version: 66.04
glider: 512
mission: 4
dive: 43
start: 9 24 113 0 34 28
data:
$ID,512
$MISSION,4
$DIVE,43
$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,-107338.6
$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,60
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2750
$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
$GPS1,001554,2231.093,-15739.816,42,1.0,42,10.0
$_CALLS,2
$_XMS_NAKs,23
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-79.2
$GPS2,003336,2231.013,-15739.839,13,1.0,18,10.0
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.181,-0.156
$KALMAN_X,-2364.1,-482.5,-362.4,37745.6,5745.6
$KALMAN_Y,19496.3,-493.4,-554.3,-42639.5,3452.0
$MHEAD_RNG_PITCHd_Wd,219.1,94773,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.58,-136.3,0.0,0.0,0,98,0.00,0.00,-74.15,0.000,2,0.000,0.000,12,2579,2915
$GC,104,-0.58,-136.3,2.1,-1.8,9,131,9.30,1.55,-8.88,0.000,4,0.206,0.038,2507,1462,3305
$GC,293,-0.58,-136.3,51.4,-23.6,31,303,0.00,1.62,0.00,0.000,6,0.000,0.038,2501,2521,3306
$GC,559,-0.58,-136.3,104.7,-19.2,56,562,0.00,1.65,0.00,0.000,4,0.000,0.041,2492,3621,3306
$GC,667,-0.58,-136.3,123.6,-17.2,65,670,0.00,1.55,0.00,0.000,6,0.000,0.021,2498,2539,3306
$GC,938,-0.58,-136.3,172.0,-16.9,90,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2531,3307
$GC,1201,-0.58,-136.3,212.7,-14.3,109,1204,0.00,1.62,0.00,0.000,4,0.000,0.041,2491,3624,3306
$GC,1264,-0.58,-136.3,222.0,-13.4,110,1268,0.00,1.52,0.00,0.000,6,0.000,0.020,2497,2550,3306
$GC,1541,-0.58,-136.3,260.2,-14.2,117,1544,0.00,1.45,0.00,0.000,4,0.000,0.021,2505,1495,3306
$GC,1592,-0.58,-136.3,266.8,-12.8,118,1595,0.00,1.62,0.00,0.000,6,0.000,0.037,2499,2592,3306
$GC,1885,-0.58,-136.3,305.2,-12.9,125,1889,0.00,1.55,0.00,0.000,4,0.000,0.022,2505,1501,3305
$GC,1943,-0.58,-136.3,312.8,-12.0,126,1946,0.00,1.58,0.00,0.000,6,0.000,0.038,2499,2546,3304
$GC,2226,-0.58,-136.3,347.6,-12.6,133,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2546,3302
$GC,2471,-0.58,-136.3,376.0,-11.5,139,2475,0.00,1.48,0.00,0.000,4,0.000,0.024,2505,1508,3300
$GC,2540,-0.58,-136.3,384.0,-10.4,140,2544,0.00,1.58,0.00,0.000,6,0.000,0.038,2500,2549,3300
$GC,2811,-0.58,-136.3,415.7,-12.4,147,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2549,3298
$GC,3055,-0.58,-136.3,444.2,-11.5,153,3059,0.00,1.58,-0.08,0.000,4,0.000,0.067,2491,3608,3320
$GC,3150,-0.58,-136.3,454.6,-10.2,155,3154,0.00,1.52,0.00,0.000,6,0.000,0.023,2497,2544,3319
$GC,3444,-0.58,-136.3,485.3,-10.6,162,3447,0.00,1.62,0.00,0.000,4,0.000,0.048,2491,3610,3317
$GC,3513,-0.58,-136.3,493.6,-11.3,163,3517,0.00,1.52,0.00,0.000,6,0.000,0.025,2496,2547,3316
$GC,3785,-0.58,-136.3,521.7,-10.4,170,3789,0.00,1.45,0.00,0.000,4,0.000,0.027,2504,1508,3314
$GC,3938,-0.58,-136.3,536.4,-9.2,173,3942,0.00,1.55,0.00,0.000,6,0.000,0.041,2499,2525,3313
$GC,4215,-0.58,-136.3,563.5,-10.0,180,4219,0.00,1.62,0.00,0.000,4,0.000,0.051,2490,3612,3310
