version: 66.04
glider: 512
mission: 4
dive: 56
start: 9 26 113 6 28 24
data:
$ID,512
$MISSION,4
$DIVE,56
$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,-107593.72
$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,58
$R_STBD_OVSHOOT,38
$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
$GPS1,060923,2222.056,-15759.659,27,0.9,44,10.0
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-79.7
$GPS2,062730,2222.183,-15759.777,11,0.9,16,10.0
$SPEED_LIMITS,0.122,0.231
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.182,0.142
$KALMAN_X,17314.3,-663.7,-96.5,-16077.3,4127.5
$KALMAN_Y,14056.8,196.4,169.1,-54985.5,-3027.1
$MHEAD_RNG_PITCHd_Wd,298.0,60843,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.60,-126.5,0.0,0.0,0,90,0.00,0.00,-65.75,0.000,2,0.000,0.000,11,2588,2794
$GC,95,-0.60,-126.5,2.1,-1.7,8,123,9.30,1.62,-12.88,0.000,4,0.206,0.057,2488,3635,3307
$GC,391,-0.60,-126.5,83.7,-25.0,40,395,0.00,1.55,0.00,0.000,6,0.000,0.020,2489,2565,3308
$GC,663,-0.60,-126.5,139.1,-18.7,65,666,0.00,1.60,0.00,0.000,4,0.000,0.041,2483,3631,3309
$GC,714,-0.60,-126.5,149.4,-21.4,69,717,0.00,1.52,0.00,0.000,6,0.000,0.020,2483,2555,3309
$GC,1004,-0.60,-126.5,209.1,-19.7,93,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2546,3309
$GC,1248,-0.60,-126.5,250.2,-15.9,99,1251,0.00,1.62,0.00,0.000,4,0.000,0.041,2474,3638,3309
$GC,1362,-0.60,-126.5,268.6,-15.4,101,1366,0.05,1.52,0.00,0.000,6,0.166,0.020,2501,2551,3309
$GC,1633,-0.60,-126.5,305.6,-13.7,108,1636,0.00,1.40,0.00,0.000,4,0.000,0.022,2509,1530,3308
$GC,1729,-0.60,-126.5,317.0,-11.1,110,1732,0.00,1.52,0.00,0.000,6,0.000,0.039,2504,2535,3308
$GC,2022,-0.60,-126.5,353.3,-12.7,117,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2535,3305
$GC,2266,-0.60,-126.5,383.3,-12.2,123,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2535,3304
$GC,2510,-0.60,-126.5,411.2,-11.2,129,2513,0.00,1.42,0.00,0.000,4,0.000,0.024,2509,1528,3302
$GC,2545,-0.60,-126.5,415.2,-9.6,129,2549,0.00,1.58,0.00,0.000,6,0.000,0.041,2503,2562,3301
$GC,2806,-0.60,-126.5,442.3,-11.0,136,2810,0.00,1.60,0.00,0.000,4,0.000,0.049,2495,3634,3298
$GC,2869,-0.60,-126.5,450.5,-12.8,137,2873,0.00,1.50,0.00,0.000,6,0.000,0.024,2501,2586,3298
$GC,3147,-0.60,-126.5,484.5,-12.7,144,3151,0.00,1.48,-0.08,0.000,4,0.000,0.046,2509,1509,3321
$GC,3255,-0.60,-126.5,497.8,-11.2,146,3259,0.00,1.60,0.00,0.000,6,0.000,0.042,2504,2580,3321
$GC,3532,-0.60,-126.5,528.0,-10.8,153,3536,0.00,1.60,0.00,0.000,4,0.000,0.050,2495,3651,3317
$GC,3591,-0.60,-126.5,534.9,-11.6,154,3594,0.00,1.58,0.00,0.000,6,0.000,0.025,2501,2562,3317
$GC,3873,-0.60,-126.5,563.5,-10.0,161,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2554,3316
$GC,4117,-0.60,-126.5,586.5,-9.3,167,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2554,3313
