version: 66.04
glider: 512
mission: 4
dive: 84
start: 10 1 113 2 56 57
data:
$ID,512
$MISSION,4
$DIVE,84
$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,-108200.16
$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,90
$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
$GPS1,024026,2307.041,-15810.880,31,2.8,50,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-79.4
$GPS2,025600,2307.082,-15810.926,12,1.3,17,10.1
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.155,0.192
$KALMAN_X,30696.1,80.6,-114.9,-49236.0,-1734.6
$KALMAN_Y,-23537.2,459.7,433.1,65222.8,-3754.8
$MHEAD_RNG_PITCHd_Wd,28.8,30997,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-76.85,0.000,2,0.000,0.000,11,2530,2923
$GC,102,-0.56,-146.0,2.0,-1.7,9,130,9.27,1.40,-8.52,0.000,4,0.204,0.040,2514,1517,3286
$GC,148,-0.56,-146.0,14.5,-25.9,14,157,0.00,1.60,0.00,0.000,6,0.000,0.039,2507,2559,3287
$GC,429,-0.56,-146.0,89.5,-20.1,43,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2559,3288
$GC,695,-0.56,-146.0,142.3,-18.5,68,698,0.00,1.45,0.00,0.000,4,0.000,0.018,2510,1517,3288
$GC,769,-0.56,-146.0,154.2,-13.8,74,772,0.00,1.58,0.00,0.000,6,0.000,0.036,2505,2563,3288
$GC,1040,-0.56,-146.0,193.7,-14.3,99,1044,0.00,1.60,0.00,0.000,4,0.000,0.045,2497,3643,3289
$GC,1121,-0.56,-146.0,206.4,-14.8,103,1125,0.00,1.50,0.00,0.000,6,0.000,0.019,2502,2580,3288
$GC,1381,-0.56,-146.0,242.0,-13.6,110,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2571,3289
$GC,1625,-0.56,-146.0,276.0,-14.1,116,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2571,3288
$GC,1868,-0.56,-146.0,307.7,-12.7,122,1872,0.00,1.45,0.00,0.000,4,0.000,0.021,2510,1517,3287
$GC,1918,-0.56,-146.0,313.9,-12.3,123,1922,0.00,1.58,0.00,0.000,6,0.000,0.038,2505,2558,3287
$GC,2213,-0.56,-146.0,353.4,-13.4,130,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2559,3284
$GC,2458,-0.56,-146.0,383.4,-12.2,136,2461,0.00,1.60,0.00,0.000,4,0.000,0.047,2497,3638,3282
$GC,2565,-0.56,-146.0,397.8,-12.8,138,2569,0.00,1.52,0.00,0.000,6,0.000,0.021,2502,2560,3282
$GC,2843,-0.56,-146.0,428.6,-11.1,145,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2552,3279
$GC,3088,-0.56,-146.0,454.2,-10.4,151,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2553,3277
$GC,3332,-0.56,-146.0,478.7,-9.8,157,3334,0.00,0.00,-0.08,0.000,6,0.000,0.000,2503,2552,3300
$GC,3576,-0.56,-146.0,505.0,-10.9,163,3579,0.00,1.42,0.00,0.000,4,0.000,0.023,2510,1526,3298
$GC,3670,-0.56,-146.0,515.4,-10.3,165,3674,0.00,1.58,0.00,0.000,6,0.000,0.041,2505,2556,3298
$GC,3965,-0.56,-146.0,547.4,-10.8,172,3968,0.00,1.60,0.00,0.000,4,0.000,0.049,2496,3627,3295
$GC,4059,-0.56,-146.0,557.9,-10.3,174,4063,0.00,1.50,0.00,0.000,6,0.000,0.023,2502,2584,3294
$GC,4354,-0.56,-146.0,587.6,-10.0,181,4357,0.00,1.48,0.00,0.000,4,0.000,0.024,2508,1523,3293
