version: 66.04
glider: 512
mission: 4
dive: 60
start: 9 26 113 22 51 28
data:
$ID,512
$MISSION,4
$DIVE,60
$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,-107670.57
$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,61
$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
$GPS1,221906,2226.600,-15802.491,31,1.3,31,10.0
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-79.4
$GPS2,225036,2226.714,-15802.641,14,1.3,31,10.0
$SPEED_LIMITS,0.122,0.253
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.134,0.215
$KALMAN_X,20404.8,-808.0,-326.7,-23679.8,3210.7
$KALMAN_Y,6344.4,479.7,151.9,-39157.8,-4509.9
$MHEAD_RNG_PITCHd_Wd,318.1,55391,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.55,-155.7,0.0,0.0,0,99,0.00,0.00,-74.12,0.000,2,0.000,0.000,11,2578,2987
$GC,104,-0.55,-155.7,2.2,-1.6,9,131,9.15,1.60,-9.73,0.000,4,0.199,0.054,2505,3636,3422
$GC,341,-0.55,-155.7,71.0,-25.4,35,345,0.00,1.55,0.00,0.000,6,0.000,0.019,2507,2552,3423
$GC,612,-0.55,-155.7,125.8,-20.0,60,616,0.00,1.42,0.00,0.000,4,0.000,0.021,2515,1517,3424
$GC,777,-0.55,-155.7,151.8,-12.9,74,781,0.00,1.50,0.00,0.000,6,0.000,0.037,2510,2508,3424
$GC,1048,-0.55,-155.7,194.8,-15.5,99,1052,0.00,1.67,0.00,0.000,4,0.000,0.044,2501,3624,3424
$GC,1173,-0.55,-155.7,213.9,-13.8,104,1176,0.00,1.58,0.00,0.000,6,0.000,0.020,2507,2502,3424
$GC,1433,-0.55,-155.7,252.2,-14.9,111,1436,0.00,1.70,0.00,0.000,4,0.000,0.042,2501,3631,3423
$GC,1491,-0.55,-155.7,261.1,-14.2,112,1495,0.00,1.55,0.00,0.000,6,0.000,0.019,2507,2533,3423
$GC,1774,-0.55,-155.7,298.3,-13.2,119,1777,0.00,1.38,0.00,0.000,4,0.000,0.021,2515,1520,3421
$GC,1848,-0.55,-155.7,307.4,-11.1,120,1852,0.00,1.52,0.00,0.000,6,0.000,0.039,2509,2526,3421
$GC,2115,-0.55,-155.7,339.9,-12.7,127,2118,0.00,1.65,0.00,0.000,4,0.000,0.047,2500,3635,3419
$GC,2189,-0.55,-155.7,350.1,-12.4,128,2193,0.00,1.58,0.00,0.000,6,0.000,0.021,2507,2525,3418
$GC,2455,-0.55,-155.7,383.1,-12.5,135,2459,0.00,1.38,-0.08,0.000,4,0.000,0.044,2514,1520,3438
$GC,2506,-0.55,-155.7,389.1,-11.0,136,2509,0.00,1.52,0.00,0.000,6,0.000,0.041,2509,2522,3438
$GC,2799,-0.55,-155.7,423.7,-11.3,143,2803,0.00,1.70,0.00,0.000,4,0.000,0.049,2500,3633,3435
$GC,2910,-0.55,-155.7,436.2,-11.0,145,2914,0.00,1.58,0.00,0.000,6,0.000,0.023,2506,2529,3435
$GC,3187,-0.55,-155.7,465.3,-10.5,152,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2521,3431
$GC,3430,-0.55,-155.7,491.4,-10.6,158,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2522,3429
$GC,3674,-0.55,-155.7,516.5,-10.3,164,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2522,3428
$GC,3918,-0.55,-155.7,540.2,-9.7,170,3922,0.00,1.70,0.00,0.000,4,0.000,0.050,2500,3639,3425
$GC,3959,-0.55,-155.7,544.8,-10.2,170,3967,0.00,1.60,0.00,0.000,6,0.000,0.025,2506,2528,3424
$GC,4214,-0.55,-155.7,570.8,-10.4,177,4217,0.00,1.40,0.00,0.000,4,0.000,0.026,2508,1531,3422
$GC,4265,-0.55,-155.7,576.3,-10.4,178,4268,0.00,1.55,0.00,0.000,6,0.000,0.044,2502,2535,3421
