version: 66.04
glider: 512
mission: 4
dive: 394
start: 12 5 113 2 58 1
data:
$ID,512
$MISSION,4
$DIVE,394
$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,-115378.27
$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,49
$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
$GPS1,023359,2252.256,-15738.679,39,1.6,39,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-83.1
$GPS2,025709,2252.291,-15738.752,10,2.2,29,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.098,-0.214
$KALMAN_X,115193.7,-120.4,42.7,-78741.9,1411.9
$KALMAN_Y,-43720.3,-447.1,-538.2,59903.8,2814.9
$MHEAD_RNG_PITCHd_Wd,194.5,103489,-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,-126.5,0.0,0.0,0,92,0.00,0.00,-67.53,0.000,2,0.000,0.000,10,2529,2830
$GC,98,-0.54,-126.5,2.0,-1.7,9,130,9.68,1.55,-13.77,0.000,4,0.199,0.037,2521,1435,3373
$GC,183,-0.54,-126.5,18.0,-17.6,22,191,0.00,1.60,0.00,0.000,6,0.000,0.038,2515,2477,3374
$GC,458,-0.54,-126.5,80.2,-18.9,52,462,0.00,1.62,0.00,0.000,4,0.000,0.043,2507,3568,3374
$GC,562,-0.54,-126.5,99.7,-17.1,61,565,0.00,1.48,0.00,0.000,6,0.000,0.018,2507,2515,3374
$GC,833,-0.54,-126.5,147.4,-18.2,86,837,0.00,1.42,0.00,0.000,4,0.000,0.018,2513,1452,3375
$GC,872,-0.54,-126.5,153.9,-16.6,89,876,0.00,1.67,0.00,0.000,6,0.000,0.036,2507,2574,3375
$GC,1144,-0.54,-126.5,195.4,-15.6,114,1147,0.00,1.50,0.00,0.000,4,0.000,0.044,2500,3562,3375
$GC,1203,-0.54,-126.5,205.7,-16.6,117,1206,0.00,1.40,0.00,0.000,6,0.000,0.018,2505,2564,3375
$GC,1486,-0.54,-126.5,244.0,-13.4,124,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2556,3375
$GC,1729,-0.54,-126.5,275.4,-12.8,130,1733,0.00,1.55,0.00,0.000,4,0.000,0.042,2499,3565,3373
$GC,1779,-0.54,-126.5,281.4,-11.6,131,1783,0.00,1.38,0.00,0.000,6,0.000,0.018,2505,2583,3373
$GC,2073,-0.54,-126.5,314.7,-11.1,138,2077,0.00,1.52,0.00,0.000,4,0.000,0.042,2499,3566,3372
$GC,2142,-0.54,-126.5,323.3,-12.0,139,2146,0.00,1.38,0.00,0.000,6,0.000,0.019,2504,2584,3372
$GC,2414,-0.54,-126.5,353.4,-11.1,146,2418,0.00,1.52,0.00,0.000,4,0.000,0.044,2499,3564,3370
$GC,2455,-0.54,-126.5,358.5,-10.9,146,2463,0.00,1.35,0.00,0.000,6,0.000,0.020,2504,2593,3370
$GC,2710,-0.54,-126.5,386.6,-11.3,153,2713,0.00,1.50,0.00,0.000,4,0.000,0.045,2499,3560,3368
$GC,2734,-0.54,-126.5,389.6,-10.7,153,2738,0.00,1.33,0.00,0.000,6,0.000,0.021,2504,2617,3368
$GC,3006,-0.54,-126.5,417.6,-10.4,160,3010,0.00,1.60,-0.08,0.000,4,0.000,0.038,2512,1459,3389
$GC,3063,-0.54,-126.5,423.4,-9.0,161,3067,0.00,1.73,0.00,0.000,6,0.000,0.040,2506,2606,3389
$GC,3346,-0.54,-126.5,450.9,-9.9,168,3350,0.00,1.62,0.00,0.000,4,0.000,0.021,2512,1446,3387
$GC,3382,-0.54,-126.5,455.0,-10.3,168,3386,0.00,1.75,0.00,0.000,6,0.000,0.044,2506,2599,3386
$GC,3643,-0.54,-126.5,481.2,-10.3,175,3647,0.00,1.50,0.00,0.000,4,0.000,0.050,2498,3566,3384
$GC,3717,-0.54,-126.5,489.4,-10.2,176,3721,0.00,1.38,0.00,0.000,6,0.000,0.021,2504,2601,3383
$GC,3983,-0.54,-126.5,515.3,-9.8,183,3987,0.00,1.58,0.00,0.000,4,0.000,0.022,2511,1467,3381
$GC,4024,-0.54,-126.5,519.6,-9.2,183,4032,0.00,1.73,0.00,0.000,6,0.000,0.041,2506,2588,3381
$GC,4279,-0.54,-126.5,543.4,-9.6,190,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2588,3379
$GC,4523,-0.54,-126.5,566.2,-9.4,196,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2588,3377
$GC,4767,-0.54,-126.5,587.7,-8.8,202,4771,0.00,1.50,0.00,0.000,4,0.000,0.052,2498,3553,3375
$GC,4802,-0.54,-126.5,591.3,-10.3,202,4806,0.00,1.38,0.00,0.000,6,0.000,0.024,2504,2590,3375
