version: 66.04
glider: 512
mission: 4
dive: 75
start: 9 29 113 13 40 55
data:
$ID,512
$MISSION,4
$DIVE,75
$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,-108025.66
$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,30
$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,65
$R_STBD_OVSHOOT,31
$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
$GPS1,130835,2249.544,-15812.208,41,1.3,41,10.1
$_CALLS,5
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-79.0
$GPS2,134001,2249.768,-15812.171,10,1.5,10,10.1
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.047,0.242
$KALMAN_X,32704.4,-488.9,215.0,-53129.4,2067.9
$KALMAN_Y,-14253.1,-0.9,438.7,24327.2,-3841.2
$MHEAD_RNG_PITCHd_Wd,338.9,49694,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.56,-146.0,0.0,0.0,0,133,0.00,0.00,-109.47,0.000,2,0.000,0.000,11,2592,3153
$GC,139,-0.56,-146.0,2.6,-2.5,13,159,9.20,1.58,-4.75,0.000,4,0.200,0.053,2503,3656,3387
$GC,285,-0.56,-146.0,51.7,-25.6,29,288,0.00,1.58,0.00,0.000,6,0.000,0.020,2507,2571,3388
$GC,556,-0.56,-146.0,116.2,-20.8,54,560,0.00,1.48,0.00,0.000,4,0.000,0.021,2515,1502,3388
$GC,619,-0.56,-146.0,127.6,-15.6,59,622,0.00,1.58,0.00,0.000,6,0.000,0.036,2509,2547,3388
$GC,890,-0.56,-146.0,175.0,-18.0,84,893,0.00,1.62,0.00,0.000,4,0.000,0.043,2501,3631,3387
$GC,917,-0.56,-146.0,179.9,-17.3,86,921,0.00,1.58,0.00,0.000,6,0.000,0.018,2507,2521,3387
$GC,1213,-0.56,-146.0,224.9,-14.6,102,1217,0.00,1.38,0.00,0.000,4,0.000,0.020,2514,1506,3387
$GC,1277,-0.56,-146.0,234.5,-13.1,103,1281,0.00,1.55,0.00,0.000,6,0.000,0.036,2509,2539,3387
$GC,1554,-0.56,-146.0,274.0,-14.2,110,1558,0.00,1.65,0.00,0.000,4,0.000,0.045,2500,3634,3386
$GC,1708,-0.56,-146.0,296.4,-13.6,113,1711,0.00,1.50,0.00,0.000,6,0.000,0.019,2506,2557,3384
$GC,1985,-0.56,-146.0,332.2,-13.2,120,1989,0.00,1.40,0.00,0.000,4,0.000,0.021,2508,1533,3382
$GC,2088,-0.56,-146.0,345.7,-12.3,122,2091,0.00,1.55,0.00,0.000,6,0.000,0.038,2502,2561,3382
$GC,2370,-0.56,-146.0,381.2,-12.8,129,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2561,3378
$GC,2614,-0.56,-146.0,410.7,-11.9,135,2618,0.00,1.60,-0.08,0.000,4,0.000,0.065,2493,3634,3399
$GC,2672,-0.56,-146.0,418.2,-12.0,136,2675,0.00,1.50,0.00,0.000,6,0.000,0.021,2500,2572,3399
$GC,2955,-0.56,-146.0,450.4,-11.5,143,2958,0.00,1.45,0.00,0.000,4,0.000,0.022,2507,1525,3397
$GC,3023,-0.56,-146.0,458.6,-11.3,144,3027,0.00,1.58,0.00,0.000,6,0.000,0.041,2501,2563,3396
$GC,3296,-0.56,-146.0,489.7,-11.8,151,3299,0.00,1.48,0.00,0.000,4,0.000,0.023,2507,1520,3393
$GC,3337,-0.56,-146.0,494.9,-10.7,151,3343,0.00,1.55,0.00,0.000,6,0.000,0.041,2501,2539,3393
$GC,3592,-0.56,-146.0,523.5,-11.5,158,3595,0.00,1.62,0.00,0.000,4,0.000,0.050,2493,3627,3390
$GC,3672,-0.56,-146.0,533.4,-12.1,159,3675,0.00,1.52,0.00,0.000,6,0.000,0.024,2493,2557,3389
$GC,3933,-0.56,-146.0,563.7,-11.8,166,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2549,3387
$GC,4176,-0.56,-146.0,592.5,-11.9,172,4180,0.00,1.65,0.00,0.000,4,0.000,0.049,2485,3637,3385
