version: 66.04
glider: 512
mission: 4
dive: 59
start: 9 26 113 18 32 43
data:
$ID,512
$MISSION,4
$DIVE,59
$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,160
$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,-107638.16
$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,71
$R_STBD_OVSHOOT,32
$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
$GPS1,181235,2224.971,-15801.920,36,1.2,36,10.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-80.5
$GPS2,183149,2225.038,-15801.938,12,1.6,12,10.0
$SPEED_LIMITS,0.122,0.253
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.066,0.244
$KALMAN_X,20113.9,-480.3,-265.1,-22575.1,3190.4
$KALMAN_Y,8004.8,293.6,411.6,-43998.1,-5227.4
$MHEAD_RNG_PITCHd_Wd,334.9,56668,-14.5,-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,-0.55,-155.7,0.0,0.0,0,94,0.00,0.00,-73.97,0.000,2,0.000,0.000,11,2584,3004
$GC,99,-0.55,-155.7,2.3,-2.2,9,126,9.25,1.60,-8.93,0.000,4,0.203,0.053,2506,3643,3426
$GC,271,-0.55,-155.7,54.8,-25.9,28,281,0.00,1.55,0.00,0.000,6,0.000,0.021,2510,2580,3427
$GC,538,-0.55,-155.7,114.3,-22.1,53,542,0.00,1.50,0.00,0.000,4,0.000,0.021,2518,1504,3427
$GC,602,-0.55,-155.7,127.8,-16.2,58,610,0.00,1.62,0.00,0.000,6,0.000,0.036,2512,2576,3428
$GC,867,-0.55,-155.7,174.9,-17.3,83,871,0.00,1.52,0.00,0.000,4,0.000,0.020,2518,1494,3428
$GC,908,-0.55,-155.7,182.5,-16.6,86,916,0.00,1.60,0.00,0.000,6,0.000,0.037,2512,2551,3428
$GC,1187,-0.55,-155.7,224.0,-14.8,101,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2551,3428
$GC,1431,-0.55,-155.7,257.7,-14.0,107,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2551,3428
$GC,1675,-0.55,-155.7,293.7,-15.1,113,1678,0.00,1.48,0.00,0.000,4,0.000,0.021,2517,1505,3427
$GC,1732,-0.55,-155.7,302.6,-13.6,114,1735,0.00,1.58,0.00,0.000,6,0.000,0.038,2512,2546,3427
$GC,2015,-0.55,-155.7,340.6,-13.2,121,2019,0.00,1.60,0.00,0.000,4,0.000,0.045,2504,3630,3425
$GC,2057,-0.55,-155.7,346.2,-12.5,121,2065,0.00,1.55,0.00,0.000,6,0.000,0.021,2509,2539,3425
$GC,2311,-0.55,-155.7,373.6,-10.5,128,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2532,3423
$GC,2554,-0.55,-155.7,397.7,-9.8,134,2558,0.00,1.40,0.00,0.000,4,0.000,0.024,2517,1524,3420
$GC,2606,-0.55,-155.7,403.1,-9.2,135,2610,0.00,1.58,0.00,0.000,6,0.000,0.041,2512,2561,3420
$GC,2896,-0.55,-155.7,435.4,-12.0,142,2899,0.00,1.60,0.00,0.000,4,0.000,0.048,2503,3635,3418
$GC,2946,-0.55,-155.7,441.7,-12.4,143,2949,0.00,1.52,0.00,0.000,6,0.000,0.023,2508,2577,3417
$GC,3240,-0.55,-155.7,476.0,-11.5,150,3243,0.00,1.45,-0.08,0.000,4,0.000,0.045,2508,1519,3440
$GC,3348,-0.55,-155.7,488.0,-10.5,152,3352,0.00,1.60,0.00,0.000,6,0.000,0.043,2502,2588,3439
$GC,3625,-0.55,-155.7,518.5,-11.1,159,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2588,3437
$GC,3869,-0.55,-155.7,545.6,-11.1,165,3872,0.00,1.55,0.00,0.000,4,0.000,0.027,2508,1510,3435
$GC,3898,-0.55,-155.7,549.2,-10.9,165,3902,0.00,1.58,0.00,0.000,6,0.000,0.044,2502,2539,3435
