version: 66.04
glider: 512
mission: 4
dive: 77
start: 9 29 113 21 55 51
data:
$ID,512
$MISSION,4
$DIVE,77
$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,-108063.84
$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,54
$R_STBD_OVSHOOT,37
$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
$GPS1,213636,2253.240,-15813.477,33,1.1,33,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-78.8
$GPS2,215454,2253.255,-15813.602,11,1.4,16,10.1
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.063,0.238
$KALMAN_X,33552.6,-136.0,154.1,-56705.9,1525.4
$KALMAN_Y,-17408.7,844.9,330.0,33209.6,-4823.6
$MHEAD_RNG_PITCHd_Wd,335.0,46822,-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,-0.56,-146.0,0.0,0.0,0,94,0.00,0.00,-74.05,0.000,2,0.000,0.000,11,2589,2959
$GC,99,-0.56,-146.0,2.2,-1.9,9,126,9.18,1.58,-9.52,0.000,4,0.200,0.053,2502,3636,3386
$GC,272,-0.56,-146.0,50.9,-26.3,29,281,0.00,1.58,0.00,0.000,6,0.000,0.019,2507,2556,3386
$GC,537,-0.56,-146.0,113.9,-20.8,54,541,0.00,1.65,0.00,0.000,4,0.000,0.039,2501,3633,3387
$GC,578,-0.56,-146.0,124.0,-22.8,57,586,0.00,1.52,0.00,0.000,6,0.000,0.019,2507,2564,3388
$GC,845,-0.56,-146.0,171.0,-14.5,82,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2555,3388
$GC,1129,-0.56,-146.0,211.7,-14.1,103,1133,0.00,1.42,0.00,0.000,4,0.000,0.021,2515,1519,3388
$GC,1209,-0.56,-146.0,222.8,-12.7,104,1213,0.00,1.60,0.00,0.000,6,0.000,0.037,2508,2601,3388
$GC,1469,-0.56,-146.0,259.7,-14.4,111,1473,0.00,1.52,0.00,0.000,4,0.000,0.020,2508,1523,3387
$GC,1520,-0.56,-146.0,266.4,-12.9,112,1524,0.00,1.58,0.00,0.000,6,0.000,0.037,2502,2565,3387
$GC,1814,-0.56,-146.0,306.9,-13.5,119,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2565,3385
$GC,2057,-0.56,-146.0,339.5,-13.4,125,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2565,3383
$GC,2301,-0.56,-146.0,370.8,-12.7,131,2305,0.00,1.60,0.00,0.000,4,0.000,0.047,2494,3625,3381
$GC,2331,-0.56,-146.0,374.9,-12.2,131,2335,0.00,1.50,0.00,0.000,6,0.000,0.021,2500,2560,3381
$GC,2597,-0.56,-146.0,406.9,-12.2,138,2600,0.00,1.42,0.00,0.000,4,0.000,0.022,2507,1520,3378
$GC,2684,-0.56,-146.0,416.8,-10.6,139,2690,0.00,1.55,0.00,0.000,6,0.000,0.040,2502,2546,3378
$GC,2938,-0.56,-146.0,444.6,-11.0,146,2940,0.00,0.00,-0.08,0.000,6,0.000,0.000,2502,2545,3400
$GC,3182,-0.56,-146.0,470.5,-10.6,152,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2545,3398
$GC,3425,-0.56,-146.0,496.6,-10.8,158,3429,0.00,1.65,0.00,0.000,4,0.000,0.050,2494,3624,3397
$GC,3499,-0.56,-146.0,505.5,-11.2,159,3503,0.00,1.50,0.00,0.000,6,0.000,0.023,2499,2575,3396
$GC,3766,-0.56,-146.0,534.5,-11.0,166,3769,0.00,1.48,0.00,0.000,4,0.000,0.025,2507,1518,3393
$GC,3846,-0.56,-146.0,543.3,-9.6,167,3849,0.00,1.58,0.00,0.000,6,0.000,0.043,2501,2547,3393
$GC,4106,-0.56,-146.0,570.3,-10.5,174,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2547,3390
