version: 66.04
glider: 512
mission: 4
dive: 64
start: 9 27 113 15 45 34
data:
$ID,512
$MISSION,4
$DIVE,64
$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,-107726.72
$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,95
$R_STBD_OVSHOOT,35
$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
$GPS1,151726,2232.309,-15806.116,34,3.7,53,10.0
$_CALLS,5
$_XMS_NAKs,22
$_XMS_TOUTs,2
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-78.8
$GPS2,154442,2232.520,-15806.028,10,1.8,10,10.0
$SPEED_LIMITS,0.122,0.253
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.089,0.237
$KALMAN_X,24091.1,-223.0,44.6,-34121.6,1997.7
$KALMAN_Y,-79.9,523.3,315.2,-22189.7,-4582.4
$MHEAD_RNG_PITCHd_Wd,329.4,72872,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.55,-155.7,0.0,0.0,0,94,0.00,0.00,-74.07,0.000,2,0.000,0.000,11,2523,2991
$GC,100,-0.55,-155.7,2.2,-1.6,9,127,9.32,1.70,-9.48,0.000,4,0.207,0.054,2506,3639,3424
$GC,194,-0.55,-155.7,33.6,-30.7,22,203,0.00,1.52,0.00,0.000,6,0.000,0.021,2510,2589,3425
$GC,460,-0.55,-155.7,98.4,-20.1,47,464,0.00,1.50,0.00,0.000,4,0.000,0.020,2518,1504,3425
$GC,579,-0.55,-155.7,119.3,-15.7,57,583,0.00,1.60,0.00,0.000,6,0.000,0.038,2512,2579,3426
$GC,852,-0.55,-155.7,170.7,-20.4,82,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2580,3426
$GC,1144,-0.55,-155.7,223.6,-18.6,101,1148,0.00,1.50,0.00,0.000,4,0.000,0.019,2518,1501,3426
$GC,1264,-0.55,-155.7,242.3,-15.1,103,1268,0.00,1.55,0.00,0.000,6,0.000,0.037,2512,2529,3425
$GC,1530,-0.55,-155.7,281.4,-15.1,110,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2531,3425
$GC,1773,-0.55,-155.7,315.5,-13.9,116,1777,0.00,1.65,0.00,0.000,4,0.000,0.046,2504,3642,3422
$GC,1831,-0.55,-155.7,324.1,-13.6,117,1834,0.00,1.58,0.00,0.000,6,0.000,0.021,2507,2531,3422
$GC,2114,-0.55,-155.7,360.3,-12.6,124,2118,0.00,1.67,0.00,0.000,4,0.000,0.044,2501,3639,3420
$GC,2177,-0.55,-155.7,369.1,-13.1,125,2181,0.00,1.52,0.00,0.000,6,0.000,0.021,2507,2560,3419
$GC,2455,-0.55,-155.7,401.8,-11.8,132,2458,0.00,1.42,0.00,0.000,4,0.000,0.021,2515,1517,3417
$GC,2506,-0.55,-155.7,407.5,-10.0,133,2509,0.00,1.58,0.00,0.000,6,0.000,0.039,2509,2553,3417
$GC,2800,-0.55,-155.7,440.4,-11.3,140,2804,0.00,1.65,-0.08,0.000,4,0.000,0.066,2501,3635,3438
$GC,2874,-0.55,-155.7,449.0,-10.7,141,2877,0.00,1.52,0.00,0.000,6,0.000,0.021,2507,2561,3437
$GC,3141,-0.55,-155.7,475.7,-9.9,148,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2553,3435
$GC,3385,-0.55,-155.7,500.1,-10.0,154,3389,0.00,1.42,0.00,0.000,4,0.000,0.023,2515,1525,3432
$GC,3480,-0.55,-155.7,509.3,-8.1,156,3484,0.00,1.58,0.00,0.000,6,0.000,0.042,2509,2551,3431
$GC,3775,-0.55,-155.7,538.3,-10.1,163,3779,0.00,1.62,0.00,0.000,4,0.000,0.051,2502,3634,3429
$GC,3855,-0.55,-155.7,547.0,-10.1,164,3858,0.00,1.52,0.00,0.000,6,0.000,0.024,2508,2573,3428
$GC,4115,-0.55,-155.7,572.3,-9.8,171,4119,0.00,1.48,0.00,0.000,4,0.000,0.025,2508,1519,3426
