version: 66.04
glider: 512
mission: 4
dive: 92
start: 10 2 113 17 0 14
data:
$ID,512
$MISSION,4
$DIVE,92
$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,-108329.25
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$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,2500
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2720
$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
$GPS1,164206,2311.786,-15756.030,42,1.7,42,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-76.4
$GPS2,165900,2311.825,-15756.090,13,1.9,18,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,-0.164
$KALMAN_X,18755.4,128.5,-65.3,-12058.0,-1449.2
$KALMAN_Y,-17374.4,-84.7,165.8,68671.5,1191.0
$MHEAD_RNG_PITCHd_Wd,115.0,6253,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.48,-146.0,0.0,0.0,0,123,0.00,0.00,-98.75,0.000,2,0.000,0.000,11,2515,2856
$GC,129,-0.48,-146.0,2.1,-2.0,12,156,9.27,1.58,-11.00,0.000,4,0.199,0.058,2525,3562,3316
$GC,181,-0.48,-146.0,15.8,-31.6,18,190,0.00,1.55,0.00,0.000,6,0.000,0.019,2528,2485,3317
$GC,455,-0.48,-146.0,84.6,-20.7,46,459,0.00,1.42,0.00,0.000,4,0.000,0.020,2529,1448,3317
$GC,472,-0.48,-146.0,87.9,-20.6,47,476,0.00,1.60,0.00,0.000,6,0.000,0.034,2523,2527,3316
$GC,744,-0.48,-146.0,138.3,-18.5,72,747,0.00,1.52,0.00,0.000,4,0.000,0.019,2525,1444,3317
$GC,840,-0.48,-146.0,153.6,-14.2,80,844,0.00,1.58,0.00,0.000,6,0.000,0.037,2522,2483,3317
$GC,1111,-0.48,-146.0,192.7,-12.1,105,1115,0.00,1.62,0.00,0.000,4,0.000,0.044,2514,3560,3317
$GC,1197,-0.48,-146.0,204.4,-13.6,110,1205,0.08,1.52,0.00,0.000,6,0.140,0.018,2540,2475,3317
$GC,1451,-0.48,-146.0,232.9,-10.9,117,1455,0.00,1.40,0.00,0.000,4,0.000,0.021,2547,1451,3316
$GC,1515,-0.48,-146.0,240.3,-10.3,118,1519,0.00,1.58,0.00,0.000,6,0.000,0.037,2541,2496,3315
$GC,1792,-0.48,-146.0,270.9,-11.2,125,1796,0.00,1.60,0.00,0.000,4,0.000,0.047,2534,3556,3314
$GC,1855,-0.48,-146.0,278.5,-11.5,126,1859,0.00,1.48,0.00,0.000,6,0.000,0.020,2534,2512,3314
$GC,2133,-0.48,-146.0,307.7,-10.5,133,2137,0.00,1.45,0.00,0.000,4,0.000,0.021,2534,1457,3311
$GC,2152,-0.48,-146.0,310.3,-10.6,133,2155,0.00,1.60,0.00,0.000,6,0.000,0.038,2527,2536,3312
$GC,2428,-0.48,-146.0,341.2,-11.4,140,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2536,3309
$GC,2672,-0.48,-146.0,368.3,-11.0,146,2675,0.00,1.52,0.00,0.000,4,0.000,0.021,2529,1459,3307
$GC,2707,-0.48,-146.0,372.6,-11.2,146,2711,0.00,1.60,0.00,0.000,6,0.000,0.040,2524,2529,3307
$GC,2968,-0.48,-146.0,402.2,-11.7,153,2972,0.00,1.55,-0.08,0.000,4,0.000,0.067,2518,3569,3328
$GC,2999,-0.48,-146.0,406.2,-12.8,153,3002,0.00,1.48,0.00,0.000,6,0.000,0.021,2518,2525,3328
$GC,3266,-0.48,-146.0,437.4,-11.7,160,3269,0.00,1.50,0.00,0.000,4,0.000,0.023,2520,1449,3325
$GC,3345,-0.48,-146.0,446.5,-10.5,161,3350,0.10,1.60,0.00,0.000,6,0.140,0.040,2540,2521,3325
$GC,3606,-0.48,-146.0,469.3,-8.7,168,3610,0.00,1.52,0.00,0.000,4,0.000,0.023,2542,1447,3322
$GC,3630,-0.48,-146.0,471.8,-9.0,168,3634,0.00,1.60,0.00,0.000,6,0.000,0.041,2537,2495,3323
$GC,3903,-0.48,-146.0,494.2,-8.3,175,3907,0.00,1.60,0.00,0.000,4,0.000,0.051,2529,3559,3320
$GC,3998,-0.48,-146.0,502.7,-8.6,177,4002,0.00,1.50,0.00,0.000,6,0.000,0.023,2530,2509,3319
$GC,4293,-0.48,-146.0,529.5,-9.0,184,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2500,3317
$GC,4538,-0.48,-146.0,551.7,-9.1,190,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2500,3315
