version: 66.04
glider: 512
mission: 4
dive: 54
start: 9 25 113 22 10 43
data:
$ID,512
$MISSION,4
$DIVE,54
$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,-107556.83
$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,34
$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
$GPS1,213600,2221.813,-15755.957,61,1.2,61,10.0
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-78.5
$GPS2,220949,2221.802,-15756.206,15,1.4,15,10.0
$SPEED_LIMITS,0.122,0.231
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.224,0.059
$KALMAN_X,14995.8,-369.7,-493.3,-7547.8,4689.8
$KALMAN_Y,17552.3,-223.3,-190.0,-58401.8,-1239.1
$MHEAD_RNG_PITCHd_Wd,274.8,66996,-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,-98.90,0.000,2,0.000,0.000,10,2583,2870
$GC,124,-0.60,-126.5,2.1,-1.6,12,151,9.25,1.50,-10.40,0.000,4,0.207,0.038,2500,1480,3303
$GC,397,-0.60,-126.5,70.8,-21.3,42,400,0.00,1.62,0.00,0.000,6,0.000,0.038,2494,2567,3303
$GC,669,-0.60,-126.5,129.8,-20.0,67,673,0.00,1.50,0.00,0.000,4,0.000,0.019,2494,1494,3303
$GC,791,-0.60,-126.5,152.6,-16.9,77,799,0.00,1.60,0.00,0.000,6,0.000,0.038,2486,2552,3303
$GC,1057,-0.60,-126.5,199.6,-19.7,102,1060,0.00,1.62,0.00,0.000,4,0.000,0.043,2477,3633,3303
$GC,1160,-0.60,-126.5,219.4,-17.6,105,1163,0.00,1.58,0.00,0.000,6,0.000,0.019,2478,2523,3303
$GC,1443,-0.60,-126.5,264.8,-15.6,112,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2515,3302
$GC,1688,-0.60,-126.5,299.6,-14.0,118,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2515,3301
$GC,1932,-0.60,-126.5,334.5,-14.6,124,1935,0.00,1.38,0.00,0.000,4,0.000,0.022,2478,1513,3298
$GC,1982,-0.60,-126.5,342.0,-14.0,125,1986,0.12,1.62,0.00,0.000,6,0.157,0.038,2502,2607,3298
$GC,2276,-0.60,-126.5,383.7,-14.2,132,2280,0.00,1.52,-0.08,0.000,4,0.000,0.067,2495,3639,3318
$GC,2300,-0.60,-126.5,387.4,-13.5,132,2304,0.00,1.50,0.00,0.000,6,0.000,0.021,2502,2580,3318
$GC,2572,-0.60,-126.5,422.0,-12.6,139,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2573,3315
$GC,2817,-0.60,-126.5,445.9,-9.6,145,2820,0.00,1.48,0.00,0.000,4,0.000,0.024,2509,1515,3313
$GC,2885,-0.60,-126.5,453.0,-9.7,146,2889,0.00,1.62,0.00,0.000,6,0.000,0.041,2504,2583,3312
$GC,3157,-0.60,-126.5,481.3,-11.1,153,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2583,3309
$GC,3400,-0.60,-126.5,506.9,-10.3,159,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2583,3306
$GC,3644,-0.60,-126.5,531.3,-10.0,165,3647,0.00,1.60,0.00,0.000,4,0.000,0.050,2495,3654,3303
$GC,3714,-0.60,-126.5,538.8,-10.2,166,3717,0.00,1.55,0.00,0.000,6,0.000,0.025,2502,2575,3303
$GC,3985,-0.60,-126.5,564.3,-9.4,173,3989,0.00,1.48,0.00,0.000,4,0.000,0.026,2509,1520,3300
$GC,4035,-0.60,-126.5,568.9,-8.5,174,4039,0.00,1.60,0.00,0.000,6,0.000,0.044,2503,2558,3300
$GC,4330,-0.60,-126.5,595.9,-8.9,181,4333,0.00,1.50,0.00,0.000,4,0.000,0.027,2508,1512,3297
$GC,4372,-0.60,-126.5,600.0,-9.1,181,4380,0.00,1.62,0.00,0.000,6,0.000,0.044,2502,2571,3297
