version: 66.04
glider: 512
mission: 4
dive: 88
start: 10 1 113 21 41 42
data:
$ID,512
$MISSION,4
$DIVE,88
$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,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,-108263.6
$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,75
$R_STBD_OVSHOOT,45
$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
$GPS1,210836,2311.615,-15803.927,44,1.2,44,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-80.2
$GPS2,214025,2311.814,-15804.036,14,1.5,14,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.285,0.009
$KALMAN_X,24392.6,115.5,246.8,-31573.2,-2504.5
$KALMAN_Y,-22506.9,507.9,177.1,73167.3,-630.9
$MHEAD_RNG_PITCHd_Wd,78.0,19090,-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,-146.0,0.0,0.0,0,111,0.00,0.00,-90.43,0.000,2,0.000,0.000,11,2587,2997
$GC,117,-0.48,-146.0,2.3,-2.0,11,144,9.43,1.58,-6.45,0.000,4,0.208,0.054,2525,3626,3287
$GC,169,-0.48,-146.0,17.7,-33.0,17,178,0.00,1.52,0.00,0.000,6,0.000,0.019,2530,2568,3288
$GC,444,-0.48,-146.0,84.8,-18.6,45,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2559,3288
$GC,709,-0.48,-146.0,128.7,-15.1,70,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2559,3288
$GC,975,-0.48,-146.0,169.5,-15.9,95,978,0.00,1.45,0.00,0.000,4,0.000,0.020,2531,1511,3288
$GC,1124,-0.48,-146.0,189.7,-11.3,108,1128,0.00,1.58,0.00,0.000,6,0.000,0.035,2525,2560,3288
$GC,1419,-0.48,-146.0,224.8,-11.3,121,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2560,3287
$GC,1664,-0.48,-146.0,250.6,-10.6,127,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2560,3286
$GC,1908,-0.48,-146.0,278.2,-11.4,133,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2560,3284
$GC,2151,-0.48,-146.0,308.2,-12.4,139,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2560,3283
$GC,2395,-0.48,-146.0,337.7,-12.2,145,2399,0.00,1.48,0.00,0.000,4,0.000,0.021,2527,1509,3281
$GC,2458,-0.48,-146.0,345.7,-11.3,146,2462,0.00,1.62,0.00,0.000,6,0.000,0.038,2523,2582,3280
$GC,2736,-0.48,-146.0,375.2,-10.6,153,2739,0.00,1.50,0.00,0.000,4,0.000,0.021,2525,1514,3277
$GC,2839,-0.48,-146.0,385.9,-9.1,155,2843,0.00,1.60,0.00,0.000,6,0.000,0.040,2523,2587,3277
$GC,3122,-0.48,-146.0,413.8,-10.1,162,3123,0.00,0.00,-0.08,0.000,6,0.000,0.000,2523,2587,3297
$GC,3366,-0.48,-146.0,437.5,-9.5,168,3369,0.00,1.60,0.00,0.000,4,0.000,0.050,2515,3633,3295
$GC,3402,-0.48,-146.0,441.2,-9.5,168,3405,0.00,1.52,0.00,0.000,6,0.000,0.022,2517,2561,3294
$GC,3663,-0.48,-146.0,465.0,-9.3,175,3667,0.00,1.42,0.00,0.000,4,0.000,0.024,2521,1532,3292
$GC,3758,-0.48,-146.0,473.4,-8.8,177,3762,0.00,1.55,0.00,0.000,6,0.000,0.041,2516,2551,3292
$GC,4053,-0.48,-146.0,500.9,-9.4,184,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2552,3289
$GC,4298,-0.48,-146.0,524.3,-9.7,190,4301,0.00,1.45,0.00,0.000,4,0.000,0.025,2521,1530,3287
$GC,4322,-0.48,-146.0,527.4,-10.2,190,4325,0.00,1.55,0.00,0.000,6,0.000,0.042,2516,2545,3287
$GC,4593,-0.48,-146.0,554.3,-10.1,197,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2545,3285
$GC,4836,-0.48,-146.0,579.2,-10.2,203,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2545,3283
