version: 66.04
glider: 512
mission: 4
dive: 94
start: 10 3 113 3 54 37
data:
$ID,512
$MISSION,4
$DIVE,94
$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,-108408.38
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2715
$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,63
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2750
$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
$GPS1,034836,2311.369,-15752.615,9,1.4,14,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-77.3
$GPS2,035324,2311.416,-15752.595,9,1.4,14,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.014,-0.274
$KALMAN_X,16949.0,144.4,-66.3,-4299.1,-907.7
$KALMAN_Y,-12114.6,679.9,20.0,62021.8,1581.6
$MHEAD_RNG_PITCHd_Wd,166.9,2712,-16.3,-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,12,begin dive
$GC,18,-0.50,-146.0,0.0,0.0,0,120,0.00,0.00,-100.22,0.000,2,0.000,0.000,19,2546,2900
$GC,126,-0.50,-146.0,2.2,-1.8,12,155,9.40,1.58,-10.10,0.000,4,0.205,0.039,2554,1438,3346
$GC,256,-0.50,-146.0,30.8,-18.1,31,264,0.00,1.60,0.00,0.000,6,0.000,0.037,2548,2490,3346
$GC,522,-0.50,-146.0,84.8,-18.3,56,525,0.00,1.62,0.00,0.000,4,0.000,0.044,2540,3585,3346
$GC,664,-0.50,-146.0,106.1,-12.6,68,667,0.00,1.52,0.00,0.000,6,0.000,0.018,2546,2499,3346
$GC,936,-0.50,-146.0,142.9,-14.1,93,940,0.00,1.42,0.00,0.000,4,0.000,0.020,2547,1454,3346
$GC,1054,-0.50,-146.0,157.6,-11.0,103,1058,0.00,1.60,0.00,0.000,6,0.000,0.036,2540,2539,3346
$GC,1325,-0.50,-146.0,191.0,-11.5,128,1329,0.00,1.52,0.00,0.000,4,0.000,0.044,2532,3558,3345
$GC,1410,-0.50,-146.0,201.7,-12.8,135,1420,0.00,1.48,0.00,0.000,6,0.000,0.019,2532,2489,3345
$GC,1667,-0.50,-146.0,233.9,-12.8,142,1671,0.00,1.40,0.00,0.000,4,0.000,0.019,2532,1460,3343
$GC,1762,-0.50,-146.0,246.5,-13.0,144,1766,0.00,1.58,0.00,0.000,6,0.000,0.037,2525,2504,3343
$GC,2057,-0.50,-146.0,284.8,-12.8,151,2060,0.00,1.60,0.00,0.000,4,0.000,0.047,2520,3587,3341
$GC,2075,-0.50,-146.0,287.5,-12.3,151,2079,0.08,1.50,0.00,0.000,6,0.127,0.019,2559,2497,3341
$GC,2353,-0.50,-146.0,310.0,-7.7,158,2356,0.00,1.40,0.00,0.000,4,0.000,0.021,2561,1468,3339
$GC,2416,-0.50,-146.0,315.0,-7.3,159,2420,0.00,1.55,0.00,0.000,6,0.000,0.038,2554,2495,3338
$GC,2694,-0.50,-146.0,337.1,-8.4,166,2698,0.00,1.60,-0.08,0.000,4,0.000,0.066,2550,3564,3357
$GC,2758,-0.50,-146.0,342.9,-8.4,167,2762,0.00,1.48,0.00,0.000,6,0.000,0.021,2549,2514,3356
$GC,3035,-0.50,-146.0,367.1,-8.8,174,3039,0.00,1.45,0.00,0.000,4,0.000,0.021,2549,1460,3354
$GC,3094,-0.50,-146.0,372.7,-8.2,175,3097,0.00,1.58,0.00,0.000,6,0.000,0.040,2542,2499,3353
$GC,3377,-0.50,-146.0,399.3,-9.7,182,3381,0.00,1.62,0.00,0.000,4,0.000,0.050,2536,3565,3351
