version: 66.04
glider: 512
mission: 4
dive: 427
start: 12 11 113 21 30 7
data:
$ID,512
$MISSION,4
$DIVE,427
$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,-116015.12
$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,74
$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
$GPS1,212033,2150.720,-15804.571,59,1.2,61,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-79.1
$GPS2,212913,2150.760,-15804.621,15,1.2,15,9.9
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,TENMILE
$TGT_LATLONG,2145.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.143,-0.187
$KALMAN_X,151524.3,-91.6,101.4,-159350.5,779.7
$KALMAN_Y,-34383.9,25.1,-57.5,-64333.9,1027.5
$MHEAD_RNG_PITCHd_Wd,207.5,12315,-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,-126.5,0.0,0.0,0,87,0.00,0.00,-67.50,0.000,2,0.000,0.000,8,2609,2848
$GC,93,-0.54,-126.5,2.2,-1.7,9,126,9.70,1.65,-12.35,0.000,4,0.199,0.040,2521,1473,3376
$GC,283,-0.54,-126.5,40.0,-18.1,37,287,0.00,1.60,0.00,0.000,6,0.000,0.038,2515,2541,3377
$GC,555,-0.54,-126.5,96.9,-20.4,62,559,0.00,1.60,0.00,0.000,4,0.000,0.044,2507,3613,3377
$GC,574,-0.54,-126.5,101.3,-19.9,63,582,0.00,1.55,0.00,0.000,6,0.000,0.018,2509,2524,3377
$GC,840,-0.54,-126.5,144.5,-15.4,88,843,0.00,1.62,0.00,0.000,4,0.000,0.041,2502,3592,3378
$GC,899,-0.54,-126.5,153.1,-13.5,93,903,0.00,1.50,0.00,0.000,6,0.000,0.018,2507,2528,3379
$GC,1171,-0.54,-126.5,192.7,-15.3,118,1174,0.00,1.65,0.00,0.000,4,0.000,0.041,2501,3594,3379
$GC,1232,-0.54,-126.5,202.3,-13.4,122,1236,0.00,1.45,0.00,0.000,6,0.000,0.018,2506,2562,3379
$GC,1509,-0.54,-126.5,233.6,-11.1,129,1513,0.00,1.48,0.00,0.000,4,0.000,0.019,2514,1473,3379
$GC,1603,-0.54,-126.5,243.7,-9.9,131,1607,0.00,1.65,0.00,0.000,6,0.000,0.035,2508,2586,3379
$GC,1897,-0.54,-126.5,276.2,-11.1,138,1901,0.00,1.52,0.00,0.000,4,0.000,0.046,2500,3586,3378
$GC,2000,-0.54,-126.5,288.7,-12.2,140,2003,0.00,1.40,0.00,0.000,6,0.000,0.020,2505,2601,3378
$GC,2282,-0.54,-126.5,320.5,-11.2,147,2286,0.00,1.52,0.00,0.000,4,0.000,0.021,2513,1484,3376
$GC,2323,-0.54,-126.5,325.3,-10.3,147,2331,0.00,1.67,0.00,0.000,6,0.000,0.038,2507,2588,3376
$GC,2578,-0.54,-126.5,351.6,-10.6,154,2582,0.00,1.52,0.00,0.000,4,0.000,0.048,2499,3584,3374
$GC,2628,-0.54,-126.5,357.2,-11.4,155,2632,0.00,1.42,0.00,0.000,6,0.000,0.021,2504,2592,3373
$GC,2922,-0.54,-126.5,390.2,-11.0,162,2926,0.00,1.52,0.00,0.000,4,0.000,0.021,2512,1482,3371
$GC,2972,-0.54,-126.5,395.2,-9.7,163,2976,0.00,1.70,0.00,0.000,6,0.000,0.038,2506,2594,3371
$GC,3267,-0.54,-126.5,422.5,-9.1,170,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2594,3369
$GC,3510,-0.54,-126.5,444.8,-9.2,176,3513,0.00,1.58,0.00,0.000,4,0.000,0.023,2508,1486,3366
