version: 66.04
glider: 512
mission: 4
dive: 83
start: 9 30 113 22 53 59
data:
$ID,512
$MISSION,4
$DIVE,83
$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,-108177.55
$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,58
$R_STBD_OVSHOOT,37
$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
$GPS1,223006,2304.987,-15811.727,35,0.9,35,10.1
$_CALLS,3
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-79.5
$GPS2,225301,2305.113,-15811.812,11,2.0,11,10.1
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,0.205
$KALMAN_X,32452.7,-200.4,-178.7,-52153.9,-636.0
$KALMAN_Y,-23190.8,782.6,170.3,61176.9,-3684.4
$MHEAD_RNG_PITCHd_Wd,23.4,33283,-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,-146.0,0.0,0.0,0,123,0.00,0.00,-102.75,0.000,2,0.000,0.000,11,2591,2962
$GC,129,-0.56,-146.0,2.1,-1.5,12,150,9.32,1.60,-7.32,0.000,4,0.203,0.051,2501,3645,3287
$GC,265,-0.56,-146.0,41.4,-27.5,29,268,0.00,1.58,0.00,0.000,6,0.000,0.020,2506,2564,3288
$GC,536,-0.56,-146.0,108.5,-20.6,54,540,0.00,1.48,0.00,0.000,4,0.000,0.021,2514,1501,3288
$GC,621,-0.56,-146.0,124.7,-16.5,61,625,0.00,1.60,0.00,0.000,6,0.000,0.036,2508,2578,3288
$GC,892,-0.56,-146.0,168.1,-14.2,86,896,0.00,1.58,0.00,0.000,4,0.000,0.043,2499,3629,3288
$GC,920,-0.56,-146.0,172.0,-14.6,88,924,0.00,1.52,0.00,0.000,6,0.000,0.018,2505,2547,3288
$GC,1199,-0.56,-146.0,212.8,-15.2,108,1202,0.00,1.40,0.00,0.000,4,0.000,0.019,2513,1519,3288
$GC,1274,-0.56,-146.0,224.1,-13.1,109,1278,0.00,1.60,0.00,0.000,6,0.000,0.035,2507,2603,3287
$GC,1540,-0.56,-146.0,259.7,-13.5,116,1544,0.00,1.55,0.00,0.000,4,0.000,0.044,2499,3638,3286
$GC,1564,-0.56,-146.0,263.8,-14.4,116,1568,0.00,1.48,0.00,0.000,6,0.000,0.018,2505,2584,3286
$GC,1835,-0.56,-146.0,300.5,-14.1,123,1839,0.00,1.42,0.00,0.000,4,0.000,0.020,2514,1534,3285
$GC,1938,-0.56,-146.0,314.6,-12.5,125,1941,0.00,1.58,0.00,0.000,6,0.000,0.037,2507,2580,3284
$GC,2221,-0.56,-146.0,348.5,-12.0,132,2224,0.00,1.48,0.00,0.000,4,0.000,0.020,2508,1531,3282
$GC,2262,-0.56,-146.0,353.5,-10.9,132,2271,0.00,1.58,0.00,0.000,6,0.000,0.038,2502,2576,3282
$GC,2519,-0.56,-146.0,383.5,-12.2,139,2522,0.00,1.60,0.00,0.000,4,0.000,0.046,2494,3656,3279
$GC,2548,-0.56,-146.0,388.0,-13.1,139,2552,0.00,1.50,0.00,0.000,6,0.000,0.019,2500,2590,3278
$GC,2814,-0.56,-146.0,420.1,-12.2,146,2816,0.00,0.00,-0.08,0.000,6,0.000,0.000,2500,2583,3299
$GC,3058,-0.56,-146.0,448.7,-11.5,152,3061,0.00,1.48,0.00,0.000,4,0.000,0.023,2508,1527,3297
$GC,3109,-0.56,-146.0,453.8,-9.3,153,3113,0.00,1.60,0.00,0.000,6,0.000,0.039,2502,2579,3297
$GC,3404,-0.56,-146.0,486.3,-11.2,160,3407,0.00,1.50,0.00,0.000,4,0.000,0.022,2507,1523,3294
$GC,3467,-0.56,-146.0,493.4,-10.0,161,3471,0.00,1.60,0.00,0.000,6,0.000,0.041,2502,2574,3294
$GC,3744,-0.56,-146.0,523.2,-11.0,168,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2575,3292
$GC,3987,-0.56,-146.0,549.7,-10.8,174,3991,0.00,1.60,0.00,0.000,4,0.000,0.049,2493,3646,3289
$GC,4102,-0.56,-146.0,563.1,-11.4,176,4106,0.00,1.52,0.00,0.000,6,0.000,0.024,2500,2580,3288
