version: 66.04
glider: 512
mission: 4
dive: 37
start: 9 23 113 0 13 10
data:
$ID,512
$MISSION,4
$DIVE,37
$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,-107217.97
$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,46
$R_STBD_OVSHOOT,57
$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
$GPS1,235436,2237.384,-15733.663,32,1.1,32,10.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-82.1
$GPS2,001213,2237.402,-15733.577,14,1.6,14,10.1
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.232,-0.057
$KALMAN_X,-13635.9,-382.5,80.6,59173.5,3817.6
$KALMAN_Y,15830.9,-748.7,-507.8,-26925.4,6800.9
$MHEAD_RNG_PITCHd_Wd,246.0,107025,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.58,-136.3,0.0,0.0,0,97,0.00,0.00,-76.38,0.000,2,0.000,0.000,11,2586,2985
$GC,103,-0.58,-136.3,2.3,-1.9,9,123,9.20,1.62,-6.07,0.000,4,0.203,0.039,2509,1459,3267
$GC,286,-0.58,-136.3,49.2,-21.4,31,295,0.00,1.62,0.00,0.000,6,0.000,0.038,2502,2519,3268
$GC,550,-0.58,-136.3,109.2,-19.3,56,554,0.00,1.65,0.00,0.000,4,0.000,0.044,2494,3607,3268
$GC,590,-0.58,-136.3,116.4,-19.0,59,594,0.00,1.58,0.00,0.000,6,0.000,0.020,2500,2508,3268
$GC,862,-0.58,-136.3,165.7,-18.5,84,865,0.00,1.40,0.00,0.000,4,0.000,0.021,2508,1487,3269
$GC,891,-0.58,-136.3,171.7,-19.0,86,899,0.00,1.62,0.00,0.000,6,0.000,0.038,2501,2556,3269
$GC,1183,-0.58,-136.3,219.9,-15.9,105,1187,0.00,1.60,0.00,0.000,4,0.000,0.044,2493,3643,3268
$GC,1214,-0.58,-136.3,224.5,-13.8,105,1218,0.00,1.55,0.00,0.000,6,0.000,0.021,2499,2551,3268
$GC,1481,-0.58,-136.3,260.5,-13.5,112,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2543,3268
$GC,1726,-0.58,-136.3,292.4,-13.1,118,1729,0.00,1.45,0.00,0.000,4,0.000,0.022,2507,1495,3268
$GC,1839,-0.58,-136.3,307.2,-12.4,120,1842,0.00,1.60,0.00,0.000,6,0.000,0.038,2501,2574,3268
$GC,2111,-0.58,-136.3,341.9,-12.5,127,2114,0.00,1.55,0.00,0.000,4,0.000,0.045,2493,3605,3266
$GC,2181,-0.58,-136.3,350.6,-11.9,128,2184,0.00,1.45,0.00,0.000,6,0.000,0.022,2499,2581,3265
$GC,2452,-0.58,-136.3,380.4,-10.9,135,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2573,3264
$GC,2696,-0.58,-136.3,407.2,-11.0,141,2699,0.00,1.50,0.00,0.000,4,0.000,0.024,2507,1500,3260
$GC,2737,-0.58,-136.3,412.3,-10.6,141,2746,0.00,1.67,0.00,0.000,6,0.000,0.041,2500,2600,3260
$GC,2994,-0.58,-136.3,441.5,-11.7,148,2997,0.00,1.58,0.00,0.000,4,0.000,0.024,2507,1498,3258
$GC,3043,-0.58,-136.3,447.4,-10.6,149,3047,0.00,1.62,0.00,0.000,6,0.000,0.041,2501,2584,3258
$GC,3337,-0.58,-136.3,481.0,-11.7,156,3341,0.00,1.52,-0.08,0.000,4,0.000,0.045,2506,1499,3280
$GC,3388,-0.58,-136.3,486.8,-10.8,157,3392,0.00,1.62,0.00,0.000,6,0.000,0.042,2500,2579,3280
$GC,3682,-0.58,-136.3,519.7,-11.2,164,3686,0.00,1.52,0.00,0.000,4,0.000,0.025,2506,1510,3278
$GC,3731,-0.58,-136.3,524.9,-10.0,165,3735,0.00,1.62,0.00,0.000,6,0.000,0.043,2500,2588,3278
$GC,4026,-0.58,-136.3,552.2,-8.9,172,4030,0.00,1.55,0.00,0.000,4,0.000,0.051,2492,3607,3275
