version: 66.04
glider: 512
mission: 4
dive: 392
start: 12 4 113 16 53 43
data:
$ID,512
$MISSION,4
$DIVE,392
$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,-115335.04
$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,53
$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
$GPS1,163705,2255.348,-15737.632,40,1.2,40,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,2
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-79.6
$GPS2,165249,2255.432,-15737.698,14,1.6,14,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.119,-0.203
$KALMAN_X,112133.1,335.6,-297.1,-74000.8,1327.6
$KALMAN_Y,-47379.9,749.1,-456.0,68101.1,1210.8
$MHEAD_RNG_PITCHd_Wd,200.4,109570,-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,-126.5,0.0,0.0,0,95,0.00,0.00,-74.80,0.000,2,0.000,0.000,10,2535,3022
$GC,101,-0.54,-126.5,2.3,-2.1,10,126,9.68,1.55,-7.72,0.000,4,0.199,0.038,2521,1434,3375
$GC,242,-0.54,-126.5,34.7,-18.1,32,246,0.00,1.60,0.00,0.000,6,0.000,0.040,2515,2474,3375
$GC,514,-0.54,-126.5,92.3,-20.2,57,517,0.00,1.45,0.00,0.000,4,0.000,0.019,2517,1432,3376
$GC,553,-0.54,-126.5,100.2,-16.6,60,561,0.00,1.58,0.00,0.000,6,0.000,0.039,2510,2460,3376
$GC,819,-0.54,-126.5,141.3,-16.3,85,823,0.00,1.67,0.00,0.000,4,0.000,0.048,2502,3572,3377
$GC,1013,-0.54,-126.5,169.9,-14.1,102,1017,0.00,1.58,0.00,0.000,6,0.000,0.018,2508,2462,3377
$GC,1301,-0.54,-126.5,211.8,-13.7,123,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2454,3377
$GC,1545,-0.54,-126.5,245.8,-14.0,129,1548,0.00,1.70,0.00,0.000,4,0.000,0.044,2501,3575,3377
$GC,1597,-0.54,-126.5,253.9,-14.3,130,1601,0.00,1.55,0.00,0.000,6,0.000,0.020,2507,2470,3377
$GC,1885,-0.54,-126.5,288.7,-11.3,137,1889,0.00,1.67,0.00,0.000,4,0.000,0.044,2500,3565,3377
$GC,1980,-0.54,-126.5,298.6,-10.3,139,1983,0.00,1.50,0.00,0.000,6,0.000,0.019,2506,2504,3376
$GC,2274,-0.54,-126.5,330.9,-11.4,146,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2497,3375
$GC,2517,-0.54,-126.5,358.4,-11.2,152,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2496,3373
$GC,2761,-0.54,-126.5,384.2,-10.5,158,2765,0.00,1.65,0.00,0.000,4,0.000,0.045,2500,3559,3370
$GC,2813,-0.54,-126.5,390.1,-10.5,159,2817,0.00,1.50,0.00,0.000,6,0.000,0.021,2505,2509,3370
$GC,3102,-0.54,-126.5,418.6,-10.1,166,3105,0.00,1.62,0.00,0.000,4,0.000,0.048,2499,3561,3368
$GC,3187,-0.54,-126.5,428.0,-9.7,167,3195,0.00,1.50,0.00,0.000,6,0.000,0.021,2505,2505,3367
$GC,3442,-0.54,-126.5,453.0,-9.9,174,3446,0.00,1.67,-0.08,0.000,4,0.000,0.063,2498,3572,3390
$GC,3494,-0.54,-126.5,458.6,-10.1,175,3498,0.00,1.48,0.00,0.000,6,0.000,0.021,2504,2547,3390
$GC,3782,-0.54,-126.5,486.6,-9.7,182,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2539,3389
$GC,4025,-0.54,-126.5,510.1,-9.6,188,4029,0.00,1.60,0.00,0.000,4,0.000,0.050,2498,3555,3386
$GC,4061,-0.54,-126.5,513.9,-9.5,188,4065,0.00,1.45,0.00,0.000,6,0.000,0.023,2504,2548,3386
$GC,4321,-0.54,-126.5,539.4,-10.0,195,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2539,3385
$GC,4565,-0.54,-126.5,564.1,-10.2,201,4568,0.00,1.60,0.00,0.000,4,0.000,0.052,2498,3568,3382
$GC,4634,-0.54,-126.5,571.3,-10.2,202,4637,0.00,1.45,0.00,0.000,6,0.000,0.024,2503,2564,3382
$GC,4906,-0.54,-126.5,595.0,-8.6,209,4909,0.00,1.58,0.00,0.000,4,0.000,0.023,2511,1442,3380
$GC,4936,-0.54,-126.5,597.8,-8.1,209,4940,0.00,1.73,0.00,0.000,6,0.000,0.044,2509,2572,3380
