version: 66.04
glider: 512
mission: 4
dive: 66
start: 9 28 113 1 48 25
data:
$ID,512
$MISSION,4
$DIVE,66
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-107873.81
$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,28
$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,56
$R_STBD_OVSHOOT,42
$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
$GPS1,013527,2236.260,-15808.100,12,2.5,31,10.0
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-79.0
$GPS2,014733,2236.360,-15808.161,11,2.8,30,10.0
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.118,0.216
$KALMAN_X,26213.0,-521.1,-330.4,-39202.4,3019.0
$KALMAN_Y,-1647.9,622.3,514.9,-13817.3,-3253.3
$MHEAD_RNG_PITCHd_Wd,321.2,67438,-15.1,-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,-0.60,-146.0,0.0,0.0,0,119,0.00,0.00,-98.90,0.000,2,0.000,0.000,24,2590,2840
$GC,125,-0.60,-146.0,2.1,-1.1,12,153,9.23,1.58,-13.48,0.000,4,0.212,0.054,2489,3632,3388
$GC,340,-0.60,-146.0,62.8,-22.3,37,344,0.00,1.52,0.00,0.000,6,0.000,0.018,2489,2550,3388
$GC,612,-0.60,-146.0,129.0,-22.1,62,615,0.00,1.40,0.00,0.000,4,0.000,0.019,2489,1510,3387
$GC,731,-0.60,-146.0,151.3,-17.3,72,735,0.00,1.55,0.00,0.000,6,0.000,0.035,2482,2546,3388
$GC,1034,-0.60,-146.0,208.1,-18.0,97,1038,0.00,1.62,0.00,0.000,4,0.000,0.043,2473,3635,3387
$GC,1108,-0.60,-146.0,221.8,-16.9,98,1112,0.05,1.55,0.00,0.000,6,0.134,0.018,2500,2512,3387
$GC,1374,-0.60,-146.0,260.5,-14.8,105,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2505,3386
$GC,1617,-0.60,-146.0,294.4,-14.0,111,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2504,3384
$GC,1860,-0.60,-146.0,326.8,-13.1,117,1864,0.00,1.35,0.00,0.000,4,0.000,0.021,2508,1509,3381
$GC,1930,-0.60,-146.0,335.4,-11.3,118,1933,0.00,1.60,0.00,0.000,6,0.000,0.038,2502,2596,3381
$GC,2201,-0.60,-146.0,367.8,-12.2,125,2205,0.00,1.50,0.00,0.000,4,0.000,0.021,2507,1519,3378
$GC,2312,-0.60,-146.0,380.9,-11.4,127,2315,0.00,1.55,0.00,0.000,6,0.000,0.039,2502,2550,3377
$GC,2589,-0.60,-146.0,416.8,-13.3,134,2591,0.00,0.00,-0.08,0.000,6,0.000,0.000,2502,2550,3397
$GC,2833,-0.60,-146.0,446.4,-12.1,140,2836,0.00,1.62,0.00,0.000,4,0.000,0.047,2493,3642,3395
$GC,2868,-0.60,-146.0,451.1,-11.7,140,2872,0.00,1.58,0.00,0.000,6,0.000,0.022,2499,2531,3394
$GC,3128,-0.60,-146.0,479.7,-10.9,147,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2524,3392
$GC,3372,-0.60,-146.0,505.2,-10.6,153,3375,0.00,1.38,0.00,0.000,4,0.000,0.023,2507,1527,3389
$GC,3436,-0.60,-146.0,512.1,-9.5,154,3439,0.00,1.55,0.00,0.000,6,0.000,0.041,2501,2550,3389
$GC,3713,-0.60,-146.0,540.9,-10.8,161,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2550,3386
$GC,3956,-0.60,-146.0,566.8,-10.6,167,3960,0.00,1.45,0.00,0.000,4,0.000,0.025,2507,1527,3384
$GC,4008,-0.60,-146.0,572.4,-9.5,168,4012,0.00,1.55,0.00,0.000,6,0.000,0.042,2501,2545,3383
