version: 66.04
glider: 512
mission: 4
dive: 87
start: 10 1 113 16 38 18
data:
$ID,512
$MISSION,4
$DIVE,87
$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,300
$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,-108243.89
$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,37
$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,62
$R_STBD_OVSHOOT,39
$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
$GPS1,162433,2310.783,-15806.013,45,2.0,48,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-81.7
$GPS2,163701,2310.848,-15806.101,14,1.7,14,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.279,0.057
$KALMAN_X,25885.7,130.6,165.0,-36521.7,-2631.6
$KALMAN_Y,-23398.2,368.9,314.7,72273.2,-1188.4
$MHEAD_RNG_PITCHd_Wd,68.4,22361,-15.6,-10.000
$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,13,begin dive
$GC,18,-0.48,-146.0,0.0,0.0,0,102,0.00,0.00,-82.18,0.000,2,0.000,0.000,11,2592,3067
$GC,108,-0.48,-146.0,2.2,-1.9,10,127,9.35,1.60,-4.72,0.000,4,0.202,0.051,2525,3646,3287
$GC,147,-0.48,-146.0,15.4,-32.8,14,156,0.00,1.58,0.00,0.000,6,0.000,0.020,2530,2565,3288
$GC,425,-0.48,-146.0,83.8,-16.8,42,428,0.00,1.48,0.00,0.000,4,0.000,0.021,2535,1503,3289
$GC,498,-0.48,-146.0,95.7,-16.0,48,502,0.00,1.60,0.00,0.000,6,0.000,0.038,2529,2554,3289
$GC,770,-0.48,-146.0,138.7,-16.1,73,774,0.00,1.48,0.00,0.000,4,0.000,0.019,2530,1498,3290
$GC,865,-0.48,-146.0,153.6,-15.5,81,869,0.00,1.60,0.00,0.000,6,0.000,0.038,2524,2551,3290
$GC,1138,-0.48,-146.0,195.6,-15.1,106,1142,0.00,1.62,0.00,0.000,4,0.000,0.044,2517,3629,3290
$GC,1313,-0.48,-146.0,221.1,-12.6,112,1321,0.00,1.55,0.00,0.000,6,0.000,0.019,2518,2520,3289
$GC,1568,-0.48,-146.0,253.3,-12.8,119,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2520,3289
$GC,1811,-0.48,-146.0,282.6,-11.9,125,1815,0.00,1.35,0.00,0.000,4,0.000,0.021,2521,1536,3288
$GC,1874,-0.48,-146.0,289.8,-10.2,126,1877,0.00,1.50,0.00,0.000,6,0.000,0.036,2516,2533,3288
$GC,2152,-0.48,-146.0,321.9,-12.0,133,2156,0.00,1.62,0.00,0.000,4,0.000,0.044,2507,3634,3286
$GC,2276,-0.48,-146.0,337.4,-12.2,135,2280,0.05,1.52,0.00,0.000,6,0.146,0.020,2539,2545,3285
$GC,2538,-0.48,-146.0,363.4,-9.9,142,2541,0.00,1.38,0.00,0.000,4,0.000,0.022,2546,1538,3284
$GC,2601,-0.48,-146.0,370.1,-10.0,143,2605,0.00,1.50,0.00,0.000,6,0.000,0.038,2540,2529,3283
$GC,2879,-0.48,-146.0,396.6,-9.7,150,2882,0.00,1.65,0.00,0.000,4,0.000,0.048,2532,3638,3281
$GC,2910,-0.48,-146.0,400.0,-9.7,150,2914,0.00,1.55,0.00,0.000,6,0.000,0.021,2532,2547,3280
$GC,3177,-0.48,-146.0,425.0,-9.3,157,3181,0.00,1.40,0.00,0.000,4,0.000,0.022,2533,1525,3279
$GC,3258,-0.48,-146.0,432.6,-8.4,158,3261,0.00,1.52,0.00,0.000,6,0.000,0.040,2525,2527,3278
$GC,3518,-0.48,-146.0,456.8,-9.4,165,3520,0.00,0.00,-0.08,0.000,6,0.000,0.000,2525,2527,3300
$GC,3762,-0.48,-146.0,478.9,-9.1,171,3765,0.00,1.42,0.00,0.000,4,0.000,0.023,2526,1524,3299
$GC,3798,-0.48,-146.0,482.5,-8.6,171,3801,0.00,1.50,0.00,0.000,6,0.000,0.041,2524,2507,3298
$GC,4060,-0.48,-146.0,504.9,-8.7,178,4063,0.00,1.70,0.00,0.000,4,0.000,0.051,2522,3637,3296
$GC,4145,-0.48,-146.0,513.0,-9.4,179,4153,0.00,1.60,0.00,0.000,6,0.000,0.023,2522,2523,3296
$GC,4400,-0.48,-146.0,535.7,-9.0,186,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2523,3294
$GC,4644,-0.48,-146.0,557.7,-9.1,192,4647,0.00,1.70,0.00,0.000,4,0.000,0.049,2513,3641,3292
$GC,4675,-0.48,-146.0,561.0,-10.2,192,4679,0.00,1.62,0.00,0.000,6,0.000,0.024,2514,2492,3292