$GC,4373,-0.56,-146.0,591.4,-10.5,183,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2572,3286
$GC,4617,-0.56,-146.0,618.2,-11.0,189,4620,0.00,1.48,0.00,0.000,4,0.000,0.025,2507,1518,3284
$GC,4681,-0.56,-146.0,625.2,-9.7,190,4684,0.00,1.60,0.00,0.000,6,0.000,0.044,2502,2583,3284
$GC,4958,-0.56,-146.0,653.6,-10.3,197,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2584,3281
$GC,5201,-0.56,-146.0,676.5,-9.3,203,5205,0.00,1.50,0.00,0.000,4,0.000,0.025,2507,1525,3279
$GC,5270,-0.56,-146.0,682.7,-8.6,204,5273,0.00,1.60,0.00,0.000,6,0.000,0.044,2501,2587,3279
$GC,5543,-0.56,-146.0,705.6,-8.6,211,5546,0.00,1.52,0.00,0.000,4,0.000,0.025,2507,1517,3277
$GC,5600,-0.56,-146.0,710.7,-7.9,212,5604,0.00,1.62,0.00,0.000,6,0.000,0.045,2501,2571,3277
$GC,5883,-0.56,-146.0,735.0,-8.9,219,5886,0.00,1.60,0.00,0.000,4,0.000,0.053,2493,3629,3275
$GC,5924,-0.56,-146.0,739.2,-9.7,219,5933,0.00,1.52,0.00,0.000,6,0.000,0.025,2499,2565,3274
$GC,6180,-0.56,-146.0,761.0,-8.7,226,6184,0.00,1.48,0.00,0.000,4,0.000,0.026,2506,1532,3273
$GC,6231,-0.56,-146.0,765.5,-8.1,227,6234,0.00,1.60,0.00,0.000,6,0.000,0.044,2501,2566,3273
$GC,6524,-0.56,-146.0,792.1,-9.2,234,6528,0.00,1.50,0.00,0.000,4,0.000,0.027,2506,1525,3272
$GC,6588,-0.56,-146.0,798.3,-8.9,235,6592,0.00,1.58,0.00,0.000,6,0.000,0.046,2500,2545,3271
$GC,6865,-0.56,-146.0,823.1,-9.1,242,6869,0.00,1.67,0.00,0.000,4,0.000,0.056,2491,3627,3270
$GC,6928,-0.56,-146.0,829.2,-9.5,243,6932,0.00,1.55,0.00,0.000,6,0.000,0.027,2498,2557,3269
$GC,7207,-0.56,-146.0,852.3,-8.4,250,7210,0.00,1.45,0.00,0.000,4,0.000,0.026,2505,1534,3268
$GC,7287,-0.56,-146.0,858.8,-6.9,251,7290,0.00,1.58,0.00,0.000,6,0.000,0.046,2500,2552,3268
$GC,7547,-0.56,-146.0,878.6,-7.7,258,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2553,3266
$GC,7791,-0.56,-146.0,898.0,-8.0,264,7794,0.00,1.48,0.00,0.000,4,0.000,0.027,2505,1536,3265
$STATE,7810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7810,begin apogee
$GC,7823,-0.23,0.0,900.4,8.7,264,7952,0.32,0.00,127.10,1.259,6,0.118,0.000,2613,2243,2690
$STATE,7953,end apogee,CONTROL_FINISHED_OK
$STATE,7953,begin climb
$GC,7958,0.56,146.0,903.4,0.0,267,8104,0.75,0.00,136.85,1.200,6,0.082,0.000,2869,2243,2094
$GC,8328,0.56,146.0,835.9,21.6,276,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2243,2085
$GC,8572,0.56,146.0,784.7,21.0,282,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2243,2083
$GC,8816,0.56,146.0,732.0,21.7,288,8819,0.00,1.60,0.00,0.000,4,0.000,0.031,2873,1188,2081
$GC,8856,0.56,146.0,722.9,19.8,288,8866,0.00,1.62,0.00,0.000,6,0.000,0.044,2873,2218,2081
$GC,9113,0.56,146.0,670.6,21.3,295,9117,0.00,1.65,0.00,0.000,4,0.000,0.049,2873,3296,2080
$GC,9137,0.56,146.0,664.2,21.6,295,9141,0.00,1.58,0.00,0.000,6,0.000,0.026,2880,2243,2079
$GC,9408,0.56,146.0,607.8,20.9,302,9412,0.00,1.58,0.00,0.000,4,0.000,0.030,2888,1162,2079
$GC,9444,0.56,146.0,600.4,18.9,302,9447,0.00,1.65,0.00,0.000,6,0.000,0.043,2888,2241,2079
