version: 66.04
glider: 512
mission: 4
dive: 86
start: 10 1 113 11 58 29
data:
$ID,512
$MISSION,4
$DIVE,86
$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,-108228.66
$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,56
$R_STBD_OVSHOOT,36
$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
$GPS1,114206,2309.689,-15807.915,40,0.9,40,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.5
$GPS2,115736,2309.720,-15807.975,13,2.0,13,10.1
$SPEED_LIMITS,0.235,0.246
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.073
$KALMAN_X,27689.5,229.8,-71.4,-41389.8,-2630.4
$KALMAN_Y,-23723.3,186.7,107.5,70903.1,-1483.8
$MHEAD_RNG_PITCHd_Wd,62.7,25502,-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,-0.49,-146.0,0.0,0.0,0,89,0.00,0.00,-69.15,0.000,2,0.000,0.000,11,2579,2737
$GC,95,-0.49,-146.0,2.0,-1.3,8,124,9.43,1.58,-14.12,0.000,4,0.202,0.041,2540,1497,3288
$GC,142,-0.49,-146.0,10.7,-17.0,13,150,0.00,1.62,0.00,0.000,6,0.000,0.035,2534,2561,3288
$GC,425,-0.49,-146.0,76.6,-19.8,44,429,0.00,1.50,0.00,0.000,4,0.000,0.019,2535,1498,3289
$GC,480,-0.49,-146.0,87.2,-17.2,48,489,0.00,1.60,0.00,0.000,6,0.000,0.038,2528,2544,3290
$GC,747,-0.49,-146.0,127.6,-15.4,73,751,0.00,1.48,0.00,0.000,4,0.000,0.019,2530,1495,3290
$GC,843,-0.49,-146.0,142.1,-14.5,81,847,0.00,1.55,0.00,0.000,6,0.000,0.037,2524,2515,3291
$GC,1116,-0.49,-146.0,179.7,-13.4,106,1119,0.00,1.67,0.00,0.000,4,0.000,0.045,2515,3642,3290
$GC,1316,-0.49,-146.0,203.3,-12.0,122,1320,0.00,1.60,0.00,0.000,6,0.000,0.019,2517,2494,3290
$GC,1593,-0.49,-146.0,236.8,-12.2,129,1597,0.00,1.38,0.00,0.000,4,0.000,0.021,2521,1490,3290
$GC,1634,-0.49,-146.0,242.4,-12.3,129,1644,0.00,1.58,0.00,0.000,6,0.000,0.036,2515,2536,3290
$GC,1891,-0.49,-146.0,275.7,-13.6,136,1895,0.00,1.45,0.00,0.000,4,0.000,0.020,2521,1497,3289
$GC,1932,-0.49,-146.0,281.6,-12.1,136,1940,0.00,1.58,0.00,0.000,6,0.000,0.038,2515,2538,3289
$GC,2186,-0.49,-146.0,312.3,-12.3,143,2190,0.00,1.65,0.00,0.000,4,0.000,0.047,2507,3628,3288
$GC,2282,-0.49,-146.0,323.7,-11.5,145,2287,0.08,1.55,0.00,0.000,6,0.133,0.020,2535,2524,3287
$GC,2576,-0.49,-146.0,351.3,-8.9,152,2580,0.00,1.35,0.00,0.000,4,0.000,0.022,2536,1534,3285
$GC,2600,-0.49,-146.0,353.7,-9.0,152,2603,0.00,1.58,0.00,0.000,6,0.000,0.041,2535,2570,3285
$GC,2871,-0.49,-146.0,377.4,-9.0,159,2875,0.00,1.60,0.00,0.000,4,0.000,0.048,2527,3645,3283
$GC,2903,-0.49,-146.0,380.5,-9.3,159,2906,0.00,1.50,0.00,0.000,6,0.000,0.022,2526,2593,3282
$GC,3170,-0.49,-146.0,407.9,-10.7,166,3173,0.00,1.48,0.00,0.000,4,0.000,0.024,2527,1527,3280
$GC,3255,-0.49,-146.0,417.4,-10.2,167,3263,0.00,1.60,0.00,0.000,6,0.000,0.042,2523,2572,3280
$GC,3510,-0.49,-146.0,443.4,-10.1,174,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2571,3278
$GC,3753,-0.49,-146.0,467.7,-10.0,180,3755,0.00,0.00,-0.08,0.000,6,0.000,0.000,2523,2572,3301
$GC,3997,-0.49,-146.0,492.3,-10.0,186,4000,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1525,3299
$GC,4048,-0.49,-146.0,497.0,-8.9,187,4051,0.00,1.60,0.00,0.000,6,0.000,0.044,2523,2564,3299
$GC,4342,-0.49,-146.0,523.6,-8.9,194,4345,0.00,1.62,0.00,0.000,4,0.000,0.054,2521,3621,3296
$GC,4410,-0.49,-146.0,530.1,-9.4,195,4414,0.00,1.50,0.00,0.000,6,0.000,0.025,2521,2575,3295
$GC,4683,-0.49,-146.0,552.2,-8.2,202,4687,0.00,1.48,0.00,0.000,4,0.000,0.025,2520,1521,3294
$GC,4808,-0.49,-146.0,562.9,-8.4,204,4811,0.00,1.55,0.00,0.000,6,0.000,0.044,2516,2529,3293