$GC,4558,-0.55,-155.7,608.9,-11.2,185,4562,0.00,1.67,0.00,0.000,4,0.000,0.053,2494,3625,3419
$GC,4662,-0.55,-155.7,621.3,-11.7,187,4666,0.00,1.58,0.00,0.000,6,0.000,0.028,2500,2544,3418
$GC,4944,-0.55,-155.7,651.4,-10.7,194,4948,0.00,1.45,0.00,0.000,4,0.000,0.028,2508,1514,3416
$GC,4996,-0.55,-155.7,656.3,-8.9,195,4999,0.00,1.58,0.00,0.000,6,0.000,0.046,2502,2532,3415
$GC,5290,-0.55,-155.7,684.2,-9.3,202,5294,0.00,1.67,0.00,0.000,4,0.000,0.054,2493,3636,3413
$GC,5376,-0.55,-155.7,692.6,-8.7,203,5384,0.00,1.60,0.00,0.000,6,0.000,0.028,2500,2535,3413
$GC,5631,-0.55,-155.7,715.0,-8.9,210,5634,0.00,1.45,0.00,0.000,4,0.000,0.029,2507,1516,3411
$GC,5682,-0.55,-155.7,719.2,-8.0,211,5685,0.00,1.58,0.00,0.000,6,0.000,0.048,2502,2529,3411
$GC,5976,-0.55,-155.7,746.4,-9.2,218,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2531,3409
$GC,6219,-0.55,-155.7,771.2,-10.4,224,6223,0.00,1.45,0.00,0.000,4,0.000,0.028,2506,1524,3408
$GC,6260,-0.55,-155.7,775.9,-10.6,224,6268,0.00,1.55,0.00,0.000,6,0.000,0.048,2500,2522,3408
$GC,6515,-0.55,-155.7,803.2,-11.0,231,6518,0.00,1.70,0.00,0.000,4,0.000,0.056,2491,3636,3406
$GC,6550,-0.55,-155.7,807.9,-12.5,231,6555,0.10,1.60,0.00,0.000,6,0.130,0.029,2522,2525,3406
$GC,6812,-0.55,-155.7,831.7,-8.9,238,6815,0.00,1.45,0.00,0.000,4,0.000,0.029,2526,1506,3404
$GC,6862,-0.55,-155.7,835.8,-7.5,239,6865,0.00,1.58,0.00,0.000,6,0.000,0.050,2524,2513,3404
$GC,7156,-0.55,-155.7,857.1,-7.2,246,7159,0.00,1.73,0.00,0.000,4,0.000,0.060,2523,3630,3403
$GC,7207,-0.55,-155.7,860.8,-7.0,247,7211,0.00,1.62,0.00,0.000,6,0.000,0.030,2523,2507,3402
$GC,7501,-0.55,-155.7,881.4,-7.0,254,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2498,3401
$GC,7745,-0.55,-155.7,898.4,-7.0,260,7748,0.00,1.40,0.00,0.000,4,0.000,0.030,2523,1518,3400
$STATE,7758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7758,begin apogee
$GC,7770,-0.23,0.0,900.2,7.1,260,7906,0.28,0.00,132.80,1.256,6,0.102,0.000,2622,2232,2790
$STATE,7907,end apogee,CONTROL_FINISHED_OK
$STATE,7907,begin climb
$GC,7912,0.55,155.7,903.5,0.0,263,8068,0.70,1.75,144.32,1.193,4,0.063,0.031,2880,1166,2155
$GC,8147,0.55,155.7,870.1,18.7,268,8151,0.00,1.70,0.00,0.000,6,0.000,0.044,2878,2227,2149
$GC,8424,0.55,155.7,813.2,21.0,275,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2227,2144
$GC,8668,0.55,155.7,761.4,21.4,281,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2227,2143
$GC,8912,0.55,155.7,709.9,21.2,287,8916,0.00,1.60,0.00,0.000,4,0.000,0.032,2884,1181,2142
$GC,8975,0.55,155.7,696.5,17.8,288,8978,0.00,1.62,0.00,0.000,6,0.000,0.045,2878,2234,2141
$GC,9253,0.55,155.7,641.3,20.4,295,9256,0.00,1.62,0.00,0.000,4,0.000,0.051,2875,3296,2141
$GC,9303,0.55,155.7,630.9,20.7,296,9306,0.00,1.60,0.00,0.000,6,0.000,0.030,2882,2232,2139
$GC,9597,0.55,155.7,572.8,19.5,303,9600,0.00,1.58,0.00,0.000,4,0.000,0.032,2890,1158,2139
