version: 66.04
glider: 512
mission: 4
dive: 424
start: 12 11 113 6 46 48
data:
$ID,512
$MISSION,4
$DIVE,424
$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,-115967.25
$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,69
$R_STBD_OVSHOOT,57
$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
$GPS1,061046,2156.060,-15802.540,57,3.5,76,9.9
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.3
$GPS2,064551,2156.222,-15802.483,38,2.9,57,9.9
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,TENMILE
$TGT_LATLONG,2145.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.115,-0.205
$KALMAN_X,148942.7,66.2,155.7,-153327.0,150.4
$KALMAN_Y,-37275.8,-56.6,267.7,-51575.5,259.9
$MHEAD_RNG_PITCHd_Wd,199.4,22802,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.54,-126.5,0.0,0.0,0,88,0.00,0.00,-67.32,0.000,2,0.000,0.000,7,2566,2841
$GC,93,-0.54,-126.5,2.2,-1.5,9,126,9.48,1.58,-13.18,0.000,4,0.193,0.038,2521,1459,3375
$GC,273,-0.54,-126.5,36.5,-17.9,37,277,0.00,1.60,0.00,0.000,6,0.000,0.037,2515,2531,3376
$GC,544,-0.54,-126.5,92.1,-18.2,62,548,0.00,1.60,0.00,0.000,4,0.000,0.044,2507,3608,3376
$GC,628,-0.54,-126.5,107.7,-17.0,69,636,0.00,1.58,0.00,0.000,6,0.000,0.018,2512,2494,3376
$GC,894,-0.54,-126.5,147.9,-15.0,94,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2486,3376
$GC,1160,-0.54,-126.5,188.3,-14.8,119,1164,0.00,1.65,0.00,0.000,4,0.000,0.041,2505,3589,3376
$GC,1240,-0.54,-126.5,200.0,-14.0,126,1244,0.00,1.52,0.00,0.000,6,0.000,0.018,2511,2502,3376
$GC,1501,-0.54,-126.5,230.0,-11.2,133,1504,0.00,1.67,0.00,0.000,4,0.000,0.042,2504,3588,3376
$GC,1530,-0.54,-126.5,233.8,-11.7,133,1534,0.00,1.48,0.00,0.000,6,0.000,0.018,2509,2537,3376
$GC,1796,-0.54,-126.5,262.4,-11.2,140,1800,0.00,1.60,0.00,0.000,4,0.000,0.043,2504,3595,3376
$GC,1893,-0.54,-126.5,274.3,-11.2,142,1897,0.00,1.45,0.00,0.000,6,0.000,0.018,2509,2564,3375
$GC,2181,-0.54,-126.5,305.4,-10.7,149,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2555,3374
$GC,2425,-0.54,-126.5,330.6,-10.4,155,2428,0.00,1.60,0.00,0.000,4,0.000,0.044,2503,3612,3372
$GC,2489,-0.54,-126.5,338.2,-10.8,156,2492,0.00,1.48,0.00,0.000,6,0.000,0.020,2508,2576,3371
$GC,2766,-0.54,-126.5,369.7,-11.8,163,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2568,3369
$GC,3009,-0.54,-126.5,396.1,-10.7,169,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2568,3367
$GC,3254,-0.54,-126.5,419.2,-9.3,175,3255,0.00,0.00,-0.08,0.000,6,0.000,0.000,2508,2568,3389
$GC,3497,-0.54,-126.5,442.8,-9.8,181,3500,0.00,1.52,0.00,0.000,4,0.000,0.022,2508,1482,3388
$GC,3562,-0.54,-126.5,449.0,-8.6,182,3565,0.00,1.62,0.00,0.000,6,0.000,0.038,2502,2572,3386
