version: 66.04
glider: 512
mission: 4
dive: 70
start: 9 28 113 18 4 41
data:
$ID,512
$MISSION,4
$DIVE,70
$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,-107942.06
$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,64
$R_STBD_OVSHOOT,34
$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
$GPS1,174936,2242.573,-15809.659,43,1.0,43,10.0
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-78.6
$GPS2,180343,2242.617,-15809.702,14,1.0,14,10.0
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.050,0.241
$KALMAN_X,28579.6,-422.0,-58.0,-44579.6,1861.3
$KALMAN_Y,-8410.4,151.0,4.6,5530.0,-3612.3
$MHEAD_RNG_PITCHd_Wd,338.3,58143,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-66.20,0.000,2,0.000,0.000,10,2583,2800
$GC,92,-0.60,-146.0,2.2,-1.5,8,121,9.32,1.62,-14.32,0.000,4,0.206,0.053,2490,3644,3388
$GC,394,-0.60,-146.0,89.6,-29.7,39,398,0.00,1.55,0.00,0.000,6,0.000,0.019,2492,2565,3389
$GC,665,-0.60,-146.0,145.7,-19.1,64,669,0.00,1.45,0.00,0.000,4,0.000,0.019,2495,1511,3390
$GC,726,-0.60,-146.0,156.7,-16.6,69,730,0.00,1.60,0.00,0.000,6,0.000,0.037,2489,2566,3390
$GC,1006,-0.60,-146.0,208.0,-17.1,92,1010,0.00,1.60,0.00,0.000,4,0.000,0.044,2481,3630,3390
$GC,1080,-0.60,-146.0,220.8,-15.1,93,1084,0.00,1.50,0.00,0.000,6,0.000,0.019,2481,2564,3390
$GC,1347,-0.60,-146.0,262.5,-16.0,100,1351,0.00,1.62,0.00,0.000,4,0.000,0.043,2472,3645,3390
$GC,1371,-0.60,-146.0,267.3,-17.1,100,1376,0.08,1.52,0.00,0.000,6,0.151,0.019,2497,2556,3390
$GC,1642,-0.60,-146.0,305.9,-13.9,107,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2549,3390
$GC,1886,-0.60,-146.0,338.3,-13.0,113,1889,0.00,1.65,0.00,0.000,4,0.000,0.044,2491,3630,3388
$GC,1921,-0.60,-146.0,343.0,-12.6,113,1924,0.00,1.48,0.00,0.000,6,0.000,0.020,2497,2582,3388
$GC,2181,-0.60,-146.0,373.3,-11.9,120,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2575,3386
$GC,2425,-0.60,-146.0,403.2,-12.3,126,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2575,3384
$GC,2668,-0.60,-146.0,433.8,-12.4,132,2672,0.00,1.45,0.00,0.000,4,0.000,0.022,2504,1528,3382
$GC,2777,-0.60,-146.0,446.9,-11.3,134,2780,0.00,1.60,0.00,0.000,6,0.000,0.041,2498,2601,3380
$GC,3054,-0.60,-146.0,480.3,-12.2,141,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2600,3379
$GC,3297,-0.60,-146.0,508.1,-11.3,147,3301,0.00,1.55,0.00,0.000,4,0.000,0.049,2490,3624,3377
$GC,3328,-0.60,-146.0,511.9,-11.4,147,3332,0.00,1.52,0.00,0.000,6,0.000,0.023,2496,2557,3376
$GC,3595,-0.60,-146.0,540.1,-10.6,154,3599,0.00,1.42,0.00,0.000,4,0.000,0.024,2504,1523,3373
$GC,3630,-0.60,-146.0,544.4,-10.2,154,3634,0.00,1.58,0.00,0.000,6,0.000,0.044,2498,2552,3373
$GC,3890,-0.60,-146.0,572.4,-11.1,161,3894,0.00,1.65,0.00,0.000,4,0.000,0.051,2490,3630,3372
$GC,3948,-0.60,-146.0,579.3,-11.5,162,3952,0.00,1.55,0.00,0.000,6,0.000,0.025,2496,2551,3370
