version: 66.04
glider: 512
mission: 4
dive: 390
start: 12 4 113 6 49 55
data:
$ID,512
$MISSION,4
$DIVE,390
$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,-115294.62
$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,68
$R_STBD_OVSHOOT,30
$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
$GPS1,063329,2258.589,-15736.922,41,1.0,46,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-82.8
$GPS2,064901,2258.606,-15736.934,12,1.5,12,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.122,-0.201
$KALMAN_X,109711.3,37.0,-180.8,-70084.2,538.1
$KALMAN_Y,-50301.5,-13.1,448.7,76761.4,-1195.3
$MHEAD_RNG_PITCHd_Wd,201.1,115540,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.54,-126.5,0.0,0.0,0,93,0.00,0.00,-67.38,0.000,2,0.000,0.000,10,2462,2833
$GC,99,-0.54,-126.5,2.0,-1.4,9,131,9.52,1.45,-13.75,0.000,4,0.196,0.038,2508,1433,3373
$GC,204,-0.54,-126.5,22.6,-18.9,26,213,0.00,1.65,0.00,0.000,6,0.000,0.038,2502,2501,3374
$GC,479,-0.54,-126.5,85.9,-22.3,54,482,0.00,1.60,0.00,0.000,4,0.000,0.045,2494,3567,3374
$GC,646,-0.54,-126.5,115.5,-15.1,69,650,0.00,1.52,0.00,0.000,6,0.000,0.018,2499,2486,3374
$GC,918,-0.54,-126.5,161.7,-15.7,94,922,0.00,1.40,0.00,0.000,4,0.000,0.018,2499,1452,3375
$GC,1042,-0.54,-126.5,179.3,-13.4,105,1047,0.08,1.60,0.00,0.000,6,0.120,0.037,2520,2507,3375
$GC,1310,-0.54,-126.5,210.2,-11.2,124,1313,0.00,1.60,0.00,0.000,4,0.000,0.045,2514,3581,3375
$GC,1423,-0.54,-126.5,224.6,-12.4,126,1427,0.00,1.50,0.00,0.000,6,0.000,0.019,2514,2521,3374
$GC,1695,-0.54,-126.5,258.5,-12.6,133,1698,0.00,1.60,0.00,0.000,4,0.000,0.043,2507,3574,3374
$GC,1781,-0.54,-126.5,269.1,-11.7,134,1789,0.00,1.50,0.00,0.000,6,0.000,0.018,2506,2499,3374
$GC,2035,-0.54,-126.5,297.1,-11.1,141,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2498,3373
$GC,2279,-0.54,-126.5,325.1,-11.7,147,2282,0.00,1.62,0.00,0.000,4,0.000,0.045,2498,3568,3372
$GC,2348,-0.54,-126.5,334.0,-12.3,148,2351,0.00,1.48,0.00,0.000,6,0.000,0.019,2504,2527,3371
$GC,2619,-0.54,-126.5,363.4,-10.7,155,2623,0.00,1.60,0.00,0.000,4,0.000,0.044,2497,3574,3370
$GC,2744,-0.54,-126.5,376.6,-10.1,157,2747,0.00,1.50,0.00,0.000,6,0.000,0.020,2503,2517,3369
$GC,3004,-0.54,-126.5,402.5,-10.2,164,3007,0.00,1.60,0.00,0.000,4,0.000,0.047,2497,3558,3367
$GC,3062,-0.54,-126.5,409.0,-10.2,165,3065,0.00,1.48,0.00,0.000,6,0.000,0.021,2502,2524,3367
$GC,3345,-0.54,-126.5,435.5,-9.3,172,3346,0.00,0.00,-0.08,0.000,6,0.000,0.000,2502,2516,3389
$GC,3588,-0.54,-126.5,457.9,-9.4,178,3592,0.00,1.62,0.00,0.000,4,0.000,0.050,2496,3566,3387
$GC,3707,-0.54,-126.5,470.5,-10.7,180,3711,0.00,1.48,0.00,0.000,6,0.000,0.021,2501,2539,3386
$GC,3973,-0.54,-126.5,496.8,-10.0,187,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2531,3384
$GC,4217,-0.54,-126.5,520.0,-9.5,193,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2531,3382
$GC,4460,-0.54,-126.5,542.4,-9.1,199,4464,0.00,1.60,0.00,0.000,4,0.000,0.050,2495,3565,3380
$GC,4502,-0.54,-126.5,546.8,-9.7,199,4510,0.00,1.48,0.00,0.000,6,0.000,0.021,2501,2533,3380
$GC,4756,-0.54,-126.5,571.0,-9.6,206,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2534,3378
$GC,5000,-0.54,-126.5,593.4,-9.1,212,5004,0.00,1.62,0.00,0.000,4,0.000,0.050,2495,3562,3377
$GC,5069,-0.54,-126.5,599.9,-9.2,213,5072,0.00,1.45,0.00,0.000,6,0.000,0.022,2500,2554,3376
$GC,5341,-0.54,-126.5,623.1,-8.6,220,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2545,3374
