version: 66.04
glider: 512
mission: 4
dive: 96
start: 10 3 113 13 52 50
data:
$ID,512
$MISSION,4
$DIVE,96
$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,-108434.63
$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,59
$R_STBD_OVSHOOT,60
$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
$GPS1,133836,2308.389,-15752.493,43,0.9,43,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.3
$GPS2,135131,2308.401,-15752.525,14,1.3,14,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,BM2
$TGT_LATLONG,2310.000,-15753.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.151,0.229
$KALMAN_X,19126.4,864.2,366.2,-7527.5,-1013.9
$KALMAN_Y,-7735.3,-389.6,-460.1,53627.9,2614.8
$MHEAD_RNG_PITCHd_Wd,23.3,3069,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.50,-146.0,0.0,0.0,0,127,0.00,0.00,-106.95,0.000,2,0.000,0.000,10,2539,3081
$GC,133,-0.50,-146.0,2.5,-2.8,13,153,9.45,1.55,-5.40,0.000,4,0.204,0.053,2539,3556,3346
$GC,219,-0.50,-146.0,33.3,-27.2,25,228,0.00,1.55,0.00,0.000,6,0.000,0.021,2543,2494,3347
$GC,484,-0.50,-146.0,88.7,-19.1,50,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2486,3348
$GC,751,-0.50,-146.0,132.5,-15.0,75,754,0.00,1.45,0.00,0.000,4,0.000,0.020,2544,1443,3348
$GC,801,-0.50,-146.0,139.6,-12.8,79,805,0.00,1.60,0.00,0.000,6,0.000,0.038,2538,2496,3349
$GC,1073,-0.50,-146.0,178.8,-13.5,104,1076,0.00,1.60,0.00,0.000,4,0.000,0.045,2530,3572,3349
$GC,1135,-0.50,-146.0,186.5,-12.4,109,1138,0.00,1.50,0.00,0.000,6,0.000,0.020,2530,2510,3349
$GC,1409,-0.50,-146.0,219.9,-12.0,123,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2502,3349
$GC,1653,-0.50,-146.0,249.5,-12.0,129,1656,0.00,1.45,0.00,0.000,4,0.000,0.021,2530,1454,3347
$GC,1748,-0.50,-146.0,261.4,-11.5,131,1752,0.10,1.65,0.00,0.000,6,0.138,0.038,2550,2561,3347
$GC,2042,-0.50,-146.0,291.3,-9.9,138,2045,0.00,1.52,0.00,0.000,4,0.000,0.047,2544,3569,3346
$GC,2093,-0.50,-146.0,296.3,-9.8,139,2097,0.00,1.42,0.00,0.000,6,0.000,0.020,2544,2555,3345
$GC,2387,-0.50,-146.0,325.2,-9.9,146,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2547,3343
$GC,2631,-0.50,-146.0,348.4,-9.5,152,2634,0.00,1.52,0.00,0.000,4,0.000,0.021,2544,1454,3341
$GC,2717,-0.50,-146.0,356.7,-9.0,153,2726,0.00,1.67,0.00,0.000,6,0.000,0.041,2537,2553,3340
$GC,2973,-0.50,-146.0,379.6,-8.9,160,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2553,3338
$GC,3217,-0.50,-146.0,402.7,-9.6,166,3219,0.00,0.00,-0.08,0.000,6,0.000,0.000,2536,2553,3359
$GC,3461,-0.50,-146.0,424.5,-8.8,172,3465,0.00,1.55,0.00,0.000,4,0.000,0.022,2537,1466,3357
$GC,3525,-0.50,-146.0,430.5,-8.7,173,3528,0.00,1.67,0.00,0.000,6,0.000,0.043,2537,2555,3356
$GC,3802,-0.50,-146.0,453.6,-8.5,180,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2555,3354
$GC,4046,-0.50,-146.0,475.2,-9.0,186,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2555,3352
$GC,4289,-0.50,-146.0,498.2,-9.6,192,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2555,3351
$GC,4533,-0.50,-146.0,520.8,-9.2,198,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2555,3350
$GC,4777,-0.50,-146.0,541.5,-8.3,204,4780,0.00,1.55,0.00,0.000,4,0.000,0.024,2537,1471,3347
$GC,4813,-0.50,-146.0,544.6,-8.2,204,4816,0.00,1.62,0.00,0.000,6,0.000,0.044,2536,2544,3347
$GC,5074,-0.50,-146.0,564.8,-7.8,211,5078,0.00,1.55,0.00,0.000,4,0.000,0.052,2529,3557,3345