$GC,5080,-0.48,-146.0,603.3,-9.8,209,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2545,3281
$GC,5324,-0.48,-146.0,626.6,-9.4,215,5328,0.00,1.65,0.00,0.000,4,0.000,0.054,2507,3637,3279
$GC,5366,-0.48,-146.0,630.9,-9.7,215,5375,0.08,1.60,0.00,0.000,6,0.127,0.025,2536,2524,3279
$GC,5621,-0.48,-146.0,650.8,-7.7,222,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2524,3277
$GC,5864,-0.48,-146.0,669.9,-7.8,228,5868,0.00,1.40,0.00,0.000,4,0.000,0.027,2543,1527,3276
$GC,5960,-0.48,-146.0,676.8,-6.9,230,5964,0.00,1.52,0.00,0.000,6,0.000,0.046,2538,2516,3275
$GC,6255,-0.48,-146.0,695.9,-6.3,237,6258,0.00,1.70,0.00,0.000,4,0.000,0.057,2530,3631,3273
$GC,6286,-0.48,-146.0,698.2,-7.5,237,6290,0.00,1.60,0.00,0.000,6,0.000,0.025,2531,2506,3273
$GC,6553,-0.48,-146.0,714.2,-5.9,244,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2498,3272
$GC,6798,-0.48,-146.0,728.3,-5.8,250,6802,0.00,1.75,0.00,0.000,4,0.000,0.054,2524,3632,3270
$GC,6849,-0.48,-146.0,731.7,-6.3,251,6853,0.00,1.60,0.00,0.000,6,0.000,0.026,2523,2536,3270
$GC,7143,-0.48,-146.0,750.5,-6.5,258,7147,0.00,1.42,0.00,0.000,4,0.000,0.026,2524,1521,3268
$GC,7195,-0.48,-146.0,753.9,-6.0,259,7198,0.00,1.58,0.00,0.000,6,0.000,0.048,2523,2531,3268
$GC,7489,-0.48,-146.0,773.8,-6.7,266,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3266
$GC,7733,-0.48,-146.0,790.7,-6.9,272,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3265
$GC,7976,-0.48,-146.0,806.9,-6.7,278,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3264
$GC,8220,-0.48,-146.0,823.9,-6.9,284,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3263
$GC,8463,-0.48,-146.0,841.3,-7.3,290,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3263
$GC,8707,-0.48,-146.0,859.6,-7.6,296,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3262
$GC,8951,-0.48,-146.0,878.9,-8.1,302,8955,0.00,1.45,0.00,0.000,4,0.000,0.028,2524,1524,3261
$GC,9001,-0.48,-146.0,883.0,-8.7,303,9005,0.00,1.60,0.00,0.000,6,0.000,0.049,2523,2545,3262
$STATE,9249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9249,begin apogee
$GC,9261,-0.19,0.0,902.7,7.7,309,9390,0.35,0.00,126.25,1.268,6,0.108,0.000,2639,2214,2690
$STATE,9390,end apogee,CONTROL_FINISHED_OK
$STATE,9390,begin climb
$GC,9395,0.48,146.0,906.2,0.0,312,9564,0.60,0.00,142.77,1.162,6,0.063,0.000,2855,2213,2093
$GC,9810,0.48,146.0,838.9,19.2,322,9814,0.00,1.73,0.00,0.000,4,0.000,0.049,2855,3298,2084
$GC,9834,0.48,146.0,833.0,20.7,322,9838,0.00,1.62,0.00,0.000,6,0.000,0.027,2863,2232,2083
$GC,10106,0.48,146.0,777.9,20.6,329,10109,0.00,1.58,0.00,0.000,4,0.000,0.030,2871,1163,2081
$GC,10169,0.48,146.0,765.1,18.1,330,10172,0.00,1.65,0.00,0.000,6,0.000,0.044,2871,2227,2080
$GC,10447,0.48,146.0,707.3,21.1,337,10450,0.00,1.62,0.00,0.000,4,0.000,0.051,2871,3283,2080
$GC,10509,0.48,146.0,693.3,20.4,338,10513,0.00,1.60,0.00,0.000,6,0.000,0.028,2878,2220,2079
$GC,10787,0.48,146.0,635.1,21.6,345,10790,0.00,1.55,0.00,0.000,4,0.000,0.029,2886,1160,2079
$GC,10851,0.48,146.0,621.4,18.7,346,10855,0.12,1.62,0.00,0.000,6,0.150,0.044,2854,2218,2078
$GC,11127,0.48,146.0,571.8,18.0,353,11131,0.00,1.65,0.00,0.000,4,0.000,0.049,2853,3280,2078
