version: 66.04
glider: 512
mission: 4
dive: 53
start: 9 25 113 17 52 34
data:
$ID,512
$MISSION,4
$DIVE,53
$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,-107540.55
$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,59
$R_STBD_OVSHOOT,37
$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
$GPS1,172736,2221.859,-15754.312,37,1.3,37,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-79.3
$GPS2,175137,2221.886,-15754.265,16,1.9,16,10.0
$SPEED_LIMITS,0.122,0.231
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.218,0.077
$KALMAN_X,13787.0,-436.2,-168.8,-3281.2,4886.3
$KALMAN_Y,18796.8,15.2,111.8,-60027.2,-1653.5
$MHEAD_RNG_PITCHd_Wd,279.4,70272,-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,-126.5,0.0,0.0,0,119,0.00,0.00,-98.90,0.000,2,0.000,0.000,11,2588,2882
$GC,124,-0.60,-126.5,2.2,-1.9,12,151,9.15,1.55,-10.07,0.000,4,0.204,0.055,2484,3644,3304
$GC,420,-0.60,-126.5,87.7,-24.8,43,424,0.00,1.58,0.00,0.000,6,0.000,0.019,2484,2531,3305
$GC,691,-0.60,-126.5,145.8,-19.5,68,695,0.00,1.38,0.00,0.000,4,0.000,0.019,2484,1513,3305
$GC,741,-0.60,-126.5,154.3,-16.7,72,745,0.00,1.62,0.00,0.000,6,0.000,0.038,2476,2579,3304
$GC,1031,-0.60,-126.5,208.7,-19.5,96,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2579,3304
$GC,1275,-0.60,-126.5,252.4,-17.1,102,1278,0.00,1.58,0.00,0.000,4,0.000,0.044,2468,3628,3304
$GC,1316,-0.60,-126.5,260.7,-19.7,102,1324,0.08,1.48,0.00,0.000,6,0.166,0.020,2492,2561,3304
$GC,1572,-0.60,-126.5,298.1,-15.0,109,1575,0.00,1.40,0.00,0.000,4,0.000,0.020,2499,1529,3303
$GC,1675,-0.60,-126.5,312.2,-12.9,111,1678,0.00,1.55,0.00,0.000,6,0.000,0.038,2494,2555,3303
$GC,1958,-0.60,-126.5,350.0,-13.5,118,1962,0.00,1.42,0.00,0.000,4,0.000,0.021,2495,1534,3301
$GC,1994,-0.60,-126.5,355.3,-12.7,118,1998,0.00,1.52,0.00,0.000,6,0.000,0.038,2489,2546,3300
$GC,2254,-0.60,-126.5,389.6,-13.3,125,2258,0.00,1.65,-0.08,0.000,4,0.000,0.064,2480,3635,3321
$GC,2303,-0.60,-126.5,396.4,-13.5,126,2307,0.00,1.50,0.00,0.000,6,0.000,0.021,2481,2575,3321
$GC,2598,-0.60,-126.5,438.6,-14.6,133,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2566,3317
$GC,2843,-0.60,-126.5,473.2,-13.8,139,2846,0.00,1.45,0.00,0.000,4,0.000,0.023,2480,1529,3315
$GC,2906,-0.60,-126.5,481.6,-11.3,140,2910,0.08,1.55,0.00,0.000,6,0.152,0.041,2497,2550,3315
$GC,3183,-0.60,-126.5,509.5,-10.1,147,3186,0.00,1.62,0.00,0.000,4,0.000,0.048,2491,3639,3312
$GC,3297,-0.60,-126.5,521.6,-9.9,149,3300,0.00,1.52,0.00,0.000,6,0.000,0.024,2497,2578,3311
$GC,3568,-0.60,-126.5,548.0,-9.8,156,3572,0.00,1.48,0.00,0.000,4,0.000,0.025,2504,1520,3308
$GC,3609,-0.60,-126.5,552.4,-9.6,156,3618,0.00,1.60,0.00,0.000,6,0.000,0.043,2499,2566,3308
$GC,3866,-0.60,-126.5,578.0,-10.5,163,3869,0.00,1.50,0.00,0.000,4,0.000,0.026,2504,1519,3305
