version: 66.04
glider: 512
mission: 4
dive: 391
start: 12 4 113 12 4 16
data:
$ID,512
$MISSION,4
$DIVE,391
$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,-115319.29
$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,67
$R_STBD_OVSHOOT,54
$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
$GPS1,113130,2257.479,-15737.151,42,1.3,42,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-80.1
$GPS2,120324,2257.648,-15737.214,12,1.6,23,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.070,-0.224
$KALMAN_X,110838.4,183.5,543.0,-72567.6,-443.0
$KALMAN_Y,-48501.2,482.2,507.3,72614.7,-577.8
$MHEAD_RNG_PITCHd_Wd,187.3,113709,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.54,-126.5,0.0,0.0,0,88,0.00,0.00,-67.45,0.000,2,0.000,0.000,7,2534,2829
$GC,94,-0.54,-126.5,2.1,-1.6,9,126,9.70,1.58,-14.07,0.000,4,0.200,0.039,2516,1441,3370
$GC,153,-0.54,-126.5,13.5,-22.3,17,162,0.00,1.60,0.00,0.000,6,0.000,0.038,2509,2477,3371
$GC,426,-0.54,-126.5,77.4,-23.1,48,430,0.00,1.65,0.00,0.000,4,0.000,0.043,2501,3584,3371
$GC,488,-0.54,-126.5,92.9,-19.4,53,496,0.00,1.55,0.00,0.000,6,0.000,0.018,2507,2495,3371
$GC,755,-0.54,-126.5,137.8,-15.0,78,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2487,3371
$GC,1020,-0.54,-126.5,176.2,-14.5,103,1024,0.00,1.65,0.00,0.000,4,0.000,0.042,2500,3566,3372
$GC,1060,-0.54,-126.5,181.8,-14.9,106,1063,0.00,1.48,0.00,0.000,6,0.000,0.018,2505,2510,3372
$GC,1356,-0.54,-126.5,224.1,-14.0,122,1359,0.00,1.42,0.00,0.000,4,0.000,0.020,2512,1458,3372
$GC,1386,-0.54,-126.5,228.5,-12.6,122,1389,0.00,1.60,0.00,0.000,6,0.000,0.038,2507,2536,3372
$GC,1652,-0.54,-126.5,261.1,-12.5,129,1655,0.00,1.55,0.00,0.000,4,0.000,0.046,2499,3556,3371
$GC,1749,-0.54,-126.5,273.1,-11.8,131,1752,0.00,1.42,0.00,0.000,6,0.000,0.018,2504,2541,3370
$GC,2037,-0.54,-126.5,305.9,-11.4,138,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2533,3369
$GC,2280,-0.54,-126.5,332.9,-11.2,144,2284,0.00,1.60,0.00,0.000,4,0.000,0.045,2498,3585,3367
$GC,2355,-0.54,-126.5,341.4,-10.2,145,2359,0.00,1.48,0.00,0.000,6,0.000,0.021,2503,2550,3366
$GC,2621,-0.54,-126.5,367.8,-9.9,152,2623,0.00,0.00,-0.08,0.000,6,0.000,0.000,2504,2541,3386
$GC,2865,-0.54,-126.5,391.3,-9.8,158,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2541,3384
$GC,3108,-0.54,-126.5,417.2,-10.8,164,3112,0.00,1.60,0.00,0.000,4,0.000,0.048,2498,3561,3382
$GC,3183,-0.54,-126.5,426.1,-11.5,165,3186,0.00,1.45,0.00,0.000,6,0.000,0.021,2503,2545,3381
$GC,3449,-0.54,-126.5,454.6,-10.8,172,3452,0.00,1.52,0.00,0.000,4,0.000,0.022,2511,1448,3379
$GC,3490,-0.54,-126.5,459.0,-9.1,172,3498,0.00,1.67,0.00,0.000,6,0.000,0.041,2506,2536,3379
