version: 66.04
glider: 512
mission: 4
dive: 423
start: 12 11 113 1 33 7
data:
$ID,512
$MISSION,4
$DIVE,423
$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,-115907.73
$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,55
$R_STBD_OVSHOOT,32
$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
$GPS1,011836,2157.757,-15801.619,29,1.0,29,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-79.3
$GPS2,013213,2157.841,-15801.717,15,1.0,15,9.9
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,TENMILE
$TGT_LATLONG,2145.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.113,-0.206
$KALMAN_X,148552.3,-285.3,-56.0,-151055.0,274.7
$KALMAN_Y,-38217.8,104.2,-91.3,-47433.9,490.1
$MHEAD_RNG_PITCHd_Wd,198.8,26064,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.54,-126.5,0.0,0.0,0,104,0.00,0.00,-83.07,0.000,2,0.000,0.000,6,2608,2987
$GC,110,-0.54,-126.5,2.4,-2.1,11,134,9.60,1.62,-8.43,0.000,4,0.196,0.036,2523,1432,3373
$GC,241,-0.54,-126.5,32.1,-17.4,32,245,0.00,1.65,0.00,0.000,6,0.000,0.038,2518,2527,3374
$GC,513,-0.54,-126.5,87.2,-19.1,57,517,0.00,1.62,0.00,0.000,4,0.000,0.043,2509,3596,3374
$GC,572,-0.54,-126.5,97.7,-16.2,62,576,0.00,1.55,0.00,0.000,6,0.000,0.018,2512,2501,3374
$GC,844,-0.54,-126.5,139.3,-15.3,87,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2494,3375
$GC,1110,-0.54,-126.5,178.2,-13.2,112,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2493,3375
$GC,1402,-0.54,-126.5,216.3,-12.9,131,1405,0.00,1.40,0.00,0.000,4,0.000,0.021,2512,1471,3375
$GC,1443,-0.54,-126.5,222.1,-12.5,131,1451,0.00,1.62,0.00,0.000,6,0.000,0.036,2506,2545,3375
$GC,1698,-0.54,-126.5,253.4,-12.2,138,1702,0.00,1.58,0.00,0.000,4,0.000,0.045,2498,3585,3374
$GC,1806,-0.54,-126.5,267.0,-11.2,140,1809,0.00,1.42,0.00,0.000,6,0.000,0.020,2503,2577,3374
$GC,2083,-0.54,-126.5,299.3,-11.9,147,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2569,3373
$GC,2327,-0.54,-126.5,328.0,-11.7,153,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2569,3371
$GC,2570,-0.54,-126.5,354.6,-10.7,159,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2569,3370
$GC,2814,-0.54,-126.5,378.9,-10.0,165,2817,0.00,1.52,0.00,0.000,4,0.000,0.021,2512,1470,3368
$GC,2864,-0.54,-126.5,383.6,-9.0,166,2868,0.00,1.67,0.00,0.000,6,0.000,0.039,2506,2589,3367
$GC,3158,-0.54,-126.5,411.5,-9.6,173,3162,0.00,1.55,-0.08,0.000,4,0.000,0.065,2498,3595,3389
$GC,3227,-0.54,-126.5,418.5,-9.7,174,3230,0.00,1.45,0.00,0.000,6,0.000,0.021,2503,2582,3388
$GC,3499,-0.54,-126.5,445.2,-9.9,181,3502,0.00,1.58,0.00,0.000,4,0.000,0.046,2498,3581,3385
$GC,3534,-0.54,-126.5,449.3,-10.7,181,3538,0.00,1.42,0.00,0.000,6,0.000,0.023,2503,2589,3386
$GC,3795,-0.54,-126.5,475.3,-10.2,188,3799,0.00,1.55,0.00,0.000,4,0.000,0.023,2508,1480,3383
$GC,3864,-0.54,-126.5,482.4,-9.8,189,3867,0.00,1.65,0.00,0.000,6,0.000,0.039,2502,2579,3382
$GC,4135,-0.54,-126.5,509.6,-10.1,196,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2580,3380
$GC,4379,-0.54,-126.5,533.7,-9.9,202,4382,0.00,1.58,0.00,0.000,4,0.000,0.051,2494,3592,3378
$GC,4430,-0.54,-126.5,538.7,-9.5,203,4434,0.00,1.45,0.00,0.000,6,0.000,0.023,2499,2594,3378
$GC,4724,-0.54,-126.5,566.9,-9.4,210,4728,0.00,1.55,0.00,0.000,4,0.000,0.024,2508,1485,3375
$GC,4765,-0.54,-126.5,571.0,-9.1,210,4774,0.00,1.70,0.00,0.000,6,0.000,0.042,2502,2586,3375
$GC,5021,-0.54,-126.5,593.9,-9.2,217,5024,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3591,3373
