version: 66.04
glider: 512
mission: 4
dive: 39
start: 9 23 113 8 3 10
data:
$ID,512
$MISSION,4
$DIVE,39
$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,566.87909
$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,-107253.57
$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,68
$R_STBD_OVSHOOT,33
$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
$GPS1,073829,2235.026,-15735.848,40,1.3,45,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-81.4
$GPS2,080213,2235.249,-15735.916,11,1.5,11,10.1
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.199,-0.132
$KALMAN_X,-9707.5,-883.3,-251.2,52088.6,6037.6
$KALMAN_Y,15331.1,-583.4,193.5,-31286.2,3070.4
$MHEAD_RNG_PITCHd_Wd,226.3,102395,-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,13,begin dive
$GC,18,-0.58,-136.3,0.0,0.0,0,97,0.00,0.00,-77.15,0.000,2,0.000,0.000,11,2513,3010
$GC,103,-0.58,-136.3,2.4,-2.2,9,123,9.30,1.50,-5.50,0.000,4,0.205,0.041,2515,1467,3267
$GC,398,-0.58,-136.3,79.2,-19.3,39,407,0.00,1.65,0.00,0.000,6,0.000,0.037,2508,2544,3267
$GC,663,-0.58,-136.3,129.7,-19.1,64,666,0.00,1.62,0.00,0.000,4,0.000,0.046,2500,3616,3268
$GC,749,-0.58,-136.3,145.6,-17.1,71,752,0.00,1.52,0.00,0.000,6,0.000,0.020,2506,2538,3268
$GC,1020,-0.58,-136.3,192.9,-17.0,96,1023,0.00,1.42,0.00,0.000,4,0.000,0.021,2514,1494,3268
$GC,1122,-0.58,-136.3,208.7,-13.9,101,1126,0.00,1.60,0.00,0.000,6,0.000,0.038,2507,2572,3269
$GC,1405,-0.58,-136.3,248.0,-13.8,108,1408,0.00,1.58,0.00,0.000,4,0.000,0.044,2499,3620,3268
$GC,1508,-0.58,-136.3,262.9,-13.5,110,1512,0.00,1.55,0.00,0.000,6,0.000,0.021,2506,2526,3268
$GC,1791,-0.58,-136.3,299.7,-13.4,117,1794,0.00,1.40,0.00,0.000,4,0.000,0.021,2514,1502,3267
$GC,1849,-0.58,-136.3,307.2,-11.5,118,1853,0.00,1.58,0.00,0.000,6,0.000,0.038,2508,2546,3267
$GC,2132,-0.58,-136.3,340.5,-11.7,125,2135,0.00,1.60,0.00,0.000,4,0.000,0.046,2500,3607,3265
$GC,2200,-0.58,-136.3,349.2,-12.4,126,2204,0.00,1.50,0.00,0.000,6,0.000,0.021,2505,2551,3264
$GC,2473,-0.58,-136.3,379.4,-11.2,133,2476,0.00,1.60,0.00,0.000,4,0.000,0.044,2499,3613,3262
$GC,2530,-0.58,-136.3,386.7,-11.1,134,2534,0.00,1.50,0.00,0.000,6,0.000,0.021,2505,2558,3261
$GC,2813,-0.58,-136.3,418.1,-11.1,141,2816,0.00,1.48,0.00,0.000,4,0.000,0.024,2513,1493,3259
$GC,2916,-0.58,-136.3,428.6,-9.0,143,2919,0.00,1.60,0.00,0.000,6,0.000,0.041,2507,2568,3259
$GC,3199,-0.58,-136.3,457.3,-10.5,150,3203,0.00,1.58,-0.08,0.000,4,0.000,0.068,2499,3623,3280
$GC,3319,-0.58,-136.3,470.7,-10.1,152,3322,0.00,1.50,0.00,0.000,6,0.000,0.025,2504,2584,3278
$GC,3585,-0.58,-136.3,494.2,-8.7,159,3588,0.00,1.52,0.00,0.000,4,0.000,0.025,2512,1496,3277
$GC,3655,-0.58,-136.3,499.5,-6.6,160,3658,0.00,1.62,0.00,0.000,6,0.000,0.042,2507,2583,3276
$GC,3926,-0.58,-136.3,523.9,-9.9,167,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2583,3274
$GC,4169,-0.58,-136.3,552.8,-11.9,173,4173,0.00,1.58,0.00,0.000,4,0.000,0.027,2508,1490,3272
$GC,4232,-0.58,-136.3,560.3,-10.7,174,4236,0.00,1.65,0.00,0.000,6,0.000,0.043,2502,2587,3272
