version: 66.04
glider: 512
mission: 4
dive: 426
start: 12 11 113 16 44 10
data:
$ID,512
$MISSION,4
$DIVE,426
$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,-115998.77
$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,33
$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
$GPS1,162906,2152.708,-15804.050,65,1.3,65,9.9
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-80.2
$GPS2,164313,2152.754,-15804.114,13,1.3,13,9.9
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,TENMILE
$TGT_LATLONG,2145.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.087,-0.218
$KALMAN_X,150105.1,257.5,263.5,-157573.9,-416.2
$KALMAN_Y,-35306.0,126.4,95.2,-59975.8,891.0
$MHEAD_RNG_PITCHd_Wd,191.8,15846,-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,-67.40,0.000,2,0.000,0.000,10,2601,2843
$GC,94,-0.54,-126.5,2.0,-1.5,9,126,9.68,1.62,-12.93,0.000,4,0.199,0.038,2518,1460,3376
$GC,265,-0.54,-126.5,36.6,-16.7,35,273,0.00,1.65,0.00,0.000,6,0.000,0.039,2512,2532,3377
$GC,532,-0.54,-126.5,91.5,-18.9,60,535,0.00,1.60,0.00,0.000,4,0.000,0.043,2504,3613,3377
$GC,548,-0.54,-126.5,94.6,-18.1,61,552,0.00,1.58,0.00,0.000,6,0.000,0.018,2509,2506,3378
$GC,819,-0.54,-126.5,142.2,-17.0,86,823,0.00,1.67,0.00,0.000,4,0.000,0.041,2502,3593,3378
$GC,900,-0.54,-126.5,156.0,-15.5,93,904,0.00,1.45,0.00,0.000,6,0.000,0.018,2507,2565,3378
$GC,1172,-0.54,-126.5,194.3,-14.9,118,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2556,3379
$GC,1458,-0.54,-126.5,234.5,-13.3,128,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2557,3379
$GC,1702,-0.54,-126.5,262.6,-11.7,134,1706,0.00,1.48,0.00,0.000,4,0.000,0.020,2514,1478,3378
$GC,1732,-0.54,-126.5,266.3,-10.9,134,1736,0.00,1.70,0.00,0.000,6,0.000,0.037,2509,2601,3378
$GC,1998,-0.54,-126.5,294.1,-10.7,141,2001,0.00,1.50,0.00,0.000,4,0.000,0.047,2501,3589,3377
$GC,2039,-0.54,-126.5,299.1,-11.0,141,2047,0.00,1.42,0.00,0.000,6,0.000,0.020,2506,2579,3376
$GC,2294,-0.54,-126.5,325.6,-10.6,148,2297,0.00,1.58,0.00,0.000,4,0.000,0.044,2501,3595,3376
$GC,2312,-0.54,-126.5,328.1,-10.3,148,2316,0.00,1.40,0.00,0.000,6,0.000,0.020,2506,2602,3375
$GC,2589,-0.54,-126.5,359.0,-11.6,155,2593,0.00,1.52,0.00,0.000,4,0.000,0.020,2513,1485,3373
$GC,2619,-0.54,-126.5,362.6,-10.8,155,2623,0.00,1.65,0.00,0.000,6,0.000,0.038,2507,2592,3373
$GC,2885,-0.54,-126.5,389.6,-10.3,162,2889,0.00,1.55,0.00,0.000,4,0.000,0.021,2508,1489,3371
$GC,2921,-0.54,-126.5,393.7,-10.2,162,2924,0.00,1.65,0.00,0.000,6,0.000,0.041,2502,2589,3371
$GC,3181,-0.54,-126.5,420.2,-10.4,169,3184,0.00,1.55,0.00,0.000,4,0.000,0.049,2494,3591,3369
$GC,3256,-0.54,-126.5,428.5,-10.4,170,3259,0.00,1.42,0.00,0.000,6,0.000,0.021,2499,2598,3368
