version: 66.04
glider: 512
mission: 4
dive: 398
start: 12 5 113 22 13 1
data:
$ID,512
$MISSION,4
$DIVE,398
$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,-115461.8
$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,2530
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,46
$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
$GPS1,220335,2246.498,-15742.008,35,1.0,41,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-82.3
$GPS2,221207,2246.540,-15741.982,16,1.6,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.135,-0.192
$KALMAN_X,119509.5,36.6,83.2,-88764.7,1435.1
$KALMAN_Y,-40332.4,78.2,500.3,44304.8,282.0
$MHEAD_RNG_PITCHd_Wd,205.1,91577,-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,-74.82,0.000,2,0.000,0.000,14,2560,3032
$GC,101,-0.54,-126.5,2.4,-2.5,10,125,9.60,1.58,-7.35,0.000,4,0.196,0.036,2520,1434,3374
$GC,256,-0.54,-126.5,37.5,-17.5,33,260,0.00,1.65,0.00,0.000,6,0.000,0.039,2514,2523,3375
$GC,528,-0.54,-126.5,95.5,-18.2,58,532,0.00,1.62,0.00,0.000,4,0.000,0.047,2506,3597,3375
$GC,633,-0.54,-126.5,114.2,-15.6,67,641,0.00,1.55,0.00,0.000,6,0.000,0.018,2506,2504,3376
$GC,899,-0.54,-126.5,156.5,-15.1,92,902,0.00,1.40,0.00,0.000,4,0.000,0.018,2513,1465,3377
$GC,937,-0.54,-126.5,162.3,-14.3,95,940,0.00,1.62,0.00,0.000,6,0.000,0.038,2507,2546,3377
$GC,1208,-0.54,-126.5,200.9,-14.5,120,1212,0.00,1.60,0.00,0.000,4,0.000,0.048,2498,3591,3377
$GC,1258,-0.54,-126.5,207.8,-13.0,121,1262,0.00,1.50,0.00,0.000,6,0.000,0.018,2505,2532,3377
$GC,1553,-0.54,-126.5,244.6,-12.0,128,1556,0.00,1.62,0.00,0.000,4,0.000,0.044,2499,3596,3377
$GC,1627,-0.54,-126.5,255.0,-13.8,129,1631,0.00,1.52,0.00,0.000,6,0.000,0.018,2504,2511,3377
$GC,1893,-0.54,-126.5,288.0,-12.4,136,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2504,3377
$GC,2137,-0.54,-126.5,315.4,-11.1,142,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2504,3376
$GC,2380,-0.54,-126.5,342.2,-11.0,148,2384,0.00,1.67,0.00,0.000,4,0.000,0.045,2499,3602,3374
$GC,2493,-0.54,-126.5,355.5,-11.1,150,2497,0.00,1.52,0.00,0.000,6,0.000,0.021,2504,2535,3373
$GC,2765,-0.54,-126.5,386.1,-11.3,157,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2527,3371
$GC,3008,-0.54,-126.5,410.9,-9.9,163,3012,0.00,1.65,0.00,0.000,4,0.000,0.048,2498,3599,3370
$GC,3072,-0.54,-126.5,417.2,-8.7,164,3075,0.00,1.55,0.00,0.000,6,0.000,0.021,2504,2518,3369
$GC,3349,-0.54,-126.5,442.3,-9.2,171,3353,0.00,1.67,0.00,0.000,4,0.000,0.048,2498,3598,3368
$GC,3391,-0.54,-126.5,446.4,-9.7,171,3399,0.00,1.52,0.00,0.000,6,0.000,0.021,2505,2526,3367
$GC,3645,-0.54,-126.5,469.5,-9.2,178,3650,0.00,1.48,-0.08,0.000,4,0.000,0.040,2512,1487,3390
$GC,3686,-0.54,-126.5,473.7,-9.1,178,3695,0.00,1.62,0.00,0.000,6,0.000,0.041,2506,2542,3390
$GC,3941,-0.54,-126.5,497.6,-9.9,185,3945,0.00,1.62,0.00,0.000,4,0.000,0.052,2498,3596,3388
$GC,4038,-0.54,-126.5,507.4,-10.5,187,4041,0.00,1.50,0.00,0.000,6,0.000,0.022,2504,2564,3387
$GC,4331,-0.54,-126.5,538.0,-10.3,194,4335,0.00,1.52,0.00,0.000,4,0.000,0.023,2512,1472,3385
$GC,4417,-0.54,-126.5,546.4,-8.7,195,4425,0.00,1.67,0.00,0.000,6,0.000,0.042,2506,2555,3385
$GC,4673,-0.54,-126.5,568.4,-8.7,202,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2555,3383
$GC,4916,-0.54,-126.5,589.6,-8.7,208,4919,0.00,1.60,0.00,0.000,4,0.000,0.054,2498,3594,3381
$GC,4984,-0.54,-126.5,596.0,-9.5,209,4988,0.00,1.52,0.00,0.000,6,0.000,0.023,2504,2548,3380
