version: 66.04
glider: 512
mission: 4
dive: 85
start: 10 1 113 7 19 18
data:
$ID,512
$MISSION,4
$DIVE,85
$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,20
$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,-108214.85
$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,35
$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,49
$R_STBD_OVSHOOT,40
$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
$GPS1,064036,2308.760,-15809.549,42,1.5,42,10.1
$_CALLS,4
$_XMS_NAKs,27
$_XMS_TOUTs,4
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-81.7
$GPS2,071825,2308.939,-15809.604,14,1.5,14,10.1
$SPEED_LIMITS,0.235,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.226,0.098
$KALMAN_X,29242.1,227.0,258.7,-46053.4,-2957.1
$KALMAN_Y,-23288.6,201.5,141.6,68963.9,-1925.5
$MHEAD_RNG_PITCHd_Wd,56.5,28341,-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,17,begin dive
$GC,22,-0.49,-146.0,0.0,0.0,0,131,0.00,0.00,-107.00,0.000,2,0.000,0.000,10,2595,3078
$GC,137,-0.49,-146.0,2.5,-2.2,13,156,9.40,1.60,-4.43,0.000,4,0.206,0.051,2521,3645,3287
$GC,170,-0.49,-146.0,13.3,-22.0,16,179,0.00,1.60,0.00,0.000,6,0.000,0.018,2527,2531,3288
$GC,443,-0.49,-146.0,86.3,-20.6,44,447,0.00,1.40,0.00,0.000,4,0.000,0.020,2530,1510,3288
$GC,496,-0.49,-146.0,96.5,-17.0,48,505,0.00,1.55,0.00,0.000,6,0.000,0.035,2524,2538,3288
$GC,763,-0.49,-146.0,142.4,-17.1,73,766,0.00,1.42,0.00,0.000,4,0.000,0.019,2526,1517,3289
$GC,814,-0.49,-146.0,150.7,-15.9,77,818,0.00,1.52,0.00,0.000,6,0.000,0.037,2522,2522,3289
$GC,1085,-0.49,-146.0,188.7,-12.4,102,1089,0.00,1.67,0.00,0.000,4,0.000,0.043,2513,3636,3288
$GC,1205,-0.49,-146.0,204.9,-12.3,110,1208,0.00,1.55,0.00,0.000,6,0.000,0.018,2514,2537,3288
$GC,1471,-0.49,-146.0,238.6,-13.1,117,1474,0.00,1.38,0.00,0.000,4,0.000,0.020,2518,1521,3287
$GC,1566,-0.49,-146.0,251.0,-11.9,119,1570,0.00,1.52,0.00,0.000,6,0.000,0.035,2514,2535,3286
$GC,1861,-0.49,-146.0,287.1,-11.5,126,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2535,3285
$GC,2104,-0.49,-146.0,314.9,-11.6,132,2107,0.00,1.62,0.00,0.000,4,0.000,0.045,2504,3635,3283
$GC,2139,-0.49,-146.0,319.6,-12.3,132,2144,0.10,1.58,0.00,0.000,6,0.146,0.020,2535,2513,3283
$GC,2401,-0.49,-146.0,343.5,-9.0,139,2404,0.00,1.70,0.00,0.000,4,0.000,0.045,2528,3636,3280
$GC,2425,-0.49,-146.0,346.0,-8.7,139,2429,0.00,1.55,0.00,0.000,6,0.000,0.021,2528,2538,3280
$GC,2696,-0.49,-146.0,370.6,-9.3,146,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2530,3277
$GC,2940,-0.49,-146.0,395.6,-10.6,152,2944,0.00,1.40,-0.08,0.000,4,0.000,0.043,2528,1521,3297