$GC,4627,-0.60,-126.5,621.9,-8.9,188,4630,0.00,1.60,0.00,0.000,4,0.000,0.052,2494,3634,3295
$GC,4662,-0.60,-126.5,625.7,-10.5,188,4666,0.00,1.58,0.00,0.000,6,0.000,0.026,2500,2549,3295
$GC,4923,-0.60,-126.5,649.9,-9.2,195,4926,0.00,1.67,0.00,0.000,4,0.000,0.051,2494,3639,3292
$GC,5003,-0.60,-126.5,658.0,-9.7,196,5007,0.00,1.55,0.00,0.000,6,0.000,0.028,2500,2570,3292
$GC,5264,-0.60,-126.5,678.9,-8.0,203,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2561,3290
$GC,5507,-0.60,-126.5,696.9,-7.4,209,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2562,3288
$GC,5751,-0.60,-126.5,716.7,-8.2,215,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2562,3287
$GC,5994,-0.60,-126.5,739.5,-9.7,221,5998,0.00,1.65,0.00,0.000,4,0.000,0.054,2494,3638,3285
$GC,6018,-0.60,-126.5,742.3,-10.2,221,6022,0.00,1.55,0.00,0.000,6,0.000,0.028,2499,2575,3285
$GC,6290,-0.60,-126.5,770.2,-10.6,228,6293,0.00,1.50,0.00,0.000,4,0.000,0.030,2507,1517,3283
$GC,6343,-0.60,-126.5,776.5,-10.2,229,6346,0.00,1.60,0.00,0.000,6,0.000,0.048,2501,2573,3283
$GC,6631,-0.60,-126.5,805.5,-9.9,236,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2573,3282
$GC,6874,-0.60,-126.5,828.0,-9.1,242,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2573,3281
$GC,7118,-0.60,-126.5,849.8,-8.9,248,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2572,3280
$GC,7362,-0.60,-126.5,870.5,-8.4,254,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2573,3278
$GC,7606,-0.60,-126.5,889.6,-7.7,260,7610,0.00,1.65,0.00,0.000,4,0.000,0.056,2493,3634,3277
$GC,7641,-0.60,-126.5,892.9,-9.2,260,7645,0.00,1.55,0.00,0.000,6,0.000,0.030,2499,2573,3277
$STATE,7774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7774,begin apogee
$GC,7786,-0.23,0.0,902.9,7.5,264,7897,0.38,0.00,105.68,1.265,6,0.117,0.000,2627,2216,2791
$STATE,7898,end apogee,CONTROL_FINISHED_OK
$STATE,7898,begin climb
$GC,7903,0.60,126.5,904.4,0.0,267,8031,0.73,0.00,120.03,1.203,6,0.061,0.000,2886,2215,2274
$GC,8273,0.60,126.5,836.3,21.9,276,8277,0.00,1.70,0.00,0.000,4,0.000,0.050,2886,3285,2264
$GC,8314,0.60,126.5,826.6,21.7,276,8323,0.00,1.60,0.00,0.000,6,0.000,0.030,2894,2241,2263
$GC,8571,0.60,126.5,774.2,20.7,283,8574,0.00,1.60,0.00,0.000,4,0.000,0.031,2902,1164,2261
$GC,8613,0.60,126.5,764.6,20.1,283,8620,0.00,1.67,0.00,0.000,6,0.000,0.045,2901,2226,2260
$GC,8868,0.60,126.5,711.1,21.4,290,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2226,2260
$GC,9111,0.60,126.5,657.1,22.4,296,9115,0.00,1.62,0.00,0.000,4,0.000,0.051,2902,3286,2259
$GC,9135,0.60,126.5,651.0,22.5,296,9139,0.00,1.60,0.00,0.000,6,0.000,0.030,2910,2200,2258
$GC,9407,0.60,126.5,594.5,21.0,303,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2194,2258
$GC,9650,0.60,126.5,542.7,21.7,309,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2194,2257