$GC,4510,-0.58,-136.3,587.0,-9.3,181,4513,0.00,1.58,0.00,0.000,4,0.000,0.051,2494,3617,3269
$GC,4580,-0.58,-136.3,593.8,-9.3,182,4584,0.00,1.50,0.00,0.000,6,0.000,0.028,2500,2576,3268
$GC,4852,-0.58,-136.3,618.0,-9.1,189,4855,0.00,1.60,0.00,0.000,4,0.000,0.050,2494,3624,3266
$GC,4876,-0.58,-136.3,620.9,-10.3,189,4880,0.00,1.50,0.00,0.000,6,0.000,0.028,2499,2586,3266
$GC,5148,-0.58,-136.3,646.9,-9.6,196,5152,0.00,1.52,0.00,0.000,4,0.000,0.028,2507,1504,3264
$GC,5183,-0.58,-136.3,650.5,-8.6,196,5187,0.00,1.65,0.00,0.000,6,0.000,0.045,2501,2578,3264
$GC,5444,-0.58,-136.3,672.3,-8.4,203,5448,0.00,1.55,0.00,0.000,4,0.000,0.028,2507,1504,3262
$GC,5501,-0.58,-136.3,677.6,-8.6,204,5505,0.00,1.62,0.00,0.000,6,0.000,0.046,2501,2580,3263
$GC,5786,-0.58,-136.3,700.9,-8.5,211,5789,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3604,3261
$GC,5880,-0.58,-136.3,709.6,-9.5,213,5884,0.00,1.48,0.00,0.000,6,0.000,0.029,2499,2591,3260
$GC,6175,-0.58,-136.3,735.7,-9.0,220,6178,0.00,1.55,0.00,0.000,4,0.000,0.031,2507,1501,3259
$GC,6282,-0.58,-136.3,745.1,-8.6,222,6286,0.00,1.65,0.00,0.000,6,0.000,0.048,2501,2589,3258
$GC,6560,-0.58,-136.3,768.6,-8.7,229,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2589,3256
$GC,6805,-0.58,-136.3,789.0,-8.4,235,6809,0.00,1.58,0.00,0.000,4,0.000,0.056,2493,3607,3255
$GC,6835,-0.58,-136.3,792.1,-9.1,235,6839,0.00,1.50,0.00,0.000,6,0.000,0.031,2493,2579,3254
$GC,7100,-0.58,-136.3,815.2,-8.8,242,7104,0.00,1.55,0.00,0.000,4,0.000,0.031,2492,1491,3253
$GC,7151,-0.58,-136.3,819.8,-8.4,243,7154,0.00,1.62,0.00,0.000,6,0.000,0.048,2485,2557,3254
$GC,7445,-0.58,-136.3,849.3,-10.2,250,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2557,3252
$GC,7690,-0.58,-136.3,875.0,-10.6,256,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2557,3251
$GC,7934,-0.58,-136.3,899.8,-10.1,262,7938,0.00,1.55,0.00,0.000,4,0.000,0.031,2485,1495,3250
$STATE,7942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7942,begin apogee
$GC,7954,-0.23,0.0,901.7,10.1,262,8075,0.40,0.00,117.15,1.263,6,0.127,0.000,2615,2230,2710
$STATE,8075,end apogee,CONTROL_FINISHED_OK
$STATE,8075,begin climb
$GC,8081,0.58,136.3,905.7,0.0,265,8237,0.80,0.00,133.15,1.164,6,0.076,0.000,2882,2230,2154
$GC,8474,0.58,136.3,831.5,23.2,275,8477,0.00,1.62,0.00,0.000,4,0.000,0.034,2889,1164,2144
$GC,8504,0.58,136.3,824.0,23.1,275,8507,0.00,1.65,0.00,0.000,6,0.000,0.044,2889,2217,2144
$GC,8770,0.58,136.3,760.7,24.4,282,8773,0.00,1.65,0.00,0.000,4,0.000,0.050,2889,3284,2142
$GC,8794,0.58,136.3,753.8,24.7,282,8798,0.00,1.60,0.00,0.000,6,0.000,0.031,2898,2235,2142
$GC,9066,0.58,136.3,687.4,25.0,289,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2229,2141
$GC,9310,0.58,136.3,629.2,23.8,295,9314,0.00,1.58,0.00,0.000,4,0.000,0.034,2906,1166,2140
$GC,9360,0.58,136.3,617.7,21.4,296,9364,0.00,1.67,0.00,0.000,6,0.000,0.045,2905,2255,2140
$GC,9654,0.58,136.3,552.4,22.0,303,9658,0.00,1.60,0.00,0.000,4,0.000,0.051,2905,3283,2139