$GC,3457,-0.50,-146.0,407.3,-8.9,183,3461,0.00,1.48,0.00,0.000,6,0.000,0.021,2536,2521,3350
$GC,3719,-0.50,-146.0,431.2,-9.3,190,3722,0.00,1.48,0.00,0.000,4,0.000,0.022,2535,1452,3348
$GC,3748,-0.50,-146.0,434.5,-10.3,190,3752,0.00,1.60,0.00,0.000,6,0.000,0.041,2528,2505,3348
$GC,4014,-0.50,-146.0,458.9,-9.2,197,4018,0.00,1.60,0.00,0.000,4,0.000,0.051,2523,3571,3346
$GC,4112,-0.50,-146.0,468.1,-9.2,199,4116,0.00,1.48,0.00,0.000,6,0.000,0.022,2524,2527,3344
$GC,4401,-0.50,-146.0,494.3,-9.2,206,4405,0.10,1.48,0.00,0.000,4,0.133,0.021,2554,1445,3342
$GC,4431,-0.50,-146.0,497.0,-7.6,206,4435,0.00,1.62,0.00,0.000,6,0.000,0.041,2550,2529,3342
$GC,4697,-0.50,-146.0,514.8,-6.8,213,4701,0.00,1.52,0.00,0.000,4,0.000,0.023,2550,1452,3339
$GC,4733,-0.50,-146.0,517.5,-6.6,213,4737,0.00,1.60,0.00,0.000,6,0.000,0.044,2549,2516,3339
$GC,4995,-0.50,-146.0,534.7,-6.8,220,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2516,3338
$GC,5239,-0.50,-146.0,552.4,-7.4,226,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2516,3336
$GC,5483,-0.50,-146.0,570.0,-7.1,232,5487,0.00,1.60,0.00,0.000,4,0.000,0.053,2541,3574,3334
$GC,5541,-0.50,-146.0,574.7,-7.3,233,5545,0.00,1.55,0.00,0.000,6,0.000,0.025,2541,2496,3334
$GC,5824,-0.50,-146.0,594.9,-7.2,240,5828,0.00,1.65,0.00,0.000,4,0.000,0.051,2537,3564,3333
$GC,5849,-0.50,-146.0,596.9,-7.2,240,5853,0.00,1.50,0.00,0.000,6,0.000,0.025,2537,2515,3332
$GC,6121,-0.50,-146.0,616.3,-7.4,247,6125,0.00,1.62,0.00,0.000,4,0.000,0.053,2536,3563,3330
$GC,6151,-0.50,-146.0,618.9,-7.9,247,6155,0.00,1.48,0.00,0.000,6,0.000,0.025,2536,2530,3330
$GC,6417,-0.50,-146.0,638.8,-7.7,254,6421,0.00,1.50,0.00,0.000,4,0.000,0.024,2536,1456,3328
$GC,6453,-0.50,-146.0,641.8,-7.0,254,6457,0.00,1.62,0.00,0.000,6,0.000,0.047,2536,2525,3328
$GC,6714,-0.50,-146.0,661.6,-7.7,261,6717,0.00,1.60,0.00,0.000,4,0.000,0.054,2530,3581,3326
$GC,6765,-0.50,-146.0,665.7,-7.9,262,6769,0.00,1.50,0.00,0.000,6,0.000,0.025,2530,2540,3326
$GC,7059,-0.50,-146.0,690.2,-8.4,269,7063,0.00,1.52,0.00,0.000,4,0.000,0.024,2530,1454,3324
$GC,7101,-0.50,-146.0,694.0,-8.4,269,7109,0.00,1.67,0.00,0.000,6,0.000,0.045,2524,2537,3324
$GC,7356,-0.50,-146.0,715.3,-8.3,276,7359,0.00,1.58,0.00,0.000,4,0.000,0.054,2523,3555,3323
$GC,7375,-0.50,-146.0,717.3,-8.2,276,7378,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2526,3323
$GC,7653,-0.50,-146.0,738.4,-7.6,283,7655,0.10,0.00,0.00,0.000,6,0.131,0.000,2550,2518,3322
$GC,7898,-0.50,-146.0,751.6,-5.2,289,7901,0.00,1.50,0.00,0.000,4,0.000,0.025,2557,1464,3321
$GC,7948,-0.50,-146.0,754.4,-4.7,290,7952,0.00,1.62,0.00,0.000,6,0.000,0.044,2551,2535,3320