$GC,4165,-0.55,-155.7,577.0,-10.7,172,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2540,3433
$GC,4410,-0.55,-155.7,602.1,-10.1,178,4414,0.00,1.65,0.00,0.000,4,0.000,0.052,2494,3631,3430
$GC,4484,-0.55,-155.7,610.3,-9.9,179,4488,0.00,1.55,0.00,0.000,6,0.000,0.027,2500,2561,3429
$GC,4750,-0.55,-155.7,636.0,-9.8,186,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2552,3428
$GC,4994,-0.55,-155.7,660.7,-10.1,192,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2552,3426
$GC,5238,-0.55,-155.7,683.9,-9.4,198,5241,0.00,1.48,0.00,0.000,4,0.000,0.029,2508,1516,3424
$GC,5289,-0.55,-155.7,688.3,-8.2,199,5292,0.00,1.62,0.00,0.000,6,0.000,0.048,2501,2585,3423
$GC,5583,-0.55,-155.7,713.3,-8.5,206,5587,0.00,1.55,0.00,0.000,4,0.000,0.029,2505,1517,3421
$GC,5633,-0.55,-155.7,717.4,-7.5,207,5637,0.00,1.62,0.00,0.000,6,0.000,0.048,2499,2584,3420
$GC,5928,-0.55,-155.7,743.7,-9.2,214,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2583,3419
$GC,6173,-0.55,-155.7,768.2,-10.2,220,6176,0.00,1.55,0.00,0.000,4,0.000,0.030,2505,1516,3418
$GC,6230,-0.55,-155.7,774.7,-10.2,221,6234,0.00,1.62,0.00,0.000,6,0.000,0.048,2499,2563,3417
$GC,6512,-0.55,-155.7,804.5,-10.9,228,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2564,3415
$GC,6756,-0.55,-155.7,829.8,-10.2,234,6759,0.00,1.62,0.00,0.000,4,0.000,0.057,2490,3628,3415
$GC,6792,-0.55,-155.7,833.9,-10.9,234,6795,0.00,1.55,0.00,0.000,6,0.000,0.030,2491,2571,3415
$GC,7053,-0.55,-155.7,858.0,-9.1,241,7055,0.10,0.00,0.00,0.000,6,0.143,0.000,2521,2563,3413
$GC,7298,-0.55,-155.7,873.7,-6.1,247,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2563,3412
$GC,7542,-0.55,-155.7,888.1,-5.9,253,7545,0.00,1.50,0.00,0.000,4,0.000,0.031,2521,1527,3411
$GC,7592,-0.55,-155.7,891.3,-5.7,254,7595,0.00,1.62,0.00,0.000,6,0.000,0.051,2521,2584,3412
$STATE,7759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7759,begin apogee
$GC,7770,-0.23,0.0,901.5,5.9,258,7908,0.30,0.00,134.95,1.258,6,0.100,0.000,2625,2218,2790
$STATE,7909,end apogee,CONTROL_FINISHED_OK
$STATE,7909,begin climb
$GC,7914,0.55,155.7,903.6,0.0,261,8070,0.70,1.70,144.82,1.191,4,0.060,0.031,2883,1168,2155
$GC,8127,0.55,155.7,872.3,21.0,265,8136,0.00,1.73,0.00,0.000,6,0.000,0.045,2878,2217,2149
$GC,8382,0.55,155.7,818.1,21.7,272,8386,0.00,1.70,0.00,0.000,4,0.000,0.051,2877,3284,2145
$GC,8423,0.55,155.7,808.5,22.1,272,8431,0.00,1.62,0.00,0.000,6,0.000,0.029,2883,2227,2144
$GC,8677,0.55,155.7,753.9,21.8,279,8681,0.00,1.60,0.00,0.000,4,0.000,0.033,2891,1153,2143
$GC,8718,0.55,155.7,744.3,22.3,279,8728,0.00,1.70,0.00,0.000,6,0.000,0.044,2891,2227,2143
$GC,8975,0.55,155.7,687.5,23.0,286,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2227,2142
$GC,9219,0.55,155.7,631.4,23.0,292,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2227,2141
$GC,9462,0.55,155.7,579.0,20.7,298,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2227,2141
$GC,9706,0.55,155.7,530.0,20.4,304,9710,0.00,1.60,0.00,0.000,4,0.000,0.032,2897,1171,2140
$GC,9725,0.55,155.7,525.5,18.9,304,9728,0.00,1.60,0.00,0.000,6,0.000,0.044,2892,2216,2140