$GC,5584,-0.54,-126.5,643.0,-8.1,226,5588,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3556,3372
$GC,5642,-0.54,-126.5,648.3,-8.9,227,5645,0.00,1.45,0.00,0.000,6,0.000,0.023,2499,2554,3372
$GC,5924,-0.54,-126.5,670.0,-7.6,234,5928,0.00,1.55,0.00,0.000,4,0.000,0.023,2507,1452,3371
$GC,5983,-0.54,-126.5,674.5,-7.2,235,5987,0.00,1.67,0.00,0.000,6,0.000,0.041,2502,2555,3371
$GC,6266,-0.54,-126.5,695.3,-7.4,242,6269,0.00,1.58,0.00,0.000,4,0.000,0.053,2494,3558,3369
$GC,6302,-0.54,-126.5,698.4,-8.2,242,6305,0.00,1.45,0.00,0.000,6,0.000,0.025,2499,2563,3369
$GC,6563,-0.54,-126.5,717.2,-7.3,249,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2554,3368
$GC,6806,-0.54,-126.5,735.8,-7.7,255,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2554,3366
$GC,7050,-0.54,-126.5,754.7,-7.7,261,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2554,3365
$GC,7294,-0.54,-126.5,773.4,-7.7,267,7297,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3577,3364
$GC,7325,-0.54,-126.5,776.3,-8.6,267,7329,0.05,1.48,0.00,0.000,6,0.130,0.025,2514,2571,3364
$GC,7591,-0.54,-126.5,794.5,-6.8,274,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2562,3363
$GC,7834,-0.54,-126.5,811.2,-7.0,280,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2561,3362
$GC,8078,-0.54,-126.5,828.9,-7.3,286,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2562,3361
$GC,8322,-0.54,-126.5,847.4,-7.7,292,8326,0.00,1.60,0.00,0.000,4,0.000,0.054,2510,3575,3360
$GC,8358,-0.54,-126.5,850.4,-7.8,292,8362,0.00,1.48,0.00,0.000,6,0.000,0.025,2510,2569,3359
$GC,8619,-0.54,-126.5,869.2,-7.3,299,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2561,3359
$GC,8862,-0.54,-126.5,885.9,-6.9,305,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2562,3358
$STATE,9100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9101,begin apogee
$GC,9113,-0.20,0.0,902.0,6.6,311,9230,0.38,0.00,114.25,1.261,6,0.094,0.000,2637,2226,2858
$STATE,9230,end apogee,CONTROL_FINISHED_OK
$STATE,9231,begin climb
$GC,9236,0.54,126.5,905.2,0.0,314,9388,0.62,1.70,129.38,1.174,4,0.041,0.025,2884,1180,2341
$GC,9445,0.54,126.5,885.7,15.6,318,9449,0.00,1.67,0.00,0.000,6,0.000,0.039,2879,2220,2335
$GC,9706,0.54,126.5,843.2,16.6,325,9709,0.00,1.65,0.00,0.000,4,0.000,0.050,2877,3281,2330
$GC,9774,0.54,126.5,830.9,17.5,326,9778,0.00,1.52,0.00,0.000,6,0.000,0.025,2883,2253,2329
$GC,10046,0.54,126.5,786.5,16.5,333,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2247,2328
$GC,10289,0.54,126.5,747.6,16.0,339,10293,0.00,1.62,0.00,0.000,4,0.000,0.048,2877,3288,2327
$GC,10325,0.54,126.5,741.1,16.6,339,10328,0.00,1.52,0.00,0.000,6,0.000,0.026,2883,2260,2327
$GC,10585,0.54,126.5,700.8,15.6,346,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2253,2326
$GC,10829,0.54,126.5,662.4,15.6,352,10832,0.00,1.60,0.00,0.000,4,0.000,0.028,2891,1159,2326
$GC,10897,0.54,126.5,651.5,17.0,353,10901,0.00,1.70,0.00,0.000,6,0.000,0.041,2891,2268,2325
$GC,11169,0.54,126.5,611.3,14.9,360,11173,0.00,1.58,0.00,0.000,4,0.000,0.049,2891,3276,2325
$GC,11188,0.54,126.5,607.9,14.8,360,11191,0.00,1.48,0.00,0.000,6,0.000,0.026,2897,2275,2325
$GC,11465,0.54,126.5,565.2,15.4,367,11469,0.00,1.60,0.00,0.000,4,0.000,0.048,2891,3276,2324
$GC,11551,0.54,126.5,551.4,15.1,368,11559,0.00,1.42,0.00,0.000,6,0.000,0.025,2896,2306,2324
$GC,11805,0.54,126.5,515.5,14.3,375,11809,0.00,1.65,0.00,0.000,4,0.000,0.028,2905,1147,2324
$GC,11847,0.54,126.5,509.4,14.7,375,11855,0.00,1.83,0.00,0.000,6,0.000,0.040,2905,2320,2324
