version: 66.04
glider: 512
mission: 4
dive: 397
start: 12 5 113 17 24 5
data:
$ID,512
$MISSION,4
$DIVE,397
$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,-115444.21
$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,65
$R_STBD_OVSHOOT,31
$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
$GPS1,171405,2247.279,-15741.255,36,1.3,36,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-82.7
$GPS2,172312,2247.337,-15741.244,15,1.3,32,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.145,-0.185
$KALMAN_X,118392.2,16.5,-394.1,-85889.9,2284.5
$KALMAN_Y,-41649.6,154.5,-479.3,48009.8,2020.7
$MHEAD_RNG_PITCHd_Wd,208.0,93397,-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,23,-0.54,-126.5,0.0,0.0,0,100,0.00,0.00,-74.82,0.000,2,0.000,0.000,17,2541,3020
$GC,106,-0.54,-126.5,2.2,-1.8,10,130,9.73,1.55,-7.80,0.000,4,0.200,0.038,2524,1453,3374
$GC,237,-0.54,-126.5,32.6,-17.8,31,241,0.00,1.62,0.00,0.000,6,0.000,0.039,2518,2523,3375
$GC,509,-0.54,-126.5,91.2,-18.8,56,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2522,3375
$GC,775,-0.54,-126.5,132.2,-14.5,81,778,0.00,1.62,0.00,0.000,4,0.000,0.046,2510,3585,3376
$GC,910,-0.54,-126.5,151.9,-14.0,93,914,0.00,1.58,0.00,0.000,6,0.000,0.018,2512,2477,3377
$GC,1181,-0.54,-126.5,189.3,-13.0,118,1185,0.00,1.38,0.00,0.000,4,0.000,0.020,2514,1461,3377
$GC,1221,-0.54,-126.5,194.0,-11.6,121,1224,0.00,1.58,0.00,0.000,6,0.000,0.038,2509,2499,3377
$GC,1483,-0.54,-126.5,227.5,-13.2,131,1487,0.00,1.62,0.00,0.000,4,0.000,0.046,2500,3585,3377
$GC,1635,-0.54,-126.5,248.3,-13.1,134,1639,0.00,1.52,0.00,0.000,6,0.000,0.019,2506,2498,3377
$GC,1912,-0.54,-126.5,281.3,-12.0,141,1916,0.00,1.65,0.00,0.000,4,0.000,0.044,2500,3582,3377
$GC,1965,-0.54,-126.5,287.9,-11.6,142,1968,0.00,1.50,0.00,0.000,6,0.000,0.020,2506,2521,3377
$GC,2253,-0.54,-126.5,319.6,-11.0,149,2256,0.00,1.42,0.00,0.000,4,0.000,0.021,2513,1477,3375
$GC,2294,-0.54,-126.5,324.2,-9.4,149,2302,0.00,1.58,0.00,0.000,6,0.000,0.038,2508,2516,3375
$GC,2549,-0.54,-126.5,351.1,-11.0,156,2552,0.00,1.62,0.00,0.000,4,0.000,0.049,2500,3592,3374
$GC,2590,-0.54,-126.5,355.9,-10.9,156,2598,0.00,1.52,0.00,0.000,6,0.000,0.020,2505,2512,3373
$GC,2845,-0.54,-126.5,381.1,-10.0,163,2849,0.00,1.42,0.00,0.000,4,0.000,0.021,2512,1478,3372
$GC,2875,-0.54,-126.5,384.3,-9.1,163,2878,0.00,1.58,0.00,0.000,6,0.000,0.038,2507,2513,3372
$GC,3141,-0.54,-126.5,409.8,-9.8,170,3144,0.00,1.62,0.00,0.000,4,0.000,0.049,2499,3585,3369
$GC,3243,-0.54,-126.5,421.4,-10.7,172,3246,0.00,1.50,0.00,0.000,6,0.000,0.021,2505,2537,3368
$GC,3525,-0.54,-126.5,451.5,-10.7,179,3529,0.00,1.62,0.00,0.000,4,0.000,0.048,2499,3587,3367
