version: 66.04
glider: 512
mission: 4
dive: 80
start: 9 30 113 10 19 39
data:
$ID,512
$MISSION,4
$DIVE,80
$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,561.97314
$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,-108125.6
$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,67
$R_STBD_OVSHOOT,36
$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
$GPS1,100306,2259.016,-15813.751,36,1.0,36,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-81.9
$GPS2,101842,2259.024,-15813.778,10,1.0,15,10.1
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,0.240
$KALMAN_X,35571.9,-344.2,-89.2,-58573.2,1632.7
$KALMAN_Y,-20031.2,-0.4,86.1,47613.9,-3429.0
$MHEAD_RNG_PITCHd_Wd,3.0,40803,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-82.45,0.000,2,0.000,0.000,11,2588,3078
$GC,108,-0.56,-146.0,2.4,-2.2,10,127,9.18,1.55,-4.38,0.000,4,0.200,0.038,2515,1492,3287
$GC,393,-0.56,-146.0,75.0,-16.4,39,402,0.00,1.62,0.00,0.000,6,0.000,0.037,2508,2563,3289
$GC,659,-0.56,-146.0,124.9,-19.2,64,662,0.00,1.60,0.00,0.000,4,0.000,0.044,2500,3628,3289
$GC,721,-0.56,-146.0,136.4,-17.5,69,725,0.00,1.50,0.00,0.000,6,0.000,0.018,2506,2565,3289
$GC,994,-0.56,-146.0,178.3,-14.2,94,997,0.00,1.42,0.00,0.000,4,0.000,0.020,2514,1521,3290
$GC,1143,-0.56,-146.0,198.7,-14.0,107,1147,0.00,1.58,0.00,0.000,6,0.000,0.037,2508,2567,3290
$GC,1404,-0.56,-146.0,234.9,-13.8,114,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2567,3289
$GC,1647,-0.56,-146.0,268.3,-13.5,120,1651,0.00,1.48,0.00,0.000,4,0.000,0.021,2508,1519,3289
$GC,1699,-0.56,-146.0,275.1,-12.4,121,1703,0.00,1.58,0.00,0.000,6,0.000,0.038,2502,2558,3289
$GC,1993,-0.56,-146.0,312.4,-12.2,128,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2558,3287
$GC,2236,-0.56,-146.0,343.3,-13.0,134,2240,0.00,1.45,0.00,0.000,4,0.000,0.021,2508,1526,3285
$GC,2332,-0.56,-146.0,354.7,-10.9,136,2336,0.00,1.55,0.00,0.000,6,0.000,0.038,2502,2551,3284
$GC,2626,-0.56,-146.0,389.9,-11.9,143,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2551,3283
$GC,2870,-0.56,-146.0,419.7,-12.2,149,2873,0.00,1.45,0.00,0.000,4,0.000,0.022,2508,1525,3281
$GC,2965,-0.56,-146.0,430.0,-10.5,151,2969,0.00,1.52,0.00,0.000,6,0.000,0.040,2502,2531,3280
$GC,3259,-0.56,-146.0,461.8,-10.6,158,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2530,3277
$GC,3502,-0.56,-146.0,487.3,-10.5,164,3507,0.00,1.67,-0.08,0.000,4,0.000,0.067,2494,3625,3301
$GC,3582,-0.56,-146.0,496.4,-11.4,165,3586,0.00,1.55,0.00,0.000,6,0.000,0.022,2500,2536,3300
$GC,3843,-0.56,-146.0,525.7,-11.4,172,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2529,3298
$GC,4089,-0.56,-146.0,553.0,-11.0,178,4092,0.00,1.40,0.00,0.000,4,0.000,0.024,2507,1526,3297
$GC,4130,-0.56,-146.0,557.9,-9.8,178,4138,0.00,1.52,0.00,0.000,6,0.000,0.041,2502,2527,3296
$GC,4384,-0.56,-146.0,583.6,-10.1,185,4388,0.00,1.70,0.00,0.000,4,0.000,0.050,2494,3638,3294