$GC,9704,0.56,146.0,547.3,21.0,309,9708,0.00,1.60,0.00,0.000,4,0.000,0.050,2888,3274,2078
$GC,9755,0.56,146.0,536.8,20.7,310,9759,0.00,1.55,0.00,0.000,6,0.000,0.027,2895,2233,2078
$GC,10049,0.56,146.0,475.8,20.1,317,10053,0.00,1.55,0.00,0.000,4,0.000,0.031,2903,1169,2078
$GC,10145,0.56,146.0,457.7,18.0,319,10149,0.00,1.60,0.00,0.000,6,0.000,0.042,2903,2197,2077
$GC,10438,0.56,146.0,400.8,19.6,326,10442,0.00,1.67,0.00,0.000,4,0.000,0.048,2903,3284,2077
$GC,10513,0.56,146.0,384.8,20.3,327,10517,0.12,1.60,0.00,0.000,6,0.176,0.027,2882,2190,2076
$GC,10779,0.56,146.0,338.1,17.7,334,10783,0.00,1.70,0.00,0.000,4,0.000,0.048,2876,3291,2077
$GC,10816,0.56,146.0,330.8,18.2,334,10820,0.00,1.58,0.00,0.000,6,0.000,0.026,2882,2223,2076
$GC,11076,0.56,146.0,287.2,17.0,341,11080,0.00,1.67,0.00,0.000,4,0.000,0.047,2877,3288,2076
$GC,11099,0.56,146.0,282.8,16.8,341,11103,0.00,1.52,0.00,0.000,6,0.000,0.025,2883,2251,2076
$GC,11371,0.56,146.0,242.1,15.1,348,11372,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2245,2076
$GC,11614,0.56,146.0,206.9,14.6,354,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2245,2076
$GC,11865,0.56,146.0,168.8,17.3,372,11869,0.00,1.58,0.00,0.000,4,0.000,0.027,2891,1154,2076
$GC,11893,0.56,146.0,164.0,17.2,374,11897,0.00,1.73,0.00,0.000,6,0.000,0.039,2891,2284,2076
$GC,12165,0.56,146.0,123.4,11.9,399,12169,0.00,1.52,0.00,0.000,4,0.000,0.044,2891,3288,2076
$GC,12239,0.56,146.0,114.7,11.3,405,12243,0.00,1.50,0.00,0.000,6,0.000,0.023,2897,2252,2076
$GC,12510,0.56,146.0,85.0,11.4,430,12514,0.00,1.55,0.00,0.000,4,0.000,0.026,2899,1170,2076
$GC,12668,0.56,146.0,68.9,8.9,443,12671,0.00,1.60,0.00,0.000,6,0.000,0.038,2899,2245,2076
$GC,12945,0.57,156.3,45.5,8.2,468,12958,0.00,1.52,7.18,0.541,4,0.000,0.041,2899,3287,2053
$GC,13012,0.57,156.3,39.0,9.8,473,13015,0.00,1.55,0.00,0.000,6,0.000,0.021,2907,2207,2052
$GC,13312,0.57,156.3,8.1,11.3,514,13321,0.00,1.65,0.00,0.000,4,0.000,0.044,2905,3275,2053
$STATE,13346,end climb,SURFACE_DEPTH_REACHED
$STATE,13347,begin surface coast
$FINISH,0.2,1.023237
$STATE,13367,end surface coast,CONTROL_FINISHED_OK
$STATE,13367,begin surface
$SM_CCo,13392,94.30,0.555,0,0,1099,390.02
$SM_GC,1.08,0.00,0.00,94.30,0.000,0.000,0.555,30,2535,1099,-8.32,-1.07,390.02
$IRIDIUM_FIX,2253.38,-15810.18,251202,222234
$TT8_MAMPS,0.023777
$HUMID,2214
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,24.1,13.319
$10V_AH,10.7,13.536
$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,17.750,102.200,271.125,94.300,0.000,88.129,115.086,870.051,0.750,0.000,0.000,11.465,1125.347,8973.116,455.237,2697.424,1615.004,33.363,1278.895,0.000,2704.414,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,55.991,1258.647,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,356.937,1718.631,1783.453,697.976,1211.953,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44579,522
$CAP_FILE_SIZE,118481,0
$CFSIZE,260165632,253333504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011013,024026,2307.041,-15810.880,31,2.8,50,10.1