version: 66.04
glider: 512
mission: 4
dive: 425
start: 12 11 113 11 47 43
data:
$ID,512
$MISSION,4
$DIVE,425
$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,-115984.05
$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,70
$R_STBD_OVSHOOT,35
$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
$GPS1,113206,2154.341,-15803.415,41,1.1,41,9.9
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,8
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-77.8
$GPS2,114649,2154.351,-15803.512,16,1.6,16,9.9
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,TENMILE
$TGT_LATLONG,2145.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.096,-0.215
$KALMAN_X,149352.3,464.3,-94.7,-155638.9,185.7
$KALMAN_Y,-36285.4,4.6,-141.4,-55683.0,1268.0
$MHEAD_RNG_PITCHd_Wd,194.1,18915,-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,-126.5,0.0,0.0,0,88,0.00,0.00,-67.35,0.000,2,0.000,0.000,8,2533,2842
$GC,94,-0.54,-126.5,2.1,-1.3,9,126,9.68,1.52,-12.52,0.000,4,0.199,0.039,2520,1466,3377
$GC,297,-0.54,-126.5,42.2,-18.2,38,300,0.00,1.60,0.00,0.000,6,0.000,0.040,2514,2530,3377
$GC,568,-0.54,-126.5,97.2,-18.3,63,572,0.00,1.62,0.00,0.000,4,0.000,0.045,2506,3595,3378
$GC,683,-0.54,-126.5,115.3,-14.0,73,691,0.00,1.50,0.00,0.000,6,0.000,0.018,2506,2535,3378
$GC,949,-0.54,-126.5,155.6,-16.5,98,953,0.00,1.45,0.00,0.000,4,0.000,0.020,2513,1467,3379
$GC,1019,-0.54,-126.5,165.9,-13.7,104,1023,0.00,1.60,0.00,0.000,6,0.000,0.036,2507,2551,3379
$GC,1311,-0.54,-126.5,206.3,-13.3,128,1314,0.00,1.58,0.00,0.000,4,0.000,0.045,2498,3587,3379
$GC,1429,-0.54,-126.5,221.8,-12.8,130,1433,0.00,1.48,0.00,0.000,6,0.000,0.018,2503,2543,3379
$GC,1695,-0.54,-126.5,251.5,-11.0,137,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2534,3379
$GC,1939,-0.54,-126.5,279.4,-11.5,143,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2534,3378
$GC,2183,-0.54,-126.5,307.6,-11.5,149,2186,0.00,1.60,0.00,0.000,4,0.000,0.043,2498,3594,3377
$GC,2224,-0.54,-126.5,312.8,-12.0,149,2232,0.00,1.48,0.00,0.000,6,0.000,0.019,2504,2551,3376
$GC,2478,-0.54,-126.5,337.8,-9.8,156,2482,0.00,1.48,0.00,0.000,4,0.000,0.021,2511,1479,3374
$GC,2529,-0.54,-126.5,342.6,-9.1,157,2532,0.00,1.62,0.00,0.000,6,0.000,0.037,2506,2571,3374
$GC,2823,-0.54,-126.5,372.9,-10.4,164,2826,0.00,1.55,0.00,0.000,4,0.000,0.048,2498,3580,3371
$GC,2880,-0.54,-126.5,378.9,-9.9,165,2884,0.00,1.45,0.00,0.000,6,0.000,0.021,2503,2561,3371
$GC,3163,-0.54,-126.5,405.6,-9.5,172,3167,0.00,1.50,0.00,0.000,4,0.000,0.022,2511,1471,3369
$GC,3221,-0.54,-126.5,411.2,-9.2,173,3225,0.00,1.67,0.00,0.000,6,0.000,0.040,2506,2568,3369
$GC,3503,-0.54,-126.5,437.8,-9.6,180,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2568,3366