$GC,4360,-0.60,-126.5,608.6,-9.0,173,4364,0.00,1.48,0.00,0.000,4,0.000,0.028,2509,1509,3311
$GC,4402,-0.60,-126.5,612.3,-7.6,173,4410,0.00,1.65,0.00,0.000,6,0.000,0.045,2503,2583,3311
$GC,4657,-0.60,-126.5,632.7,-8.2,180,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2583,3309
$GC,4900,-0.60,-126.5,653.0,-8.5,186,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2583,3307
$GC,5144,-0.60,-126.5,675.3,-9.4,192,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2583,3305
$GC,5387,-0.60,-126.5,700.3,-10.4,198,5391,0.00,1.55,0.00,0.000,4,0.000,0.028,2508,1511,3303
$GC,5446,-0.60,-126.5,707.0,-10.2,199,5449,0.00,1.62,0.00,0.000,6,0.000,0.047,2502,2583,3304
$GC,5728,-0.60,-126.5,736.2,-10.3,206,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2583,3302
$GC,5972,-0.60,-126.5,757.7,-8.5,212,5975,0.00,1.60,0.00,0.000,4,0.000,0.055,2494,3638,3301
$GC,6030,-0.60,-126.5,762.9,-8.5,213,6033,0.00,1.55,0.00,0.000,6,0.000,0.028,2500,2578,3300
$GC,6314,-0.60,-126.5,782.8,-7.0,220,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2569,3299
$GC,6558,-0.60,-126.5,799.6,-6.9,226,6562,0.00,1.62,0.00,0.000,4,0.000,0.054,2494,3625,3297
$GC,6622,-0.60,-126.5,805.0,-8.1,227,6625,0.00,1.52,0.00,0.000,6,0.000,0.031,2500,2586,3297
$GC,6899,-0.60,-126.5,827.4,-8.1,234,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2572,3296
$GC,7142,-0.60,-126.5,849.1,-9.0,240,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2572,3295
$GC,7386,-0.60,-126.5,871.4,-8.9,246,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2572,3294
$GC,7630,-0.60,-126.5,893.4,-8.9,252,7633,0.00,1.62,0.00,0.000,4,0.000,0.056,2494,3627,3293
$GC,7671,-0.60,-126.5,897.6,-9.7,252,7680,0.00,1.52,0.00,0.000,6,0.000,0.031,2500,2582,3293
$STATE,7717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7717,begin apogee
$GC,7728,-0.23,0.0,901.7,8.8,254,7841,0.38,0.00,110.10,1.262,6,0.133,0.000,2627,2217,2790
$STATE,7842,end apogee,CONTROL_FINISHED_OK
$STATE,7842,begin climb
$GC,7847,0.60,126.5,904.6,0.0,257,7976,0.73,0.00,120.78,1.196,6,0.061,0.000,2887,2217,2274
$GC,8217,0.60,126.5,838.9,21.4,266,8220,0.00,1.70,0.00,0.000,4,0.000,0.051,2886,3282,2264
$GC,8258,0.60,126.5,828.8,23.1,266,8266,0.00,1.60,0.00,0.000,6,0.000,0.030,2894,2243,2263
$GC,8512,0.60,126.5,771.1,22.7,273,8516,0.00,1.65,0.00,0.000,4,0.000,0.049,2891,3289,2262
$GC,8565,0.60,126.5,758.4,24.3,274,8569,0.00,1.58,0.00,0.000,6,0.000,0.030,2898,2244,2260
$GC,8853,0.60,126.5,696.0,21.9,281,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2239,2260
$GC,9097,0.60,126.5,643.7,21.8,287,9100,0.00,1.60,0.00,0.000,4,0.000,0.033,2906,1152,2260
$GC,9149,0.60,126.5,633.0,19.6,288,9152,0.00,1.70,0.00,0.000,6,0.000,0.044,2905,2259,2258
$GC,9438,0.60,126.5,574.0,21.1,295,9442,0.00,1.62,0.00,0.000,4,0.000,0.031,2911,1156,2259
