version: 66.04
glider: 512
mission: 4
dive: 63
start: 9 27 113 11 32 19
data:
$ID,512
$MISSION,4
$DIVE,63
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-107715.84
$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,64
$R_STBD_OVSHOOT,34
$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
$GPS1,110305,2230.448,-15805.499,38,1.8,38,10.0
$_CALLS,3
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-78.0
$GPS2,113125,2230.686,-15805.614,12,1.8,12,10.0
$SPEED_LIMITS,0.122,0.253
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.091,0.236
$KALMAN_X,22734.7,255.6,-219.1,-32266.7,1991.5
$KALMAN_Y,1286.4,500.9,270.7,-26888.3,-4714.7
$MHEAD_RNG_PITCHd_Wd,328.8,75911,-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,-155.7,0.0,0.0,0,119,0.00,0.00,-98.97,0.000,2,0.000,0.000,11,2546,2876
$GC,125,-0.55,-155.7,2.2,-1.8,12,152,9.23,1.67,-13.07,0.000,4,0.202,0.056,2506,3631,3426
$GC,422,-0.55,-155.7,77.5,-20.7,44,425,0.00,1.52,0.00,0.000,6,0.000,0.020,2509,2563,3426
$GC,694,-0.55,-155.7,132.5,-19.8,69,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2554,3427
$GC,960,-0.55,-155.7,184.1,-17.6,94,964,0.00,1.45,0.00,0.000,4,0.000,0.021,2516,1506,3427
$GC,1056,-0.55,-155.7,198.9,-13.8,102,1065,0.00,1.58,0.00,0.000,6,0.000,0.035,2511,2556,3427
$GC,1320,-0.55,-155.7,237.8,-14.2,110,1324,0.00,1.60,0.00,0.000,4,0.000,0.044,2502,3645,3426
$GC,1344,-0.55,-155.7,241.6,-13.8,110,1348,0.00,1.58,0.00,0.000,6,0.000,0.020,2509,2531,3425
$GC,1616,-0.55,-155.7,279.7,-14.1,117,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2523,3424
$GC,1860,-0.55,-155.7,313.1,-13.5,123,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2523,3423
$GC,2103,-0.55,-155.7,345.1,-13.2,129,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2524,3421
$GC,2347,-0.55,-155.7,376.1,-12.6,135,2351,0.00,1.67,0.00,0.000,4,0.000,0.044,2502,3639,3418
$GC,2388,-0.55,-155.7,382.1,-13.5,135,2397,0.00,1.58,0.00,0.000,6,0.000,0.021,2508,2524,3418
$GC,2645,-0.55,-155.7,412.1,-12.0,142,2649,0.00,1.38,-0.08,0.000,4,0.000,0.045,2509,1530,3439
$GC,2730,-0.55,-155.7,421.9,-10.0,143,2738,0.00,1.50,0.00,0.000,6,0.000,0.040,2504,2520,3438
$GC,2984,-0.55,-155.7,449.9,-11.0,150,2988,0.00,1.67,0.00,0.000,4,0.000,0.049,2495,3635,3436
$GC,3071,-0.55,-155.7,459.9,-11.1,151,3079,0.00,1.55,0.00,0.000,6,0.000,0.022,2502,2542,3436
$GC,3325,-0.55,-155.7,487.1,-10.8,158,3329,0.00,1.67,0.00,0.000,4,0.000,0.048,2496,3624,3433
$GC,3382,-0.55,-155.7,494.0,-10.7,159,3386,0.00,1.50,0.00,0.000,6,0.000,0.025,2501,2575,3432
$GC,3666,-0.55,-155.7,523.5,-10.6,166,3670,0.00,1.48,0.00,0.000,4,0.000,0.025,2509,1519,3430
$GC,3769,-0.55,-155.7,534.4,-10.2,168,3773,0.00,1.58,0.00,0.000,6,0.000,0.044,2503,2545,3429
$GC,4053,-0.55,-155.7,565.5,-11.2,175,4056,0.00,1.65,0.00,0.000,4,0.000,0.052,2495,3642,3426
$GC,4116,-0.55,-155.7,573.1,-11.1,176,4119,0.00,1.58,0.00,0.000,6,0.000,0.025,2501,2550,3426
$GC,4393,-0.55,-155.7,602.6,-10.7,183,4396,0.00,1.45,0.00,0.000,4,0.000,0.027,2509,1516,3422
