version: 66.04
glider: 512
mission: 4
dive: 428
start: 12 12 113 2 20 25
data:
$ID,512
$MISSION,4
$DIVE,428
$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,-116033.38
$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,54
$R_STBD_OVSHOOT,44
$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
$GPS1,021030,2149.055,-15806.094,50,1.6,50,9.9
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-81.9
$GPS2,021931,2149.110,-15806.063,17,1.1,17,9.9
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,TENMILE
$TGT_LATLONG,2145.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.159,-0.174
$KALMAN_X,152335.7,-232.1,-180.3,-162193.6,1695.1
$KALMAN_Y,-33456.5,-181.9,-110.5,-68056.4,1503.1
$MHEAD_RNG_PITCHd_Wd,212.5,8379,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.54,-126.5,0.0,0.0,0,92,0.00,0.00,-67.38,0.000,2,0.000,0.000,10,2547,2839
$GC,98,-0.54,-126.5,2.0,-1.4,9,130,9.88,1.62,-12.68,0.000,4,0.205,0.059,2508,3581,3376
$GC,268,-0.54,-126.5,41.5,-21.0,33,276,0.00,1.55,0.00,0.000,6,0.000,0.019,2508,2498,3377
$GC,534,-0.54,-126.5,98.2,-18.8,58,538,0.00,1.67,0.00,0.000,4,0.000,0.041,2501,3576,3378
$GC,627,-0.54,-126.5,115.4,-18.4,66,636,0.00,1.52,0.00,0.000,6,0.000,0.018,2506,2498,3378
$GC,893,-0.54,-126.5,158.3,-14.7,91,897,0.00,1.38,0.00,0.000,4,0.000,0.019,2513,1478,3379
$GC,942,-0.54,-126.5,165.0,-12.7,95,945,0.00,1.52,0.00,0.000,6,0.000,0.035,2507,2494,3379
$GC,1232,-0.54,-126.5,206.5,-15.0,119,1236,0.00,1.65,0.00,0.000,4,0.000,0.044,2499,3599,3380
$GC,1313,-0.54,-126.5,218.6,-11.7,120,1317,0.00,1.52,0.00,0.000,6,0.000,0.018,2504,2517,3379
$GC,1575,-0.54,-126.5,251.3,-12.6,127,1578,0.00,1.40,0.00,0.000,4,0.000,0.019,2512,1480,3380
$GC,1599,-0.54,-126.5,254.8,-12.2,127,1602,0.00,1.58,0.00,0.000,6,0.000,0.035,2507,2528,3380
$GC,1870,-0.54,-126.5,287.4,-12.2,134,1874,0.00,1.60,0.00,0.000,4,0.000,0.046,2498,3597,3379
$GC,1951,-0.54,-126.5,297.0,-11.5,135,1954,0.00,1.50,0.00,0.000,6,0.000,0.019,2504,2540,3379
$GC,2211,-0.54,-126.5,324.8,-11.1,142,2214,0.00,1.45,0.00,0.000,4,0.000,0.020,2511,1475,3377
$GC,2268,-0.54,-126.5,331.4,-10.8,143,2272,0.00,1.60,0.00,0.000,6,0.000,0.037,2506,2554,3377
$GC,2551,-0.54,-126.5,362.1,-10.9,150,2554,0.00,1.58,0.00,0.000,4,0.000,0.047,2498,3583,3375
$GC,2647,-0.54,-126.5,371.9,-9.7,152,2650,0.00,1.48,0.00,0.000,6,0.000,0.021,2503,2552,3374
$GC,2941,-0.54,-126.5,400.7,-9.8,159,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2544,3372
$GC,3186,-0.54,-126.5,424.1,-9.5,165,3190,0.00,1.48,0.00,0.000,4,0.000,0.022,2511,1481,3370
$GC,3222,-0.54,-126.5,427.9,-9.3,165,3226,0.00,1.62,0.00,0.000,6,0.000,0.038,2506,2547,3370