$GC,4417,-0.56,-146.0,594.2,-9.6,182,4420,0.00,1.60,0.00,0.000,6,0.000,0.043,2502,2565,3292
$GC,4694,-0.56,-146.0,622.8,-10.7,189,4697,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3630,3290
$GC,4744,-0.56,-146.0,628.4,-10.9,190,4748,0.00,1.52,0.00,0.000,6,0.000,0.025,2500,2577,3289
$GC,5038,-0.56,-146.0,658.8,-9.8,197,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2569,3288
$GC,5282,-0.56,-146.0,682.0,-9.4,203,5285,0.00,1.50,0.00,0.000,4,0.000,0.025,2508,1505,3286
$GC,5311,-0.56,-146.0,685.0,-8.8,203,5315,0.00,1.60,0.00,0.000,6,0.000,0.044,2502,2567,3286
$GC,5578,-0.56,-146.0,707.7,-8.6,210,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2567,3284
$GC,5821,-0.56,-146.0,729.5,-9.0,216,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2567,3283
$GC,6064,-0.56,-146.0,750.5,-8.6,222,6068,0.00,1.62,0.00,0.000,4,0.000,0.054,2493,3639,3281
$GC,6105,-0.56,-146.0,754.5,-10.0,222,6113,0.00,1.55,0.00,0.000,6,0.000,0.027,2500,2566,3280
$GC,6361,-0.56,-146.0,775.2,-8.2,229,6365,0.00,1.48,0.00,0.000,4,0.000,0.027,2507,1523,3279
$GC,6441,-0.56,-146.0,782.0,-7.9,230,6445,0.00,1.60,0.00,0.000,6,0.000,0.047,2502,2579,3279
$GC,6701,-0.56,-146.0,803.8,-8.6,237,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2581,3278
$GC,6945,-0.56,-146.0,826.3,-9.3,243,6949,0.00,1.52,0.00,0.000,4,0.000,0.027,2507,1523,3277
$GC,6986,-0.56,-146.0,830.4,-8.8,243,6995,0.00,1.60,0.00,0.000,6,0.000,0.047,2502,2554,3277
$GC,7243,-0.56,-146.0,852.7,-8.9,250,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2554,3275
$GC,7486,-0.56,-146.0,874.2,-8.8,256,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2554,3274
$GC,7730,-0.56,-146.0,895.3,-8.7,262,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2554,3274
$STATE,7804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7804,begin apogee
$GC,7815,-0.23,0.0,902.7,8.7,264,7946,0.38,0.00,128.25,1.262,6,0.116,0.000,2626,2212,2690
$STATE,7947,end apogee,CONTROL_FINISHED_OK
$STATE,7947,begin climb
$GC,7952,0.56,146.0,905.8,0.0,267,8105,0.70,0.00,138.60,1.186,6,0.074,0.000,2871,2212,2094
$GC,8322,0.56,146.0,838.0,21.8,276,8326,0.00,1.73,0.00,0.000,4,0.000,0.048,2871,3299,2084
$GC,8346,0.56,146.0,831.7,23.4,276,8350,0.00,1.62,0.00,0.000,6,0.000,0.027,2879,2233,2084
$GC,8619,0.56,146.0,770.4,23.0,283,8622,0.00,1.58,0.00,0.000,4,0.000,0.030,2887,1169,2083
$GC,8713,0.56,146.0,750.1,21.0,285,8717,0.00,1.62,0.00,0.000,6,0.000,0.043,2887,2195,2081
$GC,9008,0.56,146.0,682.8,22.9,292,9012,0.00,1.67,0.00,0.000,4,0.000,0.049,2886,3289,2081
$GC,9071,0.56,146.0,666.9,24.1,293,9075,0.00,1.65,0.00,0.000,6,0.000,0.027,2895,2191,2080
$GC,9347,0.56,146.0,605.3,22.4,300,9351,0.00,1.50,0.00,0.000,4,0.000,0.029,2902,1161,2079
$GC,9456,0.56,146.0,581.8,20.2,302,9460,0.00,1.58,0.00,0.000,6,0.000,0.043,2902,2171,2078
