version: 66.04
glider: 512
mission: 4
dive: 73
start: 9 29 113 5 32 45
data:
$ID,512
$MISSION,4
$DIVE,73
$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,-107996.81
$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,69
$R_STBD_OVSHOOT,28
$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
$GPS1,050935,2247.140,-15810.024,31,1.8,31,10.0
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-77.7
$GPS2,053148,2247.146,-15809.977,14,1.1,19,10.0
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.144,0.199
$KALMAN_X,30662.4,-89.2,-541.6,-46970.7,2302.4
$KALMAN_Y,-12139.1,708.5,153.3,16935.4,-5252.9
$MHEAD_RNG_PITCHd_Wd,314.1,51253,-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,17,-0.64,-146.0,0.0,0.0,0,118,0.00,0.00,-98.80,0.000,2,0.000,0.000,11,2563,2882
$GC,124,-0.64,-146.0,2.1,-1.6,12,152,9.15,1.60,-12.10,0.000,4,0.203,0.054,2474,3649,3386
$GC,400,-0.64,-146.0,79.3,-22.8,41,404,0.00,1.55,0.00,0.000,6,0.000,0.018,2473,2573,3386
$GC,672,-0.64,-146.0,145.2,-23.9,66,675,0.00,1.60,0.00,0.000,4,0.000,0.036,2466,3646,3387
$GC,724,-0.64,-146.0,156.4,-22.6,70,727,0.00,1.52,0.00,0.000,6,0.000,0.018,2466,2572,3387
$GC,1002,-0.64,-146.0,216.5,-20.3,90,1006,0.00,1.45,0.00,0.000,4,0.000,0.020,2466,1508,3387
$GC,1143,-0.64,-146.0,242.3,-16.4,93,1148,0.12,1.62,0.00,0.000,6,0.164,0.035,2489,2608,3387
$GC,1438,-0.64,-146.0,288.4,-15.4,100,1442,0.00,1.52,0.00,0.000,4,0.000,0.044,2483,3628,3385
$GC,1541,-0.64,-146.0,304.6,-15.0,102,1545,0.00,1.45,0.00,0.000,6,0.000,0.019,2483,2595,3385
$GC,1825,-0.64,-146.0,346.6,-14.9,109,1828,0.00,1.48,0.00,0.000,4,0.000,0.021,2483,1519,3383
$GC,1905,-0.64,-146.0,358.8,-14.6,110,1908,0.00,1.62,0.00,0.000,6,0.000,0.039,2480,2612,3382
$GC,2165,-0.64,-146.0,395.5,-14.2,117,2168,0.00,1.52,0.00,0.000,4,0.000,0.045,2472,3630,3379
$GC,2206,-0.64,-146.0,402.0,-14.6,117,2215,0.00,1.42,0.00,0.000,6,0.000,0.020,2472,2612,3379
$GC,2463,-0.64,-146.0,438.0,-14.3,124,2466,0.00,1.50,0.00,0.000,4,0.000,0.022,2472,1527,3377
$GC,2537,-0.64,-146.0,448.9,-12.9,125,2541,0.00,1.60,-0.08,0.000,6,0.000,0.040,2467,2604,3400
$GC,2802,-0.64,-146.0,485.6,-14.2,132,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2604,3398
$GC,3046,-0.64,-146.0,521.7,-15.0,138,3049,0.00,1.52,0.00,0.000,4,0.000,0.022,2467,1527,3396
$GC,3087,-0.64,-146.0,528.2,-14.1,138,3096,0.00,1.62,0.00,0.000,6,0.000,0.043,2466,2588,3395
$GC,3343,-0.64,-146.0,564.9,-14.6,145,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2588,3392
$GC,3587,-0.64,-146.0,600.4,-14.5,151,3590,0.00,1.60,0.00,0.000,4,0.000,0.050,2459,3658,3390
$GC,3667,-0.64,-146.0,612.7,-13.6,152,3671,0.05,1.52,0.00,0.000,6,0.143,0.023,2487,2584,3388
$GC,3926,-0.64,-146.0,640.6,-10.4,159,3930,0.00,1.48,0.00,0.000,4,0.000,0.025,2491,1527,3386
$GC,3990,-0.64,-146.0,647.3,-9.4,160,3994,0.00,1.60,0.00,0.000,6,0.000,0.044,2485,2594,3386
$GC,4267,-0.64,-146.0,674.0,-9.9,167,4271,0.00,1.52,0.00,0.000,4,0.000,0.025,2485,1526,3383
$GC,4317,-0.64,-146.0,679.2,-9.5,168,4321,0.00,1.60,0.00,0.000,6,0.000,0.045,2481,2565,3383
$GC,4612,-0.64,-146.0,712.7,-11.6,175,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2566,3380
$GC,4857,-0.64,-146.0,741.4,-11.7,181,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2566,3378
$GC,5101,-0.64,-146.0,769.7,-11.6,187,5104,0.00,1.62,0.00,0.000,4,0.000,0.054,2472,3640,3376
$GC,5143,-0.64,-146.0,775.0,-11.8,187,5151,0.00,1.52,0.00,0.000,6,0.000,0.026,2472,2575,3376
$GC,5398,-0.64,-146.0,804.4,-11.6,194,5401,0.00,1.48,0.00,0.000,4,0.000,0.026,2472,1528,3374
$GC,5433,-0.64,-146.0,809.0,-12.0,194,5436,0.00,1.60,0.00,0.000,6,0.000,0.046,2467,2586,3374
$GC,5693,-0.64,-146.0,839.3,-12.0,201,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2586,3372
$GC,5937,-0.64,-146.0,867.9,-11.6,207,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2586,3371