$GC,4311,-0.58,-136.3,573.8,-11.0,182,4314,0.00,1.55,0.00,0.000,6,0.000,0.026,2496,2539,3310
$GC,4605,-0.58,-136.3,604.8,-10.5,189,4608,0.00,1.48,0.00,0.000,4,0.000,0.028,2504,1491,3307
$GC,4674,-0.58,-136.3,612.0,-9.8,190,4678,0.00,1.60,0.00,0.000,6,0.000,0.043,2498,2556,3307
$GC,4946,-0.58,-136.3,639.7,-10.4,197,4950,0.00,1.62,0.00,0.000,4,0.000,0.052,2490,3616,3304
$GC,5003,-0.58,-136.3,646.3,-11.1,198,5007,0.00,1.58,0.00,0.000,6,0.000,0.028,2496,2535,3304
$GC,5287,-0.58,-136.3,674.8,-10.2,205,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2528,3303
$GC,5532,-0.58,-136.3,699.4,-10.1,211,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2527,3301
$GC,5775,-0.58,-136.3,724.2,-10.1,217,5779,0.00,1.67,0.00,0.000,4,0.000,0.052,2489,3623,3300
$GC,5799,-0.58,-136.3,727.4,-11.0,217,5803,0.00,1.60,0.00,0.000,6,0.000,0.029,2495,2531,3299
$GC,6070,-0.58,-136.3,756.9,-11.2,224,6073,0.00,1.67,0.00,0.000,4,0.000,0.053,2489,3615,3298
$GC,6099,-0.58,-136.3,760.9,-12.8,224,6103,0.00,1.60,0.00,0.000,6,0.000,0.029,2495,2503,3297
$GC,6365,-0.58,-136.3,790.7,-11.3,231,6369,0.00,1.73,0.00,0.000,4,0.000,0.054,2489,3617,3296
$GC,6389,-0.58,-136.3,793.9,-11.4,231,6393,0.00,1.60,0.00,0.000,6,0.000,0.029,2495,2524,3296
$GC,6662,-0.58,-136.3,821.5,-9.8,238,6665,0.00,1.45,0.00,0.000,4,0.000,0.031,2503,1501,3295
$GC,6691,-0.58,-136.3,824.5,-8.9,238,6695,0.00,1.60,0.00,0.000,6,0.000,0.048,2497,2534,3295
$GC,6957,-0.58,-136.3,845.8,-8.0,245,6961,0.00,1.65,0.00,0.000,4,0.000,0.055,2489,3621,3293
$GC,7008,-0.58,-136.3,850.0,-8.6,246,7012,0.00,1.60,0.00,0.000,6,0.000,0.031,2495,2539,3292
$GC,7304,-0.58,-136.3,872.7,-7.5,253,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2532,3292
$GC,7549,-0.58,-136.3,891.7,-7.8,259,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2532,3292
$STATE,7664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7664,begin apogee
$GC,7676,-0.23,0.0,901.6,8.0,262,7796,0.38,0.00,117.62,1.260,6,0.117,0.000,2621,2216,2750
$STATE,7797,end apogee,CONTROL_FINISHED_OK
$STATE,7797,begin climb
$GC,7802,0.58,136.3,904.6,0.0,265,7938,0.77,0.00,128.00,1.197,6,0.066,0.000,2887,2217,2194
$GC,8153,0.58,136.3,840.3,22.5,274,8157,0.00,1.70,0.00,0.000,4,0.000,0.048,2887,3284,2184
$GC,8172,0.58,136.3,835.2,22.3,274,8175,0.00,1.60,0.00,0.000,6,0.000,0.030,2895,2224,2183
$GC,8448,0.58,136.3,773.5,22.8,281,8452,0.00,1.58,0.00,0.000,4,0.000,0.034,2903,1158,2182
$GC,8478,0.58,136.3,766.0,22.1,281,8482,0.00,1.65,0.00,0.000,6,0.000,0.044,2903,2226,2181
$GC,8744,0.58,136.3,707.6,22.2,288,8747,0.00,1.62,0.00,0.000,4,0.000,0.050,2903,3283,2180
$GC,8797,0.58,136.3,694.6,22.5,289,8800,0.00,1.60,0.00,0.000,6,0.000,0.031,2910,2208,2179
$GC,9085,0.58,136.3,627.9,23.7,296,9088,0.00,1.70,0.00,0.000,4,0.000,0.049,2912,3275,2179
$GC,9109,0.58,136.3,621.1,24.7,296,9113,0.08,1.55,0.00,0.000,6,0.180,0.031,2888,2246,2178
$GC,9380,0.58,136.3,562.1,21.3,303,9384,0.00,1.60,0.00,0.000,4,0.000,0.033,2894,1156,2178