$GC,4298,-0.60,-146.0,600.4,-9.8,175,4301,0.00,1.62,0.00,0.000,4,0.000,0.051,2493,3634,3380
$GC,4339,-0.60,-146.0,604.8,-9.7,175,4347,0.00,1.55,0.00,0.000,6,0.000,0.025,2499,2543,3380
$GC,4593,-0.60,-146.0,626.9,-8.7,182,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2543,3378
$GC,4837,-0.60,-146.0,648.9,-9.1,188,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2542,3376
$GC,5080,-0.60,-146.0,672.4,-9.7,194,5084,0.00,1.42,0.00,0.000,4,0.000,0.027,2506,1529,3373
$GC,5155,-0.60,-146.0,680.0,-9.1,195,5158,0.00,1.55,0.00,0.000,6,0.000,0.044,2501,2543,3373
$GC,5421,-0.60,-146.0,705.7,-9.9,202,5425,0.00,1.65,0.00,0.000,4,0.000,0.055,2493,3638,3371
$GC,5517,-0.60,-146.0,716.0,-9.8,204,5521,0.00,1.55,0.00,0.000,6,0.000,0.027,2499,2561,3371
$GC,5807,-0.60,-146.0,742.9,-9.5,211,5811,0.00,1.65,0.00,0.000,4,0.000,0.053,2493,3634,3369
$GC,5848,-0.60,-146.0,747.5,-10.4,211,5857,0.00,1.55,0.00,0.000,6,0.000,0.027,2492,2551,3369
$GC,6103,-0.60,-146.0,772.2,-9.9,218,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2550,3367
$GC,6346,-0.60,-146.0,796.0,-9.8,224,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2550,3365
$GC,6590,-0.60,-146.0,819.2,-9.6,230,6594,0.00,1.45,0.00,0.000,4,0.000,0.028,2493,1525,3364
$GC,6631,-0.60,-146.0,823.6,-9.5,230,6639,0.00,1.62,0.00,0.000,6,0.000,0.050,2492,2574,3364
$GC,6886,-0.60,-146.0,848.0,-9.9,237,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2574,3362
$GC,7129,-0.60,-146.0,871.6,-9.7,243,7133,0.00,1.60,0.00,0.000,4,0.000,0.054,2485,3634,3361
$GC,7165,-0.60,-146.0,875.7,-11.2,243,7169,0.00,1.50,0.00,0.000,6,0.000,0.028,2491,2598,3361
$STATE,7421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7421,begin apogee
$GC,7433,-0.25,0.0,901.6,10.1,250,7560,0.38,0.00,124.78,1.254,6,0.116,0.000,2615,2217,2790
$STATE,7561,end apogee,CONTROL_FINISHED_OK
$STATE,7561,begin climb
$GC,7566,0.60,146.0,906.2,0.0,253,7702,0.77,0.00,132.57,1.218,6,0.081,0.000,2886,2216,2194
$GC,7937,0.60,146.0,838.9,22.2,262,7941,0.00,1.70,0.00,0.000,4,0.000,0.049,2886,3297,2183
$GC,7967,0.60,146.0,831.2,22.7,262,7971,0.00,1.60,0.00,0.000,6,0.000,0.026,2894,2234,2182
$GC,8232,0.60,146.0,771.2,23.1,269,8236,0.00,1.58,0.00,0.000,4,0.000,0.031,2902,1163,2181
$GC,8317,0.60,146.0,751.8,20.8,270,8326,0.00,1.65,0.00,0.000,6,0.000,0.044,2902,2214,2180
$GC,8573,0.60,146.0,694.4,23.0,277,8576,0.00,1.65,0.00,0.000,4,0.000,0.049,2902,3298,2179
$GC,8614,0.60,146.0,683.8,23.3,277,8622,0.00,1.62,0.00,0.000,6,0.000,0.027,2913,2209,2179
$GC,8869,0.60,146.0,627.0,22.5,284,8872,0.00,1.52,0.00,0.000,4,0.000,0.031,2921,1155,2179
$GC,8931,0.60,146.0,612.0,22.3,285,8935,0.00,1.62,0.00,0.000,6,0.000,0.042,2918,2225,2178
$GC,9210,0.60,146.0,550.3,22.6,292,9213,0.00,1.62,0.00,0.000,4,0.000,0.049,2918,3301,2178
$GC,9234,0.60,146.0,543.9,22.6,292,9238,0.10,1.62,0.00,0.000,6,0.173,0.028,2896,2203,2177