$GC,9632,0.55,155.7,565.4,20.2,303,9636,0.00,1.62,0.00,0.000,6,0.000,0.044,2890,2218,2139
$GC,9894,0.55,155.7,515.4,19.4,310,9897,0.00,1.62,0.00,0.000,4,0.000,0.051,2890,3282,2138
$GC,9951,0.55,155.7,503.0,20.5,311,9955,0.00,1.58,0.00,0.000,6,0.000,0.031,2897,2232,2138
$GC,10233,0.55,155.7,447.8,19.6,318,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2226,2138
$GC,10477,0.55,155.7,398.0,20.3,324,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2226,2138
$GC,10721,0.55,155.7,353.2,18.5,330,10724,0.00,1.62,0.00,0.000,4,0.000,0.049,2892,3282,2137
$GC,10745,0.55,155.7,348.0,19.0,330,10749,0.00,1.55,0.00,0.000,6,0.000,0.030,2898,2237,2137
$GC,11017,0.55,155.7,301.9,17.0,337,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2231,2137
$GC,11262,0.55,155.7,259.0,17.7,343,11263,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2231,2137
$GC,11506,0.55,155.7,218.8,16.7,349,11509,0.00,1.62,0.00,0.000,4,0.000,0.047,2892,3293,2137
$GC,11600,0.55,155.7,204.2,16.3,351,11604,0.00,1.55,0.00,0.000,6,0.000,0.028,2898,2244,2137
$GC,11879,0.55,155.7,169.2,13.7,373,11882,0.00,1.55,0.00,0.000,4,0.000,0.030,2906,1160,2137
$GC,11961,0.55,155.7,156.2,15.7,380,11966,0.08,1.65,0.00,0.000,6,0.121,0.041,2876,2233,2137
$GC,12238,0.55,155.7,123.9,10.4,405,12245,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2233,2137
$GC,12503,0.55,155.7,97.6,9.3,430,12507,0.00,1.58,0.00,0.000,4,0.000,0.027,2882,1159,2137
$GC,12645,0.55,155.7,84.2,9.0,442,12648,0.00,1.60,0.00,0.000,6,0.000,0.038,2876,2208,2137
$GC,12918,0.56,178.6,61.7,7.7,467,12946,0.00,1.65,18.00,0.615,4,0.000,0.043,2876,3285,2060
$GC,13069,0.56,178.6,49.0,8.8,479,13078,0.00,1.60,0.00,0.000,6,0.000,0.023,2882,2184,2060
$GC,13335,0.56,192.8,29.6,8.0,504,13354,0.00,1.67,12.98,0.564,4,0.000,0.041,2879,3283,2004
$GC,13397,0.56,192.8,24.5,8.9,512,13406,0.00,1.58,0.00,0.000,6,0.000,0.022,2885,2199,2003
$STATE,13657,end climb,SURFACE_DEPTH_REACHED
$STATE,13657,begin surface coast
$FINISH,0.3,1.010462
$STATE,13702,end surface coast,CONTROL_FINISHED_OK
$STATE,13702,begin surface
$SM_CCo,13727,77.32,0.546,0,0,1239,380.21
$SM_GC,1.05,0.00,0.00,77.32,0.000,0.000,0.546,27,2577,1239,-8.33,0.20,380.21
$IRIDIUM_FIX,2216.01,-15801.53,211202,222208
$TT8_MAMPS,0.023777
$HUMID,2167
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,26.10
$XPDR_PINGS,4
$24V_AH,24.1,9.026
$10V_AH,10.7,9.322
$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,17.500,95.025,308.100,77.325,0.000,112.211,140.674,1244.656,1.000,0.000,0.000,31.770,1184.232,9076.801,429.816,2948.124,2052.756,33.357,1320.942,0.000,2936.681,0.000,0.545,0.000
$DEVICE_MAMPS,199.420,59.826,1255.579,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,382.181,1844.870,1909.904,231.343,1317.532,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47782,560
$CAP_FILE_SIZE,127209,0
$CFSIZE,260165632,254664704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270913,024305,2227.945,-15803.478,44,1.5,44,10.0