version: 66.04
glider: 512
mission: 4
dive: 76
start: 9 29 113 17 52 0
data:
$ID,512
$MISSION,4
$DIVE,76
$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,390
$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,-108042.1
$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,62
$R_STBD_OVSHOOT,45
$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
$GPS1,173200,2251.691,-15812.506,73,1.0,73,10.1
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.9
$GPS2,175106,2251.651,-15812.520,10,1.0,15,10.1
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.142,0.201
$KALMAN_X,33530.3,-172.6,-683.8,-53966.1,3742.0
$KALMAN_Y,-15753.2,562.2,3.8,29193.0,-3449.2
$MHEAD_RNG_PITCHd_Wd,314.7,47534,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.56,-146.0,0.0,0.0,0,127,0.00,0.00,-103.03,0.000,2,0.000,0.000,11,2595,2974
$GC,133,-0.56,-146.0,2.0,-1.4,12,162,9.23,1.55,-9.48,0.000,4,0.202,0.052,2500,3626,3385
$GC,377,-0.56,-146.0,72.5,-27.6,37,380,0.00,1.55,0.00,0.000,6,0.000,0.020,2503,2557,3385
$GC,648,-0.56,-146.0,133.3,-22.2,62,651,0.00,1.45,0.00,0.000,4,0.000,0.021,2511,1508,3386
$GC,744,-0.56,-146.0,151.8,-16.7,70,748,0.00,1.55,0.00,0.000,6,0.000,0.035,2505,2536,3386
$GC,1016,-0.56,-146.0,195.9,-15.3,95,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2536,3386
$GC,1291,-0.56,-146.0,240.4,-16.3,104,1295,0.00,1.65,0.00,0.000,4,0.000,0.043,2496,3636,3386
$GC,1401,-0.56,-146.0,257.9,-15.1,106,1405,0.00,1.58,0.00,0.000,6,0.000,0.019,2502,2525,3385
$GC,1678,-0.56,-146.0,296.2,-13.4,113,1682,0.00,1.38,0.00,0.000,4,0.000,0.021,2510,1514,3384
$GC,1752,-0.56,-146.0,305.4,-11.3,114,1755,0.00,1.58,0.00,0.000,6,0.000,0.036,2504,2562,3384
$GC,2019,-0.56,-146.0,338.0,-12.5,121,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2563,3382
$GC,2264,-0.56,-146.0,369.4,-12.8,127,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2562,3379
$GC,2506,-0.56,-146.0,400.3,-12.5,133,2510,0.00,1.48,0.00,0.000,4,0.000,0.021,2510,1517,3378
$GC,2536,-0.56,-146.0,404.5,-11.8,133,2539,0.00,1.55,0.00,0.000,6,0.000,0.039,2504,2543,3377
$GC,2801,-0.56,-146.0,434.1,-11.2,140,2803,0.00,0.00,-0.08,0.000,6,0.000,0.000,2504,2543,3397
$GC,3045,-0.56,-146.0,461.9,-11.5,146,3049,0.00,1.65,0.00,0.000,4,0.000,0.049,2496,3624,3396
$GC,3119,-0.56,-146.0,471.7,-12.5,147,3123,0.00,1.50,0.00,0.000,6,0.000,0.023,2502,2576,3395
$GC,3386,-0.56,-146.0,502.9,-11.8,154,3390,0.00,1.48,0.00,0.000,4,0.000,0.025,2509,1518,3393
$GC,3449,-0.56,-146.0,510.4,-11.2,155,3452,0.00,1.58,0.00,0.000,6,0.000,0.043,2504,2551,3393
$GC,3726,-0.56,-146.0,540.7,-11.2,162,3729,0.00,1.48,0.00,0.000,4,0.000,0.025,2508,1512,3390
$GC,3762,-0.56,-146.0,545.1,-10.7,162,3765,0.00,1.60,0.00,0.000,6,0.000,0.042,2502,2582,3390
$GC,4023,-0.56,-146.0,570.6,-9.7,169,4026,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3648,3387
$GC,4072,-0.56,-146.0,575.7,-10.3,170,4076,0.00,1.58,0.00,0.000,6,0.000,0.024,2500,2554,3387