$GC,3582,-0.54,-126.5,458.5,-12.1,180,3586,0.00,1.50,0.00,0.000,6,0.000,0.021,2505,2544,3366
$GC,3866,-0.54,-126.5,488.1,-10.3,187,3867,0.00,0.00,-0.08,0.000,6,0.000,0.000,2504,2536,3389
$GC,4109,-0.54,-126.5,511.7,-9.5,193,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2537,3388
$GC,4353,-0.54,-126.5,535.1,-9.7,199,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2536,3387
$GC,4597,-0.54,-126.5,556.9,-8.7,205,4601,0.00,1.65,0.00,0.000,4,0.000,0.050,2499,3581,3385
$GC,4638,-0.54,-126.5,560.7,-8.7,205,4647,0.00,1.50,0.00,0.000,6,0.000,0.024,2505,2541,3385
$GC,4893,-0.54,-126.5,579.6,-7.5,212,4897,0.00,1.50,0.00,0.000,4,0.000,0.025,2512,1478,3383
$GC,4929,-0.54,-126.5,582.5,-6.9,212,4933,0.00,1.65,0.00,0.000,6,0.000,0.042,2507,2565,3382
$GC,5190,-0.54,-126.5,601.4,-7.5,219,5194,0.00,1.60,0.00,0.000,4,0.000,0.054,2499,3582,3381
$GC,5226,-0.54,-126.5,604.7,-8.5,219,5230,0.00,1.48,0.00,0.000,6,0.000,0.024,2504,2570,3380
$GC,5487,-0.54,-126.5,625.0,-7.9,226,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2562,3379
$GC,5730,-0.54,-126.5,647.4,-9.4,232,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2562,3378
$GC,5974,-0.54,-126.5,672.2,-10.1,238,5978,0.00,1.62,0.00,0.000,4,0.000,0.051,2499,3583,3377
$GC,6009,-0.54,-126.5,676.1,-10.2,238,6012,0.00,1.50,0.00,0.000,6,0.000,0.025,2504,2559,3376
$GC,6269,-0.54,-126.5,699.0,-8.8,245,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2551,3375
$GC,6513,-0.54,-126.5,719.1,-8.3,251,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2551,3374
$GC,6757,-0.54,-126.5,738.4,-7.8,257,6760,0.00,1.62,0.00,0.000,4,0.000,0.052,2499,3588,3372
$GC,6815,-0.54,-126.5,743.6,-8.2,258,6818,0.00,1.52,0.00,0.000,6,0.000,0.026,2504,2553,3372
$GC,7098,-0.54,-126.5,764.8,-7.4,265,7101,0.00,1.52,0.00,0.000,4,0.000,0.026,2508,1478,3371
$GC,7151,-0.54,-126.5,768.8,-7.0,266,7154,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2551,3371
$GC,7439,-0.54,-126.5,789.0,-7.1,273,7443,0.00,1.62,0.00,0.000,4,0.000,0.056,2494,3593,3370
$GC,7471,-0.54,-126.5,791.7,-8.0,273,7475,0.00,1.52,0.00,0.000,6,0.000,0.025,2500,2556,3370
$GC,7738,-0.54,-126.5,812.0,-7.7,280,7741,0.00,1.62,0.00,0.000,4,0.000,0.052,2494,3584,3369
$GC,7768,-0.54,-126.5,814.7,-8.5,280,7772,0.00,1.50,0.00,0.000,6,0.000,0.027,2500,2568,3369
$GC,8034,-0.54,-126.5,835.6,-7.9,287,8038,0.00,1.55,0.00,0.000,4,0.000,0.027,2508,1476,3368
$GC,8065,-0.54,-126.5,838.2,-7.7,287,8068,0.00,1.67,0.00,0.000,6,0.000,0.046,2502,2565,3368
$GC,8331,-0.54,-126.5,857.1,-7.2,294,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2565,3367
