version: 66.04
glider: 512
mission: 4
dive: 82
start: 9 30 113 18 45 3
data:
$ID,512
$MISSION,4
$DIVE,82
$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,-108165.45
$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,56
$R_STBD_OVSHOOT,35
$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
$GPS1,182824,2303.231,-15812.732,56,1.2,56,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.7
$GPS2,184406,2303.366,-15812.759,10,1.1,15,10.1
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.138,0.204
$KALMAN_X,34072.5,-496.7,-64.1,-55209.7,547.3
$KALMAN_Y,-21994.1,550.5,76.5,57068.2,-3029.7
$MHEAD_RNG_PITCHd_Wd,23.9,35816,-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,18,-0.56,-146.0,0.0,0.0,0,119,0.00,0.00,-98.78,0.000,2,0.000,0.000,11,2583,2877
$GC,125,-0.56,-146.0,2.2,-1.7,12,152,9.23,1.58,-9.95,0.000,4,0.205,0.053,2499,3631,3286
$GC,188,-0.56,-146.0,17.9,-28.3,20,198,0.00,1.55,0.00,0.000,6,0.000,0.019,2504,2558,3287
$GC,467,-0.56,-146.0,93.5,-22.2,48,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2549,3287
$GC,733,-0.56,-146.0,144.6,-17.0,73,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2549,3288
$GC,999,-0.56,-146.0,184.1,-14.6,98,1002,0.00,1.45,0.00,0.000,4,0.000,0.019,2512,1495,3288
$GC,1115,-0.56,-146.0,200.6,-12.8,108,1119,0.00,1.62,0.00,0.000,6,0.000,0.036,2507,2595,3288
$GC,1387,-0.56,-146.0,241.2,-14.7,115,1391,0.00,1.55,0.00,0.000,4,0.000,0.043,2498,3631,3287
$GC,1491,-0.56,-146.0,256.6,-14.5,117,1494,0.00,1.52,0.00,0.000,6,0.000,0.018,2504,2547,3286
$GC,1774,-0.56,-146.0,292.6,-12.2,124,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2538,3285
$GC,2019,-0.56,-146.0,322.3,-12.1,130,2023,0.00,1.40,0.00,0.000,4,0.000,0.021,2512,1517,3283
$GC,2122,-0.56,-146.0,333.4,-9.9,132,2126,0.00,1.60,0.00,0.000,6,0.000,0.037,2506,2600,3283
$GC,2406,-0.56,-146.0,364.4,-11.2,139,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2600,3280
$GC,2651,-0.56,-146.0,392.5,-11.5,145,2654,0.00,1.52,0.00,0.000,4,0.000,0.021,2508,1522,3278
$GC,2708,-0.56,-146.0,399.6,-10.8,146,2712,0.00,1.60,0.00,0.000,6,0.000,0.038,2502,2582,3277
$GC,2991,-0.56,-146.0,432.1,-11.8,153,2993,0.00,0.00,-0.08,0.000,6,0.000,0.000,2502,2583,3298
$GC,3234,-0.56,-146.0,459.5,-11.2,159,3238,0.00,1.50,0.00,0.000,4,0.000,0.021,2509,1526,3296
$GC,3275,-0.56,-146.0,464.5,-11.2,159,3284,0.00,1.60,0.00,0.000,6,0.000,0.040,2502,2578,3296
$GC,3532,-0.56,-146.0,492.6,-11.3,166,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2578,3293
$GC,3776,-0.56,-146.0,520.1,-11.4,172,3779,0.00,1.48,0.00,0.000,4,0.000,0.022,2508,1532,3291
$GC,3825,-0.56,-146.0,525.7,-10.7,173,3829,0.00,1.58,0.00,0.000,6,0.000,0.041,2502,2565,3291
$GC,4119,-0.56,-146.0,556.5,-10.5,180,4123,0.00,1.60,0.00,0.000,4,0.000,0.050,2494,3634,3289
$GC,4195,-0.56,-146.0,565.5,-11.0,181,4198,0.00,1.50,0.00,0.000,6,0.000,0.023,2500,2580,3288
$GC,4460,-0.56,-146.0,593.0,-10.4,188,4464,0.00,1.48,0.00,0.000,4,0.000,0.024,2508,1519,3286