$GC,3540,-0.54,-126.5,447.5,-8.2,176,3544,0.00,1.67,0.00,0.000,6,0.000,0.040,2503,2584,3366
$GC,3806,-0.54,-126.5,471.5,-9.3,183,3810,0.00,1.60,-0.08,0.000,4,0.000,0.067,2495,3590,3390
$GC,3886,-0.54,-126.5,480.0,-10.1,184,3889,0.00,1.42,0.00,0.000,6,0.000,0.024,2500,2601,3389
$GC,4146,-0.54,-126.5,506.7,-10.4,191,4149,0.00,1.55,0.00,0.000,4,0.000,0.024,2508,1486,3388
$GC,4197,-0.54,-126.5,511.7,-9.1,192,4201,0.00,1.67,0.00,0.000,6,0.000,0.041,2502,2592,3387
$GC,4492,-0.54,-126.5,540.2,-9.5,199,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2592,3385
$GC,4735,-0.54,-126.5,562.0,-8.9,205,4739,0.00,1.55,0.00,0.000,4,0.000,0.053,2494,3583,3383
$GC,4776,-0.54,-126.5,566.0,-8.8,205,4784,0.00,1.45,0.00,0.000,6,0.000,0.025,2500,2582,3382
$GC,5031,-0.54,-126.5,588.0,-8.6,212,5035,0.00,1.55,0.00,0.000,4,0.000,0.025,2508,1479,3381
$GC,5062,-0.54,-126.5,590.9,-8.2,212,5066,0.00,1.70,0.00,0.000,6,0.000,0.042,2502,2577,3381
$GC,5328,-0.54,-126.5,613.7,-8.9,219,5332,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3593,3379
$GC,5369,-0.54,-126.5,617.9,-9.1,219,5377,0.00,1.48,0.00,0.000,6,0.000,0.025,2500,2573,3378
$GC,5625,-0.54,-126.5,640.3,-9.0,226,5628,0.00,1.55,0.00,0.000,4,0.000,0.025,2507,1478,3377
$GC,5661,-0.54,-126.5,643.8,-8.3,226,5664,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2578,3378
$GC,5921,-0.54,-126.5,665.1,-8.2,233,5925,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3581,3376
$GC,5995,-0.54,-126.5,671.9,-8.8,234,5999,0.00,1.45,0.00,0.000,6,0.000,0.025,2499,2585,3375
$GC,6262,-0.54,-126.5,693.1,-8.0,241,6265,0.00,1.55,0.00,0.000,4,0.000,0.025,2507,1479,3374
$GC,6292,-0.54,-126.5,695.7,-7.9,241,6296,0.00,1.67,0.00,0.000,6,0.000,0.043,2502,2579,3373
$GC,6558,-0.54,-126.5,716.5,-8.0,248,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2579,3372
$GC,6802,-0.54,-126.5,735.4,-7.7,254,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2579,3371
$GC,7046,-0.54,-126.5,754.5,-8.0,260,7049,0.00,1.60,0.00,0.000,4,0.000,0.056,2494,3610,3370
$GC,7078,-0.54,-126.5,757.4,-8.7,260,7081,0.00,1.50,0.00,0.000,6,0.000,0.027,2499,2594,3370
$GC,7344,-0.54,-126.5,778.1,-7.8,267,7348,0.00,1.58,0.00,0.000,4,0.000,0.026,2507,1480,3370
$GC,7386,-0.54,-126.5,781.5,-7.4,267,7395,0.00,1.70,0.00,0.000,6,0.000,0.044,2502,2571,3370
$GC,7641,-0.54,-126.5,800.4,-7.4,274,7645,0.00,1.60,0.00,0.000,4,0.000,0.058,2494,3594,3368
$GC,7678,-0.54,-126.5,803.4,-8.0,274,7681,0.00,1.48,0.00,0.000,6,0.000,0.026,2499,2588,3368
$GC,7938,-0.54,-126.5,822.1,-7.3,281,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2580,3367
$GC,8182,-0.54,-126.5,841.3,-8.0,287,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2579,3366
