version: 66.04
glider: 512
mission: 4
dive: 95
start: 10 3 113 9 2 33
data:
$ID,512
$MISSION,4
$DIVE,95
$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,576.69092
$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,-108419.85
$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,54
$R_STBD_OVSHOOT,41
$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
$GPS1,082923,2310.112,-15751.609,36,1.7,36,10.1
$_CALLS,5
$_XMS_NAKs,34
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-78.7
$GPS2,090119,2310.199,-15751.450,10,1.7,10,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.197,-0.192
$KALMAN_X,17583.1,513.8,601.5,-4027.7,-1571.8
$KALMAN_Y,-9535.3,490.2,319.0,57087.8,670.0
$MHEAD_RNG_PITCHd_Wd,215.6,2665,-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,13,begin dive
$GC,18,-0.50,-146.0,0.0,0.0,0,94,0.00,0.00,-73.95,0.000,2,0.000,0.000,11,2525,2910
$GC,100,-0.50,-146.0,2.1,-1.8,9,127,9.43,1.55,-10.07,0.000,4,0.204,0.038,2548,1429,3346
$GC,228,-0.50,-146.0,30.8,-19.1,28,237,0.00,1.62,0.00,0.000,6,0.000,0.035,2542,2493,3347
$GC,494,-0.50,-146.0,86.9,-18.1,53,498,0.00,1.62,0.00,0.000,4,0.000,0.046,2535,3559,3348
$GC,647,-0.50,-146.0,112.9,-14.7,66,651,0.00,1.48,0.00,0.000,6,0.000,0.018,2534,2509,3348
$GC,919,-0.50,-146.0,153.7,-14.8,91,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2501,3348
$GC,1185,-0.50,-146.0,190.7,-13.4,116,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2501,3348
$GC,1462,-0.50,-146.0,225.0,-11.8,128,1466,0.00,1.42,0.00,0.000,4,0.000,0.018,2534,1458,3347
$GC,1560,-0.50,-146.0,235.9,-10.3,130,1564,0.00,1.67,0.00,0.000,6,0.000,0.036,2527,2571,3347
$GC,1848,-0.50,-146.0,269.0,-11.6,137,1852,0.00,1.48,0.00,0.000,4,0.000,0.044,2522,3558,3345
$GC,1911,-0.50,-146.0,276.7,-11.8,138,1915,0.08,1.38,0.00,0.000,6,0.117,0.018,2548,2558,3344
$GC,2189,-0.50,-146.0,302.9,-9.6,145,2193,0.00,1.50,0.00,0.000,4,0.000,0.020,2551,1460,3342
$GC,2354,-0.50,-146.0,317.8,-8.3,148,2357,0.00,1.60,0.00,0.000,6,0.000,0.038,2549,2534,3342
$GC,2620,-0.50,-146.0,340.3,-8.5,155,2623,0.00,1.55,0.00,0.000,4,0.000,0.048,2541,3559,3339
$GC,2683,-0.50,-146.0,345.9,-8.4,156,2687,0.00,1.42,0.00,0.000,6,0.000,0.021,2542,2543,3339
$GC,2962,-0.50,-146.0,370.3,-8.9,163,2965,0.00,1.50,0.00,0.000,4,0.000,0.021,2545,1452,3337
$GC,3047,-0.50,-146.0,378.4,-8.9,164,3056,0.00,1.62,-0.05,0.000,6,0.000,0.039,2539,2522,3355
$GC,3303,-0.50,-146.0,402.5,-9.6,171,3306,0.00,1.58,0.00,0.000,4,0.000,0.049,2531,3558,3353
$GC,3373,-0.50,-146.0,409.5,-9.2,172,3376,0.00,1.45,0.00,0.000,6,0.000,0.021,2530,2530,3351
$GC,3644,-0.50,-146.0,433.1,-8.6,179,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2523,3350
$GC,3888,-0.50,-146.0,454.6,-8.9,185,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2523,3349
$GC,4131,-0.50,-146.0,476.2,-8.9,191,4135,0.00,1.60,0.00,0.000,4,0.000,0.048,2524,3558,3346
$GC,4162,-0.50,-146.0,479.4,-9.6,191,4165,0.00,1.42,0.00,0.000,6,0.000,0.022,2524,2554,3346
$GC,4428,-0.50,-146.0,504.2,-9.5,198,4431,0.00,1.52,0.00,0.000,4,0.000,0.023,2524,1456,3343
$GC,4524,-0.50,-146.0,513.7,-10.2,200,4528,0.10,1.62,0.00,0.000,6,0.128,0.042,2551,2531,3343
$GC,4818,-0.50,-146.0,537.5,-7.9,207,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2531,3341
$GC,5061,-0.50,-146.0,556.4,-7.6,213,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2531,3339
$GC,5305,-0.50,-146.0,574.3,-7.2,219,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2531,3338