$GC,9504,0.60,146.0,487.9,20.9,299,9508,0.00,1.52,0.00,0.000,4,0.000,0.032,2902,1152,2177
$GC,9600,0.60,146.0,469.5,20.0,301,9604,0.00,1.60,0.00,0.000,6,0.000,0.041,2902,2188,2177
$GC,9894,0.60,146.0,409.4,20.2,308,9897,0.00,1.65,0.00,0.000,4,0.000,0.047,2902,3288,2176
$GC,9945,0.60,146.0,399.0,20.7,309,9949,0.00,1.60,0.00,0.000,6,0.000,0.027,2910,2206,2176
$GC,10241,0.60,146.0,341.3,19.0,316,10244,0.00,1.50,0.00,0.000,4,0.000,0.031,2918,1164,2176
$GC,10326,0.60,146.0,325.2,17.3,317,10335,0.00,1.60,0.00,0.000,6,0.000,0.041,2918,2205,2176
$GC,10581,0.60,146.0,280.2,18.1,324,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2205,2176
$GC,10824,0.60,146.0,237.0,17.8,330,10828,0.00,1.62,0.00,0.000,4,0.000,0.047,2918,3297,2175
$GC,10883,0.60,146.0,224.0,21.7,331,10887,0.12,1.58,0.00,0.000,6,0.168,0.026,2894,2216,2175
$GC,11150,0.60,146.0,184.8,13.0,345,11153,0.00,1.62,0.00,0.000,4,0.000,0.045,2891,3280,2175
$GC,11211,0.60,146.0,175.8,14.6,350,11215,0.00,1.55,0.00,0.000,6,0.000,0.026,2897,2218,2175
$GC,11484,0.60,146.0,142.3,12.2,375,11491,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2211,2175
$GC,11749,0.60,146.0,110.3,11.0,400,11753,0.00,1.50,0.00,0.000,4,0.000,0.026,2905,1156,2175
$GC,11800,0.60,146.0,104.7,11.5,404,11804,0.00,1.60,0.00,0.000,6,0.000,0.038,2905,2208,2175
$GC,12073,0.60,146.0,72.5,11.1,429,12077,0.00,1.60,0.00,0.000,4,0.000,0.042,2905,3279,2175
$GC,12114,0.60,146.0,67.7,11.3,432,12118,0.00,1.52,0.00,0.000,6,0.000,0.023,2911,2220,2175
$GC,12391,0.60,148.2,42.1,8.5,457,12395,0.00,1.48,0.00,0.000,4,0.000,0.025,2915,1173,2176
$GC,12435,0.62,198.6,38.4,6.6,460,12486,0.00,1.65,40.60,0.603,6,0.000,0.036,2915,2271,1978
$GC,12769,0.62,198.6,3.2,11.8,507,12777,0.00,1.60,0.00,0.000,4,0.000,0.025,2915,1174,1975
$STATE,12785,end climb,SURFACE_DEPTH_REACHED
$STATE,12785,begin surface coast
$FINISH,0.3,1.023175
$STATE,12812,end surface coast,CONTROL_FINISHED_OK
$STATE,12812,begin surface
$SM_CCo,12838,71.82,0.550,0,0,1240,380.21
$SM_GC,1.22,0.00,0.00,71.82,0.000,0.000,0.550,36,2590,1240,-8.31,0.57,380.21
$IRIDIUM_FIX,2230.01,-15804.11,231202,010158
$TT8_MAMPS,0.023777
$HUMID,2262
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.10
$XPDR_PINGS,6
$24V_AH,24.3,10.347
$10V_AH,10.7,10.487
$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,17.900,88.775,297.950,71.825,0.000,0.000,0.000,0.000,1.500,0.000,0.000,31.283,1070.355,8487.318,454.925,2581.505,411.625,33.366,1241.377,0.000,2578.336,0.000,0.546,0.000
$DEVICE_MAMPS,211.692,55.224,1254.045,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,349.560,1688.325,1745.798,219.418,1181.668,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44607,513
$CAP_FILE_SIZE,184470,0
$CFSIZE,260165632,254226432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280913,052506,2237.662,-15808.731,42,1.1,42,10.0