$GC,4349,-0.56,-146.0,594.3,-9.6,180,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2547,3389
$GC,4593,-0.56,-146.0,618.8,-10.2,186,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2549,3387
$GC,4837,-0.56,-146.0,641.4,-9.4,192,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2549,3385
$GC,5080,-0.56,-146.0,665.4,-10.0,198,5084,0.00,1.65,0.00,0.000,4,0.000,0.054,2493,3638,3383
$GC,5139,-0.56,-146.0,672.1,-10.7,199,5143,0.00,1.58,0.00,0.000,6,0.000,0.025,2493,2545,3383
$GC,5421,-0.56,-146.0,700.7,-10.2,206,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2538,3380
$GC,5665,-0.56,-146.0,725.7,-10.2,212,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2538,3379
$GC,5909,-0.56,-146.0,750.8,-10.4,218,5913,0.00,1.45,0.00,0.000,4,0.000,0.028,2493,1513,3378
$GC,5961,-0.56,-146.0,756.8,-10.1,219,5965,0.10,1.60,0.00,0.000,6,0.137,0.046,2513,2570,3378
$GC,6249,-0.56,-146.0,782.2,-8.9,226,6253,0.00,1.62,0.00,0.000,4,0.000,0.055,2506,3640,3376
$GC,6299,-0.56,-146.0,787.6,-9.7,227,6303,0.00,1.58,0.00,0.000,6,0.000,0.026,2505,2558,3376
$GC,6593,-0.56,-146.0,815.0,-9.2,234,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2551,3374
$GC,6837,-0.56,-146.0,835.8,-8.5,240,6841,0.00,1.48,0.00,0.000,4,0.000,0.027,2505,1510,3372
$GC,6873,-0.56,-146.0,839.1,-8.1,240,6877,0.00,1.60,0.00,0.000,6,0.000,0.046,2499,2566,3372
$GC,7134,-0.56,-146.0,860.7,-8.4,247,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2567,3372
$GC,7379,-0.56,-146.0,880.7,-8.2,253,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2567,3371
$STATE,7618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7618,begin apogee
$GC,7630,-0.23,0.0,900.9,8.3,259,7757,0.38,0.00,124.97,1.263,6,0.149,0.000,2624,2213,2790
$STATE,7758,end apogee,CONTROL_FINISHED_OK
$STATE,7758,begin climb
$GC,7763,0.56,146.0,904.0,0.0,262,7912,0.70,1.67,135.38,1.197,4,0.064,0.029,2881,1166,2193
$GC,7979,0.56,146.0,872.3,20.0,266,7988,0.00,1.73,0.00,0.000,6,0.000,0.044,2878,2223,2186
$GC,8234,0.56,146.0,818.5,21.7,273,8237,0.00,1.65,0.00,0.000,4,0.000,0.049,2877,3281,2183
$GC,8258,0.56,146.0,812.4,21.8,273,8262,0.00,1.60,0.00,0.000,6,0.000,0.027,2884,2226,2182
$GC,8530,0.56,146.0,754.7,21.2,280,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2219,2181
$GC,8775,0.56,146.0,703.8,21.0,286,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2219,2180
$GC,9019,0.56,146.0,653.6,20.6,292,9022,0.00,1.67,0.00,0.000,4,0.000,0.049,2878,3296,2179
$GC,9070,0.56,146.0,641.7,21.1,293,9074,0.00,1.60,0.00,0.000,6,0.000,0.027,2884,2203,2178
$GC,9359,0.56,146.0,584.4,19.8,300,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2196,2178
$GC,9602,0.56,146.0,535.6,20.0,306,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2195,2177
$GC,9846,0.56,146.0,488.4,19.3,312,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2196,2177
$GC,10090,0.56,146.0,442.3,18.7,318,10093,0.00,1.70,0.00,0.000,4,0.000,0.049,2878,3298,2177
