version: 66.04
glider: 512
mission: 4
dive: 78
start: 9 30 113 2 1 58
data:
$ID,512
$MISSION,4
$DIVE,78
$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,-108086.21
$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,79
$R_STBD_OVSHOOT,33
$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
$GPS1,014523,2255.387,-15813.807,27,1.2,44,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-79.5
$GPS2,020106,2255.588,-15813.867,16,1.0,21,10.1
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.065,0.237
$KALMAN_X,34673.1,-214.7,-86.8,-57970.7,1986.0
$KALMAN_Y,-17670.3,644.1,512.3,37801.0,-4523.1
$MHEAD_RNG_PITCHd_Wd,334.6,44439,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,120,0.00,0.00,-99.15,0.000,2,0.000,0.000,10,2575,2873
$GC,126,-0.56,-146.0,2.1,-1.6,12,153,9.27,1.58,-12.10,0.000,4,0.206,0.054,2502,3639,3385
$GC,352,-0.56,-146.0,62.6,-25.6,38,356,0.00,1.52,0.00,0.000,6,0.000,0.019,2505,2578,3386
$GC,625,-0.56,-146.0,126.5,-21.6,63,628,0.00,1.48,0.00,0.000,4,0.000,0.021,2513,1511,3386
$GC,686,-0.56,-146.0,138.4,-16.7,68,690,0.00,1.58,0.00,0.000,6,0.000,0.035,2508,2560,3387
$GC,958,-0.56,-146.0,185.1,-15.3,93,961,0.00,1.60,0.00,0.000,4,0.000,0.044,2500,3626,3387
$GC,1008,-0.56,-146.0,193.1,-15.6,97,1012,0.00,1.50,0.00,0.000,6,0.000,0.018,2505,2558,3387
$GC,1300,-0.56,-146.0,235.9,-14.3,107,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2550,3387
$GC,1543,-0.56,-146.0,269.6,-13.5,113,1547,0.00,1.40,0.00,0.000,4,0.000,0.020,2512,1526,3386
$GC,1652,-0.56,-146.0,283.1,-11.6,115,1656,0.00,1.58,0.00,0.000,6,0.000,0.036,2507,2574,3386
$GC,1929,-0.56,-146.0,316.0,-11.8,122,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2575,3384
$GC,2173,-0.56,-146.0,345.5,-12.1,128,2176,0.00,1.48,0.00,0.000,4,0.000,0.020,2513,1525,3382
$GC,2214,-0.56,-146.0,351.0,-11.5,128,2222,0.00,1.58,0.00,0.000,6,0.000,0.038,2507,2569,3382
$GC,2468,-0.56,-146.0,380.6,-11.9,135,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2569,3379
$GC,2712,-0.56,-146.0,409.7,-11.9,141,2715,0.00,1.48,0.00,0.000,4,0.000,0.023,2508,1530,3377
$GC,2776,-0.56,-146.0,417.6,-11.1,142,2779,0.00,1.55,0.00,0.000,6,0.000,0.041,2502,2551,3377
$GC,3053,-0.56,-146.0,449.5,-11.8,149,3057,0.00,1.65,-0.08,0.000,4,0.000,0.066,2494,3634,3398
$GC,3104,-0.56,-146.0,455.9,-11.7,150,3108,0.00,1.55,0.00,0.000,6,0.000,0.021,2500,2554,3397
$GC,3393,-0.56,-146.0,486.6,-10.6,157,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2546,3396
$GC,3638,-0.56,-146.0,512.3,-10.4,163,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2546,3394
$GC,3882,-0.56,-146.0,537.9,-10.8,169,3885,0.00,1.45,0.00,0.000,4,0.000,0.024,2508,1510,3392
$GC,3932,-0.56,-146.0,543.4,-9.9,170,3935,0.00,1.58,0.00,0.000,6,0.000,0.041,2502,2540,3391
$GC,4226,-0.56,-146.0,576.5,-11.5,177,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2540,3389
$GC,4469,-0.56,-146.0,605.0,-11.7,183,4473,0.00,1.48,0.00,0.000,4,0.000,0.025,2507,1506,3386