$GC,8574,-0.54,-126.5,874.3,-7.0,300,8578,0.00,1.62,0.00,0.000,4,0.000,0.057,2494,3582,3366
$GC,8624,-0.54,-126.5,877.8,-7.1,301,8628,0.00,1.50,0.00,0.000,6,0.000,0.026,2500,2570,3365
$GC,8918,-0.54,-126.5,897.9,-6.8,308,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2561,3365
$STATE,8953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8953,begin apogee
$GC,8965,-0.20,0.0,900.6,6.7,309,9084,0.40,0.00,115.62,1.259,6,0.101,0.000,2637,2197,2858
$STATE,9085,end apogee,CONTROL_FINISHED_OK
$STATE,9085,begin climb
$GC,9090,0.54,126.5,903.3,0.0,312,9315,0.68,1.60,147.60,1.045,4,0.041,0.026,2895,1199,2342
$GC,9355,0.54,126.5,875.0,18.5,318,9359,0.00,1.65,0.00,0.000,6,0.000,0.040,2891,2229,2338
$GC,9649,0.54,126.5,823.0,17.5,325,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2229,2333
$GC,9893,0.54,126.5,781.3,17.0,331,9897,0.00,1.65,0.00,0.000,4,0.000,0.049,2891,3280,2332
$GC,9951,0.54,126.5,770.7,17.4,332,9954,0.00,1.55,0.00,0.000,6,0.000,0.025,2897,2233,2331
$GC,10233,0.54,126.5,723.3,16.7,339,10237,0.00,1.55,0.00,0.000,4,0.000,0.027,2905,1166,2330
$GC,10285,0.54,126.5,714.7,15.8,340,10289,0.00,1.62,0.00,0.000,6,0.000,0.041,2905,2222,2330
$GC,10574,0.54,126.5,667.7,16.5,347,10578,0.00,1.62,0.00,0.000,4,0.000,0.049,2905,3281,2329
$GC,10615,0.54,126.5,660.0,17.8,347,10624,0.10,1.58,0.00,0.000,6,0.170,0.025,2882,2216,2328
$GC,10870,0.54,126.5,621.7,15.3,354,10873,0.00,1.67,0.00,0.000,4,0.000,0.048,2877,3282,2328
$GC,10967,0.54,126.5,605.5,16.2,356,10970,0.00,1.52,0.00,0.000,6,0.000,0.025,2883,2244,2327
$GC,11255,0.54,126.5,563.5,14.5,363,11256,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2238,2327
$GC,11499,0.54,126.5,529.1,14.0,369,11502,0.00,1.55,0.00,0.000,4,0.000,0.028,2890,1173,2327
$GC,11534,0.54,126.5,523.9,13.8,369,11538,0.00,1.67,0.00,0.000,6,0.000,0.041,2890,2264,2326
$GC,11795,0.54,126.5,486.4,14.7,376,11799,0.00,1.60,0.00,0.000,4,0.000,0.050,2891,3287,2327
$GC,11825,0.54,126.5,481.2,15.4,376,11829,0.00,1.52,0.00,0.000,6,0.000,0.025,2897,2251,2326
$GC,12091,0.54,126.5,443.2,14.1,383,12095,0.00,1.58,0.00,0.000,4,0.000,0.028,2902,1171,2326
$GC,12141,0.54,126.5,437.0,12.5,384,12145,0.00,1.67,0.00,0.000,6,0.000,0.041,2903,2260,2326
$GC,12435,0.54,126.5,400.6,12.7,391,12439,0.00,1.58,0.00,0.000,4,0.000,0.049,2902,3271,2325
$GC,12487,0.54,126.5,392.7,14.6,392,12491,0.08,1.50,0.00,0.000,6,0.161,0.024,2876,2250,2324
$GC,12776,0.54,126.5,358.9,11.7,399,12779,0.00,1.58,0.00,0.000,4,0.000,0.027,2883,1157,2324
$GC,12878,0.54,126.5,347.8,10.4,401,12882,0.00,1.65,0.00,0.000,6,0.000,0.041,2877,2232,2324
$GC,13161,0.54,126.5,320.3,9.7,408,13164,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3297,2324