$GC,3744,-0.54,-126.5,482.0,-9.1,179,3748,0.00,1.58,0.00,0.000,4,0.000,0.051,2497,3553,3377
$GC,3825,-0.54,-126.5,489.9,-9.2,180,3829,0.00,1.42,0.00,0.000,6,0.000,0.021,2503,2558,3376
$GC,4086,-0.54,-126.5,513.1,-9.0,187,4089,0.00,1.55,0.00,0.000,4,0.000,0.023,2508,1448,3374
$GC,4115,-0.54,-126.5,516.0,-9.0,187,4119,0.00,1.67,0.00,0.000,6,0.000,0.041,2502,2554,3374
$GC,4382,-0.54,-126.5,539.3,-9.1,194,4385,0.00,1.55,0.00,0.000,4,0.000,0.051,2494,3554,3372
$GC,4417,-0.54,-126.5,543.1,-9.6,194,4421,0.00,1.45,0.00,0.000,6,0.000,0.022,2500,2546,3371
$GC,4678,-0.54,-126.5,566.1,-9.0,201,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2538,3370
$GC,4921,-0.54,-126.5,588.0,-9.0,207,4925,0.00,1.60,0.00,0.000,4,0.000,0.050,2494,3553,3368
$GC,4963,-0.54,-126.5,592.3,-9.6,207,4971,0.00,1.42,0.00,0.000,6,0.000,0.023,2500,2555,3368
$GC,5218,-0.54,-126.5,615.5,-9.2,214,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2554,3366
$GC,5462,-0.54,-126.5,637.5,-8.9,220,5465,0.00,1.55,0.00,0.000,4,0.000,0.024,2508,1456,3364
$GC,5512,-0.54,-126.5,641.9,-8.4,221,5516,0.00,1.73,0.00,0.000,6,0.000,0.043,2502,2562,3364
$GC,5807,-0.54,-126.5,665.7,-8.0,228,5811,0.00,1.55,0.00,0.000,4,0.000,0.054,2494,3551,3362
$GC,5870,-0.54,-126.5,671.6,-9.2,229,5874,0.00,1.42,0.00,0.000,6,0.000,0.024,2499,2566,3362
$GC,6148,-0.54,-126.5,693.8,-8.1,236,6151,0.00,1.58,0.00,0.000,4,0.000,0.025,2507,1452,3360
$GC,6190,-0.54,-126.5,697.5,-7.6,236,6198,0.00,1.73,0.00,0.000,6,0.000,0.044,2502,2559,3360
$GC,6445,-0.54,-126.5,718.0,-8.2,243,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2559,3358
$GC,6688,-0.54,-126.5,738.0,-8.1,249,6692,0.00,1.58,0.00,0.000,4,0.000,0.055,2494,3557,3357
$GC,6738,-0.54,-126.5,742.2,-8.3,250,6741,0.00,1.45,0.00,0.000,6,0.000,0.025,2499,2571,3357
$GC,7033,-0.54,-126.5,765.9,-8.1,257,7036,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3579,3355
$GC,7085,-0.54,-126.5,770.7,-9.2,258,7088,0.00,1.45,0.00,0.000,6,0.000,0.026,2499,2590,3355
$GC,7374,-0.54,-126.5,794.5,-8.4,265,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2583,3353
$GC,7618,-0.54,-126.5,814.7,-8.2,271,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2583,3353
$GC,7861,-0.54,-126.5,833.7,-7.6,277,7864,0.00,1.58,0.00,0.000,4,0.000,0.055,2493,3559,3352
$GC,7897,-0.54,-126.5,836.8,-8.0,277,7900,0.00,1.42,0.00,0.000,6,0.000,0.027,2499,2590,3352
$GC,8157,-0.54,-126.5,855.8,-7.3,284,8161,0.00,1.58,0.00,0.000,4,0.000,0.055,2494,3558,3351
$GC,8199,-0.54,-126.5,859.2,-7.9,284,8207,0.00,1.40,0.00,0.000,6,0.000,0.027,2499,2597,3351