$GC,4413,-0.56,-146.0,586.9,-10.6,185,4417,0.00,1.60,0.00,0.000,6,0.000,0.023,2500,2507,3294
$GC,4679,-0.56,-146.0,613.1,-9.9,192,4682,0.00,1.73,0.00,0.000,4,0.000,0.048,2494,3633,3291
$GC,4743,-0.56,-146.0,620.5,-11.0,193,4747,0.00,1.58,0.00,0.000,6,0.000,0.022,2500,2534,3291
$GC,5020,-0.56,-146.0,648.9,-10.3,200,5024,0.00,1.40,0.00,0.000,4,0.000,0.024,2507,1522,3289
$GC,5055,-0.56,-146.0,652.6,-9.8,200,5059,0.00,1.58,0.00,0.000,6,0.000,0.043,2502,2548,3289
$GC,5315,-0.56,-146.0,678.1,-9.9,207,5319,0.00,1.65,0.00,0.000,4,0.000,0.052,2493,3642,3287
$GC,5379,-0.56,-146.0,685.3,-11.0,208,5383,0.00,1.58,0.00,0.000,6,0.000,0.025,2500,2552,3287
$GC,5656,-0.56,-146.0,712.9,-10.2,215,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2544,3285
$GC,5900,-0.56,-146.0,737.4,-10.0,221,5903,0.00,1.67,0.00,0.000,4,0.000,0.051,2493,3640,3283
$GC,5929,-0.56,-146.0,741.0,-11.4,221,5933,0.00,1.55,0.00,0.000,6,0.000,0.025,2499,2564,3283
$GC,6195,-0.56,-146.0,766.0,-9.4,228,6199,0.00,1.48,0.00,0.000,4,0.000,0.027,2507,1518,3282
$GC,6246,-0.56,-146.0,770.5,-8.8,229,6250,0.00,1.60,0.00,0.000,6,0.000,0.045,2501,2554,3282
$GC,6540,-0.56,-146.0,795.9,-8.3,236,6544,0.00,1.65,0.00,0.000,4,0.000,0.054,2493,3625,3280
$GC,6575,-0.56,-146.0,799.2,-9.0,236,6578,0.00,1.55,0.00,0.000,6,0.000,0.026,2499,2554,3280
$GC,6835,-0.56,-146.0,819.9,-8.0,243,6839,0.00,1.45,0.00,0.000,4,0.000,0.026,2506,1525,3279
$GC,6887,-0.56,-146.0,823.8,-7.3,244,6890,0.00,1.60,0.00,0.000,6,0.000,0.045,2501,2559,3279
$GC,7181,-0.56,-146.0,847.4,-8.2,251,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2559,3277
$GC,7424,-0.56,-146.0,869.7,-8.9,257,7427,0.00,1.50,0.00,0.000,4,0.000,0.027,2505,1515,3276
$GC,7465,-0.56,-146.0,873.6,-8.8,257,7473,0.00,1.60,0.00,0.000,6,0.000,0.046,2500,2548,3276
$GC,7719,-0.56,-146.0,895.9,-8.9,264,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2548,3276
$STATE,7795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7796,begin apogee
$GC,7807,-0.23,0.0,903.2,9.0,266,7939,0.38,0.00,129.18,1.260,6,0.149,0.000,2623,2214,2690
$STATE,7940,end apogee,CONTROL_FINISHED_OK
$STATE,7940,begin climb
$GC,7945,0.56,146.0,906.6,0.0,269,8098,0.73,0.00,138.82,1.180,6,0.081,0.000,2870,2213,2093
$GC,8325,0.56,146.0,840.8,20.9,278,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2214,2085
$GC,8565,0.56,146.0,790.7,20.7,284,8568,0.00,1.70,0.00,0.000,4,0.000,0.049,2870,3294,2082
$GC,8589,0.56,146.0,784.7,21.4,284,8592,0.00,1.60,0.00,0.000,6,0.000,0.026,2877,2216,2082
$GC,8860,0.56,146.0,726.0,22.2,291,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2209,2081
$GC,9103,0.56,146.0,674.1,21.3,297,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2209,2080
$GC,9347,0.56,146.0,621.6,21.3,303,9351,0.00,1.67,0.00,0.000,4,0.000,0.048,2875,3291,2079
$GC,9379,0.56,146.0,614.3,23.2,303,9382,0.00,1.60,0.00,0.000,6,0.000,0.028,2882,2195,2079
