version: 66.04
glider: 512
mission: 4
dive: 44
start: 9 24 113 4 28 11
data:
$ID,512
$MISSION,4
$DIVE,44
$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,-107356.18
$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,54
$R_STBD_OVSHOOT,48
$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
$GPS1,041536,2229.625,-15741.131,38,1.1,38,10.0
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-83.1
$GPS2,042718,2229.607,-15741.236,11,1.7,16,10.0
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,BM1
$TGT_LATLONG,2226.600,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.179,-0.158
$KALMAN_X,-982.0,-696.4,-502.5,34339.1,6069.9
$KALMAN_Y,19845.5,-732.7,-231.3,-45673.6,3467.9
$MHEAD_RNG_PITCHd_Wd,218.5,92197,-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,-77.03,0.000,2,0.000,0.000,11,2573,3030
$GC,103,-0.58,-136.3,2.3,-2.2,9,123,9.32,1.60,-5.88,0.000,4,0.206,0.038,2508,1445,3307
$GC,392,-0.58,-136.3,78.8,-19.0,38,401,0.00,1.65,0.00,0.000,6,0.000,0.036,2501,2529,3309
$GC,658,-0.58,-136.3,132.8,-19.9,63,662,0.00,1.62,0.00,0.000,4,0.000,0.042,2493,3631,3310
$GC,720,-0.58,-136.3,144.9,-18.6,68,723,0.00,1.52,0.00,0.000,6,0.000,0.020,2499,2566,3310
$GC,991,-0.58,-136.3,192.8,-18.4,93,995,0.00,1.48,0.00,0.000,4,0.000,0.022,2507,1502,3311
$GC,1077,-0.58,-136.3,207.6,-14.4,97,1085,0.00,1.62,0.00,0.000,6,0.000,0.038,2501,2576,3311
$GC,1331,-0.58,-136.3,244.9,-14.9,104,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2576,3311
$GC,1575,-0.58,-136.3,279.1,-13.6,110,1578,0.00,1.55,0.00,0.000,4,0.000,0.044,2493,3608,3310
$GC,1706,-0.58,-136.3,299.0,-14.3,112,1714,0.00,1.50,0.00,0.000,6,0.000,0.021,2499,2549,3309
$GC,1960,-0.58,-136.3,332.8,-13.2,119,1964,0.00,1.45,0.00,0.000,4,0.000,0.022,2506,1500,3307
$GC,2109,-0.58,-136.3,350.7,-11.8,122,2113,0.00,1.55,0.00,0.000,6,0.000,0.038,2501,2525,3307
$GC,2392,-0.58,-136.3,386.1,-12.4,129,2395,0.00,1.62,0.00,0.000,4,0.000,0.047,2492,3623,3305
$GC,2462,-0.58,-136.3,394.7,-11.8,130,2465,0.00,1.58,0.00,0.000,6,0.000,0.023,2498,2523,3305
$GC,2733,-0.58,-136.3,421.0,-9.3,137,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2516,3303
$GC,2977,-0.58,-136.3,447.7,-11.5,143,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2516,3301
$GC,3220,-0.58,-136.3,478.6,-13.0,149,3224,0.00,1.67,0.00,0.000,4,0.000,0.047,2492,3607,3298
$GC,3270,-0.58,-136.3,485.6,-13.5,150,3275,0.00,1.58,-0.08,0.000,6,0.000,0.025,2498,2519,3319
$GC,3565,-0.58,-136.3,521.1,-11.3,157,3569,0.00,1.42,0.00,0.000,4,0.000,0.026,2506,1499,3317
$GC,3600,-0.58,-136.3,524.9,-9.4,157,3604,0.00,1.55,0.00,0.000,6,0.000,0.042,2500,2516,3317
$GC,3861,-0.58,-136.3,545.8,-7.9,164,3865,0.00,1.45,0.00,0.000,4,0.000,0.026,2506,1502,3315
$GC,3911,-0.58,-136.3,549.6,-7.6,165,3914,0.00,1.52,0.00,0.000,6,0.000,0.043,2500,2498,3314