$GC,5257,-0.54,-126.5,619.0,-8.6,216,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2539,3379
$GC,5500,-0.54,-126.5,640.3,-8.8,222,5503,0.00,1.65,0.00,0.000,4,0.000,0.053,2498,3594,3378
$GC,5550,-0.54,-126.5,644.8,-8.6,223,5554,0.00,1.55,0.00,0.000,6,0.000,0.024,2504,2537,3377
$GC,5845,-0.54,-126.5,670.9,-8.9,230,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2530,3375
$GC,6089,-0.54,-126.5,692.7,-9.0,236,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2530,3374
$GC,6332,-0.54,-126.5,714.3,-8.9,242,6336,0.00,1.50,0.00,0.000,4,0.000,0.025,2512,1472,3372
$GC,6384,-0.54,-126.5,719.0,-8.0,243,6388,0.00,1.67,0.00,0.000,6,0.000,0.045,2506,2540,3372
$GC,6673,-0.54,-126.5,741.7,-7.9,250,6676,0.00,1.65,0.00,0.000,4,0.000,0.057,2498,3599,3371
$GC,6714,-0.54,-126.5,745.4,-8.1,250,6722,0.00,1.52,0.00,0.000,6,0.000,0.025,2504,2553,3370
$GC,6969,-0.54,-126.5,764.4,-7.5,257,6973,0.00,1.65,0.00,0.000,4,0.000,0.053,2498,3584,3369
$GC,7021,-0.54,-126.5,768.6,-7.4,258,7024,0.00,1.48,0.00,0.000,6,0.000,0.027,2503,2584,3369
$GC,7310,-0.54,-126.5,788.0,-6.7,265,7314,0.00,1.55,0.00,0.000,4,0.000,0.025,2511,1488,3369
$GC,7340,-0.54,-126.5,790.4,-7.0,265,7344,0.00,1.70,0.00,0.000,6,0.000,0.046,2506,2591,3369
$GC,7607,-0.54,-126.5,808.0,-6.9,272,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2591,3367
$GC,7850,-0.54,-126.5,825.9,-7.4,278,7854,0.00,1.60,0.00,0.000,4,0.000,0.058,2498,3612,3366
$GC,7880,-0.54,-126.5,828.8,-9.0,278,7884,0.00,1.52,0.00,0.000,6,0.000,0.027,2503,2584,3365
$GC,8146,-0.54,-126.5,849.7,-8.1,285,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2576,3365
$GC,8390,-0.54,-126.5,870.0,-8.4,291,8393,0.00,1.55,0.00,0.000,4,0.000,0.026,2511,1493,3364
$GC,8409,-0.54,-126.5,871.8,-8.3,291,8413,0.00,1.70,0.00,0.000,6,0.000,0.048,2506,2590,3364
$GC,8686,-0.54,-126.5,893.3,-7.8,298,8690,0.00,1.60,0.00,0.000,4,0.000,0.058,2498,3606,3364
$GC,8716,-0.54,-126.5,896.1,-9.1,298,8720,0.00,1.52,0.00,0.000,6,0.000,0.028,2503,2581,3363
$STATE,8774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8774,begin apogee
$GC,8785,-0.20,0.0,900.7,7.7,300,8904,0.40,0.00,115.55,1.253,6,0.101,0.000,2641,2240,2858
$STATE,8905,end apogee,CONTROL_FINISHED_OK
$STATE,8905,begin climb
$GC,8910,0.54,126.5,904.5,0.0,303,9133,0.62,0.00,147.93,1.045,6,0.037,0.000,2885,2240,2342
$GC,9371,0.54,126.5,842.9,17.9,314,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2240,2334
$GC,9616,0.54,126.5,799.6,17.7,320,9617,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2240,2333
$GC,9859,0.54,126.5,758.2,17.0,326,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2240,2331
$GC,10103,0.54,126.5,718.2,16.4,332,10106,0.00,1.70,0.00,0.000,4,0.000,0.051,2879,3308,2330
$GC,10166,0.54,126.5,706.6,17.7,333,10169,0.00,1.55,0.00,0.000,6,0.000,0.028,2885,2271,2329
$GC,10443,0.54,126.5,661.4,16.4,340,10447,0.00,1.58,0.00,0.000,4,0.000,0.030,2892,1194,2329
$GC,10540,0.54,126.5,645.8,14.9,342,10543,0.00,1.62,0.00,0.000,6,0.000,0.042,2891,2250,2328
$GC,10828,0.54,126.5,601.2,15.7,349,10831,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3307,2328
$GC,10886,0.54,126.5,591.3,15.6,350,10889,0.00,1.58,0.00,0.000,6,0.000,0.028,2897,2246,2327
$GC,11169,0.54,126.5,549.5,14.7,357,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2241,2327
$GC,11412,0.54,126.5,514.1,14.6,363,11415,0.00,1.52,0.00,0.000,4,0.000,0.029,2905,1196,2326
$GC,11487,0.54,126.5,503.0,14.1,364,11491,0.00,1.62,0.00,0.000,6,0.000,0.043,2905,2250,2327