$GC,4232,-0.60,-146.0,608.2,-10.2,169,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2543,3369
$GC,4476,-0.60,-146.0,631.9,-9.8,175,4480,0.00,1.45,0.00,0.000,4,0.000,0.025,2503,1510,3367
$GC,4562,-0.60,-146.0,640.9,-9.4,176,4570,0.00,1.62,0.00,0.000,6,0.000,0.044,2497,2567,3366
$GC,4816,-0.60,-146.0,667.4,-10.7,183,4820,0.00,1.60,0.00,0.000,4,0.000,0.054,2489,3628,3364
$GC,4880,-0.60,-146.0,675.3,-11.8,184,4884,0.00,1.52,0.00,0.000,6,0.000,0.026,2495,2573,3363
$GC,5157,-0.60,-146.0,706.0,-11.1,191,5161,0.00,1.65,0.00,0.000,4,0.000,0.053,2489,3625,3362
$GC,5192,-0.60,-146.0,710.4,-11.5,191,5196,0.00,1.52,0.00,0.000,6,0.000,0.027,2495,2573,3361
$GC,5453,-0.60,-146.0,737.1,-10.3,198,5456,0.00,1.48,0.00,0.000,4,0.000,0.028,2502,1518,3359
$GC,5534,-0.60,-146.0,745.3,-9.0,199,5537,0.00,1.60,0.00,0.000,6,0.000,0.046,2497,2576,3359
$GC,5794,-0.60,-146.0,769.9,-9.6,206,5797,0.00,1.62,0.00,0.000,4,0.000,0.054,2488,3626,3358
$GC,5829,-0.60,-146.0,773.8,-10.8,206,5833,0.00,1.52,0.00,0.000,6,0.000,0.028,2494,2573,3358
$GC,6089,-0.60,-146.0,798.0,-9.5,213,6093,0.00,1.50,0.00,0.000,4,0.000,0.028,2502,1506,3356
$GC,6154,-0.60,-146.0,804.4,-8.8,214,6157,0.00,1.60,0.00,0.000,6,0.000,0.047,2496,2562,3355
$GC,6430,-0.60,-146.0,829.9,-9.4,221,6434,0.00,1.65,0.00,0.000,4,0.000,0.056,2487,3625,3353
$GC,6510,-0.60,-146.0,838.4,-10.4,222,6514,0.00,1.55,0.00,0.000,6,0.000,0.028,2494,2560,3353
$GC,6771,-0.60,-146.0,863.2,-9.8,229,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2551,3353
$GC,7016,-0.60,-146.0,886.9,-9.7,235,7020,0.00,1.48,0.00,0.000,4,0.000,0.028,2501,1523,3351
$GC,7051,-0.60,-146.0,890.7,-9.3,235,7055,0.00,1.62,0.00,0.000,6,0.000,0.048,2495,2569,3351
$STATE,7184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7185,begin apogee
$GC,7196,-0.25,0.0,903.6,9.6,239,7321,0.38,0.00,122.12,1.259,6,0.113,0.000,2620,2215,2790
$STATE,7322,end apogee,CONTROL_FINISHED_OK
$STATE,7322,begin climb
$GC,7327,0.60,146.0,907.7,0.0,242,7473,0.75,0.00,136.85,1.194,6,0.067,0.000,2884,2215,2194
$GC,7707,0.60,146.0,842.3,21.6,251,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2215,2185
$GC,7946,0.60,146.0,790.3,21.1,257,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2215,2183
$GC,8190,0.60,146.0,739.4,20.4,263,8194,0.00,1.70,0.00,0.000,4,0.000,0.049,2878,3282,2182
$GC,8214,0.60,146.0,734.1,20.0,263,8218,0.00,1.58,0.00,0.000,6,0.000,0.028,2884,2237,2181
$GC,8485,0.60,146.0,678.7,20.7,270,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2230,2180
$GC,8729,0.60,146.0,629.6,20.1,276,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2230,2180
$GC,8973,0.60,146.0,582.2,19.2,282,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2230,2179
$GC,9216,0.60,146.0,537.5,18.3,288,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2230,2178