$GC,8425,-0.54,-126.5,861.5,-8.3,293,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2579,3365
$GC,8669,-0.54,-126.5,881.0,-8.0,299,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2579,3365
$STATE,8907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8907,begin apogee
$GC,8920,-0.20,0.0,900.7,8.0,305,9038,0.40,0.00,115.07,1.268,6,0.103,0.000,2637,2246,2858
$STATE,9038,end apogee,CONTROL_FINISHED_OK
$STATE,9038,begin climb
$GC,9044,0.54,126.5,904.3,0.0,308,9267,0.62,1.58,146.70,1.050,4,0.039,0.026,2887,1221,2342
$GC,9275,0.54,126.5,885.1,14.8,313,9279,0.00,1.67,0.00,0.000,6,0.000,0.039,2887,2262,2340
$GC,9553,0.54,126.5,840.5,16.2,320,9556,0.00,1.62,0.00,0.000,4,0.000,0.047,2886,3316,2334
$GC,9577,0.54,126.5,835.6,17.8,320,9581,0.00,1.55,0.00,0.000,6,0.000,0.025,2893,2275,2333
$GC,9848,0.54,126.5,789.6,16.9,327,9852,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3305,2332
$GC,9878,0.54,126.5,783.7,18.5,327,9881,0.00,1.55,0.00,0.000,6,0.000,0.025,2897,2256,2332
$GC,10143,0.54,126.5,738.7,16.9,334,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2250,2331
$GC,10387,0.54,126.5,696.9,17.1,340,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2249,2330
$GC,10631,0.54,126.5,658.9,15.3,346,10634,0.00,1.65,0.00,0.000,4,0.000,0.047,2891,3317,2329
$GC,10661,0.54,126.5,653.6,16.7,346,10664,0.00,1.55,0.00,0.000,6,0.000,0.026,2896,2268,2328
$GC,10927,0.54,126.5,611.8,16.1,353,10930,0.00,1.55,0.00,0.000,4,0.000,0.028,2905,1195,2328
$GC,11007,0.54,126.5,599.4,14.6,354,11010,0.00,1.60,0.00,0.000,6,0.000,0.039,2905,2249,2328
$GC,11267,0.54,126.5,558.3,15.9,361,11271,0.00,1.62,0.00,0.000,4,0.000,0.049,2905,3314,2327
$GC,11317,0.54,126.5,549.3,18.2,362,11322,0.10,1.58,0.00,0.000,6,0.179,0.026,2882,2255,2327
$GC,11611,0.54,126.5,505.0,14.6,369,11614,0.00,1.65,0.00,0.000,4,0.000,0.048,2876,3307,2326
$GC,11652,0.54,126.5,498.2,15.7,369,11660,0.00,1.55,0.00,0.000,6,0.000,0.025,2881,2250,2326
$GC,11907,0.54,126.5,464.8,13.1,376,11911,0.00,1.52,0.00,0.000,4,0.000,0.027,2889,1191,2327
$GC,11964,0.54,126.5,456.8,11.6,377,11968,0.00,1.62,0.00,0.000,6,0.000,0.039,2889,2261,2327
$GC,12247,0.54,126.5,419.0,13.6,384,12251,0.00,1.62,0.00,0.000,4,0.000,0.048,2889,3327,2326
$GC,12288,0.54,126.5,412.7,14.1,384,12294,0.00,1.58,0.00,0.000,6,0.000,0.025,2896,2256,2326
$GC,12543,0.54,126.5,381.2,12.3,391,12544,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2250,2326
$GC,12786,0.54,126.5,351.6,12.6,397,12790,0.00,1.67,0.00,0.000,4,0.000,0.047,2891,3314,2326
$GC,12822,0.54,126.5,346.8,12.3,397,12825,0.00,1.52,0.00,0.000,6,0.000,0.025,2897,2283,2325
