version: 66.04
glider: 512
mission: 4
dive: 51
start: 9 25 113 9 17 59
data:
$ID,512
$MISSION,4
$DIVE,51
$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,-107507.11
$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,54
$R_STBD_OVSHOOT,45
$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
$GPS1,090423,2223.111,-15751.064,40,1.5,40,10.0
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,2
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-75.1
$GPS2,091707,2223.163,-15751.123,10,1.6,10,10.0
$SPEED_LIMITS,0.122,0.231
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.226,-0.050
$KALMAN_X,10875.8,-858.7,-387.1,5637.9,5977.6
$KALMAN_Y,20988.4,-184.3,-268.7,-59271.2,944.0
$MHEAD_RNG_PITCHd_Wd,247.5,75374,-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,13,begin dive
$GC,18,-0.60,-126.5,0.0,0.0,0,119,0.00,0.00,-98.82,0.000,2,0.000,0.000,11,2591,2872
$GC,125,-0.60,-126.5,2.0,-1.4,12,152,9.23,1.55,-10.27,0.000,4,0.203,0.039,2502,1494,3305
$GC,424,-0.60,-126.5,81.2,-17.9,44,427,0.00,1.62,0.00,0.000,6,0.000,0.038,2496,2576,3306
$GC,696,-0.60,-126.5,133.4,-16.6,69,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2576,3306
$GC,962,-0.60,-126.5,181.9,-18.4,94,966,0.00,1.52,0.00,0.000,4,0.000,0.019,2502,1490,3306
$GC,1058,-0.60,-126.5,198.5,-14.5,102,1067,0.00,1.62,0.00,0.000,6,0.000,0.037,2496,2562,3306
$GC,1322,-0.60,-126.5,237.4,-14.8,110,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2562,3306
$GC,1566,-0.60,-126.5,275.8,-15.7,116,1570,0.00,1.62,0.00,0.000,4,0.000,0.047,2487,3637,3306
$GC,1629,-0.60,-126.5,286.1,-15.2,117,1633,0.00,1.58,0.00,0.000,6,0.000,0.021,2493,2526,3305
$GC,1907,-0.60,-126.5,322.3,-12.9,124,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2518,3304
$GC,2152,-0.60,-126.5,351.5,-11.8,130,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2519,3302
$GC,2395,-0.60,-126.5,382.7,-12.9,136,2399,0.00,1.38,0.00,0.000,4,0.000,0.024,2500,1525,3300
$GC,2514,-0.60,-126.5,395.9,-10.0,138,2517,0.00,1.60,0.00,0.000,6,0.000,0.041,2495,2598,3299
$GC,2781,-0.60,-126.5,425.2,-11.5,145,2782,0.00,0.00,-0.08,0.000,6,0.000,0.000,2495,2598,3321
$GC,3025,-0.60,-126.5,456.4,-13.0,151,3029,0.00,1.52,0.00,0.000,4,0.000,0.024,2500,1529,3318
$GC,3100,-0.60,-126.5,466.1,-11.3,152,3103,0.00,1.58,0.00,0.000,6,0.000,0.042,2495,2564,3317
$GC,3366,-0.60,-126.5,497.2,-11.8,159,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2564,3315
$GC,3609,-0.60,-126.5,523.9,-10.8,165,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2564,3313
$GC,3853,-0.60,-126.5,549.8,-10.7,171,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2564,3311
$GC,4096,-0.60,-126.5,575.0,-10.4,177,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2564,3309
$GC,4340,-0.60,-126.5,601.3,-10.9,183,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2564,3307
$GC,4584,-0.60,-126.5,627.9,-10.9,189,4587,0.00,1.62,0.00,0.000,4,0.000,0.052,2486,3641,3304
$GC,4625,-0.60,-126.5,632.9,-11.3,189,4634,0.00,1.55,0.00,0.000,6,0.000,0.028,2491,2568,3304
$GC,4882,-0.60,-126.5,659.0,-10.3,196,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2569,3302
$GC,5125,-0.60,-126.5,684.7,-10.5,202,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2568,3300
$GC,5369,-0.60,-126.5,710.5,-10.5,208,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2565,3299
$GC,5613,-0.60,-126.5,735.6,-10.3,214,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2565,3298
$GC,5856,-0.60,-126.5,758.6,-9.2,220,5860,0.00,1.62,0.00,0.000,4,0.000,0.053,2485,3631,3296
$GC,5891,-0.60,-126.5,762.5,-10.1,220,5895,0.00,1.52,0.00,0.000,6,0.000,0.028,2491,2588,3295
$GC,6152,-0.60,-126.5,784.2,-8.5,227,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2582,3294
$GC,6395,-0.60,-126.5,806.0,-8.9,233,6399,0.00,1.52,0.00,0.000,4,0.000,0.030,2492,1517,3292
$GC,6491,-0.60,-126.5,814.1,-8.4,235,6495,0.00,1.62,0.00,0.000,6,0.000,0.048,2486,2583,3292
$GC,6784,-0.60,-126.5,840.3,-8.9,242,6788,0.00,1.60,0.00,0.000,4,0.000,0.057,2480,3635,3291
$GC,6820,-0.60,-126.5,843.9,-10.0,242,6823,0.00,1.55,0.00,0.000,6,0.000,0.030,2480,2570,3291
$GC,7080,-0.60,-126.5,867.5,-9.4,249,7083,0.00,1.50,0.00,0.000,4,0.000,0.031,2480,1517,3289
$GC,7121,-0.60,-126.5,872.1,-10.5,249,7130,0.00,1.65,0.00,0.000,6,0.000,0.051,2480,2573,3289