$GC,4206,-0.58,-136.3,579.3,-11.1,172,4209,0.00,1.67,0.00,0.000,4,0.000,0.052,2492,3610,3312
$GC,4300,-0.58,-136.3,591.8,-13.0,174,4304,0.00,1.60,0.00,0.000,6,0.000,0.026,2498,2515,3311
$GC,4595,-0.58,-136.3,628.2,-12.1,181,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2507,3310
$GC,4839,-0.58,-136.3,653.1,-9.8,187,4843,0.00,1.45,0.00,0.000,4,0.000,0.028,2505,1486,3308
$GC,4869,-0.58,-136.3,656.6,-9.9,187,4873,0.00,1.58,0.00,0.000,6,0.000,0.044,2500,2513,3307
$GC,5134,-0.58,-136.3,681.8,-9.8,194,5138,0.00,1.65,0.00,0.000,4,0.000,0.054,2491,3608,3305
$GC,5203,-0.58,-136.3,689.7,-11.5,195,5206,0.00,1.60,0.00,0.000,6,0.000,0.028,2498,2494,3304
$GC,5475,-0.58,-136.3,716.1,-9.6,202,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2488,3303
$GC,5720,-0.58,-136.3,737.6,-8.7,208,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2488,3302
$GC,5964,-0.58,-136.3,758.3,-8.4,214,5967,0.00,1.73,0.00,0.000,4,0.000,0.053,2491,3613,3301
$GC,6006,-0.58,-136.3,762.6,-9.8,214,6014,0.00,1.58,0.00,0.000,6,0.000,0.028,2497,2527,3300
$GC,6260,-0.58,-136.3,784.9,-8.7,221,6264,0.00,1.67,0.00,0.000,4,0.000,0.054,2491,3618,3299
$GC,6335,-0.58,-136.3,791.8,-8.8,222,6338,0.00,1.55,0.00,0.000,6,0.000,0.029,2497,2556,3298
$GC,6602,-0.58,-136.3,813.3,-8.1,229,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2547,3298
$GC,6847,-0.58,-136.3,833.3,-8.3,235,6850,0.00,1.50,0.00,0.000,4,0.000,0.031,2504,1501,3297
$GC,6921,-0.58,-136.3,839.9,-8.1,236,6925,0.00,1.62,0.00,0.000,6,0.000,0.049,2498,2568,3296
$GC,7187,-0.58,-136.3,862.5,-8.7,243,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2568,3295
$GC,7431,-0.58,-136.3,884.4,-9.0,249,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2568,3294
$STATE,7629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7629,begin apogee
$GC,7640,-0.23,0.0,901.9,8.5,254,7762,0.38,0.00,119.03,1.259,6,0.117,0.000,2623,2223,2750
$STATE,7763,end apogee,CONTROL_FINISHED_OK
$STATE,7763,begin climb
$GC,7768,0.58,136.3,904.1,0.0,257,7917,0.73,0.00,130.48,1.170,6,0.064,0.000,2880,2223,2194
$GC,8143,0.58,136.3,832.3,23.8,266,8147,0.00,1.70,0.00,0.000,4,0.000,0.049,2878,3291,2185
$GC,8162,0.58,136.3,827.1,23.6,266,8165,0.00,1.62,0.00,0.000,6,0.000,0.031,2885,2217,2183
$GC,8439,0.58,136.3,762.8,23.3,273,8440,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2210,2182
$GC,8682,0.58,136.3,711.2,20.9,279,8686,0.00,1.67,0.00,0.000,4,0.000,0.048,2879,3286,2181
$GC,8718,0.58,136.3,702.7,21.8,279,8722,0.00,1.60,0.00,0.000,6,0.000,0.031,2885,2212,2180
$GC,8979,0.58,136.3,648.5,20.8,286,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2206,2180
$GC,9224,0.58,136.3,594.7,21.8,292,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2206,2179
$GC,9467,0.58,136.3,543.6,20.3,298,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2206,2178