$GC,5069,-0.49,-146.0,587.1,-9.7,211,5072,0.00,1.67,0.00,0.000,4,0.000,0.052,2507,3638,3291
$GC,5110,-0.49,-146.0,591.9,-10.4,211,5118,0.00,1.58,0.00,0.000,6,0.000,0.025,2507,2537,3290
$GC,5364,-0.49,-146.0,618.7,-10.7,218,5368,0.12,1.42,0.00,0.000,4,0.132,0.025,2546,1505,3290
$GC,5406,-0.49,-146.0,622.8,-8.4,218,5414,0.00,1.60,0.00,0.000,6,0.000,0.044,2540,2542,3289
$GC,5661,-0.49,-146.0,643.6,-8.3,225,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2542,3288
$GC,5904,-0.49,-146.0,662.6,-7.7,231,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2542,3286
$GC,6148,-0.49,-146.0,679.0,-6.6,237,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2542,3285
$GC,6392,-0.49,-146.0,693.3,-5.9,243,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2542,3283
$GC,6635,-0.49,-146.0,707.3,-5.8,249,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2542,3282
$GC,6879,-0.49,-146.0,723.0,-6.5,255,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2542,3281
$GC,7123,-0.49,-146.0,738.9,-6.6,261,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2542,3280
$GC,7367,-0.49,-146.0,754.6,-6.5,267,7370,0.00,1.67,0.00,0.000,4,0.000,0.058,2536,3634,3279
$GC,7403,-0.49,-146.0,757.4,-7.2,267,7406,0.00,1.60,0.00,0.000,6,0.000,0.028,2536,2518,3278
$GC,7664,-0.49,-146.0,774.8,-6.8,274,7668,0.00,1.38,0.00,0.000,4,0.000,0.027,2536,1532,3277
$GC,7759,-0.49,-146.0,781.5,-6.7,276,7763,0.00,1.55,0.00,0.000,6,0.000,0.048,2536,2523,3277
$GC,8054,-0.49,-146.0,801.9,-6.8,283,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2523,3276
$GC,8299,-0.49,-146.0,818.0,-6.5,289,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2523,3276
$GC,8543,-0.49,-146.0,833.5,-6.3,295,8546,0.00,1.70,0.00,0.000,4,0.000,0.058,2528,3630,3275
$GC,8573,-0.49,-146.0,835.8,-6.8,295,8576,0.00,1.62,0.00,0.000,6,0.000,0.028,2528,2519,3274
$GC,8839,-0.49,-146.0,853.3,-6.7,302,8842,0.00,1.40,0.00,0.000,4,0.000,0.028,2528,1524,3274
$GC,8908,-0.49,-146.0,858.3,-7.0,303,8911,0.00,1.50,0.00,0.000,6,0.000,0.049,2524,2485,3273
$GC,9181,-0.49,-146.0,877.5,-7.2,310,9184,0.00,1.77,0.00,0.000,4,0.000,0.059,2522,3635,3273
$GC,9233,-0.49,-146.0,881.6,-7.1,311,9236,0.00,1.65,0.00,0.000,6,0.000,0.028,2522,2510,3273
$STATE,9516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9516,begin apogee
$GC,9528,-0.20,0.0,901.8,7.1,318,9659,0.35,0.00,129.10,1.266,6,0.109,0.000,2638,2225,2690
$STATE,9660,end apogee,CONTROL_FINISHED_OK
$STATE,9660,begin climb
$GC,9666,0.49,146.0,904.3,0.0,321,9828,0.62,1.80,140.20,1.177,4,0.062,0.049,2857,3280,2093
$GC,9860,0.49,146.0,877.9,19.5,326,9864,0.00,1.65,0.00,0.000,6,0.000,0.028,2864,2237,2089
$GC,10154,0.49,146.0,816.9,21.1,333,10157,0.00,1.60,0.00,0.000,4,0.000,0.030,2873,1161,2084
$GC,10223,0.49,146.0,802.5,18.3,334,10227,0.00,1.65,0.00,0.000,6,0.000,0.044,2872,2217,2082
$GC,10494,0.49,146.0,745.5,21.5,341,10498,0.00,1.67,0.00,0.000,4,0.000,0.049,2873,3282,2081
$GC,10524,0.49,146.0,738.3,22.5,341,10528,0.00,1.62,0.00,0.000,6,0.000,0.028,2880,2186,2081
$GC,10790,0.49,146.0,681.9,21.5,348,10794,0.00,1.73,0.00,0.000,4,0.000,0.048,2878,3289,2080
$GC,10808,0.49,146.0,677.2,21.0,348,10812,0.00,1.65,0.00,0.000,6,0.000,0.027,2884,2192,2080
$GC,11086,0.49,146.0,620.3,20.6,355,11090,0.00,1.50,0.00,0.000,4,0.000,0.031,2891,1163,2079
$GC,11149,0.49,146.0,607.2,18.8,356,11154,0.10,1.60,0.00,0.000,6,0.137,0.044,2857,2186,2079
