version: 66.04
glider: 512
mission: 4
dive: 67
start: 9 28 113 5 59 55
data:
$ID,512
$MISSION,4
$DIVE,67
$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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-107891.34
$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,67
$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
$GPS1,052506,2237.662,-15808.731,42,1.1,42,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-80.6
$GPS2,055901,2237.824,-15808.778,16,1.4,16,10.0
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.039,0.243
$KALMAN_X,26774.7,-93.5,13.9,-41594.8,1955.5
$KALMAN_Y,-2608.9,498.6,-116.6,-9371.9,-2589.6
$MHEAD_RNG_PITCHd_Wd,340.9,65366,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.60,-146.0,0.0,0.0,0,89,0.00,0.00,-65.72,0.000,2,0.000,0.000,10,2586,2782
$GC,95,-0.60,-146.0,2.0,-1.2,8,122,9.23,0.00,-15.35,0.000,6,0.205,0.000,2496,2586,3387
$GC,395,-0.60,-146.0,85.9,-24.3,41,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2586,3388
$GC,660,-0.60,-146.0,143.6,-21.3,66,664,0.00,1.50,0.00,0.000,4,0.000,0.021,2499,1514,3389
$GC,767,-0.60,-146.0,163.3,-17.5,75,771,0.00,1.58,0.00,0.000,6,0.000,0.035,2493,2566,3389
$GC,1056,-0.60,-146.0,213.9,-17.0,96,1059,0.00,1.60,0.00,0.000,4,0.000,0.044,2485,3636,3389
$GC,1126,-0.60,-146.0,226.4,-16.1,97,1130,0.00,1.52,0.00,0.000,6,0.000,0.019,2485,2547,3389
$GC,1397,-0.60,-146.0,266.7,-14.9,104,1401,0.00,1.38,0.00,0.000,4,0.000,0.021,2485,1529,3388
$GC,1438,-0.60,-146.0,273.2,-14.3,104,1447,0.00,1.58,0.00,0.000,6,0.000,0.038,2477,2575,3389
$GC,1693,-0.60,-146.0,312.1,-15.7,111,1696,0.00,1.58,0.00,0.000,4,0.000,0.044,2469,3629,3387
$GC,1751,-0.60,-146.0,322.0,-16.0,112,1755,0.10,1.48,0.00,0.000,6,0.137,0.020,2514,2560,3386
$GC,2034,-0.60,-146.0,354.8,-11.3,119,2037,0.00,1.40,0.00,0.000,4,0.000,0.022,2522,1539,3384
$GC,2174,-0.60,-146.0,369.6,-9.7,122,2178,0.00,1.55,0.00,0.000,6,0.000,0.039,2516,2564,3384
$GC,2468,-0.60,-146.0,401.9,-11.1,129,2471,0.00,1.60,0.00,0.000,4,0.000,0.048,2508,3644,3380
$GC,2509,-0.60,-146.0,406.8,-11.7,129,2518,0.00,1.50,0.00,0.000,6,0.000,0.023,2508,2580,3379
$GC,2766,-0.60,-146.0,435.4,-11.4,136,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2580,3378
$GC,3009,-0.60,-146.0,464.5,-12.1,142,3013,0.00,1.45,-0.08,0.000,4,0.000,0.046,2511,1521,3399
$GC,3089,-0.60,-146.0,474.6,-11.4,143,3093,0.00,1.60,0.00,0.000,6,0.000,0.041,2505,2595,3399
$GC,3349,-0.60,-146.0,505.8,-12.2,150,3353,0.00,1.50,0.00,0.000,4,0.000,0.024,2511,1535,3397
$GC,3408,-0.60,-146.0,512.9,-10.6,151,3411,0.00,1.55,0.00,0.000,6,0.000,0.041,2505,2557,3396
$GC,3690,-0.60,-146.0,543.4,-10.8,158,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2557,3394
$GC,3934,-0.60,-146.0,566.8,-9.3,164,3937,0.00,1.45,0.00,0.000,4,0.000,0.025,2511,1534,3392
$GC,3997,-0.60,-146.0,572.6,-8.5,165,4001,0.00,1.55,0.00,0.000,6,0.000,0.044,2509,2546,3391
