version: 66.04
glider: 512
mission: 4
dive: 55
start: 9 26 113 2 25 45
data:
$ID,512
$MISSION,4
$DIVE,55
$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,-107576.75
$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,66
$R_STBD_OVSHOOT,42
$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
$GPS1,015705,2221.523,-15758.047,45,1.2,50,10.0
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-82.0
$GPS2,022448,2221.591,-15758.298,14,1.4,19,10.0
$SPEED_LIMITS,0.122,0.231
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.205,0.106
$KALMAN_X,15837.0,-594.1,-284.8,-11946.6,3998.3
$KALMAN_Y,15616.9,-193.9,56.2,-57129.8,-2183.3
$MHEAD_RNG_PITCHd_Wd,287.3,63504,-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,18,-0.60,-126.5,0.0,0.0,0,94,0.00,0.00,-74.25,0.000,2,0.000,0.000,10,2586,2994
$GC,100,-0.60,-126.5,2.2,-1.9,9,127,9.23,1.58,-6.93,0.000,4,0.206,0.054,2488,3631,3308
$GC,396,-0.60,-126.5,90.5,-24.9,39,400,0.00,1.52,0.00,0.000,6,0.000,0.020,2487,2561,3308
$GC,667,-0.60,-126.5,147.2,-19.7,64,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2552,3309
$GC,932,-0.60,-126.5,198.4,-16.7,89,936,0.00,1.60,0.00,0.000,4,0.000,0.040,2481,3632,3309
$GC,956,-0.60,-126.5,203.1,-17.4,90,960,0.00,1.55,0.00,0.000,6,0.000,0.020,2481,2544,3308
$GC,1228,-0.60,-126.5,246.3,-16.0,97,1232,0.00,1.40,0.00,0.000,4,0.000,0.021,2481,1519,3308
$GC,1286,-0.60,-126.5,256.2,-15.2,98,1290,0.08,1.58,0.00,0.000,6,0.150,0.036,2498,2564,3308
$GC,1567,-0.60,-126.5,295.8,-14.2,105,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2564,3307
$GC,1811,-0.60,-126.5,326.7,-12.6,111,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2564,3306
$GC,2055,-0.60,-126.5,359.4,-13.3,117,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2564,3304
$GC,2299,-0.60,-126.5,391.3,-13.1,123,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2564,3302
$GC,2542,-0.60,-126.5,417.7,-10.5,129,2546,0.00,1.60,0.00,0.000,4,0.000,0.047,2492,3644,3300
$GC,2593,-0.60,-126.5,422.5,-9.4,130,2597,0.00,1.55,0.00,0.000,6,0.000,0.024,2498,2556,3299
$GC,2887,-0.60,-126.5,451.4,-10.2,137,2891,0.00,1.45,-0.08,0.000,4,0.000,0.044,2506,1514,3321
$GC,2972,-0.60,-126.5,460.7,-10.1,138,2981,0.00,1.58,0.00,0.000,6,0.000,0.041,2499,2548,3321
$GC,3228,-0.60,-126.5,491.4,-12.5,145,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2549,3318
$GC,3473,-0.60,-126.5,520.8,-12.0,151,3476,0.00,1.62,0.00,0.000,4,0.000,0.049,2491,3639,3316
$GC,3576,-0.60,-126.5,534.3,-12.4,153,3579,0.00,1.60,0.00,0.000,6,0.000,0.025,2498,2508,3315
$GC,3859,-0.60,-126.5,562.9,-9.8,160,3863,0.00,1.73,0.00,0.000,4,0.000,0.048,2491,3636,3312
$GC,3901,-0.60,-126.5,567.5,-10.6,160,3908,0.00,1.58,0.00,0.000,6,0.000,0.025,2498,2541,3312
$GC,4155,-0.60,-126.5,594.6,-11.1,167,4159,0.00,1.42,0.00,0.000,4,0.000,0.027,2505,1528,3310
