version: 66.04
glider: 512
mission: 4
dive: 69
start: 9 28 113 14 9 41
data:
$ID,512
$MISSION,4
$DIVE,69
$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,-107926.39
$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,61
$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
$GPS1,134630,2240.828,-15809.240,42,1.6,42,10.0
$_CALLS,3
$_XMS_NAKs,27
$_XMS_TOUTs,2
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-78.4
$GPS2,140843,2240.847,-15809.308,14,1.8,14,10.0
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.051,0.241
$KALMAN_X,27974.0,-142.9,-28.8,-43608.5,1745.0
$KALMAN_Y,-6454.7,-391.2,236.3,611.8,-3746.1
$MHEAD_RNG_PITCHd_Wd,338.1,60712,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-74.03,0.000,2,0.000,0.000,10,2585,2988
$GC,100,-0.60,-146.0,2.2,-1.8,9,127,9.32,1.58,-8.82,0.000,4,0.207,0.054,2487,3625,3387
$GC,371,-0.60,-146.0,85.9,-25.6,37,375,0.00,1.52,0.00,0.000,6,0.000,0.018,2488,2555,3388
$GC,642,-0.60,-146.0,142.5,-19.2,62,646,0.00,1.42,0.00,0.000,4,0.000,0.019,2488,1510,3389
$GC,762,-0.60,-146.0,164.0,-17.2,72,771,0.00,1.58,0.00,0.000,6,0.000,0.037,2482,2551,3388
$GC,1056,-0.60,-146.0,215.6,-17.6,94,1060,0.00,1.60,0.00,0.000,4,0.000,0.044,2473,3635,3389
$GC,1226,-0.60,-146.0,246.3,-17.5,97,1229,0.00,1.50,0.00,0.000,6,0.000,0.018,2473,2562,3388
$GC,1486,-0.60,-146.0,292.3,-18.0,104,1490,0.12,1.40,0.00,0.000,4,0.159,0.019,2510,1529,3388
$GC,1649,-0.60,-146.0,312.1,-10.6,107,1652,0.00,1.58,0.00,0.000,6,0.000,0.039,2505,2568,3387
$GC,1920,-0.60,-146.0,343.4,-11.6,114,1924,0.00,1.60,0.00,0.000,4,0.000,0.046,2497,3652,3385
$GC,1956,-0.60,-146.0,347.9,-11.6,114,1959,0.00,1.52,0.00,0.000,6,0.000,0.020,2502,2565,3384
$GC,2217,-0.60,-146.0,378.0,-11.8,121,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2557,3383
$GC,2462,-0.60,-146.0,406.7,-11.8,127,2465,0.00,1.42,0.00,0.000,4,0.000,0.021,2511,1523,3380
$GC,2513,-0.60,-146.0,413.3,-10.3,128,2517,0.00,1.58,0.00,0.000,6,0.000,0.041,2505,2562,3379
$GC,2802,-0.60,-146.0,445.4,-11.3,135,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2563,3377
$GC,3045,-0.60,-146.0,472.0,-10.8,141,3047,0.00,0.00,-0.08,0.000,6,0.000,0.000,2505,2563,3399
$GC,3289,-0.60,-146.0,499.1,-11.2,147,3293,0.00,1.48,0.00,0.000,4,0.000,0.023,2510,1525,3398
$GC,3330,-0.60,-146.0,504.0,-10.7,147,3339,0.00,1.58,0.00,0.000,6,0.000,0.042,2505,2561,3398
$GC,3587,-0.60,-146.0,531.1,-10.9,154,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2561,3396
$GC,3830,-0.60,-146.0,557.1,-10.5,160,3834,0.00,1.60,0.00,0.000,4,0.000,0.051,2497,3634,3393
$GC,3865,-0.60,-146.0,561.3,-10.5,160,3869,0.00,1.52,0.00,0.000,6,0.000,0.024,2503,2572,3393
$GC,4125,-0.60,-146.0,588.4,-10.7,167,4129,0.00,1.48,0.00,0.000,4,0.000,0.025,2508,1518,3391