$GC,10148,0.56,146.0,430.9,19.1,319,10152,0.00,1.60,0.00,0.000,6,0.000,0.027,2884,2197,2176
$GC,10431,0.56,146.0,381.9,17.5,326,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2191,2176
$GC,10674,0.56,146.0,339.5,17.2,332,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2191,2176
$GC,10918,0.56,146.0,301.8,15.3,338,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2191,2175
$GC,11162,0.56,146.0,263.8,15.2,344,11165,0.00,1.67,0.00,0.000,4,0.000,0.047,2878,3286,2176
$GC,11197,0.56,146.0,257.4,16.7,344,11201,0.00,1.60,0.00,0.000,6,0.000,0.026,2885,2178,2175
$GC,11457,0.56,146.0,219.2,14.5,351,11461,0.00,1.73,0.00,0.000,4,0.000,0.048,2885,3296,2175
$GC,11508,0.56,146.0,210.9,16.9,352,11512,0.00,1.52,0.00,0.000,6,0.000,0.025,2893,2252,2176
$GC,11780,0.56,146.0,169.9,15.0,371,11783,0.00,1.55,0.00,0.000,4,0.000,0.028,2900,1164,2175
$GC,11819,0.56,146.0,164.3,14.7,374,11822,0.00,1.67,0.00,0.000,6,0.000,0.041,2900,2276,2175
$GC,12092,0.56,146.0,127.5,14.2,399,12099,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2276,2175
$GC,12357,0.56,146.0,97.2,10.6,424,12361,0.00,1.52,0.00,0.000,4,0.000,0.044,2900,3283,2175
$GC,12409,0.56,146.0,91.1,11.1,428,12419,0.08,1.48,0.00,0.000,6,0.150,0.023,2885,2261,2175
$GC,12679,0.56,146.0,67.4,8.8,453,12683,0.00,1.55,0.00,0.000,4,0.000,0.025,2891,1165,2175
$GC,12709,0.56,146.0,64.4,8.8,455,12713,0.00,1.65,0.00,0.000,6,0.000,0.036,2891,2255,2176
$GC,12986,0.58,188.7,47.5,6.9,480,13027,0.00,1.55,33.17,0.604,4,0.000,0.041,2891,3276,2020
$GC,13058,0.58,188.7,41.2,8.9,485,13068,0.00,1.52,0.00,0.000,6,0.000,0.021,2897,2224,2019
$GC,13351,0.58,188.7,12.9,9.1,523,13361,0.00,1.62,0.00,0.000,4,0.000,0.042,2891,3273,2019
$GC,13416,0.58,188.7,6.3,10.9,532,13425,0.00,1.45,0.00,0.000,6,0.000,0.020,2897,2248,2018
$STATE,13444,end climb,SURFACE_DEPTH_REACHED
$STATE,13445,begin surface coast
$FINISH,0.3,1.016753
$STATE,13477,end surface coast,CONTROL_FINISHED_OK
$STATE,13477,begin surface
$SM_CCo,13502,176.43,0.542,0,0,399,586.50
$SM_GC,1.19,0.00,0.00,176.43,0.000,0.000,0.542,27,2580,399,-8.31,0.28,586.50
$IRIDIUM_FIX,2244.02,-15811.92,241202,222202
$TT8_MAMPS,0.023777
$HUMID,2115
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.90
$XPDR_PINGS,10
$24V_AH,24.1,12.297
$10V_AH,10.7,12.441
$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,17.650,73.625,293.525,176.425,0.000,131.622,337.119,204.557,2.500,0.000,0.000,21.102,1088.967,9364.712,528.061,2594.022,1203.620,33.360,1295.713,0.000,2613.523,0.000,0.544,0.000
$DEVICE_MAMPS,200.187,55.224,1263.249,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,369.098,1779.787,1835.209,407.534,1231.692,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47839,541
$CAP_FILE_SIZE,99095,0
$CFSIZE,260165632,253673472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300913,014523,2255.387,-15813.807,27,1.2,44,10.1