$GC,4782,-0.48,-146.0,573.3,-8.9,196,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2500,3313
$GC,5025,-0.48,-146.0,594.9,-8.7,202,5029,0.00,1.62,0.00,0.000,4,0.000,0.051,2524,3564,3312
$GC,5055,-0.48,-146.0,598.2,-9.8,202,5059,0.00,1.50,0.00,0.000,6,0.000,0.025,2524,2519,3311
$GC,5321,-0.48,-146.0,620.3,-8.2,209,5325,0.00,1.50,0.00,0.000,4,0.000,0.025,2524,1460,3310
$GC,5379,-0.48,-146.0,625.4,-8.6,210,5383,0.00,1.60,0.00,0.000,6,0.000,0.044,2523,2518,3310
$GC,5663,-0.48,-146.0,647.1,-7.7,217,5667,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3571,3307
$GC,5714,-0.48,-146.0,651.1,-7.9,218,5717,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2532,3307
$GC,6008,-0.48,-146.0,674.0,-7.8,225,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2524,3305
$GC,6251,-0.48,-146.0,693.3,-8.0,231,6255,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1463,3303
$GC,6293,-0.48,-146.0,697.1,-7.5,231,6302,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2543,3303
$GC,6550,-0.48,-146.0,716.8,-7.8,238,6554,0.00,1.58,0.00,0.000,4,0.000,0.056,2523,3558,3302
$GC,6600,-0.48,-146.0,721.1,-8.7,239,6604,0.00,1.45,0.00,0.000,6,0.000,0.028,2524,2555,3301
$GC,6894,-0.48,-146.0,743.5,-7.5,246,6898,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1470,3301
$GC,6959,-0.48,-146.0,748.6,-7.7,247,6962,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2568,3300
$GC,7236,-0.48,-146.0,767.5,-6.9,254,7240,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1458,3298
$GC,7277,-0.48,-146.0,770.6,-7.2,254,7285,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2550,3299
$GC,7532,-0.48,-146.0,788.3,-7.1,261,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2549,3297
$GC,7775,-0.48,-146.0,806.4,-7.6,267,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2550,3296
$GC,8019,-0.48,-146.0,825.0,-7.6,273,8023,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1458,3295
$GC,8049,-0.48,-146.0,827.7,-8.4,273,8053,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2564,3295
$GC,8316,-0.48,-146.0,847.3,-7.5,280,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3294
$GC,8562,-0.48,-146.0,865.9,-7.7,286,8565,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1443,3293
$GC,8586,-0.48,-146.0,868.3,-7.9,286,8589,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2569,3293
$GC,8857,-0.48,-146.0,888.0,-7.2,293,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2569,3292
$STATE,9058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9058,begin apogee
$GC,9069,-0.19,0.0,901.6,6.7,298,9197,0.35,0.00,125.40,1.266,6,0.106,0.000,2640,2234,2720
$STATE,9198,end apogee,CONTROL_FINISHED_OK
$STATE,9198,begin climb
$GC,9203,0.48,146.0,903.5,0.0,301,9341,0.60,0.00,134.68,1.212,6,0.056,0.000,2859,2234,2124
$GC,9574,0.48,146.0,838.4,20.7,310,9577,0.00,1.70,0.00,0.000,4,0.000,0.049,2859,3300,2114
$GC,9626,0.48,146.0,826.7,21.6,311,9630,0.00,1.62,0.00,0.000,6,0.000,0.027,2867,2238,2114
$GC,9914,0.48,146.0,766.1,21.3,318,9917,0.00,1.60,0.00,0.000,4,0.000,0.030,2875,1159,2112
$GC,9972,0.48,146.0,753.9,18.9,319,9976,0.00,1.65,0.00,0.000,6,0.000,0.042,2875,2223,2110
$GC,10255,0.48,146.0,694.3,21.4,326,10259,0.00,1.67,0.00,0.000,4,0.000,0.050,2875,3289,2110
$GC,10305,0.48,146.0,683.3,23.4,327,10309,0.00,1.60,0.00,0.000,6,0.000,0.027,2881,2225,2109