$GC,4275,-0.60,-146.0,596.4,-8.7,172,4279,0.00,1.62,0.00,0.000,4,0.000,0.052,2501,3630,3389
$GC,4383,-0.60,-146.0,607.0,-10.3,174,4386,0.00,1.52,0.00,0.000,6,0.000,0.025,2507,2565,3387
$GC,4661,-0.60,-146.0,632.3,-9.4,181,4664,0.00,1.45,0.00,0.000,4,0.000,0.026,2508,1526,3386
$GC,4757,-0.60,-146.0,641.5,-9.2,183,4761,0.00,1.55,0.00,0.000,6,0.000,0.044,2502,2540,3386
$GC,5046,-0.60,-146.0,669.3,-9.8,190,5050,0.00,1.45,0.00,0.000,4,0.000,0.026,2508,1521,3382
$GC,5131,-0.60,-146.0,678.1,-9.2,191,5139,0.00,1.55,0.00,0.000,6,0.000,0.045,2502,2528,3382
$GC,5386,-0.60,-146.0,703.6,-10.3,198,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2528,3381
$GC,5630,-0.60,-146.0,730.4,-11.1,204,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2529,3379
$GC,5873,-0.60,-146.0,756.8,-10.7,210,5877,0.00,1.67,0.00,0.000,4,0.000,0.054,2494,3638,3378
$GC,5932,-0.60,-146.0,763.8,-11.2,211,5936,0.00,1.60,0.00,0.000,6,0.000,0.026,2501,2509,3377
$GC,6215,-0.60,-146.0,791.7,-9.9,218,6219,0.00,1.38,0.00,0.000,4,0.000,0.027,2508,1522,3375
$GC,6265,-0.60,-146.0,796.4,-8.7,219,6268,0.00,1.55,0.00,0.000,6,0.000,0.046,2503,2523,3375
$GC,6560,-0.60,-146.0,823.5,-9.2,226,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2524,3373
$GC,6805,-0.60,-146.0,844.2,-8.3,232,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2523,3372
$GC,7049,-0.60,-146.0,864.1,-8.2,238,7052,0.00,1.70,0.00,0.000,4,0.000,0.057,2494,3640,3371
$GC,7084,-0.60,-146.0,867.7,-9.5,238,7088,0.00,1.62,0.00,0.000,6,0.000,0.027,2500,2524,3371
$GC,7344,-0.60,-146.0,887.1,-7.4,245,7348,0.00,1.42,0.00,0.000,4,0.000,0.029,2507,1510,3370
$GC,7395,-0.60,-146.0,890.7,-6.3,246,7398,0.00,1.55,0.00,0.000,6,0.000,0.047,2502,2514,3370
$STATE,7562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7563,begin apogee
$GC,7574,-0.25,0.0,902.9,7.2,250,7702,0.35,0.00,125.40,1.259,6,0.109,0.000,2621,2205,2790
$STATE,7703,end apogee,CONTROL_FINISHED_OK
$STATE,7703,begin climb
$GC,7708,0.60,146.0,904.5,0.0,253,7854,0.75,1.65,134.32,1.200,4,0.064,0.029,2893,1171,2193
$GC,7899,0.60,146.0,874.1,21.7,257,7903,0.00,1.70,0.00,0.000,6,0.000,0.041,2891,2234,2187
$GC,8176,0.60,146.0,809.1,23.7,264,8180,0.00,1.62,0.00,0.000,4,0.000,0.048,2891,3289,2182
$GC,8200,0.60,146.0,802.4,24.5,264,8204,0.00,1.58,0.00,0.000,6,0.000,0.027,2898,2243,2182
$GC,8473,0.60,146.0,738.7,23.6,271,8476,0.00,1.58,0.00,0.000,4,0.000,0.029,2905,1164,2180
$GC,8508,0.60,146.0,729.3,23.5,271,8512,0.00,1.67,0.00,0.000,6,0.000,0.044,2905,2226,2181
$GC,8768,0.60,146.0,672.7,22.4,278,8772,0.00,1.60,0.00,0.000,4,0.000,0.031,2911,1163,2179
$GC,8818,0.60,146.0,662.0,21.2,279,8821,0.00,1.65,0.00,0.000,6,0.000,0.043,2905,2237,2179
$GC,9112,0.60,146.0,598.0,21.6,286,9116,0.00,1.62,0.00,0.000,4,0.000,0.048,2905,3309,2178
$GC,9136,0.60,146.0,591.5,22.0,286,9140,0.00,1.62,0.00,0.000,6,0.000,0.027,2911,2216,2178
$GC,9408,0.60,146.0,532.3,22.0,293,9411,0.00,1.52,0.00,0.000,4,0.000,0.030,2919,1162,2178
