version: 66.04
glider: 512
mission: 4
dive: 422
start: 12 10 113 20 36 18
data:
$ID,512
$MISSION,4
$DIVE,422
$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,333
$T_MISSION,670
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,23
$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,390
$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,-115891.24
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,2530
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2858
$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
$GPS1,201353,2159.829,-15759.973,28,1.4,46,9.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.9
$GPS2,203524,2159.860,-15800.073,10,1.2,15,9.9
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,TENMILE
$TGT_LATLONG,2145.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.131,-0.195
$KALMAN_X,148845.3,-204.7,-217.7,-148446.7,397.7
$KALMAN_Y,-38719.7,211.8,130.8,-43533.1,17.0
$MHEAD_RNG_PITCHd_Wd,204.1,30709,-17.2,-9.009
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.54,-126.5,0.0,0.0,0,84,0.00,0.00,-59.95,0.000,2,0.000,0.000,8,2557,2667
$GC,90,-0.54,-126.5,2.1,-1.4,8,130,9.73,1.58,-20.67,0.000,4,0.199,0.039,2521,1460,3376
$GC,266,-0.54,-126.5,30.2,-17.2,37,274,0.00,1.60,0.00,0.000,6,0.000,0.037,2515,2508,3376
$GC,532,-0.54,-126.5,84.0,-19.6,62,535,0.00,1.65,0.00,0.000,4,0.000,0.048,2506,3605,3376
$GC,658,-0.54,-126.5,106.7,-13.3,73,667,0.00,1.52,0.00,0.000,6,0.000,0.019,2506,2532,3376
$GC,924,-0.54,-126.5,147.5,-14.7,98,927,0.00,1.45,0.00,0.000,4,0.000,0.020,2509,1472,3377
$GC,962,-0.54,-126.5,152.9,-14.0,101,965,0.00,1.65,0.00,0.000,6,0.000,0.035,2503,2583,3377
$GC,1233,-0.54,-126.5,192.4,-14.1,126,1237,0.00,1.52,0.00,0.000,4,0.000,0.044,2495,3592,3378
$GC,1317,-0.54,-126.5,204.2,-13.2,131,1325,0.00,1.42,0.00,0.000,6,0.000,0.018,2500,2572,3378
$GC,1572,-0.54,-126.5,237.0,-12.8,138,1576,0.00,1.58,0.00,0.000,4,0.000,0.041,2494,3594,3378
$GC,1604,-0.54,-126.5,241.2,-13.3,138,1607,0.00,1.38,0.00,0.000,6,0.000,0.018,2499,2614,3377
$GC,1869,-0.54,-126.5,271.1,-11.3,145,1873,0.00,1.55,0.00,0.000,4,0.000,0.020,2507,1483,3377
$GC,1950,-0.54,-126.5,279.8,-10.4,146,1953,0.00,1.67,0.00,0.000,6,0.000,0.037,2501,2611,3377
$GC,2210,-0.54,-126.5,310.4,-12.1,153,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2611,3375
$GC,2453,-0.54,-126.5,339.6,-11.8,159,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2611,3373
$GC,2697,-0.54,-126.5,367.2,-11.0,165,2701,0.00,1.50,0.00,0.000,4,0.000,0.048,2494,3591,3372
$GC,2822,-0.54,-126.5,381.4,-10.9,167,2825,0.00,1.42,0.00,0.000,6,0.000,0.020,2499,2593,3371
$GC,3082,-0.54,-126.5,408.0,-10.4,174,3086,0.00,1.52,0.00,0.000,4,0.000,0.023,2506,1489,3369
$GC,3101,-0.54,-126.5,410.5,-10.5,174,3104,0.00,1.67,0.00,0.000,6,0.000,0.039,2501,2607,3369