$GC,8454,-0.54,-126.5,876.8,-6.9,291,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2597,3351
$GC,8698,-0.54,-126.5,894.1,-7.2,297,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2596,3349
$STATE,8814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8814,begin apogee
$GC,8826,-0.20,0.0,902.8,7.2,300,8947,0.40,0.00,113.62,1.247,6,0.099,0.000,2637,2211,2858
$STATE,8948,end apogee,CONTROL_FINISHED_OK
$STATE,8948,begin climb
$GC,8954,0.54,126.5,906.0,0.0,303,9178,0.62,1.60,146.07,1.050,4,0.041,0.028,2887,1198,2342
$GC,9191,0.54,126.5,883.5,16.4,308,9195,0.00,1.65,0.00,0.000,6,0.000,0.041,2887,2219,2340
$GC,9469,0.54,126.5,836.2,17.2,315,9472,0.00,1.65,0.00,0.000,4,0.000,0.051,2887,3279,2334
$GC,9565,0.54,126.5,818.9,17.8,317,9568,0.00,1.52,0.00,0.000,6,0.000,0.025,2894,2258,2333
$GC,9858,0.54,126.5,768.4,17.2,324,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2252,2331
$GC,10102,0.54,126.5,726.2,17.4,330,10106,0.00,1.62,0.00,0.000,4,0.000,0.047,2891,3293,2331
$GC,10138,0.54,126.5,719.3,17.6,330,10141,0.00,1.52,0.00,0.000,6,0.000,0.025,2897,2258,2330
$GC,10398,0.54,126.5,675.6,17.0,337,10402,0.00,1.58,0.00,0.000,4,0.000,0.028,2905,1168,2330
$GC,10473,0.54,126.5,663.1,15.9,338,10477,0.00,1.65,0.00,0.000,6,0.000,0.041,2905,2245,2329
$GC,10739,0.54,126.5,618.5,17.1,345,10742,0.00,1.62,0.00,0.000,4,0.000,0.051,2905,3301,2329
$GC,10836,0.54,126.5,601.4,18.6,347,10840,0.08,1.55,0.00,0.000,6,0.172,0.026,2878,2260,2328
$GC,11130,0.54,126.5,558.6,14.0,354,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2253,2328
$GC,11373,0.54,126.5,525.8,13.3,360,11377,0.00,1.62,0.00,0.000,4,0.000,0.049,2877,3274,2327
$GC,11402,0.54,126.5,521.5,14.1,360,11406,0.00,1.52,0.00,0.000,6,0.000,0.026,2883,2243,2327
$GC,11668,0.54,126.5,486.5,13.4,367,11672,0.00,1.62,0.00,0.000,4,0.000,0.048,2878,3277,2326
$GC,11710,0.54,126.5,480.2,13.6,367,11718,0.00,1.48,0.00,0.000,6,0.000,0.025,2883,2275,2326
$GC,11964,0.54,126.5,445.7,13.7,374,11965,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2268,2325
$GC,12208,0.54,126.5,414.6,12.6,380,12211,0.00,1.62,0.00,0.000,4,0.000,0.028,2891,1139,2325
$GC,12243,0.54,126.5,410.1,12.2,380,12247,0.00,1.80,0.00,0.000,6,0.000,0.043,2891,2305,2324
$GC,12504,0.54,126.5,378.4,12.3,387,12507,0.00,1.52,0.00,0.000,4,0.000,0.050,2891,3279,2324
$GC,12545,0.54,126.5,371.9,14.7,387,12553,0.00,1.40,0.00,0.000,6,0.000,0.025,2896,2323,2324
$GC,12799,0.54,126.5,337.8,13.3,394,12803,0.00,1.67,0.00,0.000,4,0.000,0.028,2902,1176,2325
$GC,12863,0.54,126.5,329.4,11.7,395,12866,0.00,1.73,0.00,0.000,6,0.000,0.041,2902,2300,2325
$GC,13140,0.54,126.5,297.9,11.0,402,13144,0.00,1.65,0.00,0.000,4,0.000,0.026,2910,1155,2325