$GC,9459,0.60,146.0,521.5,21.9,294,9462,0.00,1.62,0.00,0.000,6,0.000,0.043,2918,2226,2178
$GC,9754,0.60,146.0,459.2,21.1,301,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2226,2177
$GC,9999,0.60,146.0,410.9,19.7,307,10002,0.00,1.62,0.00,0.000,4,0.000,0.050,2918,3302,2177
$GC,10073,0.60,146.0,394.7,19.7,308,10077,0.12,1.62,0.00,0.000,6,0.173,0.028,2895,2185,2175
$GC,10338,0.60,146.0,347.7,18.2,315,10342,0.00,1.48,0.00,0.000,4,0.000,0.030,2900,1170,2175
$GC,10434,0.60,146.0,331.0,16.6,317,10438,0.00,1.55,0.00,0.000,6,0.000,0.041,2900,2173,2175
$GC,10728,0.60,146.0,280.6,17.1,324,10732,0.00,1.67,0.00,0.000,4,0.000,0.048,2900,3287,2175
$GC,10787,0.60,146.0,270.4,17.0,325,10790,0.00,1.60,0.00,0.000,6,0.000,0.026,2912,2179,2175
$GC,11069,0.60,146.0,223.3,17.4,332,11073,0.00,1.48,0.00,0.000,4,0.000,0.031,2915,1157,2175
$GC,11104,0.60,146.0,217.4,13.9,332,11107,0.00,1.55,0.00,0.000,6,0.000,0.040,2915,2167,2174
$GC,11369,0.60,146.0,179.8,12.9,348,11373,0.00,1.70,0.00,0.000,4,0.000,0.046,2915,3280,2175
$GC,11520,0.60,146.0,155.5,15.2,361,11524,0.12,1.60,0.00,0.000,6,0.168,0.025,2892,2189,2174
$GC,11795,0.60,146.0,119.5,12.6,386,11799,0.00,1.48,0.00,0.000,4,0.000,0.027,2899,1153,2174
$GC,11835,0.60,146.0,114.0,11.6,389,11839,0.00,1.62,0.00,0.000,6,0.000,0.036,2899,2245,2174
$GC,12107,0.60,146.0,82.1,11.6,414,12110,0.00,1.58,0.00,0.000,4,0.000,0.025,2907,1171,2175
$GC,12149,0.60,146.0,77.3,10.1,417,12158,0.00,1.58,0.00,0.000,6,0.000,0.037,2906,2211,2175
$GC,12415,0.60,149.8,51.2,8.4,442,12419,0.00,1.60,0.00,0.000,4,0.000,0.044,2906,3300,2175
$GC,12445,0.62,195.4,49.1,6.8,444,12488,0.00,1.52,38.22,0.621,6,0.000,0.022,2912,2227,1993
$GC,12757,0.62,195.4,21.0,10.9,477,12765,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2227,1988
$STATE,12926,end climb,SURFACE_DEPTH_REACHED
$STATE,12926,begin surface coast
$FINISH,0.4,1.023134
$STATE,12957,end surface coast,CONTROL_FINISHED_OK
$STATE,12957,begin surface
$SM_CCo,12982,176.45,0.548,0,0,398,586.50
$SM_GC,1.12,0.00,0.00,176.45,0.000,0.000,0.548,26,2589,398,-8.31,0.54,586.50
$IRIDIUM_FIX,2232.34,-15808.45,231202,060615
$TT8_MAMPS,0.023777
$HUMID,2176
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.20
$XPDR_PINGS,5
$24V_AH,24.2,10.555
$10V_AH,10.7,10.674
$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,17.950,94.675,297.950,176.450,0.000,133.658,202.216,1165.239,1.250,0.000,0.000,16.889,1108.595,8752.393,518.375,2678.367,2129.726,33.356,1360.637,0.000,2678.760,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,56.758,1259.414,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,347.265,1673.550,1725.342,234.169,1166.346,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44617,508
$CAP_FILE_SIZE,125868,0
$CFSIZE,260165632,254222336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280913,094036,2239.350,-15808.800,34,1.0,34,10.0