version: 66.04
glider: 512
mission: 4
dive: 58
start: 9 26 113 14 29 37
data:
$ID,512
$MISSION,4
$DIVE,58
$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,-107624.65
$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,72
$R_STBD_OVSHOOT,31
$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
$GPS1,141206,2223.276,-15802.110,32,1.2,32,10.0
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-84.0
$GPS2,142843,2223.375,-15802.041,14,1.2,14,10.0
$SPEED_LIMITS,0.122,0.231
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.016,0.231
$KALMAN_X,19633.6,-185.2,-273.7,-22557.7,3911.9
$KALMAN_Y,9529.0,400.6,240.4,-48527.7,-5225.0
$MHEAD_RNG_PITCHd_Wd,346.1,56732,-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,-126.5,0.0,0.0,0,94,0.00,0.00,-74.03,0.000,2,0.000,0.000,10,2591,2996
$GC,99,-0.60,-126.5,2.3,-2.1,9,126,9.18,1.55,-6.78,0.000,4,0.202,0.040,2504,1499,3307
$GC,145,-0.60,-126.5,17.6,-32.3,14,155,0.00,1.65,0.00,0.000,6,0.000,0.036,2498,2572,3308
$GC,419,-0.60,-126.5,96.7,-21.1,41,423,0.00,1.50,0.00,0.000,4,0.000,0.019,2503,1508,3308
$GC,447,-0.60,-126.5,102.4,-19.6,43,451,0.00,1.60,0.00,0.000,6,0.000,0.038,2497,2555,3308
$GC,718,-0.60,-126.5,154.9,-19.6,68,721,0.00,1.62,0.00,0.000,4,0.000,0.043,2489,3633,3309
$GC,759,-0.60,-126.5,164.4,-21.7,71,767,0.00,1.58,0.00,0.000,6,0.000,0.019,2494,2526,3309
$GC,1053,-0.60,-126.5,213.4,-16.2,93,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2518,3310
$GC,1296,-0.60,-126.5,247.2,-13.7,99,1300,0.00,1.38,0.00,0.000,4,0.000,0.021,2502,1520,3310
$GC,1455,-0.60,-126.5,268.7,-13.7,102,1458,0.00,1.55,0.00,0.000,6,0.000,0.036,2496,2546,3310
$GC,1727,-0.60,-126.5,308.6,-14.9,109,1731,0.00,1.45,0.00,0.000,4,0.000,0.021,2502,1513,3309
$GC,1779,-0.60,-126.5,316.3,-12.6,110,1782,0.00,1.55,0.00,0.000,6,0.000,0.037,2496,2541,3309
$GC,2067,-0.60,-126.5,354.1,-13.4,117,2071,0.00,1.62,0.00,0.000,4,0.000,0.047,2487,3637,3307
$GC,2118,-0.60,-126.5,361.0,-12.9,118,2122,0.00,1.55,0.00,0.000,6,0.000,0.022,2493,2549,3306
$GC,2412,-0.60,-126.5,398.6,-12.7,125,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2542,3305
$GC,2655,-0.60,-126.5,428.6,-12.2,131,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2542,3302
$GC,2899,-0.60,-126.5,457.3,-11.7,137,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2542,3300
$GC,3143,-0.60,-126.5,484.9,-11.2,143,3146,0.00,1.65,0.00,0.000,4,0.000,0.046,2487,3635,3297
$GC,3200,-0.60,-126.5,492.1,-12.6,144,3204,0.00,1.55,-0.08,0.000,6,0.000,0.024,2492,2560,3318
$GC,3483,-0.60,-126.5,525.8,-12.3,151,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2552,3316
$GC,3728,-0.60,-126.5,554.5,-11.8,157,3731,0.00,1.45,0.00,0.000,4,0.000,0.025,2492,1521,3314
$GC,3791,-0.60,-126.5,562.4,-11.2,158,3794,0.00,1.60,0.00,0.000,6,0.000,0.044,2486,2563,3314
$GC,4068,-0.60,-126.5,594.1,-11.6,165,4071,0.00,1.62,0.00,0.000,4,0.000,0.051,2478,3642,3311