$GC,9462,0.60,126.5,568.1,20.2,295,9466,0.00,1.70,0.00,0.000,6,0.000,0.043,2911,2246,2258
$GC,9733,0.60,126.5,512.9,20.7,302,9734,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2246,2258
$GC,9977,0.60,126.5,463.5,20.1,308,9981,0.00,1.60,0.00,0.000,4,0.000,0.051,2910,3279,2257
$GC,9995,0.60,126.5,459.4,19.6,308,9999,0.00,1.55,0.00,0.000,6,0.000,0.031,2917,2242,2256
$GC,10273,0.60,126.5,405.6,19.5,315,10274,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2236,2256
$GC,10516,0.60,126.5,360.7,18.2,321,10520,0.00,1.58,0.00,0.000,4,0.000,0.032,2925,1167,2256
$GC,10591,0.60,126.5,347.2,17.0,322,10596,0.12,1.65,0.00,0.000,6,0.170,0.044,2894,2253,2256
$GC,10857,0.60,126.5,303.9,16.7,329,10861,0.00,1.58,0.00,0.000,4,0.000,0.049,2892,3275,2256
$GC,10952,0.60,126.5,288.2,15.7,331,10956,0.00,1.50,0.00,0.000,6,0.000,0.029,2897,2264,2255
$GC,11246,0.60,126.5,244.1,14.9,338,11250,0.00,1.60,0.00,0.000,4,0.000,0.031,2906,1158,2255
$GC,11286,0.60,126.5,238.2,13.3,338,11295,0.00,1.70,0.00,0.000,6,0.000,0.041,2905,2264,2255
$GC,11541,0.60,126.5,201.1,14.2,345,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2263,2256
$GC,11794,0.60,126.5,169.6,10.3,366,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2263,2255
$GC,12061,0.60,126.5,139.9,12.9,391,12065,0.00,1.62,0.00,0.000,4,0.000,0.029,2913,1156,2256
$GC,12112,0.60,126.5,133.5,12.5,395,12115,0.00,1.67,0.00,0.000,6,0.000,0.040,2913,2272,2255
$GC,12383,0.60,126.5,99.4,10.7,420,12387,0.00,1.52,0.00,0.000,4,0.000,0.043,2913,3282,2255
$GC,12480,0.60,126.5,87.0,13.0,428,12484,0.00,1.42,0.00,0.000,6,0.000,0.025,2920,2296,2255
$GC,12753,0.60,126.5,58.7,9.7,453,12756,0.00,1.62,0.00,0.000,4,0.000,0.026,2928,1168,2255
$GC,13035,0.64,238.4,44.5,3.5,476,13133,0.00,1.60,87.12,0.602,6,0.000,0.037,2928,2226,1816
$STATE,13357,end climb,SURFACE_DEPTH_REACHED
$STATE,13357,begin surface coast
$FINISH,0.4,1.023082
$STATE,13377,end surface coast,CONTROL_FINISHED_OK
$STATE,13378,begin surface
$SM_CCo,13403,56.15,0.545,0,0,1239,380.21
$SM_GC,1.20,0.00,0.00,56.15,0.000,0.000,0.545,33,2587,1239,-8.31,0.42,380.21
$IRIDIUM_FIX,2213.68,-15801.53,211202,060656
$TT8_MAMPS,0.023777
$HUMID,2209
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.30
$XPDR_PINGS,6
$24V_AH,24.1,8.376
$10V_AH,10.7,8.590
$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,17.925,76.875,318.000,56.150,0.000,48.014,75.587,725.412,1.500,0.000,0.000,16.336,1080.643,9091.272,418.509,2604.586,1351.078,33.359,1202.749,0.000,2616.615,0.000,0.544,0.000
$DEVICE_MAMPS,206.323,56.758,1262.482,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,354.205,1709.777,1770.370,211.957,1166.977,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44517,519
$CAP_FILE_SIZE,106439,0
$CFSIZE,260165632,254922752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260913,101406,2222.552,-15800.988,34,1.0,34,10.0