version: 66.04
glider: 512
mission: 4
dive: 57
start: 9 26 113 10 29 49
data:
$ID,512
$MISSION,4
$DIVE,57
$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,-107609.91
$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,57
$R_STBD_OVSHOOT,35
$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
$GPS1,101406,2222.552,-15800.988,34,1.0,34,10.0
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-78.9
$GPS2,102855,2222.622,-15801.008,15,1.1,15,10.0
$SPEED_LIMITS,0.122,0.231
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.150,0.176
$KALMAN_X,18823.6,-363.9,-383.1,-19700.6,4807.4
$KALMAN_Y,11875.1,482.9,-34.0,-52072.1,-3895.7
$MHEAD_RNG_PITCHd_Wd,309.4,58649,-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,21,-0.60,-126.5,0.0,0.0,0,98,0.00,0.00,-73.90,0.000,2,0.000,0.000,11,2584,3001
$GC,103,-0.60,-126.5,2.4,-2.1,9,130,9.27,1.60,-6.57,0.000,4,0.206,0.055,2486,3633,3307
$GC,260,-0.60,-126.5,57.8,-31.8,27,269,0.00,1.58,0.00,0.000,6,0.000,0.021,2488,2562,3308
$GC,525,-0.60,-126.5,120.5,-21.8,52,528,0.00,1.48,0.00,0.000,4,0.000,0.020,2488,1490,3309
$GC,554,-0.60,-126.5,126.0,-18.9,54,557,0.00,1.60,0.00,0.000,6,0.000,0.036,2481,2566,3309
$GC,826,-0.60,-126.5,179.3,-19.7,79,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2566,3310
$GC,1095,-0.60,-126.5,231.9,-19.1,93,1099,0.00,1.50,0.00,0.000,4,0.000,0.021,2481,1503,3310
$GC,1125,-0.60,-126.5,237.7,-16.9,93,1129,0.08,1.60,0.00,0.000,6,0.153,0.036,2498,2563,3310
$GC,1391,-0.60,-126.5,278.6,-15.1,100,1395,0.00,1.50,0.00,0.000,4,0.000,0.021,2505,1502,3310
$GC,1441,-0.60,-126.5,286.2,-13.7,101,1444,0.00,1.58,0.00,0.000,6,0.000,0.036,2499,2543,3310
$GC,1735,-0.60,-126.5,327.9,-14.0,108,1738,0.00,1.62,0.00,0.000,4,0.000,0.046,2491,3641,3309
$GC,1793,-0.60,-126.5,336.2,-12.9,109,1797,0.00,1.58,0.00,0.000,6,0.000,0.022,2497,2532,3308
$GC,2076,-0.60,-126.5,369.3,-11.8,116,2079,0.00,1.38,0.00,0.000,4,0.000,0.022,2504,1528,3306
$GC,2172,-0.60,-126.5,380.5,-11.8,118,2176,0.00,1.55,0.00,0.000,6,0.000,0.039,2499,2549,3306
$GC,2465,-0.60,-126.5,415.8,-11.7,125,2469,0.00,1.62,0.00,0.000,4,0.000,0.047,2490,3624,3304
$GC,2534,-0.60,-126.5,424.2,-11.5,126,2538,0.00,1.52,0.00,0.000,6,0.000,0.023,2496,2556,3302
$GC,2806,-0.60,-126.5,453.2,-11.0,133,2810,0.00,1.45,0.00,0.000,4,0.000,0.024,2504,1511,3300
$GC,2881,-0.60,-126.5,461.0,-9.3,134,2885,0.00,1.58,0.00,0.000,6,0.000,0.041,2499,2547,3299
$GC,3147,-0.60,-126.5,486.8,-9.8,141,3151,0.00,1.62,-0.08,0.000,4,0.000,0.067,2490,3632,3322
$GC,3256,-0.60,-126.5,498.6,-11.1,143,3259,0.00,1.52,0.00,0.000,6,0.000,0.025,2496,2569,3322
$GC,3533,-0.60,-126.5,525.7,-10.0,150,3537,0.00,1.48,0.00,0.000,4,0.000,0.026,2503,1514,3320
$GC,3597,-0.60,-126.5,532.6,-9.4,151,3601,0.00,1.60,0.00,0.000,6,0.000,0.043,2497,2580,3319
$GC,3874,-0.60,-126.5,561.0,-10.3,158,3878,0.00,1.60,0.00,0.000,4,0.000,0.051,2489,3627,3316