$GC,4366,-0.56,-146.0,602.0,-8.8,177,4370,0.00,1.45,0.00,0.000,4,0.000,0.025,2508,1512,3384
$GC,4425,-0.56,-146.0,607.2,-8.0,178,4428,0.00,1.60,0.00,0.000,6,0.000,0.043,2502,2578,3384
$GC,4708,-0.56,-146.0,633.0,-9.4,185,4711,0.00,1.50,0.00,0.000,4,0.000,0.025,2507,1523,3381
$GC,4765,-0.56,-146.0,638.6,-9.3,186,4769,0.00,1.55,0.00,0.000,6,0.000,0.044,2502,2533,3380
$GC,5049,-0.56,-146.0,666.1,-10.0,193,5052,0.00,1.65,0.00,0.000,4,0.000,0.052,2494,3626,3378
$GC,5123,-0.56,-146.0,674.0,-9.8,194,5127,0.00,1.55,0.00,0.000,6,0.000,0.026,2500,2553,3378
$GC,5389,-0.56,-146.0,698.8,-9.3,201,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2545,3377
$GC,5632,-0.56,-146.0,720.9,-9.2,207,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2545,3374
$GC,5876,-0.56,-146.0,743.6,-9.2,213,5880,0.00,1.45,0.00,0.000,4,0.000,0.026,2507,1531,3372
$GC,5963,-0.56,-146.0,751.3,-8.2,214,5971,0.00,1.58,0.00,0.000,6,0.000,0.045,2502,2553,3372
$GC,6217,-0.56,-146.0,773.9,-9.1,221,6221,0.00,1.65,0.00,0.000,4,0.000,0.054,2494,3624,3370
$GC,6267,-0.56,-146.0,778.9,-10.0,222,6271,0.00,1.55,0.00,0.000,6,0.000,0.027,2500,2554,3370
$GC,6562,-0.56,-146.0,806.5,-9.4,229,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2545,3369
$GC,6807,-0.56,-146.0,830.2,-9.7,235,6811,0.00,1.45,0.00,0.000,4,0.000,0.027,2507,1533,3368
$GC,6865,-0.56,-146.0,836.1,-8.9,236,6869,0.00,1.55,0.00,0.000,6,0.000,0.046,2502,2539,3368
$GC,7147,-0.56,-146.0,862.0,-9.3,243,7151,0.00,1.67,0.00,0.000,4,0.000,0.055,2493,3639,3366
$GC,7183,-0.56,-146.0,865.8,-10.1,243,7186,0.00,1.58,0.00,0.000,6,0.000,0.027,2500,2552,3366
$GC,7444,-0.56,-146.0,889.5,-9.2,250,7447,0.00,1.45,0.00,0.000,4,0.000,0.028,2507,1534,3365
$GC,7512,-0.56,-146.0,895.8,-9.0,251,7516,0.00,1.55,0.00,0.000,6,0.000,0.046,2502,2536,3365
$STATE,7577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7577,begin apogee
$GC,7588,-0.23,0.0,901.4,8.7,253,7715,0.38,0.00,123.93,1.264,6,0.113,0.000,2627,2208,2790
$STATE,7715,end apogee,CONTROL_FINISHED_OK
$STATE,7715,begin climb
$GC,7720,0.56,146.0,904.8,0.0,256,7867,0.70,1.65,135.00,1.201,4,0.060,0.028,2885,1172,2193
$GC,7929,0.56,146.0,874.8,20.4,260,7933,0.00,1.67,0.00,0.000,6,0.000,0.040,2879,2225,2187
$GC,8189,0.56,146.0,820.1,21.3,267,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2225,2183
$GC,8433,0.56,146.0,769.4,20.9,273,8436,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3282,2181
$GC,8491,0.56,146.0,756.0,22.0,274,8495,0.00,1.55,0.00,0.000,6,0.000,0.028,2881,2251,2180
$GC,8774,0.56,146.0,698.0,20.8,281,8778,0.00,1.60,0.00,0.000,4,0.000,0.030,2889,1161,2179
$GC,8824,0.56,146.0,687.8,19.1,282,8828,0.00,1.67,0.00,0.000,6,0.000,0.043,2889,2229,2179
$GC,9119,0.56,146.0,625.7,21.7,289,9122,0.00,1.62,0.00,0.000,4,0.000,0.050,2889,3296,2179
$GC,9193,0.56,146.0,608.0,23.0,290,9197,0.00,1.58,0.00,0.000,6,0.000,0.027,2897,2236,2178
$GC,9459,0.56,146.0,552.1,20.8,297,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2230,2177
