version: 66.04
glider: 512
mission: 4
dive: 393
start: 12 4 113 21 54 25
data:
$ID,512
$MISSION,4
$DIVE,393
$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,-115346.87
$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,56
$R_STBD_OVSHOOT,32
$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
$GPS1,212830,2254.395,-15738.096,42,1.7,42,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-82.5
$GPS2,215331,2254.598,-15738.107,11,1.8,11,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.116,-0.204
$KALMAN_X,113404.5,166.6,299.3,-76392.7,446.3
$KALMAN_Y,-45646.1,204.6,897.4,64011.9,-996.8
$MHEAD_RNG_PITCHd_Wd,199.6,107878,-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,-126.5,0.0,0.0,0,100,0.00,0.00,-75.18,0.000,2,0.000,0.000,8,2565,3036
$GC,106,-0.54,-126.5,2.4,-2.0,10,130,9.68,1.62,-7.25,0.000,4,0.199,0.036,2523,1409,3372
$GC,247,-0.54,-126.5,34.8,-17.8,32,251,0.00,1.67,0.00,0.000,6,0.000,0.040,2523,2494,3373
$GC,519,-0.54,-126.5,87.7,-18.6,57,522,0.00,1.62,0.00,0.000,4,0.000,0.048,2517,3575,3374
$GC,580,-0.54,-126.5,97.8,-16.1,62,583,0.00,1.58,0.00,0.000,6,0.000,0.019,2517,2465,3373
$GC,851,-0.54,-126.5,139.3,-14.1,87,855,0.00,1.70,0.00,0.000,4,0.000,0.041,2509,3563,3374
$GC,878,-0.54,-126.5,143.2,-14.2,89,881,0.00,1.52,0.00,0.000,6,0.000,0.018,2509,2475,3374
$GC,1149,-0.54,-126.5,183.6,-14.4,114,1153,0.00,1.67,0.00,0.000,4,0.000,0.044,2501,3574,3374
$GC,1231,-0.54,-126.5,195.6,-15.0,121,1234,0.00,1.52,0.00,0.000,6,0.000,0.018,2507,2479,3374
$GC,1513,-0.54,-126.5,231.6,-12.4,130,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2472,3374
$GC,1756,-0.54,-126.5,260.9,-11.9,136,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2472,3374
$GC,1999,-0.54,-126.5,289.4,-11.4,142,2003,0.00,1.65,0.00,0.000,4,0.000,0.044,2501,3562,3372
$GC,2124,-0.54,-126.5,302.9,-9.5,144,2127,0.00,1.52,0.00,0.000,6,0.000,0.019,2506,2481,3372
$GC,2384,-0.54,-126.5,328.0,-9.8,151,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2474,3370
$GC,2628,-0.54,-126.5,353.8,-10.8,157,2631,0.00,1.67,0.00,0.000,4,0.000,0.044,2500,3575,3368
$GC,2702,-0.54,-126.5,362.5,-11.5,158,2706,0.00,1.52,0.00,0.000,6,0.000,0.020,2505,2501,3367
$GC,2968,-0.54,-126.5,390.4,-10.3,165,2972,0.00,1.65,0.00,0.000,4,0.000,0.047,2499,3573,3366
$GC,3070,-0.54,-126.5,401.2,-10.0,167,3074,0.00,1.50,-0.05,0.000,6,0.000,0.021,2504,2521,3394
$GC,3353,-0.54,-126.5,428.5,-9.7,174,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2514,3392
$GC,3597,-0.54,-126.5,452.6,-10.0,180,3600,0.00,1.62,0.00,0.000,4,0.000,0.049,2498,3563,3390
$GC,3647,-0.54,-126.5,457.9,-10.4,181,3651,0.00,1.48,0.00,0.000,6,0.000,0.022,2504,2543,3390
$GC,3941,-0.54,-126.5,485.0,-9.2,188,3944,0.00,1.62,0.00,0.000,4,0.000,0.048,2498,3586,3387
$GC,3993,-0.54,-126.5,489.7,-9.0,189,3997,0.00,1.50,0.00,0.000,6,0.000,0.022,2504,2549,3387
$GC,4287,-0.54,-126.5,517.4,-9.4,196,4290,0.00,1.60,0.00,0.000,4,0.000,0.051,2498,3575,3385
$GC,4338,-0.54,-126.5,522.4,-9.6,197,4342,0.00,1.48,0.00,0.000,6,0.000,0.022,2504,2554,3385
$GC,4633,-0.54,-126.5,549.2,-8.8,204,4636,0.00,1.55,0.00,0.000,4,0.000,0.022,2512,1447,3382
$GC,4663,-0.54,-126.5,552.2,-9.4,204,4666,0.00,1.67,0.00,0.000,6,0.000,0.043,2506,2551,3382
$GC,4929,-0.54,-126.5,573.9,-8.3,211,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2551,3379
$GC,5173,-0.54,-126.5,593.8,-8.2,217,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2551,3379