$GC,4505,-0.56,-146.0,609.4,-11.0,183,4508,0.00,1.58,0.00,0.000,6,0.000,0.043,2502,2534,3386
$GC,4766,-0.56,-146.0,637.3,-10.9,190,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2535,3384
$GC,5011,-0.56,-146.0,661.7,-9.8,196,5014,0.00,1.65,0.00,0.000,4,0.000,0.052,2494,3628,3382
$GC,5096,-0.56,-146.0,670.8,-10.0,197,5104,0.00,1.60,0.00,0.000,6,0.000,0.026,2500,2516,3381
$GC,5351,-0.56,-146.0,694.4,-9.4,204,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2516,3379
$GC,5594,-0.56,-146.0,717.0,-9.1,210,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2516,3378
$GC,5838,-0.56,-146.0,739.4,-9.3,216,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2516,3376
$GC,6082,-0.56,-146.0,762.3,-9.4,222,6085,0.00,1.42,0.00,0.000,4,0.000,0.027,2507,1506,3375
$GC,6168,-0.56,-146.0,770.5,-8.6,223,6175,0.00,1.58,0.00,0.000,6,0.000,0.044,2502,2529,3374
$GC,6422,-0.56,-146.0,792.9,-9.0,230,6426,0.00,1.70,0.00,0.000,4,0.000,0.053,2494,3631,3372
$GC,6497,-0.56,-146.0,800.3,-9.4,231,6500,0.00,1.60,0.00,0.000,6,0.000,0.026,2500,2512,3372
$GC,6763,-0.56,-146.0,823.7,-8.9,238,6767,0.00,1.40,0.00,0.000,4,0.000,0.026,2507,1511,3371
$GC,6821,-0.56,-146.0,829.1,-8.5,239,6825,0.00,1.58,0.00,0.000,6,0.000,0.044,2502,2533,3371
$GC,7103,-0.56,-146.0,854.1,-9.0,246,7107,0.00,1.67,0.00,0.000,4,0.000,0.054,2493,3635,3370
$GC,7167,-0.56,-146.0,860.8,-10.1,247,7171,0.00,1.60,0.00,0.000,6,0.000,0.026,2499,2514,3369
$GC,7444,-0.56,-146.0,885.4,-9.1,254,7448,0.00,1.77,0.00,0.000,4,0.000,0.054,2493,3635,3368
$GC,7496,-0.56,-146.0,890.5,-9.1,255,7500,0.00,1.60,0.00,0.000,6,0.000,0.026,2493,2516,3367
$STATE,7617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7617,begin apogee
$GC,7628,-0.23,0.0,901.6,9.1,258,7758,0.40,0.00,126.32,1.256,6,0.113,0.000,2625,2212,2789
$STATE,7758,end apogee,CONTROL_FINISHED_OK
$STATE,7758,begin climb
$GC,7763,0.56,146.0,904.7,0.0,261,7913,0.70,1.62,136.57,1.192,4,0.064,0.027,2883,1181,2193
$GC,7946,0.56,146.0,881.4,20.6,265,7950,0.00,1.67,0.00,0.000,6,0.000,0.041,2878,2225,2188
$GC,8240,0.56,146.0,818.7,21.6,272,8244,0.00,1.67,0.00,0.000,4,0.000,0.048,2877,3281,2183
$GC,8336,0.56,146.0,797.8,21.4,274,8340,0.00,1.58,0.00,0.000,6,0.000,0.028,2883,2242,2181
$GC,8629,0.56,146.0,736.0,20.7,281,8633,0.00,1.60,0.00,0.000,4,0.000,0.029,2890,1154,2180
$GC,8665,0.56,146.0,728.0,20.0,281,8668,0.00,1.65,0.00,0.000,6,0.000,0.041,2890,2229,2179
$GC,8925,0.56,146.0,673.2,21.4,288,8928,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3293,2179
$GC,8976,0.56,146.0,662.4,21.5,289,8979,0.00,1.58,0.00,0.000,6,0.000,0.028,2897,2241,2178
$GC,9270,0.56,146.0,596.5,22.3,296,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2236,2178
$GC,9513,0.56,146.0,545.6,20.5,302,9516,0.00,1.58,0.00,0.000,4,0.000,0.029,2906,1157,2177
$GC,9537,0.56,146.0,540.3,19.9,302,9541,0.00,1.65,0.00,0.000,6,0.000,0.042,2905,2241,2177
$GC,9808,0.56,146.0,487.4,19.9,309,9812,0.00,1.62,0.00,0.000,4,0.000,0.051,2905,3308,2176
