version: 66.04
glider: 512
mission: 4
dive: 62
start: 9 27 113 7 11 47
data:
$ID,512
$MISSION,4
$DIVE,62
$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,586.50275
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-107703
$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,54
$R_STBD_OVSHOOT,24
$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
$GPS1,064329,2229.065,-15804.380,41,1.4,46,10.0
$_CALLS,5
$_XMS_NAKs,30
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-79.6
$GPS2,071049,2229.319,-15804.435,13,1.5,13,10.0
$SPEED_LIMITS,0.122,0.253
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.143,0.209
$KALMAN_X,22004.1,71.2,-153.1,-29406.2,2697.7
$KALMAN_Y,2557.7,601.0,425.3,-30944.3,-5586.2
$MHEAD_RNG_PITCHd_Wd,315.5,77816,-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,18,-0.55,-155.7,0.0,0.0,0,94,0.00,0.00,-74.05,0.000,2,0.000,0.000,11,2585,3007
$GC,100,-0.55,-155.7,2.4,-2.2,9,127,9.25,1.60,-8.90,0.000,4,0.203,0.055,2509,3638,3428
$GC,372,-0.55,-155.7,80.0,-20.0,37,376,0.00,1.58,0.00,0.000,6,0.000,0.021,2513,2555,3428
$GC,643,-0.55,-155.7,131.3,-17.6,62,647,0.00,1.45,0.00,0.000,4,0.000,0.021,2520,1506,3428
$GC,694,-0.55,-155.7,140.2,-16.7,66,698,0.00,1.58,0.00,0.000,6,0.000,0.038,2514,2543,3429
$GC,967,-0.55,-155.7,188.7,-17.2,91,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2543,3429
$GC,1245,-0.55,-155.7,228.3,-13.7,103,1249,0.00,1.60,0.00,0.000,4,0.000,0.044,2506,3630,3428
$GC,1339,-0.55,-155.7,241.3,-13.6,105,1343,0.00,1.60,0.00,0.000,6,0.000,0.020,2508,2506,3428
$GC,1634,-0.55,-155.7,280.5,-13.2,112,1638,0.00,1.38,0.00,0.000,4,0.000,0.021,2511,1495,3427
$GC,1692,-0.55,-155.7,288.2,-12.4,113,1696,0.00,1.55,0.00,0.000,6,0.000,0.038,2506,2524,3427
$GC,1975,-0.55,-155.7,326.0,-13.8,120,1978,0.00,1.65,0.00,0.000,4,0.000,0.046,2497,3639,3425
$GC,2044,-0.55,-155.7,335.9,-13.2,121,2048,0.00,1.60,0.00,0.000,6,0.000,0.021,2503,2495,3424
$GC,2315,-0.55,-155.7,369.7,-12.2,128,2319,0.00,1.35,0.00,0.000,4,0.000,0.023,2510,1507,3423
$GC,2384,-0.55,-155.7,377.7,-11.0,129,2388,0.00,1.55,0.00,0.000,6,0.000,0.039,2505,2532,3422
$GC,2657,-0.55,-155.7,409.4,-11.9,136,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2532,3419
$GC,2901,-0.55,-155.7,439.1,-12.2,142,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2532,3417
$GC,3145,-0.55,-155.7,468.7,-11.9,148,3147,0.00,0.00,-0.08,0.000,6,0.000,0.000,2505,2532,3440
$GC,3389,-0.55,-155.7,494.6,-10.4,154,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2532,3438
$GC,3633,-0.55,-155.7,518.5,-9.7,160,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2532,3437
$GC,3876,-0.55,-155.7,541.4,-9.3,166,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2532,3434
$GC,4120,-0.55,-155.7,565.7,-9.9,172,4124,0.00,1.65,0.00,0.000,4,0.000,0.050,2496,3632,3432
$GC,4155,-0.55,-155.7,569.8,-10.3,172,4159,0.00,1.62,0.00,0.000,6,0.000,0.025,2503,2507,3431