$GC,10600,0.48,146.0,620.4,21.2,334,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2219,2109
$GC,10844,0.48,146.0,570.7,20.0,340,10848,0.00,1.55,0.00,0.000,4,0.000,0.031,2889,1165,2109
$GC,10902,0.48,146.0,558.9,18.7,341,10906,0.10,1.70,0.00,0.000,6,0.134,0.045,2856,2251,2108
$GC,11184,0.48,146.0,512.8,16.5,348,11188,0.00,1.60,0.00,0.000,4,0.000,0.051,2850,3279,2108
$GC,11235,0.48,146.0,504.6,16.0,349,11239,0.00,1.52,0.00,0.000,6,0.000,0.028,2856,2258,2108
$GC,11529,0.48,146.0,458.9,15.7,356,11533,0.00,1.62,0.00,0.000,4,0.000,0.050,2856,3281,2107
$GC,11564,0.48,146.0,452.7,16.5,356,11567,0.00,1.48,0.00,0.000,6,0.000,0.028,2860,2295,2108
$GC,11824,0.48,146.0,412.2,15.5,363,11828,0.00,1.62,0.00,0.000,4,0.000,0.030,2869,1158,2107
$GC,11966,0.48,146.0,391.1,14.2,366,11970,0.00,1.67,0.00,0.000,6,0.000,0.043,2866,2256,2107
$GC,12256,0.48,146.0,347.0,15.7,373,12259,0.00,1.58,0.00,0.000,4,0.000,0.049,2865,3275,2107
$GC,12305,0.48,146.0,338.8,17.0,374,12309,0.00,1.52,0.00,0.000,6,0.000,0.026,2871,2247,2107
$GC,12600,0.48,146.0,295.6,14.4,381,12601,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2241,2107
$GC,12843,0.48,146.0,260.4,14.7,387,12846,0.00,1.58,0.00,0.000,4,0.000,0.030,2873,1165,2107
$GC,12894,0.48,146.0,253.4,13.4,388,12898,0.00,1.67,0.00,0.000,6,0.000,0.042,2873,2266,2107
$GC,13188,0.48,146.0,212.6,13.6,395,13192,0.00,1.62,0.00,0.000,4,0.000,0.026,2881,1170,2107
$GC,13223,0.48,146.0,207.4,13.2,395,13227,0.00,1.60,0.00,0.000,6,0.000,0.041,2878,2230,2107
$GC,13491,0.48,146.0,172.5,12.8,414,13495,0.00,1.62,0.00,0.000,4,0.000,0.046,2877,3290,2107
$GC,13619,0.48,146.0,156.2,12.7,425,13623,0.00,1.50,0.00,0.000,6,0.000,0.024,2883,2257,2107
$GC,13890,0.48,146.0,122.6,12.8,450,13898,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2250,2107
$GC,14156,0.48,146.0,89.9,10.6,475,14160,0.00,1.55,0.00,0.000,4,0.000,0.026,2886,1168,2107
$GC,14264,0.51,230.2,80.2,6.8,484,14334,0.00,1.60,66.28,0.638,6,0.000,0.037,2886,2246,1780
$GC,14592,0.52,239.1,48.3,9.7,513,14606,0.00,1.60,7.90,0.538,4,0.000,0.042,2886,3284,1744
$GC,14683,0.52,239.1,38.5,11.3,520,14686,0.00,1.55,0.00,0.000,6,0.000,0.023,2886,2241,1743
$GC,14983,0.52,239.1,4.8,11.1,562,14993,0.00,1.55,0.00,0.000,4,0.000,0.025,2894,1155,1742
$STATE,15000,end climb,SURFACE_DEPTH_REACHED
$STATE,15000,begin surface coast
$FINISH,0.2,1.012021
$STATE,15032,end surface coast,CONTROL_FINISHED_OK
$STATE,15033,begin surface
$SM_CCo,15059,59.65,0.545,0,0,1129,390.02
$SM_GC,1.13,0.00,0.00,59.65,0.000,0.000,0.545,36,2510,1129,-8.31,0.28,390.02
$IRIDIUM_FIX,2305.10,-15752.75,271202,161605
$TT8_MAMPS,0.023777
$HUMID,2199
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.30
$XPDR_PINGS,5
$24V_AH,24.1,14.985
$10V_AH,10.7,15.365
$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,17.700,111.400,334.250,59.650,0.000,56.136,83.662,615.387,1.250,0.000,0.000,18.287,1253.688,10183.581,466.224,2906.615,1337.132,33.371,1376.271,0.000,2909.034,0.000,0.545,0.000
$DEVICE_MAMPS,199.420,66.729,1265.550,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,388.449,1874.247,1933.097,223.327,1248.382,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50923,569
$CAP_FILE_SIZE,126085,0
$CFSIZE,260165632,252719104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021013,211406,2311.365,-15753.898,65,1.3,65,10.1