version: 66.04
glider: 512
mission: 4
dive: 389
start: 12 4 113 1 58 5
data:
$ID,512
$MISSION,4
$DIVE,389
$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,-115280.67
$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,2500
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$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
$GPS1,014023,2300.647,-15736.156,40,1.8,40,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-82.3
$GPS2,015707,2300.672,-15736.147,15,1.9,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.063,-0.227
$KALMAN_X,109497.7,81.5,63.9,-68822.2,-343.8
$KALMAN_Y,-49972.1,23.6,-638.9,81312.5,127.3
$MHEAD_RNG_PITCHd_Wd,185.4,119597,-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,-67.62,0.000,2,0.000,0.000,8,2535,2831
$GC,94,-0.54,-126.5,2.1,-1.7,9,126,9.70,1.55,-13.77,0.000,4,0.199,0.037,2519,1436,3374
$GC,174,-0.54,-126.5,17.0,-18.1,21,182,0.00,1.62,0.00,0.000,6,0.000,0.038,2513,2490,3375
$GC,442,-0.54,-126.5,79.4,-23.3,51,446,0.00,1.62,0.00,0.000,4,0.000,0.044,2504,3576,3375
$GC,547,-0.54,-126.5,101.9,-19.9,60,551,0.00,1.50,0.00,0.000,6,0.000,0.018,2510,2504,3375
$GC,819,-0.54,-126.5,147.0,-15.1,85,822,0.00,1.60,0.00,0.000,4,0.000,0.041,2504,3564,3376
$GC,858,-0.54,-126.5,154.0,-16.4,88,866,0.00,1.45,0.00,0.000,6,0.000,0.018,2509,2523,3376
$GC,1124,-0.54,-126.5,193.4,-14.4,113,1128,0.00,1.45,0.00,0.000,4,0.000,0.019,2509,1457,3376
$GC,1164,-0.54,-126.5,199.2,-12.2,116,1173,0.00,1.60,0.00,0.000,6,0.000,0.036,2503,2514,3376
$GC,1419,-0.54,-126.5,231.5,-12.6,123,1423,0.00,1.58,0.00,0.000,4,0.000,0.045,2495,3553,3376
$GC,1559,-0.54,-126.5,248.2,-10.9,126,1563,0.00,1.45,0.00,0.000,6,0.000,0.018,2500,2525,3376
$GC,1853,-0.54,-126.5,282.1,-11.4,133,1857,0.00,1.48,0.00,0.000,4,0.000,0.020,2507,1446,3375
$GC,1883,-0.54,-126.5,285.8,-10.8,133,1886,0.00,1.60,0.00,0.000,6,0.000,0.037,2502,2523,3375
$GC,2149,-0.54,-126.5,316.9,-12.1,140,2153,0.00,1.58,0.00,0.000,4,0.000,0.048,2494,3556,3373
$GC,2235,-0.54,-126.5,327.9,-12.1,141,2243,0.00,1.45,0.00,0.000,6,0.000,0.019,2499,2522,3372
$GC,2489,-0.54,-126.5,358.8,-12.3,148,2493,0.00,1.60,0.00,0.000,4,0.000,0.045,2493,3575,3371
$GC,2520,-0.54,-126.5,363.2,-13.4,148,2523,0.00,1.45,0.00,0.000,6,0.000,0.019,2498,2550,3370
$GC,2786,-0.54,-126.5,393.0,-11.2,155,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2542,3368
$GC,3029,-0.54,-126.5,419.0,-10.4,161,3033,0.00,1.58,0.00,0.000,4,0.000,0.046,2492,3555,3367
$GC,3079,-0.54,-126.5,423.9,-9.6,162,3083,0.00,1.45,0.00,0.000,6,0.000,0.021,2497,2544,3366
$GC,3373,-0.54,-126.5,451.9,-9.4,169,3377,0.00,1.60,-0.08,0.000,4,0.000,0.064,2492,3559,3388
$GC,3424,-0.54,-126.5,456.7,-9.1,170,3427,0.00,1.42,0.00,0.000,6,0.000,0.021,2497,2567,3388
$GC,3717,-0.54,-126.5,485.1,-9.7,177,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2559,3385
$GC,3961,-0.54,-126.5,508.0,-9.3,183,3964,0.00,1.58,0.00,0.000,4,0.000,0.023,2506,1444,3384
$GC,3992,-0.54,-126.5,511.0,-8.5,183,3995,0.00,1.70,0.00,0.000,6,0.000,0.042,2500,2567,3384
$GC,4258,-0.54,-126.5,532.5,-8.1,190,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2567,3381
$GC,4501,-0.54,-126.5,553.3,-8.7,196,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2567,3379
$GC,4745,-0.54,-126.5,575.9,-9.5,202,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2567,3378
$GC,4989,-0.54,-126.5,599.5,-9.7,208,4993,0.00,1.55,0.00,0.000,4,0.000,0.054,2492,3556,3376
$GC,5096,-0.54,-126.5,610.2,-9.5,210,5100,0.00,1.45,0.00,0.000,6,0.000,0.025,2497,2553,3375