$GC,3522,-0.54,-126.5,456.8,-10.8,177,3525,0.00,1.55,0.00,0.000,4,0.000,0.022,2507,1477,3366
$GC,3551,-0.54,-126.5,460.3,-10.7,177,3555,0.00,1.70,0.00,0.000,6,0.000,0.040,2502,2588,3366
$GC,3817,-0.54,-126.5,486.1,-9.8,184,3821,0.00,1.58,-0.08,0.000,4,0.000,0.067,2494,3581,3389
$GC,3886,-0.54,-126.5,493.3,-10.0,185,3890,0.00,1.38,0.00,0.000,6,0.000,0.024,2499,2620,3389
$GC,4158,-0.54,-126.5,517.6,-9.0,192,4161,0.00,1.58,0.00,0.000,4,0.000,0.024,2507,1489,3387
$GC,4194,-0.54,-126.5,520.9,-8.5,192,4197,0.00,1.70,0.00,0.000,6,0.000,0.042,2501,2609,3387
$GC,4454,-0.54,-126.5,545.1,-9.6,199,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2608,3385
$GC,4698,-0.54,-126.5,566.9,-8.8,205,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2609,3383
$GC,4941,-0.54,-126.5,589.5,-9.4,211,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2609,3381
$GC,5185,-0.54,-126.5,611.2,-8.7,217,5189,0.00,1.52,0.00,0.000,4,0.000,0.053,2494,3585,3379
$GC,5221,-0.54,-126.5,614.7,-8.6,217,5225,0.00,1.42,0.00,0.000,6,0.000,0.025,2499,2607,3379
$GC,5482,-0.54,-126.5,638.1,-9.2,224,5486,0.00,1.58,0.00,0.000,4,0.000,0.025,2507,1485,3378
$GC,5523,-0.54,-126.5,642.1,-8.9,224,5531,0.00,1.73,0.00,0.000,6,0.000,0.043,2502,2594,3377
$GC,5778,-0.54,-126.5,663.0,-8.1,231,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2594,3376
$GC,6022,-0.54,-126.5,683.5,-8.5,237,6026,0.00,1.60,0.00,0.000,4,0.000,0.026,2507,1470,3374
$GC,6072,-0.54,-126.5,687.6,-7.0,238,6076,0.00,1.75,0.00,0.000,6,0.000,0.045,2501,2589,3374
$GC,6367,-0.54,-126.5,711.5,-8.1,245,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2588,3372
$GC,6610,-0.54,-126.5,730.8,-8.0,251,6614,0.00,1.58,0.00,0.000,4,0.000,0.055,2494,3583,3372
$GC,6680,-0.54,-126.5,737.3,-9.6,252,6683,0.00,1.45,0.00,0.000,6,0.000,0.027,2499,2601,3371
$GC,6952,-0.54,-126.5,759.7,-8.1,259,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2592,3371
$GC,7195,-0.54,-126.5,776.5,-6.7,265,7199,0.00,1.58,0.00,0.000,4,0.000,0.027,2507,1488,3370
$GC,7246,-0.54,-126.5,779.5,-5.4,266,7250,0.00,1.73,0.00,0.000,6,0.000,0.045,2501,2589,3370
$GC,7540,-0.54,-126.5,798.0,-6.4,273,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2589,3368
$GC,7784,-0.54,-126.5,816.1,-7.6,279,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2589,3367
$GC,8028,-0.54,-126.5,834.2,-7.4,285,8031,0.00,1.58,0.00,0.000,4,0.000,0.057,2494,3578,3366
$GC,8064,-0.54,-126.5,837.1,-7.7,285,8068,0.00,1.45,0.00,0.000,6,0.000,0.028,2499,2597,3366
$GC,8325,-0.54,-126.5,855.3,-7.1,292,8328,0.00,1.58,0.00,0.000,4,0.000,0.027,2507,1487,3365