$GC,9460,0.60,146.0,493.1,17.8,294,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2230,2178
$GC,9704,0.60,146.0,449.3,18.1,300,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2230,2177
$GC,9948,0.60,146.0,406.2,17.8,306,9951,0.00,1.58,0.00,0.000,4,0.000,0.030,2892,1141,2177
$GC,10006,0.60,146.0,395.7,16.2,307,10010,0.00,1.70,0.00,0.000,6,0.000,0.044,2891,2257,2177
$GC,10288,0.60,146.0,346.2,17.5,314,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2256,2176
$GC,10532,0.60,146.0,306.6,16.0,320,10533,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2256,2177
$GC,10776,0.60,146.0,269.9,14.9,326,10780,0.00,1.58,0.00,0.000,4,0.000,0.048,2891,3282,2176
$GC,10872,0.60,146.0,255.4,15.3,328,10876,0.00,1.55,0.00,0.000,6,0.000,0.026,2898,2235,2176
$GC,11165,0.60,146.0,212.9,14.1,335,11169,0.00,1.62,0.00,0.000,4,0.000,0.046,2898,3280,2175
$GC,11178,0.60,146.0,210.5,15.1,335,11182,0.00,1.52,0.00,0.000,6,0.000,0.026,2912,2242,2176
$GC,11450,0.60,146.0,171.3,14.5,355,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2236,2176
$GC,11716,0.60,146.0,132.3,14.8,380,11720,0.00,1.55,0.00,0.000,4,0.000,0.027,2921,1146,2176
$GC,11767,0.60,146.0,125.3,14.3,384,11771,0.00,1.70,0.00,0.000,6,0.000,0.039,2918,2260,2176
$GC,12039,0.60,146.0,86.4,14.2,409,12043,0.00,1.60,0.00,0.000,4,0.000,0.025,2925,1164,2176
$GC,12069,0.60,146.0,82.0,12.1,411,12076,0.10,1.70,0.00,0.000,6,0.121,0.038,2890,2286,2176
$GC,12342,0.64,239.8,63.9,4.8,436,12426,0.00,1.55,73.28,0.631,4,0.000,0.041,2889,3277,1811
$GC,12467,0.64,239.8,54.4,9.9,445,12471,0.00,1.45,0.00,0.000,6,0.000,0.022,2894,2296,1809
$GC,12745,0.64,239.8,24.6,11.5,473,12754,0.00,1.65,0.00,0.000,4,0.000,0.026,2899,1157,1806
$GC,12803,0.64,239.8,18.0,9.4,481,12812,0.00,1.75,0.00,0.000,6,0.000,0.035,2899,2300,1805
$STATE,12930,end climb,SURFACE_DEPTH_REACHED
$STATE,12930,begin surface coast
$FINISH,0.3,1.023188
$STATE,12961,end surface coast,CONTROL_FINISHED_OK
$STATE,12961,begin surface
$SM_CCo,12986,55.72,0.551,0,0,1239,380.21
$SM_GC,1.41,0.00,0.00,55.72,0.000,0.000,0.551,22,2594,1239,-8.35,0.68,380.21
$IRIDIUM_FIX,2230.01,-15809.31,231202,141458
$TT8_MAMPS,0.023777
$HUMID,2220
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,3
$24V_AH,24.1,11.072
$10V_AH,10.7,11.198
$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,17.850,79.600,332.250,55.725,0.000,62.061,75.832,464.632,0.750,0.000,0.000,15.050,1049.078,8813.182,416.608,2488.033,1125.708,33.367,1184.034,0.000,2504.006,0.000,0.545,0.000
$DEVICE_MAMPS,206.323,55.991,1258.647,550.706,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,344.596,1662.058,1713.616,219.584,1140.037,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44674,505
$CAP_FILE_SIZE,100825,0
$CFSIZE,260165632,254091264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280913,214336,2244.571,-15809.612,45,1.6,45,10.0