$GC,4245,-0.56,-146.0,601.2,-12.2,173,4249,0.08,1.52,0.00,0.000,6,0.130,0.023,2512,2568,3384
$GC,4516,-0.56,-146.0,626.8,-9.3,180,4519,0.00,1.45,0.00,0.000,4,0.000,0.025,2520,1525,3382
$GC,4636,-0.56,-146.0,637.5,-8.1,182,4640,0.00,1.58,0.00,0.000,6,0.000,0.044,2515,2553,3380
$GC,4902,-0.56,-146.0,660.2,-8.6,189,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2554,3378
$GC,5146,-0.56,-146.0,680.7,-8.5,195,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2553,3377
$GC,5390,-0.56,-146.0,700.5,-8.0,201,5393,0.00,1.62,0.00,0.000,4,0.000,0.053,2510,3625,3374
$GC,5431,-0.56,-146.0,704.2,-8.6,201,5440,0.00,1.55,0.00,0.000,6,0.000,0.028,2510,2548,3374
$GC,5687,-0.56,-146.0,724.9,-8.2,208,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2548,3372
$GC,5930,-0.56,-146.0,745.8,-8.6,214,5934,0.00,1.45,0.00,0.000,4,0.000,0.027,2510,1523,3371
$GC,5981,-0.56,-146.0,750.2,-8.2,215,5984,0.00,1.58,0.00,0.000,6,0.000,0.046,2503,2540,3371
$GC,6275,-0.56,-146.0,777.0,-9.2,222,6278,0.00,1.67,0.00,0.000,4,0.000,0.054,2494,3644,3369
$GC,6315,-0.56,-146.0,781.4,-10.1,222,6325,0.00,1.58,0.00,0.000,6,0.000,0.028,2501,2551,3369
$GC,6571,-0.56,-146.0,805.2,-9.4,229,6575,0.00,1.45,0.00,0.000,4,0.000,0.027,2508,1525,3368
$GC,6623,-0.56,-146.0,810.5,-9.0,230,6627,0.00,1.58,0.00,0.000,6,0.000,0.047,2502,2544,3367
$GC,6912,-0.56,-146.0,836.9,-9.5,237,6915,0.00,1.65,0.00,0.000,4,0.000,0.055,2493,3628,3365
$GC,6947,-0.56,-146.0,840.9,-11.0,237,6951,0.00,1.58,0.00,0.000,6,0.000,0.028,2500,2546,3365
$GC,7208,-0.56,-146.0,864.9,-9.4,244,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2538,3364
$GC,7452,-0.56,-146.0,889.3,-9.7,250,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2534,3363
$STATE,7570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7570,begin apogee
$GC,7581,-0.23,0.0,901.2,9.7,253,7707,0.35,0.00,123.60,1.266,6,0.112,0.000,2620,2216,2790
$STATE,7708,end apogee,CONTROL_FINISHED_OK
$STATE,7708,begin climb
$GC,7713,0.56,146.0,905.7,0.0,256,7860,0.73,1.65,135.05,1.201,4,0.084,0.028,2882,1184,2194
$GC,7910,0.56,146.0,880.2,18.4,260,7914,0.00,1.67,0.00,0.000,6,0.000,0.041,2878,2232,2187
$GC,8182,0.56,146.0,825.6,20.7,267,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2233,2183
$GC,8425,0.56,146.0,774.8,20.7,273,8429,0.00,1.62,0.00,0.000,4,0.000,0.049,2877,3291,2181
$GC,8449,0.56,146.0,769.0,21.3,273,8453,0.00,1.60,0.00,0.000,6,0.000,0.027,2884,2205,2180
$GC,8722,0.56,146.0,712.2,21.2,280,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2199,2180
$GC,8965,0.56,146.0,661.2,20.7,286,8968,0.00,1.70,0.00,0.000,4,0.000,0.050,2885,3292,2179
$GC,9061,0.56,146.0,638.9,21.6,288,9065,0.00,1.60,0.00,0.000,6,0.000,0.028,2891,2218,2178
$GC,9350,0.56,146.0,580.3,20.6,295,9354,0.00,1.52,0.00,0.000,4,0.000,0.029,2899,1161,2178
$GC,9369,0.56,146.0,575.7,20.1,295,9373,0.00,1.65,0.00,0.000,6,0.000,0.043,2899,2224,2178
$GC,9645,0.56,146.0,519.7,20.1,302,9649,0.00,1.62,0.00,0.000,4,0.000,0.049,2899,3278,2177