$GC,3747,-0.54,-126.5,460.5,-9.3,186,3749,0.00,0.00,-0.08,0.000,6,0.000,0.000,2506,2568,3390
$GC,3991,-0.54,-126.5,483.8,-9.6,192,3995,0.00,1.60,0.00,0.000,4,0.000,0.051,2498,3591,3387
$GC,4026,-0.54,-126.5,487.6,-10.0,192,4030,0.00,1.50,0.00,0.000,6,0.000,0.023,2503,2556,3388
$GC,4286,-0.54,-126.5,511.0,-8.9,199,4290,0.00,1.60,0.00,0.000,4,0.000,0.048,2497,3586,3385
$GC,4344,-0.54,-126.5,516.4,-8.5,200,4348,0.00,1.48,0.00,0.000,6,0.000,0.024,2503,2568,3385
$GC,4628,-0.54,-126.5,540.5,-8.6,207,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2559,3382
$GC,4871,-0.54,-126.5,562.8,-9.1,213,4874,0.00,1.60,0.00,0.000,4,0.000,0.051,2497,3589,3380
$GC,4895,-0.54,-126.5,565.6,-9.8,213,4899,0.00,1.48,0.00,0.000,6,0.000,0.025,2503,2578,3380
$GC,5166,-0.54,-126.5,590.4,-9.3,220,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2569,3379
$GC,5411,-0.54,-126.5,611.8,-8.6,226,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2570,3377
$GC,5654,-0.54,-126.5,632.3,-8.3,232,5658,0.00,1.55,0.00,0.000,4,0.000,0.025,2508,1476,3376
$GC,5689,-0.54,-126.5,635.5,-8.1,232,5693,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2579,3375
$GC,5950,-0.54,-126.5,655.9,-8.1,239,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2578,3373
$GC,6194,-0.54,-126.5,675.4,-7.9,245,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2579,3372
$GC,6437,-0.54,-126.5,694.6,-7.9,251,6441,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3591,3371
$GC,6488,-0.54,-126.5,698.9,-8.6,252,6491,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2572,3371
$GC,6782,-0.54,-126.5,722.2,-8.1,259,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2563,3370
$GC,7025,-0.54,-126.5,743.1,-8.6,265,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2562,3370
$GC,7269,-0.54,-126.5,764.6,-9.0,271,7273,0.00,1.62,0.00,0.000,4,0.000,0.054,2495,3580,3368
$GC,7319,-0.54,-126.5,769.1,-9.1,272,7322,0.00,1.48,0.00,0.000,6,0.000,0.027,2500,2577,3368
$GC,7613,-0.54,-126.5,792.0,-7.5,279,7617,0.00,1.55,0.00,0.000,4,0.000,0.026,2508,1478,3366
$GC,7682,-0.54,-126.5,797.4,-7.3,280,7686,0.00,1.67,0.00,0.000,6,0.000,0.045,2502,2571,3366
$GC,7954,-0.54,-126.5,816.3,-7.0,287,7958,0.00,1.60,0.00,0.000,4,0.000,0.058,2495,3594,3365
$GC,7987,-0.54,-126.5,818.8,-7.6,287,7990,0.00,1.52,0.00,0.000,6,0.000,0.026,2500,2561,3365
$GC,8253,-0.54,-126.5,837.8,-7.2,294,8257,0.00,1.52,0.00,0.000,4,0.000,0.026,2508,1477,3364
$GC,8277,-0.54,-126.5,839.8,-7.2,294,8281,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2570,3364
$GC,8549,-0.54,-126.5,859.7,-7.5,301,8552,0.00,1.60,0.00,0.000,4,0.000,0.058,2494,3592,3363
$GC,8585,-0.54,-126.5,862.8,-8.7,301,8589,0.00,1.52,0.00,0.000,6,0.000,0.026,2499,2558,3363