$GC,3839,-0.54,-126.5,474.5,-9.2,189,3843,0.00,1.58,0.00,0.000,4,0.000,0.050,2495,3586,3384
$GC,3941,-0.54,-126.5,484.7,-10.2,191,3945,0.00,1.45,0.00,0.000,6,0.000,0.023,2499,2580,3383
$GC,4224,-0.54,-126.5,510.1,-9.1,198,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2571,3380
$GC,4468,-0.54,-126.5,531.1,-8.5,204,4471,0.00,1.60,0.00,0.000,4,0.000,0.048,2494,3612,3379
$GC,4533,-0.54,-126.5,536.9,-9.1,205,4536,0.00,1.48,0.00,0.000,6,0.000,0.023,2499,2597,3378
$GC,4811,-0.54,-126.5,560.2,-8.6,212,4814,0.00,1.55,0.00,0.000,4,0.000,0.024,2508,1482,3375
$GC,4891,-0.54,-126.5,567.3,-8.1,213,4894,0.00,1.67,0.00,0.000,6,0.000,0.041,2502,2594,3375
$GC,5151,-0.54,-126.5,590.4,-9.1,220,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2594,3373
$GC,5395,-0.54,-126.5,612.4,-9.1,226,5398,0.00,1.55,0.00,0.000,4,0.000,0.053,2494,3584,3371
$GC,5430,-0.54,-126.5,616.1,-9.9,226,5434,0.00,1.48,0.00,0.000,6,0.000,0.025,2500,2570,3371
$GC,5690,-0.54,-126.5,639.2,-9.1,233,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2561,3370
$GC,5935,-0.54,-126.5,660.5,-8.7,239,5938,0.00,1.62,0.00,0.000,4,0.000,0.052,2494,3583,3368
$GC,5985,-0.54,-126.5,665.2,-9.0,240,5989,0.00,1.45,0.00,0.000,6,0.000,0.025,2500,2595,3368
$GC,6279,-0.54,-126.5,690.8,-8.6,247,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2586,3366
$GC,6523,-0.54,-126.5,710.6,-8.1,253,6527,0.00,1.58,0.00,0.000,4,0.000,0.025,2507,1478,3364
$GC,6581,-0.54,-126.5,715.4,-7.3,254,6585,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2578,3364
$GC,6864,-0.54,-126.5,736.0,-7.3,261,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2579,3363
$GC,7108,-0.54,-126.5,753.3,-7.1,267,7111,0.00,1.58,0.00,0.000,4,0.000,0.025,2507,1482,3361
$GC,7144,-0.54,-126.5,756.0,-6.4,267,7148,0.00,1.65,0.00,0.000,6,0.000,0.044,2502,2566,3361
$GC,7405,-0.54,-126.5,773.1,-6.8,274,7409,0.00,1.62,0.00,0.000,4,0.000,0.056,2494,3593,3360
$GC,7455,-0.54,-126.5,776.8,-7.2,275,7459,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2572,3359
$GC,7750,-0.54,-126.5,799.2,-7.7,282,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2564,3359
$GC,7993,-0.54,-126.5,817.9,-7.6,288,7997,0.00,1.55,0.00,0.000,4,0.000,0.026,2508,1476,3358
$GC,8034,-0.54,-126.5,821.2,-7.1,288,8042,0.00,1.70,0.00,0.000,6,0.000,0.046,2502,2563,3358
$GC,8289,-0.54,-126.5,839.1,-7.3,295,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2562,3357
$GC,8533,-0.54,-126.5,856.2,-7.0,301,8537,0.00,1.60,0.00,0.000,4,0.000,0.057,2494,3590,3356
$GC,8569,-0.54,-126.5,859.2,-7.2,301,8573,0.00,1.48,0.00,0.000,6,0.000,0.026,2499,2585,3355
$GC,8830,-0.54,-126.5,876.2,-6.5,308,8834,0.00,1.58,0.00,0.000,4,0.000,0.026,2507,1475,3355