$GC,5416,-0.54,-126.5,612.7,-7.7,223,5420,0.00,1.58,0.00,0.000,4,0.000,0.053,2498,3558,3378
$GC,5467,-0.54,-126.5,616.7,-8.3,224,5471,0.00,1.48,0.00,0.000,6,0.000,0.025,2504,2546,3377
$GC,5761,-0.54,-126.5,639.4,-7.7,231,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2537,3375
$GC,6004,-0.54,-126.5,659.6,-8.4,237,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2537,3373
$GC,6248,-0.54,-126.5,679.1,-8.0,243,6252,0.00,1.60,0.00,0.000,4,0.000,0.050,2498,3567,3372
$GC,6299,-0.54,-126.5,683.3,-8.2,244,6302,0.00,1.48,0.00,0.000,6,0.000,0.024,2503,2558,3372
$GC,6593,-0.54,-126.5,707.2,-8.2,251,6597,0.00,1.60,0.00,0.000,4,0.000,0.051,2498,3576,3370
$GC,6651,-0.54,-126.5,712.4,-8.5,252,6655,0.00,1.48,0.00,0.000,6,0.000,0.024,2503,2565,3370
$GC,6934,-0.54,-126.5,735.4,-8.2,259,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2556,3369
$GC,7179,-0.54,-126.5,755.0,-8.1,265,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2556,3368
$GC,7421,-0.54,-126.5,775.1,-8.2,271,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2556,3366
$GC,7666,-0.54,-126.5,796.0,-8.8,277,7669,0.00,1.60,0.00,0.000,4,0.000,0.054,2498,3557,3365
$GC,7729,-0.54,-126.5,802.3,-9.6,278,7732,0.00,1.42,0.00,0.000,6,0.000,0.025,2503,2579,3365
$GC,8006,-0.54,-126.5,826.2,-8.6,285,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2570,3364
$GC,8250,-0.54,-126.5,846.0,-8.0,291,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2570,3363
$GC,8494,-0.54,-126.5,865.4,-7.9,297,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2570,3362
$GC,8737,-0.54,-126.5,884.9,-8.0,303,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2570,3362
$STATE,8935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8935,begin apogee
$GC,8947,-0.20,0.0,900.8,7.8,308,9064,0.40,0.00,115.00,1.259,6,0.100,0.000,2641,2198,2858
$STATE,9065,end apogee,CONTROL_FINISHED_OK
$STATE,9065,begin climb
$GC,9071,0.54,126.5,904.6,0.0,311,9290,0.62,1.55,145.40,1.058,4,0.051,0.026,2891,1191,2342
$GC,9304,0.54,126.5,882.8,16.1,316,9307,0.00,1.67,0.00,0.000,6,0.000,0.038,2891,2232,2340
$GC,9587,0.54,126.5,832.5,18.3,323,9590,0.00,1.62,0.00,0.000,4,0.000,0.047,2891,3283,2334
$GC,9616,0.54,126.5,826.2,19.4,323,9620,0.00,1.52,0.00,0.000,6,0.000,0.025,2897,2259,2333
$GC,9882,0.54,126.5,778.0,18.0,330,9886,0.00,1.60,0.00,0.000,4,0.000,0.028,2905,1158,2332
$GC,9907,0.54,126.5,772.9,18.5,330,9911,0.08,1.70,0.00,0.000,6,0.159,0.039,2882,2246,2331
$GC,10180,0.54,126.5,729.5,16.1,337,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2246,2331
$GC,10422,0.54,126.5,690.6,15.7,343,10425,0.00,1.60,0.00,0.000,4,0.000,0.049,2877,3268,2330
$GC,10472,0.54,126.5,682.2,17.1,344,10476,0.00,1.55,0.00,0.000,6,0.000,0.025,2883,2228,2329
$GC,10766,0.54,126.5,635.9,15.6,351,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2222,2329
$GC,11009,0.54,126.5,597.6,15.7,357,11013,0.00,1.55,0.00,0.000,4,0.000,0.028,2890,1160,2328
$GC,11045,0.54,126.5,591.7,14.7,357,11048,0.00,1.67,0.00,0.000,6,0.000,0.042,2890,2251,2328
$GC,11305,0.54,126.5,551.7,15.6,364,11309,0.00,1.60,0.00,0.000,4,0.000,0.049,2890,3276,2328
$GC,11355,0.54,126.5,543.4,16.8,365,11359,0.00,1.52,0.00,0.000,6,0.000,0.025,2897,2244,2327
$GC,11649,0.54,126.5,499.6,14.3,372,11653,0.00,1.58,0.00,0.000,4,0.000,0.028,2902,1159,2326
$GC,11723,0.54,126.5,489.0,13.9,373,11727,0.00,1.65,0.00,0.000,6,0.000,0.042,2902,2236,2325
$GC,11989,0.54,126.5,452.1,14.0,380,11993,0.00,1.62,0.00,0.000,4,0.000,0.048,2902,3301,2325