$GC,8846,-0.54,-126.5,882.2,-7.5,308,8849,0.00,1.52,0.00,0.000,4,0.000,0.027,2507,1478,3363
$GC,8887,-0.54,-126.5,885.4,-7.2,308,8895,0.00,1.70,0.00,0.000,6,0.000,0.045,2502,2561,3362
$STATE,9096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9096,begin apogee
$GC,9108,-0.20,0.0,901.0,7.5,314,9227,0.40,0.00,115.90,1.257,6,0.098,0.000,2639,2234,2858
$STATE,9228,end apogee,CONTROL_FINISHED_OK
$STATE,9228,begin climb
$GC,9233,0.54,126.5,904.2,0.0,317,9458,0.62,1.62,147.90,1.046,4,0.054,0.027,2886,1217,2342
$GC,9528,0.54,126.5,873.4,16.0,323,9531,0.00,1.65,0.00,0.000,6,0.000,0.041,2886,2260,2337
$GC,9788,0.54,126.5,829.6,17.0,330,9791,0.00,1.62,0.00,0.000,4,0.000,0.049,2886,3311,2333
$GC,9819,0.54,126.5,823.8,18.2,330,9823,0.00,1.55,0.00,0.000,6,0.000,0.027,2892,2276,2332
$GC,10086,0.54,126.5,778.4,17.0,337,10090,0.00,1.58,0.00,0.000,4,0.000,0.029,2901,1198,2331
$GC,10121,0.54,126.5,772.0,16.3,337,10124,0.00,1.65,0.00,0.000,6,0.000,0.042,2901,2266,2331
$GC,10382,0.54,126.5,727.2,17.5,344,10385,0.00,1.62,0.00,0.000,4,0.000,0.051,2901,3321,2331
$GC,10439,0.54,126.5,715.7,19.1,345,10443,0.12,1.58,0.00,0.000,6,0.174,0.027,2878,2263,2330
$GC,10722,0.54,126.5,675.4,13.6,352,10725,0.00,1.65,0.00,0.000,4,0.000,0.048,2876,3315,2329
$GC,10746,0.54,126.5,671.2,15.4,352,10750,0.00,1.55,0.00,0.000,6,0.000,0.028,2881,2267,2329
$GC,11017,0.54,126.5,630.7,15.4,359,11021,0.00,1.65,0.00,0.000,4,0.000,0.048,2877,3302,2328
$GC,11069,0.54,126.5,622.0,15.7,360,11073,0.00,1.50,0.00,0.000,6,0.000,0.027,2882,2288,2328
$GC,11357,0.54,126.5,580.4,14.2,367,11361,0.00,1.58,0.00,0.000,4,0.000,0.028,2890,1197,2328
$GC,11409,0.54,126.5,573.8,13.6,368,11412,0.00,1.67,0.00,0.000,6,0.000,0.041,2890,2287,2327
$GC,11703,0.54,126.5,534.7,13.2,375,11706,0.00,1.60,0.00,0.000,4,0.000,0.050,2891,3309,2327
$GC,11755,0.54,126.5,527.5,14.4,376,11758,0.00,1.50,0.00,0.000,6,0.000,0.027,2896,2299,2326
$GC,12048,0.54,126.5,487.3,13.3,383,12052,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3332,2327
$GC,12073,0.54,126.5,483.3,15.1,383,12076,0.00,1.52,0.00,0.000,6,0.000,0.028,2896,2306,2326
$GC,12345,0.54,126.5,445.0,14.3,390,12348,0.00,1.62,0.00,0.000,4,0.000,0.028,2904,1164,2326
$GC,12425,0.54,126.5,432.9,14.2,391,12428,0.00,1.73,0.00,0.000,6,0.000,0.042,2905,2288,2326
$GC,12685,0.54,126.5,397.0,13.6,398,12689,0.00,1.60,0.00,0.000,4,0.000,0.050,2905,3312,2326
$GC,12735,0.54,126.5,389.7,15.0,399,12739,0.10,1.50,0.00,0.000,6,0.157,0.027,2880,2306,2326
$GC,13029,0.54,126.5,358.8,9.8,406,13033,0.00,1.60,0.00,0.000,4,0.000,0.028,2886,1206,2326
$GC,13104,0.55,144.0,352.0,8.2,407,13130,0.00,1.67,16.95,0.794,6,0.000,0.042,2886,2300,2270