$GC,3929,-0.60,-126.5,584.9,-9.4,164,3933,0.00,1.58,0.00,0.000,6,0.000,0.044,2499,2548,3304
$GC,4206,-0.60,-126.5,614.8,-11.1,171,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2548,3302
$GC,4450,-0.60,-126.5,641.3,-10.7,177,4453,0.00,1.62,0.00,0.000,4,0.000,0.052,2491,3627,3300
$GC,4591,-0.60,-126.5,656.7,-9.8,180,4595,0.00,1.55,0.00,0.000,6,0.000,0.028,2497,2560,3299
$GC,4881,-0.60,-126.5,680.3,-7.9,187,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2552,3296
$GC,5126,-0.60,-126.5,699.8,-8.1,193,5129,0.00,1.48,0.00,0.000,4,0.000,0.028,2504,1514,3295
$GC,5222,-0.60,-126.5,708.3,-8.6,195,5226,0.00,1.62,0.00,0.000,6,0.000,0.045,2499,2568,3294
$GC,5511,-0.60,-126.5,735.0,-9.7,202,5514,0.00,1.62,0.00,0.000,4,0.000,0.055,2490,3641,3292
$GC,5574,-0.60,-126.5,742.5,-11.2,203,5578,0.00,1.55,0.00,0.000,6,0.000,0.029,2495,2578,3291
$GC,5851,-0.60,-126.5,771.3,-10.4,210,5854,0.00,1.50,0.00,0.000,4,0.000,0.028,2504,1519,3290
$GC,5902,-0.60,-126.5,776.4,-9.4,211,5905,0.00,1.62,0.00,0.000,6,0.000,0.048,2498,2586,3289
$GC,6195,-0.60,-126.5,804.7,-9.5,218,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2586,3287
$GC,6439,-0.60,-126.5,826.4,-8.8,224,6443,0.00,1.55,0.00,0.000,4,0.000,0.030,2504,1519,3286
$GC,6497,-0.60,-126.5,831.8,-8.3,225,6500,0.00,1.60,0.00,0.000,6,0.000,0.048,2498,2569,3286
$GC,6780,-0.60,-126.5,856.5,-8.8,232,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2569,3284
$GC,7025,-0.60,-126.5,876.0,-8.0,238,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2569,3284
$GC,7269,-0.60,-126.5,894.8,-7.7,244,7273,0.00,1.52,0.00,0.000,4,0.000,0.031,2503,1523,3283
$GC,7299,-0.60,-126.5,897.6,-8.2,244,7303,0.00,1.62,0.00,0.000,6,0.000,0.051,2497,2566,3282
$STATE,7357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7357,begin apogee
$GC,7368,-0.23,0.0,902.0,7.7,246,7480,0.38,0.00,107.82,1.256,6,0.118,0.000,2622,2221,2790
$STATE,7481,end apogee,CONTROL_FINISHED_OK
$STATE,7481,begin climb
$GC,7486,0.60,126.5,903.9,0.0,249,7618,0.75,1.62,118.75,1.197,4,0.066,0.031,2892,1169,2274
$GC,7632,0.60,126.5,884.5,20.3,252,7635,0.00,1.73,0.00,0.000,6,0.000,0.044,2891,2230,2271
$GC,7915,0.60,126.5,824.1,21.3,259,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2229,2264
$GC,8160,0.60,126.5,772.9,20.9,265,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2229,2262
$GC,8404,0.60,126.5,722.0,21.2,271,8407,0.00,1.60,0.00,0.000,4,0.000,0.031,2897,1178,2261
$GC,8428,0.60,126.5,715.7,21.5,271,8431,0.00,1.62,0.00,0.000,6,0.000,0.043,2892,2237,2261
$GC,8699,0.60,126.5,659.0,21.4,278,8703,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3277,2260
$GC,8728,0.60,126.5,651.5,23.8,278,8732,0.00,1.55,0.00,0.000,6,0.000,0.031,2897,2245,2260
$GC,8995,0.60,126.5,594.7,21.1,285,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2238,2259
$GC,9238,0.60,126.5,545.8,19.8,291,9241,0.00,1.60,0.00,0.000,4,0.000,0.033,2906,1153,2258