$GC,11208,0.48,146.0,556.1,18.5,354,11211,0.00,1.58,0.00,0.000,6,0.000,0.028,2859,2230,2077
$GC,11469,0.48,146.0,508.7,18.4,361,11472,0.00,1.58,0.00,0.000,4,0.000,0.031,2867,1154,2077
$GC,11587,0.48,146.0,488.7,15.4,363,11591,0.00,1.60,0.00,0.000,6,0.000,0.042,2865,2203,2077
$GC,11854,0.48,146.0,444.6,16.9,370,11858,0.00,1.55,0.00,0.000,4,0.000,0.030,2870,1161,2077
$GC,11889,0.48,146.0,437.8,16.2,370,11893,0.00,1.60,0.00,0.000,6,0.000,0.044,2871,2187,2076
$GC,12149,0.48,146.0,396.2,16.7,377,12153,0.00,1.70,0.00,0.000,4,0.000,0.049,2871,3286,2076
$GC,12281,0.48,146.0,372.3,17.7,379,12288,0.08,1.58,0.00,0.000,6,0.172,0.027,2855,2228,2076
$GC,12535,0.48,146.0,333.4,15.2,386,12539,0.00,1.55,0.00,0.000,4,0.000,0.031,2860,1164,2076
$GC,12644,0.48,146.0,317.3,12.7,388,12648,0.00,1.60,0.00,0.000,6,0.000,0.042,2860,2199,2075
$GC,12921,0.48,146.0,278.3,14.0,395,12925,0.00,1.65,0.00,0.000,4,0.000,0.048,2860,3293,2075
$GC,12984,0.48,146.0,268.6,13.6,396,12988,0.00,1.60,0.00,0.000,6,0.000,0.025,2868,2192,2075
$GC,13262,0.48,146.0,231.4,13.7,403,13265,0.00,1.50,0.00,0.000,4,0.000,0.029,2873,1155,2075
$GC,13305,0.48,146.0,225.4,12.9,403,13313,0.00,1.70,0.00,0.000,6,0.000,0.041,2873,2258,2075
$GC,13561,0.48,146.0,190.9,14.4,413,13565,0.00,1.62,0.00,0.000,4,0.000,0.028,2873,1157,2075
$GC,13600,0.48,146.0,185.2,14.7,416,13604,0.00,1.60,0.00,0.000,6,0.000,0.038,2873,2222,2075
$GC,13871,0.48,146.0,150.8,11.0,441,13875,0.00,1.58,0.00,0.000,4,0.000,0.028,2873,1154,2075
$GC,13912,0.48,146.0,146.1,10.8,444,13916,0.00,1.62,0.00,0.000,6,0.000,0.039,2873,2233,2075
$GC,14185,0.48,146.0,114.6,11.0,469,14188,0.00,1.60,0.00,0.000,4,0.000,0.044,2873,3287,2074
$GC,14337,0.48,146.0,97.3,10.9,482,14341,0.00,1.52,0.00,0.000,6,0.000,0.023,2880,2238,2075
$GC,14614,0.48,147.0,67.3,10.0,507,14618,0.00,1.55,0.00,0.000,4,0.000,0.025,2886,1148,2075
$GC,14669,0.53,280.0,63.6,5.0,511,14778,0.00,1.65,103.90,0.627,6,0.000,0.036,2885,2241,1547
$GC,15042,0.53,280.0,28.5,11.5,544,15051,0.00,1.60,0.00,0.000,4,0.000,0.041,2886,3281,1541
$GC,15094,0.53,280.0,22.0,11.9,551,15103,0.00,1.55,0.00,0.000,6,0.000,0.021,2893,2238,1541
$STATE,15239,end climb,SURFACE_DEPTH_REACHED
$STATE,15239,begin surface coast
$FINISH,0.1,1.023212
$STATE,15270,end surface coast,CONTROL_FINISHED_OK
$STATE,15270,begin surface
$SM_CCo,15296,127.90,0.545,0,0,398,561.97
$SM_GC,1.07,0.00,0.00,127.90,0.000,0.000,0.545,30,2602,398,-8.30,0.90,561.97
$IRIDIUM_FIX,2300.41,-15803.21,261202,212150
$TT8_MAMPS,0.023777
$HUMID,2165
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,24.1,14.209
$10V_AH,10.6,14.540
$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,17.975,92.625,372.925,127.900,0.000,140.627,234.668,1079.068,0.750,0.000,0.000,19.080,1234.683,10604.689,559.931,2903.431,2049.743,33.355,1468.901,0.000,2919.040,0.000,0.545,0.000
$DEVICE_MAMPS,207.857,56.758,1267.851,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,394.280,1902.421,1968.274,316.340,1264.300,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50978,578
$CAP_FILE_SIZE,131094,0
$CFSIZE,260165632,252973056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,021013,020007,2312.126,-15802.168,32,1.4,33,10.1