$GC,9702,0.56,146.0,502.7,20.4,303,9706,0.00,1.55,0.00,0.000,4,0.000,0.030,2905,1167,2177
$GC,9753,0.56,146.0,493.3,18.2,304,9757,0.00,1.65,0.00,0.000,6,0.000,0.042,2904,2249,2177
$GC,10047,0.56,146.0,434.4,19.6,311,10051,0.00,1.60,0.00,0.000,4,0.000,0.050,2905,3289,2176
$GC,10121,0.56,146.0,418.5,20.6,312,10125,0.08,1.55,0.00,0.000,6,0.159,0.028,2878,2242,2176
$GC,10388,0.56,146.0,374.1,16.5,319,10391,0.00,1.58,0.00,0.000,4,0.000,0.029,2885,1144,2175
$GC,10456,0.56,146.0,362.2,15.8,320,10460,0.00,1.70,0.00,0.000,6,0.000,0.042,2879,2246,2176
$GC,10728,0.56,146.0,320.1,15.7,327,10731,0.00,1.60,0.00,0.000,4,0.000,0.049,2876,3288,2175
$GC,10757,0.56,146.0,314.6,18.0,327,10761,0.00,1.52,0.00,0.000,6,0.000,0.026,2882,2253,2175
$GC,11024,0.56,146.0,273.6,15.3,334,11028,0.00,1.62,0.00,0.000,4,0.000,0.047,2878,3312,2175
$GC,11118,0.56,146.0,258.9,15.4,336,11122,0.00,1.52,0.00,0.000,6,0.000,0.026,2883,2276,2175
$GC,11413,0.56,146.0,217.0,14.1,343,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2270,2175
$GC,11662,0.56,146.0,181.8,13.3,358,11666,0.00,1.60,0.00,0.000,4,0.000,0.028,2891,1162,2175
$GC,11724,0.56,146.0,172.5,13.3,363,11734,0.00,1.77,0.00,0.000,6,0.000,0.040,2891,2319,2175
$GC,11989,0.56,146.0,137.0,12.2,388,11998,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2320,2175
$GC,12256,0.56,146.0,107.4,10.6,413,12263,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2320,2175
$GC,12523,0.56,146.0,78.7,9.8,438,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2319,2175
$GC,12791,0.59,223.4,56.0,5.5,463,12860,0.00,1.50,60.15,0.620,4,0.000,0.041,2892,3290,1879
$GC,12914,0.59,223.4,45.8,11.3,472,12917,0.00,1.45,0.00,0.000,6,0.000,0.022,2896,2302,1877
$GC,13204,0.59,223.4,12.1,11.3,508,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2297,1875
$STATE,13275,end climb,SURFACE_DEPTH_REACHED
$STATE,13275,begin surface coast
$FINISH,0.3,1.023203
$STATE,13301,end surface coast,CONTROL_FINISHED_OK
$STATE,13301,begin surface
$SM_CCo,13326,67.38,0.551,0,0,1198,390.02
$SM_GC,1.07,0.00,0.00,67.38,0.000,0.000,0.551,34,2594,1198,-8.31,0.68,390.02
$IRIDIUM_FIX,2241.69,-15814.09,241202,171723
$TT8_MAMPS,0.023777
$HUMID,2224
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.00
$XPDR_PINGS,5
$24V_AH,24.1,12.143
$10V_AH,10.7,12.261
$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,17.575,88.625,319.075,67.375,0.000,78.336,110.928,648.686,1.250,0.000,0.000,15.821,1106.745,8899.726,439.508,2730.394,1361.388,33.363,1314.740,0.000,2727.676,0.000,0.545,0.000
$DEVICE_MAMPS,201.721,55.224,1264.016,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,356.518,1723.010,1779.017,742.229,1180.935,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44692,523
$CAP_FILE_SIZE,112447,0
$CFSIZE,260165632,253734912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290913,213636,2253.240,-15813.477,33,1.1,33,10.1