$GC,13259,0.54,126.5,285.8,9.7,404,13263,0.00,1.73,0.00,0.000,6,0.000,0.041,2905,2280,2325
$GC,13525,0.54,126.5,257.6,10.7,411,13529,0.00,1.55,0.00,0.000,4,0.000,0.047,2905,3280,2325
$GC,13583,0.54,126.5,251.2,10.8,412,13587,0.10,1.45,0.00,0.000,6,0.157,0.024,2881,2283,2325
$GC,13866,0.55,138.8,226.4,8.4,419,13880,0.00,1.62,9.32,0.730,4,0.000,0.026,2887,1168,2292
$GC,13928,0.56,181.5,221.7,7.0,420,13971,0.00,1.67,39.28,0.780,6,0.000,0.039,2887,2266,2117
$GC,14226,0.56,181.5,191.3,10.6,432,14230,0.00,1.58,0.00,0.000,4,0.000,0.048,2886,3272,2110
$GC,14296,0.56,181.5,183.4,10.1,438,14300,0.00,1.48,0.00,0.000,6,0.000,0.023,2894,2274,2109
$GC,14572,0.56,181.5,154.0,10.6,463,14576,0.00,1.60,0.00,0.000,4,0.000,0.045,2891,3301,2109
$GC,14654,0.56,181.5,144.1,11.0,470,14657,0.00,1.52,0.00,0.000,6,0.000,0.022,2897,2256,2109
$GC,14926,0.56,181.5,114.6,10.8,495,14929,0.00,1.60,0.00,0.000,4,0.000,0.043,2897,3273,2109
$GC,15019,0.56,181.5,104.6,10.3,503,15028,0.00,1.42,0.00,0.000,6,0.000,0.023,2900,2298,2109
$GC,15285,0.58,226.4,83.2,6.9,528,15337,0.00,1.60,40.10,0.616,4,0.000,0.025,2899,1172,1934
$GC,15475,0.59,244.6,67.3,8.1,544,15501,0.00,1.67,16.40,0.597,6,0.000,0.036,2899,2276,1859
$GC,15765,0.59,257.5,42.1,8.4,570,15782,0.00,1.55,12.23,0.561,4,0.000,0.043,2899,3277,1808
$GC,15818,0.60,259.9,36.7,8.9,574,15832,0.00,1.45,3.80,0.392,6,0.000,0.020,2899,2283,1798
$GC,16091,0.60,259.9,9.1,10.5,618,16100,0.00,1.58,0.00,0.000,4,0.000,0.022,2899,1174,1797
$GC,16153,0.60,263.3,3.3,8.8,628,16161,0.00,1.67,1.92,0.071,6,0.000,0.031,2899,2279,1783
$STATE,16168,end climb,SURFACE_DEPTH_REACHED
$STATE,16168,begin surface coast
$FINISH,0.4,1.023644
$STATE,16201,end surface coast,CONTROL_FINISHED_OK
$STATE,16201,begin surface
$SM_CCo,16227,51.95,0.545,0,0,1267,390.02
$SM_GC,1.40,0.00,0.00,51.95,0.000,0.000,0.545,31,2535,1267,-8.34,0.99,390.02
$IRIDIUM_FIX,2248.70,-15735.41,280203,111103
$TT8_MAMPS,0.023777
$HUMID,2244
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,12
$24V_AH,23.3,65.902
$10V_AH,10.5,80.866
$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,18.175,119.875,382.750,51.950,0.000,100.058,155.986,1247.487,3.000,0.000,0.000,24.029,1332.576,11167.546,534.495,2970.792,2180.062,33.373,1569.276,0.000,2918.273,0.000,0.545,0.000
$DEVICE_MAMPS,200.187,55.224,1247.142,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,432.493,2095.278,2176.120,1210.836,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51142,636
$CAP_FILE_SIZE,148747,0
$CFSIZE,260165632,232079360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,041213,163705,2255.348,-15737.632,40,1.2,40,10.1