$GC,4156,-0.55,-155.7,576.6,-9.7,171,4164,0.00,1.60,0.00,0.000,6,0.000,0.044,2502,2562,3426
$GC,4412,-0.55,-155.7,603.1,-10.8,178,4415,0.00,1.62,0.00,0.000,4,0.000,0.052,2494,3638,3423
$GC,4453,-0.55,-155.7,608.3,-11.3,178,4461,0.00,1.55,0.00,0.000,6,0.000,0.025,2500,2558,3422
$GC,4707,-0.55,-155.7,636.0,-11.1,185,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2558,3420
$GC,4951,-0.55,-155.7,662.7,-10.8,191,4955,0.00,1.48,0.00,0.000,4,0.000,0.027,2508,1514,3419
$GC,5001,-0.55,-155.7,668.3,-10.3,192,5005,0.00,1.62,0.00,0.000,6,0.000,0.044,2502,2589,3418
$GC,5296,-0.55,-155.7,699.8,-10.6,199,5300,0.00,1.60,0.00,0.000,4,0.000,0.054,2493,3645,3416
$GC,5371,-0.55,-155.7,708.3,-10.1,200,5374,0.00,1.55,0.00,0.000,6,0.000,0.027,2493,2580,3415
$GC,5637,-0.55,-155.7,736.7,-10.8,207,5640,0.00,1.50,0.00,0.000,4,0.000,0.027,2493,1512,3414
$GC,5687,-0.55,-155.7,741.8,-10.0,208,5691,0.00,1.62,0.00,0.000,6,0.000,0.048,2493,2578,3413
$GC,5981,-0.55,-155.7,771.2,-9.7,215,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2577,3411
$GC,6225,-0.55,-155.7,794.8,-9.7,221,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2577,3411
$GC,6468,-0.55,-155.7,819.1,-9.9,227,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2577,3410
$GC,6712,-0.55,-155.7,843.1,-9.8,233,6716,0.00,1.60,0.00,0.000,4,0.000,0.055,2485,3632,3408
$GC,6753,-0.55,-155.7,847.6,-11.0,233,6762,0.08,1.55,0.00,0.000,6,0.119,0.028,2521,2558,3408
$GC,7008,-0.55,-155.7,866.5,-7.2,240,7012,0.00,1.48,0.00,0.000,4,0.000,0.028,2521,1523,3407
$GC,7078,-0.55,-155.7,871.8,-7.1,241,7082,0.00,1.60,0.00,0.000,6,0.000,0.049,2515,2572,3407
$GC,7350,-0.55,-155.7,891.1,-7.3,248,7354,0.00,1.65,0.00,0.000,4,0.000,0.058,2510,3628,3405
$GC,7391,-0.55,-155.7,895.4,-7.9,248,7400,0.00,1.55,0.00,0.000,6,0.000,0.028,2509,2559,3405
$STATE,7478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7478,begin apogee
$GC,7489,-0.23,0.0,901.8,7.3,251,7625,0.35,0.00,132.82,1.259,6,0.139,0.000,2626,2223,2790
$STATE,7626,end apogee,CONTROL_FINISHED_OK
$STATE,7626,begin climb
$GC,7631,0.55,155.7,904.4,0.0,254,7785,0.68,1.62,143.18,1.195,4,0.061,0.028,2877,1167,2156
$GC,7842,0.55,155.7,873.9,19.9,258,7851,0.00,1.73,0.00,0.000,6,0.000,0.042,2877,2222,2150
$GC,8099,0.55,155.7,819.1,21.9,265,8102,0.00,1.65,0.00,0.000,4,0.000,0.049,2877,3281,2146
$GC,8117,0.55,155.7,814.0,21.0,265,8121,0.00,1.60,0.00,0.000,6,0.000,0.028,2884,2210,2145
$GC,8394,0.55,155.7,754.8,21.6,272,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2203,2145
$GC,8637,0.55,155.7,702.1,21.7,278,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2203,2144
$GC,8882,0.55,155.7,652.2,20.2,284,8886,0.00,1.70,0.00,0.000,4,0.000,0.049,2878,3276,2142
$GC,8917,0.55,155.7,644.1,20.5,284,8920,0.00,1.58,0.00,0.000,6,0.000,0.028,2884,2227,2142
$GC,9177,0.55,155.7,593.6,19.1,291,9181,0.00,1.55,0.00,0.000,4,0.000,0.031,2892,1163,2141
$GC,9228,0.55,155.7,583.9,18.9,292,9232,0.00,1.65,0.00,0.000,6,0.000,0.044,2891,2238,2141