$GC,5374,-0.54,-126.5,634.0,-8.5,217,5377,0.00,1.55,0.00,0.000,4,0.000,0.025,2505,1453,3373
$GC,5425,-0.54,-126.5,638.3,-7.6,218,5429,0.00,1.70,0.00,0.000,6,0.000,0.044,2500,2541,3373
$GC,5719,-0.54,-126.5,663.8,-8.9,225,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2541,3371
$GC,5962,-0.54,-126.5,685.1,-8.6,231,5966,0.00,1.60,0.00,0.000,4,0.000,0.055,2492,3575,3370
$GC,6003,-0.54,-126.5,689.6,-10.5,231,6012,0.00,1.50,0.00,0.000,6,0.000,0.025,2498,2540,3370
$GC,6259,-0.54,-126.5,711.5,-8.7,238,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2539,3369
$GC,6502,-0.54,-126.5,731.7,-8.2,244,6505,0.00,1.60,0.00,0.000,4,0.000,0.054,2492,3561,3367
$GC,6571,-0.54,-126.5,738.0,-8.6,245,6574,0.00,1.45,0.00,0.000,6,0.000,0.027,2496,2569,3366
$GC,6843,-0.54,-126.5,759.3,-7.8,252,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2561,3365
$GC,7086,-0.54,-126.5,778.7,-8.0,258,7090,0.00,1.60,0.00,0.000,4,0.000,0.054,2492,3577,3364
$GC,7111,-0.54,-126.5,781.0,-8.6,258,7114,0.00,1.45,0.00,0.000,6,0.000,0.026,2497,2589,3364
$GC,7383,-0.54,-126.5,803.3,-8.3,265,7386,0.00,1.60,0.00,0.000,4,0.000,0.026,2505,1444,3363
$GC,7425,-0.54,-126.5,807.0,-7.5,265,7432,0.00,1.77,0.00,0.000,6,0.000,0.046,2499,2576,3363
$GC,7679,-0.54,-126.5,827.3,-8.1,272,7683,0.00,1.58,0.00,0.000,4,0.000,0.058,2492,3564,3362
$GC,7732,-0.54,-126.5,831.9,-8.6,273,7735,0.00,1.42,0.00,0.000,6,0.000,0.025,2497,2590,3361
$GC,8021,-0.54,-126.5,854.6,-7.9,280,8024,0.00,1.60,0.00,0.000,4,0.000,0.025,2505,1444,3360
$GC,8051,-0.54,-126.5,857.3,-7.9,280,8055,0.00,1.77,0.00,0.000,6,0.000,0.046,2499,2593,3360
$GC,8318,-0.54,-126.5,877.9,-7.8,287,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2593,3359
$GC,8561,-0.54,-126.5,896.8,-7.7,293,8564,0.00,1.62,0.00,0.000,4,0.000,0.026,2505,1460,3359
$STATE,8597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8597,begin apogee
$GC,8610,-0.20,0.0,900.2,6.6,293,8727,0.38,0.00,114.35,1.256,6,0.099,0.000,2632,2236,2858
$STATE,8728,end apogee,CONTROL_FINISHED_OK
$STATE,8728,begin climb
$GC,8733,0.54,126.5,902.9,0.0,296,8953,0.68,1.65,145.18,1.058,4,0.058,0.026,2889,1211,2344
$GC,9023,0.54,126.5,872.1,17.2,302,9027,0.00,1.62,0.00,0.000,6,0.000,0.041,2889,2231,2338
$GC,9294,0.54,126.5,826.2,17.1,309,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2230,2334
$GC,9538,0.54,126.5,786.6,16.1,315,9541,0.00,1.62,0.00,0.000,4,0.000,0.051,2889,3280,2333
$GC,9568,0.54,126.5,780.9,17.5,315,9572,0.00,1.55,0.00,0.000,6,0.000,0.026,2896,2240,2332
$GC,9834,0.54,126.5,736.6,16.8,322,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2234,2331
$GC,10078,0.54,126.5,695.6,16.8,328,10081,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3288,2331
$GC,10103,0.54,126.5,690.7,17.5,328,10107,0.00,1.58,0.00,0.000,6,0.000,0.026,2897,2228,2330
$GC,10376,0.54,126.5,648.1,15.2,335,10379,0.00,1.55,0.00,0.000,4,0.000,0.028,2905,1161,2330
$GC,10407,0.54,126.5,643.0,15.6,335,10411,0.00,1.65,0.00,0.000,6,0.000,0.042,2905,2233,2329
$GC,10673,0.54,126.5,603.1,14.9,342,10677,0.00,1.62,0.00,0.000,4,0.000,0.049,2904,3297,2328
$GC,10736,0.54,126.5,592.9,15.3,343,10740,0.08,1.55,0.00,0.000,6,0.153,0.026,2878,2251,2328
$GC,11014,0.54,126.5,557.6,12.7,350,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2244,2327
$GC,11257,0.54,126.5,527.2,12.3,356,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2244,2327
$GC,11501,0.54,126.5,496.1,13.0,362,11504,0.00,1.62,0.00,0.000,4,0.000,0.051,2876,3281,2327