$GC,5056,-0.54,-126.5,597.8,-10.1,217,5060,0.00,1.45,0.00,0.000,6,0.000,0.024,2499,2592,3372
$GC,5317,-0.54,-126.5,620.0,-8.6,224,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2583,3371
$GC,5560,-0.54,-126.5,639.0,-7.6,230,5564,0.00,1.55,0.00,0.000,4,0.000,0.025,2507,1486,3370
$GC,5591,-0.54,-126.5,641.6,-7.2,230,5595,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2585,3370
$GC,5857,-0.54,-126.5,662.2,-8.2,237,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2585,3368
$GC,6101,-0.54,-126.5,683.6,-8.8,243,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2585,3367
$GC,6344,-0.54,-126.5,703.7,-8.1,249,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2585,3365
$GC,6589,-0.54,-126.5,722.1,-7.6,255,6592,0.00,1.60,0.00,0.000,4,0.000,0.026,2507,1483,3365
$GC,6657,-0.54,-126.5,727.3,-7.1,256,6661,0.00,1.67,0.00,0.000,6,0.000,0.044,2501,2579,3364
$GC,6929,-0.54,-126.5,747.0,-7.4,263,6933,0.00,1.60,0.00,0.000,4,0.000,0.055,2493,3611,3363
$GC,6980,-0.54,-126.5,750.8,-7.9,264,6984,0.00,1.50,0.00,0.000,6,0.000,0.025,2498,2598,3363
$GC,7275,-0.54,-126.5,772.8,-7.5,271,7278,0.00,1.58,0.00,0.000,4,0.000,0.026,2506,1485,3362
$GC,7325,-0.54,-126.5,776.7,-7.3,272,7329,0.00,1.73,0.00,0.000,6,0.000,0.045,2501,2584,3361
$GC,7620,-0.54,-126.5,801.6,-8.8,279,7623,0.00,1.60,0.00,0.000,4,0.000,0.056,2493,3614,3360
$GC,7670,-0.54,-126.5,806.6,-10.3,280,7673,0.00,1.50,0.00,0.000,6,0.000,0.027,2498,2602,3359
$GC,7964,-0.54,-126.5,833.8,-9.2,287,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2593,3358
$GC,8208,-0.54,-126.5,854.4,-8.3,293,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2593,3358
$GC,8452,-0.54,-126.5,873.8,-7.9,299,8455,0.00,1.58,0.00,0.000,4,0.000,0.027,2506,1492,3357
$GC,8526,-0.54,-126.5,879.7,-7.6,300,8530,0.00,1.70,0.00,0.000,6,0.000,0.047,2500,2595,3357
$GC,8793,-0.54,-126.5,899.8,-7.8,307,8796,0.00,1.58,0.00,0.000,4,0.000,0.058,2493,3583,3356
$STATE,8801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8801,begin apogee
$GC,8815,-0.20,0.0,901.3,7.9,307,8932,0.38,0.00,114.35,1.256,6,0.103,0.000,2633,2249,2858
$STATE,8933,end apogee,CONTROL_FINISHED_OK
$STATE,8933,begin climb
$GC,8938,0.54,126.5,905.0,0.0,310,9165,0.65,1.65,148.12,1.045,4,0.043,0.028,2884,1204,2342
$GC,9212,0.54,126.5,878.1,15.9,316,9216,0.00,1.67,0.00,0.000,6,0.000,0.041,2879,2258,2338
$GC,9495,0.54,126.5,833.0,16.3,323,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2258,2334
$GC,9739,0.54,126.5,794.5,15.9,329,9742,0.00,1.62,0.00,0.000,4,0.000,0.049,2875,3316,2332
$GC,9789,0.54,126.5,786.1,17.2,330,9793,0.00,1.60,0.00,0.000,6,0.000,0.027,2881,2244,2331
$GC,10083,0.54,126.5,738.1,16.1,337,10086,0.00,1.67,0.00,0.000,4,0.000,0.048,2878,3310,2330
$GC,10118,0.54,126.5,732.0,16.9,337,10122,0.00,1.55,0.00,0.000,6,0.000,0.028,2883,2264,2330
$GC,10378,0.54,126.5,693.8,14.6,344,10382,0.00,1.55,0.00,0.000,4,0.000,0.028,2891,1193,2329
$GC,10429,0.54,126.5,686.7,14.7,345,10433,0.00,1.62,0.00,0.000,6,0.000,0.041,2890,2252,2329
$GC,10723,0.54,126.5,643.0,15.4,352,10726,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3311,2329
$GC,10753,0.54,126.5,637.8,16.6,352,10756,0.00,1.60,0.00,0.000,6,0.000,0.028,2897,2215,2328
$GC,11019,0.54,126.5,596.8,15.5,359,11023,0.00,1.73,0.00,0.000,4,0.000,0.048,2892,3318,2327
$GC,11084,0.54,126.5,585.7,16.5,360,11087,0.00,1.58,0.00,0.000,6,0.000,0.027,2897,2252,2327
$GC,11361,0.54,126.5,542.5,15.7,367,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2246,2327
