version: 66.04
glider: 512
mission: 4
dive: 72
start: 9 29 113 1 57 29
data:
$ID,512
$MISSION,4
$DIVE,72
$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,-107972.5
$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,26
$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,36
$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
$GPS1,013436,2245.655,-15810.948,42,1.3,42,10.0
$_CALLS,5
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-80.0
$GPS2,015631,2245.859,-15810.999,13,1.8,13,10.0
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.120,0.215
$KALMAN_X,31007.9,-0.7,128.3,-49835.5,2640.2
$KALMAN_Y,-11090.0,1136.8,460.0,12760.4,-5492.8
$MHEAD_RNG_PITCHd_Wd,19.2,54205,-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,-0.64,-146.0,0.0,0.0,0,86,0.00,0.00,-65.95,0.000,2,0.000,0.000,10,2593,2785
$GC,91,-0.64,-146.0,2.0,-1.6,8,127,9.25,1.60,-15.35,0.000,4,0.210,0.058,2474,3638,3388
$GC,198,-0.64,-146.0,32.7,-37.9,23,202,0.00,1.55,0.00,0.000,6,0.000,0.019,2476,2569,3388
$GC,470,-0.64,-146.0,112.0,-21.2,48,473,0.00,1.48,0.00,0.000,4,0.000,0.020,2478,1502,3389
$GC,523,-0.64,-146.0,123.7,-19.0,52,531,0.00,1.60,0.00,0.000,6,0.000,0.035,2472,2561,3389
$GC,788,-0.64,-146.0,181.5,-21.8,77,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2561,3389
$GC,1046,-0.64,-146.0,233.1,-19.0,90,1050,0.00,1.60,0.00,0.000,4,0.000,0.044,2464,3645,3389
$GC,1116,-0.64,-146.0,247.4,-19.6,91,1119,0.00,1.52,0.00,0.000,6,0.000,0.019,2464,2570,3389
$GC,1387,-0.64,-146.0,295.5,-17.5,98,1391,0.00,1.45,0.00,0.000,4,0.000,0.020,2464,1511,3389
$GC,1437,-0.64,-146.0,304.0,-16.5,99,1441,0.12,1.60,0.00,0.000,6,0.156,0.036,2489,2572,3389
$GC,1732,-0.64,-146.0,347.0,-14.2,106,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2573,3387
$GC,1976,-0.64,-146.0,379.6,-13.5,112,1980,0.00,1.60,0.00,0.000,4,0.000,0.046,2483,3655,3385
$GC,2011,-0.64,-146.0,385.1,-13.4,112,2015,0.00,1.55,0.00,0.000,6,0.000,0.020,2483,2568,3385
$GC,2272,-0.64,-146.0,422.0,-14.7,119,2276,0.00,1.45,0.00,0.000,4,0.000,0.022,2482,1518,3381
$GC,2335,-0.64,-146.0,431.4,-13.4,120,2338,0.00,1.60,0.00,0.000,6,0.000,0.042,2479,2587,3381
$GC,2613,-0.64,-146.0,468.7,-13.7,127,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2588,3378
$GC,2858,-0.64,-146.0,502.0,-13.4,133,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2589,3377
$GC,3101,-0.64,-146.0,533.5,-12.9,139,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2589,3374
$GC,3345,-0.64,-146.0,565.1,-13.0,145,3348,0.00,1.52,0.00,0.000,4,0.000,0.025,2480,1521,3372
$GC,3430,-0.64,-146.0,576.6,-12.3,146,3438,0.00,1.62,0.00,0.000,6,0.000,0.044,2472,2582,3370
$GC,3685,-0.64,-146.0,608.5,-12.7,153,3688,0.00,1.60,0.00,0.000,4,0.000,0.051,2464,3646,3368
$GC,3772,-0.64,-146.0,620.4,-13.0,154,3780,0.00,1.52,0.00,0.000,6,0.000,0.025,2464,2575,3367
$GC,4026,-0.64,-146.0,651.9,-12.5,161,4030,0.00,1.48,0.00,0.000,4,0.000,0.025,2464,1525,3365
$GC,4083,-0.64,-146.0,659.5,-12.0,162,4087,0.12,1.60,0.00,0.000,6,0.148,0.044,2489,2591,3365
$GC,4367,-0.64,-146.0,689.0,-10.5,169,4371,0.00,1.60,0.00,0.000,4,0.000,0.053,2483,3653,3362
$GC,4475,-0.64,-146.0,701.7,-11.6,171,4478,0.00,1.50,0.00,0.000,6,0.000,0.025,2483,2614,3361
$GC,4753,-0.64,-146.0,734.1,-12.1,178,4756,0.00,1.55,0.00,0.000,4,0.000,0.028,2483,1512,3358
$GC,4871,-0.64,-146.0,748.2,-10.9,180,4875,0.00,1.62,0.00,0.000,6,0.000,0.046,2481,2584,3358
$GC,5138,-0.64,-146.0,778.5,-11.6,187,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2584,3356
$GC,5383,-0.64,-146.0,805.0,-10.8,193,5386,0.00,1.60,0.00,0.000,4,0.000,0.054,2472,3640,3354
$GC,5446,-0.64,-146.0,812.8,-11.5,194,5449,0.00,1.55,0.00,0.000,6,0.000,0.026,2472,2570,3353
$GC,5723,-0.64,-146.0,842.9,-10.9,201,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2561,3352
$GC,5966,-0.64,-146.0,868.3,-10.3,207,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2561,3351