$GC,5549,-0.50,-146.0,591.2,-6.8,225,5552,0.00,1.58,0.00,0.000,4,0.000,0.051,2545,3556,3336
$GC,5590,-0.50,-146.0,594.2,-6.4,225,5600,0.00,1.45,0.00,0.000,6,0.000,0.023,2544,2536,3335
$GC,5848,-0.50,-146.0,611.7,-7.1,232,5851,0.00,1.52,0.00,0.000,4,0.000,0.025,2545,1457,3334
$GC,5898,-0.50,-146.0,615.7,-7.7,233,5901,0.00,1.62,0.00,0.000,6,0.000,0.043,2537,2531,3334
$GC,6192,-0.50,-146.0,638.5,-7.8,240,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2530,3332
$GC,6436,-0.50,-146.0,655.6,-6.8,246,6439,0.00,1.60,0.00,0.000,4,0.000,0.053,2530,3587,3331
$GC,6477,-0.50,-146.0,658.7,-7.2,246,6486,0.00,1.55,0.00,0.000,6,0.000,0.025,2530,2501,3330
$GC,6734,-0.50,-146.0,675.6,-6.6,253,6738,0.00,1.62,0.00,0.000,4,0.000,0.051,2524,3562,3329
$GC,6759,-0.50,-146.0,677.8,-7.5,253,6763,0.00,1.48,0.00,0.000,6,0.000,0.025,2524,2535,3328
$GC,7030,-0.50,-146.0,698.9,-8.0,260,7034,0.00,1.52,0.00,0.000,4,0.000,0.025,2524,1452,3327
$GC,7060,-0.50,-146.0,701.8,-8.5,260,7065,0.10,1.65,0.00,0.000,6,0.122,0.045,2552,2536,3327
$GC,7327,-0.50,-146.0,718.9,-6.5,267,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2536,3325
$GC,7570,-0.50,-146.0,733.7,-5.9,273,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2536,3324
$GC,7814,-0.50,-146.0,746.2,-5.0,279,7817,0.00,1.55,0.00,0.000,4,0.000,0.026,2553,1461,3324
$GC,7855,-0.50,-146.0,748.4,-5.6,279,7864,0.00,1.65,0.00,0.000,6,0.000,0.048,2550,2520,3323
$GC,8113,-0.50,-146.0,760.3,-4.8,286,8116,0.00,1.60,0.00,0.000,4,0.000,0.058,2550,3563,3322
$GC,8148,-0.50,-146.0,762.5,-5.6,286,8152,0.00,1.50,0.00,0.000,6,0.000,0.026,2550,2527,3322
$GC,8408,-0.50,-146.0,776.1,-5.4,293,8412,0.00,1.52,0.00,0.000,4,0.000,0.026,2550,1451,3321
$GC,8450,-0.50,-146.0,778.9,-6.6,293,8458,0.00,1.70,0.00,0.000,6,0.000,0.048,2550,2536,3321
$GC,8705,-0.50,-146.0,793.4,-5.8,300,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2536,3320
$GC,8948,-0.50,-146.0,807.1,-5.6,306,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2536,3319
$GC,9192,-0.50,-146.0,820.5,-5.5,312,9196,0.00,1.58,0.00,0.000,4,0.000,0.027,2550,1452,3318
$GC,9222,-0.50,-146.0,822.5,-5.8,312,9226,0.00,1.67,0.00,0.000,6,0.000,0.050,2550,2520,3318
$GC,9489,-0.50,-146.0,836.6,-5.4,319,9492,0.00,1.60,0.00,0.000,4,0.000,0.058,2543,3564,3317
$GC,9526,-0.50,-146.0,839.0,-6.1,319,9530,0.00,1.52,0.00,0.000,6,0.000,0.028,2543,2519,3317
$GC,9787,-0.50,-146.0,853.7,-5.7,326,9790,0.00,1.52,0.00,0.000,4,0.000,0.026,2543,1443,3317
$GC,9839,-0.50,-146.0,856.7,-6.1,327,9843,0.00,1.65,0.00,0.000,6,0.000,0.047,2538,2519,3317
$GC,10134,-0.50,-146.0,874.1,-5.9,334,10138,0.00,1.60,0.00,0.000,4,0.000,0.061,2537,3558,3315
$GC,10184,-0.50,-146.0,877.2,-5.5,335,10188,0.00,1.52,0.00,0.000,6,0.000,0.028,2536,2517,3315
$GC,10479,-0.50,-146.0,894.4,-5.8,342,10482,0.00,1.50,0.00,0.000,4,0.000,0.027,2535,1455,3315
$GC,10509,-0.50,-146.0,896.4,-6.3,342,10513,0.00,1.67,0.00,0.000,6,0.000,0.051,2536,2519,3314
$STATE,10607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10607,begin apogee
$GC,10619,-0.19,0.0,902.3,5.9,345,10745,0.35,0.00,123.62,1.273,6,0.096,0.000,2656,2218,2750
$STATE,10746,end apogee,CONTROL_FINISHED_OK
$STATE,10746,begin climb
$GC,10751,0.50,146.0,904.3,0.0,348,10897,0.57,1.60,134.40,1.207,4,0.031,0.028,2898,1177,2155
$GC,10920,0.50,146.0,878.8,22.2,351,10929,0.00,1.73,0.00,0.000,6,0.000,0.041,2898,2222,2151
$GC,11177,0.50,146.0,818.3,24.3,358,11180,0.00,1.65,0.00,0.000,4,0.000,0.049,2898,3280,2146