$GC,8894,-0.54,-126.5,880.1,-5.6,309,8898,0.00,1.67,0.00,0.000,6,0.000,0.045,2502,2566,3355
$GC,9172,-0.54,-126.5,895.3,-5.6,316,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2566,3354
$STATE,9288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9288,begin apogee
$GC,9300,-0.20,0.0,902.2,5.6,319,9424,0.40,0.00,116.20,1.243,6,0.100,0.000,2639,2236,2858
$STATE,9425,end apogee,CONTROL_FINISHED_OK
$STATE,9425,begin climb
$GC,9430,0.54,126.5,903.9,0.0,322,9649,0.62,1.55,145.57,1.057,4,0.038,0.026,2891,1207,2343
$GC,9668,0.54,126.5,878.4,17.1,327,9672,0.00,1.70,0.00,0.000,6,0.000,0.041,2891,2268,2340
$GC,9946,0.54,126.5,828.6,18.3,334,9949,0.00,1.58,0.00,0.000,4,0.000,0.028,2896,1220,2334
$GC,9965,0.54,126.5,824.5,18.6,334,9969,0.00,1.60,0.00,0.000,6,0.000,0.040,2891,2236,2334
$GC,10242,0.54,126.5,776.1,17.6,341,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2235,2332
$GC,10485,0.54,126.5,734.5,17.0,347,10489,0.00,1.67,0.00,0.000,4,0.000,0.050,2891,3308,2331
$GC,10565,0.54,126.5,719.4,18.4,348,10569,0.00,1.60,0.00,0.000,6,0.000,0.027,2897,2228,2330
$GC,10825,0.54,126.5,674.8,17.3,355,10829,0.00,1.70,0.00,0.000,4,0.000,0.050,2891,3307,2330
$GC,10876,0.54,126.5,665.5,18.8,356,10879,0.00,1.60,0.00,0.000,6,0.000,0.027,2897,2231,2330
$GC,11169,0.54,126.5,616.9,16.2,363,11173,0.00,1.70,0.00,0.000,4,0.000,0.050,2891,3313,2329
$GC,11222,0.54,126.5,608.2,16.2,364,11226,0.00,1.60,0.00,0.000,6,0.000,0.028,2897,2216,2328
$GC,11511,0.54,126.5,564.0,15.2,371,11514,0.00,1.73,0.00,0.000,4,0.000,0.048,2891,3320,2328
$GC,11568,0.54,126.5,554.5,15.4,372,11572,0.00,1.55,0.00,0.000,6,0.000,0.027,2896,2271,2328
$GC,11851,0.54,126.5,512.7,15.0,379,11855,0.00,1.65,0.00,0.000,4,0.000,0.049,2891,3304,2328
$GC,11901,0.54,126.5,505.2,14.8,380,11904,0.00,1.48,0.00,0.000,6,0.000,0.025,2896,2307,2327
$GC,12194,0.54,126.5,465.1,13.5,387,12198,0.00,1.62,0.00,0.000,4,0.000,0.028,2905,1165,2327
$GC,12236,0.54,126.5,459.6,12.6,387,12244,0.00,1.75,0.00,0.000,6,0.000,0.041,2905,2289,2327
$GC,12491,0.54,126.5,424.9,13.4,394,12494,0.00,1.58,0.00,0.000,4,0.000,0.050,2905,3302,2326
$GC,12593,0.54,126.5,409.3,15.1,396,12597,0.10,1.45,0.00,0.000,6,0.166,0.026,2881,2321,2327
$GC,12876,0.54,126.5,376.6,11.5,403,12880,0.00,1.62,0.00,0.000,4,0.000,0.028,2887,1182,2326
$GC,12956,0.54,126.5,367.4,10.5,404,12960,0.00,1.70,0.00,0.000,6,0.000,0.042,2887,2289,2326
$GC,13217,0.54,126.5,338.2,11.2,411,13220,0.00,1.60,0.00,0.000,4,0.000,0.051,2887,3309,2326
$GC,13297,0.54,126.5,328.2,12.1,412,13300,0.00,1.48,0.00,0.000,6,0.000,0.026,2893,2309,2326
$GC,13557,0.54,126.5,301.2,10.2,419,13561,0.00,1.62,0.00,0.000,4,0.000,0.028,2902,1164,2326
