version: 66.04
glider: 512
mission: 4
dive: 395
start: 12 5 113 7 47 53
data:
$ID,512
$MISSION,4
$DIVE,395
$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,-115396.31
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2704
$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,2525
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,66
$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
$GPS1,073436,2250.597,-15739.623,41,1.1,41,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-83.1
$GPS2,074655,2250.684,-15739.669,17,1.9,17,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.151,-0.181
$KALMAN_X,116138.7,-281.8,-365.7,-80672.5,2521.6
$KALMAN_Y,-42977.4,-482.0,22.4,55672.8,2292.5
$MHEAD_RNG_PITCHd_Wd,209.7,100148,-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,-126.5,0.0,0.0,0,88,0.00,0.00,-67.50,0.000,2,0.000,0.000,10,2541,2838
$GC,93,-0.54,-126.5,2.0,-1.5,9,126,9.70,1.58,-13.43,0.000,4,0.199,0.040,2521,1451,3375
$GC,226,-0.54,-126.5,27.0,-17.3,31,234,0.00,1.60,0.00,0.000,6,0.000,0.036,2516,2498,3376
$GC,500,-0.54,-126.5,87.5,-19.2,57,504,0.00,1.62,0.00,0.000,4,0.000,0.044,2507,3587,3377
$GC,594,-0.54,-126.5,103.6,-14.9,65,598,0.00,1.52,0.00,0.000,6,0.000,0.018,2507,2504,3377
$GC,866,-0.54,-126.5,147.5,-16.1,90,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2497,3378
$GC,1132,-0.54,-126.5,189.1,-14.9,115,1136,0.00,1.65,0.00,0.000,4,0.000,0.041,2499,3595,3378
$GC,1172,-0.54,-126.5,195.7,-15.4,118,1178,0.00,1.42,0.00,0.000,6,0.000,0.018,2504,2570,3379
$GC,1459,-0.54,-126.5,233.9,-13.0,128,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2562,3379
$GC,1702,-0.54,-126.5,265.7,-13.0,134,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2562,3379
$GC,1946,-0.54,-126.5,294.8,-12.0,140,1949,0.00,1.48,0.00,0.000,4,0.000,0.019,2511,1477,3378
$GC,1976,-0.54,-126.5,298.7,-11.4,140,1979,0.00,1.67,0.00,0.000,6,0.000,0.038,2506,2603,3378
$GC,2242,-0.54,-126.5,329.2,-12.0,147,2245,0.00,1.50,0.00,0.000,4,0.000,0.046,2498,3587,3376
$GC,2338,-0.54,-126.5,340.5,-12.3,149,2341,0.00,1.38,0.00,0.000,6,0.000,0.019,2503,2612,3376
$GC,2632,-0.54,-126.5,373.7,-11.2,156,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2604,3374
$GC,2875,-0.54,-126.5,401.5,-11.3,162,2879,0.00,1.55,0.00,0.000,4,0.000,0.020,2511,1482,3372
$GC,2916,-0.54,-126.5,406.1,-9.4,162,2924,0.00,1.75,0.00,0.000,6,0.000,0.040,2505,2625,3371
$GC,3170,-0.54,-126.5,430.8,-9.5,169,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2625,3370
$GC,3415,-0.54,-126.5,452.4,-8.8,175,3418,0.00,1.48,0.00,0.000,4,0.000,0.048,2497,3587,3368
$GC,3465,-0.54,-126.5,457.1,-9.5,176,3468,0.00,1.38,0.00,0.000,6,0.000,0.021,2503,2624,3368
$GC,3759,-0.54,-126.5,484.3,-9.5,183,3763,0.00,1.58,-0.08,0.000,4,0.000,0.038,2508,1488,3391
$GC,3856,-0.54,-126.5,493.1,-8.4,185,3859,0.00,1.67,0.00,0.000,6,0.000,0.040,2501,2598,3390
$GC,4149,-0.54,-126.5,521.0,-9.3,192,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2598,3389
$GC,4393,-0.54,-126.5,541.3,-8.2,198,4397,0.00,1.58,0.00,0.000,4,0.000,0.022,2508,1490,3387
$GC,4435,-0.54,-126.5,544.8,-7.5,198,4443,0.00,1.70,0.00,0.000,6,0.000,0.041,2502,2596,3386
$GC,4690,-0.54,-126.5,564.0,-7.8,205,4694,0.00,1.52,0.00,0.000,4,0.000,0.051,2494,3578,3385
$GC,4765,-0.54,-126.5,570.5,-9.0,206,4768,0.00,1.38,0.00,0.000,6,0.000,0.024,2499,2622,3384
$GC,5031,-0.54,-126.5,593.1,-8.8,213,5035,0.00,1.58,0.00,0.000,4,0.000,0.024,2507,1494,3382