$GC,8375,-0.54,-126.5,858.9,-7.1,293,8379,0.00,1.67,0.00,0.000,6,0.000,0.045,2502,2572,3365
$GC,8670,-0.54,-126.5,881.7,-7.8,300,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2572,3363
$STATE,8908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8908,begin apogee
$GC,8919,-0.20,0.0,900.0,7.5,306,9038,0.40,0.00,115.82,1.256,6,0.100,0.000,2638,2264,2858
$STATE,9039,end apogee,CONTROL_FINISHED_OK
$STATE,9039,begin climb
$GC,9044,0.54,126.5,903.2,0.0,309,9262,0.62,0.00,148.32,1.044,6,0.038,0.000,2881,2264,2342
$GC,9499,0.54,126.5,843.0,17.4,320,9503,0.00,1.58,0.00,0.000,4,0.000,0.029,2887,1203,2334
$GC,9518,0.54,126.5,839.1,17.5,320,9522,0.00,1.65,0.00,0.000,6,0.000,0.042,2887,2262,2333
$GC,9795,0.54,126.5,788.8,18.8,327,9798,0.00,1.62,0.00,0.000,4,0.000,0.049,2887,3321,2332
$GC,9847,0.54,126.5,777.9,19.9,328,9851,0.00,1.58,0.00,0.000,6,0.000,0.026,2894,2261,2331
$GC,10136,0.54,126.5,725.2,18.0,335,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2255,2330
$GC,10379,0.54,126.5,683.8,16.5,341,10383,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3316,2330
$GC,10429,0.54,126.5,675.2,17.9,342,10433,0.00,1.60,0.00,0.000,6,0.000,0.028,2897,2244,2329
$GC,10724,0.54,126.5,628.2,16.3,349,10727,0.00,1.52,0.00,0.000,4,0.000,0.028,2904,1190,2329
$GC,10831,0.54,126.5,610.2,16.1,351,10835,0.00,1.60,0.00,0.000,6,0.000,0.040,2905,2240,2327
$GC,11108,0.54,126.5,565.2,16.6,358,11112,0.00,1.65,0.00,0.000,4,0.000,0.049,2904,3317,2327
$GC,11133,0.54,126.5,560.4,17.3,358,11137,0.10,1.60,0.00,0.000,6,0.173,0.027,2882,2243,2327
$GC,11404,0.54,126.5,522.8,13.4,365,11408,0.00,1.52,0.00,0.000,4,0.000,0.028,2888,1184,2326
$GC,11445,0.54,126.5,517.5,11.6,365,11453,0.00,1.62,0.00,0.000,6,0.000,0.041,2888,2228,2327
$GC,11699,0.54,126.5,484.7,13.3,372,11703,0.00,1.67,0.00,0.000,4,0.000,0.051,2888,3317,2326
$GC,11736,0.54,126.5,479.4,14.0,372,11739,0.00,1.60,0.00,0.000,6,0.000,0.027,2895,2213,2326
$GC,11996,0.54,126.5,444.5,13.7,379,12000,0.00,1.75,0.00,0.000,4,0.000,0.048,2892,3308,2327
$GC,12048,0.54,126.5,435.9,15.6,380,12051,0.00,1.58,0.00,0.000,6,0.000,0.027,2897,2244,2325
$GC,12336,0.54,126.5,397.0,13.0,387,12340,0.00,1.67,0.00,0.000,4,0.000,0.048,2898,3314,2325
$GC,12366,0.54,126.5,392.2,15.7,387,12370,0.00,1.58,0.00,0.000,6,0.000,0.027,2902,2257,2324
$GC,12632,0.54,126.5,356.8,13.3,394,12636,0.00,1.55,0.00,0.000,4,0.000,0.028,2910,1188,2324
$GC,12668,0.54,126.5,352.2,11.2,394,12672,0.00,1.60,0.00,0.000,6,0.000,0.040,2905,2239,2324
$GC,12928,0.54,126.5,320.8,12.5,401,12932,0.00,1.65,0.00,0.000,4,0.000,0.048,2905,3303,2324
$GC,13008,0.54,126.5,309.7,12.9,402,13013,0.08,1.50,0.00,0.000,6,0.164,0.025,2877,2288,2325
