version: 66.04
glider: 512
mission: 4
dive: 41
start: 9 23 113 16 29 17
data:
$ID,512
$MISSION,4
$DIVE,41
$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,-107306.94
$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,74
$R_STBD_OVSHOOT,40
$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
$GPS1,160524,2233.300,-15738.188,41,1.3,41,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-80.4
$GPS2,162824,2233.399,-15738.254,10,1.2,15,10.1
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.143,-0.191
$KALMAN_X,-6631.7,-412.1,-450.8,44744.2,5478.8
$KALMAN_Y,17778.2,-69.0,-588.4,-36893.6,4339.5
$MHEAD_RNG_PITCHd_Wd,206.7,97947,-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,17,-0.58,-136.3,0.0,0.0,0,131,0.00,0.00,-111.00,0.000,2,0.000,0.000,11,2571,3182
$GC,137,-0.58,-136.3,2.6,-2.5,13,157,9.27,1.55,-1.73,0.000,4,0.203,0.051,2500,3617,3268
$GC,429,-0.58,-136.3,87.0,-20.0,41,437,0.00,1.52,0.00,0.000,6,0.000,0.020,2502,2556,3269
$GC,694,-0.58,-136.3,137.8,-19.4,66,698,0.00,1.48,0.00,0.000,4,0.000,0.021,2511,1487,3269
$GC,713,-0.58,-136.3,142.3,-19.9,67,721,0.00,1.60,0.00,0.000,6,0.000,0.037,2504,2542,3269
$GC,979,-0.58,-136.3,188.6,-16.9,92,983,0.00,1.60,0.00,0.000,4,0.000,0.044,2496,3607,3268
$GC,1007,-0.58,-136.3,193.0,-16.3,94,1011,0.00,1.48,0.00,0.000,6,0.000,0.019,2502,2556,3268
$GC,1298,-0.58,-136.3,234.4,-13.2,104,1302,0.00,1.45,0.00,0.000,4,0.000,0.021,2510,1497,3268
$GC,1463,-0.58,-136.3,254.7,-11.4,107,1467,0.00,1.58,0.00,0.000,6,0.000,0.037,2504,2540,3267
$GC,1729,-0.58,-136.3,289.3,-13.6,114,1732,0.00,1.60,0.00,0.000,4,0.000,0.044,2496,3627,3266
$GC,1824,-0.58,-136.3,302.4,-13.3,116,1828,0.00,1.52,0.00,0.000,6,0.000,0.021,2502,2553,3265
$GC,2118,-0.58,-136.3,337.2,-11.7,123,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2546,3263
$GC,2362,-0.58,-136.3,367.0,-12.5,129,2365,0.00,1.45,0.00,0.000,4,0.000,0.023,2510,1502,3261
$GC,2413,-0.58,-136.3,373.3,-11.3,130,2416,0.00,1.58,0.00,0.000,6,0.000,0.039,2504,2539,3261
$GC,2706,-0.58,-136.3,409.7,-12.4,137,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2539,3258
$GC,2950,-0.58,-136.3,440.4,-12.6,143,2954,0.00,1.60,-0.08,0.000,4,0.000,0.066,2496,3614,3280
$GC,3029,-0.58,-136.3,451.2,-12.9,144,3033,0.00,1.52,0.00,0.000,6,0.000,0.024,2502,2545,3279
$GC,3290,-0.58,-136.3,480.1,-11.0,151,3294,0.00,1.45,0.00,0.000,4,0.000,0.026,2509,1506,3277
$GC,3432,-0.58,-136.3,495.3,-10.3,154,3435,0.00,1.55,0.00,0.000,6,0.000,0.042,2504,2523,3276
$GC,3720,-0.58,-136.3,527.0,-11.3,161,3724,0.00,1.65,0.00,0.000,4,0.000,0.049,2496,3607,3273
$GC,3794,-0.58,-136.3,535.9,-11.3,162,3798,0.00,1.55,0.00,0.000,6,0.000,0.025,2502,2533,3272
$GC,4061,-0.58,-136.3,560.9,-9.1,169,4064,0.00,1.65,0.00,0.000,4,0.000,0.048,2496,3614,3270
$GC,4113,-0.58,-136.3,566.2,-9.0,170,4117,0.00,1.58,0.00,0.000,6,0.000,0.026,2502,2523,3269