$GC,12055,0.54,126.5,442.5,14.2,381,12059,0.08,1.55,0.00,0.000,6,0.156,0.025,2878,2250,2325
$GC,12332,0.54,126.5,407.0,12.7,388,12335,0.00,1.58,0.00,0.000,4,0.000,0.028,2885,1166,2324
$GC,12417,0.54,126.5,396.1,12.5,389,12425,0.00,1.70,0.00,0.000,6,0.000,0.040,2879,2259,2324
$GC,12672,0.54,126.5,368.9,10.6,396,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2258,2325
$GC,12915,0.54,126.5,345.7,9.4,402,12919,0.00,1.58,0.00,0.000,4,0.000,0.048,2876,3273,2324
$GC,12990,0.54,126.5,337.2,11.4,403,12993,0.00,1.50,0.00,0.000,6,0.000,0.023,2881,2245,2324
$GC,13256,0.54,126.5,309.3,10.7,410,13259,0.00,1.62,0.00,0.000,4,0.000,0.047,2877,3283,2324
$GC,13307,0.54,126.5,303.9,11.6,411,13311,0.00,1.50,0.00,0.000,6,0.000,0.024,2883,2260,2324
$GC,13601,0.54,126.5,272.4,10.7,418,13605,0.00,1.58,0.00,0.000,4,0.000,0.025,2891,1163,2324
$GC,13615,0.54,126.5,270.8,10.3,418,13618,0.00,1.70,0.00,0.000,6,0.000,0.040,2890,2276,2324
$GC,13898,0.54,126.5,243.6,9.3,425,13902,0.00,1.55,0.00,0.000,4,0.000,0.046,2891,3278,2324
$GC,13984,0.54,126.5,234.7,10.1,426,13992,0.00,1.45,0.00,0.000,6,0.000,0.023,2897,2278,2324
$GC,14238,0.54,126.5,208.3,10.3,433,14242,0.00,1.60,0.00,0.000,4,0.000,0.026,2899,1170,2324
$GC,14358,0.56,161.6,198.3,7.3,435,14401,0.00,1.62,31.60,0.726,6,0.000,0.037,2899,2243,2198
$GC,14658,0.56,161.6,166.6,11.9,462,14662,0.00,1.60,0.00,0.000,4,0.000,0.045,2899,3298,2194
$GC,14729,0.56,161.6,158.4,12.1,468,14732,0.00,1.58,0.00,0.000,6,0.000,0.021,2907,2225,2194
$GC,15000,0.56,161.6,130.4,9.4,493,15008,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2220,2195
$GC,15266,0.56,161.6,105.0,9.2,518,15269,0.00,1.62,0.00,0.000,4,0.000,0.043,2906,3284,2194
$GC,15285,0.56,161.6,102.7,9.9,519,15293,0.10,1.50,0.00,0.000,6,0.145,0.021,2881,2248,2194
$GC,15555,0.57,191.7,82.0,7.6,544,15589,0.00,1.55,26.80,0.634,4,0.000,0.022,2886,1176,2076
$GC,15683,0.57,208.2,72.1,8.2,555,15709,0.00,1.67,15.50,0.605,6,0.000,0.036,2886,2280,2008
$GC,15972,0.59,254.4,51.8,6.8,581,16015,0.00,1.52,39.33,0.603,4,0.000,0.041,2886,3281,1819
$GC,16098,0.59,256.7,41.5,8.9,591,16101,0.00,1.45,0.00,0.000,6,0.000,0.020,2886,2287,1818
$GC,16368,0.60,278.5,20.0,8.0,626,16393,0.00,1.65,21.00,0.561,4,0.000,0.022,2886,1163,1721
$GC,16441,0.62,320.9,14.5,7.0,637,16481,0.00,1.73,35.17,0.558,6,0.000,0.033,2886,2282,1548
$STATE,16587,end climb,SURFACE_DEPTH_REACHED
$STATE,16587,begin surface coast
$FINISH,0.4,1.023557
$STATE,16630,end surface coast,CONTROL_FINISHED_OK
$STATE,16630,begin surface
$SM_CCo,16656,28.92,0.536,0,0,1267,390.02
$SM_GC,1.46,0.00,0.00,28.92,0.000,0.000,0.536,38,2536,1267,-8.31,1.02,390.02
$IRIDIUM_FIX,2246.36,-15738.46,280203,212126
$TT8_MAMPS,0.023777
$HUMID,2255
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.10
$XPDR_PINGS,7
$24V_AH,23.3,66.242
$10V_AH,10.5,81.219
$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,18.275,108.425,429.800,28.925,0.000,84.018,107.921,996.198,1.750,0.000,0.000,11.194,1368.972,11417.147,504.306,3052.578,1838.036,33.376,1541.575,0.000,3015.112,0.000,0.545,0.000
$DEVICE_MAMPS,198.653,53.690,1258.647,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,454.795,2202.741,2288.193,1313.762,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54139,669
$CAP_FILE_SIZE,140543,0
$CFSIZE,260165632,231956480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,0
$GPS,051213,023359,2252.256,-15738.679,39,1.6,39,10.1