$GC,11212,0.50,146.0,807.9,26.2,358,11216,0.00,1.60,0.00,0.000,6,0.000,0.028,2906,2231,2145
$GC,11472,0.50,146.0,744.9,24.5,365,11476,0.00,1.58,0.00,0.000,4,0.000,0.030,2914,1161,2143
$GC,11522,0.50,146.0,733.3,22.5,366,11526,0.15,1.65,0.00,0.000,6,0.153,0.043,2875,2223,2143
$GC,11817,0.50,146.0,673.9,19.7,373,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2223,2142
$GC,12062,0.50,146.0,628.3,18.3,379,12065,0.00,1.65,0.00,0.000,4,0.000,0.051,2874,3296,2141
$GC,12125,0.50,146.0,615.4,19.0,380,12128,0.00,1.62,0.00,0.000,6,0.000,0.027,2881,2208,2141
$GC,12402,0.50,146.0,563.8,18.8,387,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2200,2140
$GC,12645,0.50,146.0,516.3,19.5,393,12647,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2201,2140
$GC,12889,0.50,146.0,470.5,18.3,399,12890,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2201,2139
$GC,13133,0.50,146.0,427.9,17.4,405,13136,0.00,1.70,0.00,0.000,4,0.000,0.050,2878,3296,2140
$GC,13184,0.50,146.0,418.4,20.4,406,13187,0.00,1.62,0.00,0.000,6,0.000,0.027,2884,2186,2139
$GC,13478,0.50,146.0,365.4,17.8,413,13479,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2180,2139
$GC,13721,0.50,146.0,324.5,16.4,419,13724,0.00,1.73,0.00,0.000,4,0.000,0.049,2885,3294,2139
$GC,13789,0.50,146.0,312.0,18.7,420,13793,0.00,1.58,0.00,0.000,6,0.000,0.027,2891,2228,2139
$GC,14062,0.50,146.0,269.0,15.8,427,14065,0.00,1.55,0.00,0.000,4,0.000,0.030,2899,1161,2139
$GC,14165,0.50,146.0,253.0,14.2,429,14169,0.00,1.60,0.00,0.000,6,0.000,0.042,2899,2213,2138
$GC,14449,0.50,146.0,208.0,16.5,436,14452,0.00,1.62,0.00,0.000,4,0.000,0.048,2899,3290,2139
$GC,14600,0.50,146.0,183.6,15.2,446,14609,0.08,1.55,0.00,0.000,6,0.160,0.024,2885,2230,2139
$GC,14872,0.50,146.0,148.9,12.6,471,14875,0.00,1.52,0.00,0.000,4,0.000,0.027,2891,1156,2138
$GC,14922,0.50,146.0,142.2,11.9,475,14926,0.00,1.67,0.00,0.000,6,0.000,0.038,2891,2254,2139
$GC,15194,0.50,146.0,105.7,12.6,500,15198,0.00,1.58,0.00,0.000,4,0.000,0.045,2891,3290,2138
$GC,15313,0.50,146.0,91.2,11.8,510,15316,0.00,1.48,0.00,0.000,6,0.000,0.022,2897,2273,2139
$GC,15586,0.51,169.8,63.5,9.0,535,15610,0.00,0.00,18.98,0.628,6,0.000,0.000,2897,2266,2056
$GC,15869,0.51,175.3,38.7,9.8,561,15881,0.00,1.58,6.20,0.518,4,0.000,0.041,2897,3308,2033
$GC,15969,0.51,175.3,28.2,10.8,570,15978,0.00,1.45,0.00,0.000,6,0.000,0.021,2902,2298,2033
$STATE,16236,end climb,SURFACE_DEPTH_REACHED
$STATE,16236,begin surface coast
$FINISH,0.1,1.022317
$STATE,16269,end surface coast,CONTROL_FINISHED_OK
$STATE,16269,begin surface
$SM_CCo,16294,177.43,0.550,0,0,399,576.69
$SM_GC,1.04,0.00,0.00,177.43,0.000,0.000,0.550,27,2542,399,-8.34,1.19,576.69
$IRIDIUM_FIX,2305.10,-15753.64,281202,090939
$TT8_MAMPS,0.023777
$HUMID,2137
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.30
$XPDR_PINGS,8
$24V_AH,24.1,15.686
$10V_AH,10.6,16.051
$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,18.100,107.625,283.200,177.425,0.000,139.069,259.561,974.197,2.000,0.000,0.000,10.844,1350.998,11285.034,536.403,3138.489,2089.362,33.371,1497.859,0.000,3145.972,0.000,0.545,0.000
$DEVICE_MAMPS,204.022,60.593,1273.220,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,421.844,2030.633,2097.330,248.175,1377.124,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54077,617
$CAP_FILE_SIZE,146202,0
$CFSIZE,260165632,252477440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031013,133836,2308.389,-15752.493,43,0.9,43,10.1