$GC,4444,-0.55,-155.7,607.7,-9.6,184,4447,0.00,1.60,0.00,0.000,6,0.000,0.044,2503,2555,3422
$GC,4737,-0.55,-155.7,638.2,-10.4,191,4741,0.00,1.48,0.00,0.000,4,0.000,0.027,2509,1530,3420
$GC,4778,-0.55,-155.7,642.7,-9.5,191,4787,0.00,1.55,0.00,0.000,6,0.000,0.045,2504,2535,3419
$GC,5033,-0.55,-155.7,668.5,-10.4,198,5036,0.00,1.67,0.00,0.000,4,0.000,0.054,2495,3641,3417
$GC,5068,-0.55,-155.7,672.7,-10.7,198,5072,0.00,1.60,0.00,0.000,6,0.000,0.028,2501,2518,3416
$GC,5329,-0.55,-155.7,699.2,-10.3,205,5333,0.00,1.40,0.00,0.000,4,0.000,0.028,2509,1526,3415
$GC,5379,-0.55,-155.7,704.1,-9.5,206,5383,0.00,1.58,0.00,0.000,6,0.000,0.047,2503,2540,3415
$GC,5673,-0.55,-155.7,734.2,-10.2,213,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2542,3412
$GC,5917,-0.55,-155.7,758.8,-10.0,219,5920,0.00,1.67,0.00,0.000,4,0.000,0.056,2494,3640,3411
$GC,5952,-0.55,-155.7,762.7,-11.0,219,5956,0.00,1.60,0.00,0.000,6,0.000,0.028,2501,2525,3411
$GC,6213,-0.55,-155.7,787.2,-9.6,226,6217,0.00,1.73,0.00,0.000,4,0.000,0.054,2494,3635,3409
$GC,6265,-0.55,-155.7,792.7,-9.7,227,6269,0.00,1.60,0.00,0.000,6,0.000,0.028,2501,2537,3409
$GC,6553,-0.55,-155.7,818.2,-8.7,234,6556,0.00,1.70,0.00,0.000,4,0.000,0.054,2494,3632,3408
$GC,6589,-0.55,-155.7,821.6,-9.2,234,6592,0.00,1.58,0.00,0.000,6,0.000,0.027,2501,2549,3407
$GC,6850,-0.55,-155.7,844.0,-8.8,241,6853,0.00,1.45,0.00,0.000,4,0.000,0.029,2508,1526,3406
$GC,6907,-0.55,-155.7,849.0,-8.4,242,6911,0.00,1.60,0.00,0.000,6,0.000,0.048,2502,2554,3406
$GC,7190,-0.55,-155.7,872.2,-8.5,249,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2554,3404
$GC,7434,-0.55,-155.7,893.6,-8.8,255,7437,0.00,1.65,0.00,0.000,4,0.000,0.056,2494,3635,3403
$GC,7475,-0.55,-155.7,897.7,-9.1,255,7484,0.00,1.58,0.00,0.000,6,0.000,0.027,2500,2547,3403
$STATE,7521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7521,begin apogee
$GC,7532,-0.23,0.0,902.1,9.0,257,7669,0.35,0.00,133.62,1.258,6,0.109,0.000,2621,2223,2790
$STATE,7669,end apogee,CONTROL_FINISHED_OK
$STATE,7670,begin climb
$GC,7675,0.55,155.7,905.6,0.0,260,7831,0.70,1.67,144.38,1.190,4,0.064,0.030,2878,1180,2154
$GC,7872,0.55,155.7,879.0,19.9,264,7875,0.00,1.70,0.00,0.000,6,0.000,0.042,2877,2238,2149
$GC,8144,0.55,155.7,819.8,22.2,271,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2238,2145
$GC,8389,0.55,155.7,767.6,21.0,277,8392,0.00,1.62,0.00,0.000,4,0.000,0.048,2875,3294,2144
$GC,8413,0.55,155.7,761.4,21.2,277,8417,0.00,1.60,0.00,0.000,6,0.000,0.027,2881,2230,2143
$GC,8684,0.55,155.7,704.5,20.9,284,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2223,2141
$GC,8928,0.55,155.7,652.9,21.2,290,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2223,2140
$GC,9171,0.55,155.7,602.2,20.9,296,9175,0.00,1.58,0.00,0.000,4,0.000,0.031,2890,1148,2140
$GC,9195,0.55,155.7,596.6,20.3,296,9199,0.00,1.65,0.00,0.000,6,0.000,0.043,2889,2227,2140
$GC,9467,0.55,155.7,541.5,20.5,303,9470,0.00,1.62,0.00,0.000,4,0.000,0.050,2889,3295,2139
$GC,9502,0.55,155.7,533.6,20.5,303,9506,0.00,1.60,0.00,0.000,6,0.000,0.028,2897,2203,2139