$GC,4415,-0.55,-155.7,595.4,-9.8,179,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2501,3429
$GC,4659,-0.55,-155.7,619.6,-10.1,185,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2501,3428
$GC,4903,-0.55,-155.7,645.1,-10.5,191,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2501,3425
$GC,5147,-0.55,-155.7,670.0,-10.2,197,5150,0.00,1.40,0.00,0.000,4,0.000,0.028,2505,1513,3423
$GC,5176,-0.55,-155.7,673.1,-9.0,197,5180,0.00,1.55,0.00,0.000,6,0.000,0.047,2500,2518,3423
$GC,5442,-0.55,-155.7,699.2,-10.2,204,5446,0.00,1.70,0.00,0.000,4,0.000,0.055,2493,3635,3421
$GC,5506,-0.55,-155.7,706.5,-10.1,205,5510,0.00,1.60,0.00,0.000,6,0.000,0.028,2493,2515,3420
$GC,5783,-0.55,-155.7,735.3,-10.6,212,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2509,3419
$GC,6026,-0.55,-155.7,761.1,-10.7,218,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2508,3418
$GC,6270,-0.55,-155.7,786.2,-10.3,224,6274,0.00,1.75,0.00,0.000,4,0.000,0.054,2486,3625,3416
$GC,6321,-0.55,-155.7,792.1,-10.2,225,6326,0.12,1.58,0.00,0.000,6,0.130,0.029,2523,2538,3416
$GC,6611,-0.55,-155.7,815.2,-7.8,232,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2534,3414
$GC,6856,-0.55,-155.7,834.3,-7.8,238,6859,0.00,1.45,0.00,0.000,4,0.000,0.030,2525,1521,3413
$GC,6906,-0.55,-155.7,838.2,-6.8,239,6910,0.00,1.58,0.00,0.000,6,0.000,0.050,2524,2529,3413
$GC,7201,-0.55,-155.7,858.3,-6.8,246,7204,0.00,1.70,0.00,0.000,4,0.000,0.059,2523,3635,3411
$GC,7242,-0.55,-155.7,861.2,-6.6,246,7251,0.00,1.58,0.00,0.000,6,0.000,0.031,2523,2550,3411
$GC,7499,-0.55,-155.7,877.1,-6.3,253,7503,0.00,1.48,0.00,0.000,4,0.000,0.030,2523,1518,3411
$GC,7557,-0.55,-155.7,881.6,-7.3,254,7561,0.00,1.60,0.00,0.000,6,0.000,0.051,2523,2542,3411
$STATE,7835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7835,begin apogee
$GC,7846,-0.23,0.0,901.0,7.1,261,7983,0.30,0.00,134.27,1.263,6,0.103,0.000,2624,2233,2790
$STATE,7984,end apogee,CONTROL_FINISHED_OK
$STATE,7984,begin climb
$GC,7989,0.55,155.7,904.9,0.0,264,8145,0.70,1.73,144.57,1.191,4,0.061,0.030,2883,1163,2154
$GC,8241,0.55,155.7,867.7,19.5,269,8245,0.00,1.70,0.00,0.000,6,0.000,0.044,2877,2227,2147
$GC,8502,0.55,155.7,813.6,21.4,276,8505,0.00,1.65,0.00,0.000,4,0.000,0.051,2876,3284,2144
$GC,8526,0.55,155.7,807.4,21.8,276,8530,0.00,1.62,0.00,0.000,6,0.000,0.029,2882,2221,2143
$GC,8798,0.55,155.7,749.8,21.5,283,8802,0.00,1.67,0.00,0.000,4,0.000,0.049,2876,3284,2142
$GC,8848,0.55,155.7,738.5,21.4,284,8852,0.00,1.60,0.00,0.000,6,0.000,0.029,2882,2231,2141
$GC,9142,0.55,155.7,673.4,22.2,291,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2225,2141
$GC,9386,0.55,155.7,620.3,21.7,297,9389,0.00,1.58,0.00,0.000,4,0.000,0.033,2889,1162,2141
$GC,9421,0.55,155.7,612.5,20.7,297,9425,0.00,1.65,0.00,0.000,6,0.000,0.046,2888,2232,2140
$GC,9683,0.55,155.7,557.9,21.3,304,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2232,2139
$GC,9927,0.55,155.7,510.2,19.2,310,9931,0.00,1.62,0.00,0.000,4,0.000,0.051,2889,3298,2139