$GC,13415,0.55,144.0,316.4,11.8,415,13418,0.00,1.58,0.00,0.000,4,0.000,0.051,2886,3306,2267
$GC,13483,0.55,144.0,307.7,12.0,416,13487,0.00,1.48,0.00,0.000,6,0.000,0.025,2893,2305,2266
$GC,13755,0.55,144.0,274.9,12.5,423,13758,0.00,1.60,0.00,0.000,4,0.000,0.028,2901,1173,2266
$GC,13830,0.55,144.0,265.8,10.9,424,13833,0.00,1.70,0.00,0.000,6,0.000,0.041,2901,2285,2265
$GC,14095,0.55,144.0,237.3,10.6,431,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2285,2265
$GC,14339,0.55,144.0,211.8,10.5,437,14343,0.00,1.60,0.00,0.000,4,0.000,0.028,2902,1179,2265
$GC,14381,0.56,162.1,208.0,8.1,437,14402,0.00,1.75,17.23,0.757,6,0.000,0.041,2902,2304,2196
$GC,14675,0.56,162.1,179.9,9.7,458,14679,0.00,1.55,0.00,0.000,4,0.000,0.047,2902,3306,2192
$GC,14715,0.56,162.1,174.1,12.6,461,14722,0.08,1.40,0.00,0.000,6,0.141,0.023,2885,2348,2192
$GC,14986,0.57,186.8,150.4,7.8,486,15014,0.00,1.65,22.70,0.701,4,0.000,0.025,2892,1182,2095
$GC,15120,0.57,190.9,137.9,8.8,497,15129,0.00,1.75,5.07,0.545,6,0.000,0.039,2891,2305,2079
$GC,15391,0.57,209.0,113.7,8.1,522,15417,0.00,1.58,17.10,0.650,4,0.000,0.045,2891,3308,2004
$GC,15478,0.58,231.7,106.2,7.9,529,15505,0.00,1.45,20.70,0.642,6,0.000,0.022,2897,2306,1912
$GC,15767,0.58,231.7,79.9,11.1,555,15770,0.00,1.60,0.00,0.000,4,0.000,0.025,2899,1194,1909
$GC,15932,0.61,285.7,64.7,6.4,569,15982,0.00,1.67,45.70,0.612,6,0.000,0.035,2899,2284,1693
$GC,16248,0.62,323.8,40.5,7.2,598,16286,0.00,0.00,31.52,0.578,6,0.000,0.000,2899,2283,1538
$GC,16546,0.63,337.8,13.2,8.3,643,16564,0.00,1.60,13.25,0.531,4,0.000,0.040,2899,3314,1479
$GC,16586,0.63,354.8,9.9,8.2,648,16610,0.00,1.55,15.55,0.530,6,0.000,0.021,2899,2246,1410
$STATE,16679,end climb,SURFACE_DEPTH_REACHED
$STATE,16679,begin surface coast
$FINISH,0.4,1.023226
$STATE,16727,end surface coast,CONTROL_FINISHED_OK
$STATE,16727,begin surface
$SM_CCo,16753,15.12,0.515,0,0,1267,390.02
$SM_GC,1.56,0.00,0.00,15.12,0.000,0.000,0.515,35,2604,1267,-8.33,2.12,390.02
$IRIDIUM_FIX,2150.42,-15805.01,070303,060615
$TT8_MAMPS,0.023777
$HUMID,2287
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.30
$XPDR_PINGS,13
$24V_AH,22.5,71.278
$10V_AH,10.5,86.834
$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,18.375,124.125,469.575,15.125,0.000,28.300,34.056,612.870,3.250,0.000,0.000,16.174,1400.919,11227.082,523.270,3129.412,1363.016,33.377,1622.600,0.000,3093.088,0.000,0.545,0.000
$DEVICE_MAMPS,199.420,58.292,1257.113,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,455.858,2211.929,2299.204,822.971,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54079,672
$CAP_FILE_SIZE,140537,0
$CFSIZE,260165632,229773312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,111213,162906,2152.708,-15804.050,65,1.3,65,9.9