$GC,8242,-0.50,-146.0,770.2,-5.5,297,8246,0.00,1.60,0.00,0.000,4,0.000,0.055,2550,3582,3319
$GC,8284,-0.50,-146.0,772.7,-5.2,297,8293,0.00,1.52,0.00,0.000,6,0.000,0.026,2550,2521,3319
$GC,8541,-0.50,-146.0,787.3,-5.8,304,8544,0.00,1.50,0.00,0.000,4,0.000,0.026,2550,1464,3318
$GC,8591,-0.50,-146.0,790.4,-6.2,305,8595,0.00,1.65,0.00,0.000,6,0.000,0.048,2550,2540,3318
$GC,8886,-0.50,-146.0,807.0,-5.6,312,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2540,3316
$GC,9129,-0.50,-146.0,819.4,-5.0,318,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2540,3316
$GC,9373,-0.50,-146.0,830.6,-4.7,324,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2540,3315
$GC,9616,-0.50,-146.0,842.3,-4.8,330,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2540,3314
$GC,9860,-0.50,-146.0,854.7,-5.1,336,9861,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2541,3314
$GC,10104,-0.50,-146.0,867.1,-5.1,342,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2540,3313
$GC,10348,-0.50,-146.0,879.3,-5.0,348,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2540,3313
$GC,10591,-0.50,-146.0,892.1,-5.3,354,10592,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2540,3312
$STATE,10751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10751,begin apogee
$GC,10762,-0.19,0.0,900.5,5.2,358,10888,0.30,0.00,123.20,1.266,6,0.091,0.000,2654,2242,2750
$STATE,10889,end apogee,CONTROL_FINISHED_OK
$STATE,10889,begin climb
$GC,10894,0.50,146.0,902.6,0.0,361,11062,0.57,1.80,141.30,1.164,4,0.033,0.048,2887,3287,2153
$GC,11091,0.50,146.0,874.1,22.8,365,11095,0.00,1.65,0.00,0.000,6,0.000,0.026,2895,2221,2149
$GC,11362,0.50,146.0,807.2,24.7,372,11366,0.00,1.60,0.00,0.000,4,0.000,0.030,2904,1152,2144
$GC,11403,0.50,146.0,796.6,23.5,372,11412,0.00,1.70,0.00,0.000,6,0.000,0.041,2903,2223,2143
$GC,11660,0.50,146.0,734.8,24.8,379,11664,0.00,1.65,0.00,0.000,4,0.000,0.048,2903,3298,2142
$GC,11695,0.50,146.0,724.4,23.8,379,11700,0.10,1.62,0.00,0.000,6,0.181,0.027,2883,2221,2141
$GC,11955,0.50,146.0,667.8,21.5,386,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2213,2140
$GC,12199,0.50,146.0,617.1,20.7,392,12202,0.00,1.67,0.00,0.000,4,0.000,0.047,2878,3294,2140
$GC,12228,0.50,146.0,610.0,21.4,392,12232,0.00,1.60,0.00,0.000,6,0.000,0.027,2884,2205,2140
$GC,12494,0.50,146.0,555.1,20.9,399,12498,0.00,1.70,0.00,0.000,4,0.000,0.049,2884,3293,2140
$GC,12518,0.50,146.0,549.2,20.8,399,12522,0.00,1.58,0.00,0.000,6,0.000,0.026,2891,2232,2139
$GC,12791,0.50,146.0,492.9,21.2,406,12794,0.00,1.55,0.00,0.000,4,0.000,0.029,2899,1169,2139
$GC,12861,0.50,146.0,479.4,17.0,407,12864,0.00,1.62,0.00,0.000,6,0.000,0.042,2899,2237,2138