$GC,9946,0.55,155.7,505.5,19.1,310,9949,0.00,1.60,0.00,0.000,6,0.000,0.029,2897,2204,2138
$GC,10223,0.55,155.7,453.3,18.8,317,10227,0.00,1.73,0.00,0.000,4,0.000,0.051,2892,3289,2138
$GC,10258,0.55,155.7,446.1,19.3,317,10261,0.00,1.58,0.00,0.000,6,0.000,0.029,2898,2228,2138
$GC,10518,0.55,155.7,397.7,18.9,324,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2222,2138
$GC,10762,0.55,155.7,348.3,20.5,330,10765,0.00,1.55,0.00,0.000,4,0.000,0.031,2905,1162,2138
$GC,10826,0.55,155.7,335.3,18.7,331,10830,0.12,1.62,0.00,0.000,6,0.149,0.044,2870,2227,2137
$GC,11102,0.55,155.7,293.3,14.8,338,11106,0.00,1.62,0.00,0.000,4,0.000,0.051,2866,3279,2137
$GC,11120,0.55,155.7,290.4,14.0,338,11123,0.00,1.58,0.00,0.000,6,0.000,0.029,2871,2219,2137
$GC,11397,0.55,155.7,251.8,14.3,345,11401,0.00,1.65,0.00,0.000,4,0.000,0.050,2872,3284,2137
$GC,11461,0.55,155.7,241.3,16.0,346,11465,0.00,1.58,0.00,0.000,6,0.000,0.028,2880,2219,2137
$GC,11738,0.55,155.7,201.6,14.5,353,11742,0.00,1.67,0.00,0.000,4,0.000,0.047,2877,3287,2137
$GC,11773,0.55,155.7,196.6,13.4,353,11777,0.00,1.55,0.00,0.000,6,0.000,0.027,2883,2241,2137
$GC,12044,0.55,155.7,158.5,13.0,378,12048,0.00,1.55,0.00,0.000,4,0.000,0.028,2891,1156,2137
$GC,12138,0.55,155.7,146.8,11.8,386,12142,0.00,1.65,0.00,0.000,6,0.000,0.041,2891,2232,2137
$GC,12410,0.55,155.7,111.6,13.9,411,12417,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2232,2137
$GC,12676,0.55,155.7,79.1,12.4,436,12679,0.00,1.60,0.00,0.000,4,0.000,0.044,2891,3290,2137
$GC,12767,0.55,155.7,68.1,10.7,443,12771,0.00,1.52,0.00,0.000,6,0.000,0.024,2897,2230,2137
$GC,13043,0.56,180.9,49.3,7.6,468,13072,0.00,1.52,19.45,0.607,4,0.000,0.026,2899,1164,2052
$GC,13222,0.57,202.1,37.1,7.8,482,13250,0.00,1.60,18.73,0.584,6,0.000,0.038,2899,2233,1965
$GC,13534,0.57,202.1,5.3,9.6,527,13543,0.00,1.60,0.00,0.000,4,0.000,0.046,2899,3278,1963
$STATE,13550,end climb,SURFACE_DEPTH_REACHED
$STATE,13550,begin surface coast
$FINISH,0.3,1.023122
$STATE,13588,end surface coast,CONTROL_FINISHED_OK
$STATE,13588,begin surface
$SM_CCo,13614,177.02,0.544,0,0,398,586.50
$SM_GC,1.22,0.00,0.00,177.02,0.000,0.000,0.544,24,2549,398,-8.31,-0.59,586.50
$IRIDIUM_FIX,2220.67,-15808.02,221202,070738
$TT8_MAMPS,0.023777
$HUMID,2127
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.50
$XPDR_PINGS,5
$24V_AH,24.1,9.364
$10V_AH,10.7,9.687
$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,17.800,85.800,317.025,177.025,0.000,128.476,212.276,743.842,1.250,0.000,0.000,13.577,1126.313,9344.297,539.667,2669.258,1718.746,33.386,1348.413,0.000,2680.812,0.000,0.545,0.000
$DEVICE_MAMPS,203.255,59.059,1263.249,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,365.502,1762.501,1820.712,223.661,1220.459,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44797,535
$CAP_FILE_SIZE,118327,0
$CFSIZE,260165632,254529536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270913,110305,2230.448,-15805.499,38,1.8,38,10.0