$GC,4177,-0.60,-146.0,594.3,-10.2,168,4181,0.00,1.58,0.00,0.000,6,0.000,0.044,2503,2547,3391
$GC,4467,-0.60,-146.0,625.5,-11.0,175,4470,0.00,1.62,0.00,0.000,4,0.000,0.051,2493,3629,3389
$GC,4516,-0.60,-146.0,631.3,-11.5,176,4520,0.00,1.58,0.00,0.000,6,0.000,0.025,2500,2544,3388
$GC,4810,-0.60,-146.0,661.5,-10.0,183,4814,0.00,1.45,0.00,0.000,4,0.000,0.026,2508,1508,3386
$GC,4851,-0.60,-146.0,665.9,-9.6,183,4860,0.00,1.60,0.00,0.000,6,0.000,0.043,2502,2552,3386
$GC,5108,-0.60,-146.0,688.5,-9.0,190,5111,0.00,1.62,0.00,0.000,4,0.000,0.052,2494,3633,3383
$GC,5188,-0.60,-146.0,696.3,-9.0,191,5191,0.00,1.58,0.00,0.000,6,0.000,0.025,2500,2542,3383
$GC,5448,-0.60,-146.0,717.0,-8.0,198,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2535,3381
$GC,5692,-0.60,-146.0,737.1,-8.4,204,5695,0.00,1.42,0.00,0.000,4,0.000,0.026,2505,1526,3379
$GC,5743,-0.60,-146.0,741.4,-7.7,205,5747,0.00,1.60,0.00,0.000,6,0.000,0.046,2499,2561,3379
$GC,6037,-0.60,-146.0,766.7,-8.7,212,6041,0.00,1.65,0.00,0.000,4,0.000,0.055,2491,3629,3377
$GC,6066,-0.60,-146.0,769.8,-10.1,212,6070,0.00,1.55,0.00,0.000,6,0.000,0.027,2497,2557,3377
$GC,6333,-0.60,-146.0,792.2,-8.5,219,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2550,3376
$GC,6576,-0.60,-146.0,812.5,-8.3,225,6580,0.00,1.65,0.00,0.000,4,0.000,0.053,2491,3627,3374
$GC,6627,-0.60,-146.0,816.8,-9.0,226,6630,0.00,1.55,0.00,0.000,6,0.000,0.028,2497,2565,3374
$GC,6921,-0.60,-146.0,841.5,-8.3,233,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2557,3372
$GC,7165,-0.60,-146.0,861.8,-8.3,239,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2558,3372
$GC,7408,-0.60,-146.0,882.5,-8.5,245,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2557,3371
$STATE,7647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7647,begin apogee
$GC,7658,-0.25,0.0,903.5,8.7,251,7787,0.35,0.00,125.80,1.263,6,0.113,0.000,2616,2222,2790
$STATE,7788,end apogee,CONTROL_FINISHED_OK
$STATE,7788,begin climb
$GC,7793,0.60,146.0,906.8,0.0,254,7937,0.77,0.00,135.90,1.201,6,0.067,0.000,2889,2221,2194
$GC,8162,0.60,146.0,836.2,23.7,263,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2221,2184
$GC,8406,0.60,146.0,779.3,23.1,269,8410,0.00,1.70,0.00,0.000,4,0.000,0.049,2889,3283,2182
$GC,8475,0.60,146.0,762.5,22.0,270,8478,0.00,1.58,0.00,0.000,6,0.000,0.028,2896,2236,2181
$GC,8747,0.60,146.0,701.5,22.7,277,8750,0.00,1.58,0.00,0.000,4,0.000,0.031,2905,1160,2180
$GC,8788,0.60,146.0,691.6,22.1,277,8796,0.00,1.67,0.00,0.000,6,0.000,0.042,2905,2228,2180
$GC,9042,0.60,146.0,634.8,22.5,284,9046,0.00,1.62,0.00,0.000,4,0.000,0.048,2905,3297,2179
$GC,9061,0.60,146.0,630.1,22.3,284,9064,0.00,1.60,0.00,0.000,6,0.000,0.028,2911,2205,2179
$GC,9338,0.60,146.0,570.7,21.1,291,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2199,2179