$GC,9645,0.56,146.0,559.9,20.2,310,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2188,2078
$GC,9890,0.56,146.0,512.7,18.9,316,9894,0.00,1.70,0.00,0.000,4,0.000,0.049,2878,3287,2078
$GC,9920,0.56,146.0,505.8,19.5,316,9924,0.00,1.58,0.00,0.000,6,0.000,0.026,2883,2226,2077
$GC,10186,0.56,146.0,457.1,18.6,323,10189,0.00,1.55,0.00,0.000,4,0.000,0.030,2892,1153,2077
$GC,10249,0.56,146.0,444.8,18.0,324,10252,0.00,1.65,0.00,0.000,6,0.000,0.042,2891,2240,2077
$GC,10527,0.56,146.0,394.8,18.3,331,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2239,2076
$GC,10772,0.56,146.0,348.7,18.9,337,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2239,2076
$GC,11015,0.56,146.0,304.6,18.2,343,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2239,2077
$GC,11259,0.56,146.0,262.1,17.1,349,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2239,2076
$GC,11503,0.56,146.0,220.7,17.0,355,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2239,2076
$GC,11749,0.56,146.0,182.6,15.3,367,11753,0.00,1.60,0.00,0.000,4,0.000,0.028,2897,1145,2076
$GC,11799,0.56,146.0,174.9,13.9,371,11803,0.00,1.60,0.00,0.000,6,0.000,0.039,2892,2193,2076
$GC,12070,0.56,146.0,136.6,12.6,396,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2193,2076
$GC,12337,0.56,146.0,103.6,11.8,421,12340,0.00,1.62,0.00,0.000,4,0.000,0.046,2891,3280,2076
$GC,12467,0.56,146.0,87.3,10.8,432,12471,0.00,1.50,0.00,0.000,6,0.000,0.024,2897,2241,2076
$GC,12740,0.58,202.1,60.8,6.3,457,12795,0.00,1.60,43.70,0.634,4,0.000,0.025,2902,1154,1863
$GC,12826,0.58,204.1,53.7,8.5,463,12835,0.00,1.67,0.00,0.000,6,0.000,0.035,2902,2241,1861
$GC,13107,0.58,204.1,20.6,10.8,494,13116,0.00,1.58,0.00,0.000,4,0.000,0.041,2902,3278,1860
$GC,13141,0.58,204.1,15.7,12.6,498,13148,0.00,1.50,0.00,0.000,6,0.000,0.021,2908,2232,1860
$STATE,13238,end climb,SURFACE_DEPTH_REACHED
$STATE,13238,begin surface coast
$FINISH,0.2,1.022589
$STATE,13265,end surface coast,CONTROL_FINISHED_OK
$STATE,13269,begin surface
$SM_CCo,13294,160.40,0.552,0,0,398,561.97
$SM_GC,1.22,0.00,0.00,160.40,0.000,0.000,0.552,25,2569,398,-8.30,-0.03,561.97
$IRIDIUM_FIX,2251.04,-15815.39,251202,101050
$TT8_MAMPS,0.023777
$HUMID,2153
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.80
$XPDR_PINGS,6
$24V_AH,24.1,12.785
$10V_AH,10.6,12.977
$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,17.475,79.650,311.700,160.400,0.000,137.961,375.794,0.000,1.500,0.000,0.000,20.397,1075.317,9203.086,529.302,2557.386,1027.426,33.357,1308.179,0.000,2561.863,0.000,0.544,0.000
$DEVICE_MAMPS,200.187,66.729,1260.181,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,353.651,1704.666,1763.802,245.622,1164.240,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44619,518
$CAP_FILE_SIZE,95096,0
$CFSIZE,260165632,253501440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,300913,140524,2301.038,-15813.395,42,1.0,42,10.1