$GC,3482,-0.54,-126.5,454.3,-10.5,172,3485,0.00,1.60,0.00,0.000,4,0.000,0.050,2497,3599,3368
$GC,3567,-0.54,-126.5,464.0,-10.4,173,3575,0.00,1.45,0.00,0.000,6,0.000,0.021,2503,2586,3367
$GC,3822,-0.54,-126.5,489.4,-10.0,180,3826,0.00,1.55,-0.08,0.000,4,0.000,0.038,2508,1477,3391
$GC,3874,-0.54,-126.5,494.7,-8.6,181,3878,0.00,1.65,0.00,0.000,6,0.000,0.040,2502,2575,3391
$GC,4164,-0.54,-126.5,521.6,-9.4,188,4168,0.00,1.58,0.00,0.000,4,0.000,0.051,2494,3583,3389
$GC,4233,-0.54,-126.5,528.8,-10.1,189,4237,0.00,1.45,0.00,0.000,6,0.000,0.024,2499,2577,3388
$GC,4505,-0.54,-126.5,552.8,-8.6,196,4509,0.00,1.52,0.00,0.000,4,0.000,0.024,2508,1483,3386
$GC,4568,-0.54,-126.5,558.6,-8.8,197,4572,0.00,1.62,0.00,0.000,6,0.000,0.042,2502,2558,3385
$GC,4846,-0.54,-126.5,583.5,-9.4,204,4850,0.00,1.60,0.00,0.000,4,0.000,0.052,2494,3600,3383
$GC,4896,-0.54,-126.5,588.5,-9.8,205,4900,0.00,1.52,0.00,0.000,6,0.000,0.024,2499,2562,3383
$GC,5192,-0.54,-126.5,615.0,-9.0,212,5195,0.00,1.52,0.00,0.000,4,0.000,0.023,2507,1468,3381
$GC,5287,-0.54,-126.5,623.0,-8.0,214,5290,0.00,1.65,0.00,0.000,6,0.000,0.041,2502,2551,3380
$GC,5583,-0.54,-126.5,648.4,-8.6,221,5586,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3587,3379
$GC,5640,-0.54,-126.5,653.8,-8.6,222,5644,0.00,1.55,0.00,0.000,6,0.000,0.025,2499,2537,3378
$GC,5926,-0.54,-126.5,677.5,-8.5,229,5929,0.00,1.50,0.00,0.000,4,0.000,0.024,2507,1467,3377
$GC,5961,-0.54,-126.5,681.0,-8.0,229,5965,0.00,1.67,0.00,0.000,6,0.000,0.043,2502,2544,3376
$GC,6221,-0.54,-126.5,704.6,-9.4,236,6225,0.00,1.62,0.00,0.000,4,0.000,0.054,2493,3592,3375
$GC,6284,-0.54,-126.5,711.4,-9.8,237,6288,0.00,1.52,0.00,0.000,6,0.000,0.025,2498,2550,3374
$GC,6562,-0.54,-126.5,737.7,-9.5,244,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2543,3373
$GC,6805,-0.54,-126.5,757.9,-8.2,250,6809,0.00,1.65,0.00,0.000,4,0.000,0.051,2493,3594,3372
$GC,6835,-0.54,-126.5,761.0,-9.7,250,6838,0.00,1.52,0.00,0.000,6,0.000,0.025,2498,2558,3372
$GC,7101,-0.54,-126.5,783.5,-8.6,257,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2550,3371
$GC,7345,-0.54,-126.5,805.8,-9.2,263,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2549,3370
$GC,7588,-0.54,-126.5,827.9,-8.8,269,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2550,3370
$GC,7834,-0.54,-126.5,845.3,-6.8,275,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2550,3369
$GC,8076,-0.54,-126.5,862.7,-7.3,281,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2550,3367
$GC,8320,-0.54,-126.5,880.6,-7.4,287,8323,0.00,1.62,0.00,0.000,4,0.000,0.051,2493,3585,3367