$GC,11605,0.54,126.5,507.0,14.5,373,11606,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2245,2327
$GC,11849,0.54,126.5,473.2,13.6,379,11852,0.00,1.67,0.00,0.000,4,0.000,0.049,2892,3321,2326
$GC,11918,0.54,126.5,462.9,13.4,380,11921,0.00,1.58,0.00,0.000,6,0.000,0.027,2897,2258,2326
$GC,12189,0.54,126.5,426.6,13.7,387,12193,0.00,1.65,0.00,0.000,4,0.000,0.048,2892,3313,2326
$GC,12247,0.54,126.5,418.1,13.4,388,12251,0.00,1.52,0.00,0.000,6,0.000,0.028,2897,2281,2325
$GC,12529,0.54,126.5,384.7,12.0,395,12530,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2276,2325
$GC,12773,0.54,126.5,357.1,11.5,401,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2276,2325
$GC,13016,0.54,126.5,329.6,11.4,407,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2276,2325
$GC,13261,0.54,126.5,299.3,12.4,413,13264,0.00,1.62,0.00,0.000,4,0.000,0.048,2892,3305,2325
$GC,13301,0.54,126.5,294.1,11.7,413,13310,0.00,1.50,0.00,0.000,6,0.000,0.025,2898,2280,2325
$GC,13556,0.54,126.5,266.3,10.6,420,13560,0.00,1.62,0.00,0.000,4,0.000,0.047,2891,3327,2325
$GC,13650,0.54,126.5,257.1,9.5,422,13654,0.00,1.50,0.00,0.000,6,0.000,0.025,2897,2303,2325
$GC,13945,0.54,126.5,230.4,9.3,429,13949,0.00,1.60,0.00,0.000,4,0.000,0.047,2892,3311,2325
$GC,14058,0.55,137.6,219.1,8.5,431,14072,0.00,1.45,8.93,0.716,6,0.000,0.025,2898,2318,2296
$GC,14331,0.55,153.1,196.3,8.3,441,14358,0.00,1.67,17.42,0.670,4,0.000,0.025,2905,1184,2232
$GC,14439,0.56,172.3,187.5,8.1,450,14469,0.00,1.70,20.27,0.673,6,0.000,0.038,2905,2297,2155
$GC,14735,0.56,172.3,158.3,10.6,477,14743,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2297,2151
$GC,15001,0.56,172.3,129.8,10.1,502,15005,0.00,1.60,0.00,0.000,4,0.000,0.024,2910,1207,2151
$GC,15073,0.56,182.1,123.2,8.5,508,15087,0.00,1.60,9.68,0.621,6,0.000,0.036,2905,2269,2114
$GC,15350,0.56,182.1,97.6,9.2,533,15353,0.00,1.60,0.00,0.000,4,0.000,0.045,2905,3330,2113
$GC,15476,0.57,190.2,85.0,8.6,544,15490,0.00,1.50,8.85,0.576,6,0.000,0.022,2911,2281,2082
$GC,15751,0.59,236.8,65.0,6.8,569,15802,0.00,1.58,40.50,0.607,4,0.000,0.022,2915,1216,1890
$GC,15895,0.59,236.8,52.8,9.2,581,15898,0.00,1.62,0.00,0.000,6,0.000,0.035,2915,2289,1887
$GC,16161,0.59,236.8,27.7,9.8,607,16170,0.00,1.55,0.00,0.000,4,0.000,0.042,2915,3306,1886
$GC,16228,0.59,236.8,20.8,9.1,618,16237,0.00,1.45,0.00,0.000,6,0.000,0.021,2916,2297,1886
$STATE,16415,end climb,SURFACE_DEPTH_REACHED
$STATE,16415,begin surface coast
$FINISH,0.4,1.023673
$STATE,16443,end surface coast,CONTROL_FINISHED_OK
$STATE,16443,begin surface
$SM_CCo,16469,63.25,0.539,0,0,1267,390.02
$SM_GC,1.54,0.00,0.00,63.25,0.000,0.000,0.539,35,2571,1267,-8.31,1.13,390.02
$IRIDIUM_FIX,2148.09,-15802.85,070303,010133
$TT8_MAMPS,0.023777
$HUMID,2233
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.30
$XPDR_PINGS,6
$24V_AH,23.2,70.894
$10V_AH,10.5,86.462
$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,18.000,108.475,368.125,63.250,0.000,57.845,72.074,419.290,1.500,0.000,0.000,15.861,1350.211,11274.753,515.264,3004.536,1197.187,33.381,1545.686,0.000,2977.516,0.000,0.544,0.000
$DEVICE_MAMPS,195.585,65.195,1256.346,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,446.242,2161.673,2249.156,780.371,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54188,657
$CAP_FILE_SIZE,130394,0
$CFSIZE,260165632,229924864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,111213,061046,2156.060,-15802.540,57,3.5,76,9.9