version: 66.04
glider: 512
mission: 4
dive: 42
start: 9 23 113 20 26 42
data:
$ID,512
$MISSION,4
$DIVE,42
$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,-107319.23
$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,49
$R_STBD_OVSHOOT,39
$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
$GPS1,201259,2232.183,-15738.580,43,1.0,43,10.0
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,2
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-81.9
$GPS2,202549,2232.219,-15738.473,11,1.8,11,10.0
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.215,-0.103
$KALMAN_X,-4654.3,-362.2,-107.8,41995.8,5049.2
$KALMAN_Y,18613.5,-156.4,271.0,-40685.7,2228.8
$MHEAD_RNG_PITCHd_Wd,234.3,97317,-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,-136.3,0.0,0.0,0,97,0.00,0.00,-76.82,0.000,2,0.000,0.000,12,2572,2980
$GC,102,-0.58,-136.3,2.0,-1.4,9,123,9.30,1.60,-6.40,0.000,4,0.204,0.040,2517,1462,3267
$GC,347,-0.58,-136.3,63.6,-20.6,35,351,0.00,1.62,0.00,0.000,6,0.000,0.040,2510,2537,3268
$GC,618,-0.58,-136.3,115.2,-17.7,60,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2537,3269
$GC,885,-0.58,-136.3,165.1,-18.8,85,889,0.00,1.50,0.00,0.000,4,0.000,0.020,2513,1467,3269
$GC,924,-0.58,-136.3,172.0,-16.7,88,928,0.00,1.60,0.00,0.000,6,0.000,0.037,2507,2545,3269
$GC,1202,-0.58,-136.3,213.1,-14.6,108,1206,0.00,1.60,0.00,0.000,4,0.000,0.044,2498,3611,3269
$GC,1243,-0.58,-136.3,219.4,-14.3,108,1253,0.00,1.55,0.00,0.000,6,0.000,0.019,2505,2507,3269
$GC,1498,-0.58,-136.3,255.8,-14.4,115,1502,0.00,1.38,0.00,0.000,4,0.000,0.021,2512,1506,3269
$GC,1657,-0.58,-136.3,275.5,-10.8,118,1660,0.00,1.52,0.00,0.000,6,0.000,0.037,2507,2517,3268
$GC,1928,-0.58,-136.3,308.3,-12.7,125,1932,0.00,1.65,0.00,0.000,4,0.000,0.044,2498,3613,3268
$GC,2068,-0.58,-136.3,328.0,-13.5,128,2072,0.00,1.52,0.00,0.000,6,0.000,0.021,2504,2542,3268
$GC,2362,-0.58,-136.3,365.1,-12.4,135,2365,0.00,1.42,0.00,0.000,4,0.000,0.023,2512,1503,3267
$GC,2442,-0.58,-136.3,374.2,-10.7,136,2446,0.00,1.52,0.00,0.000,6,0.000,0.039,2507,2510,3266
$GC,2702,-0.58,-136.3,402.4,-11.3,143,2706,0.00,1.42,0.00,0.000,4,0.000,0.023,2508,1500,3264
$GC,2743,-0.58,-136.3,407.5,-11.6,143,2752,0.00,1.50,0.00,0.000,6,0.000,0.039,2503,2492,3264
$GC,2998,-0.58,-136.3,438.6,-12.7,150,3002,0.00,1.67,0.00,0.000,4,0.000,0.048,2494,3616,3261
$GC,3124,-0.58,-136.3,454.7,-11.7,152,3127,0.00,1.58,0.00,0.000,6,0.000,0.024,2500,2524,3260
$GC,3384,-0.58,-136.3,481.6,-10.2,159,3387,0.00,1.42,0.00,0.000,4,0.000,0.025,2507,1498,3257
$GC,3460,-0.58,-136.3,488.8,-8.2,160,3464,0.00,1.55,-0.08,0.000,6,0.000,0.041,2502,2517,3278
$GC,3725,-0.58,-136.3,513.4,-9.6,167,3729,0.00,1.67,0.00,0.000,4,0.000,0.051,2494,3612,3276
$GC,3810,-0.58,-136.3,523.1,-11.0,168,3819,0.00,1.60,0.00,0.000,6,0.000,0.025,2500,2502,3275
$GC,4066,-0.58,-136.3,548.1,-9.8,175,4070,0.00,1.40,0.00,0.000,4,0.000,0.026,2507,1503,3273
$GC,4174,-0.58,-136.3,557.7,-8.4,177,4178,0.00,1.52,0.00,0.000,6,0.000,0.043,2502,2502,3272