$GC,11427,0.49,146.0,563.6,15.5,363,11430,0.00,1.67,0.00,0.000,4,0.000,0.049,2850,3288,2078
$GC,11458,0.49,146.0,558.5,15.5,363,11461,0.00,1.62,0.00,0.000,6,0.000,0.027,2856,2181,2078
$GC,11724,0.49,146.0,518.3,15.3,370,11728,0.00,1.50,0.00,0.000,4,0.000,0.032,2860,1157,2078
$GC,11766,0.49,146.0,511.1,14.8,370,11774,0.00,1.62,0.00,0.000,6,0.000,0.044,2860,2197,2077
$GC,12020,0.49,146.0,470.6,16.2,377,12024,0.00,1.65,0.00,0.000,4,0.000,0.049,2860,3284,2078
$GC,12100,0.49,146.0,456.1,16.9,378,12103,0.00,1.60,0.00,0.000,6,0.000,0.028,2868,2189,2077
$GC,12361,0.49,146.0,411.6,17.3,385,12362,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2182,2077
$GC,12606,0.49,146.0,369.7,17.0,391,12609,0.00,1.50,0.00,0.000,4,0.000,0.031,2873,1160,2077
$GC,12648,0.49,146.0,362.3,14.8,391,12656,0.00,1.67,0.00,0.000,6,0.000,0.042,2873,2241,2077
$GC,12903,0.49,146.0,321.5,16.2,398,12906,0.00,1.60,0.00,0.000,4,0.000,0.048,2873,3276,2077
$GC,12927,0.49,146.0,317.0,16.3,398,12930,0.00,1.55,0.00,0.000,6,0.000,0.026,2881,2222,2077
$GC,13198,0.49,146.0,273.3,16.1,405,13202,0.00,1.65,0.00,0.000,4,0.000,0.045,2875,3295,2076
$GC,13249,0.49,146.0,265.0,15.7,406,13253,0.00,1.55,0.00,0.000,6,0.000,0.026,2882,2244,2077
$GC,13543,0.49,146.0,217.5,16.7,413,13547,0.00,1.55,0.00,0.000,4,0.000,0.028,2889,1164,2076
$GC,13674,0.49,146.0,197.3,13.2,415,13683,0.10,1.58,0.00,0.000,6,0.128,0.041,2855,2190,2076
$GC,13944,0.49,146.0,167.2,10.0,440,13948,0.00,1.65,0.00,0.000,4,0.000,0.045,2855,3289,2076
$GC,14052,0.49,146.0,154.5,11.1,449,14060,0.00,1.58,0.00,0.000,6,0.000,0.025,2859,2211,2076
$GC,14317,0.49,146.0,126.2,10.4,474,14321,0.00,1.50,0.00,0.000,4,0.000,0.027,2868,1156,2076
$GC,14414,0.49,146.0,116.7,9.5,482,14418,0.00,1.55,0.00,0.000,6,0.000,0.037,2865,2172,2077
$GC,14691,0.50,161.8,90.1,7.9,507,14711,0.00,0.00,11.70,0.625,6,0.000,0.000,2865,2171,2031
$GC,14968,0.50,172.1,65.4,8.2,533,14984,0.00,1.50,10.48,0.591,4,0.000,0.023,2869,1174,1987
$GC,15073,0.51,186.0,58.1,8.0,541,15096,0.00,1.52,12.38,0.588,6,0.000,0.035,2869,2178,1934
$GC,15358,0.51,186.0,34.2,8.7,567,15361,0.00,1.65,0.00,0.000,4,0.000,0.043,2869,3284,1932
$GC,15436,0.51,186.0,26.2,9.0,576,15446,0.00,1.58,0.00,0.000,6,0.000,0.022,2870,2197,1932
$STATE,15715,end climb,SURFACE_DEPTH_REACHED
$STATE,15715,begin surface coast
$FINISH,0.3,1.023251
$STATE,15760,end surface coast,CONTROL_FINISHED_OK
$STATE,15760,begin surface
$SM_CCo,15785,81.88,0.546,0,0,1099,390.02
$SM_GC,1.04,0.00,0.00,81.88,0.000,0.000,0.546,32,2597,1099,-8.31,0.76,390.02
$IRIDIUM_FIX,2300.41,-15808.43,261202,111153
$TT8_MAMPS,0.023777
$HUMID,2163
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,26.20
$XPDR_PINGS,4
$24V_AH,24.1,13.835
$10V_AH,10.7,14.135
$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,17.975,114.525,303.850,81.875,0.000,53.045,72.335,544.102,1.000,0.000,0.000,13.175,1326.096,10512.205,464.123,3193.616,1295.048,33.364,1448.111,0.000,3203.858,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,59.059,1265.550,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,428.089,2063.846,2130.221,513.749,1419.645,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54136,627
$CAP_FILE_SIZE,129788,0
$CFSIZE,260165632,253120512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,011013,162433,2310.783,-15806.013,45,2.0,48,10.1