$GC,5082,-0.54,-126.5,597.4,-7.9,214,5086,0.00,1.73,0.00,0.000,6,0.000,0.042,2502,2604,3382
$GC,5376,-0.54,-126.5,624.0,-9.2,221,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2604,3380
$GC,5619,-0.54,-126.5,646.9,-9.4,227,5623,0.00,1.52,0.00,0.000,4,0.000,0.052,2494,3580,3379
$GC,5644,-0.54,-126.5,649.6,-9.7,227,5647,0.00,1.40,0.00,0.000,6,0.000,0.025,2499,2612,3378
$GC,5916,-0.54,-126.5,674.1,-9.2,234,5919,0.00,1.58,0.00,0.000,4,0.000,0.024,2507,1490,3377
$GC,5975,-0.54,-126.5,679.5,-8.1,235,5979,0.00,1.67,0.00,0.000,6,0.000,0.043,2502,2588,3377
$GC,6259,-0.54,-126.5,703.5,-8.6,242,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2588,3375
$GC,6502,-0.54,-126.5,723.9,-8.3,248,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2588,3373
$GC,6745,-0.54,-126.5,743.0,-7.7,254,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2588,3372
$GC,6989,-0.54,-126.5,760.9,-7.3,260,6993,0.00,1.55,0.00,0.000,4,0.000,0.055,2494,3572,3372
$GC,7030,-0.54,-126.5,764.2,-7.7,260,7038,0.00,1.42,0.00,0.000,6,0.000,0.026,2500,2590,3371
$GC,7286,-0.54,-126.5,782.1,-7.2,267,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2589,3371
$GC,7528,-0.54,-126.5,800.0,-7.5,273,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2589,3370
$GC,7772,-0.54,-126.5,818.0,-7.3,279,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2589,3369
$GC,8016,-0.54,-126.5,835.7,-7.3,285,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2589,3368
$GC,8260,-0.54,-126.5,853.5,-7.3,291,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2589,3366
$GC,8503,-0.54,-126.5,871.1,-7.3,297,8507,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3571,3365
$GC,8539,-0.54,-126.5,874.0,-7.8,297,8542,0.00,1.42,0.00,0.000,6,0.000,0.026,2499,2602,3365
$GC,8800,-0.54,-126.5,891.0,-6.4,304,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2593,3365
$STATE,8956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8956,begin apogee
$GC,8969,-0.20,0.0,901.5,6.5,308,9087,0.40,0.00,115.78,1.260,6,0.100,0.000,2638,2226,2858
$STATE,9088,end apogee,CONTROL_FINISHED_OK
$STATE,9088,begin climb
$GC,9093,0.54,126.5,903.9,0.0,311,9290,0.65,0.00,142.57,1.083,6,0.039,0.000,2885,2226,2342
$GC,9508,0.54,126.5,846.7,18.1,321,9512,0.00,1.70,0.00,0.000,4,0.000,0.047,2879,3282,2333
$GC,9537,0.54,126.5,840.7,19.3,321,9541,0.00,1.58,0.00,0.000,6,0.000,0.025,2884,2233,2332
$GC,9803,0.54,126.5,793.4,17.8,328,9807,0.00,1.58,0.00,0.000,4,0.000,0.028,2892,1161,2330
$GC,9822,0.54,126.5,789.5,17.4,328,9825,0.00,1.65,0.00,0.000,6,0.000,0.040,2891,2230,2330
$GC,10100,0.54,126.5,741.5,17.6,335,10103,0.00,1.62,0.00,0.000,4,0.000,0.049,2890,3288,2329
$GC,10149,0.54,126.5,732.4,18.4,336,10153,0.00,1.58,0.00,0.000,6,0.000,0.026,2897,2233,2328
$GC,10444,0.54,126.5,679.5,17.9,343,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2226,2327
$GC,10687,0.54,126.5,638.7,16.6,349,10691,0.00,1.55,0.00,0.000,4,0.000,0.028,2905,1161,2327
$GC,10739,0.54,126.5,630.2,15.3,350,10743,0.00,1.67,0.00,0.000,6,0.000,0.041,2905,2233,2327
$GC,11028,0.54,126.5,585.1,15.9,357,11031,0.00,1.60,0.00,0.000,4,0.000,0.028,2910,1153,2326
$GC,11052,0.54,126.5,580.8,15.2,357,11056,0.00,1.67,0.00,0.000,6,0.000,0.040,2905,2226,2326
$GC,11323,0.54,126.5,538.6,15.8,364,11327,0.00,1.65,0.00,0.000,4,0.000,0.050,2905,3285,2325
$GC,11426,0.54,126.5,521.1,18.8,366,11430,0.08,1.52,0.00,0.000,6,0.176,0.027,2879,2257,2323
$GC,11709,0.54,126.5,482.7,13.2,373,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2250,2324