$GC,10001,0.55,155.7,474.6,18.7,311,10005,0.00,1.60,0.00,0.000,4,0.000,0.033,2898,1144,2139
$GC,10025,0.55,155.7,469.4,18.6,311,10029,0.00,1.62,0.00,0.000,6,0.000,0.044,2892,2206,2139
$GC,10297,0.55,155.7,418.3,19.4,318,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2206,2139
$GC,10541,0.55,155.7,370.7,19.6,324,10544,0.00,1.65,0.00,0.000,4,0.000,0.051,2891,3293,2139
$GC,10636,0.55,155.7,351.9,19.3,326,10640,0.00,1.62,0.00,0.000,6,0.000,0.030,2897,2193,2138
$GC,10930,0.55,155.7,298.2,17.7,333,10934,0.00,1.67,0.00,0.000,4,0.000,0.047,2892,3282,2138
$GC,10949,0.55,155.7,294.6,17.2,333,10953,0.00,1.58,0.00,0.000,6,0.000,0.030,2898,2222,2138
$GC,11227,0.55,155.7,248.8,16.9,340,11230,0.00,1.65,0.00,0.000,4,0.000,0.048,2898,3290,2138
$GC,11256,0.55,155.7,242.5,20.1,340,11261,0.10,1.55,0.00,0.000,6,0.163,0.028,2875,2239,2138
$GC,11522,0.55,155.7,202.9,14.3,347,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2233,2138
$GC,11775,0.55,155.7,171.5,10.9,368,11779,0.00,1.65,0.00,0.000,4,0.000,0.047,2875,3290,2138
$GC,11803,0.55,155.7,168.4,11.5,370,11807,0.00,1.60,0.00,0.000,6,0.000,0.027,2882,2205,2138
$GC,12076,0.55,155.7,131.1,14.7,395,12080,0.00,1.67,0.00,0.000,4,0.000,0.046,2876,3280,2138
$GC,12183,0.55,155.7,115.7,11.8,404,12187,0.00,1.52,0.00,0.000,6,0.000,0.026,2883,2234,2138
$GC,12455,0.55,155.7,87.6,10.5,429,12458,0.00,1.62,0.00,0.000,4,0.000,0.044,2878,3302,2138
$GC,12483,0.55,155.7,84.6,10.7,431,12486,0.00,1.55,0.00,0.000,6,0.000,0.026,2884,2240,2138
$GC,12756,0.57,217.8,63.4,6.3,456,12812,0.00,1.58,48.55,0.630,4,0.000,0.027,2886,1165,1901
$GC,12939,0.59,258.6,49.7,7.1,470,12977,0.00,1.58,33.62,0.603,6,0.000,0.038,2886,2183,1735
$GC,13248,0.59,258.6,19.4,11.0,505,13257,0.00,1.67,0.00,0.000,4,0.000,0.041,2886,3278,1730
$GC,13319,0.59,258.6,11.9,10.0,515,13328,0.00,1.60,0.00,0.000,6,0.000,0.022,2891,2187,1730
$STATE,13396,end climb,SURFACE_DEPTH_REACHED
$STATE,13396,begin surface coast
$FINISH,0.3,1.011598
$STATE,13429,end surface coast,CONTROL_FINISHED_OK
$STATE,13429,begin surface
$SM_CCo,13454,49.17,0.545,0,0,1239,380.21
$SM_GC,1.07,0.00,0.00,49.17,0.000,0.000,0.545,27,2582,1239,-8.34,0.34,380.21
$IRIDIUM_FIX,2216.01,-15801.53,211202,181835
$TT8_MAMPS,0.023777
$HUMID,2221
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.70
$XPDR_PINGS,4
$24V_AH,24.1,8.827
$10V_AH,10.6,9.121
$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,17.600,90.225,361.950,49.175,0.000,82.974,111.084,654.809,1.000,0.000,0.000,12.884,1106.764,9081.667,442.897,2638.111,1387.665,33.362,1271.335,0.000,2650.311,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,56.758,1257.880,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,362.461,1751.593,1812.139,219.348,1221.795,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44700,532
$CAP_FILE_SIZE,111132,0
$CFSIZE,260165632,254742528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260913,221906,2226.600,-15802.491,31,1.3,31,10.0