version: 66.04
glider: 512
mission: 4
dive: 38
start: 9 23 113 4 1 34
data:
$ID,512
$MISSION,4
$DIVE,38
$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,-107241.12
$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,70
$R_STBD_OVSHOOT,31
$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
$GPS1,035206,2236.318,-15735.361,40,1.3,40,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-79.0
$GPS2,040042,2236.284,-15735.408,11,1.5,22,10.1
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.136,-0.196
$KALMAN_X,-11030.4,-788.3,-575.4,54495.3,6681.4
$KALMAN_Y,14494.3,-553.3,-925.1,-27416.6,4798.0
$MHEAD_RNG_PITCHd_Wd,204.6,103569,-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,-136.3,0.0,0.0,0,97,0.00,0.00,-76.72,0.000,2,0.000,0.000,11,2511,2980
$GC,102,-0.58,-136.3,2.1,-1.8,9,122,9.32,1.50,-6.22,0.000,4,0.207,0.041,2510,1467,3267
$GC,237,-0.58,-136.3,38.3,-24.8,27,241,0.00,1.65,0.00,0.000,6,0.000,0.040,2504,2552,3268
$GC,508,-0.58,-136.3,100.1,-20.4,52,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2552,3270
$GC,775,-0.58,-136.3,147.2,-18.3,77,778,0.00,1.50,0.00,0.000,4,0.000,0.020,2506,1488,3271
$GC,870,-0.58,-136.3,163.4,-16.4,85,873,0.00,1.65,0.00,0.000,6,0.000,0.038,2500,2589,3271
$GC,1161,-0.58,-136.3,213.5,-16.4,106,1164,0.00,1.55,0.00,0.000,4,0.000,0.046,2492,3616,3272
$GC,1211,-0.58,-136.3,221.5,-15.4,107,1214,0.00,1.48,0.00,0.000,6,0.000,0.021,2497,2576,3272
$GC,1505,-0.58,-136.3,266.3,-15.0,114,1508,0.00,1.48,0.00,0.000,4,0.000,0.021,2505,1504,3272
$GC,1556,-0.58,-136.3,273.2,-13.0,115,1559,0.00,1.62,0.00,0.000,6,0.000,0.039,2499,2591,3272
$GC,1849,-0.58,-136.3,313.1,-13.2,122,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2591,3271
$GC,2093,-0.58,-136.3,347.3,-14.3,128,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2591,3269
$GC,2336,-0.58,-136.3,380.0,-12.9,134,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2591,3268
$GC,2581,-0.58,-136.3,408.8,-11.8,140,2584,0.00,1.55,0.00,0.000,4,0.000,0.025,2505,1506,3266
$GC,2689,-0.58,-136.3,421.9,-12.3,142,2693,0.00,1.60,0.00,0.000,6,0.000,0.041,2499,2559,3266
$GC,2966,-0.58,-136.3,457.3,-13.1,149,2970,0.00,1.60,0.00,0.000,4,0.000,0.048,2490,3631,3264
$GC,3029,-0.58,-136.3,466.1,-13.1,150,3033,0.00,1.50,0.00,0.000,6,0.000,0.024,2496,2582,3263
$GC,3307,-0.58,-136.3,496.2,-10.4,157,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2574,3261
$GC,3552,-0.58,-136.3,520.1,-9.8,163,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2574,3259
$GC,3795,-0.58,-136.3,544.2,-9.9,169,3799,0.00,1.52,0.00,0.000,4,0.000,0.027,2504,1495,3258
$GC,3875,-0.58,-136.3,552.1,-8.7,170,3879,0.00,1.62,0.00,0.000,6,0.000,0.043,2498,2577,3257
$GC,4136,-0.58,-136.3,576.7,-9.7,177,4139,0.00,1.58,0.00,0.000,4,0.000,0.051,2490,3609,3255
