version: 66.04
glider: 512
mission: 4
dive: 36
start: 9 22 113 20 13 41
data:
$ID,512
$MISSION,4
$DIVE,36
$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,350
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,380
$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,-107202.45
$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,30
$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,2550
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2710
$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
$GPS1,194135,2238.703,-15734.490,26,1.4,26,10.1
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-77.9
$GPS2,201245,2238.896,-15734.360,18,2.1,37,10.1
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.021,-0.238
$KALMAN_X,-15162.1,23.3,-305.7,59325.3,5166.0
$KALMAN_Y,13982.0,-1225.2,-91.6,-22247.3,6039.5
$MHEAD_RNG_PITCHd_Wd,174.9,106266,-15.7,-8.571
$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,-0.58,-136.3,0.0,0.0,0,94,0.00,0.00,-74.00,0.000,2,0.000,0.000,11,2591,2910
$GC,100,-0.58,-136.3,2.0,-1.3,9,126,9.27,1.58,-8.35,0.000,4,0.207,0.038,2504,1468,3267
$GC,294,-0.58,-136.3,52.4,-23.4,32,298,0.00,1.60,0.00,0.000,6,0.000,0.037,2498,2535,3268
$GC,567,-0.58,-136.3,116.1,-18.6,57,571,0.00,1.62,0.00,0.000,4,0.000,0.044,2490,3616,3268
$GC,608,-0.58,-136.3,124.8,-19.1,60,617,0.00,1.55,0.00,0.000,6,0.000,0.020,2496,2530,3268
$GC,874,-0.58,-136.3,175.8,-19.0,85,877,0.00,1.42,0.00,0.000,4,0.000,0.021,2503,1488,3268
$GC,924,-0.58,-136.3,184.5,-16.6,89,927,0.00,1.60,0.00,0.000,6,0.000,0.036,2497,2570,3268
$GC,1188,-0.58,-136.3,227.3,-16.0,102,1191,0.00,1.58,0.00,0.000,4,0.000,0.044,2489,3621,3268
$GC,1274,-0.58,-136.3,242.7,-17.2,103,1282,0.00,1.52,0.00,0.000,6,0.000,0.020,2495,2545,3267
$GC,1528,-0.58,-136.3,282.9,-15.9,110,1532,0.00,1.42,0.00,0.000,4,0.000,0.021,2502,1501,3267
$GC,1578,-0.58,-136.3,289.7,-12.9,111,1582,0.00,1.60,0.00,0.000,6,0.000,0.038,2496,2558,3267
$GC,1873,-0.58,-136.3,330.2,-13.8,118,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2558,3265
$GC,2118,-0.58,-136.3,363.6,-13.7,124,2122,0.00,1.58,0.00,0.000,4,0.000,0.045,2489,3608,3263
$GC,2181,-0.58,-136.3,373.6,-13.9,125,2185,0.00,1.45,0.00,0.000,6,0.000,0.021,2494,2587,3263
$GC,2458,-0.58,-136.3,409.0,-12.3,132,2461,0.00,1.50,0.00,0.000,4,0.000,0.023,2502,1502,3260
$GC,2499,-0.58,-136.3,414.4,-11.2,132,2508,0.00,1.62,0.00,0.000,6,0.000,0.039,2496,2574,3260
$GC,2755,-0.58,-136.3,443.9,-11.5,139,2759,0.00,1.55,-0.08,0.000,4,0.000,0.065,2488,3621,3281
$GC,2785,-0.58,-136.3,448.3,-13.2,139,2789,0.00,1.50,0.00,0.000,6,0.000,0.025,2493,2571,3281
$GC,3051,-0.58,-136.3,478.6,-11.5,146,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2564,3279
$GC,3294,-0.58,-136.3,506.0,-11.4,152,3298,0.00,1.50,0.00,0.000,4,0.000,0.026,2501,1497,3276
$GC,3390,-0.58,-136.3,515.9,-10.0,154,3393,0.00,1.62,0.00,0.000,6,0.000,0.041,2495,2583,3275
$GC,3684,-0.58,-136.3,547.0,-10.5,161,3687,0.00,1.55,0.00,0.000,4,0.000,0.049,2487,3605,3272