$GC,3954,-0.60,-126.5,570.7,-11.3,159,3957,0.00,1.52,0.00,0.000,6,0.000,0.027,2495,2572,3316
$GC,4215,-0.60,-126.5,599.0,-11.1,166,4218,0.00,1.48,0.00,0.000,4,0.000,0.028,2495,1524,3314
$GC,4272,-0.60,-126.5,606.0,-10.4,167,4276,0.00,1.60,0.00,0.000,6,0.000,0.046,2489,2563,3314
$GC,4555,-0.60,-126.5,637.7,-11.4,174,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2563,3312
$GC,4798,-0.60,-126.5,665.8,-11.6,180,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2563,3310
$GC,5042,-0.60,-126.5,694.0,-11.5,186,5045,0.00,1.50,0.00,0.000,4,0.000,0.028,2489,1525,3308
$GC,5100,-0.60,-126.5,700.8,-10.6,187,5104,0.00,1.60,0.00,0.000,6,0.000,0.047,2481,2578,3308
$GC,5383,-0.60,-126.5,729.8,-10.4,194,5387,0.00,1.62,0.00,0.000,4,0.000,0.054,2473,3633,3305
$GC,5486,-0.60,-126.5,741.8,-11.2,196,5490,0.08,1.58,0.00,0.000,6,0.143,0.028,2498,2544,3305
$GC,5768,-0.60,-126.5,768.1,-9.5,203,5771,0.00,1.67,0.00,0.000,4,0.000,0.054,2492,3631,3303
$GC,5809,-0.60,-126.5,772.7,-10.8,203,5817,0.00,1.52,0.00,0.000,6,0.000,0.029,2492,2578,3303
$GC,6063,-0.60,-126.5,798.0,-10.0,210,6067,0.00,1.50,0.00,0.000,4,0.000,0.030,2492,1528,3302
$GC,6114,-0.60,-126.5,802.7,-8.4,211,6118,0.00,1.62,0.00,0.000,6,0.000,0.051,2492,2587,3301
$GC,6408,-0.60,-126.5,830.3,-9.1,218,6412,0.00,1.62,0.00,0.000,4,0.000,0.057,2485,3636,3300
$GC,6488,-0.60,-126.5,838.2,-9.2,219,6491,0.00,1.55,0.00,0.000,6,0.000,0.030,2490,2578,3299
$GC,6749,-0.60,-126.5,861.0,-8.8,226,6752,0.00,1.50,0.00,0.000,4,0.000,0.030,2491,1522,3299
$GC,6790,-0.60,-126.5,865.0,-8.7,226,6798,0.00,1.65,0.00,0.000,6,0.000,0.051,2485,2579,3298
$GC,7044,-0.60,-126.5,887.6,-9.1,233,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2579,3297
$STATE,7202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7202,begin apogee
$GC,7213,-0.23,0.0,902.7,9.3,237,7327,0.43,0.00,110.68,1.261,6,0.120,0.000,2624,2214,2790
$STATE,7328,end apogee,CONTROL_FINISHED_OK
$STATE,7328,begin climb
$GC,7333,0.60,126.5,905.5,0.0,240,7464,0.75,1.62,118.75,1.198,4,0.070,0.031,2895,1161,2275
$GC,7484,0.60,126.5,885.6,19.6,243,7488,0.00,1.73,0.00,0.000,6,0.000,0.042,2891,2226,2272
$GC,7762,0.60,126.5,824.7,22.3,250,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2226,2266
$GC,8007,0.60,126.5,771.2,22.0,256,8010,0.00,1.65,0.00,0.000,4,0.000,0.050,2891,3295,2263
$GC,8087,0.60,126.5,752.0,22.5,257,8090,0.00,1.60,0.00,0.000,6,0.000,0.030,2897,2219,2262
$GC,8347,0.60,126.5,697.3,21.0,264,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2212,2261
$GC,8590,0.60,126.5,646.5,21.1,270,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2212,2260
$GC,8834,0.60,126.5,597.0,20.0,276,8838,0.00,1.67,0.00,0.000,4,0.000,0.049,2892,3293,2260
$GC,8853,0.60,126.5,592.8,18.7,276,8857,0.00,1.60,0.00,0.000,6,0.000,0.030,2898,2225,2260