$GC,4258,-0.60,-126.5,606.8,-11.3,169,4262,0.00,1.52,0.00,0.000,6,0.000,0.044,2499,2524,3309
$GC,4541,-0.60,-126.5,639.5,-11.6,176,4544,0.00,1.67,0.00,0.000,4,0.000,0.052,2491,3635,3307
$GC,4593,-0.60,-126.5,646.2,-11.8,177,4596,0.00,1.60,0.00,0.000,6,0.000,0.027,2497,2520,3305
$GC,4882,-0.60,-126.5,677.2,-10.6,184,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2513,3303
$GC,5127,-0.60,-126.5,699.6,-9.1,190,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2513,3302
$GC,5371,-0.60,-126.5,722.9,-9.7,196,5374,0.00,1.42,0.00,0.000,4,0.000,0.029,2504,1511,3300
$GC,5400,-0.60,-126.5,726.7,-11.1,196,5404,0.00,1.58,0.00,0.000,6,0.000,0.045,2499,2532,3300
$GC,5666,-0.60,-126.5,753.3,-10.1,203,5669,0.00,1.67,0.00,0.000,4,0.000,0.054,2490,3638,3299
$GC,5763,-0.60,-126.5,764.2,-10.5,205,5767,0.00,1.60,0.00,0.000,6,0.000,0.028,2497,2520,3298
$GC,6052,-0.60,-126.5,793.2,-10.3,212,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2512,3296
$GC,6295,-0.60,-126.5,818.3,-10.4,218,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2508,3295
$GC,6539,-0.60,-126.5,842.3,-9.7,224,6542,0.00,1.73,0.00,0.000,4,0.000,0.056,2490,3628,3293
$GC,6580,-0.60,-126.5,846.6,-10.3,224,6586,0.00,1.58,0.00,0.000,6,0.000,0.031,2497,2551,3293
$GC,6834,-0.60,-126.5,869.4,-8.9,231,6838,0.00,1.48,0.00,0.000,4,0.000,0.030,2504,1515,3292
$GC,6886,-0.60,-126.5,873.7,-8.1,232,6889,0.00,1.62,0.00,0.000,6,0.000,0.048,2498,2580,3292
$GC,7180,-0.60,-126.5,898.3,-8.2,239,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2580,3292
$STATE,7215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7215,begin apogee
$GC,7226,-0.23,0.0,901.7,8.2,240,7338,0.38,0.00,108.57,1.264,6,0.121,0.000,2622,2214,2790
$STATE,7339,end apogee,CONTROL_FINISHED_OK
$STATE,7339,begin climb
$GC,7344,0.60,126.5,904.5,0.0,243,7473,0.75,0.00,120.25,1.193,6,0.067,0.000,2885,2214,2274
$GC,7718,0.60,126.5,839.3,21.0,252,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2214,2264
$GC,7961,0.60,126.5,788.9,20.9,258,7965,0.00,1.70,0.00,0.000,4,0.000,0.049,2879,3296,2262
$GC,8013,0.60,126.5,778.8,21.5,259,8016,0.00,1.60,0.00,0.000,6,0.000,0.030,2885,2218,2261
$GC,8306,0.60,126.5,721.5,18.9,266,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2213,2260
$GC,8550,0.60,126.5,674.9,19.0,272,8553,0.00,1.55,0.00,0.000,4,0.000,0.032,2893,1164,2259
$GC,8574,0.60,126.5,669.9,18.6,272,8577,0.00,1.62,0.00,0.000,6,0.000,0.044,2891,2221,2259
$GC,8845,0.60,126.5,617.5,19.3,279,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2221,2258
$GC,9089,0.60,126.5,568.7,19.8,285,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2221,2258
$GC,9333,0.60,126.5,522.7,18.6,291,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2221,2257
$GC,9576,0.60,126.5,478.8,17.7,297,9580,0.00,1.60,0.00,0.000,4,0.000,0.050,2891,3285,2257