$GC,8372,-0.54,-126.5,884.5,-7.6,288,8375,0.00,1.55,0.00,0.000,6,0.000,0.026,2498,2538,3366
$GC,8666,-0.54,-126.5,896.2,-1.5,295,8669,0.00,1.65,0.00,0.000,4,0.000,0.051,2494,3584,3365
$STATE,8791,end dive,NO_VERTICAL_VELOCITY
$STATE,8791,begin apogee
$GC,8805,-0.20,0.0,896.5,0.0,297,8923,0.40,0.00,114.82,1.260,6,0.138,0.000,2629,2247,2858
$STATE,8923,end apogee,CONTROL_FINISHED_OK
$STATE,8923,begin climb
$GC,8929,0.54,126.5,896.3,0.0,300,9147,0.68,1.60,145.07,1.057,4,0.056,0.025,2881,1182,2342
$GC,9337,0.54,126.5,852.5,13.4,309,9341,0.00,1.67,0.00,0.000,6,0.000,0.041,2878,2259,2333
$GC,9631,0.54,126.5,809.7,14.1,316,9634,0.00,1.62,0.00,0.000,4,0.000,0.048,2875,3316,2331
$GC,9689,0.54,126.5,800.3,15.9,317,9692,0.00,1.60,0.00,0.000,6,0.000,0.026,2881,2222,2330
$GC,9972,0.54,126.5,758.4,15.0,324,9975,0.00,1.73,0.00,0.000,4,0.000,0.047,2878,3318,2330
$GC,9996,0.54,126.5,753.9,16.1,324,10000,0.00,1.58,0.00,0.000,6,0.000,0.025,2883,2256,2329
$GC,10268,0.54,126.5,713.2,15.0,331,10271,0.00,1.65,0.00,0.000,4,0.000,0.047,2878,3314,2328
$GC,10331,0.54,126.5,701.8,16.1,332,10334,0.00,1.52,0.00,0.000,6,0.000,0.026,2883,2287,2328
$GC,10608,0.54,126.5,656.7,16.5,339,10611,0.00,1.60,0.00,0.000,4,0.000,0.028,2891,1179,2328
$GC,10649,0.54,126.5,649.5,16.4,339,10657,0.00,1.70,0.00,0.000,6,0.000,0.042,2891,2269,2328
$GC,10906,0.54,126.5,607.7,16.8,346,10907,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2269,2327
$GC,11147,0.54,126.5,571.8,14.1,352,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2269,2327
$GC,11391,0.54,126.5,538.0,13.8,358,11395,0.00,1.60,0.00,0.000,4,0.000,0.028,2896,1187,2326
$GC,11454,0.54,126.5,529.4,13.5,359,11458,0.00,1.65,0.00,0.000,6,0.000,0.040,2891,2272,2326
$GC,11732,0.54,126.5,490.2,14.7,366,11735,0.00,1.62,0.00,0.000,4,0.000,0.050,2891,3333,2326
$GC,11756,0.54,126.5,485.4,16.4,366,11760,0.00,1.60,0.00,0.000,6,0.000,0.026,2896,2250,2325
$GC,12027,0.54,126.5,444.4,15.2,373,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2245,2325
$GC,12273,0.54,126.5,410.7,14.0,379,12276,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3310,2324
$GC,12323,0.54,126.5,403.4,13.7,380,12326,0.00,1.55,0.00,0.000,6,0.000,0.026,2897,2264,2324
$GC,12618,0.54,126.5,368.8,11.4,387,12619,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2257,2324
$GC,12860,0.54,126.5,340.8,11.5,393,12864,0.00,1.62,0.00,0.000,4,0.000,0.045,2891,3310,2324
$GC,12890,0.54,126.5,336.9,12.3,393,12894,0.00,1.55,0.00,0.000,6,0.000,0.025,2897,2261,2324
$GC,13156,0.54,126.5,306.8,11.3,400,13160,0.00,1.62,0.00,0.000,4,0.000,0.045,2892,3307,2323