$GC,5137,-0.50,-146.0,570.2,-8.0,212,5141,0.00,1.42,0.00,0.000,6,0.000,0.025,2529,2566,3345
$GC,5415,-0.50,-146.0,592.3,-8.0,219,5418,0.00,1.55,0.00,0.000,4,0.000,0.025,2529,1462,3343
$GC,5466,-0.50,-146.0,596.3,-7.7,220,5470,0.10,1.65,0.00,0.000,6,0.128,0.044,2551,2549,3342
$GC,5761,-0.50,-146.0,614.2,-5.9,227,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2549,3341
$GC,6004,-0.50,-146.0,631.1,-7.1,233,6007,0.00,1.55,0.00,0.000,4,0.000,0.026,2551,1471,3339
$GC,6034,-0.50,-146.0,633.6,-7.8,233,6038,0.00,1.62,0.00,0.000,6,0.000,0.046,2550,2537,3339
$GC,6300,-0.50,-146.0,653.2,-7.4,240,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2537,3338
$GC,6544,-0.50,-146.0,669.5,-6.5,246,6547,0.00,1.58,0.00,0.000,4,0.000,0.054,2542,3557,3336
$GC,6580,-0.50,-146.0,672.0,-6.6,246,6583,0.00,1.48,0.00,0.000,6,0.000,0.027,2542,2536,3336
$GC,6841,-0.50,-146.0,686.7,-5.5,253,6845,0.00,1.52,0.00,0.000,4,0.000,0.026,2545,1458,3335
$GC,6916,-0.50,-146.0,690.9,-5.4,254,6920,0.00,1.62,0.00,0.000,6,0.000,0.047,2539,2526,3335
$GC,7182,-0.50,-146.0,705.7,-5.8,261,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2526,3333
$GC,7426,-0.50,-146.0,721.5,-6.7,267,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2526,3333
$GC,7670,-0.50,-146.0,739.0,-7.3,273,7673,0.00,1.60,0.00,0.000,4,0.000,0.057,2536,3572,3331
$GC,7706,-0.50,-146.0,742.0,-8.2,273,7709,0.00,1.52,0.00,0.000,6,0.000,0.028,2537,2521,3331
$GC,7967,-0.50,-146.0,762.5,-8.1,280,7971,0.00,1.50,0.00,0.000,4,0.000,0.027,2537,1456,3330
$GC,8017,-0.50,-146.0,766.6,-7.6,281,8021,0.00,1.62,0.00,0.000,6,0.000,0.049,2536,2514,3330
$GC,8312,-0.50,-146.0,788.8,-7.4,288,8315,0.00,1.60,0.00,0.000,4,0.000,0.057,2530,3561,3328
$GC,8363,-0.50,-146.0,792.7,-7.4,289,8367,0.00,1.55,0.00,0.000,6,0.000,0.028,2530,2496,3328
$GC,8657,-0.50,-146.0,813.0,-6.6,296,8661,0.00,1.48,0.00,0.000,4,0.000,0.028,2530,1450,3327
$GC,8732,-0.50,-146.0,818.2,-6.6,297,8736,0.00,1.60,0.00,0.000,6,0.000,0.048,2524,2497,3327
$GC,8999,-0.50,-146.0,835.0,-6.3,304,9003,0.00,1.65,0.00,0.000,4,0.000,0.058,2523,3567,3326
$GC,9049,-0.50,-146.0,838.3,-6.5,305,9053,0.00,1.55,0.00,0.000,6,0.000,0.028,2523,2508,3326
$GC,9344,-0.50,-146.0,857.8,-6.7,312,9348,0.10,1.48,0.00,0.000,4,0.128,0.027,2558,1459,3325
$GC,9395,-0.50,-146.0,860.6,-5.0,313,9398,0.00,1.62,0.00,0.000,6,0.000,0.049,2552,2518,3325
$GC,9689,-0.50,-146.0,876.7,-5.5,320,9690,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2518,3324
$GC,9932,-0.50,-146.0,890.9,-5.8,326,9934,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2518,3324
$STATE,10090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10090,begin apogee
$GC,10101,-0.19,0.0,900.2,5.8,330,10230,0.30,0.00,126.20,1.263,6,0.090,0.000,2657,2213,2750
$STATE,10231,end apogee,CONTROL_FINISHED_OK
$STATE,10231,begin climb
$GC,10236,0.50,146.0,903.5,0.0,333,10397,0.60,1.80,140.85,1.174,4,0.042,0.049,2892,3283,2153
$GC,10420,0.50,146.0,878.1,24.6,338,10424,0.00,1.67,0.00,0.000,6,0.000,0.027,2897,2233,2150
$GC,10714,0.50,146.0,807.0,23.8,345,10717,0.00,1.60,0.00,0.000,4,0.000,0.029,2905,1153,2144
$GC,10766,0.50,146.0,794.7,20.7,346,10770,0.00,1.70,0.00,0.000,6,0.000,0.041,2905,2242,2142
$GC,11054,0.50,146.0,728.3,23.7,353,11058,0.00,1.62,0.00,0.000,4,0.000,0.049,2905,3276,2141
$GC,11084,0.50,146.0,720.6,24.7,353,11088,0.15,1.58,0.00,0.000,6,0.192,0.027,2876,2225,2141