$GC,13132,0.50,146.0,427.9,18.7,414,13136,0.00,1.60,0.00,0.000,4,0.000,0.048,2899,3274,2138
$GC,13213,0.50,146.0,412.3,18.3,415,13217,0.08,1.52,0.00,0.000,6,0.167,0.027,2874,2242,2137
$GC,13473,0.50,146.0,371.7,15.5,422,13477,0.00,1.62,0.00,0.000,4,0.000,0.045,2874,3278,2137
$GC,13497,0.50,146.0,367.4,16.2,422,13500,0.00,1.50,0.00,0.000,6,0.000,0.027,2879,2261,2137
$GC,13768,0.50,146.0,321.9,17.2,429,13769,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2255,2137
$GC,14012,0.50,146.0,283.4,15.7,435,14015,0.00,1.60,0.00,0.000,4,0.000,0.029,2886,1156,2137
$GC,14092,0.50,146.0,270.9,14.7,436,14096,0.00,1.73,0.00,0.000,6,0.000,0.041,2886,2297,2137
$GC,14353,0.50,146.0,231.8,14.9,443,14356,0.00,1.50,0.00,0.000,4,0.000,0.047,2886,3276,2137
$GC,14484,0.50,146.0,208.8,16.9,445,14492,0.00,1.38,0.00,0.000,6,0.000,0.024,2893,2333,2137
$GC,14746,0.50,146.0,170.9,13.5,464,14750,0.00,1.48,0.00,0.000,4,0.000,0.043,2891,3279,2137
$GC,14785,0.50,146.0,164.7,15.8,467,14789,0.00,1.35,0.00,0.000,6,0.000,0.025,2897,2348,2137
$GC,15057,0.50,146.0,129.9,13.1,492,15060,0.00,1.70,0.00,0.000,4,0.000,0.028,2899,1149,2136
$GC,15110,0.50,146.0,122.3,13.5,496,15119,0.00,1.80,0.00,0.000,6,0.000,0.039,2899,2324,2137
$GC,15377,0.50,146.0,88.1,12.9,521,15380,0.00,1.45,0.00,0.000,4,0.000,0.043,2899,3288,2137
$GC,15428,0.50,146.0,82.1,11.0,525,15432,0.08,1.35,0.00,0.000,6,0.153,0.021,2882,2346,2137
$GC,15704,0.54,247.9,60.6,5.9,550,15789,0.00,0.00,79.43,0.624,6,0.000,0.000,2882,2340,1740
$GC,16053,0.54,247.9,27.7,10.8,583,16061,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2339,1734
$STATE,16288,end climb,SURFACE_DEPTH_REACHED
$STATE,16288,begin surface coast
$FINISH,0.3,1.023196
$STATE,16320,end surface coast,CONTROL_FINISHED_OK
$STATE,16320,begin surface
$SM_CCo,16345,55.72,0.548,0,0,1160,390.02
$SM_GC,1.10,0.00,0.00,55.72,0.000,0.000,0.548,41,2532,1160,-8.35,0.79,390.02
$IRIDIUM_FIX,2305.10,-15752.75,281202,030317
$TT8_MAMPS,0.023777
$HUMID,2229
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,4
$24V_AH,24.1,15.488
$10V_AH,10.6,15.835
$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,18.025,116.250,343.925,55.725,0.000,0.000,0.000,0.000,1.000,0.000,0.000,14.851,1350.940,11005.769,482.693,3143.852,515.876,33.362,1465.907,0.000,3154.993,0.000,0.546,0.000
$DEVICE_MAMPS,204.789,65.962,1266.317,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,426.544,2057.222,2127.510,267.256,1409.766,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54218,625
$CAP_FILE_SIZE,167554,0
$CFSIZE,260165632,252506112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,031013,082923,2310.112,-15751.609,36,1.7,36,10.1