$GC,13632,0.54,126.5,292.7,10.6,420,13635,0.00,1.73,0.00,0.000,6,0.000,0.041,2902,2293,2326
$GC,13898,0.54,126.5,264.2,10.8,427,13899,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2293,2326
$GC,14142,0.54,126.5,239.3,9.9,433,14145,0.00,1.58,0.00,0.000,4,0.000,0.049,2902,3305,2325
$GC,14210,0.54,126.5,231.9,10.4,434,14215,0.08,1.55,0.00,0.000,6,0.131,0.025,2874,2248,2326
$GC,14482,0.55,152.8,211.3,7.7,441,14519,0.00,0.00,24.15,0.721,6,0.000,0.000,2874,2242,2235
$GC,14772,0.56,180.8,186.8,7.7,457,14802,0.00,1.70,26.02,0.741,4,0.000,0.045,2874,3320,2120
$GC,14931,0.56,182.0,173.3,9.0,470,14935,0.00,1.55,0.00,0.000,6,0.000,0.023,2879,2272,2117
$GC,15203,0.56,182.0,149.5,9.6,495,15207,0.00,1.52,0.00,0.000,4,0.000,0.025,2886,1212,2115
$GC,15297,0.56,182.0,140.6,9.3,503,15301,0.00,1.60,0.00,0.000,6,0.000,0.039,2886,2264,2114
$GC,15569,0.56,182.0,115.3,9.0,528,15573,0.00,1.60,0.00,0.000,4,0.000,0.046,2886,3303,2114
$GC,15717,0.56,182.0,101.7,9.3,541,15721,0.00,1.42,0.00,0.000,6,0.000,0.021,2892,2306,2114
$GC,15991,0.58,219.2,78.5,7.2,566,16032,0.00,1.60,33.10,0.627,4,0.000,0.023,2899,1200,1964
$GC,16175,0.60,271.2,64.8,6.5,581,16225,0.00,1.67,44.40,0.611,6,0.000,0.036,2899,2284,1751
$GC,16491,0.61,287.8,39.6,8.2,610,16509,0.00,1.60,14.70,0.561,4,0.000,0.041,2899,3310,1683
$GC,16550,0.62,323.5,34.3,7.3,614,16585,0.00,1.50,30.15,0.571,6,0.000,0.021,2899,2278,1538
$GC,16844,0.63,336.3,10.7,8.4,662,16861,0.00,1.58,11.62,0.522,4,0.000,0.025,2899,1203,1486
$GC,16919,0.64,378.3,4.9,7.0,674,16944,0.00,1.62,20.95,0.535,2,0.000,0.035,2899,2266,1386
$STATE,16945,end climb,SURFACE_DEPTH_REACHED
$STATE,16945,begin surface coast
$FINISH,0.6,1.023371
$STATE,16989,end surface coast,CONTROL_FINISHED_OK
$STATE,16989,begin surface
$SM_CCo,17015,12.18,0.505,0,0,1268,390.02
$SM_GC,1.31,0.00,0.00,12.18,0.000,0.000,0.505,30,2542,1268,-8.34,0.31,390.02
$IRIDIUM_FIX,2150.42,-15838.23,070303,060628
$TT8_MAMPS,0.023777
$HUMID,2271
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,9
$24V_AH,22.4,71.113
$10V_AH,10.5,86.657
$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,18.000,118.325,466.875,12.175,0.000,114.446,179.420,1382.468,2.250,0.000,0.000,58.890,1418.750,11589.466,528.170,3228.049,2366.165,33.378,1623.511,0.000,3159.393,0.000,0.545,0.000
$DEVICE_MAMPS,193.284,56.758,1242.540,504.686,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,464.785,2253.771,2347.543,841.900,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57267,685
$CAP_FILE_SIZE,154627,0
$CFSIZE,260165632,229834752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,111213,113206,2154.341,-15803.415,41,1.1,41,9.9