$GC,9131,0.60,126.5,541.5,18.9,283,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2219,2259
$GC,9375,0.60,126.5,497.3,18.4,289,9379,0.00,1.65,0.00,0.000,4,0.000,0.050,2892,3288,2259
$GC,9411,0.60,126.5,489.7,18.8,289,9414,0.00,1.58,0.00,0.000,6,0.000,0.031,2898,2232,2258
$GC,9670,0.60,126.5,442.7,18.4,296,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2226,2258
$GC,9914,0.60,126.5,398.3,18.3,302,9918,0.00,1.65,0.00,0.000,4,0.000,0.051,2892,3295,2258
$GC,9966,0.60,126.5,388.9,17.1,303,9970,0.00,1.55,0.00,0.000,6,0.000,0.030,2898,2254,2257
$GC,10255,0.60,126.5,339.6,16.9,310,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2248,2257
$GC,10500,0.60,126.5,303.4,14.8,316,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2248,2257
$GC,10744,0.60,126.5,269.1,14.0,322,10748,0.00,1.60,0.00,0.000,4,0.000,0.032,2906,1154,2257
$GC,10838,0.60,126.5,257.4,10.9,324,10842,0.00,1.70,0.00,0.000,6,0.000,0.041,2905,2256,2257
$GC,11132,0.60,126.5,220.1,12.5,331,11136,0.00,1.62,0.00,0.000,4,0.000,0.030,2911,1132,2257
$GC,11367,0.60,126.5,188.5,11.9,339,11376,0.00,1.65,0.00,0.000,6,0.000,0.041,2911,2208,2256
$GC,11633,0.60,126.5,153.0,11.1,364,11637,0.00,1.60,0.00,0.000,4,0.000,0.044,2911,3289,2256
$GC,11695,0.60,126.5,145.6,11.8,369,11699,0.00,1.60,0.00,0.000,6,0.000,0.026,2919,2195,2256
$GC,11966,0.60,126.5,112.7,12.1,394,11975,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2190,2257
$GC,12233,0.60,126.5,82.3,13.1,419,12236,0.00,1.65,0.00,0.000,4,0.000,0.043,2919,3285,2257
$GC,12497,0.61,165.6,56.5,6.8,441,12539,0.00,1.55,30.65,0.621,6,0.000,0.024,2927,2202,2114
$GC,12797,0.62,178.0,34.9,8.0,468,12816,0.00,0.00,11.10,0.559,6,0.000,0.000,2927,2201,2064
$GC,13101,0.62,178.0,5.1,12.0,514,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2202,2063
$STATE,13116,end climb,SURFACE_DEPTH_REACHED
$STATE,13116,begin surface coast
$FINISH,0.3,1.023127
$STATE,13149,end surface coast,CONTROL_FINISHED_OK
$STATE,13149,begin surface
$SM_CCo,13174,82.40,0.545,0,0,1239,380.21
$SM_GC,1.39,0.00,0.00,82.40,0.000,0.000,0.545,31,2594,1239,-8.32,0.68,380.21
$IRIDIUM_FIX,2213.68,-15759.37,211202,101040
$TT8_MAMPS,0.023777
$HUMID,2152
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.00
$XPDR_PINGS,3
$24V_AH,24.1,8.512
$10V_AH,10.7,8.766
$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,17.875,86.500,271.175,82.400,0.000,61.711,141.283,449.141,0.750,0.000,0.000,15.561,1112.554,8743.235,410.768,2711.022,1167.338,33.360,1261.245,0.000,2718.466,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,67.496,1260.948,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,355.585,1716.401,1768.902,225.081,1190.719,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44755,521
$CAP_FILE_SIZE,106224,0
$CFSIZE,260165632,254865408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260913,141206,2223.276,-15802.110,32,1.2,32,10.0