$GC,4277,-0.58,-136.3,592.9,-11.0,180,4281,0.00,1.45,0.00,0.000,6,0.000,0.027,2496,2602,3254
$GC,4567,-0.58,-136.3,624.0,-11.0,187,4570,0.00,1.55,0.00,0.000,4,0.000,0.028,2504,1503,3252
$GC,4602,-0.58,-136.3,628.2,-10.6,187,4606,0.00,1.67,0.00,0.000,6,0.000,0.045,2497,2591,3252
$GC,4862,-0.58,-136.3,652.9,-9.6,194,4866,0.00,1.55,0.00,0.000,4,0.000,0.052,2490,3605,3250
$GC,4897,-0.58,-136.3,656.5,-9.5,194,4901,0.00,1.48,0.00,0.000,6,0.000,0.028,2495,2588,3250
$GC,5158,-0.58,-136.3,677.7,-8.3,201,5161,0.00,1.55,0.00,0.000,4,0.000,0.029,2503,1492,3248
$GC,5222,-0.58,-136.3,683.7,-8.1,202,5226,0.00,1.65,0.00,0.000,6,0.000,0.046,2497,2584,3248
$GC,5499,-0.58,-136.3,709.9,-9.8,209,5503,0.00,1.58,0.00,0.000,4,0.000,0.029,2503,1492,3246
$GC,5549,-0.58,-136.3,714.9,-9.1,210,5553,0.00,1.62,0.00,0.000,6,0.000,0.046,2496,2567,3246
$GC,5844,-0.58,-136.3,744.3,-10.0,217,5848,0.00,1.60,0.00,0.000,4,0.000,0.054,2489,3624,3244
$GC,5868,-0.58,-136.3,747.4,-10.7,217,5872,0.00,1.55,0.00,0.000,6,0.000,0.030,2494,2564,3244
$GC,6139,-0.58,-136.3,772.7,-9.2,224,6143,0.00,1.62,0.00,0.000,4,0.000,0.054,2488,3618,3243
$GC,6191,-0.58,-136.3,777.4,-10.1,225,6195,0.00,1.52,0.00,0.000,6,0.000,0.030,2494,2575,3243
$GC,6486,-0.58,-136.3,805.3,-9.3,232,6489,0.00,1.52,0.00,0.000,4,0.000,0.031,2502,1507,3241
$GC,6604,-0.58,-136.3,815.8,-8.3,234,6608,0.00,1.60,0.00,0.000,6,0.000,0.048,2496,2561,3241
$GC,6871,-0.58,-136.3,839.0,-8.8,241,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2561,3240
$GC,7116,-0.58,-136.3,859.0,-8.1,247,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2561,3239
$GC,7360,-0.58,-136.3,879.5,-8.5,253,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2561,3239
$STATE,7599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7599,begin apogee
$GC,7610,-0.23,0.0,901.6,9.1,259,7728,0.38,0.00,115.40,1.256,6,0.122,0.000,2618,2232,2710
$STATE,7729,end apogee,CONTROL_FINISHED_OK
$STATE,7729,begin climb
$GC,7734,0.58,136.3,905.6,0.0,262,7886,0.75,0.00,133.02,1.164,6,0.074,0.000,2877,2232,2154
$GC,8108,0.58,136.3,835.3,23.8,271,8111,0.00,1.67,0.00,0.000,4,0.000,0.048,2877,3284,2145
$GC,8143,0.58,136.3,825.3,25.6,271,8147,0.00,1.62,0.00,0.000,6,0.000,0.031,2884,2233,2144
$GC,8402,0.58,136.3,760.3,26.0,278,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2226,2142
$GC,8646,0.58,136.3,697.7,25.3,284,8649,0.00,1.60,0.00,0.000,4,0.000,0.035,2892,1132,2141
$GC,8703,0.58,136.3,682.9,23.6,285,8707,0.00,1.70,0.00,0.000,6,0.000,0.044,2891,2231,2141
$GC,8986,0.58,136.3,615.2,24.3,292,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2232,2140
$GC,9232,0.58,136.3,560.0,22.3,298,9235,0.00,1.62,0.00,0.000,4,0.000,0.050,2891,3294,2140
$GC,9281,0.58,136.3,548.6,23.5,299,9285,0.00,1.60,0.00,0.000,6,0.000,0.031,2898,2237,2139