$GC,9764,0.55,155.7,480.1,20.9,310,9767,0.00,1.52,0.00,0.000,4,0.000,0.031,2905,1156,2139
$GC,9805,0.55,155.7,471.2,18.6,310,9812,0.08,1.62,0.00,0.000,6,0.133,0.043,2877,2201,2139
$GC,10059,0.55,155.7,427.3,17.1,317,10063,0.00,1.67,0.00,0.000,4,0.000,0.050,2877,3280,2138
$GC,10134,0.55,155.7,413.5,17.9,318,10137,0.00,1.60,0.00,0.000,6,0.000,0.029,2884,2190,2138
$GC,10400,0.55,155.7,367.2,17.4,325,10404,0.00,1.50,0.00,0.000,4,0.000,0.031,2891,1157,2138
$GC,10430,0.55,155.7,361.6,17.2,325,10434,0.00,1.62,0.00,0.000,6,0.000,0.041,2891,2208,2137
$GC,10696,0.55,155.7,317.2,17.0,332,10699,0.00,1.60,0.00,0.000,4,0.000,0.047,2892,3287,2137
$GC,10791,0.55,155.7,299.9,18.5,334,10795,0.00,1.60,0.00,0.000,6,0.000,0.027,2898,2208,2137
$GC,11085,0.55,155.7,247.2,17.3,341,11089,0.00,1.65,0.00,0.000,4,0.000,0.046,2898,3283,2137
$GC,11115,0.55,155.7,240.8,20.8,341,11119,0.08,1.55,0.00,0.000,6,0.149,0.027,2873,2230,2137
$GC,11380,0.55,155.7,207.8,11.5,348,11381,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2223,2136
$GC,11631,0.55,155.7,178.4,11.3,366,11635,0.00,1.55,0.00,0.000,4,0.000,0.029,2879,1144,2136
$GC,11715,0.55,155.7,169.3,10.5,373,11718,0.00,1.70,0.00,0.000,6,0.000,0.041,2876,2275,2137
$GC,11986,0.55,155.7,138.0,12.7,398,11990,0.00,1.65,0.00,0.000,4,0.000,0.026,2882,1146,2137
$GC,12039,0.55,155.7,130.9,12.7,402,12048,0.00,1.70,0.00,0.000,6,0.000,0.039,2876,2260,2137
$GC,12305,0.55,155.7,102.1,10.3,427,12309,0.00,1.55,0.00,0.000,4,0.000,0.043,2875,3284,2137
$GC,12333,0.55,155.7,98.8,12.0,429,12337,0.00,1.52,0.00,0.000,6,0.000,0.023,2882,2226,2137
$GC,12606,0.55,155.7,67.5,11.7,454,12614,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2220,2137
$GC,12874,0.57,208.9,45.1,6.6,479,12920,0.00,1.50,41.47,0.606,4,0.000,0.025,2886,1172,1938
$GC,12973,0.58,228.6,37.8,7.8,486,13002,0.00,1.65,16.90,0.573,6,0.000,0.035,2886,2269,1856
$GC,13285,0.58,228.6,5.2,10.9,531,13294,0.00,1.52,0.00,0.000,4,0.000,0.038,2886,3281,1853
$STATE,13302,end climb,SURFACE_DEPTH_REACHED
$STATE,13302,begin surface coast
$FINISH,1.5,1.023122
$STATE,13316,end surface coast,CONTROL_FINISHED_OK
$STATE,13316,begin surface
$SM_CCo,13342,62.03,0.548,0,0,1238,380.21
$SM_GC,1.20,0.00,0.00,62.03,0.000,0.000,0.548,31,2523,1238,-8.33,-1.36,380.21
$IRIDIUM_FIX,2220.67,-15813.21,221202,111135
$TT8_MAMPS,0.023777
$HUMID,2214
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.30
$XPDR_PINGS,4
$24V_AH,24.1,9.553
$10V_AH,10.7,9.876
$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,17.675,101.500,336.375,62.025,0.000,91.375,124.254,1061.169,1.000,0.000,0.000,12.208,1125.458,8883.783,464.902,2701.522,1890.893,33.357,1340.396,0.000,2705.487,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,55.991,1257.880,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,364.060,1760.794,1814.172,232.939,1217.727,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47764,535
$CAP_FILE_SIZE,126108,0
$CFSIZE,260165632,254492672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270913,151726,2232.309,-15806.116,34,3.7,53,10.0