$GC,5202,-0.54,-126.5,618.0,-7.8,216,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2572,3378
$GC,5446,-0.54,-126.5,638.6,-8.6,222,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2572,3377
$GC,5690,-0.54,-126.5,659.6,-8.6,228,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2572,3376
$GC,5933,-0.54,-126.5,680.5,-8.5,234,5937,0.00,1.55,0.00,0.000,4,0.000,0.057,2509,3553,3373
$GC,5968,-0.54,-126.5,683.8,-8.7,234,5972,0.00,1.48,0.00,0.000,6,0.000,0.025,2510,2541,3373
$GC,6229,-0.54,-126.5,704.9,-8.2,241,6232,0.00,1.62,0.00,0.000,4,0.000,0.052,2502,3571,3372
$GC,6304,-0.54,-126.5,711.5,-8.8,242,6307,0.00,1.45,0.00,0.000,6,0.000,0.025,2506,2579,3372
$GC,6570,-0.54,-126.5,731.2,-7.3,249,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2570,3370
$GC,6814,-0.54,-126.5,747.9,-6.7,255,6817,0.00,1.58,0.00,0.000,4,0.000,0.054,2502,3555,3370
$GC,6865,-0.54,-126.5,751.2,-6.7,256,6868,0.00,1.42,0.00,0.000,6,0.000,0.026,2507,2580,3370
$GC,7159,-0.54,-126.5,771.5,-6.9,263,7162,0.00,1.58,0.00,0.000,4,0.000,0.055,2502,3554,3369
$GC,7200,-0.54,-126.5,774.8,-7.8,263,7208,0.00,1.40,0.00,0.000,6,0.000,0.026,2507,2585,3367
$GC,7456,-0.54,-126.5,793.8,-7.6,270,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2585,3367
$GC,7699,-0.54,-126.5,813.3,-8.0,276,7702,0.00,1.60,0.00,0.000,4,0.000,0.026,2508,1446,3365
$GC,7729,-0.54,-126.5,816.0,-8.8,276,7732,0.00,1.80,0.00,0.000,6,0.000,0.047,2502,2610,3366
$GC,7995,-0.54,-126.5,838.1,-8.5,283,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2610,3364
$GC,8239,-0.54,-126.5,858.5,-8.4,289,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2610,3364
$GC,8482,-0.54,-126.5,877.4,-7.7,295,8486,0.00,1.50,0.00,0.000,4,0.000,0.058,2494,3555,3363
$GC,8524,-0.54,-126.5,881.0,-7.9,295,8532,0.00,1.40,0.00,0.000,6,0.000,0.028,2500,2592,3363
$GC,8779,-0.54,-126.5,898.6,-6.8,302,8782,0.00,1.60,0.00,0.000,4,0.000,0.027,2508,1458,3362
$STATE,8792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8792,begin apogee
$GC,8805,-0.20,0.0,900.2,6.7,302,8930,0.35,0.00,117.07,1.242,6,0.095,0.000,2630,2232,2858
$STATE,8931,end apogee,CONTROL_FINISHED_OK
$STATE,8931,begin climb
$GC,8936,0.54,126.5,902.4,0.0,305,9154,0.65,0.00,147.95,1.042,6,0.044,0.000,2876,2232,2342
$GC,9393,0.54,126.5,839.1,17.9,316,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2232,2334
$GC,9636,0.54,126.5,797.2,17.0,322,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2232,2332
$GC,9880,0.54,126.5,757.2,16.4,328,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2232,2331
$GC,10124,0.54,126.5,719.1,15.4,334,10127,0.00,1.65,0.00,0.000,4,0.000,0.051,2876,3283,2330
$GC,10219,0.54,126.5,704.2,16.0,336,10222,0.00,1.55,0.00,0.000,6,0.000,0.027,2881,2237,2329
$GC,10513,0.54,126.5,661.0,14.6,343,10516,0.00,1.65,0.00,0.000,4,0.000,0.048,2878,3287,2329
$GC,10581,0.54,126.5,650.1,14.9,344,10585,0.00,1.55,0.00,0.000,6,0.000,0.027,2883,2240,2328
$GC,10853,0.54,126.5,610.6,14.5,351,10857,0.00,1.58,0.00,0.000,4,0.000,0.028,2891,1159,2327
$GC,10903,0.54,126.5,603.2,13.8,352,10907,0.00,1.67,0.00,0.000,6,0.000,0.043,2891,2223,2327
$GC,11197,0.54,126.5,561.2,14.2,359,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2223,2327
$GC,11440,0.54,126.5,527.7,13.7,365,11444,0.00,1.65,0.00,0.000,4,0.000,0.051,2891,3293,2327
$GC,11543,0.54,126.5,511.5,15.2,367,11547,0.00,1.60,0.00,0.000,6,0.000,0.025,2897,2190,2326