$GC,11349,0.50,146.0,668.0,19.8,360,11350,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2218,2140
$GC,11593,0.50,146.0,621.2,19.3,366,11596,0.00,1.67,0.00,0.000,4,0.000,0.050,2876,3291,2140
$GC,11611,0.50,146.0,616.9,19.4,366,11615,0.00,1.58,0.00,0.000,6,0.000,0.027,2882,2233,2139
$GC,11889,0.50,146.0,564.2,18.8,373,11893,0.00,1.65,0.00,0.000,4,0.000,0.050,2878,3286,2139
$GC,11926,0.50,146.0,556.2,20.2,373,11930,0.00,1.55,0.00,0.000,6,0.000,0.028,2884,2248,2139
$GC,12186,0.50,146.0,506.8,18.9,380,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2241,2138
$GC,12430,0.50,146.0,459.7,19.2,386,12434,0.00,1.58,0.00,0.000,4,0.000,0.028,2892,1152,2138
$GC,12448,0.50,146.0,455.5,19.4,386,12452,0.00,1.70,0.00,0.000,6,0.000,0.042,2891,2266,2138
$GC,12725,0.50,146.0,402.2,19.1,393,12729,0.00,1.58,0.00,0.000,4,0.000,0.049,2891,3285,2137
$GC,12761,0.50,146.0,394.8,19.8,393,12764,0.00,1.50,0.00,0.000,6,0.000,0.027,2897,2270,2138
$GC,13022,0.50,146.0,345.2,18.7,400,13023,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2263,2137
$GC,13267,0.50,146.0,300.8,18.5,406,13270,0.00,1.60,0.00,0.000,4,0.000,0.028,2905,1160,2137
$GC,13302,0.50,146.0,293.5,18.6,406,13306,0.00,1.73,0.00,0.000,6,0.000,0.041,2905,2276,2136
$GC,13562,0.50,146.0,251.0,16.4,413,13563,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2277,2136
$GC,13806,0.50,146.0,209.3,16.8,419,13809,0.00,1.62,0.00,0.000,4,0.000,0.027,2911,1147,2136
$GC,13847,0.50,146.0,202.1,16.4,419,13855,0.10,1.75,0.00,0.000,6,0.120,0.041,2877,2284,2136
$GC,14110,0.50,146.0,165.5,13.5,441,14114,0.00,1.52,0.00,0.000,4,0.000,0.046,2875,3280,2136
$GC,14150,0.50,146.0,160.3,12.3,444,14154,0.00,1.48,0.00,0.000,6,0.000,0.025,2882,2268,2136
$GC,14422,0.50,146.0,126.6,12.9,469,14426,0.00,1.60,0.00,0.000,4,0.000,0.045,2877,3290,2136
$GC,14519,0.50,146.0,114.5,12.2,477,14522,0.00,1.45,0.00,0.000,6,0.000,0.023,2883,2287,2136
$GC,14790,0.50,146.0,84.1,10.1,502,14794,0.00,1.60,0.00,0.000,4,0.000,0.027,2886,1159,2136
$GC,14892,0.52,203.6,74.9,7.7,510,14943,0.00,1.67,45.42,0.644,6,0.000,0.038,2885,2259,1918
$GC,15200,0.52,203.6,43.0,10.1,538,15204,0.00,1.58,0.00,0.000,4,0.000,0.043,2886,3288,1913
$GC,15323,0.52,203.6,29.1,12.5,548,15332,0.00,1.48,0.00,0.000,6,0.000,0.021,2886,2272,1913
$STATE,15564,end climb,SURFACE_DEPTH_REACHED
$STATE,15565,begin surface coast
$FINISH,0.3,1.023217
$STATE,15597,end surface coast,CONTROL_FINISHED_OK
$STATE,15597,begin surface
$SM_CCo,15622,73.97,0.555,0,0,1158,390.02
$SM_GC,1.26,0.00,0.00,73.97,0.000,0.000,0.555,29,2508,1158,-8.37,0.20,390.02
$IRIDIUM_FIX,2300.41,-15751.47,281202,131326
$TT8_MAMPS,0.023777
$HUMID,2213
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.70
$XPDR_PINGS,5
$24V_AH,24.0,15.827
$10V_AH,10.6,16.244
$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,18.150,101.900,312.475,73.975,0.000,61.585,69.853,391.571,1.250,0.000,0.000,14.148,1265.812,10733.917,483.604,2901.854,1106.629,33.360,1354.823,0.000,2914.614,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,59.059,1263.249,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,404.098,1946.975,2008.533,233.366,1289.827,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51006,591
$CAP_FILE_SIZE,123036,0
$CFSIZE,260165632,252436480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,031013,181554,2310.764,-15751.316,38,2.0,38,10.1