$GC,9289,0.60,126.5,536.1,20.0,292,9292,0.00,1.67,0.00,0.000,6,0.000,0.044,2905,2244,2258
$GC,9582,0.60,126.5,480.7,18.8,299,9586,0.00,1.60,0.00,0.000,4,0.000,0.051,2905,3274,2257
$GC,9606,0.60,126.5,475.8,17.7,299,9610,0.00,1.52,0.00,0.000,6,0.000,0.030,2911,2247,2257
$GC,9878,0.60,126.5,424.9,19.1,306,9881,0.00,1.60,0.00,0.000,4,0.000,0.049,2905,3290,2257
$GC,9931,0.60,126.5,415.0,16.7,307,9934,0.00,1.52,0.00,0.000,6,0.000,0.029,2911,2259,2256
$GC,10219,0.60,126.5,362.4,19.2,314,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2253,2256
$GC,10462,0.60,126.5,319.9,17.8,320,10466,0.00,1.60,0.00,0.000,4,0.000,0.031,2919,1158,2256
$GC,10560,0.60,126.5,303.0,16.8,322,10563,0.00,1.67,0.00,0.000,6,0.000,0.041,2918,2267,2256
$GC,10848,0.60,126.5,255.4,16.5,329,10851,0.00,1.62,0.00,0.000,4,0.000,0.031,2924,1145,2256
$GC,10943,0.60,126.5,240.8,15.1,331,10947,0.00,1.67,0.00,0.000,6,0.000,0.043,2919,2249,2255
$GC,11237,0.60,126.5,199.3,14.0,338,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2248,2255
$GC,11503,0.60,126.5,163.6,13.4,363,11511,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2248,2256
$GC,11768,0.60,126.5,128.3,14.4,388,11777,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2248,2255
$GC,12035,0.60,126.5,97.1,10.3,413,12038,0.00,1.60,0.00,0.000,4,0.000,0.028,2925,1161,2256
$GC,12165,0.60,126.5,84.4,9.7,424,12169,0.10,1.67,0.00,0.000,6,0.131,0.039,2891,2263,2256
$GC,12441,0.62,191.0,62.3,5.6,449,12497,0.00,1.55,50.45,0.621,4,0.000,0.041,2891,3286,2010
$GC,12654,0.62,191.0,42.7,11.0,466,12658,0.00,1.48,0.00,0.000,6,0.000,0.023,2897,2284,2006
$GC,12948,0.62,191.0,14.0,9.3,504,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2277,2005
$STATE,13062,end climb,SURFACE_DEPTH_REACHED
$STATE,13062,begin surface coast
$FINISH,0.3,1.012390
$STATE,13094,end surface coast,CONTROL_FINISHED_OK
$STATE,13095,begin surface
$SM_CCo,13119,177.30,0.540,0,0,399,586.50
$SM_GC,1.21,0.00,0.00,177.30,0.000,0.000,0.540,21,2585,399,-8.31,0.42,586.50
$IRIDIUM_FIX,2213.68,-15754.18,201202,171700
$TT8_MAMPS,0.023777
$HUMID,2138
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.70
$XPDR_PINGS,4
$24V_AH,24.1,7.870
$10V_AH,10.7,8.041
$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,17.725,82.525,277.025,177.300,0.000,143.258,259.714,587.889,1.000,0.000,0.000,16.057,1114.563,8858.835,512.408,2727.574,1525.390,33.359,1361.679,0.000,2722.633,0.000,0.545,0.000
$DEVICE_MAMPS,204.022,64.428,1255.579,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,359.123,1732.877,1781.107,210.749,1201.822,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44592,527
$CAP_FILE_SIZE,112232,0
$CFSIZE,260165632,255062016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250913,213600,2221.813,-15755.957,61,1.2,61,10.0