$GC,13269,0.54,126.5,283.5,9.9,409,13270,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2281,2324
$GC,13513,0.54,126.5,260.4,9.1,415,13516,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3325,2324
$GC,13621,0.55,138.6,250.2,8.4,417,13636,0.00,1.50,9.20,0.751,6,0.000,0.025,2882,2293,2293
$GC,13897,0.55,139.9,225.7,8.9,424,13900,0.00,1.58,0.00,0.000,4,0.000,0.027,2889,1203,2291
$GC,13916,0.55,139.9,223.7,9.2,424,13919,0.00,1.65,0.00,0.000,6,0.000,0.040,2889,2282,2291
$GC,14193,0.55,140.2,198.8,9.0,431,14197,0.00,1.58,0.00,0.000,4,0.000,0.025,2895,1212,2291
$GC,14276,0.56,171.9,191.5,7.5,438,14323,0.00,1.67,33.00,0.723,6,0.000,0.038,2891,2293,2157
$GC,14579,0.56,171.9,164.4,9.2,466,14583,0.00,1.58,0.00,0.000,4,0.000,0.048,2891,3305,2152
$GC,14802,0.57,186.2,140.8,8.3,486,14826,0.00,1.40,15.70,0.612,6,0.000,0.024,2897,2341,2098
$GC,15087,0.57,186.2,115.0,9.1,512,15091,0.00,1.62,0.00,0.000,4,0.000,0.025,2899,1201,2095
$GC,15149,0.58,210.2,110.0,7.9,517,15187,0.00,1.70,23.60,0.617,6,0.000,0.039,2899,2317,2000
$GC,15444,0.58,210.2,78.9,10.3,544,15448,0.00,1.52,0.00,0.000,4,0.000,0.045,2900,3305,1998
$GC,15602,0.58,210.2,63.1,9.2,558,15605,0.00,1.45,0.00,0.000,6,0.000,0.022,2899,2308,1998
$GC,15874,0.59,236.3,44.0,7.8,583,15902,0.00,1.62,23.48,0.587,4,0.000,0.022,2906,1191,1893
$GC,15997,0.61,284.8,35.1,6.7,593,16044,0.00,1.73,41.08,0.581,6,0.000,0.035,2905,2313,1695
$GC,16303,0.61,291.7,8.8,8.7,643,16319,0.00,1.62,6.75,0.481,4,0.000,0.021,2910,1209,1667
$GC,16342,0.61,291.7,5.2,9.3,648,16350,0.00,1.70,0.00,0.000,6,0.000,0.034,2910,2320,1666
$STATE,16367,end climb,SURFACE_DEPTH_REACHED
$STATE,16367,begin surface coast
$FINISH,0.4,1.023080
$STATE,16405,end surface coast,CONTROL_FINISHED_OK
$STATE,16405,begin surface
$SM_CCo,16431,41.17,0.541,0,0,1267,390.02
$SM_GC,1.13,0.00,0.00,41.17,0.000,0.000,0.541,26,2611,1267,-8.36,2.29,390.02
$IRIDIUM_FIX,2148.09,-15805.88,070303,111105
$TT8_MAMPS,0.023777
$HUMID,2258
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.20
$XPDR_PINGS,13
$24V_AH,23.3,71.435
$10V_AH,10.5,87.007
$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,18.275,121.325,416.950,41.175,0.000,25.727,41.244,579.028,3.250,0.000,0.000,14.088,1355.209,11106.469,551.514,2988.270,1314.443,33.377,1579.622,0.000,2960.291,0.000,0.544,0.000
$DEVICE_MAMPS,198.653,67.496,1256.346,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,447.235,2169.136,2253.708,801.536,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53960,659
$CAP_FILE_SIZE,134421,0
$CFSIZE,260165632,229711872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,16,0
$GPS,111213,212033,2150.720,-15804.571,59,1.2,61,9.9