$GC,9421,0.58,136.3,553.4,19.1,303,9430,0.00,1.70,0.00,0.000,6,0.000,0.044,2891,2248,2177
$GC,9678,0.58,136.3,504.1,19.7,310,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2248,2177
$GC,9921,0.58,136.3,454.9,20.5,316,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2249,2176
$GC,10165,0.58,136.3,408.6,18.2,322,10168,0.00,1.60,0.00,0.000,4,0.000,0.051,2891,3279,2176
$GC,10183,0.58,136.3,404.5,17.3,322,10187,0.00,1.60,0.00,0.000,6,0.000,0.031,2897,2197,2176
$GC,10460,0.58,136.3,354.7,18.9,329,10464,0.00,1.73,0.00,0.000,4,0.000,0.049,2891,3287,2176
$GC,10495,0.58,136.3,347.3,18.6,329,10499,0.00,1.58,0.00,0.000,6,0.000,0.030,2897,2231,2175
$GC,10756,0.58,136.3,299.4,18.5,336,10759,0.00,1.55,0.00,0.000,4,0.000,0.032,2905,1163,2175
$GC,10825,0.58,136.3,287.0,17.1,337,10829,0.00,1.60,0.00,0.000,6,0.000,0.044,2905,2218,2175
$GC,11097,0.58,136.3,242.7,16.3,344,11100,0.00,1.62,0.00,0.000,4,0.000,0.050,2905,3275,2175
$GC,11154,0.58,136.3,232.3,18.1,345,11158,0.00,1.52,0.00,0.000,6,0.000,0.028,2911,2244,2174
$GC,11419,0.58,136.3,188.6,15.4,356,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2238,2175
$GC,11685,0.58,136.3,146.2,17.4,381,11689,0.00,1.55,0.00,0.000,4,0.000,0.031,2915,1164,2175
$GC,11714,0.58,136.3,141.3,17.7,383,11718,0.12,1.65,0.00,0.000,6,0.145,0.041,2882,2264,2175
$GC,11989,0.58,136.3,106.8,10.9,408,11992,0.00,1.55,0.00,0.000,4,0.000,0.047,2878,3281,2175
$GC,12097,0.58,136.3,93.2,11.4,417,12101,0.00,1.48,0.00,0.000,6,0.000,0.027,2884,2274,2175
$GC,12370,0.58,136.3,63.4,10.7,442,12373,0.00,1.58,0.00,0.000,4,0.000,0.045,2884,3288,2175
$GC,12389,0.58,136.3,61.0,10.2,443,12398,0.00,1.45,0.00,0.000,6,0.000,0.025,2891,2281,2175
$GC,12656,0.62,230.1,44.6,4.6,468,12738,0.00,0.00,73.15,0.612,6,0.000,0.000,2891,2281,1808
$GC,13017,0.62,230.1,9.7,11.5,513,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2281,1804
$STATE,13069,end climb,SURFACE_DEPTH_REACHED
$STATE,13069,begin surface coast
$FINISH,0.2,1.010029
$STATE,13095,end surface coast,CONTROL_FINISHED_OK
$STATE,13095,begin surface
$SM_CCo,13120,60.38,0.546,0,0,1199,380.21
$SM_GC,1.33,0.00,0.00,60.38,0.000,0.000,0.546,32,2576,1199,-8.32,0.76,380.21
$IRIDIUM_FIX,2223.01,-15737.70,191202,000036
$TT8_MAMPS,0.023777
$HUMID,2221
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.1,6.175
$10V_AH,10.6,6.215
$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,17.925,92.850,318.775,60.375,0.000,55.735,87.859,670.573,0.500,0.000,0.000,18.747,1112.217,8669.324,448.988,2666.325,1343.324,33.360,1263.284,0.000,2676.741,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,66.729,1260.181,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,358.006,1729.589,1793.735,236.629,1236.348,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44880,525
$CAP_FILE_SIZE,109741,0
$CFSIZE,260165632,255672320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240913,041536,2229.625,-15741.131,38,1.1,38,10.0