version: 66.04
glider: 512
mission: 4
dive: 68
start: 9 28 113 10 15 4
data:
$ID,512
$MISSION,4
$DIVE,68
$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,-107911.6
$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,72
$R_STBD_OVSHOOT,40
$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
$GPS1,094036,2239.350,-15808.800,34,1.0,34,10.0
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-79.3
$GPS2,101412,2239.362,-15809.008,14,1.2,19,10.0
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.066,0.237
$KALMAN_X,27360.7,3.3,-339.2,-42317.3,2133.6
$KALMAN_Y,-4561.5,-35.2,140.4,-4288.1,-3418.3
$MHEAD_RNG_PITCHd_Wd,334.5,62949,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.60,-146.0,0.0,0.0,0,124,0.00,0.00,-98.88,0.000,2,0.000,0.000,11,2586,2871
$GC,129,-0.60,-146.0,2.2,-1.8,12,157,9.23,1.60,-12.43,0.000,4,0.206,0.055,2487,3632,3388
$GC,285,-0.60,-146.0,49.3,-30.9,31,289,0.00,1.52,0.00,0.000,6,0.000,0.019,2490,2576,3388
$GC,557,-0.60,-146.0,116.6,-21.7,56,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2567,3388
$GC,822,-0.60,-146.0,170.0,-19.0,81,826,0.00,1.48,0.00,0.000,4,0.000,0.020,2491,1499,3388
$GC,919,-0.60,-146.0,187.2,-16.0,89,927,0.00,1.58,0.00,0.000,6,0.000,0.036,2486,2545,3388
$GC,1196,-0.60,-146.0,237.9,-18.4,101,1200,0.00,1.60,0.00,0.000,4,0.000,0.043,2477,3638,3388
$GC,1299,-0.60,-146.0,255.6,-16.4,103,1303,0.00,1.52,0.00,0.000,6,0.000,0.018,2478,2545,3387
$GC,1582,-0.60,-146.0,299.0,-15.0,110,1585,0.00,1.38,0.00,0.000,4,0.000,0.020,2477,1527,3386
$GC,1713,-0.60,-146.0,317.9,-14.2,112,1720,0.08,1.55,0.00,0.000,6,0.146,0.038,2495,2553,3385
$GC,1968,-0.60,-146.0,352.7,-13.9,119,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2553,3382
$GC,2211,-0.60,-146.0,387.1,-14.1,125,2215,0.00,1.62,0.00,0.000,4,0.000,0.046,2488,3631,3379
$GC,2261,-0.60,-146.0,394.3,-13.9,126,2265,0.00,1.52,0.00,0.000,6,0.000,0.020,2494,2544,3379
$GC,2556,-0.60,-146.0,433.7,-13.1,133,2560,0.00,1.65,0.00,0.000,4,0.000,0.045,2488,3636,3377
$GC,2636,-0.60,-146.0,444.3,-12.5,134,2640,0.00,1.50,-0.05,0.000,6,0.000,0.021,2494,2565,3395
$GC,2896,-0.60,-146.0,473.7,-11.4,141,2900,0.00,1.42,0.00,0.000,4,0.000,0.023,2501,1527,3393
$GC,2992,-0.60,-146.0,483.9,-9.9,143,2995,0.00,1.55,0.00,0.000,6,0.000,0.040,2495,2546,3392
$GC,3286,-0.60,-146.0,518.3,-12.1,150,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2548,3389
$GC,3529,-0.60,-146.0,548.0,-12.3,156,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2548,3386
$GC,3773,-0.60,-146.0,577.2,-11.9,162,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2548,3384
$GC,4017,-0.60,-146.0,604.6,-11.2,168,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2547,3381
$GC,4261,-0.60,-146.0,629.7,-10.2,174,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2548,3379
$GC,4504,-0.60,-146.0,652.2,-9.0,180,4508,0.00,1.62,0.00,0.000,4,0.000,0.051,2487,3631,3378
$GC,4585,-0.60,-146.0,659.9,-8.6,181,4589,0.00,1.55,0.00,0.000,6,0.000,0.025,2493,2550,3377
$GC,4845,-0.60,-146.0,682.8,-8.9,188,4849,0.00,1.42,0.00,0.000,4,0.000,0.025,2495,1527,3374
$GC,4895,-0.60,-146.0,687.3,-8.5,189,4899,0.00,1.55,0.00,0.000,6,0.000,0.044,2489,2534,3374
$GC,5190,-0.60,-146.0,715.4,-9.6,196,5193,0.00,1.65,0.00,0.000,4,0.000,0.052,2481,3628,3372
$GC,5220,-0.60,-146.0,718.8,-10.3,196,5224,0.00,1.58,0.00,0.000,6,0.000,0.026,2481,2539,3371
$GC,5485,-0.60,-146.0,745.8,-10.2,203,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2532,3370
$GC,5729,-0.60,-146.0,771.6,-10.4,209,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2532,3369
$GC,5972,-0.60,-146.0,796.5,-10.2,215,5976,0.00,1.73,0.00,0.000,4,0.000,0.054,2480,3631,3366
$GC,6023,-0.60,-146.0,801.7,-10.7,216,6026,0.00,1.60,0.00,0.000,6,0.000,0.026,2480,2532,3366
$GC,6317,-0.60,-146.0,830.9,-9.9,223,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2525,3365
$GC,6562,-0.60,-146.0,855.0,-9.8,229,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2526,3363
$GC,6806,-0.60,-146.0,878.6,-9.7,235,6810,0.00,1.70,0.00,0.000,4,0.000,0.053,2471,3634,3362