$GC,4067,-0.58,-136.3,556.6,-10.0,172,4075,0.00,1.50,0.00,0.000,6,0.000,0.026,2498,2559,3274
$GC,4322,-0.58,-136.3,580.9,-9.9,179,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2559,3272
$GC,4565,-0.58,-136.3,607.1,-10.7,185,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2559,3270
$GC,4809,-0.58,-136.3,632.2,-10.1,191,4812,0.00,1.50,0.00,0.000,4,0.000,0.029,2505,1515,3269
$GC,4844,-0.58,-136.3,635.9,-9.3,191,4848,0.00,1.60,0.00,0.000,6,0.000,0.045,2499,2576,3268
$GC,5104,-0.58,-136.3,659.2,-8.9,198,5108,0.00,1.60,0.00,0.000,4,0.000,0.052,2491,3640,3267
$GC,5207,-0.58,-136.3,669.2,-8.9,200,5211,0.00,1.52,0.00,0.000,6,0.000,0.028,2497,2590,3266
$GC,5490,-0.58,-136.3,694.7,-9.2,207,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2582,3264
$GC,5734,-0.58,-136.3,717.3,-9.4,213,5737,0.00,1.55,0.00,0.000,4,0.000,0.031,2505,1502,3263
$GC,5785,-0.58,-136.3,722.0,-8.6,214,5788,0.00,1.67,0.00,0.000,6,0.000,0.048,2499,2603,3263
$GC,6078,-0.58,-136.3,750.8,-10.0,221,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2602,3261
$GC,6322,-0.58,-136.3,776.2,-10.4,227,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2602,3260
$GC,6566,-0.58,-136.3,801.0,-10.0,233,6570,0.00,1.60,0.00,0.000,4,0.000,0.030,2504,1503,3259
$GC,6624,-0.58,-136.3,806.6,-8.3,234,6627,0.00,1.65,0.00,0.000,6,0.000,0.049,2498,2586,3258
$GC,6907,-0.58,-136.3,831.7,-9.1,241,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2588,3257
$GC,7152,-0.58,-136.3,850.9,-7.8,247,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2588,3256
$GC,7396,-0.58,-136.3,869.9,-7.9,253,7400,0.00,1.58,0.00,0.000,4,0.000,0.031,2504,1506,3255
$GC,7476,-0.58,-136.3,876.5,-7.0,254,7480,0.00,1.62,0.00,0.000,6,0.000,0.049,2498,2572,3255
$GC,7736,-0.58,-136.3,898.1,-8.6,261,7740,0.00,1.60,0.00,0.000,4,0.000,0.056,2490,3627,3254
$STATE,7750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7750,begin apogee
$GC,7763,-0.23,0.0,900.0,8.8,261,7885,0.35,0.00,119.00,1.259,6,0.120,0.000,2619,2234,2710
$STATE,7886,end apogee,CONTROL_FINISHED_OK
$STATE,7886,begin climb
$GC,7891,0.58,136.3,903.0,0.0,264,8049,0.75,0.00,134.40,1.152,6,0.072,0.000,2878,2234,2154
$GC,8265,0.58,136.3,833.2,23.3,273,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2234,2144
$GC,8509,0.58,136.3,777.7,22.8,279,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2234,2143
$GC,8752,0.58,136.3,725.5,21.4,285,8756,0.00,1.65,0.00,0.000,4,0.000,0.048,2878,3291,2141
$GC,8793,0.58,136.3,716.0,22.2,285,8803,0.00,1.62,0.00,0.000,6,0.000,0.031,2884,2221,2140
$GC,9050,0.58,136.3,664.4,20.6,292,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2214,2140
$GC,9293,0.58,136.3,612.5,21.7,298,9297,0.00,1.58,0.00,0.000,4,0.000,0.035,2892,1153,2140
$GC,9323,0.58,136.3,605.2,21.2,298,9327,0.00,1.70,0.00,0.000,6,0.000,0.044,2891,2242,2139
$GC,9588,0.58,136.3,548.2,21.6,305,9592,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3306,2139
