begin surface
$SM_CCo,13229,154.27,0.540,0,0,399,586.50
$SM_GC,1.21,0.00,0.00,154.27,0.000,0.000,0.540,19,2592,399,-8.33,0.62,586.50
$IRIDIUM_FIX,2216.01,-15452.65,201202,050548
$TT8_MAMPS,0.02301
$HUMID,2151
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.60
$XPDR_PINGS,7
$24V_AH,24.2,7.339
$10V_AH,10.6,7.491
$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,18.100,102.250,327.025,154.275,0.000,137.956,197.087,1293.866,1.750,0.000,0.000,33.114,1108.850,8935.230,520.274,2737.896,2172.151,33.356,1406.912,0.000,2714.079,0.000,0.545,0.000
$DEVICE_MAMPS,208.624,54.457,1256.346,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,350.512,1696.633,1750.074,201.630,1167.783,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44789,515
$CAP_FILE_SIZE,125237,0
$CFSIZE,260165632,255234048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250913,090423,2223.111,-15751.064,40,1.5,40,10.0