$GC,9582,0.60,146.0,519.5,21.3,297,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2199,2178
$GC,9825,0.60,146.0,467.7,21.4,303,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2199,2178
$GC,10069,0.60,146.0,415.9,21.1,309,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2199,2177
$GC,10313,0.60,146.0,367.8,19.7,315,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2199,2177
$GC,10556,0.60,146.0,322.0,18.9,321,10560,0.00,1.67,0.00,0.000,4,0.000,0.048,2906,3289,2176
$GC,10643,0.60,146.0,304.6,19.2,322,10651,0.00,1.55,0.00,0.000,6,0.000,0.027,2912,2238,2176
$GC,10897,0.60,146.0,259.1,17.5,329,10901,0.00,1.55,0.00,0.000,4,0.000,0.029,2920,1157,2176
$GC,10977,0.60,146.0,244.7,18.1,330,10981,0.00,1.65,0.00,0.000,6,0.000,0.041,2918,2254,2176
$GC,11239,0.60,146.0,198.7,18.0,337,11242,0.00,1.58,0.00,0.000,4,0.000,0.048,2918,3283,2176
$GC,11289,0.60,146.0,189.8,17.7,341,11293,0.08,1.52,0.00,0.000,6,0.162,0.025,2891,2239,2176
$GC,11564,0.60,146.0,152.4,14.1,366,11567,0.00,1.62,0.00,0.000,4,0.000,0.044,2888,3301,2176
$GC,11629,0.60,146.0,141.7,14.5,371,11637,0.00,1.55,0.00,0.000,6,0.000,0.025,2895,2238,2176
$GC,11894,0.60,146.0,108.8,11.1,396,11898,0.00,1.52,0.00,0.000,4,0.000,0.027,2899,1174,2176
$GC,12025,0.60,146.0,95.5,10.2,407,12029,0.00,1.58,0.00,0.000,6,0.000,0.038,2899,2212,2176
$GC,12298,0.61,168.2,71.6,7.7,432,12327,0.00,1.65,16.83,0.632,4,0.000,0.041,2899,3284,2103
$GC,12404,0.61,184.7,61.5,7.9,440,12428,0.00,1.58,15.48,0.609,6,0.000,0.022,2910,2189,2034
$GC,12690,0.61,184.7,36.2,9.3,466,12693,0.00,1.67,0.00,0.000,4,0.000,0.042,2910,3299,2032
$GC,12707,0.61,184.7,33.9,9.4,467,12710,0.00,1.55,0.00,0.000,6,0.000,0.021,2912,2230,2031
$STATE,12965,end climb,SURFACE_DEPTH_REACHED
$STATE,12965,begin surface coast
$FINISH,0.3,1.003014
$STATE,12997,end surface coast,CONTROL_FINISHED_OK
$STATE,12998,begin surface
$SM_CCo,13022,81.03,0.556,0,0,1239,380.21
$SM_GC,1.09,0.00,0.00,81.03,0.000,0.000,0.556,37,2587,1239,-8.31,0.48,380.21
$IRIDIUM_FIX,2232.34,-15808.45,231202,141447
$TT8_MAMPS,0.023777
$HUMID,2215
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.20
$XPDR_PINGS,2
$24V_AH,24.1,10.927
$10V_AH,10.7,11.030
$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,17.900,79.400,294.000,81.025,0.000,90.625,106.696,829.646,0.500,0.000,0.000,14.153,1071.462,8843.099,450.879,2534.912,1540.360,33.388,1211.094,0.000,2548.307,0.000,0.545,0.000
$DEVICE_MAMPS,207.090,55.224,1263.249,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,348.197,1680.127,1730.375,208.287,1139.345,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44723,510
$CAP_FILE_SIZE,111017,0
$CFSIZE,260165632,254136320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280913,174936,2242.573,-15809.659,43,1.0,43,10.0