$GC,9684,0.58,136.3,528.9,20.4,307,9687,0.00,1.58,0.00,0.000,6,0.000,0.031,2897,2266,2138
$GC,9977,0.58,136.3,467.4,21.2,314,9981,0.00,1.62,0.00,0.000,4,0.000,0.034,2906,1138,2137
$GC,10035,0.58,136.3,455.2,18.7,315,10038,0.00,1.73,0.00,0.000,6,0.000,0.045,2905,2266,2137
$GC,10318,0.58,136.3,396.3,21.2,322,10322,0.00,1.58,0.00,0.000,4,0.000,0.051,2905,3280,2137
$GC,10342,0.58,136.3,390.4,20.8,322,10346,0.00,1.50,0.00,0.000,6,0.000,0.031,2911,2277,2137
$GC,10613,0.58,136.3,337.9,18.9,329,10617,0.00,1.62,0.00,0.000,4,0.000,0.034,2919,1147,2136
$GC,10665,0.58,136.3,327.8,18.3,330,10670,0.12,1.67,0.00,0.000,6,0.159,0.045,2885,2247,2137
$GC,10955,0.58,136.3,277.9,18.4,337,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2248,2136
$GC,11199,0.58,136.3,237.6,15.8,343,11203,0.00,1.62,0.00,0.000,4,0.000,0.033,2890,1130,2136
$GC,11229,0.58,136.3,233.0,13.3,343,11233,0.00,1.67,0.00,0.000,6,0.000,0.044,2891,2213,2136
$GC,11494,0.58,136.3,195.0,15.0,350,11498,0.00,1.65,0.00,0.000,4,0.000,0.049,2891,3306,2136
$GC,11611,0.58,136.3,175.3,17.6,360,11615,0.00,1.55,0.00,0.000,6,0.000,0.029,2897,2255,2136
$GC,11884,0.58,136.3,133.5,14.2,385,11887,0.00,1.60,0.00,0.000,4,0.000,0.045,2898,3282,2136
$GC,11923,0.58,136.3,127.7,14.1,388,11927,0.00,1.50,0.00,0.000,6,0.000,0.028,2910,2265,2136
$GC,12195,0.58,136.3,86.4,17.3,413,12198,0.00,1.58,0.00,0.000,4,0.000,0.044,2910,3281,2136
$GC,12260,0.58,136.3,75.9,14.8,418,12268,0.00,1.48,0.00,0.000,6,0.000,0.028,2912,2283,2136
$GC,12528,0.58,136.3,43.8,9.4,443,12531,0.00,1.60,0.00,0.000,4,0.000,0.029,2915,1165,2136
$GC,12581,0.59,166.2,39.9,7.3,447,12610,0.00,1.67,23.02,0.617,6,0.000,0.038,2915,2293,2032
$GC,12891,0.59,166.2,6.0,12.5,490,12900,0.00,1.50,0.00,0.000,4,0.000,0.044,2915,3281,2028
$STATE,12907,end climb,SURFACE_DEPTH_REACHED
$STATE,12908,begin surface coast
$FINISH,0.1,1.012920
$STATE,12934,end surface coast,CONTROL_FINISHED_OK
$STATE,12934,begin surface
$SM_CCo,12959,87.35,0.557,0,0,1160,380.21
$SM_GC,1.23,0.00,0.00,87.35,0.000,0.000,0.557,29,2518,1160,-8.33,-0.90,380.21
$IRIDIUM_FIX,2230.01,-15733.76,181202,000026
$TT8_MAMPS,0.023777
$HUMID,2237
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.80
$XPDR_PINGS,6
$24V_AH,24.1,5.233
$10V_AH,10.7,5.124
$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,17.625,92.025,276.425,87.350,0.000,82.554,127.952,541.938,1.500,0.000,0.000,14.880,1065.772,8849.474,440.972,2478.755,1270.943,33.359,1213.401,0.000,2491.523,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,55.991,1259.414,556.842,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,338.910,1634.060,1685.779,223.669,1113.682,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44518,496
$CAP_FILE_SIZE,106920,0
$CFSIZE,260165632,256032768
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,230913,035206,2236.318,-15735.361,40,1.3,40,10.1