$GC,4452,-0.58,-136.3,582.4,-9.2,184,4456,0.00,1.67,0.00,0.000,4,0.000,0.051,2493,3614,3270
$GC,4560,-0.58,-136.3,593.4,-9.6,186,4563,0.00,1.60,0.00,0.000,6,0.000,0.026,2500,2493,3269
$GC,4838,-0.58,-136.3,617.6,-8.6,193,4841,0.00,1.40,0.00,0.000,4,0.000,0.028,2507,1495,3267
$GC,4867,-0.58,-136.3,620.5,-8.8,193,4871,0.00,1.55,0.00,0.000,6,0.000,0.044,2501,2504,3266
$GC,5133,-0.58,-136.3,641.0,-7.8,200,5137,0.00,1.67,0.00,0.000,4,0.000,0.052,2493,3613,3265
$GC,5191,-0.58,-136.3,646.4,-8.3,201,5194,0.00,1.60,0.00,0.000,6,0.000,0.027,2499,2496,3265
$GC,5475,-0.58,-136.3,669.8,-8.5,208,5478,0.00,1.73,0.00,0.000,4,0.000,0.051,2492,3614,3263
$GC,5516,-0.58,-136.3,674.0,-9.5,208,5524,0.00,1.58,0.00,0.000,6,0.000,0.028,2492,2524,3262
$GC,5770,-0.58,-136.3,697.8,-9.3,215,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2524,3262
$GC,6014,-0.58,-136.3,720.2,-9.1,221,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2524,3260
$GC,6257,-0.58,-136.3,741.8,-8.7,227,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2524,3259
$GC,6502,-0.58,-136.3,761.2,-8.0,233,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2524,3257
$GC,6745,-0.58,-136.3,779.9,-7.7,239,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2524,3256
$GC,6989,-0.58,-136.3,800.4,-8.5,245,6993,0.00,1.45,0.00,0.000,4,0.000,0.031,2492,1513,3255
$GC,7018,-0.58,-136.3,803.5,-8.8,245,7022,0.00,1.58,0.00,0.000,6,0.000,0.048,2486,2528,3254
$GC,7284,-0.58,-136.3,829.0,-9.9,252,7287,0.00,1.65,0.00,0.000,4,0.000,0.056,2478,3612,3254
$GC,7379,-0.58,-136.3,839.2,-10.7,254,7383,0.08,1.58,0.00,0.000,6,0.123,0.030,2515,2535,3253
$GC,7674,-0.58,-136.3,862.1,-7.6,261,7677,0.00,1.48,0.00,0.000,4,0.000,0.031,2521,1507,3252
$GC,7727,-0.58,-136.3,866.3,-7.2,262,7730,0.00,1.60,0.00,0.000,6,0.000,0.050,2516,2557,3252
$GC,8015,-0.58,-136.3,887.9,-7.6,269,8019,0.00,1.65,0.00,0.000,4,0.000,0.058,2509,3617,3250
$GC,8072,-0.58,-136.3,892.9,-8.4,270,8076,0.00,1.58,0.00,0.000,6,0.000,0.031,2508,2546,3250
$STATE,8187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8187,begin apogee
$GC,8199,-0.23,0.0,902.3,8.1,273,8319,0.35,0.00,117.75,1.262,6,0.154,0.000,2624,2211,2710
$STATE,8320,end apogee,CONTROL_FINISHED_OK
$STATE,8320,begin climb
$GC,8325,0.58,136.3,906.0,0.0,276,8475,0.77,1.83,129.18,1.190,4,0.068,0.049,2888,3281,2154
$GC,8500,0.58,136.3,880.4,22.6,280,8503,0.00,1.65,0.00,0.000,6,0.000,0.030,2896,2224,2151
$GC,8771,0.58,136.3,817.2,23.7,287,8775,0.00,1.73,0.00,0.000,4,0.000,0.048,2892,3284,2145
$GC,8800,0.58,136.3,809.4,23.4,287,8804,0.00,1.60,0.00,0.000,6,0.000,0.030,2898,2220,2145
$GC,9066,0.58,136.3,747.9,23.6,294,9070,0.00,1.58,0.00,0.000,4,0.000,0.032,2906,1157,2143
$GC,9102,0.58,136.3,738.9,23.2,294,9105,0.00,1.67,0.00,0.000,6,0.000,0.044,2905,2241,2142
$GC,9363,0.58,136.3,678.3,23.9,301,9366,0.00,1.62,0.00,0.000,4,0.000,0.032,2911,1154,2141
$GC,9381,0.58,136.3,673.0,23.7,301,9385,0.00,1.67,0.00,0.000,6,0.000,0.044,2911,2245,2141
$GC,9658,0.58,136.3,606.4,24.6,308,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2245,2141