$GC,6210,-0.64,-146.0,893.7,-10.5,213,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2561,3350
$STATE,6286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6286,begin apogee
$GC,6298,-0.27,0.0,902.2,10.5,215,6423,0.43,0.00,121.68,1.251,6,0.131,0.000,2608,2204,2790
$STATE,6423,end apogee,CONTROL_FINISHED_OK
$STATE,6423,begin climb
$GC,6428,0.64,146.0,905.9,0.0,218,6574,0.85,0.00,137.12,1.189,6,0.077,0.000,2900,2204,2194
$GC,6798,0.64,146.0,832.6,24.5,227,6801,0.00,1.73,0.00,0.000,4,0.000,0.046,2900,3297,2185
$GC,6817,0.64,146.0,827.3,23.9,227,6820,0.00,1.60,0.00,0.000,6,0.000,0.026,2910,2227,2184
$GC,7094,0.64,146.0,758.7,25.0,234,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2221,2182
$GC,7337,0.64,146.0,701.6,23.1,240,7341,0.00,1.55,0.00,0.000,4,0.000,0.029,2918,1167,2181
$GC,7356,0.64,146.0,696.5,23.2,240,7360,0.00,1.67,0.00,0.000,6,0.000,0.042,2918,2239,2180
$GC,7634,0.64,146.0,634.3,22.8,247,7638,0.00,1.60,0.00,0.000,4,0.000,0.048,2918,3275,2180
$GC,7675,0.64,146.0,623.0,25.3,247,7683,0.00,1.55,0.00,0.000,6,0.000,0.027,2924,2232,2179
$GC,7929,0.64,146.0,562.9,24.3,254,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2226,2178
$GC,8173,0.64,146.0,507.7,22.8,260,8177,0.00,1.55,0.00,0.000,4,0.000,0.030,2932,1161,2178
$GC,8242,0.64,146.0,492.5,19.1,261,8246,0.00,1.62,0.00,0.000,6,0.000,0.042,2932,2231,2177
$GC,8515,0.64,146.0,434.6,21.8,268,8518,0.00,1.62,0.00,0.000,4,0.000,0.049,2931,3307,2177
$GC,8589,0.64,146.0,416.9,22.5,269,8593,0.12,1.58,0.00,0.000,6,0.178,0.027,2908,2241,2177
$GC,8854,0.64,146.0,363.8,20.4,276,8858,0.00,1.55,0.00,0.000,4,0.000,0.030,2915,1157,2176
$GC,8907,0.64,146.0,353.4,18.2,277,8911,0.00,1.65,0.00,0.000,6,0.000,0.040,2915,2249,2176
$GC,9195,0.64,146.0,299.0,18.7,284,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2249,2175
$GC,9439,0.64,146.0,254.0,18.5,290,9442,0.00,1.58,0.00,0.000,4,0.000,0.046,2915,3280,2175
$GC,9474,0.64,146.0,246.3,21.1,290,9478,0.00,1.52,0.00,0.000,6,0.000,0.027,2923,2242,2175
$GC,9734,0.64,146.0,202.6,17.2,297,9738,0.00,1.55,0.00,0.000,4,0.000,0.028,2928,1164,2175
$GC,9775,0.64,146.0,195.6,16.1,297,9785,0.00,1.67,0.00,0.000,6,0.000,0.041,2929,2256,2175
$GC,10042,0.64,146.0,155.1,15.9,322,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2256,2175
$GC,10309,0.64,146.0,111.2,16.4,347,10312,0.00,1.58,0.00,0.000,4,0.000,0.044,2928,3295,2175
$GC,10348,0.64,146.0,104.4,16.4,350,10352,0.08,1.55,0.00,0.000,6,0.164,0.024,2912,2227,2175
$GC,10624,0.64,146.0,67.9,12.7,375,10627,0.00,1.62,0.00,0.000,4,0.000,0.042,2913,3297,2175
$GC,10800,0.66,188.8,47.3,6.9,389,10843,0.00,1.48,33.12,0.624,6,0.000,0.022,2920,2258,2019
$GC,11116,0.66,188.8,15.6,11.0,426,11125,0.00,1.58,0.00,0.000,4,0.000,0.038,2918,3283,2015
$STATE,11212,end climb,SURFACE_DEPTH_REACHED
$STATE,11212,begin surface coast
$FINISH,0.4,1.023167
$STATE,11238,end surface coast,CONTROL_FINISHED_OK
$STATE,11239,begin surface
$SM_CCo,11264,182.02,0.556,0,0,398,586.50
$SM_GC,1.21,0.00,0.00,182.02,0.000,0.000,0.556,26,2567,398,-8.32,-0.20,586.50
$IRIDIUM_FIX,2234.68,-15810.61,241202,010138
$TT8_MAMPS,0.023777
$HUMID,2175
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.30
$XPDR_PINGS,7
$24V_AH,24.2,11.398
$10V_AH,10.7,11.526
$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,18.225,72.250,291.925,182.025,0.000,147.254,210.067,514.216,1.750,0.000,0.000,13.714,938.151,7713.854,548.954,2208.503,1356.919,33.362,1229.656,0.000,2226.574,0.000,0.544,0.000
$DEVICE_MAMPS,210.158,57.525,1250.977,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,303.166,1466.023,1514.516,191.373,1015.958,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38234,445
$CAP_FILE_SIZE,96028,0
$CFSIZE,260165632,253980672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290913,050935,2247.140,-15810.024,31,1.8,31,10.0