version: 66.04
glider: 512
mission: 4
dive: 79
start: 9 30 113 6 23 12
data:
$ID,512
$MISSION,4
$DIVE,79
$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,-108104.58
$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,66
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2690
$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
$GPS1,054953,2257.432,-15814.081,42,2.0,42,10.1
$_CALLS,4
$_XMS_NAKs,27
$_XMS_TOUTs,2
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-79.2
$GPS2,062218,2257.429,-15814.097,12,1.5,17,10.1
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.021,0.245
$KALMAN_X,35827.8,-246.5,-321.8,-59247.7,3062.9
$KALMAN_Y,-18173.0,312.0,44.9,42519.0,-2889.6
$MHEAD_RNG_PITCHd_Wd,354.7,42805,-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,-146.0,0.0,0.0,0,119,0.00,0.00,-98.82,0.000,2,0.000,0.000,11,2609,2866
$GC,125,-0.56,-146.0,2.1,-1.6,12,151,9.27,1.50,-10.30,0.000,4,0.205,0.057,2499,3629,3287
$GC,330,-0.56,-146.0,58.2,-27.0,36,334,0.00,1.52,0.00,0.000,6,0.000,0.018,2504,2564,3287
$GC,603,-0.56,-146.0,118.0,-20.0,61,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2554,3287
$GC,869,-0.56,-146.0,167.3,-15.8,86,872,0.00,1.60,0.00,0.000,4,0.000,0.040,2499,3614,3287
$GC,918,-0.56,-146.0,175.3,-16.2,90,922,0.00,1.48,0.00,0.000,6,0.000,0.018,2504,2559,3287
$GC,1189,-0.56,-146.0,212.8,-14.1,109,1192,0.00,1.40,0.00,0.000,4,0.000,0.019,2512,1523,3287
$GC,1328,-0.56,-146.0,231.3,-12.7,112,1332,0.00,1.52,0.00,0.000,6,0.000,0.035,2506,2539,3287
$GC,1622,-0.56,-146.0,272.3,-13.9,119,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2540,3285
$GC,1866,-0.56,-146.0,302.9,-12.2,125,1869,0.00,1.62,0.00,0.000,4,0.000,0.044,2498,3642,3283
$GC,1890,-0.56,-146.0,306.1,-11.7,125,1893,0.00,1.52,0.00,0.000,6,0.000,0.020,2504,2558,3283
$GC,2161,-0.56,-146.0,339.2,-12.3,132,2165,0.00,1.40,0.00,0.000,4,0.000,0.021,2511,1527,3281
$GC,2256,-0.56,-146.0,349.9,-10.6,134,2260,0.00,1.55,0.00,0.000,6,0.000,0.038,2506,2552,3280
$GC,2550,-0.56,-146.0,384.2,-11.9,141,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2552,3277
$GC,2794,-0.56,-146.0,412.8,-11.7,147,2798,0.00,1.45,-0.08,0.000,4,0.000,0.042,2508,1507,3298
$GC,2857,-0.56,-146.0,420.3,-10.9,148,2861,0.00,1.58,0.00,0.000,6,0.000,0.038,2502,2548,3298
$GC,3134,-0.56,-146.0,451.7,-11.5,155,3138,0.00,1.45,0.00,0.000,4,0.000,0.022,2508,1524,3295
$GC,3197,-0.56,-146.0,459.3,-11.1,156,3201,0.00,1.52,0.00,0.000,6,0.000,0.040,2502,2532,3295
$GC,3475,-0.56,-146.0,490.2,-11.3,163,3479,0.00,1.65,0.00,0.000,4,0.000,0.048,2493,3637,3291
$GC,3550,-0.56,-146.0,499.4,-11.4,164,3553,0.00,1.55,0.00,0.000,6,0.000,0.021,2499,2548,3291
$GC,3816,-0.56,-146.0,527.8,-10.6,171,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2541,3289
$GC,4059,-0.56,-146.0,553.4,-10.5,177,4063,0.00,1.42,0.00,0.000,4,0.000,0.025,2507,1521,3287