$GC,11954,0.54,126.5,450.4,13.3,379,11958,0.00,1.60,0.00,0.000,4,0.000,0.028,2885,1158,2324
$GC,12035,0.54,126.5,439.8,12.6,380,12038,0.00,1.73,0.00,0.000,6,0.000,0.041,2886,2284,2323
$GC,12295,0.54,126.5,406.9,12.7,387,12299,0.00,1.55,0.00,0.000,4,0.000,0.048,2886,3281,2323
$GC,12336,0.54,126.5,401.1,13.1,387,12344,0.00,1.45,0.00,0.000,6,0.000,0.025,2892,2292,2323
$GC,12591,0.54,126.5,369.6,12.5,394,12595,0.00,1.65,0.00,0.000,4,0.000,0.028,2901,1154,2323
$GC,12654,0.54,126.5,361.4,12.6,395,12657,0.00,1.77,0.00,0.000,6,0.000,0.041,2901,2310,2323
$GC,12931,0.54,126.5,325.7,13.0,402,12934,0.00,1.67,0.00,0.000,4,0.000,0.026,2908,1160,2323
$GC,12989,0.54,126.5,318.6,11.2,403,12992,0.00,1.75,0.00,0.000,6,0.000,0.041,2905,2300,2323
$GC,13272,0.54,126.5,287.6,10.6,410,13275,0.00,1.52,0.00,0.000,4,0.000,0.048,2905,3281,2323
$GC,13335,0.54,126.5,280.5,10.7,411,13339,0.10,1.42,0.00,0.000,6,0.158,0.023,2880,2303,2323
$GC,13612,0.54,126.5,255.7,9.3,418,13616,0.00,1.62,0.00,0.000,4,0.000,0.026,2887,1160,2323
$GC,13752,0.54,128.5,243.9,8.9,421,13755,0.00,1.77,0.00,0.000,6,0.000,0.039,2887,2320,2323
$GC,14046,0.54,130.0,216.9,8.9,428,14049,0.00,1.48,0.00,0.000,4,0.000,0.047,2887,3278,2323
$GC,14143,0.54,130.0,207.4,10.3,430,14146,0.00,1.40,0.00,0.000,6,0.000,0.023,2894,2314,2323
$GC,14409,0.56,170.9,185.7,7.0,449,14464,0.00,1.73,40.95,0.696,4,0.000,0.026,2899,1156,2160
$GC,14588,0.56,170.9,170.2,9.1,464,14592,0.00,1.85,0.00,0.000,6,0.000,0.039,2899,2348,2156
$GC,14861,0.56,170.9,143.7,9.5,489,14864,0.00,1.75,0.00,0.000,4,0.000,0.025,2899,1149,2156
$GC,14890,0.56,170.9,140.9,9.7,491,14893,0.00,1.83,0.00,0.000,6,0.000,0.038,2899,2343,2155
$GC,15161,0.56,170.9,114.1,10.6,516,15165,0.00,1.42,0.00,0.000,4,0.000,0.044,2899,3275,2155
$GC,15286,0.56,170.9,101.5,9.4,527,15290,0.00,1.35,0.00,0.000,6,0.000,0.021,2906,2336,2155
$GC,15558,0.58,226.2,76.7,6.4,552,15611,0.00,1.75,47.30,0.632,4,0.000,0.023,2912,1160,1934
$GC,15693,0.59,251.0,65.4,7.8,563,15721,0.00,1.80,21.65,0.601,6,0.000,0.035,2912,2313,1834
$GC,15984,0.59,251.0,37.3,10.3,589,15988,0.00,1.67,0.00,0.000,4,0.000,0.024,2912,1158,1830
$GC,16034,0.59,254.3,31.8,8.8,593,16037,0.00,1.73,0.00,0.000,6,0.000,0.035,2911,2294,1828
$GC,16301,0.59,254.3,3.3,11.5,640,16308,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2294,1828
$STATE,16314,end climb,SURFACE_DEPTH_REACHED
$STATE,16315,begin surface coast
$FINISH,0.3,1.022792
$STATE,16343,end surface coast,CONTROL_FINISHED_OK
$STATE,16343,begin surface
$SM_CCo,16369,56.90,0.543,0,0,1267,390.02
$SM_GC,1.40,0.00,0.00,56.90,0.000,0.000,0.543,40,2559,1267,-8.32,0.93,390.02
$IRIDIUM_FIX,2241.69,-15739.35,010303,070738
$TT8_MAMPS,0.023777
$HUMID,2238
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.80
$XPDR_PINGS,9
$24V_AH,23.3,66.553
$10V_AH,10.5,81.568
$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,18.250,105.925,368.250,56.900,0.000,64.392,80.609,324.424,2.250,0.000,0.000,17.404,1338.752,11237.474,517.434,2946.391,1123.672,33.378,1495.898,0.000,2916.288,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,55.224,1260.181,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,440.443,2129.548,2213.923,1219.639,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53964,647
$CAP_FILE_SIZE,127047,0
$CFSIZE,260165632,231829504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,1
$GPS,051213,122306,2249.282,-15740.302,36,0.9,36,10.1