$GC,4556,-0.56,-146.0,601.9,-8.7,190,4560,0.00,1.58,0.00,0.000,6,0.000,0.043,2503,2545,3285
$GC,4849,-0.56,-146.0,629.8,-9.5,197,4853,0.00,1.65,0.00,0.000,4,0.000,0.052,2494,3625,3283
$GC,4945,-0.56,-146.0,638.6,-8.6,199,4949,0.00,1.55,0.00,0.000,6,0.000,0.025,2499,2550,3282
$GC,5238,-0.56,-146.0,666.8,-9.6,206,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2542,3280
$GC,5482,-0.56,-146.0,690.7,-9.8,212,5486,0.00,1.45,0.00,0.000,4,0.000,0.026,2507,1509,3278
$GC,5534,-0.56,-146.0,695.5,-8.9,213,5537,0.00,1.60,0.00,0.000,6,0.000,0.044,2502,2546,3278
$GC,5828,-0.56,-146.0,723.7,-9.5,220,5832,0.00,1.65,0.00,0.000,4,0.000,0.053,2494,3639,3277
$GC,5903,-0.56,-146.0,731.4,-9.9,221,5906,0.00,1.55,0.00,0.000,6,0.000,0.025,2494,2566,3276
$GC,6169,-0.56,-146.0,756.4,-9.6,228,6172,0.00,1.48,0.00,0.000,4,0.000,0.026,2494,1523,3274
$GC,6233,-0.56,-146.0,762.6,-8.9,229,6236,0.00,1.60,0.00,0.000,6,0.000,0.048,2493,2577,3274
$GC,6509,-0.56,-146.0,786.7,-8.9,236,6513,0.00,1.52,0.00,0.000,4,0.000,0.025,2493,1508,3273
$GC,6559,-0.56,-146.0,791.4,-9.3,237,6563,0.00,1.60,0.00,0.000,6,0.000,0.048,2493,2538,3272
$GC,6854,-0.56,-146.0,818.7,-9.3,244,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2538,3271
$GC,7099,-0.56,-146.0,840.9,-9.1,250,7103,0.00,1.67,0.00,0.000,4,0.000,0.054,2485,3643,3270
$GC,7149,-0.56,-146.0,846.1,-10.4,251,7152,0.00,1.58,0.00,0.000,6,0.000,0.027,2491,2558,3270
$GC,7443,-0.56,-146.0,872.9,-9.0,258,7446,0.00,1.48,0.00,0.000,4,0.000,0.027,2491,1522,3268
$GC,7484,-0.56,-146.0,877.0,-9.1,258,7492,0.08,1.60,0.00,0.000,6,0.133,0.048,2512,2554,3268
$GC,7740,-0.56,-146.0,895.0,-7.1,265,7743,0.00,1.50,0.00,0.000,4,0.000,0.027,2518,1511,3267
$GC,7775,-0.56,-146.0,897.8,-7.3,265,7779,0.00,1.60,0.00,0.000,6,0.000,0.046,2512,2543,3267
$STATE,7827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7827,begin apogee
$GC,7839,-0.23,0.0,901.7,7.1,267,7969,0.32,0.00,127.47,1.259,6,0.110,0.000,2620,2220,2690
$STATE,7970,end apogee,CONTROL_FINISHED_OK
$STATE,7970,begin climb
$GC,7975,0.56,146.0,904.0,0.0,270,8120,0.73,0.00,136.88,1.198,6,0.076,0.000,2872,2220,2094
$GC,8345,0.56,146.0,834.0,22.3,279,8349,0.00,1.70,0.00,0.000,4,0.000,0.049,2872,3290,2084
$GC,8369,0.56,146.0,827.5,23.9,279,8373,0.00,1.60,0.00,0.000,6,0.000,0.026,2879,2236,2084
$GC,8642,0.56,146.0,766.1,22.7,286,8645,0.00,1.58,0.00,0.000,4,0.000,0.029,2887,1167,2082
$GC,8671,0.56,146.0,758.2,23.7,286,8675,0.00,1.67,0.00,0.000,6,0.000,0.042,2887,2228,2082
$GC,8937,0.56,146.0,697.0,23.2,293,8940,0.00,1.62,0.00,0.000,4,0.000,0.048,2887,3294,2081
$GC,8955,0.56,146.0,692.0,23.2,293,8959,0.00,1.60,0.00,0.000,6,0.000,0.026,2895,2202,2081
$GC,9232,0.56,146.0,629.1,22.6,300,9236,0.00,1.52,0.00,0.000,4,0.000,0.030,2903,1157,2079
$GC,9291,0.56,146.0,616.3,19.6,301,9294,0.00,1.62,0.00,0.000,6,0.000,0.041,2903,2221,2079
$GC,9573,0.56,146.0,556.6,21.8,308,9577,0.00,1.65,0.00,0.000,4,0.000,0.050,2903,3284,2079
$GC,9647,0.56,146.0,539.3,22.8,309,9651,0.12,1.60,0.00,0.000,6,0.177,0.027,2881,2187,2079