$GC,6180,-0.64,-146.0,895.4,-11.1,213,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2586,3370
$STATE,6257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6257,begin apogee
$GC,6268,-0.27,0.0,904.3,11.0,215,6396,0.45,0.00,125.53,1.255,6,0.127,0.000,2610,2225,2790
$STATE,6397,end apogee,CONTROL_FINISHED_OK
$STATE,6397,begin climb
$GC,6402,0.64,146.0,908.3,0.0,218,6551,0.85,1.65,136.45,1.187,4,0.075,0.029,2908,1180,2193
$GC,6585,0.64,146.0,879.2,23.3,222,6589,0.00,1.70,0.00,0.000,6,0.000,0.040,2906,2225,2189
$GC,6874,0.64,146.0,808.1,25.2,229,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2226,2183
$GC,7119,0.64,146.0,748.9,24.1,235,7122,0.00,1.62,0.00,0.000,4,0.000,0.048,2905,3289,2181
$GC,7168,0.64,146.0,736.0,26.2,236,7172,0.00,1.58,0.00,0.000,6,0.000,0.027,2912,2239,2180
$GC,7462,0.64,146.0,667.2,23.1,243,7466,0.00,1.58,0.00,0.000,4,0.000,0.030,2920,1157,2179
$GC,7521,0.64,146.0,653.6,21.1,244,7525,0.00,1.65,0.00,0.000,6,0.000,0.041,2918,2243,2179
$GC,7803,0.64,146.0,590.3,22.5,251,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2243,2178
$GC,8047,0.64,146.0,535.7,22.7,257,8050,0.00,1.60,0.00,0.000,4,0.000,0.048,2918,3282,2177
$GC,8088,0.64,146.0,525.3,23.2,257,8096,0.00,1.58,0.00,0.000,6,0.000,0.027,2924,2217,2177
$GC,8342,0.64,146.0,468.8,22.2,264,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2212,2176
$GC,8586,0.64,146.0,418.7,20.1,270,8589,0.00,1.52,0.00,0.000,4,0.000,0.029,2932,1164,2176
$GC,8627,0.64,146.0,410.4,18.6,270,8636,0.00,1.62,0.00,0.000,6,0.000,0.041,2932,2217,2175
$GC,8884,0.64,146.0,359.7,20.2,277,8887,0.00,1.62,0.00,0.000,4,0.000,0.048,2931,3302,2175
$GC,8926,0.64,146.0,350.3,20.4,277,8933,0.08,1.58,0.00,0.000,6,0.173,0.027,2914,2234,2175
$GC,9181,0.64,146.0,303.0,18.1,284,9184,0.00,1.55,0.00,0.000,4,0.000,0.029,2921,1156,2174
$GC,9231,0.64,146.0,294.5,17.1,285,9234,0.00,1.62,0.00,0.000,6,0.000,0.039,2918,2236,2174
$GC,9525,0.64,146.0,245.0,17.2,292,9529,0.00,1.60,0.00,0.000,4,0.000,0.046,2918,3283,2174
$GC,9721,0.64,146.0,206.1,20.2,296,9725,0.00,1.48,0.00,0.000,6,0.000,0.024,2924,2267,2174
$GC,9995,0.64,146.0,161.0,15.6,319,9998,0.00,1.58,0.00,0.000,4,0.000,0.028,2929,1171,2174
$GC,10045,0.64,146.0,152.9,16.5,323,10049,0.00,1.65,0.00,0.000,6,0.000,0.038,2929,2279,2174
$GC,10316,0.64,146.0,113.8,13.5,348,10320,0.00,1.50,0.00,0.000,4,0.000,0.042,2929,3279,2174
$GC,10368,0.64,146.0,107.3,12.8,352,10372,0.08,1.40,0.00,0.000,6,0.165,0.024,2912,2304,2173
$GC,10644,0.64,146.0,75.5,10.7,377,10648,0.00,1.50,0.00,0.000,4,0.000,0.041,2911,3279,2174
$GC,10842,0.64,146.0,51.4,9.7,393,10845,0.00,1.35,0.00,0.000,6,0.000,0.023,2919,2330,2174
$GC,11114,0.64,156.1,30.7,8.2,418,11127,0.00,1.65,6.40,0.517,4,0.000,0.023,2928,1166,2155
$GC,11165,0.65,178.9,26.9,7.7,424,11192,0.00,1.77,20.90,0.584,6,0.000,0.035,2928,2348,2059
$STATE,11369,end climb,SURFACE_DEPTH_REACHED
$STATE,11369,begin surface coast
$FINISH,0.3,1.012593
$STATE,11395,end surface coast,CONTROL_FINISHED_OK
$STATE,11395,begin surface
$SM_CCo,11421,79.55,0.555,0,0,1239,380.21
$SM_GC,1.38,0.00,0.00,79.55,0.000,0.000,0.555,35,2595,1239,-8.31,0.71,380.21
$IRIDIUM_FIX,2241.69,-15811.92,241202,050539
$TT8_MAMPS,0.023777
$HUMID,2217
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.20
$XPDR_PINGS,4
$24V_AH,24.2,11.563
$10V_AH,10.7,11.688
$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,18.075,78.950,289.275,79.550,0.000,83.003,129.929,804.742,1.000,0.000,0.000,23.678,995.022,7521.703,426.460,2388.419,1507.372,33.361,1187.668,0.000,2382.710,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,54.457,1254.812,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,313.054,1511.873,1555.863,203.589,1075.483,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38301,460
$CAP_FILE_SIZE,103951,0
$CFSIZE,260165632,253927424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290913,084605,2248.225,-15810.854,51,1.6,51,10.0