$GC,4137,-0.60,-126.5,603.1,-12.2,166,4141,0.00,1.55,0.00,0.000,6,0.000,0.028,2478,2571,3310
$GC,4409,-0.60,-126.5,634.7,-11.7,173,4412,0.00,1.48,0.00,0.000,4,0.000,0.028,2477,1525,3309
$GC,4461,-0.60,-126.5,641.0,-10.8,174,4465,0.12,1.60,0.00,0.000,6,0.152,0.045,2504,2587,3308
$GC,4750,-0.60,-126.5,668.8,-9.6,181,4753,0.00,1.55,0.00,0.000,4,0.000,0.028,2508,1516,3305
$GC,4785,-0.60,-126.5,672.6,-9.1,181,4789,0.00,1.60,0.00,0.000,6,0.000,0.046,2502,2557,3305
$GC,5045,-0.60,-126.5,697.0,-9.5,188,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2557,3303
$GC,5289,-0.60,-126.5,719.5,-9.2,194,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2557,3302
$GC,5532,-0.60,-126.5,741.9,-9.2,200,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2557,3301
$GC,5776,-0.60,-126.5,765.4,-9.7,206,5779,0.00,1.62,0.00,0.000,4,0.000,0.054,2494,3628,3299
$GC,5833,-0.60,-126.5,772.0,-10.7,207,5837,0.00,1.58,0.00,0.000,6,0.000,0.028,2501,2553,3299
$GC,6117,-0.60,-126.5,800.4,-10.0,214,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2544,3297
$GC,6362,-0.60,-126.5,823.4,-9.3,220,6365,0.00,1.48,0.00,0.000,4,0.000,0.030,2507,1513,3296
$GC,6430,-0.60,-126.5,829.7,-8.5,221,6434,0.00,1.62,0.00,0.000,6,0.000,0.048,2502,2564,3296
$GC,6702,-0.60,-126.5,851.9,-8.3,228,6706,0.00,1.62,0.00,0.000,4,0.000,0.057,2493,3629,3294
$GC,6798,-0.60,-126.5,860.3,-8.6,230,6802,0.00,1.55,0.00,0.000,6,0.000,0.030,2499,2579,3293
$GC,7093,-0.60,-126.5,883.9,-7.8,237,7096,0.00,1.52,0.00,0.000,4,0.000,0.031,2507,1507,3292
$GC,7129,-0.60,-126.5,887.0,-7.8,237,7133,0.00,1.62,0.00,0.000,6,0.000,0.048,2501,2573,3292
$STATE,7302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7303,begin apogee
$GC,7314,-0.23,0.0,901.2,8.1,242,7426,0.38,0.00,109.53,1.259,6,0.115,0.000,2627,2209,2790
$STATE,7427,end apogee,CONTROL_FINISHED_OK
$STATE,7427,begin climb
$GC,7432,0.60,126.5,904.3,0.0,245,7564,0.73,1.67,119.68,1.193,4,0.061,0.031,2893,1164,2274
$GC,7581,0.60,126.5,887.4,18.7,248,7585,0.00,1.73,0.00,0.000,6,0.000,0.043,2891,2228,2270
$GC,7864,0.60,126.5,827.5,21.0,255,7867,0.00,1.65,0.00,0.000,4,0.000,0.050,2891,3289,2264
$GC,7950,0.60,126.5,808.4,21.9,256,7957,0.00,1.58,0.00,0.000,6,0.000,0.029,2897,2251,2262
$GC,8205,0.60,126.5,756.8,20.5,263,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2244,2261
$GC,8448,0.60,126.5,705.6,21.3,269,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2244,2260
$GC,8692,0.60,126.5,654.1,20.9,275,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2244,2259
$GC,8936,0.60,126.5,604.6,20.0,281,8939,0.00,1.60,0.00,0.000,4,0.000,0.033,2905,1158,2259
$GC,8954,0.60,126.5,600.4,19.8,281,8958,0.00,1.67,0.00,0.000,6,0.000,0.045,2905,2249,2259
$GC,9231,0.60,126.5,548.6,18.8,288,9235,0.00,1.60,0.00,0.000,4,0.000,0.051,2905,3279,2258
$GC,9267,0.60,126.5,540.9,20.4,288,9270,0.00,1.55,0.00,0.000,6,0.000,0.031,2910,2245,2258
$GC,9528,0.60,126.5,492.5,18.2,295,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2240,2257