$GC,9575,0.58,136.3,485.0,21.4,306,9579,0.00,1.58,0.00,0.000,4,0.000,0.034,2906,1164,2138
$GC,9695,0.58,136.3,461.8,17.9,308,9699,0.00,1.62,0.00,0.000,6,0.000,0.046,2905,2226,2137
$GC,9962,0.58,136.3,408.4,20.9,315,9965,0.00,1.60,0.00,0.000,4,0.000,0.035,2911,1154,2137
$GC,9986,0.58,136.3,401.8,23.4,315,9990,0.00,1.62,0.00,0.000,6,0.000,0.043,2911,2202,2137
$GC,10258,0.58,136.3,344.4,21.1,322,10262,0.00,1.65,0.00,0.000,4,0.000,0.050,2911,3288,2137
$GC,10352,0.58,136.3,324.7,22.0,324,10357,0.10,1.62,0.00,0.000,6,0.183,0.031,2891,2208,2136
$GC,10647,0.58,136.3,271.8,17.6,331,10650,0.00,1.52,0.00,0.000,4,0.000,0.033,2897,1162,2136
$GC,10697,0.58,136.3,263.4,16.3,332,10700,0.00,1.62,0.00,0.000,6,0.000,0.046,2892,2225,2136
$GC,10991,0.58,136.3,216.6,15.5,339,10994,0.00,1.62,0.00,0.000,4,0.000,0.050,2891,3297,2136
$GC,11071,0.58,136.3,204.4,15.3,340,11075,0.00,1.60,0.00,0.000,6,0.000,0.029,2898,2199,2136
$GC,11341,0.58,136.3,167.6,13.9,362,11345,0.00,1.50,0.00,0.000,4,0.000,0.031,2906,1158,2135
$GC,11424,0.58,136.3,156.1,14.0,369,11427,0.00,1.62,0.00,0.000,6,0.000,0.039,2905,2241,2136
$GC,11695,0.58,136.3,115.7,12.7,394,11698,0.00,1.58,0.00,0.000,4,0.000,0.047,2905,3275,2135
$GC,11748,0.58,136.3,108.4,13.3,398,11757,0.00,1.55,0.00,0.000,6,0.000,0.027,2911,2222,2135
$GC,12014,0.58,136.3,75.4,12.2,423,12018,0.00,1.62,0.00,0.000,4,0.000,0.043,2911,3277,2136
$GC,12043,0.58,136.3,71.2,14.3,425,12047,0.08,1.50,0.00,0.000,6,0.170,0.027,2882,2252,2135
$GC,12320,0.60,200.8,48.4,5.8,450,12377,0.00,1.58,50.30,0.609,4,0.000,0.027,2886,1148,1889
$GC,12454,0.61,223.9,38.2,7.6,460,12482,0.00,1.65,18.98,0.576,6,0.000,0.038,2886,2237,1797
$GC,12768,0.61,223.9,6.9,10.4,503,12776,0.00,1.58,0.00,0.000,4,0.000,0.041,2886,3276,1795
$STATE,12801,end climb,SURFACE_DEPTH_REACHED
$STATE,12801,begin surface coast
$FINISH,0.1,1.009076
$STATE,12834,end surface coast,CONTROL_FINISHED_OK
$STATE,12834,begin surface
$SM_CCo,12860,62.17,0.540,0,0,1159,380.21
$SM_GC,1.12,0.00,0.00,62.17,0.000,0.000,0.540,46,2521,1159,-8.28,-0.82,380.21
$IRIDIUM_FIX,2227.67,-15731.61,181202,000004
$TT8_MAMPS,0.023777
$HUMID,2204
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,4
$24V_AH,24.1,5.357
$10V_AH,10.7,5.295
$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,17.875,88.550,317.700,62.175,0.000,33.580,41.863,254.237,1.000,0.000,0.000,22.522,1096.674,8413.079,428.215,2664.575,833.805,33.362,1238.127,0.000,2664.805,0.000,0.544,0.000
$DEVICE_MAMPS,207.090,54.457,1255.579,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,350.116,1688.296,1753.511,369.481,1210.671,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44562,513
$CAP_FILE_SIZE,100508,0
$CFSIZE,260165632,255983616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,230913,073829,2235.026,-15735.848,40,1.3,45,10.1