$GC,9608,0.60,126.5,473.2,17.8,297,9611,0.00,1.60,0.00,0.000,6,0.000,0.031,2898,2195,2257
$GC,9874,0.60,126.5,427.3,17.8,304,9878,0.00,1.50,0.00,0.000,4,0.000,0.032,2906,1157,2256
$GC,9932,0.60,126.5,416.7,16.1,305,9935,0.00,1.62,0.00,0.000,6,0.000,0.043,2905,2203,2256
$GC,10215,0.60,126.5,373.9,14.8,312,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2203,2256
$GC,10458,0.60,126.5,334.9,16.4,318,10462,0.00,1.65,0.00,0.000,4,0.000,0.050,2905,3296,2255
$GC,10509,0.60,126.5,325.9,18.3,319,10513,0.00,1.62,0.00,0.000,6,0.000,0.029,2911,2183,2255
$GC,10803,0.60,126.5,275.8,16.5,326,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2179,2255
$GC,11047,0.60,126.5,237.1,15.8,332,11050,0.00,1.48,0.00,0.000,4,0.000,0.031,2920,1164,2255
$GC,11098,0.60,126.5,230.1,13.2,333,11101,0.00,1.58,0.00,0.000,6,0.000,0.042,2918,2181,2254
$GC,11365,0.60,126.5,189.2,16.0,343,11368,0.00,1.67,0.00,0.000,4,0.000,0.048,2918,3297,2255
$GC,11392,0.60,126.5,184.7,15.5,345,11396,0.10,1.67,0.00,0.000,6,0.165,0.027,2895,2164,2255
$GC,11668,0.60,126.5,151.9,9.3,370,11671,0.00,1.73,0.00,0.000,4,0.000,0.045,2891,3293,2254
$GC,11731,0.60,126.5,144.1,11.2,375,11737,0.00,1.60,0.00,0.000,6,0.000,0.027,2898,2198,2255
$GC,11997,0.60,126.5,113.0,13.1,400,12005,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2192,2255
$GC,12263,0.60,126.5,79.2,10.1,425,12267,0.00,1.65,0.00,0.000,4,0.000,0.043,2898,3286,2255
$GC,12307,0.60,126.5,74.9,9.0,428,12316,0.00,1.62,0.00,0.000,6,0.000,0.026,2907,2161,2255
$GC,12575,0.61,150.0,57.5,7.5,453,12604,0.00,1.42,17.83,0.611,4,0.000,0.027,2912,1171,2177
$GC,12727,0.62,178.2,45.8,7.3,465,12756,0.00,1.52,24.25,0.598,6,0.000,0.035,2912,2177,2063
$GC,13028,0.62,178.2,18.2,9.2,500,13037,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2177,2058
$STATE,13173,end climb,SURFACE_DEPTH_REACHED
$STATE,13173,begin surface coast
$FINISH,0.4,1.023081
$STATE,13216,end surface coast,CONTROL_FINISHED_OK
$STATE,13216,begin surface
$SM_CCo,13241,84.65,0.548,0,0,1239,380.21
$SM_GC,1.33,0.00,0.00,84.65,0.000,0.000,0.548,26,2591,1239,-8.33,0.59,380.21
$IRIDIUM_FIX,2211.35,-15757.21,211202,020240
$TT8_MAMPS,0.023777
$HUMID,2185
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.60
$XPDR_PINGS,3
$24V_AH,24.2,8.223
$10V_AH,10.7,8.414
$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,17.800,73.975,270.900,84.650,0.000,135.814,191.335,851.261,0.750,0.000,0.000,19.289,1091.382,9130.951,420.476,2595.962,1751.808,33.387,1192.911,0.000,2606.773,0.000,0.545,0.000
$DEVICE_MAMPS,206.323,55.991,1264.016,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,361.076,1739.217,1791.071,230.399,1220.715,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44642,529
$CAP_FILE_SIZE,112947,0
$CFSIZE,260165632,254971904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260913,060923,2222.056,-15759.659,27,0.9,44,10.0