$GC,5063,-0.54,-126.5,613.6,-8.8,209,5067,0.00,1.58,0.00,0.000,4,0.000,0.023,2512,1465,3372
$GC,5113,-0.54,-126.5,617.6,-7.5,210,5117,0.00,1.70,0.00,0.000,6,0.000,0.043,2506,2579,3372
$GC,5408,-0.54,-126.5,643.3,-8.8,217,5411,0.00,1.52,0.00,0.000,4,0.000,0.052,2498,3557,3371
$GC,5443,-0.54,-126.5,646.9,-9.7,217,5447,0.00,1.40,0.00,0.000,6,0.000,0.024,2504,2584,3370
$GC,5704,-0.54,-126.5,669.3,-8.7,224,5708,0.00,1.55,0.00,0.000,4,0.000,0.022,2512,1473,3369
$GC,5762,-0.54,-126.5,674.3,-7.5,225,5766,0.00,1.70,0.00,0.000,6,0.000,0.042,2506,2570,3369
$GC,6045,-0.54,-126.5,696.6,-8.0,232,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2570,3367
$GC,6289,-0.54,-126.5,716.4,-8.2,238,6293,0.00,1.55,0.00,0.000,4,0.000,0.054,2498,3556,3365
$GC,6358,-0.54,-126.5,722.6,-8.5,239,6361,0.00,1.42,0.00,0.000,6,0.000,0.025,2503,2578,3364
$GC,6630,-0.54,-126.5,743.9,-8.0,246,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2569,3364
$GC,6873,-0.54,-126.5,762.8,-7.7,252,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2569,3363
$GC,7117,-0.54,-126.5,781.5,-7.6,258,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2569,3361
$GC,7361,-0.54,-126.5,799.4,-7.3,264,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2569,3361
$GC,7605,-0.54,-126.5,817.0,-7.2,270,7609,0.00,1.58,0.00,0.000,4,0.000,0.051,2498,3559,3359
$GC,7655,-0.54,-126.5,821.3,-9.1,271,7658,0.00,1.42,0.00,0.000,6,0.000,0.026,2503,2588,3359
$GC,7949,-0.54,-126.5,841.9,-7.0,278,7953,0.00,1.58,0.00,0.000,4,0.000,0.025,2508,1476,3358
$GC,8001,-0.54,-126.5,845.4,-6.5,279,8005,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2567,3358
$GC,8296,-0.54,-126.5,866.1,-7.0,286,8299,0.00,1.58,0.00,0.000,4,0.000,0.056,2495,3560,3357
$GC,8326,-0.54,-126.5,868.7,-8.6,286,8329,0.00,1.45,0.00,0.000,6,0.000,0.026,2500,2571,3357
$GC,8592,-0.54,-126.5,887.8,-7.3,293,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2563,3356
$STATE,8789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8790,begin apogee
$GC,8802,-0.20,0.0,903.1,7.6,298,8918,0.40,0.00,113.88,1.259,6,0.101,0.000,2638,2230,2858
$STATE,8919,end apogee,CONTROL_FINISHED_OK
$STATE,8920,begin climb
$GC,8925,0.54,126.5,906.5,0.0,301,9145,0.65,1.62,145.52,1.060,4,0.041,0.027,2890,1171,2342
$GC,9181,0.54,126.5,881.0,16.5,306,9185,0.00,1.70,0.00,0.000,6,0.000,0.039,2890,2235,2338
$GC,9441,0.54,126.5,835.4,17.9,313,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2235,2334
$GC,9685,0.54,126.5,793.6,17.0,319,9688,0.00,1.62,0.00,0.000,4,0.000,0.048,2890,3292,2332
$GC,9726,0.54,126.5,785.8,18.7,319,9734,0.00,1.60,0.00,0.000,6,0.000,0.026,2897,2219,2331
$GC,9981,0.54,126.5,742.8,17.0,326,9985,0.00,1.52,0.00,0.000,4,0.000,0.027,2905,1168,2331
$GC,10005,0.54,126.5,738.0,17.1,326,10009,0.00,1.60,0.00,0.000,6,0.000,0.040,2905,2213,2330
$GC,10276,0.54,126.5,691.1,17.2,333,10280,0.00,1.62,0.00,0.000,4,0.000,0.048,2905,3277,2329
$GC,10318,0.54,126.5,683.2,18.4,333,10327,0.10,1.58,0.00,0.000,6,0.170,0.025,2883,2216,2329
$GC,10572,0.54,126.5,643.8,15.4,340,10576,0.00,1.52,0.00,0.000,4,0.000,0.028,2889,1164,2328
$GC,10652,0.54,126.5,631.4,13.8,341,10656,0.00,1.62,0.00,0.000,6,0.000,0.041,2889,2226,2328
$GC,10913,0.54,126.5,592.2,15.0,348,10917,0.00,1.62,0.00,0.000,4,0.000,0.050,2889,3286,2328
$GC,10949,0.54,126.5,586.3,16.1,348,10952,0.00,1.58,0.00,0.000,6,0.000,0.025,2896,2219,2327
$GC,11209,0.54,126.5,546.2,16.0,355,11213,0.00,1.67,0.00,0.000,4,0.000,0.048,2891,3267,2327