$GC,9711,0.58,136.3,493.6,20.3,304,9715,0.00,1.70,0.00,0.000,4,0.000,0.051,2886,3300,2178
$GC,9761,0.58,136.3,483.0,21.5,305,9765,0.00,1.58,0.00,0.000,6,0.000,0.031,2894,2251,2177
$GC,10055,0.58,136.3,426.5,18.8,312,10058,0.00,1.60,0.00,0.000,4,0.000,0.035,2902,1162,2177
$GC,10106,0.58,136.3,417.7,17.8,313,10110,0.00,1.70,0.00,0.000,6,0.000,0.047,2902,2270,2177
$GC,10399,0.58,136.3,363.9,18.9,320,10403,0.00,1.58,0.00,0.000,4,0.000,0.051,2902,3286,2176
$GC,10429,0.58,136.3,357.6,20.3,320,10433,0.00,1.55,0.00,0.000,6,0.000,0.031,2910,2248,2176
$GC,10695,0.58,136.3,304.7,19.7,327,10699,0.00,1.58,0.00,0.000,4,0.000,0.033,2918,1164,2176
$GC,10836,0.58,136.3,279.8,16.9,330,10840,0.12,1.62,0.00,0.000,6,0.151,0.044,2883,2233,2176
$GC,11130,0.58,136.3,238.2,14.7,337,11134,0.00,1.60,0.00,0.000,4,0.000,0.031,2889,1162,2176
$GC,11154,0.58,136.3,233.8,15.4,337,11158,0.00,1.60,0.00,0.000,6,0.000,0.043,2889,2201,2176
$GC,11425,0.58,136.3,196.2,13.9,344,11428,0.00,1.65,0.00,0.000,4,0.000,0.048,2889,3296,2176
$GC,11488,0.58,136.3,186.9,15.5,349,11492,0.00,1.60,0.00,0.000,6,0.000,0.028,2897,2215,2176
$GC,11760,0.58,136.3,146.3,14.6,374,11763,0.00,1.65,0.00,0.000,4,0.000,0.046,2898,3297,2176
$GC,11858,0.58,136.3,131.4,13.2,382,11867,0.00,1.58,0.00,0.000,6,0.000,0.025,2911,2216,2176
$GC,12125,0.58,136.3,98.2,11.8,407,12132,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2211,2176
$GC,12392,0.60,180.6,71.4,6.7,432,12434,0.00,1.52,34.58,0.638,4,0.000,0.028,2915,1161,2012
$GC,12454,0.60,180.6,66.4,9.0,436,12463,0.00,1.65,0.00,0.000,6,0.000,0.038,2915,2229,2010
$GC,12720,0.60,180.6,38.6,10.3,461,12724,0.00,1.60,0.00,0.000,4,0.000,0.042,2915,3303,2009
$GC,12776,0.60,180.6,31.9,10.7,465,12784,0.00,1.60,0.00,0.000,6,0.000,0.025,2916,2223,2008
$STATE,13035,end climb,SURFACE_DEPTH_REACHED
$STATE,13035,begin surface coast
$FINISH,0.3,1.011301
$STATE,13068,end surface coast,CONTROL_FINISHED_OK
$STATE,13068,begin surface
$SM_CCo,13093,80.97,0.548,0,0,1200,380.21
$SM_GC,1.22,0.00,0.00,80.97,0.000,0.000,0.548,43,2579,1200,-8.29,0.82,380.21
$IRIDIUM_FIX,2220.67,-15740.74,191202,000045
$TT8_MAMPS,0.024544
$HUMID,2176
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,2
$24V_AH,24.1,6.310
$10V_AH,10.7,6.385
$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,17.775,83.725,284.075,80.975,0.000,23.499,36.204,466.536,0.500,0.000,0.000,16.941,1084.262,8718.858,426.998,2613.982,1030.140,33.366,1225.576,0.000,2631.863,0.000,0.545,0.000
$DEVICE_MAMPS,206.323,53.690,1259.414,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,346.700,1670.680,1741.803,228.669,1175.833,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44654,508
$CAP_FILE_SIZE,102723,0
$CFSIZE,260165632,255619072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,240913,080936,2228.330,-15742.285,63,0.8,63,10.0