$GC,12102,0.54,126.5,471.6,15.0,382,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2320,2324
$GC,12345,0.54,126.5,437.0,14.2,388,12349,0.00,1.70,0.00,0.000,4,0.000,0.027,2911,1145,2323
$GC,12369,0.54,126.5,433.1,14.4,388,12374,0.08,1.75,0.00,0.000,6,0.157,0.038,2881,2277,2323
$GC,12641,0.54,126.5,400.1,12.1,395,12645,0.00,1.65,0.00,0.000,4,0.000,0.027,2888,1167,2322
$GC,12681,0.54,126.5,395.0,12.4,395,12690,0.00,1.73,0.00,0.000,6,0.000,0.039,2888,2276,2322
$GC,12936,0.54,126.5,364.6,12.0,402,12937,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2276,2322
$GC,13179,0.54,126.5,338.4,10.2,408,13183,0.00,1.55,0.00,0.000,4,0.000,0.048,2888,3272,2322
$GC,13238,0.54,126.5,331.6,10.6,409,13241,0.00,1.50,0.00,0.000,6,0.000,0.024,2894,2244,2322
$GC,13521,0.54,126.5,300.9,11.1,416,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2239,2322
$GC,13764,0.54,126.5,272.9,11.6,422,13768,0.00,1.55,0.00,0.000,4,0.000,0.025,2902,1166,2322
$GC,13833,0.54,126.5,265.3,9.9,423,13837,0.00,1.70,0.00,0.000,6,0.000,0.038,2902,2283,2323
$GC,14105,0.54,126.5,238.0,10.2,430,14108,0.00,1.52,0.00,0.000,4,0.000,0.045,2902,3272,2323
$GC,14190,0.54,126.5,228.0,10.9,431,14198,0.00,1.42,0.00,0.000,6,0.000,0.022,2909,2277,2322
$GC,14445,0.54,126.5,201.2,10.8,438,14449,0.12,1.58,0.00,0.000,4,0.163,0.023,2885,1150,2323
$GC,14469,0.55,134.9,198.9,8.6,438,14479,0.00,1.80,5.38,0.608,6,0.000,0.037,2884,2316,2308
$GC,14752,0.55,151.9,175.5,8.2,463,14781,0.00,1.50,19.42,0.670,4,0.000,0.046,2885,3278,2237
$GC,14906,0.55,151.9,161.0,9.8,476,14909,0.00,1.38,0.00,0.000,6,0.000,0.021,2890,2329,2235
$GC,15177,0.55,151.9,135.8,9.6,501,15181,0.00,1.65,0.00,0.000,4,0.000,0.023,2898,1152,2235
$GC,15389,0.56,168.7,118.1,8.2,520,15415,0.00,1.75,15.88,0.657,6,0.000,0.035,2898,2310,2169
$GC,15679,0.56,173.7,89.8,8.8,546,15693,0.00,1.50,5.62,0.529,4,0.000,0.042,2898,3283,2150
$GC,15743,0.56,178.7,83.9,8.8,551,15756,0.00,1.45,5.88,0.530,6,0.000,0.021,2899,2278,2131
$GC,16018,0.58,217.0,64.5,7.2,576,16058,0.00,1.65,34.42,0.615,4,0.000,0.022,2906,1161,1972
$GC,16119,0.58,218.9,55.2,8.9,584,16123,0.00,1.73,0.00,0.000,6,0.000,0.033,2906,2298,1969
$GC,16391,0.58,218.9,30.0,9.5,609,16398,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2297,1968
$GC,16660,0.58,218.9,3.4,9.7,658,16667,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2298,1968
$STATE,16673,end climb,SURFACE_DEPTH_REACHED
$STATE,16674,begin surface coast
$FINISH,0.4,1.016416
$STATE,16707,end surface coast,CONTROL_FINISHED_OK
$STATE,16707,begin surface
$SM_CCo,16732,70.53,0.547,0,0,1267,390.02
$SM_GC,1.49,0.00,0.00,70.53,0.000,0.000,0.547,22,2538,1267,-8.36,1.07,390.02
$IRIDIUM_FIX,2248.70,-15737.57,280203,060610
$TT8_MAMPS,0.023777
$HUMID,2230
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,8
$24V_AH,22.9,65.701
$10V_AH,10.5,80.683
$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,18.225,104.725,330.225,70.525,0.000,51.090,68.389,561.905,2.000,0.000,0.000,13.325,1369.578,11525.802,472.799,3029.289,1332.181,33.374,1468.563,0.000,2996.869,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,54.457,1260.948,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,453.562,2194.086,2278.340,1266.735,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54085,666
$CAP_FILE_SIZE,132012,0
$CFSIZE,260165632,232161280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,041213,113130,2257.479,-15737.151,42,1.3,42,10.1