$GC,4401,-0.58,-136.3,592.0,-9.2,177,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2515,3267
$GC,4645,-0.58,-136.3,615.5,-9.6,183,4648,0.00,1.45,0.00,0.000,4,0.000,0.029,2508,1492,3266
$GC,4680,-0.58,-136.3,619.2,-9.6,183,4684,0.00,1.58,0.00,0.000,6,0.000,0.044,2503,2520,3266
$GC,4942,-0.58,-136.3,642.6,-9.3,190,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2520,3264
$GC,5186,-0.58,-136.3,665.6,-9.6,196,5190,0.00,1.65,0.00,0.000,4,0.000,0.054,2494,3613,3262
$GC,5216,-0.58,-136.3,669.2,-10.5,196,5220,0.00,1.62,0.00,0.000,6,0.000,0.028,2500,2501,3261
$GC,5481,-0.58,-136.3,695.1,-9.7,203,5485,0.00,1.75,0.00,0.000,4,0.000,0.054,2493,3613,3260
$GC,5522,-0.58,-136.3,699.7,-10.6,203,5531,0.00,1.62,0.00,0.000,6,0.000,0.028,2500,2495,3259
$GC,5777,-0.58,-136.3,724.0,-9.4,210,5781,0.00,1.73,0.00,0.000,4,0.000,0.054,2494,3614,3258
$GC,5813,-0.58,-136.3,727.7,-9.6,210,5816,0.00,1.60,0.00,0.000,6,0.000,0.028,2500,2498,3258
$GC,6074,-0.58,-136.3,749.7,-8.4,217,6078,0.00,1.42,0.00,0.000,4,0.000,0.029,2507,1486,3257
$GC,6138,-0.58,-136.3,755.1,-7.8,218,6141,0.00,1.58,0.00,0.000,6,0.000,0.047,2502,2506,3257
$GC,6415,-0.58,-136.3,777.7,-8.4,225,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2507,3254
$GC,6659,-0.58,-136.3,798.3,-8.5,231,6662,0.00,1.67,0.00,0.000,4,0.000,0.055,2494,3611,3253
$GC,6710,-0.58,-136.3,803.2,-10.4,232,6713,0.00,1.62,0.00,0.000,6,0.000,0.029,2500,2484,3253
$GC,7003,-0.58,-136.3,829.3,-8.6,239,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2477,3251
$GC,7247,-0.58,-136.3,849.5,-8.3,245,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2477,3251
$GC,7491,-0.58,-136.3,869.2,-8.2,251,7495,0.00,1.77,0.00,0.000,4,0.000,0.054,2493,3607,3249
$GC,7526,-0.58,-136.3,872.4,-8.9,251,7530,0.00,1.60,0.00,0.000,6,0.000,0.030,2493,2498,3249
$GC,7787,-0.58,-136.3,893.4,-8.1,258,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2490,3248
$STATE,7903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7903,begin apogee
$GC,7914,-0.23,0.0,903.2,7.9,261,8035,0.40,0.00,117.55,1.261,6,0.126,0.000,2623,2208,2710
$STATE,8035,end apogee,CONTROL_FINISHED_OK
$STATE,8035,begin climb
$GC,8041,0.58,136.3,904.9,0.0,264,8176,0.73,0.00,126.32,1.206,6,0.070,0.000,2878,2208,2154
$GC,8460,0.58,136.3,815.8,24.8,274,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2208,2144
$GC,8705,0.58,136.3,756.4,24.3,280,8709,0.00,1.70,0.00,0.000,4,0.000,0.048,2878,3295,2142
$GC,8735,0.58,136.3,747.7,25.9,280,8739,0.00,1.62,0.00,0.000,6,0.000,0.031,2884,2233,2141
$GC,9000,0.58,136.3,684.4,23.9,287,9004,0.00,1.60,0.00,0.000,4,0.000,0.034,2891,1151,2140
$GC,9057,0.58,136.3,670.9,21.9,288,9061,0.00,1.65,0.00,0.000,6,0.000,0.044,2891,2222,2140
$GC,9341,0.58,136.3,609.2,22.3,295,9344,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3282,2139
$GC,9390,0.58,136.3,598.0,21.5,296,9394,0.00,1.62,0.00,0.000,6,0.000,0.031,2898,2190,2139