$GC,9733,0.56,146.0,522.5,21.9,309,9734,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2170,2078
$GC,9977,0.56,146.0,469.3,21.7,315,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2170,2078
$GC,10221,0.56,146.0,417.4,20.8,321,10224,0.00,1.70,0.00,0.000,4,0.000,0.049,2903,3289,2077
$GC,10261,0.56,146.0,407.9,21.4,321,10271,0.00,1.67,0.00,0.000,6,0.000,0.026,2912,2164,2076
$GC,10518,0.56,146.0,355.0,21.1,328,10522,0.12,1.73,0.00,0.000,4,0.174,0.045,2878,3283,2076
$GC,10537,0.56,146.0,350.0,20.9,328,10540,0.00,1.60,0.00,0.000,6,0.000,0.027,2885,2185,2076
$GC,10813,0.56,146.0,301.3,17.6,335,10817,0.00,1.48,0.00,0.000,4,0.000,0.028,2892,1158,2076
$GC,10863,0.56,146.0,292.5,18.2,336,10867,0.00,1.62,0.00,0.000,6,0.000,0.041,2892,2228,2076
$GC,11158,0.56,146.0,244.2,16.0,343,11162,0.00,1.58,0.00,0.000,4,0.000,0.027,2897,1165,2076
$GC,11171,0.56,146.0,241.5,15.8,343,11175,0.00,1.62,0.00,0.000,6,0.000,0.041,2897,2245,2076
$GC,11454,0.56,146.0,196.2,15.9,350,11457,0.00,1.60,0.00,0.000,4,0.000,0.028,2902,1160,2075
$GC,11526,0.56,146.0,185.3,13.9,356,11530,0.00,1.58,0.00,0.000,6,0.000,0.040,2902,2185,2076
$GC,11798,0.56,146.0,145.8,14.3,381,11802,0.00,1.65,0.00,0.000,4,0.000,0.045,2902,3288,2076
$GC,11873,0.56,146.0,134.3,15.2,387,11877,0.12,1.65,0.00,0.000,6,0.162,0.025,2880,2135,2076
$GC,12148,0.56,146.0,101.1,13.0,412,12151,0.00,1.40,0.00,0.000,4,0.000,0.026,2886,1146,2076
$GC,12270,0.56,146.0,86.6,10.6,422,12279,0.00,1.55,0.00,0.000,6,0.000,0.038,2886,2168,2076
$GC,12537,0.57,177.2,63.9,7.3,447,12566,0.00,1.73,24.23,0.625,4,0.000,0.042,2886,3281,1966
$GC,12597,0.59,205.3,59.8,7.5,451,12626,0.00,1.60,23.75,0.610,6,0.000,0.022,2894,2162,1852
$GC,12888,0.59,205.3,31.5,9.6,477,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2160,1849
$STATE,13117,end climb,SURFACE_DEPTH_REACHED
$STATE,13117,begin surface coast
$FINISH,0.3,1.023220
$STATE,13144,end surface coast,CONTROL_FINISHED_OK
$STATE,13144,begin surface
$SM_CCo,13169,159.77,0.546,0,0,399,561.97
$SM_GC,1.09,0.00,0.00,159.77,0.000,0.000,0.546,25,2597,399,-8.31,0.76,561.97
$IRIDIUM_FIX,2300.41,-15811.48,261202,030310
$TT8_MAMPS,0.024544
$HUMID,2142
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.50
$XPDR_PINGS,2
$24V_AH,24.1,13.464
$10V_AH,10.6,13.709
$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,17.775,79.850,314.825,159.775,0.000,136.284,375.794,0.000,0.500,0.000,0.000,21.980,1080.653,9043.090,547.358,2568.542,1024.597,33.364,1317.548,0.000,2583.300,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,53.690,1262.482,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,352.866,1701.421,1761.806,288.735,1175.338,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44544,517
$CAP_FILE_SIZE,95207,0
$CFSIZE,260165632,253267968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,011013,064036,2308.760,-15809.549,42,1.5,42,10.1