$GC,11536,0.54,126.5,490.8,14.5,362,11540,0.00,1.50,0.00,0.000,6,0.000,0.025,2881,2260,2327
$GC,11797,0.54,126.5,457.2,12.8,369,11800,0.00,1.58,0.00,0.000,4,0.000,0.027,2889,1168,2326
$GC,11821,0.54,126.5,453.6,12.6,369,11825,0.00,1.73,0.00,0.000,6,0.000,0.041,2889,2272,2327
$GC,12093,0.54,126.5,417.7,14.0,376,12097,0.00,1.58,0.00,0.000,4,0.000,0.050,2889,3280,2327
$GC,12162,0.54,126.5,408.2,13.2,377,12165,0.00,1.48,0.00,0.000,6,0.000,0.025,2896,2273,2326
$GC,12433,0.54,126.5,374.4,12.7,384,12437,0.00,1.60,0.00,0.000,4,0.000,0.028,2900,1174,2326
$GC,12457,0.54,126.5,371.0,13.0,384,12461,0.00,1.70,0.00,0.000,6,0.000,0.040,2900,2287,2325
$GC,12729,0.54,126.5,336.5,12.7,391,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2287,2325
$GC,12973,0.54,126.5,309.4,10.8,397,12977,0.00,1.55,0.00,0.000,4,0.000,0.050,2900,3280,2325
$GC,13014,0.54,126.5,304.5,12.0,397,13021,0.08,1.48,0.00,0.000,6,0.155,0.024,2883,2275,2325
$GC,13268,0.54,126.5,278.9,10.5,404,13272,0.00,1.60,0.00,0.000,4,0.000,0.027,2888,1169,2325
$GC,13416,0.54,126.5,263.8,9.7,407,13420,0.00,1.67,0.00,0.000,6,0.000,0.038,2888,2268,2325
$GC,13699,0.55,144.2,239.7,8.2,414,13725,0.00,1.60,16.75,0.708,4,0.000,0.046,2889,3278,2270
$GC,13868,0.55,144.2,223.7,9.6,417,13876,0.00,1.45,0.00,0.000,6,0.000,0.023,2894,2284,2268
$GC,14123,0.55,147.1,201.0,8.9,424,14132,0.00,1.60,4.15,0.538,4,0.000,0.044,2891,3286,2258
$GC,14182,0.55,147.1,194.9,10.4,426,14186,0.00,1.42,0.00,0.000,6,0.000,0.022,2896,2306,2258
$GC,14454,0.55,147.1,171.3,9.1,451,14458,0.00,1.52,0.00,0.000,4,0.000,0.043,2892,3277,2258
$GC,14503,0.55,147.1,166.0,11.8,455,14506,0.00,1.40,0.00,0.000,6,0.000,0.021,2896,2315,2258
$GC,14774,0.55,147.1,140.6,10.2,480,14778,0.00,1.65,0.00,0.000,4,0.000,0.025,2899,1169,2258
$GC,14921,0.55,147.1,125.7,9.6,493,14925,0.00,1.75,0.00,0.000,6,0.000,0.036,2899,2309,2258
$GC,15193,0.57,198.2,100.7,6.6,518,15243,0.00,1.48,44.97,0.657,4,0.000,0.043,2899,3283,2051
$GC,15362,0.57,198.2,87.1,9.3,532,15366,0.00,1.48,0.00,0.000,6,0.000,0.021,2902,2282,2048
$GC,15634,0.58,211.4,66.9,8.4,557,15651,0.00,1.62,12.50,0.584,4,0.000,0.025,2902,1168,1995
$GC,15707,0.59,234.4,60.7,7.9,563,15734,0.00,1.73,20.70,0.596,6,0.000,0.035,2902,2304,1901
$GC,15996,0.59,234.4,34.4,9.2,589,16004,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2304,1899
$GC,16264,0.59,234.4,7.7,9.7,635,16272,0.00,1.50,0.00,0.000,4,0.000,0.043,2902,3286,1899
$STATE,16309,end climb,SURFACE_DEPTH_REACHED
$STATE,16310,begin surface coast
$FINISH,0.3,1.011952
$STATE,16337,end surface coast,CONTROL_FINISHED_OK
$STATE,16337,begin surface
$SM_CCo,16364,64.35,0.547,0,0,1267,390.02
$SM_GC,1.39,0.00,0.00,64.35,0.000,0.000,0.547,41,2465,1267,-8.31,-0.99,390.02
$IRIDIUM_FIX,2253.38,-15737.57,280203,010137
$TT8_MAMPS,0.023777
$HUMID,2231
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.20
$XPDR_PINGS,8
$24V_AH,23.3,65.552
$10V_AH,10.5,80.507
$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,18.200,118.450,358.600,64.350,0.000,86.106,105.163,493.286,2.000,0.000,0.000,15.491,1353.536,11208.233,516.495,3000.490,1352.510,33.404,1540.417,0.000,2972.558,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,63.661,1256.346,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,440.736,2132.331,2219.892,1239.482,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50921,648
$CAP_FILE_SIZE,136655,0
$CFSIZE,260165632,232226816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,1
$GPS,041213,063329,2258.589,-15736.922,41,1.0,46,10.1