$GC,3378,-0.54,-126.5,439.8,-11.1,181,3381,0.00,1.52,0.00,0.000,4,0.000,0.049,2493,3599,3366
$GC,3409,-0.54,-126.5,443.9,-12.2,181,3413,0.05,1.40,0.00,0.000,6,0.133,0.021,2520,2612,3365
$GC,3676,-0.54,-126.5,466.7,-8.1,188,3680,0.00,1.58,-0.08,0.000,4,0.000,0.039,2520,1497,3388
$GC,3745,-0.54,-126.5,472.0,-7.3,189,3748,0.00,1.65,0.00,0.000,6,0.000,0.041,2514,2593,3388
$GC,4016,-0.54,-126.5,492.5,-7.7,196,4020,0.00,1.55,0.00,0.000,4,0.000,0.051,2506,3584,3386
$GC,4080,-0.54,-126.5,498.1,-8.6,197,4083,0.00,1.42,0.00,0.000,6,0.000,0.024,2507,2604,3385
$GC,4357,-0.54,-126.5,523.3,-9.4,204,4361,0.00,1.55,0.00,0.000,4,0.000,0.024,2508,1492,3383
$GC,4422,-0.54,-126.5,529.5,-9.2,205,4425,0.00,1.67,0.00,0.000,6,0.000,0.043,2502,2598,3382
$GC,4699,-0.54,-126.5,556.1,-9.7,212,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2597,3380
$GC,4943,-0.54,-126.5,577.7,-8.8,218,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2597,3379
$GC,5187,-0.54,-126.5,598.2,-8.5,224,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2597,3377
$GC,5430,-0.54,-126.5,620.1,-9.0,230,5433,0.00,1.60,0.00,0.000,4,0.000,0.026,2508,1473,3375
$GC,5467,-0.54,-126.5,623.5,-8.8,230,5470,0.00,1.70,0.00,0.000,6,0.000,0.045,2502,2586,3375
$GC,5727,-0.54,-126.5,647.2,-9.3,237,5730,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3587,3373
$GC,5768,-0.54,-126.5,651.4,-8.5,237,5776,0.00,1.45,0.00,0.000,6,0.000,0.025,2500,2592,3373
$GC,6023,-0.54,-126.5,673.5,-8.7,244,6027,0.00,1.55,0.00,0.000,4,0.000,0.026,2508,1499,3371
$GC,6074,-0.54,-126.5,677.5,-7.2,245,6077,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2571,3371
$GC,6368,-0.54,-126.5,700.3,-7.8,252,6372,0.00,1.60,0.00,0.000,4,0.000,0.056,2494,3603,3370
$GC,6433,-0.54,-126.5,706.0,-8.7,253,6436,0.00,1.50,0.00,0.000,6,0.000,0.026,2499,2586,3370
$GC,6711,-0.54,-126.5,729.7,-8.7,260,6715,0.00,1.52,0.00,0.000,4,0.000,0.026,2507,1504,3369
$GC,6780,-0.54,-126.5,736.1,-8.7,261,6784,0.00,1.65,0.00,0.000,6,0.000,0.044,2502,2582,3369
$GC,7052,-0.54,-126.5,760.6,-9.2,268,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2582,3367
$GC,7296,-0.54,-126.5,781.9,-8.5,274,7300,0.00,1.58,0.00,0.000,4,0.000,0.026,2507,1497,3366
$GC,7338,-0.54,-126.5,785.5,-7.8,274,7345,0.00,1.67,0.00,0.000,6,0.000,0.045,2502,2568,3365
$GC,7592,-0.54,-126.5,805.3,-7.9,281,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2568,3365
$GC,7836,-0.54,-126.5,824.4,-7.8,287,7840,0.00,1.62,0.00,0.000,4,0.000,0.057,2494,3590,3363
$GC,7900,-0.54,-126.5,829.8,-8.4,288,7903,0.00,1.45,0.00,0.000,6,0.000,0.026,2499,2604,3363
$GC,8177,-0.54,-126.5,850.7,-7.6,295,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2596,3363
$GC,8420,-0.54,-126.5,869.8,-7.9,301,8424,0.00,1.58,0.00,0.000,4,0.000,0.027,2507,1495,3362