$GC,3719,-0.58,-136.3,551.2,-11.4,161,3722,0.00,1.45,0.00,0.000,6,0.000,0.025,2493,2590,3272
$GC,3979,-0.58,-136.3,575.7,-9.5,168,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2584,3270
$GC,4223,-0.58,-136.3,598.2,-9.5,174,4226,0.00,1.52,0.00,0.000,4,0.000,0.028,2500,1509,3267
$GC,4304,-0.58,-136.3,605.9,-8.2,175,4307,0.00,1.62,0.00,0.000,6,0.000,0.042,2494,2595,3267
$GC,4564,-0.58,-136.3,629.1,-9.4,182,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2595,3265
$GC,4808,-0.58,-136.3,649.7,-8.1,188,4811,0.00,1.55,0.00,0.000,4,0.000,0.051,2486,3609,3263
$GC,4876,-0.58,-136.3,656.1,-9.2,189,4880,0.00,1.42,0.00,0.000,6,0.000,0.027,2492,2620,3263
$GC,5149,-0.58,-136.3,677.0,-7.8,196,5152,0.00,1.58,0.00,0.000,4,0.000,0.029,2492,1505,3261
$GC,5201,-0.58,-136.3,681.3,-7.8,197,5205,0.00,1.67,0.00,0.000,6,0.000,0.046,2485,2592,3261
$GC,5489,-0.58,-136.3,707.0,-9.5,204,5493,0.00,1.58,0.00,0.000,4,0.000,0.029,2486,1506,3259
$GC,5525,-0.58,-136.3,710.8,-10.0,204,5529,0.12,1.65,0.00,0.000,6,0.150,0.047,2514,2595,3259
$GC,5786,-0.58,-136.3,732.0,-8.2,211,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2595,3257
$GC,6031,-0.58,-136.3,752.9,-8.6,217,6034,0.00,1.58,0.00,0.000,4,0.000,0.030,2518,1513,3255
$GC,6060,-0.58,-136.3,756.1,-9.0,217,6064,0.00,1.65,0.00,0.000,6,0.000,0.048,2512,2577,3255
$GC,6326,-0.58,-136.3,777.7,-8.2,224,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2578,3254
$GC,6570,-0.58,-136.3,796.2,-7.5,230,6574,0.00,1.55,0.00,0.000,4,0.000,0.030,2518,1508,3253
$GC,6600,-0.58,-136.3,798.7,-7.5,230,6603,0.00,1.62,0.00,0.000,6,0.000,0.047,2512,2578,3253
$GC,6866,-0.58,-136.3,816.8,-6.9,237,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2578,3251
$GC,7110,-0.58,-136.3,833.9,-7.1,243,7113,0.00,1.55,0.00,0.000,4,0.000,0.030,2518,1514,3249
$GC,7168,-0.58,-136.3,838.4,-7.5,244,7172,0.00,1.60,0.00,0.000,6,0.000,0.048,2512,2566,3249
$GC,7451,-0.58,-136.3,858.8,-7.4,251,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2567,3248
$GC,7695,-0.58,-136.3,876.5,-7.1,257,7698,0.00,1.60,0.00,0.000,4,0.000,0.058,2504,3618,3247
$GC,7752,-0.58,-136.3,881.2,-7.7,258,7756,0.00,1.52,0.00,0.000,6,0.000,0.031,2505,2581,3247
$STATE,8031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8031,begin apogee
$GC,8043,-0.23,0.0,900.4,6.8,265,8162,0.35,0.00,116.45,1.262,6,0.114,0.000,2621,2208,2710
$STATE,8163,end apogee,CONTROL_FINISHED_OK
$STATE,8163,begin climb
$GC,8168,0.58,136.3,902.3,0.0,268,8308,0.77,1.85,127.12,1.198,4,0.071,0.048,2878,3286,2153
$GC,8339,0.58,136.3,873.6,25.1,272,8342,0.00,1.65,0.00,0.000,6,0.000,0.031,2884,2234,2150
$GC,8616,0.58,136.3,805.2,24.8,279,8619,0.00,1.62,0.00,0.000,4,0.000,0.035,2892,1134,2144
$GC,8647,0.58,136.3,797.2,24.9,279,8651,0.00,1.67,0.00,0.000,6,0.000,0.043,2891,2207,2143
$GC,8914,0.58,136.3,733.7,24.2,286,8917,0.00,1.67,0.00,0.000,4,0.000,0.050,2891,3292,2142
$GC,8988,0.58,136.3,714.8,23.9,287,8992,0.00,1.62,0.00,0.000,6,0.000,0.031,2897,2208,2141
$GC,9254,0.58,136.3,652.7,23.4,294,9257,0.00,1.55,0.00,0.000,4,0.000,0.034,2905,1151,2141