$GC,9695,0.56,146.0,509.5,21.9,303,9700,0.12,1.58,0.00,0.000,6,0.177,0.028,2881,2221,2177
$GC,9990,0.56,146.0,458.9,17.1,310,9994,0.00,1.55,0.00,0.000,4,0.000,0.030,2886,1143,2177
$GC,10040,0.56,146.0,450.2,16.5,311,10044,0.00,1.65,0.00,0.000,6,0.000,0.044,2886,2222,2176
$GC,10334,0.56,146.0,397.4,18.0,318,10337,0.00,1.62,0.00,0.000,4,0.000,0.051,2886,3294,2176
$GC,10392,0.56,146.0,386.0,18.5,319,10396,0.00,1.60,0.00,0.000,6,0.000,0.027,2894,2189,2176
$GC,10675,0.56,146.0,337.7,17.2,326,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2182,2176
$GC,10918,0.56,146.0,298.1,16.4,332,10922,0.00,1.48,0.00,0.000,4,0.000,0.029,2901,1165,2176
$GC,10983,0.56,146.0,288.6,14.9,333,10987,0.00,1.62,0.00,0.000,6,0.000,0.042,2902,2240,2175
$GC,11261,0.56,146.0,246.5,15.5,340,11264,0.00,1.60,0.00,0.000,4,0.000,0.048,2902,3281,2175
$GC,11368,0.56,146.0,227.5,17.0,342,11373,0.08,1.52,0.00,0.000,6,0.157,0.025,2876,2242,2175
$GC,11628,0.56,146.0,190.8,14.1,353,11632,0.00,1.55,0.00,0.000,4,0.000,0.026,2882,1159,2175
$GC,11744,0.56,146.0,175.9,12.6,363,11748,0.00,1.62,0.00,0.000,6,0.000,0.040,2877,2243,2175
$GC,12015,0.56,146.0,142.5,12.3,388,12019,0.00,1.58,0.00,0.000,4,0.000,0.025,2883,1176,2174
$GC,12056,0.56,146.0,137.9,11.1,391,12060,0.00,1.62,0.00,0.000,6,0.000,0.038,2883,2249,2175
$GC,12327,0.56,146.0,110.4,10.2,416,12331,0.00,1.55,0.00,0.000,4,0.000,0.044,2877,3276,2175
$GC,12368,0.56,146.0,105.6,11.0,419,12376,0.00,1.48,0.00,0.000,6,0.000,0.024,2883,2253,2175
$GC,12635,0.56,146.0,77.6,9.9,444,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2247,2176
$GC,12902,0.58,199.9,57.2,6.4,469,12948,0.00,1.58,41.55,0.621,4,0.000,0.042,2884,3283,1976
$GC,13113,0.58,199.9,37.6,11.2,486,13117,0.00,1.38,0.00,0.000,6,0.000,0.021,2890,2333,1972
$GC,13421,0.58,199.9,10.8,8.8,526,13430,0.00,1.65,0.00,0.000,4,0.000,0.022,2898,1163,1972
$GC,13467,0.58,199.9,6.2,10.1,532,13476,0.00,1.77,0.00,0.000,6,0.000,0.038,2898,2320,1971
$STATE,13507,end climb,SURFACE_DEPTH_REACHED
$STATE,13508,begin surface coast
$FINISH,0.3,1.023318
$STATE,13546,end surface coast,CONTROL_FINISHED_OK
$STATE,13547,begin surface
$SM_CCo,13571,171.68,0.543,0,0,399,586.50
$SM_GC,1.18,0.00,0.00,171.68,0.000,0.000,0.543,26,2598,399,-8.31,0.76,586.50
$IRIDIUM_FIX,2239.35,-15809.75,241202,131332
$TT8_MAMPS,0.024544
$HUMID,2128
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.80
$XPDR_PINGS,13
$24V_AH,24.1,11.985
$10V_AH,10.7,12.078
$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,17.775,98.075,300.200,171.675,0.000,134.897,199.895,1100.504,3.250,0.000,0.000,10.825,1154.113,9074.223,532.429,2858.865,2008.492,33.364,1424.998,0.000,2861.538,0.000,0.545,0.000
$DEVICE_MAMPS,200.187,65.195,1265.550,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,371.037,1790.361,1860.755,962.257,1287.509,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47768,544
$CAP_FILE_SIZE,128791,0
$CFSIZE,260165632,253763584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290913,173200,2251.691,-15812.506,73,1.0,73,10.1