$GC,9833,0.56,146.0,481.7,20.3,309,9837,0.10,1.58,0.00,0.000,6,0.181,0.027,2882,2246,2176
$GC,10104,0.56,146.0,434.0,17.3,316,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2241,2176
$GC,10349,0.56,146.0,392.8,16.7,322,10353,0.00,1.58,0.00,0.000,4,0.000,0.030,2889,1157,2176
$GC,10399,0.56,146.0,384.2,15.8,323,10402,0.00,1.67,0.00,0.000,6,0.000,0.043,2889,2258,2175
$GC,10693,0.56,146.0,333.3,17.0,330,10696,0.00,1.58,0.00,0.000,4,0.000,0.048,2889,3284,2175
$GC,10724,0.56,146.0,327.5,17.8,330,10728,0.00,1.52,0.00,0.000,6,0.000,0.026,2896,2245,2175
$GC,10991,0.56,146.0,283.2,17.2,337,10994,0.00,1.55,0.00,0.000,4,0.000,0.028,2904,1168,2175
$GC,11048,0.56,146.0,274.1,14.0,338,11052,0.00,1.62,0.00,0.000,6,0.000,0.041,2904,2227,2175
$GC,11331,0.56,146.0,227.8,17.1,345,11332,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2227,2175
$GC,11576,0.56,146.0,188.2,16.0,354,11585,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2227,2175
$GC,11843,0.56,146.0,150.1,13.2,379,11846,0.00,1.55,0.00,0.000,4,0.000,0.028,2910,1167,2175
$GC,11907,0.56,146.0,142.1,11.8,384,11916,0.08,1.60,0.00,0.000,6,0.123,0.040,2884,2214,2175
$GC,12177,0.56,146.0,113.9,10.2,409,12181,0.00,1.62,0.00,0.000,4,0.000,0.044,2878,3289,2175
$GC,12250,0.56,146.0,105.9,10.5,415,12254,0.00,1.55,0.00,0.000,6,0.000,0.023,2884,2218,2175
$GC,12523,0.56,146.0,77.4,10.3,440,12526,0.00,1.62,0.00,0.000,4,0.000,0.044,2884,3287,2175
$GC,12601,0.56,146.0,69.1,9.8,446,12605,0.00,1.52,0.00,0.000,6,0.000,0.022,2892,2223,2175
$GC,12873,0.59,207.1,52.8,6.1,471,12929,0.00,1.65,47.53,0.608,4,0.000,0.041,2891,3271,1945
$GC,12948,0.59,207.1,46.8,9.5,477,12952,0.00,1.52,0.00,0.000,6,0.000,0.021,2897,2228,1944
$GC,13235,0.59,207.1,16.4,8.8,511,13244,0.00,1.65,0.00,0.000,4,0.000,0.041,2898,3289,1942
$GC,13269,0.59,207.1,13.1,9.5,515,13278,0.00,1.52,0.00,0.000,6,0.000,0.021,2902,2237,1942
$STATE,13358,end climb,SURFACE_DEPTH_REACHED
$STATE,13358,begin surface coast
$FINISH,0.3,1.010452
$STATE,13391,end surface coast,CONTROL_FINISHED_OK
$STATE,13391,begin surface
$SM_CCo,13416,167.60,0.542,0,0,398,586.50
$SM_GC,1.23,0.00,0.00,167.60,0.000,0.000,0.542,27,2610,398,-8.32,1.13,586.50
$IRIDIUM_FIX,2244.02,-15814.09,251202,020208
$TT8_MAMPS,0.023777
$HUMID,2139
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.80
$XPDR_PINGS,6
$24V_AH,24.1,12.442
$10V_AH,10.7,12.619
$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,17.800,92.450,310.425,167.600,0.000,140.061,375.795,0.000,1.500,0.000,0.000,21.740,1116.412,9127.814,537.032,2701.315,1043.201,33.361,1382.202,0.000,2704.457,0.000,0.545,0.000
$DEVICE_MAMPS,205.556,65.962,1255.579,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,363.887,1756.302,1808.349,224.916,1222.864,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44753,534
$CAP_FILE_SIZE,101410,0
$CFSIZE,260165632,253595648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,300913,054953,2257.432,-15814.081,42,2.0,42,10.1