$GC,13192,0.54,126.5,302.1,12.4,400,13196,0.00,1.52,0.00,0.000,6,0.000,0.025,2897,2270,2324
$GC,13452,0.54,126.5,276.5,9.8,407,13455,0.00,1.62,0.00,0.000,4,0.000,0.045,2892,3316,2324
$GC,13572,0.54,126.5,264.1,10.5,409,13575,0.00,1.50,0.00,0.000,6,0.000,0.024,2897,2292,2324
$GC,13838,0.54,126.5,236.9,10.4,416,13841,0.00,1.58,0.00,0.000,4,0.000,0.025,2905,1188,2323
$GC,13985,0.55,143.2,222.5,8.2,419,14004,0.00,1.67,13.52,0.752,6,0.000,0.038,2905,2282,2274
$GC,14265,0.55,143.2,196.0,10.1,426,14269,0.00,1.60,0.00,0.000,4,0.000,0.025,2910,1182,2272
$GC,14413,0.56,160.5,183.5,8.2,439,14436,0.08,1.65,16.88,0.722,6,0.125,0.038,2885,2258,2203
$GC,14691,0.56,177.0,160.5,8.2,465,14717,0.00,1.62,15.77,0.690,4,0.000,0.044,2878,3303,2135
$GC,14820,0.56,177.0,148.4,10.3,476,14824,0.00,1.50,0.00,0.000,6,0.000,0.021,2883,2272,2134
$GC,15098,0.56,179.4,125.0,8.9,501,15105,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2266,2133
$GC,15364,0.57,197.7,101.8,8.1,526,15391,0.00,0.00,19.45,0.632,6,0.000,0.000,2884,2266,2051
$GC,15649,0.58,222.2,79.1,7.8,553,15676,0.00,1.58,22.12,0.611,4,0.000,0.021,2891,1189,1952
$GC,15726,0.60,264.6,73.4,7.0,559,15767,0.00,1.75,36.80,0.608,6,0.000,0.035,2891,2327,1778
$GC,16034,0.62,313.1,52.9,6.7,587,16086,0.00,1.70,40.53,0.588,4,0.000,0.021,2898,1200,1579
$GC,16104,0.64,367.1,48.1,6.4,592,16154,0.00,1.73,45.28,0.578,6,0.000,0.032,2898,2317,1360
$GC,16422,0.66,424.1,25.8,6.3,626,16476,0.00,0.00,46.33,0.558,6,0.000,0.000,2898,2317,1129
$GC,16737,0.66,425.6,3.3,8.9,681,16745,0.00,1.62,0.00,0.000,4,0.000,0.021,2898,1191,1126
$STATE,16751,end climb,SURFACE_DEPTH_REACHED
$STATE,16752,begin surface coast
$FINISH,0.6,0.999257
$STATE,16789,end surface coast,CONTROL_FINISHED_OK
$STATE,16789,begin surface
$SM_CCo,16877,0.00,0.000,0,0,1125,425.34
$SM_GC,1.55,7.25,0.00,0.00,0.024,0.000,0.000,29,2542,1125,-8.23,0.34,425.34
$IRIDIUM_FIX,2145.77,-15800.70,070303,212135
$TT8_MAMPS,0.023777
$HUMID,2228
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.00
$XPDR_PINGS,12
$24V_AH,23.2,71.720
$10V_AH,10.5,87.346
$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,18.275,121.400,516.575,0.000,0.000,23.740,34.586,280.334,3.000,0.000,0.000,17.623,1428.479,11178.009,539.028,3251.800,1009.055,33.383,1697.012,0.000,3227.745,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,59.059,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,466.017,2271.950,1315.813,479.196,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54064,690
$CAP_FILE_SIZE,135270,0
$CFSIZE,260165632,229568512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,121213,070305,2147.963,-15806.919,38,1.1,38,9.9