$GC,8473,-0.54,-126.5,873.8,-7.7,302,8476,0.00,1.67,0.00,0.000,6,0.000,0.046,2502,2581,3362
$GC,8767,-0.54,-126.5,897.5,-8.0,309,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2581,3360
$STATE,8802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8802,begin apogee
$GC,8814,-0.20,0.0,900.6,7.9,310,8932,0.40,0.00,115.50,1.255,6,0.104,0.000,2635,2267,2859
$STATE,8933,end apogee,CONTROL_FINISHED_OK
$STATE,8933,begin climb
$GC,8939,0.54,126.5,904.3,0.0,313,9092,0.65,1.70,129.57,1.168,4,0.041,0.028,2888,1216,2341
$GC,9149,0.54,126.5,884.1,16.6,317,9152,0.00,1.67,0.00,0.000,6,0.000,0.040,2888,2263,2335
$GC,9409,0.54,126.5,836.9,18.5,324,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2263,2331
$GC,9653,0.54,126.5,794.0,17.6,330,9657,0.00,1.62,0.00,0.000,4,0.000,0.050,2888,3320,2330
$GC,9705,0.54,126.5,783.5,19.3,331,9709,0.00,1.58,0.00,0.000,6,0.000,0.027,2894,2261,2328
$GC,9993,0.54,126.5,731.7,18.0,338,9997,0.00,1.55,0.00,0.000,4,0.000,0.029,2902,1194,2328
$GC,10011,0.54,126.5,727.9,17.6,338,10015,0.00,1.62,0.00,0.000,6,0.000,0.041,2902,2260,2327
$GC,10289,0.54,126.5,680.9,17.0,345,10292,0.00,1.62,0.00,0.000,4,0.000,0.049,2902,3324,2326
$GC,10319,0.54,126.5,675.0,18.0,345,10323,0.08,1.55,0.00,0.000,6,0.182,0.026,2880,2278,2326
$GC,10585,0.54,126.5,636.7,14.0,352,10588,0.00,1.58,0.00,0.000,4,0.000,0.029,2887,1193,2326
$GC,10621,0.54,126.5,631.5,12.5,352,10624,0.00,1.65,0.00,0.000,6,0.000,0.041,2886,2273,2325
$GC,10881,0.54,126.5,594.9,14.4,359,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2273,2326
$GC,11124,0.54,126.5,558.8,14.9,365,11128,0.00,1.62,0.00,0.000,4,0.000,0.051,2886,3311,2324
$GC,11176,0.54,126.5,550.3,16.2,366,11180,0.00,1.52,0.00,0.000,6,0.000,0.028,2893,2285,2324
$GC,11465,0.54,126.5,506.2,15.4,373,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2279,2324
$GC,11708,0.54,126.5,472.4,13.8,379,11712,0.00,1.60,0.00,0.000,4,0.000,0.029,2901,1182,2324
$GC,11805,0.54,126.5,458.8,12.4,381,11808,0.00,1.73,0.00,0.000,6,0.000,0.042,2902,2310,2324
$GC,12093,0.54,126.5,419.5,14.2,388,12097,0.00,1.55,0.00,0.000,4,0.000,0.048,2902,3307,2323
$GC,12162,0.54,126.5,408.9,14.1,389,12166,0.10,1.48,0.00,0.000,6,0.162,0.026,2868,2310,2323
$GC,12433,0.54,126.5,379.6,10.2,396,12437,0.00,1.58,0.00,0.000,4,0.000,0.048,2863,3303,2323
$GC,12519,0.54,126.5,370.6,9.4,397,12528,0.00,1.40,0.00,0.000,6,0.000,0.026,2869,2344,2323
$GC,12774,0.54,126.5,347.0,9.4,404,12775,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2344,2323
$GC,13018,0.54,126.5,323.4,9.6,410,13021,0.00,1.52,0.00,0.000,4,0.000,0.048,2864,3307,2323
$GC,13042,0.54,126.5,320.6,9.9,410,13045,0.00,1.40,0.00,0.000,6,0.000,0.026,2868,2354,2322
$GC,13313,0.54,126.5,294.0,9.9,417,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2348,2322
