version: 66.04
glider: 512
mission: 4
dive: 81
start: 9 30 113 14 43 22
data:
$ID,512
$MISSION,4
$DIVE,81
$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,-108145.06
$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,73
$R_STBD_OVSHOOT,24
$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
$GPS1,140524,2301.038,-15813.395,42,1.0,42,10.1
$_CALLS,5
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.5
$GPS2,144225,2301.292,-15813.569,18,1.3,18,10.1
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.086,0.231
$KALMAN_X,35027.3,-546.1,-376.3,-57184.6,1567.5
$KALMAN_Y,-21052.4,77.5,413.3,52420.5,-3296.6
$MHEAD_RNG_PITCHd_Wd,10.3,38557,-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,-146.0,0.0,0.0,0,114,0.00,0.00,-94.32,0.000,2,0.000,0.000,10,2567,2750
$GC,120,-0.56,-146.0,2.0,-1.2,11,148,9.27,0.00,-14.45,0.000,6,0.205,0.000,2505,2566,3287
$GC,418,-0.56,-146.0,80.3,-29.4,46,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2566,3287
$GC,685,-0.56,-146.0,138.2,-20.5,71,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2566,3287
$GC,950,-0.56,-146.0,182.2,-14.6,96,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2566,3287
$GC,1241,-0.56,-146.0,227.3,-15.6,112,1245,0.00,1.60,0.00,0.000,4,0.000,0.042,2498,3648,3287
$GC,1265,-0.56,-146.0,231.9,-16.1,112,1269,0.00,1.52,0.00,0.000,6,0.000,0.018,2499,2555,3286
$GC,1536,-0.56,-146.0,272.1,-14.8,119,1539,0.00,1.40,0.00,0.000,4,0.000,0.020,2507,1524,3285
$GC,1615,-0.56,-146.0,283.4,-11.8,120,1619,0.00,1.55,0.00,0.000,6,0.000,0.038,2502,2554,3285
$GC,1877,-0.56,-146.0,316.5,-13.0,127,1880,0.00,1.60,0.00,0.000,4,0.000,0.046,2493,3635,3283
$GC,1918,-0.56,-146.0,322.6,-13.2,127,1926,0.00,1.52,0.00,0.000,6,0.000,0.019,2500,2537,3282
$GC,2172,-0.56,-146.0,354.4,-12.7,134,2176,0.00,1.38,0.00,0.000,4,0.000,0.021,2507,1535,3280
$GC,2241,-0.56,-146.0,362.4,-10.4,135,2244,0.00,1.50,0.00,0.000,6,0.000,0.037,2501,2533,3280
$GC,2513,-0.56,-146.0,393.6,-11.8,142,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2533,3277
$GC,2758,-0.56,-146.0,424.0,-12.6,148,2762,0.00,1.40,-0.08,0.000,4,0.000,0.042,2507,1539,3298
$GC,2865,-0.56,-146.0,437.5,-11.6,150,2868,0.00,1.48,0.00,0.000,6,0.000,0.038,2502,2515,3297
$GC,3143,-0.56,-146.0,469.0,-11.3,157,3147,0.00,1.67,0.00,0.000,4,0.000,0.048,2493,3634,3295
$GC,3206,-0.56,-146.0,477.0,-12.5,158,3210,0.00,1.58,0.00,0.000,6,0.000,0.021,2499,2523,3294
$GC,3483,-0.56,-146.0,508.4,-11.5,165,3486,0.00,1.38,0.00,0.000,4,0.000,0.023,2506,1523,3291
$GC,3524,-0.56,-146.0,513.3,-11.0,165,3533,0.00,1.50,0.00,0.000,6,0.000,0.040,2501,2511,3291
$GC,3780,-0.56,-146.0,540.5,-10.8,172,3784,0.00,1.67,0.00,0.000,4,0.000,0.049,2492,3630,3289
$GC,3830,-0.56,-146.0,546.2,-10.7,173,3834,0.00,1.60,0.00,0.000,6,0.000,0.022,2492,2488,3288
$GC,4124,-0.56,-146.0,578.6,-11.0,180,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2481,3285