$GC,4155,-0.56,-146.0,562.8,-9.0,179,4159,0.00,1.55,0.00,0.000,6,0.000,0.041,2502,2534,3286
$GC,4449,-0.56,-146.0,591.2,-9.6,186,4453,0.00,1.65,0.00,0.000,4,0.000,0.051,2493,3634,3283
$GC,4500,-0.56,-146.0,596.1,-9.5,187,4503,0.00,1.58,0.00,0.000,6,0.000,0.024,2498,2532,3283
$GC,4794,-0.56,-146.0,622.5,-8.9,194,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2526,3280
$GC,5037,-0.56,-146.0,645.4,-9.6,200,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2526,3279
$GC,5281,-0.56,-146.0,668.9,-9.9,206,5285,0.00,1.73,0.00,0.000,4,0.000,0.051,2493,3633,3277
$GC,5377,-0.56,-146.0,679.0,-10.4,208,5381,0.00,1.60,0.00,0.000,6,0.000,0.024,2499,2539,3276
$GC,5671,-0.56,-146.0,709.2,-10.1,215,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2532,3273
$GC,5914,-0.56,-146.0,732.7,-9.6,221,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2532,3273
$GC,6158,-0.56,-146.0,756.0,-9.6,227,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2532,3271
$GC,6401,-0.56,-146.0,778.9,-9.4,233,6405,0.00,1.45,0.00,0.000,4,0.000,0.026,2507,1504,3270
$GC,6470,-0.56,-146.0,785.3,-9.1,234,6474,0.00,1.60,0.00,0.000,6,0.000,0.044,2501,2563,3269
$GC,6742,-0.56,-146.0,809.5,-9.2,241,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2564,3268
$GC,6987,-0.56,-146.0,831.0,-8.9,247,6991,0.00,1.52,0.00,0.000,4,0.000,0.026,2506,1507,3267
$GC,7017,-0.56,-146.0,834.2,-9.2,247,7021,0.00,1.60,0.00,0.000,6,0.000,0.045,2501,2543,3267
$GC,7283,-0.56,-146.0,855.9,-8.3,254,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2543,3265
$GC,7527,-0.56,-146.0,876.2,-8.5,260,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2543,3264
$GC,7770,-0.56,-146.0,897.6,-8.9,266,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2543,3263
$STATE,7806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7806,begin apogee
$GC,7817,-0.23,0.0,901.1,8.9,267,7946,0.38,0.00,126.45,1.260,6,0.150,0.000,2623,2202,2691
$STATE,7947,end apogee,CONTROL_FINISHED_OK
$STATE,7947,begin climb
$GC,7952,0.56,146.0,904.3,0.0,270,8121,0.73,1.80,142.73,1.152,4,0.075,0.048,2874,3294,2093
$GC,8140,0.56,146.0,876.4,22.1,274,8144,0.00,1.65,0.00,0.000,6,0.000,0.025,2882,2226,2090
$GC,8411,0.56,146.0,812.1,24.0,281,8415,0.00,1.60,0.00,0.000,4,0.000,0.030,2890,1158,2084
$GC,8441,0.56,146.0,804.6,23.2,281,8445,0.00,1.67,0.00,0.000,6,0.000,0.042,2889,2232,2083
$GC,8707,0.56,146.0,741.4,24.7,288,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2232,2082
$GC,8950,0.56,146.0,681.8,24.2,294,8954,0.00,1.62,0.00,0.000,4,0.000,0.049,2889,3291,2081
$GC,8974,0.56,146.0,675.3,23.7,294,8978,0.00,1.62,0.00,0.000,6,0.000,0.027,2897,2208,2080
$GC,9247,0.56,146.0,612.6,23.0,301,9250,0.00,1.67,0.00,0.000,4,0.000,0.047,2892,3284,2080
$GC,9271,0.56,146.0,605.8,23.8,301,9275,0.00,1.60,0.00,0.000,6,0.000,0.027,2898,2216,2079
$GC,9542,0.56,146.0,545.5,22.0,308,9545,0.00,1.52,0.00,0.000,4,0.000,0.029,2906,1157,2079