$GC,9272,0.58,136.3,647.5,23.7,294,9276,0.00,1.70,0.00,0.000,6,0.000,0.043,2905,2241,2140
$GC,9550,0.58,136.3,586.0,23.0,301,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2241,2140
$GC,9795,0.58,136.3,530.9,22.3,307,9799,0.00,1.62,0.00,0.000,4,0.000,0.050,2905,3307,2140
$GC,9881,0.58,136.3,509.9,22.7,308,9889,0.00,1.65,0.00,0.000,6,0.000,0.032,2911,2220,2139
$GC,10135,0.58,136.3,453.4,22.6,315,10139,0.00,1.58,0.00,0.000,4,0.000,0.034,2920,1153,2139
$GC,10159,0.58,136.3,447.3,22.8,315,10164,0.10,1.65,0.00,0.000,6,0.156,0.044,2886,2218,2138
$GC,10431,0.58,136.3,393.6,20.0,322,10435,0.00,1.62,0.00,0.000,4,0.000,0.050,2885,3288,2138
$GC,10488,0.58,136.3,380.7,21.2,323,10492,0.00,1.60,0.00,0.000,6,0.000,0.031,2892,2220,2138
$GC,10771,0.58,136.3,326.2,19.2,330,10775,0.00,1.65,0.00,0.000,4,0.000,0.049,2891,3285,2138
$GC,10802,0.58,136.3,319.8,20.0,330,10806,0.00,1.52,0.00,0.000,6,0.000,0.031,2897,2268,2137
$GC,11069,0.58,136.3,268.9,18.8,337,11073,0.00,1.62,0.00,0.000,4,0.000,0.032,2906,1130,2137
$GC,11144,0.58,136.3,255.0,15.8,338,11147,0.00,1.75,0.00,0.000,6,0.000,0.042,2905,2286,2137
$GC,11409,0.58,136.3,210.1,16.8,345,11413,0.00,1.52,0.00,0.000,4,0.000,0.048,2905,3280,2137
$GC,11529,0.58,136.3,190.5,16.5,349,11532,0.00,1.42,0.00,0.000,6,0.000,0.028,2910,2316,2137
$GC,11800,0.58,136.3,148.6,14.9,374,11809,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2310,2137
$GC,12067,0.58,136.3,107.5,15.1,399,12071,0.00,1.65,0.00,0.000,4,0.000,0.032,2916,1154,2137
$GC,12209,0.58,136.3,85.9,14.1,411,12213,0.08,1.77,0.00,0.000,6,0.132,0.039,2889,2318,2137
$GC,12486,0.60,199.4,61.5,5.9,436,12539,0.00,1.50,49.22,0.635,4,0.000,0.044,2889,3279,1896
$GC,12589,0.60,199.4,53.2,9.7,444,12598,0.00,1.45,0.00,0.000,6,0.000,0.025,2894,2299,1894
$GC,12866,0.60,199.4,24.3,12.0,473,12875,0.00,1.52,0.00,0.000,4,0.000,0.042,2891,3277,1892
$GC,12961,0.60,199.4,12.5,11.1,487,12970,0.00,1.40,0.00,0.000,6,0.000,0.024,2896,2320,1892
$STATE,13045,end climb,SURFACE_DEPTH_REACHED
$STATE,13045,begin surface coast
$FINISH,0.3,1.022995
$STATE,13078,end surface coast,CONTROL_FINISHED_OK
$STATE,13078,begin surface
$SM_CCo,13103,71.35,0.545,0,0,1159,380.21
$SM_GC,1.04,0.00,0.00,71.35,0.000,0.000,0.545,33,2591,1159,-8.31,1.10,380.21
$IRIDIUM_FIX,2230.01,-15733.76,171202,202041
$TT8_MAMPS,0.023777
$HUMID,2229
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.20
$XPDR_PINGS,3
$24V_AH,24.1,5.088
$10V_AH,10.6,4.956
$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,17.925,98.850,292.800,71.350,0.000,141.405,198.349,1059.420,0.750,0.000,0.000,38.325,1088.704,8953.226,419.408,2626.916,1958.252,33.353,1242.122,0.000,2611.760,0.000,0.545,0.000
$DEVICE_MAMPS,207.090,65.195,1262.482,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,344.623,1663.677,1722.358,200.997,1163.413,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44682,505
$CAP_FILE_SIZE,124613,0
$CFSIZE,260165632,256077824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220913,235436,2237.384,-15733.663,32,1.1,32,10.1