$GC,3014,-0.49,-146.0,403.7,-9.6,153,3017,0.00,1.55,0.00,0.000,6,0.000,0.040,2524,2541,3297
$GC,3280,-0.49,-146.0,429.5,-9.6,160,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2541,3295
$GC,3525,-0.49,-146.0,451.4,-9.0,166,3529,0.00,1.65,0.00,0.000,4,0.000,0.050,2516,3645,3292
$GC,3575,-0.49,-146.0,456.4,-9.4,167,3579,0.00,1.55,0.00,0.000,6,0.000,0.023,2516,2559,3292
$GC,3869,-0.49,-146.0,485.6,-10.1,174,3873,0.00,1.42,0.00,0.000,4,0.000,0.023,2517,1526,3289
$GC,3928,-0.49,-146.0,492.0,-10.3,175,3931,0.00,1.55,0.00,0.000,6,0.000,0.041,2511,2547,3289
$GC,4210,-0.49,-146.0,521.4,-10.5,182,4214,0.00,1.65,0.00,0.000,4,0.000,0.051,2503,3625,3286
$GC,4260,-0.49,-146.0,526.8,-10.6,183,4264,0.05,1.55,0.00,0.000,6,0.137,0.024,2539,2539,3286
$GC,4556,-0.49,-146.0,550.0,-7.6,190,4559,0.00,1.40,0.00,0.000,4,0.000,0.025,2543,1527,3284
$GC,4636,-0.49,-146.0,555.9,-6.5,191,4640,0.00,1.58,0.00,0.000,6,0.000,0.045,2538,2551,3283
$GC,4897,-0.49,-146.0,574.4,-7.2,198,4900,0.00,1.45,0.00,0.000,4,0.000,0.025,2538,1533,3281
$GC,4933,-0.49,-146.0,577.5,-8.0,198,4937,0.00,1.55,0.00,0.000,6,0.000,0.045,2537,2538,3280
$GC,5195,-0.49,-146.0,596.6,-7.4,205,5198,0.00,1.65,0.00,0.000,4,0.000,0.054,2529,3629,3279
$GC,5263,-0.49,-146.0,603.0,-9.1,206,5267,0.00,1.55,0.00,0.000,6,0.000,0.025,2529,2552,3278
$GC,5536,-0.49,-146.0,625.2,-8.2,213,5539,0.00,1.42,0.00,0.000,4,0.000,0.025,2529,1527,3276
$GC,5639,-0.49,-146.0,634.3,-8.6,215,5642,0.00,1.55,0.00,0.000,6,0.000,0.045,2524,2529,3275
$GC,5922,-0.49,-146.0,658.0,-8.5,222,5925,0.00,1.67,0.00,0.000,4,0.000,0.055,2523,3630,3273
$GC,5974,-0.49,-146.0,662.4,-8.4,223,5977,0.00,1.58,0.00,0.000,6,0.000,0.025,2523,2538,3273
$GC,6268,-0.49,-146.0,685.9,-7.8,230,6271,0.00,1.42,0.00,0.000,4,0.000,0.025,2523,1516,3271
$GC,6320,-0.49,-146.0,690.4,-8.0,231,6323,0.00,1.58,0.00,0.000,6,0.000,0.047,2523,2535,3271
$GC,6610,-0.49,-146.0,712.4,-7.6,238,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3269
$GC,6854,-0.49,-146.0,731.3,-7.7,244,6858,0.00,1.45,0.00,0.000,4,0.000,0.025,2523,1522,3268
$GC,6918,-0.49,-146.0,736.4,-7.2,245,6921,0.00,1.55,0.00,0.000,6,0.000,0.048,2523,2522,3268
$GC,7195,-0.49,-146.0,755.8,-7.1,252,7199,0.00,1.70,0.00,0.000,4,0.000,0.058,2523,3633,3266
$GC,7249,-0.49,-146.0,760.0,-7.4,253,7252,0.00,1.60,0.00,0.000,6,0.000,0.027,2523,2512,3266
$GC,7537,-0.49,-146.0,780.5,-7.2,260,7541,0.00,1.38,0.00,0.000,4,0.000,0.025,2523,1524,3265
$GC,7600,-0.49,-146.0,785.2,-7.2,261,7604,0.00,1.55,0.00,0.000,6,0.000,0.047,2516,2525,3264
$GC,7879,-0.49,-146.0,805.3,-7.3,268,7882,0.00,1.45,0.00,0.000,4,0.000,0.027,2516,1511,3263