$GC,7378,-0.60,-126.5,897.0,-9.9,256,7381,0.00,1.62,0.00,0.000,4,0.000,0.056,2472,3644,3288
$STATE,7402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7403,begin apogee
$GC,7416,-0.23,0.0,900.6,10.8,256,7527,0.43,0.00,108.10,1.260,6,0.137,0.000,2611,2221,2790
$STATE,7528,end apogee,CONTROL_FINISHED_OK
$STATE,7528,begin climb
$GC,7533,0.60,126.5,903.9,0.0,259,7664,0.80,0.00,119.72,1.194,6,0.074,0.000,2887,2221,2274
$GC,7913,0.60,126.5,838.0,21.0,268,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2221,2263
$GC,8154,0.60,126.5,787.3,20.7,274,8157,0.00,1.58,0.00,0.000,4,0.000,0.032,2894,1171,2261
$GC,8183,0.60,126.5,780.6,19.8,274,8187,0.00,1.67,0.00,0.000,6,0.000,0.044,2892,2232,2261
$GC,8449,0.60,126.5,727.9,19.8,281,8452,0.00,1.62,0.00,0.000,4,0.000,0.050,2891,3291,2260
$GC,8467,0.60,126.5,723.5,19.8,281,8471,0.00,1.60,0.00,0.000,6,0.000,0.029,2898,2207,2259
$GC,8745,0.60,126.5,666.8,20.9,288,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2200,2258
$GC,8988,0.60,126.5,617.4,20.1,294,8992,0.00,1.70,0.00,0.000,4,0.000,0.051,2892,3293,2258
$GC,9029,0.60,126.5,608.6,20.7,294,9038,0.00,1.58,0.00,0.000,6,0.000,0.031,2898,2244,2257
$GC,9286,0.60,126.5,560.9,18.9,301,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2238,2257
$GC,9529,0.60,126.5,514.3,19.3,307,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2238,2257
$GC,9773,0.60,126.5,467.5,18.9,313,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2238,2256
$GC,10017,0.60,126.5,424.1,17.7,319,10020,0.00,1.58,0.00,0.000,4,0.000,0.032,2906,1157,2255
$GC,10079,0.60,126.5,412.1,16.5,320,10083,0.00,1.70,0.00,0.000,6,0.000,0.044,2905,2253,2255
$GC,10357,0.60,126.5,365.3,16.9,327,10358,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2254,2255
$GC,10600,0.60,126.5,323.1,17.7,333,10604,0.00,1.62,0.00,0.000,4,0.000,0.032,2911,1140,2255
$GC,10636,0.60,126.5,316.4,18.2,333,10639,0.00,1.73,0.00,0.000,6,0.000,0.044,2911,2271,2254
$GC,10897,0.60,126.5,272.6,16.7,340,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2272,2254
$GC,11142,0.60,126.5,235.6,14.7,346,11145,0.00,1.62,0.00,0.000,4,0.000,0.031,2923,1158,2254
$GC,11160,0.60,126.5,232.1,15.3,346,11164,0.12,1.65,0.00,0.000,6,0.161,0.043,2891,2249,2254
$GC,11436,0.60,126.5,198.4,11.7,353,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2249,2254
$GC,11702,0.60,126.5,167.9,12.5,378,11706,0.00,1.60,0.00,0.000,4,0.000,0.030,2898,1168,2254
$GC,11731,0.60,126.5,163.7,13.1,380,11739,0.00,1.62,0.00,0.000,6,0.000,0.040,2893,2231,2254
$GC,11998,0.60,126.5,128.5,11.7,405,12002,0.00,1.60,0.00,0.000,4,0.000,0.046,2891,3284,2254
$GC,12095,0.60,126.5,116.7,12.1,413,12099,0.00,1.52,0.00,0.000,6,0.000,0.026,2897,2239,2254
$GC,12370,0.63,201.6,88.9,5.1,438,12434,0.00,0.00,58.97,0.655,6,0.000,0.000,2898,2231,1966
$GC,12696,0.63,201.6,55.6,9.4,468,12700,0.00,1.55,0.00,0.000,4,0.000,0.028,2899,1171,1960
$GC,12775,0.64,230.1,48.4,7.3,474,12803,0.00,1.75,23.25,0.596,6,0.000,0.037,2899,2311,1850
$GC,13077,0.64,230.1,12.6,14.6,510,13086,0.00,1.70,0.00,0.000,4,0.000,0.028,2902,1170,1846
$GC,13098,0.64,230.1,9.3,14.0,512,13107,0.00,1.73,0.00,0.000,6,0.000,0.035,2902,2296,1846
$STATE,13151,end climb,SURFACE_DEPTH_REACHED
$STATE,13151,begin surface coast
$FINISH,0.2,1.023068
$STATE,13177,end surface coast,CONTROL_FINISHED_OK
$STATE,13177,begin surface
$SM_CCo,13202,59.95,0.548,0,0,1239,380.21
$SM_GC,1.35,0.00,0.00,59.95,0.000,0.000,0.548,33,2640,1239,-8.32,1.95,380.21
$IRIDIUM_FIX,2216.01,-15743.78,201202,050550
$TT8_MAMPS,0.023777
$HUMID,2216
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,5
$24V_AH,24.1,7.477
$10V_AH,10.7,7.662
$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,17.875,68.250,310.050,59.950,0.000,23.851,38.366,528.429,1.250,0.000,0.000,15.109,1052.072,8996.192,418.273,2468.693,1087.398,33.358,1178.538,0.000,2485.672,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,56.758,1260.181,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,356.703,1726.257,1782.128,215.001,1171.847,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44515,524
$CAP_FILE_SIZE,95688,0
$CFSIZE,260165632,255217664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250913,130053,2222.287,-15752.832,45,1.1,63,10.0