$GC,11753,0.54,126.5,465.7,14.3,371,11754,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2250,2326
$GC,11996,0.54,126.5,430.7,14.1,377,12000,0.00,1.58,0.00,0.000,4,0.000,0.028,2910,1195,2326
$GC,12020,0.54,126.5,427.2,13.1,377,12024,0.00,1.62,0.00,0.000,6,0.000,0.041,2905,2256,2326
$GC,12292,0.54,126.5,394.1,11.9,384,12296,0.12,1.62,0.00,0.000,4,0.175,0.048,2873,3315,2326
$GC,12311,0.54,126.5,391.4,11.8,384,12315,0.00,1.58,0.00,0.000,6,0.000,0.025,2879,2247,2326
$GC,12588,0.54,126.5,361.8,10.9,391,12589,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2241,2325
$GC,12831,0.54,126.5,333.9,11.2,397,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2242,2325
$GC,13076,0.54,126.5,308.0,10.4,403,13079,0.00,1.70,0.00,0.000,4,0.000,0.050,2876,3308,2325
$GC,13128,0.54,126.5,302.4,10.0,404,13131,0.00,1.52,0.00,0.000,6,0.000,0.026,2881,2270,2325
$GC,13416,0.54,126.5,272.7,10.7,411,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2265,2324
$GC,13659,0.54,126.5,247.9,10.2,417,13663,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3308,2325
$GC,13710,0.54,126.5,242.7,9.9,418,13714,0.00,1.52,0.00,0.000,6,0.000,0.025,2882,2272,2325
$GC,14004,0.54,133.9,216.9,8.7,425,14011,0.00,0.00,5.07,0.612,6,0.000,0.000,2882,2267,2312
$GC,14250,0.55,155.4,195.9,8.0,434,14286,0.00,0.00,23.25,0.703,6,0.000,0.000,2882,2266,2223
$GC,14550,0.55,156.8,170.1,8.9,461,14557,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2266,2220
$GC,14816,0.55,156.8,145.3,9.5,486,14819,0.00,1.55,0.00,0.000,4,0.000,0.026,2889,1194,2220
$GC,14845,0.55,156.8,142.6,9.4,488,14848,0.00,1.67,0.00,0.000,6,0.000,0.038,2889,2291,2219
$GC,15117,0.56,161.9,117.6,8.8,513,15130,0.00,1.62,6.32,0.585,4,0.000,0.024,2896,1193,2200
$GC,15273,0.56,176.8,105.4,8.3,526,15292,0.00,1.62,15.27,0.644,6,0.000,0.038,2896,2265,2136
$GC,15556,0.57,208.3,82.5,7.5,551,15595,0.00,1.65,28.23,0.632,4,0.000,0.045,2891,3306,2007
$GC,15668,0.58,216.8,73.1,8.6,560,15683,0.00,1.55,8.70,0.565,6,0.000,0.022,2898,2242,1973
$GC,15946,0.59,244.7,50.4,7.7,585,15975,0.00,1.52,24.62,0.594,4,0.000,0.025,2899,1205,1859
$GC,16044,0.60,277.8,42.4,7.4,593,16083,0.00,1.58,28.67,0.584,6,0.000,0.036,2899,2215,1724
$GC,16342,0.60,277.8,15.3,9.6,634,16350,0.00,1.67,0.00,0.000,4,0.000,0.044,2899,3301,1720
$GC,16404,0.60,279.5,9.4,8.9,644,16413,0.00,1.55,0.00,0.000,6,0.000,0.021,2899,2238,1720
$STATE,16471,end climb,SURFACE_DEPTH_REACHED
$STATE,16471,begin surface coast
$FINISH,0.3,1.003734
$STATE,16504,end surface coast,CONTROL_FINISHED_OK
$STATE,16504,begin surface
$SM_CCo,16530,46.80,0.542,0,0,1267,390.02
$SM_GC,1.14,0.00,0.00,46.80,0.000,0.000,0.542,37,2581,1267,-8.32,1.44,390.02
$IRIDIUM_FIX,2237.01,-15740.24,010303,171705
$TT8_MAMPS,0.023777
$HUMID,2241
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.70
$XPDR_PINGS,6
$24V_AH,22.8,66.946
$10V_AH,10.5,82.081
$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,18.075,105.725,403.625,46.800,0.000,30.123,37.849,243.372,1.500,0.000,0.000,16.959,1358.246,11233.423,529.891,3006.083,956.341,33.381,1549.989,0.000,2965.771,0.000,0.544,0.000
$DEVICE_MAMPS,196.352,58.292,1253.278,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,450.242,2180.925,2265.219,1260.530,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53967,662
$CAP_FILE_SIZE,127351,0
$CFSIZE,260165632,231628800
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,061213,025036,2244.263,-15742.626,28,1.6,28,10.1