$GC,13556,0.54,126.5,271.5,9.2,423,13560,0.00,1.67,0.00,0.000,4,0.000,0.028,2873,1199,2323
$GC,13607,0.55,158.8,267.8,7.5,424,13651,0.00,1.80,28.95,0.782,6,0.000,0.041,2873,2372,2209
$GC,13897,0.55,158.8,240.2,10.0,431,13898,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2371,2205
$GC,14141,0.55,158.8,216.9,9.7,437,14144,0.00,1.75,0.00,0.000,4,0.000,0.027,2881,1180,2204
$GC,14154,0.55,158.8,215.2,9.9,437,14157,0.00,1.80,0.00,0.000,6,0.000,0.041,2876,2355,2204
$GC,14419,0.55,158.8,190.8,9.1,448,14422,0.00,1.70,0.00,0.000,4,0.000,0.025,2882,1172,2204
$GC,14459,0.55,158.8,186.7,9.6,451,14467,0.00,1.77,0.00,0.000,6,0.000,0.040,2876,2315,2204
$GC,14725,0.56,163.6,162.5,8.8,476,14734,0.00,0.00,5.05,0.576,6,0.000,0.000,2876,2315,2190
$GC,14991,0.56,179.4,140.7,8.3,501,15018,0.00,1.70,15.52,0.684,4,0.000,0.025,2882,1175,2126
$GC,15037,0.57,195.7,136.7,8.2,504,15070,0.00,1.75,17.77,0.621,6,0.000,0.039,2876,2299,2059
$GC,15328,0.57,195.7,109.2,9.6,531,15332,0.00,1.55,0.00,0.000,4,0.000,0.046,2876,3304,2056
$GC,15388,0.57,195.7,103.3,9.8,536,15392,0.00,1.45,0.00,0.000,6,0.000,0.023,2881,2311,2056
$GC,15660,0.57,205.4,79.7,8.5,561,15674,0.00,1.65,9.75,0.593,4,0.000,0.024,2886,1185,2019
$GC,15801,0.60,268.2,68.9,6.0,573,15865,0.00,1.70,53.60,0.625,6,0.000,0.036,2885,2312,1762
$GC,16123,0.61,301.9,47.0,7.4,602,16161,0.00,1.58,28.30,0.591,4,0.000,0.044,2886,3307,1626
$GC,16211,0.62,333.2,40.3,7.5,609,16242,0.00,1.45,26.83,0.578,6,0.000,0.021,2886,2309,1499
$GC,16506,0.65,397.6,21.1,5.9,647,16568,0.00,1.65,53.00,0.565,4,0.000,0.024,2885,1192,1236
$GC,16626,0.67,457.9,14.2,6.1,665,16681,0.00,1.73,49.42,0.551,6,0.000,0.030,2885,2319,990
$STATE,16747,end climb,SURFACE_DEPTH_REACHED
$STATE,16747,begin surface coast
$FINISH,0.4,1.020014
$STATE,16779,end surface coast,CONTROL_FINISHED_OK
$STATE,16779,begin surface
$SM_CCo,16865,0.00,0.000,0,0,985,459.44
$SM_GC,1.50,7.35,0.00,0.00,0.025,0.000,0.000,36,2611,985,-8.23,2.32,459.44
$IRIDIUM_FIX,2152.74,-15759.83,060303,202012
$TT8_MAMPS,0.023777
$HUMID,2250
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.10
$XPDR_PINGS,13
$24V_AH,22.9,70.751
$10V_AH,10.5,86.292
$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,18.350,121.450,533.275,0.000,0.000,115.126,152.637,636.402,3.250,0.000,0.000,15.970,1393.630,11521.828,530.966,3122.409,1576.278,33.383,1639.736,0.000,3085.271,0.000,0.545,0.000
$DEVICE_MAMPS,199.420,56.758,1254.812,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,466.002,2268.129,2355.606,884.745,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57254,689
$CAP_FILE_SIZE,144170,0
$CFSIZE,260165632,229978112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,111213,011836,2157.757,-15801.619,29,1.0,29,9.9