$GC,7915,-0.49,-146.0,808.3,-7.7,268,7918,0.00,1.55,0.00,0.000,6,0.000,0.046,2510,2511,3264
$GC,8175,-0.49,-146.0,826.4,-7.1,275,8179,0.00,1.75,0.00,0.000,4,0.000,0.056,2503,3635,3263
$GC,8249,-0.49,-146.0,832.3,-7.1,276,8253,0.12,1.60,0.00,0.000,6,0.127,0.026,2542,2510,3263
$GC,8516,-0.49,-146.0,845.9,-5.0,283,8520,0.00,1.38,0.00,0.000,4,0.000,0.026,2543,1527,3262
$GC,8552,-0.49,-146.0,848.0,-4.9,283,8556,0.00,1.55,0.00,0.000,6,0.000,0.049,2538,2525,3262
$GC,8812,-0.49,-146.0,861.8,-5.5,290,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2525,3261
$GC,9055,-0.49,-146.0,876.7,-6.5,296,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2525,3260
$GC,9299,-0.49,-146.0,892.1,-6.4,302,9303,0.00,1.45,0.00,0.000,4,0.000,0.028,2537,1523,3260
$GC,9351,-0.49,-146.0,895.8,-7.0,303,9354,0.00,1.58,0.00,0.000,6,0.000,0.052,2537,2526,3260
$STATE,9431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9431,begin apogee
$GC,9442,-0.20,0.0,901.4,6.8,305,9571,0.30,0.00,126.40,1.262,6,0.104,0.000,2638,2223,2690
$STATE,9572,end apogee,CONTROL_FINISHED_OK
$STATE,9572,begin climb
$GC,9577,0.49,146.0,904.0,0.0,308,9736,0.60,0.00,140.43,1.177,6,0.065,0.000,2851,2223,2094
$GC,9950,0.49,146.0,845.9,18.8,317,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2223,2084
$GC,10195,0.49,146.0,799.5,19.1,323,10198,0.00,1.73,0.00,0.000,4,0.000,0.051,2852,3294,2082
$GC,10245,0.49,146.0,789.5,19.5,324,10248,0.00,1.60,0.00,0.000,6,0.000,0.028,2859,2238,2081
$GC,10540,0.49,146.0,731.1,19.9,331,10543,0.00,1.58,0.00,0.000,4,0.000,0.030,2868,1164,2081
$GC,10634,0.49,146.0,713.8,16.7,333,10638,0.00,1.65,0.00,0.000,6,0.000,0.044,2867,2212,2080
$GC,10929,0.49,146.0,657.6,19.4,340,10932,0.00,1.65,0.00,0.000,4,0.000,0.049,2866,3295,2079
$GC,10980,0.49,146.0,646.5,20.3,341,10984,0.00,1.62,0.00,0.000,6,0.000,0.027,2871,2207,2078
$GC,11269,0.49,146.0,592.3,18.8,348,11273,0.00,1.52,0.00,0.000,4,0.000,0.030,2879,1160,2078
$GC,11344,0.49,146.0,579.2,15.0,349,11348,0.00,1.60,0.00,0.000,6,0.000,0.044,2878,2205,2078
$GC,11610,0.49,146.0,533.1,17.6,356,11614,0.00,1.67,0.00,0.000,4,0.000,0.051,2877,3284,2078
$GC,11639,0.49,146.0,527.1,18.3,356,11643,0.00,1.60,0.00,0.000,6,0.000,0.028,2883,2192,2077
$GC,11905,0.49,146.0,475.9,19.8,363,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2187,2077
$GC,12149,0.49,146.0,427.9,20.0,369,12152,0.00,1.50,0.00,0.000,4,0.000,0.030,2891,1157,2077
$GC,12199,0.49,146.0,418.7,18.0,370,12204,0.12,1.62,0.00,0.000,6,0.143,0.042,2857,2223,2076
$GC,12493,0.49,146.0,371.3,15.8,377,12497,0.00,1.62,0.00,0.000,4,0.000,0.049,2850,3275,2076