$GC,4368,-0.56,-146.0,605.1,-10.9,186,4371,0.00,1.75,0.00,0.000,4,0.000,0.048,2485,3631,3283
$GC,4488,-0.56,-146.0,619.4,-11.0,188,4491,0.00,1.60,0.00,0.000,6,0.000,0.023,2491,2492,3281
$GC,4753,-0.56,-146.0,648.0,-10.6,195,4757,0.00,1.75,0.00,0.000,4,0.000,0.049,2484,3631,3279
$GC,4785,-0.56,-146.0,651.6,-11.2,195,4789,0.12,1.60,0.00,0.000,6,0.137,0.023,2520,2488,3279
$GC,5052,-0.56,-146.0,673.8,-8.0,202,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2481,3277
$GC,5297,-0.56,-146.0,693.7,-8.3,208,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2480,3276
$GC,5540,-0.56,-146.0,714.4,-8.6,214,5544,0.00,1.35,0.00,0.000,4,0.000,0.025,2521,1515,3274
$GC,5598,-0.56,-146.0,719.7,-8.1,215,5602,0.00,1.50,0.00,0.000,6,0.000,0.045,2516,2492,3273
$GC,5881,-0.56,-146.0,744.0,-8.6,222,5885,0.00,1.73,0.00,0.000,4,0.000,0.054,2507,3628,3272
$GC,5939,-0.56,-146.0,749.7,-9.1,223,5943,0.00,1.60,0.00,0.000,6,0.000,0.026,2508,2513,3271
$GC,6222,-0.56,-146.0,774.3,-8.7,230,6226,0.00,1.38,0.00,0.000,4,0.000,0.026,2508,1531,3270
$GC,6251,-0.56,-146.0,777.1,-8.6,230,6255,0.00,1.48,0.00,0.000,6,0.000,0.045,2503,2489,3269
$GC,6518,-0.56,-146.0,798.4,-8.1,237,6521,0.00,1.73,0.00,0.000,4,0.000,0.054,2494,3626,3268
$GC,6553,-0.56,-146.0,801.8,-9.5,237,6557,0.00,1.60,0.00,0.000,6,0.000,0.026,2501,2507,3268
$GC,6815,-0.56,-146.0,821.9,-7.7,244,6819,0.00,1.35,0.00,0.000,4,0.000,0.026,2508,1535,3266
$GC,6884,-0.56,-146.0,827.7,-8.0,245,6888,0.00,1.48,0.00,0.000,6,0.000,0.045,2503,2492,3266
$GC,7157,-0.56,-146.0,849.4,-8.2,252,7160,0.00,1.73,0.00,0.000,4,0.000,0.054,2494,3626,3265
$GC,7208,-0.56,-146.0,854.0,-9.3,253,7211,0.00,1.60,0.00,0.000,6,0.000,0.027,2501,2505,3264
$GC,7502,-0.56,-146.0,880.6,-9.2,260,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2497,3263
$STATE,7740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7740,begin apogee
$GC,7752,-0.23,0.0,903.0,9.3,266,7881,0.38,0.00,126.82,1.260,6,0.133,0.000,2626,2221,2690
$STATE,7882,end apogee,CONTROL_FINISHED_OK
$STATE,7882,begin climb
$GC,7887,0.56,146.0,907.1,0.0,269,8054,0.73,0.00,143.20,1.161,6,0.087,0.000,2877,2220,2094
$GC,8297,0.56,146.0,833.0,22.1,279,8301,0.00,1.67,0.00,0.000,4,0.000,0.048,2877,3280,2084
$GC,8328,0.56,146.0,825.6,22.5,279,8332,0.00,1.60,0.00,0.000,6,0.000,0.028,2884,2213,2084
$GC,8595,0.56,146.0,765.6,22.9,286,8599,0.00,1.55,0.00,0.000,4,0.000,0.029,2892,1158,2082
$GC,8658,0.56,146.0,751.2,20.4,287,8662,0.00,1.62,0.00,0.000,6,0.000,0.041,2891,2195,2081
$GC,8935,0.56,146.0,689.0,23.0,294,8938,0.00,1.67,0.00,0.000,4,0.000,0.048,2891,3292,2081
$GC,8970,0.56,146.0,679.7,23.3,294,8974,0.00,1.62,0.00,0.000,6,0.000,0.027,2898,2186,2080
$GC,9232,0.56,146.0,620.6,22.6,301,9235,0.00,1.50,0.00,0.000,4,0.000,0.029,2906,1154,2079
$GC,9250,0.56,146.0,615.4,22.4,301,9254,0.00,1.60,0.00,0.000,6,0.000,0.041,2905,2203,2079
$GC,9527,0.56,146.0,551.8,23.5,308,9531,0.00,1.67,0.00,0.000,4,0.000,0.048,2905,3285,2079