$GC,9773,0.60,126.5,448.1,18.1,301,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2239,2257
$GC,10016,0.60,126.5,403.7,17.8,307,10020,0.00,1.62,0.00,0.000,4,0.000,0.050,2905,3294,2257
$GC,10079,0.60,126.5,390.6,19.2,308,10083,0.00,1.58,0.00,0.000,6,0.000,0.030,2911,2240,2256
$GC,10356,0.60,126.5,341.8,17.4,315,10358,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2235,2256
$GC,10600,0.60,126.5,303.7,15.1,321,10604,0.00,1.62,0.00,0.000,4,0.000,0.048,2912,3296,2255
$GC,10619,0.60,126.5,300.6,13.9,321,10622,0.00,1.58,0.00,0.000,6,0.000,0.028,2920,2232,2255
$GC,10896,0.60,126.5,259.8,15.0,328,10900,0.00,1.55,0.00,0.000,4,0.000,0.031,2928,1163,2256
$GC,11009,0.60,126.5,242.6,12.7,330,11014,0.12,1.65,0.00,0.000,6,0.151,0.042,2895,2256,2255
$GC,11282,0.60,126.5,207.6,12.9,337,11285,0.00,1.62,0.00,0.000,4,0.000,0.030,2900,1143,2255
$GC,11317,0.60,126.5,202.5,13.7,337,11321,0.00,1.65,0.00,0.000,6,0.000,0.042,2899,2214,2256
$GC,11586,0.60,126.5,166.3,13.0,359,11590,0.00,1.62,0.00,0.000,4,0.000,0.048,2900,3277,2255
$GC,11691,0.60,126.5,150.5,14.0,368,11695,0.00,1.52,0.00,0.000,6,0.000,0.027,2910,2239,2255
$GC,11964,0.60,126.5,116.4,11.8,393,11968,0.00,1.55,0.00,0.000,4,0.000,0.028,2919,1162,2255
$GC,11994,0.60,126.5,112.6,11.0,395,12002,0.00,1.62,0.00,0.000,6,0.000,0.041,2918,2225,2255
$GC,12259,0.60,126.5,87.1,8.8,420,12263,0.00,1.60,0.00,0.000,4,0.000,0.044,2918,3280,2255
$GC,12417,0.60,126.5,70.5,9.5,433,12421,0.10,1.50,0.00,0.000,6,0.164,0.025,2895,2248,2256
$GC,12694,0.65,263.0,53.8,2.3,458,12805,0.00,1.65,106.25,0.614,4,0.000,0.027,2899,1168,1716
$GC,12836,0.65,265.4,45.5,8.5,468,12839,0.00,1.67,0.00,0.000,6,0.000,0.038,2899,2247,1712
$GC,13126,0.65,265.4,11.5,12.2,504,13135,0.00,1.58,0.00,0.000,4,0.000,0.041,2899,3284,1710
$GC,13166,0.65,265.4,6.6,12.3,509,13175,0.00,1.55,0.00,0.000,6,0.000,0.021,2907,2222,1709
$STATE,13194,end climb,SURFACE_DEPTH_REACHED
$STATE,13194,begin surface coast
$FINISH,0.4,1.000980
$STATE,13221,end surface coast,CONTROL_FINISHED_OK
$STATE,13221,begin surface
$SM_CCo,13246,47.10,0.545,0,0,1239,380.21
$SM_GC,1.17,0.00,0.00,47.10,0.000,0.000,0.545,30,2589,1239,-8.33,0.54,380.21
$IRIDIUM_FIX,2216.01,-15803.69,211202,141432
$TT8_MAMPS,0.023777
$HUMID,2207
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,24.1,8.661
$10V_AH,10.6,8.941
$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,17.950,89.750,335.450,47.100,0.000,49.376,70.401,641.672,0.500,0.000,0.000,14.109,1087.536,8901.378,404.249,2615.116,1281.990,33.361,1228.409,0.000,2629.448,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,56.758,1258.647,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,352.242,1701.419,1761.352,200.407,1170.484,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44623,517
$CAP_FILE_SIZE,109359,0
$CFSIZE,260165632,254803968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260913,181235,2224.971,-15801.920,36,1.2,36,10.0