$GC,11294,0.54,126.5,532.2,16.7,356,11302,0.00,1.50,0.00,0.000,6,0.000,0.025,2897,2254,2327
$GC,11549,0.54,126.5,496.0,14.2,363,11553,0.00,1.58,0.00,0.000,4,0.000,0.028,2905,1163,2327
$GC,11599,0.54,126.5,489.4,11.9,364,11603,0.00,1.65,0.00,0.000,6,0.000,0.041,2904,2240,2326
$GC,11893,0.54,126.5,449.2,14.1,371,11894,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2239,2326
$GC,12137,0.54,126.5,414.5,14.4,377,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2239,2326
$GC,12380,0.54,126.5,383.0,12.8,383,12384,0.00,1.62,0.00,0.000,4,0.000,0.049,2904,3300,2326
$GC,12416,0.54,126.5,377.9,13.1,383,12420,0.15,1.58,0.00,0.000,6,0.168,0.025,2874,2230,2325
$GC,12676,0.54,126.5,350.0,10.8,390,12679,0.00,1.65,0.00,0.000,4,0.000,0.046,2873,3285,2325
$GC,12772,0.54,126.5,339.0,11.2,392,12776,0.00,1.55,0.00,0.000,6,0.000,0.025,2879,2231,2325
$GC,13066,0.54,126.5,307.2,10.8,399,13067,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2225,2325
$GC,13309,0.54,126.5,282.8,9.8,405,13313,0.00,1.65,0.00,0.000,4,0.000,0.047,2876,3285,2325
$GC,13406,0.54,126.5,272.6,10.5,407,13410,0.00,1.50,0.00,0.000,6,0.000,0.025,2882,2260,2325
$GC,13695,0.54,126.5,246.0,9.1,414,13696,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2254,2325
$GC,13938,0.54,126.5,223.7,9.5,420,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2253,2325
$GC,14182,0.54,126.5,201.0,9.1,426,14185,0.00,1.60,0.00,0.000,4,0.000,0.044,2876,3303,2325
$GC,14321,0.54,131.2,187.2,8.8,435,14329,0.00,1.52,0.00,0.000,6,0.000,0.022,2882,2247,2325
$GC,14591,0.56,166.7,168.0,7.3,460,14643,0.00,1.58,35.95,0.696,4,0.000,0.025,2889,1173,2177
$GC,14694,0.57,192.2,159.8,7.8,468,14728,0.00,1.67,23.40,0.698,6,0.000,0.038,2889,2243,2073
$GC,14986,0.57,192.2,132.2,10.6,495,14990,0.00,1.60,0.00,0.000,4,0.000,0.045,2890,3294,2068
$GC,15070,0.57,192.2,122.1,11.5,502,15078,0.00,1.55,0.00,0.000,6,0.000,0.022,2896,2240,2067
$GC,15336,0.57,192.2,93.8,10.6,527,15339,0.00,1.55,0.00,0.000,4,0.000,0.025,2899,1160,2068
$GC,15493,0.58,216.4,80.5,7.9,541,15520,0.00,1.60,21.38,0.624,6,0.000,0.036,2899,2224,1974
$GC,15782,0.59,237.0,57.7,8.0,567,15808,0.00,0.00,18.15,0.593,6,0.000,0.000,2899,2224,1891
$GC,16073,0.59,245.3,32.8,8.6,593,16087,0.00,1.60,8.55,0.528,4,0.000,0.041,2899,3287,1857
$GC,16130,0.59,245.3,26.8,10.1,600,16138,0.00,1.60,0.00,0.000,6,0.000,0.021,2899,2197,1857
$STATE,16385,end climb,SURFACE_DEPTH_REACHED
$STATE,16385,begin surface coast
$FINISH,0.4,1.023086
$STATE,16418,end surface coast,CONTROL_FINISHED_OK
$STATE,16419,begin surface
$SM_CCo,16444,59.72,0.545,0,0,1267,390.02
$SM_GC,1.29,0.00,0.00,59.72,0.000,0.000,0.545,34,2542,1267,-8.32,1.19,390.02
$IRIDIUM_FIX,2241.69,-15829.72,010303,020202
$TT8_MAMPS,0.023777
$HUMID,2240
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.00
$XPDR_PINGS,10
$24V_AH,22.5,66.414
$10V_AH,10.5,81.398
$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,18.300,113.175,366.825,59.725,0.000,76.674,141.768,817.924,2.500,0.000,0.000,30.772,1352.222,11302.533,518.671,3013.456,1699.405,33.373,1540.942,0.000,2950.741,0.000,0.544,0.000
$DEVICE_MAMPS,198.653,55.991,1259.414,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,444.191,2149.497,2229.496,1253.816,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54030,653
$CAP_FILE_SIZE,138885,0
$CFSIZE,260165632,231890944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,0
$GPS,051213,073436,2250.597,-15739.623,41,1.1,41,10.1