$GC,11825,0.54,126.5,472.0,14.2,374,11829,0.00,1.73,0.00,0.000,4,0.000,0.048,2891,3290,2326
$GC,11894,0.54,126.5,461.5,14.8,375,11898,0.00,1.55,0.00,0.000,6,0.000,0.026,2897,2238,2326
$GC,12166,0.54,126.5,425.8,13.1,382,12167,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2232,2325
$GC,12409,0.54,126.5,395.1,12.6,388,12413,0.00,1.65,0.00,0.000,4,0.000,0.048,2898,3289,2325
$GC,12478,0.54,126.5,385.2,13.2,389,12481,0.00,1.58,0.00,0.000,6,0.000,0.026,2905,2222,2325
$GC,12750,0.54,126.5,352.0,12.2,396,12754,0.12,1.50,0.00,0.000,4,0.183,0.026,2883,1153,2325
$GC,12824,0.54,126.5,344.2,9.4,397,12828,0.00,1.65,0.00,0.000,6,0.000,0.042,2878,2229,2325
$GC,13090,0.54,126.5,317.3,10.3,404,13093,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3289,2325
$GC,13114,0.54,126.5,314.1,11.1,404,13118,0.00,1.62,0.00,0.000,6,0.000,0.025,2882,2187,2325
$GC,13385,0.54,126.5,284.9,10.5,411,13386,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2181,2325
$GC,13629,0.55,134.9,263.3,8.6,417,13639,0.00,1.73,6.18,0.687,4,0.000,0.045,2876,3284,2307
$GC,13658,0.55,144.9,260.7,8.5,417,13680,0.00,1.58,11.02,0.756,6,0.000,0.025,2882,2207,2267
$GC,13964,0.55,144.9,232.2,9.7,425,13968,0.00,1.50,0.00,0.000,4,0.000,0.026,2889,1166,2264
$GC,14014,0.55,144.9,227.0,10.0,426,14017,0.00,1.58,0.00,0.000,6,0.000,0.038,2889,2178,2264
$GC,14308,0.55,149.6,199.4,8.8,433,14320,0.00,1.70,5.22,0.603,4,0.000,0.047,2889,3269,2250
$GC,14414,0.55,149.6,189.0,10.3,442,14422,0.00,1.55,0.00,0.000,6,0.000,0.024,2896,2212,2249
$GC,14684,0.56,176.1,164.2,7.7,467,14713,0.00,1.50,25.30,0.714,4,0.000,0.025,2899,1158,2139
$GC,14726,0.56,176.1,160.1,9.6,470,14729,0.00,1.58,0.00,0.000,6,0.000,0.037,2899,2161,2137
$GC,14997,0.56,176.1,130.0,11.3,495,15001,0.00,1.70,0.00,0.000,4,0.000,0.045,2899,3281,2135
$GC,15144,0.56,176.1,112.6,10.6,508,15147,0.00,1.62,0.00,0.000,6,0.000,0.021,2907,2148,2134
$GC,15415,0.56,176.1,84.4,9.3,533,15423,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2143,2134
$GC,15681,0.57,203.7,61.0,7.7,558,15720,0.00,1.42,26.40,0.585,4,0.000,0.024,2912,1158,2027
$GC,15740,0.58,227.4,56.4,7.9,562,15765,0.00,1.60,21.67,0.595,6,0.000,0.035,2912,2193,1930
$GC,16032,0.58,227.4,28.8,10.5,588,16040,0.00,1.65,0.00,0.000,4,0.000,0.043,2912,3272,1925
$GC,16114,0.58,227.4,19.3,11.0,602,16122,0.00,1.55,0.00,0.000,6,0.000,0.021,2912,2213,1924
$STATE,16274,end climb,SURFACE_DEPTH_REACHED
$STATE,16274,begin surface coast
$FINISH,0.3,1.003347
$STATE,16302,end surface coast,CONTROL_FINISHED_OK
$STATE,16302,begin surface
$SM_CCo,16328,67.00,0.551,0,0,1267,390.02
$SM_GC,1.15,0.00,0.00,67.00,0.000,0.000,0.551,34,2568,1267,-8.32,1.92,390.02
$IRIDIUM_FIX,2244.02,-15736.30,280203,161651
$TT8_MAMPS,0.025311
$HUMID,2252
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.40
$XPDR_PINGS,10
$24V_AH,23.3,66.055
$10V_AH,10.5,81.035
$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,18.150,104.375,360.825,67.000,0.000,51.348,74.268,563.286,2.500,0.000,0.000,15.120,1311.091,11277.709,537.949,2896.812,1309.244,33.380,1506.308,0.000,2856.747,0.000,0.544,0.000
$DEVICE_MAMPS,198.653,62.894,1241.773,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,433.050,2092.104,2170.421,1197.661,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50974,636
$CAP_FILE_SIZE,128135,0
$CFSIZE,260165632,232034304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,16,0
$GPS,041213,212830,2254.395,-15738.096,42,1.7,42,10.1