$GC,13082,0.54,126.5,315.9,12.0,404,13086,0.00,1.62,0.00,0.000,4,0.000,0.046,2892,3329,2325
$GC,13177,0.54,126.5,304.5,11.4,406,13180,0.00,1.48,0.00,0.000,6,0.000,0.025,2897,2330,2325
$GC,13471,0.54,126.5,276.8,9.2,413,13474,0.00,1.62,0.00,0.000,4,0.000,0.027,2905,1178,2325
$GC,13618,0.54,126.5,263.1,9.4,416,13621,0.00,1.75,0.00,0.000,6,0.000,0.038,2905,2331,2325
$GC,13900,0.54,126.5,236.0,9.7,423,13904,0.00,1.50,0.00,0.000,4,0.000,0.045,2905,3304,2325
$GC,14002,0.54,126.5,224.8,10.5,425,14006,0.10,1.38,0.00,0.000,6,0.160,0.023,2880,2361,2325
$GC,14286,0.55,148.3,203.1,8.0,432,14316,0.00,1.67,20.55,0.704,4,0.000,0.024,2887,1193,2252
$GC,14442,0.56,176.2,192.2,7.7,440,14481,0.00,1.70,27.55,0.707,6,0.000,0.038,2886,2307,2139
$GC,14737,0.56,176.2,163.6,10.3,467,14740,0.00,1.55,0.00,0.000,4,0.000,0.044,2887,3310,2134
$GC,14850,0.56,176.2,151.1,10.5,477,14853,0.00,1.45,0.00,0.000,6,0.000,0.022,2893,2315,2134
$GC,15122,0.57,188.1,125.9,8.4,502,15139,0.00,1.62,11.57,0.645,4,0.000,0.024,2899,1199,2090
$GC,15195,0.57,188.1,119.4,9.2,508,15199,0.00,1.73,0.00,0.000,6,0.000,0.036,2899,2333,2089
$GC,15467,0.57,189.7,93.8,8.9,533,15471,0.00,1.50,0.00,0.000,4,0.000,0.043,2899,3315,2088
$GC,15604,0.57,189.7,79.8,9.0,545,15607,0.00,1.35,0.00,0.000,6,0.000,0.022,2902,2382,2088
$GC,15878,0.60,267.1,60.1,5.3,570,15954,0.00,1.77,67.00,0.612,4,0.000,0.024,2902,1183,1767
$GC,16080,0.61,306.9,45.9,7.1,587,16119,0.00,1.83,33.47,0.584,6,0.000,0.035,2902,2364,1605
$GC,16380,0.61,306.9,20.7,9.2,624,16389,0.00,1.45,0.00,0.000,4,0.000,0.041,2902,3318,1601
$GC,16436,0.61,306.9,15.3,9.0,633,16445,0.00,1.38,0.00,0.000,6,0.000,0.021,2902,2365,1600
$STATE,16597,end climb,SURFACE_DEPTH_REACHED
$STATE,16602,begin surface coast
$FINISH,0.3,1.011247
$STATE,16661,end surface coast,CONTROL_FINISHED_OK
$STATE,16661,begin surface
$SM_CCo,16687,35.65,0.535,0,0,1267,390.02
$SM_GC,1.50,0.00,0.00,35.65,0.000,0.000,0.535,29,2549,1267,-8.34,0.54,390.02
$IRIDIUM_FIX,2143.45,-15803.72,070303,161608
$TT8_MAMPS,0.023777
$HUMID,2243
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,11
$24V_AH,22.4,71.572
$10V_AH,10.5,87.180
$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,18.250,126.775,421.925,35.650,0.000,28.716,36.747,254.591,2.750,0.000,0.000,15.710,1404.053,11172.817,529.596,3144.601,986.100,33.378,1624.125,0.000,3107.597,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,66.729,1267.851,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,457.512,2218.697,2302.641,860.688,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54110,674
$CAP_FILE_SIZE,134723,0
$CFSIZE,260165632,229642240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,121213,021030,2149.055,-15806.094,50,1.6,50,9.9