$GC,9914,0.56,146.0,489.8,18.5,316,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2182,2078
$GC,10159,0.56,146.0,444.7,18.4,322,10162,0.00,1.50,0.00,0.000,4,0.000,0.030,2887,1157,2078
$GC,10200,0.56,146.0,436.2,17.7,322,10208,0.00,1.62,0.00,0.000,6,0.000,0.042,2887,2205,2077
$GC,10454,0.56,146.0,388.0,19.5,329,10455,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2204,2077
$GC,10698,0.56,146.0,342.3,18.5,335,10701,0.00,1.65,0.00,0.000,4,0.000,0.050,2887,3293,2077
$GC,10793,0.56,146.0,324.3,18.5,337,10797,0.00,1.62,0.00,0.000,6,0.000,0.026,2895,2173,2076
$GC,11087,0.56,146.0,272.4,17.2,344,11091,0.00,1.45,0.00,0.000,4,0.000,0.028,2899,1164,2076
$GC,11167,0.56,146.0,258.7,14.7,345,11170,0.00,1.58,0.00,0.000,6,0.000,0.041,2899,2186,2076
$GC,11428,0.56,146.0,216.2,16.7,352,11432,0.00,1.65,0.00,0.000,4,0.000,0.047,2899,3287,2076
$GC,11503,0.56,146.0,202.8,17.6,353,11506,0.00,1.60,0.00,0.000,6,0.000,0.024,2910,2168,2076
$GC,11769,0.56,146.0,155.7,18.9,377,11773,0.12,1.45,0.00,0.000,4,0.159,0.025,2883,1145,2076
$GC,11853,0.56,146.0,143.3,12.1,384,11857,0.00,1.58,0.00,0.000,6,0.000,0.038,2883,2178,2076
$GC,12126,0.56,146.0,112.1,10.7,409,12130,0.00,1.67,0.00,0.000,4,0.000,0.044,2883,3280,2077
$GC,12167,0.56,146.0,107.1,10.7,412,12176,0.00,1.60,0.00,0.000,6,0.000,0.024,2890,2180,2076
$GC,12433,0.56,146.0,78.6,10.3,437,12436,0.00,1.45,0.00,0.000,4,0.000,0.026,2898,1159,2077
$GC,12475,0.56,146.0,74.8,8.6,440,12479,0.00,1.52,0.00,0.000,6,0.000,0.037,2898,2165,2077
$GC,12747,0.58,185.6,53.6,7.0,465,12790,0.00,1.75,30.80,0.624,4,0.000,0.043,2898,3290,1931
$GC,12809,0.58,185.6,48.0,10.4,470,12812,0.00,1.67,0.00,0.000,6,0.000,0.022,2899,2122,1931
$GC,13096,0.58,185.6,15.6,11.5,504,13105,0.00,1.77,0.00,0.000,4,0.000,0.039,2899,3275,1929
$GC,13142,0.58,185.6,10.1,12.7,510,13151,0.00,1.62,0.00,0.000,6,0.000,0.019,2902,2153,1929
$STATE,13201,end climb,SURFACE_DEPTH_REACHED
$STATE,13201,begin surface coast
$FINISH,0.2,1.023220
$STATE,13228,end surface coast,CONTROL_FINISHED_OK
$STATE,13228,begin surface
$SM_CCo,13253,166.00,0.548,0,0,399,561.97
$SM_GC,1.10,0.00,0.00,166.00,0.000,0.000,0.548,26,2594,399,-8.31,0.68,561.97
$IRIDIUM_FIX,2255.72,-15812.35,251202,181818
$TT8_MAMPS,0.023777
$HUMID,2171
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.00
$XPDR_PINGS,7
$24V_AH,24.1,13.150
$10V_AH,10.6,13.351
$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,17.800,98.850,295.150,166.000,0.000,146.544,375.797,0.000,1.750,0.000,0.000,19.761,1119.733,8941.368,559.884,2689.227,1052.663,33.365,1404.682,0.000,2701.822,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,54.457,1259.414,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,356.470,1721.265,1776.600,552.706,1178.936,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44658,523
$CAP_FILE_SIZE,102639,0
$CFSIZE,260165632,253349888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300913,223006,2304.987,-15811.727,35,0.9,35,10.1