$GC,9595,0.56,146.0,534.4,23.9,309,9599,0.12,1.60,0.00,0.000,6,0.179,0.027,2882,2190,2078
$GC,9868,0.56,146.0,480.2,19.5,316,9871,0.00,1.50,0.00,0.000,4,0.000,0.030,2888,1153,2078
$GC,9898,0.56,146.0,473.7,19.0,316,9901,0.00,1.62,0.00,0.000,6,0.000,0.041,2888,2203,2077
$GC,10163,0.56,146.0,423.5,19.0,323,10167,0.00,1.65,0.00,0.000,4,0.000,0.048,2888,3294,2077
$GC,10193,0.56,146.0,416.7,22.4,323,10197,0.00,1.60,0.00,0.000,6,0.000,0.026,2895,2192,2077
$GC,10459,0.56,146.0,364.0,20.3,330,10463,0.00,1.50,0.00,0.000,4,0.000,0.029,2903,1154,2077
$GC,10534,0.56,146.0,348.9,18.7,331,10538,0.00,1.60,0.00,0.000,6,0.000,0.040,2903,2215,2076
$GC,10800,0.56,146.0,297.6,20.3,338,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2215,2076
$GC,11043,0.56,146.0,252.7,18.2,344,11045,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2215,2076
$GC,11287,0.56,146.0,212.5,16.2,350,11291,0.00,1.62,0.00,0.000,4,0.000,0.047,2903,3278,2077
$GC,11383,0.56,146.0,196.8,17.9,352,11388,0.10,1.60,0.00,0.000,6,0.160,0.026,2880,2188,2076
$GC,11659,0.56,146.0,157.7,12.8,377,11662,0.00,1.48,0.00,0.000,4,0.000,0.027,2886,1150,2076
$GC,11734,0.56,146.0,147.8,11.9,383,11741,0.00,1.60,0.00,0.000,6,0.000,0.038,2886,2197,2076
$GC,11999,0.56,146.0,116.2,11.3,408,12003,0.00,1.62,0.00,0.000,4,0.000,0.045,2886,3289,2076
$GC,12053,0.56,146.0,109.8,11.0,412,12061,0.00,1.62,0.00,0.000,6,0.000,0.022,2894,2167,2076
$GC,12319,0.56,146.0,80.1,10.6,437,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2161,2077
$GC,12588,0.56,146.0,58.2,9.0,462,12596,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2160,2077
$GC,12854,0.56,146.0,30.2,9.0,487,12858,0.00,1.70,0.00,0.000,4,0.000,0.041,2891,3290,2077
$GC,12938,0.56,146.0,22.4,9.3,498,12946,0.00,1.60,0.00,0.000,6,0.000,0.021,2898,2164,2078
$STATE,13146,end climb,SURFACE_DEPTH_REACHED
$STATE,13146,begin surface coast
$FINISH,0.4,1.010293
$STATE,13192,end surface coast,CONTROL_FINISHED_OK
$STATE,13192,begin surface
$SM_CCo,13217,180.70,0.545,0,0,398,561.97
$SM_GC,1.25,0.00,0.00,180.70,0.000,0.000,0.545,22,2582,398,-8.33,0.34,561.97
$IRIDIUM_FIX,2253.38,-15815.39,251202,141424
$TT8_MAMPS,0.02301
$HUMID,2138
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.90
$XPDR_PINGS,7
$24V_AH,24.1,13.006
$10V_AH,10.7,13.173
$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,17.875,88.975,270.025,180.700,0.000,149.880,175.909,1445.828,1.750,0.000,0.000,18.837,1119.395,8928.574,570.102,2665.219,2339.781,33.359,1373.011,0.000,2689.651,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,54.457,1260.181,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,367.665,1775.706,1836.778,280.333,1258.684,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47827,539
$CAP_FILE_SIZE,122958,0
$CFSIZE,260165632,253411328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,300913,182824,2303.231,-15812.732,56,1.2,56,10.1