$GC,9690,0.58,136.3,543.9,21.8,303,9693,0.00,1.55,0.00,0.000,6,0.000,0.031,2910,2254,2139
$GC,9951,0.58,136.3,486.8,22.7,310,9955,0.00,1.60,0.00,0.000,4,0.000,0.035,2919,1165,2139
$GC,10070,0.58,136.3,460.7,20.9,312,10074,0.12,1.65,0.00,0.000,6,0.163,0.045,2886,2248,2138
$GC,10336,0.58,136.3,408.4,19.8,319,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2248,2137
$GC,10581,0.58,136.3,362.8,19.0,325,10584,0.00,1.62,0.00,0.000,4,0.000,0.034,2892,1143,2137
$GC,10599,0.58,136.3,358.2,18.6,325,10603,0.00,1.65,0.00,0.000,6,0.000,0.044,2892,2224,2138
$GC,10876,0.58,136.3,306.9,19.1,332,10880,0.00,1.65,0.00,0.000,4,0.000,0.051,2891,3291,2137
$GC,10939,0.58,136.3,293.1,21.8,333,10943,0.00,1.58,0.00,0.000,6,0.000,0.030,2898,2233,2136
$GC,11217,0.58,136.3,244.2,16.9,340,11221,0.00,1.65,0.00,0.000,4,0.000,0.049,2898,3297,2136
$GC,11255,0.58,136.3,238.1,16.0,340,11258,0.00,1.60,0.00,0.000,6,0.000,0.031,2903,2200,2136
$GC,11514,0.58,136.3,199.7,14.8,347,11518,0.00,1.67,0.00,0.000,4,0.000,0.045,2902,3293,2136
$GC,11531,0.58,136.3,197.2,14.5,348,11534,0.00,1.58,0.00,0.000,6,0.000,0.028,2910,2226,2136
$GC,11803,0.58,136.3,157.6,12.6,373,11807,0.00,1.52,0.00,0.000,4,0.000,0.031,2915,1169,2136
$GC,11900,0.58,136.3,144.1,12.8,381,11909,0.10,1.62,0.00,0.000,6,0.133,0.041,2881,2233,2136
$GC,12170,0.58,136.3,110.8,12.4,406,12174,0.00,1.60,0.00,0.000,4,0.000,0.045,2878,3284,2136
$GC,12289,0.58,136.3,95.0,13.3,416,12293,0.00,1.52,0.00,0.000,6,0.000,0.026,2884,2238,2136
$GC,12562,0.58,136.3,66.5,8.8,441,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2232,2137
$GC,12829,0.60,178.7,48.2,6.8,466,12868,0.00,0.00,32.70,0.613,6,0.000,0.000,2884,2232,1981
$GC,13144,0.60,178.7,18.9,10.6,502,13153,0.00,1.52,0.00,0.000,4,0.000,0.025,2891,1165,1979
$GC,13177,0.60,178.7,16.1,8.7,506,13186,0.00,1.62,0.00,0.000,6,0.000,0.037,2891,2234,1978
$STATE,13310,end climb,SURFACE_DEPTH_REACHED
$STATE,13310,begin surface coast
$FINISH,0.2,1.011011
$STATE,13347,end surface coast,CONTROL_FINISHED_OK
$STATE,13347,begin surface
$SM_CCo,13372,173.40,0.538,0,0,399,566.88
$SM_GC,1.17,0.00,0.00,173.40,0.000,0.000,0.538,27,2580,399,-8.32,0.85,566.88
$IRIDIUM_FIX,2225.34,-15734.65,181202,080852
$TT8_MAMPS,0.023777
$HUMID,2112
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.80
$XPDR_PINGS,4
$24V_AH,24.1,5.527
$10V_AH,10.7,5.482
$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,17.900,100.950,283.000,173.400,0.000,136.984,192.894,642.935,1.000,0.000,0.000,11.812,1153.554,8932.543,541.794,2780.427,1564.305,33.389,1394.460,0.000,2802.426,0.000,0.545,0.000
$DEVICE_MAMPS,204.789,68.263,1263.249,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,363.183,1752.626,1812.238,353.677,1227.457,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44608,532
$CAP_FILE_SIZE,119436,0
$CFSIZE,260165632,255897600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,230913,115029,2234.244,-15737.125,39,1.5,45,10.1