$GC,4942,-0.48,-146.0,587.4,-10.0,199,4946,0.00,1.35,0.00,0.000,4,0.000,0.025,2521,1513,3291
$GC,4985,-0.48,-146.0,591.9,-10.2,199,4993,0.00,1.52,0.00,0.000,6,0.000,0.042,2516,2510,3290
$GC,5240,-0.48,-146.0,615.1,-9.2,206,5243,0.00,1.70,0.00,0.000,4,0.000,0.052,2507,3634,3288
$GC,5281,-0.48,-146.0,619.4,-9.1,206,5290,0.08,1.62,0.00,0.000,6,0.121,0.024,2537,2501,3288
$GC,5536,-0.48,-146.0,637.6,-7.0,213,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2501,3286
$GC,5780,-0.48,-146.0,654.5,-6.9,219,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2501,3285
$GC,6023,-0.48,-146.0,670.2,-6.4,225,6027,0.00,1.38,0.00,0.000,4,0.000,0.025,2544,1518,3283
$GC,6059,-0.48,-146.0,672.9,-6.5,225,6063,0.00,1.55,0.00,0.000,6,0.000,0.044,2539,2525,3283
$GC,6321,-0.48,-146.0,688.9,-6.3,232,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2525,3282
$GC,6566,-0.48,-146.0,704.6,-6.3,238,6569,0.00,1.45,0.00,0.000,4,0.000,0.027,2538,1515,3281
$GC,6609,-0.48,-146.0,707.6,-6.1,238,6616,0.00,1.55,0.00,0.000,6,0.000,0.048,2537,2517,3280
$GC,6863,-0.48,-146.0,723.5,-6.1,245,6867,0.00,1.73,0.00,0.000,4,0.000,0.058,2537,3641,3278
$GC,6915,-0.48,-146.0,727.2,-6.4,246,6919,0.00,1.60,0.00,0.000,6,0.000,0.027,2536,2518,3279
$GC,7205,-0.48,-146.0,747.2,-7.2,253,7209,0.00,1.40,0.00,0.000,4,0.000,0.026,2537,1512,3278
$GC,7235,-0.48,-146.0,749.8,-7.8,253,7239,0.00,1.58,0.00,0.000,6,0.000,0.047,2536,2525,3277
$GC,7501,-0.48,-146.0,769.2,-7.4,260,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2525,3276
$GC,7745,-0.48,-146.0,786.2,-6.9,266,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2525,3276
$GC,7988,-0.48,-146.0,802.0,-6.4,272,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2525,3274
$GC,8232,-0.48,-146.0,816.8,-6.0,278,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2525,3274
$GC,8476,-0.48,-146.0,831.1,-5.9,284,8479,0.00,1.45,0.00,0.000,4,0.000,0.028,2536,1525,3273
$GC,8506,-0.48,-146.0,833.2,-6.4,284,8509,0.00,1.55,0.00,0.000,6,0.000,0.051,2536,2515,3273
$GC,8772,-0.48,-146.0,846.9,-5.2,291,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2515,3272
$GC,9016,-0.48,-146.0,859.0,-5.0,297,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2515,3271
$GC,9260,-0.48,-146.0,871.7,-5.2,303,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2515,3271
$GC,9503,-0.48,-146.0,884.9,-5.4,309,9507,0.00,1.73,0.00,0.000,4,0.000,0.060,2531,3634,3270
$GC,9528,-0.48,-146.0,886.7,-6.3,309,9531,0.00,1.65,0.00,0.000,6,0.000,0.028,2531,2510,3270
$STATE,9795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9795,begin apogee
$GC,9807,-0.19,0.0,902.0,5.8,316,9937,0.32,0.00,127.93,1.271,6,0.106,0.000,2640,2214,2691
$STATE,9938,end apogee,CONTROL_FINISHED_OK
$STATE,9938,begin climb
$GC,9943,0.48,146.0,903.3,0.0,319,10105,0.62,1.80,140.98,1.178,4,0.061,0.048,2859,3290,2094
$GC,10129,0.48,146.0,875.5,20.4,324,10133,0.00,1.67,0.00,0.000,6,0.000,0.026,2866,2232,2091
$GC,10413,0.48,146.0,816.2,21.2,331,10416,0.00,1.60,0.00,0.000,4,0.000,0.031,2874,1155,2084
$GC,10470,0.48,146.0,803.8,19.5,332,10474,0.00,1.67,0.00,0.000,6,0.000,0.043,2874,2206,2083
$GC,10753,0.48,146.0,744.6,21.1,339,10757,0.00,1.67,0.00,0.000,4,0.000,0.051,2874,3290,2082
$GC,10804,0.48,146.0,733.7,22.3,340,10808,0.00,1.65,0.00,0.000,6,0.000,0.028,2882,2184,2081
$GC,11098,0.48,146.0,672.3,20.6,347,11102,0.00,1.75,0.00,0.000,4,0.000,0.049,2878,3277,2081