$GC,9684,0.58,136.3,537.2,20.1,303,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2184,2138
$GC,9928,0.58,136.3,484.8,21.7,309,9931,0.00,1.70,0.00,0.000,4,0.000,0.048,2892,3284,2138
$GC,9979,0.58,136.3,472.7,23.8,310,9982,0.00,1.62,0.00,0.000,6,0.000,0.031,2898,2189,2137
$GC,10273,0.58,136.3,408.6,20.8,317,10276,0.00,1.73,0.00,0.000,4,0.000,0.049,2899,3278,2137
$GC,10330,0.58,136.3,395.0,22.5,318,10334,0.00,1.58,0.00,0.000,6,0.000,0.031,2912,2234,2137
$GC,10614,0.58,136.3,339.2,19.2,325,10617,0.00,1.58,0.00,0.000,4,0.000,0.033,2920,1151,2137
$GC,10671,0.58,136.3,327.9,17.9,326,10676,0.08,1.65,0.00,0.000,6,0.150,0.043,2891,2221,2136
$GC,10953,0.58,136.3,279.8,17.6,333,10957,0.00,1.62,0.00,0.000,4,0.000,0.050,2891,3290,2136
$GC,11094,0.58,136.3,254.6,18.3,336,11097,0.00,1.58,0.00,0.000,6,0.000,0.029,2897,2233,2136
$GC,11388,0.58,136.3,208.3,16.0,343,11392,0.00,1.55,0.00,0.000,4,0.000,0.031,2906,1162,2136
$GC,11651,0.58,136.3,169.3,12.7,363,11654,0.00,1.60,0.00,0.000,6,0.000,0.041,2905,2228,2136
$GC,11922,0.58,136.3,130.5,16.1,388,11926,0.00,1.60,0.00,0.000,4,0.000,0.046,2905,3278,2136
$GC,11950,0.58,136.3,125.4,17.9,390,11953,0.00,1.58,0.00,0.000,6,0.000,0.028,2911,2213,2136
$GC,12222,0.58,136.3,86.6,12.0,415,12226,0.00,1.50,0.00,0.000,4,0.000,0.031,2915,1164,2136
$GC,12320,0.58,136.3,75.3,11.1,423,12324,0.05,1.55,0.00,0.000,6,0.124,0.039,2885,2181,2136
$GC,12596,0.59,167.3,55.7,7.3,448,12626,0.00,1.73,24.17,0.612,4,0.000,0.044,2885,3292,2026
$GC,12806,0.59,167.3,37.9,8.6,465,12809,0.00,1.62,0.00,0.000,6,0.000,0.024,2889,2165,2024
$GC,13105,0.59,167.3,10.4,8.8,506,13115,0.00,1.73,0.00,0.000,4,0.000,0.040,2890,3284,2024
$GC,13133,0.59,167.3,7.6,9.7,509,13142,0.00,1.62,0.00,0.000,6,0.000,0.022,2897,2163,2024
$STATE,13179,end climb,SURFACE_DEPTH_REACHED
$STATE,13179,begin surface coast
$FINISH,0.3,1.009875
$STATE,13218,end surface coast,CONTROL_FINISHED_OK
$STATE,13218,begin surface
$SM_CCo,13243,87.18,0.539,0,0,1159,380.21
$SM_GC,1.36,0.00,0.00,87.18,0.000,0.000,0.539,28,2573,1159,-8.32,0.65,380.21
$IRIDIUM_FIX,2223.01,-15737.70,181202,161655
$TT8_MAMPS,0.023777
$HUMID,2164
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,26.10
$XPDR_PINGS,4
$24V_AH,24.1,5.882
$10V_AH,10.7,5.853
$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,17.700,93.575,268.050,87.175,0.000,53.588,71.508,1011.432,1.000,0.000,0.000,15.620,1122.793,8719.975,417.240,2784.860,1663.159,33.361,1284.290,0.000,2787.229,0.000,0.545,0.000
$DEVICE_MAMPS,203.255,65.962,1260.948,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,356.184,1719.692,1778.694,297.077,1217.238,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44710,522
$CAP_FILE_SIZE,117251,0
$CFSIZE,260165632,255782912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230913,201259,2232.183,-15738.580,43,1.0,43,10.0