$GC,9894,0.60,126.5,492.6,20.6,315,9897,0.00,1.70,0.00,0.000,4,0.000,0.048,2905,3295,2257
$GC,9929,0.60,126.5,484.7,21.5,315,9933,0.00,1.60,0.00,0.000,6,0.000,0.030,2911,2203,2257
$GC,10191,0.60,126.5,437.8,17.8,322,10194,0.00,1.52,0.00,0.000,4,0.000,0.033,2919,1161,2256
$GC,10232,0.60,126.5,429.9,17.0,322,10240,0.00,1.62,0.00,0.000,6,0.000,0.044,2918,2203,2255
$GC,10486,0.60,126.5,383.2,18.9,329,10490,0.00,1.65,0.00,0.000,4,0.000,0.051,2918,3287,2255
$GC,10538,0.60,126.5,372.0,20.2,330,10542,0.12,1.60,0.00,0.000,6,0.183,0.030,2896,2196,2255
$GC,10828,0.60,126.5,324.3,15.8,337,10831,0.00,1.70,0.00,0.000,4,0.000,0.049,2891,3294,2255
$GC,10902,0.60,126.5,313.0,14.1,338,10906,0.00,1.58,0.00,0.000,6,0.000,0.029,2897,2234,2255
$GC,11168,0.60,126.5,270.9,16.8,345,11171,0.00,1.62,0.00,0.000,4,0.000,0.048,2898,3288,2255
$GC,11181,0.60,126.5,267.9,17.7,345,11184,0.00,1.52,0.00,0.000,6,0.000,0.028,2906,2253,2255
$GC,11464,0.60,126.5,220.0,16.3,352,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2247,2254
$GC,11712,0.60,126.5,190.0,11.3,364,11716,0.00,1.58,0.00,0.000,4,0.000,0.031,2913,1171,2255
$GC,11872,0.60,126.5,171.1,11.5,378,11876,0.00,1.65,0.00,0.000,6,0.000,0.041,2914,2263,2254
$GC,12145,0.60,126.5,135.0,13.1,403,12148,0.00,1.55,0.00,0.000,4,0.000,0.047,2913,3280,2254
$GC,12252,0.60,126.5,119.3,13.4,412,12256,0.00,1.52,0.00,0.000,6,0.000,0.028,2915,2244,2254
$GC,12525,0.60,126.5,83.8,16.1,437,12532,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2239,2254
$GC,12792,0.61,162.9,56.5,6.9,462,12824,0.00,1.55,27.98,0.627,4,0.000,0.028,2915,1151,2125
$GC,12851,0.62,180.1,52.2,7.8,466,12873,0.00,1.70,15.43,0.592,6,0.000,0.036,2915,2262,2055
$GC,13137,0.62,180.1,27.2,9.8,494,13146,0.00,1.55,0.00,0.000,4,0.000,0.042,2915,3279,2051
$GC,13171,0.62,180.1,23.4,10.9,498,13180,0.00,1.50,0.00,0.000,6,0.000,0.023,2923,2248,2051
$STATE,13346,end climb,SURFACE_DEPTH_REACHED
$STATE,13346,begin surface coast
$FINISH,0.2,1.023105
$STATE,13377,end surface coast,CONTROL_FINISHED_OK
$STATE,13377,begin surface
$SM_CCo,13402,81.43,0.551,0,0,1239,380.21
$SM_GC,1.04,0.00,0.00,81.43,0.000,0.000,0.551,29,2591,1239,-8.33,0.59,380.21
$IRIDIUM_FIX,2216.01,-15756.33,201202,222203
$TT8_MAMPS,0.023777
$HUMID,2220
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.90
$XPDR_PINGS,4
$24V_AH,24.2,8.059
$10V_AH,10.7,8.230
$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,17.850,83.325,269.100,81.425,0.000,142.176,187.644,1257.224,1.000,0.000,0.000,15.649,1095.191,9270.979,439.183,2578.503,2128.416,33.357,1213.944,0.000,2600.187,0.000,0.545,0.000
$DEVICE_MAMPS,207.090,70.564,1264.783,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,361.357,1742.094,1802.240,218.714,1205.932,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44626,530
$CAP_FILE_SIZE,118758,0
$CFSIZE,260165632,255025152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260913,015705,2221.523,-15758.047,45,1.2,50,10.0