$GC,6886,-0.60,-146.0,887.5,-10.2,236,6890,0.12,1.58,0.00,0.000,6,0.188,0.027,2506,2541,3362
$STATE,7060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7060,begin apogee
$GC,7072,-0.25,0.0,901.1,7.6,241,7198,0.32,0.00,124.15,1.256,6,0.108,0.000,2617,2210,2790
$STATE,7199,end apogee,CONTROL_FINISHED_OK
$STATE,7199,begin climb
$GC,7204,0.60,146.0,903.6,0.0,244,7350,0.77,0.00,136.30,1.187,6,0.067,0.000,2889,2211,2194
$GC,7622,0.60,146.0,818.8,24.1,254,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2210,2183
$GC,7866,0.60,146.0,761.5,23.3,260,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2210,2182
$GC,8109,0.60,146.0,707.6,22.1,266,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2211,2180
$GC,8353,0.60,146.0,654.7,21.6,272,8357,0.00,1.50,0.00,0.000,4,0.000,0.029,2897,1186,2179
$GC,8383,0.60,146.0,647.6,22.1,272,8387,0.00,1.60,0.00,0.000,6,0.000,0.042,2891,2236,2179
$GC,8649,0.60,146.0,594.6,19.9,279,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2236,2179
$GC,8892,0.60,146.0,544.6,20.5,285,8896,0.00,1.60,0.00,0.000,4,0.000,0.048,2890,3276,2177
$GC,8928,0.60,146.0,536.5,20.7,285,8932,0.00,1.50,0.00,0.000,6,0.000,0.028,2897,2261,2177
$GC,9189,0.60,146.0,484.0,20.3,292,9193,0.00,1.60,0.00,0.000,4,0.000,0.030,2905,1154,2177
$GC,9283,0.60,146.0,465.3,19.9,294,9287,0.00,1.67,0.00,0.000,6,0.000,0.042,2905,2233,2176
$GC,9578,0.60,146.0,409.6,18.7,301,9579,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2234,2176
$GC,9823,0.60,146.0,365.6,18.1,307,9827,0.00,1.60,0.00,0.000,4,0.000,0.048,2905,3277,2176
$GC,9866,0.60,146.0,356.7,19.3,307,9872,0.00,1.52,0.00,0.000,6,0.000,0.028,2911,2242,2175
$GC,10120,0.60,146.0,307.5,19.2,314,10124,0.00,1.55,0.00,0.000,4,0.000,0.029,2919,1163,2175
$GC,10155,0.60,146.0,300.5,17.6,314,10158,0.00,1.67,0.00,0.000,6,0.000,0.043,2918,2268,2175
$GC,10415,0.60,146.0,253.7,18.3,321,10419,0.00,1.62,0.00,0.000,4,0.000,0.028,2925,1137,2175
$GC,10502,0.60,146.0,238.2,16.3,322,10511,0.10,1.70,0.00,0.000,6,0.148,0.043,2893,2238,2175
$GC,10756,0.60,146.0,201.7,13.5,329,10757,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2238,2175
$GC,11010,0.60,146.0,170.2,12.3,350,11013,0.00,1.60,0.00,0.000,4,0.000,0.047,2891,3287,2175
$GC,11149,0.60,146.0,151.0,13.5,362,11153,0.00,1.55,0.00,0.000,6,0.000,0.025,2897,2223,2175
$GC,11422,0.60,146.0,114.3,12.8,387,11426,0.00,1.50,0.00,0.000,4,0.000,0.028,2900,1170,2175
$GC,11519,0.60,146.0,102.3,13.1,395,11523,0.00,1.58,0.00,0.000,6,0.000,0.038,2899,2207,2175
$GC,11793,0.60,146.0,68.4,12.1,420,11797,0.00,1.52,0.00,0.000,4,0.000,0.025,2907,1158,2175
$GC,11812,0.60,146.0,65.9,10.3,421,11821,0.00,1.62,0.00,0.000,6,0.000,0.037,2907,2233,2175
$GC,12078,0.62,204.3,46.2,6.3,446,12134,0.00,1.60,45.17,0.612,4,0.000,0.040,2907,3278,1956
$GC,12188,0.62,204.3,37.8,8.8,454,12191,0.00,1.52,0.00,0.000,6,0.000,0.022,2912,2241,1954
$STATE,12472,end climb,SURFACE_DEPTH_REACHED
$STATE,12472,begin surface coast
$FINISH,0.4,1.023150
$STATE,12499,end surface coast,CONTROL_FINISHED_OK
$STATE,12499,begin surface
$SM_CCo,12524,70.82,0.553,0,0,1239,380.21
$SM_GC,1.14,0.00,0.00,70.82,0.000,0.000,0.553,35,2587,1239,-8.31,0.51,380.21
$IRIDIUM_FIX,2230.01,-15811.48,231202,101018
$TT8_MAMPS,0.023777
$HUMID,2240
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.00
$XPDR_PINGS,4
$24V_AH,24.2,10.759
$10V_AH,10.7,10.855
$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,17.800,70.050,305.625,70.825,0.000,107.463,149.213,1382.460,1.000,0.000,0.000,19.637,1024.803,8520.925,426.490,2493.381,2141.764,33.360,1190.724,0.000,2513.699,0.000,0.544,0.000
$DEVICE_MAMPS,206.323,55.224,1255.579,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,339.657,1636.980,1698.734,279.435,1148.923,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44640,498
$CAP_FILE_SIZE,112297,0
$CFSIZE,260165632,254193664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280913,134630,2240.828,-15809.240,42,1.6,42,10.0