$GC,13257,0.54,126.5,310.6,11.1,410,13260,0.00,1.58,0.00,0.000,6,0.000,0.024,2882,2224,2324
$GC,13551,0.54,126.5,281.3,10.1,417,13555,0.00,1.52,0.00,0.000,4,0.000,0.025,2889,1164,2324
$GC,13698,0.54,126.5,266.8,9.2,420,13702,0.00,1.62,0.00,0.000,6,0.000,0.040,2889,2229,2324
$GC,13981,0.54,133.3,240.9,8.7,427,13991,0.00,1.65,4.60,0.595,4,0.000,0.047,2889,3281,2314
$GC,14038,0.54,133.3,235.0,9.4,428,14041,0.00,1.50,0.00,0.000,6,0.000,0.022,2896,2244,2314
$GC,14321,0.55,134.2,209.8,9.0,435,14324,0.00,1.60,0.00,0.000,4,0.000,0.044,2891,3281,2314
$GC,14473,0.55,134.2,194.8,9.4,439,14481,0.00,1.45,0.00,0.000,6,0.000,0.022,2896,2277,2314
$GC,14739,0.55,134.2,170.3,9.2,464,14742,0.00,1.58,0.00,0.000,4,0.000,0.025,2899,1178,2314
$GC,14922,0.56,176.5,155.9,7.0,480,14974,0.00,1.65,41.75,0.687,6,0.000,0.038,2899,2264,2137
$GC,15230,0.56,176.5,126.4,9.7,508,15234,0.00,1.60,0.00,0.000,4,0.000,0.025,2899,1168,2132
$GC,15301,0.56,176.5,120.1,9.1,514,15305,0.00,1.62,0.00,0.000,6,0.000,0.035,2900,2241,2131
$GC,15577,0.57,186.5,95.6,8.5,539,15592,0.00,1.62,9.65,0.597,4,0.000,0.044,2899,3275,2097
$GC,15665,0.57,186.5,86.7,10.2,546,15673,0.00,1.55,0.00,0.000,6,0.000,0.021,2907,2213,2095
$GC,15931,0.58,216.9,64.4,7.5,571,15968,0.00,1.73,27.10,0.608,4,0.000,0.041,2907,3285,1972
$GC,16051,0.58,216.9,52.8,10.1,581,16055,0.00,1.55,0.00,0.000,6,0.000,0.021,2912,2235,1970
$GC,16321,0.58,216.9,26.2,10.3,609,16329,0.00,1.55,0.00,0.000,4,0.000,0.025,2915,1157,1969
$GC,16371,0.58,216.9,21.0,9.0,617,16380,0.00,1.62,0.00,0.000,6,0.000,0.035,2915,2217,1969
$STATE,16553,end climb,SURFACE_DEPTH_REACHED
$STATE,16553,begin surface coast
$FINISH,0.5,1.023583
$STATE,16581,end surface coast,CONTROL_FINISHED_OK
$STATE,16581,begin surface
$SM_CCo,16607,71.68,0.545,0,0,1267,390.02
$SM_GC,1.16,0.00,0.00,71.68,0.000,0.000,0.545,28,2560,1267,-8.36,0.99,390.02
$IRIDIUM_FIX,2239.35,-15739.35,010303,121245
$TT8_MAMPS,0.023777
$HUMID,2211
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.80
$XPDR_PINGS,10
$24V_AH,22.3,66.812
$10V_AH,10.5,81.911
$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,18.350,123.975,346.325,71.675,0.000,24.871,42.160,261.237,2.500,0.000,0.000,32.779,1394.328,11163.841,516.436,3159.204,985.875,33.375,1594.332,0.000,3085.488,0.000,0.543,0.000
$DEVICE_MAMPS,200.187,56.758,1258.647,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,445.652,2156.588,2234.891,1230.897,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54060,655
$CAP_FILE_SIZE,135471,0
$CFSIZE,260165632,231690240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,051213,220335,2246.498,-15742.008,35,1.0,41,10.1