$GC,12529,0.49,146.0,365.3,15.3,377,12532,0.00,1.60,0.00,0.000,6,0.000,0.027,2856,2173,2076
$GC,12789,0.49,146.0,327.3,14.6,384,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2166,2076
$GC,13033,0.49,146.0,293.2,13.7,390,13037,0.00,1.70,0.00,0.000,4,0.000,0.045,2856,3280,2076
$GC,13074,0.49,146.0,286.8,14.6,390,13083,0.00,1.60,0.00,0.000,6,0.000,0.027,2860,2208,2076
$GC,13331,0.49,146.0,250.7,14.1,397,13334,0.00,1.52,0.00,0.000,4,0.000,0.029,2865,1150,2076
$GC,13399,0.49,146.0,241.4,11.8,398,13403,0.00,1.60,0.00,0.000,6,0.000,0.041,2865,2188,2075
$GC,13671,0.49,146.0,203.0,14.8,405,13674,0.00,1.65,0.00,0.000,4,0.000,0.046,2863,3287,2076
$GC,13735,0.49,146.0,193.2,13.5,407,13743,0.00,1.62,0.00,0.000,6,0.000,0.025,2869,2182,2075
$GC,14000,0.49,146.0,159.2,11.5,432,14004,0.00,1.73,0.00,0.000,4,0.000,0.046,2869,3284,2076
$GC,14132,0.49,146.0,142.1,13.0,443,14140,0.00,1.48,0.00,0.000,6,0.000,0.025,2873,2282,2076
$GC,14398,0.49,146.0,111.3,10.9,468,14402,0.00,1.60,0.00,0.000,4,0.000,0.026,2881,1157,2076
$GC,14542,0.49,146.0,95.9,10.9,480,14552,0.00,1.67,0.00,0.000,6,0.000,0.037,2875,2256,2076
$GC,14809,0.49,146.0,69.1,8.6,505,14813,0.00,1.60,0.00,0.000,4,0.000,0.024,2882,1139,2075
$GC,14886,0.50,184.0,63.2,7.1,511,14920,0.00,1.55,29.73,0.629,6,0.000,0.037,2876,2160,1938
$GC,15181,0.50,184.0,41.4,9.3,537,15184,0.00,1.67,0.00,0.000,4,0.000,0.041,2876,3286,1935
$GC,15310,0.50,184.0,26.6,11.8,549,15319,0.00,1.62,0.00,0.000,6,0.000,0.021,2882,2163,1934
$STATE,15540,end climb,SURFACE_DEPTH_REACHED
$STATE,15540,begin surface coast
$FINISH,0.2,1.022748
$STATE,15572,end surface coast,CONTROL_FINISHED_OK
$STATE,15573,begin surface
$SM_CCo,15597,81.40,0.549,0,0,1098,390.02
$SM_GC,1.15,0.00,0.00,81.40,0.000,0.000,0.549,32,2585,1098,-8.32,0.37,390.02
$IRIDIUM_FIX,2258.07,-15809.31,261202,070716
$TT8_MAMPS,0.023777
$HUMID,2191
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.50
$XPDR_PINGS,4
$24V_AH,24.1,13.685
$10V_AH,10.6,13.926
$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,17.825,120.200,296.550,81.400,0.000,117.281,149.655,1632.894,1.000,0.000,0.000,14.063,1289.569,10526.689,477.988,3109.735,2544.396,33.360,1452.851,0.000,3143.860,0.000,0.546,0.000
$DEVICE_MAMPS,206.323,58.292,1261.715,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,403.387,1943.721,2026.713,610.464,1316.891,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50886,590
$CAP_FILE_SIZE,151910,0
$CFSIZE,260165632,253169664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,011013,114206,2309.689,-15807.915,40,0.9,40,10.1