$GC,9522,0.55,155.7,527.2,19.7,299,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2238,2140
$GC,9766,0.55,155.7,477.3,20.7,305,9769,0.00,1.60,0.00,0.000,4,0.000,0.030,2897,1161,2140
$GC,9817,0.55,155.7,467.6,19.9,306,9821,0.00,1.62,0.00,0.000,6,0.000,0.042,2892,2225,2139
$GC,10112,0.55,155.7,411.5,18.7,313,10113,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2225,2139
$GC,10357,0.55,155.7,367.0,18.0,319,10360,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3296,2139
$GC,10375,0.55,155.7,362.8,18.0,319,10379,0.00,1.60,0.00,0.000,6,0.000,0.027,2898,2193,2139
$GC,10652,0.55,155.7,313.7,17.9,326,10656,0.00,1.70,0.00,0.000,4,0.000,0.047,2898,3274,2138
$GC,10763,0.55,155.7,292.5,19.6,328,10767,0.08,1.52,0.00,0.000,6,0.160,0.026,2872,2237,2138
$GC,11039,0.55,155.7,252.2,14.5,335,11043,0.00,1.55,0.00,0.000,4,0.000,0.028,2878,1161,2138
$GC,11137,0.55,155.7,238.1,13.1,337,11141,0.00,1.60,0.00,0.000,6,0.000,0.040,2876,2203,2138
$GC,11425,0.55,155.7,200.5,12.9,344,11429,0.00,1.52,0.00,0.000,4,0.000,0.028,2881,1175,2138
$GC,11508,0.55,155.7,190.5,12.1,348,11512,0.00,1.58,0.00,0.000,6,0.000,0.039,2875,2205,2138
$GC,11781,0.55,155.7,153.0,13.7,373,11785,0.00,1.65,0.00,0.000,4,0.000,0.046,2876,3287,2138
$GC,11799,0.55,155.7,150.0,13.0,374,11807,0.00,1.62,0.00,0.000,6,0.000,0.025,2882,2174,2138
$GC,12066,0.55,155.7,118.0,9.7,399,12070,0.00,1.73,0.00,0.000,4,0.000,0.042,2876,3288,2138
$GC,12198,0.55,155.7,102.3,12.8,410,12207,0.00,1.55,0.00,0.000,6,0.000,0.024,2882,2215,2138
$GC,12465,0.55,155.7,71.2,9.9,435,12469,0.00,1.50,0.00,0.000,4,0.000,0.025,2890,1148,2138
$GC,12687,0.58,240.6,54.6,5.4,453,12758,0.00,1.50,66.57,0.620,6,0.000,0.035,2890,2143,1808
$GC,13020,0.58,240.6,23.4,12.7,486,13029,0.00,1.73,0.00,0.000,4,0.000,0.041,2890,3274,1803
$GC,13146,0.58,240.6,7.4,12.0,505,13155,0.00,1.65,0.00,0.000,6,0.000,0.021,2897,2146,1803
$STATE,13186,end climb,SURFACE_DEPTH_REACHED
$STATE,13186,begin surface coast
$FINISH,0.4,1.023298
$STATE,13225,end surface coast,CONTROL_FINISHED_OK
$STATE,13225,begin surface
$SM_CCo,13250,156.57,0.545,0,0,398,586.50
$SM_GC,1.27,0.00,0.00,156.57,0.000,0.000,0.545,24,2587,398,-8.31,0.48,586.50
$IRIDIUM_FIX,2223.01,-15808.02,221202,151558
$TT8_MAMPS,0.023777
$HUMID,2163
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.20
$XPDR_PINGS,5
$24V_AH,24.1,9.742
$10V_AH,10.6,10.059
$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,17.650,96.250,342.575,156.575,0.000,140.089,183.258,747.035,1.250,0.000,0.000,10.242,1103.877,8951.564,541.492,2682.621,1723.449,33.359,1410.545,0.000,2707.235,0.000,0.545,0.000
$DEVICE_MAMPS,207.090,65.962,1259.414,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,352.109,1701.465,1764.532,212.867,1167.054,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44478,517
$CAP_FILE_SIZE,121652,0
$CFSIZE,260165632,254414848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270913,193030,2234.004,-15806.361,40,1.4,40,10.0