$GC,11127,0.48,146.0,665.1,22.2,347,11131,0.12,1.60,0.00,0.000,6,0.178,0.028,2854,2193,2080
$GC,11393,0.48,146.0,618.9,17.4,354,11397,0.00,1.52,0.00,0.000,4,0.000,0.031,2859,1151,2080
$GC,11444,0.48,146.0,610.4,16.8,355,11448,0.00,1.65,0.00,0.000,6,0.000,0.042,2859,2223,2079
$GC,11738,0.48,146.0,559.1,17.6,362,11742,0.00,1.65,0.00,0.000,4,0.000,0.050,2860,3282,2079
$GC,11807,0.48,146.0,546.3,17.2,363,11810,0.00,1.60,0.00,0.000,6,0.000,0.028,2867,2194,2079
$GC,12079,0.48,146.0,498.0,18.3,370,12080,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2188,2079
$GC,12324,0.48,146.0,454.4,17.9,376,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2188,2078
$GC,12567,0.48,146.0,410.9,17.7,382,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2188,2077
$GC,12811,0.48,146.0,369.3,16.8,388,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2187,2078
$GC,13055,0.48,146.0,332.0,15.1,394,13058,0.00,1.50,0.00,0.000,4,0.000,0.031,2873,1164,2078
$GC,13085,0.48,146.0,326.6,15.5,394,13088,0.00,1.65,0.00,0.000,6,0.000,0.043,2873,2230,2077
$GC,13350,0.48,146.0,287.6,14.5,401,13354,0.00,1.62,0.00,0.000,4,0.000,0.049,2873,3302,2077
$GC,13436,0.48,146.0,273.5,15.3,402,13446,0.08,1.55,0.00,0.000,6,0.158,0.027,2857,2252,2077
$GC,13691,0.48,146.0,238.0,14.4,409,13695,0.00,1.58,0.00,0.000,4,0.000,0.030,2860,1168,2077
$GC,13766,0.48,146.0,227.2,12.3,410,13769,0.00,1.65,0.00,0.000,6,0.000,0.041,2860,2258,2077
$GC,14022,0.48,146.0,195.3,12.6,419,14030,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2258,2077
$GC,14288,0.48,146.0,164.8,10.8,444,14296,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2258,2077
$GC,14554,0.48,146.0,132.5,12.6,469,14562,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2257,2077
$GC,14820,0.49,160.0,102.1,9.5,494,14835,0.00,1.60,10.48,0.642,4,0.000,0.044,2860,3293,2037
$GC,14864,0.50,194.8,98.4,8.7,497,14904,0.00,1.58,29.70,0.663,6,0.000,0.024,2860,2213,1894
$GC,15163,0.51,217.8,69.9,9.1,524,15191,0.00,1.52,19.33,0.623,4,0.000,0.025,2860,1171,1801
$GC,15245,0.55,321.2,64.2,6.1,530,15332,0.00,1.58,82.22,0.619,6,0.000,0.036,2860,2190,1379
$GC,15601,0.59,416.5,43.4,6.4,561,15684,0.00,1.73,74.68,0.584,4,0.000,0.041,2860,3279,990
$GC,15738,0.61,467.7,34.8,8.1,571,15790,0.00,1.62,40.47,0.565,6,0.000,0.021,2860,2181,782
$STATE,16014,end climb,SURFACE_DEPTH_REACHED
$STATE,16014,begin surface coast
$FINISH,0.3,1.022625
$STATE,16046,end surface coast,CONTROL_FINISHED_OK
$STATE,16046,begin surface
$SM_CCo,16131,0.00,0.000,0,0,778,469.25
$SM_GC,1.38,7.18,0.00,0.00,0.021,0.000,0.000,34,2591,778,-8.23,0.59,469.25
$IRIDIUM_FIX,2300.41,-15806.26,261202,161625
$TT8_MAMPS,0.023777
$HUMID,2188
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.80
$XPDR_PINGS,6
$24V_AH,24.0,13.998
$10V_AH,10.6,14.337
$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,17.800,101.850,525.775,0.000,0.000,63.359,79.104,352.320,1.500,0.000,0.000,14.606,1292.000,10933.393,526.269,3045.627,1095.384,33.358,1524.791,0.000,3060.692,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,59.826,1270.919,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,419.453,2032.682,2100.500,253.200,1371.112,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54250,617
$CAP_FILE_SIZE,124270,0
$CFSIZE,260165632,253054976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,011013,210836,2311.615,-15803.927,44,1.2,44,10.1