$GC,9902,0.58,136.3,547.4,23.9,314,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2245,2140
$GC,10145,0.58,136.3,493.8,21.5,320,10149,0.00,1.62,0.00,0.000,4,0.000,0.051,2911,3288,2140
$GC,10164,0.58,136.3,489.3,21.3,320,10168,0.15,1.60,0.00,0.000,6,0.190,0.031,2883,2203,2140
$GC,10440,0.58,136.3,435.1,20.0,327,10444,0.00,1.70,0.00,0.000,4,0.000,0.051,2877,3294,2139
$GC,10476,0.58,136.3,427.1,20.1,327,10480,0.00,1.60,0.00,0.000,6,0.000,0.031,2884,2207,2139
$GC,10737,0.58,136.3,379.0,18.6,334,10741,0.00,1.70,0.00,0.000,4,0.000,0.052,2884,3292,2139
$GC,10806,0.58,136.3,364.2,19.4,335,10810,0.00,1.58,0.00,0.000,6,0.000,0.031,2890,2238,2139
$GC,11078,0.58,136.3,318.2,16.7,342,11081,0.00,1.58,0.00,0.000,4,0.000,0.032,2899,1151,2139
$GC,11119,0.58,136.3,310.6,16.9,342,11128,0.00,1.67,0.00,0.000,6,0.000,0.044,2899,2231,2138
$GC,11376,0.58,136.3,266.5,18.1,349,11379,0.00,1.62,0.00,0.000,4,0.000,0.050,2899,3301,2138
$GC,11438,0.58,136.3,254.9,16.0,350,11442,0.00,1.58,0.00,0.000,6,0.000,0.029,2911,2243,2138
$GC,11716,0.58,136.3,207.3,18.1,357,11719,0.00,1.55,0.00,0.000,4,0.000,0.031,2920,1172,2138
$GC,11855,0.58,136.3,182.7,15.1,366,11860,0.12,1.62,0.00,0.000,6,0.149,0.041,2883,2253,2137
$GC,12132,0.58,136.3,146.4,11.9,391,12139,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2254,2138
$GC,12398,0.58,136.3,110.8,12.9,416,12402,0.00,1.60,0.00,0.000,4,0.000,0.030,2889,1163,2138
$GC,12462,0.58,136.3,102.3,12.0,421,12470,0.00,1.60,0.00,0.000,6,0.000,0.040,2889,2212,2138
$GC,12729,0.58,136.3,70.6,10.6,446,12733,0.00,1.60,0.00,0.000,4,0.000,0.044,2888,3303,2138
$GC,12881,0.58,136.3,56.9,9.6,458,12885,0.00,1.52,0.00,0.000,6,0.000,0.024,2896,2243,2138
$GC,13157,0.60,185.6,38.5,6.5,483,13201,0.00,1.67,38.78,0.595,4,0.000,0.043,2897,3291,1952
$GC,13307,0.60,185.6,24.9,11.0,498,13316,0.00,1.50,0.00,0.000,6,0.000,0.024,2902,2270,1949
$STATE,13517,end climb,SURFACE_DEPTH_REACHED
$STATE,13518,begin surface coast
$FINISH,0.3,1.009872
$STATE,13557,end surface coast,CONTROL_FINISHED_OK
$STATE,13557,begin surface
$SM_CCo,13582,80.10,0.543,0,0,1159,380.21
$SM_GC,1.31,0.00,0.00,80.10,0.000,0.000,0.543,35,2582,1159,-8.31,0.90,380.21
$IRIDIUM_FIX,2225.34,-15739.86,181202,161616
$TT8_MAMPS,0.02301
$HUMID,2191
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.60
$XPDR_PINGS,3
$24V_AH,24.1,6.021
$10V_AH,10.7,6.035
$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,18.000,102.350,285.700,80.100,0.000,30.416,33.890,531.820,0.750,0.000,0.000,11.661,1158.498,8865.566,451.150,2822.584,1131.885,33.357,1322.782,0.000,2842.748,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,57.525,1262.482,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,366.321,1769.078,1835.727,246.834,1246.745,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47965,537
$CAP_FILE_SIZE,113316,0
$CFSIZE,260165632,255721472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240913,001554,2231.093,-15739.816,42,1.0,42,10.0