$GC,9572,0.56,146.0,538.7,20.7,308,9575,0.00,1.62,0.00,0.000,6,0.000,0.041,2905,2224,2078
$GC,9837,0.56,146.0,480.9,22.2,315,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2225,2078
$GC,10081,0.56,146.0,426.6,22.4,321,10085,0.00,1.62,0.00,0.000,4,0.000,0.049,2904,3296,2077
$GC,10117,0.56,146.0,418.4,22.0,321,10121,0.12,1.60,0.00,0.000,6,0.180,0.026,2882,2195,2077
$GC,10378,0.56,146.0,372.5,17.1,328,10381,0.00,1.50,0.00,0.000,4,0.000,0.029,2887,1155,2077
$GC,10457,0.56,146.0,358.1,16.8,329,10461,0.00,1.62,0.00,0.000,6,0.000,0.042,2888,2223,2076
$GC,10718,0.56,146.0,314.5,16.8,336,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2224,2076
$GC,10961,0.56,146.0,272.0,16.9,342,10962,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2224,2076
$GC,11205,0.56,146.0,231.8,16.5,348,11208,0.00,1.60,0.00,0.000,4,0.000,0.048,2888,3298,2076
$GC,11229,0.56,146.0,226.6,19.4,348,11233,0.00,1.65,0.00,0.000,6,0.000,0.026,2896,2179,2076
$GC,11495,0.56,146.0,180.7,17.5,363,11499,0.00,1.70,0.00,0.000,4,0.000,0.047,2891,3282,2076
$GC,11538,0.56,146.0,172.4,17.3,366,11547,0.00,1.60,0.00,0.000,6,0.000,0.026,2898,2193,2076
$GC,11804,0.56,146.0,133.8,13.7,391,11808,0.00,1.48,0.00,0.000,4,0.000,0.028,2902,1162,2076
$GC,11889,0.56,146.0,122.5,12.6,398,11893,0.00,1.58,0.00,0.000,6,0.000,0.039,2902,2189,2076
$GC,12162,0.56,146.0,84.7,13.7,423,12165,0.00,1.65,0.00,0.000,4,0.000,0.044,2902,3299,2076
$GC,12310,0.56,146.0,61.8,15.8,435,12315,0.08,1.58,0.00,0.000,6,0.149,0.023,2886,2214,2076
$GC,12587,0.57,165.2,36.6,7.8,460,12605,0.00,1.65,14.68,0.593,4,0.000,0.042,2878,3294,2015
$GC,12636,0.57,165.2,32.2,8.7,463,12639,0.00,1.55,0.00,0.000,6,0.000,0.021,2884,2221,2014
$GC,12945,0.57,165.2,4.2,10.4,510,12953,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2214,2013
$STATE,12960,end climb,SURFACE_DEPTH_REACHED
$STATE,12960,begin surface coast
$FINISH,0.2,1.012004
$STATE,12993,end surface coast,CONTROL_FINISHED_OK
$STATE,12993,begin surface
$SM_CCo,13018,91.25,0.557,0,0,1099,390.02
$SM_GC,1.05,0.00,0.00,91.25,0.000,0.000,0.557,29,2590,1099,-8.33,0.57,390.02
$IRIDIUM_FIX,2251.04,-15813.22,251202,060617
$TT8_MAMPS,0.023777
$HUMID,2225
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.80
$XPDR_PINGS,7
$24V_AH,24.1,12.640
$10V_AH,10.7,12.805
$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,17.650,79.850,283.850,91.250,0.000,114.876,150.247,1291.576,1.750,0.000,0.000,17.742,1076.374,8852.762,469.561,2564.921,2090.993,33.361,1223.611,0.000,2577.232,0.000,0.545,0.000
$DEVICE_MAMPS,204.789,56.758,1260.181,556.842,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,353.338,1702.569,1758.407,209.747,1184.435,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44637,517
$CAP_FILE_SIZE,121311,0
$CFSIZE,260165632,253558784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,300913,100306,2259.016,-15813.751,36,1.0,36,10.1