version: 66.04
glider: 512
mission: 4
dive: 399
start: 12 6 113 3 11 13
data:
$ID,512
$MISSION,4
$DIVE,399
$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,-115476.6
$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,61
$R_STBD_OVSHOOT,63
$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
$GPS1,025036,2244.263,-15742.626,28,1.6,28,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-81.7
$GPS2,031019,2244.281,-15742.788,14,1.6,14,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.110,-0.208
$KALMAN_X,121022.1,-110.2,39.8,-91466.8,1517.9
$KALMAN_Y,-39341.2,-218.2,-554.1,40486.9,2280.1
$MHEAD_RNG_PITCHd_Wd,197.7,87173,-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,-126.5,0.0,0.0,0,87,0.00,0.00,-67.22,0.000,2,0.000,0.000,10,2575,2827
$GC,93,-0.54,-126.5,2.0,-1.4,9,125,9.68,1.58,-13.68,0.000,4,0.199,0.036,2516,1454,3372
$GC,261,-0.54,-126.5,33.1,-18.6,36,265,0.00,1.60,0.00,0.000,6,0.000,0.038,2510,2517,3373
$GC,532,-0.54,-126.5,94.4,-20.7,61,536,0.00,1.62,0.00,0.000,4,0.000,0.045,2501,3604,3374
$GC,581,-0.54,-126.5,103.9,-18.9,65,585,0.00,1.52,0.00,0.000,6,0.000,0.018,2506,2531,3374
$GC,853,-0.54,-126.5,148.1,-15.9,90,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2523,3374
$GC,1118,-0.54,-126.5,186.7,-12.9,115,1122,0.00,1.65,0.00,0.000,4,0.000,0.042,2501,3597,3374
$GC,1159,-0.54,-126.5,192.3,-15.2,118,1163,0.00,1.45,0.00,0.000,6,0.000,0.018,2507,2565,3374
$GC,1421,-0.54,-126.5,228.1,-13.2,128,1425,0.00,1.48,0.00,0.000,4,0.000,0.019,2515,1477,3374
$GC,1462,-0.54,-126.5,233.3,-11.2,128,1470,0.00,1.65,0.00,0.000,6,0.000,0.037,2509,2566,3374
$GC,1717,-0.54,-126.5,262.8,-11.8,135,1720,0.00,1.58,0.00,0.000,4,0.000,0.047,2501,3592,3373
$GC,1776,-0.54,-126.5,270.2,-12.0,136,1780,0.00,1.45,0.00,0.000,6,0.000,0.018,2506,2563,3372
$GC,2059,-0.54,-126.5,302.0,-11.2,143,2063,0.00,1.60,0.00,0.000,4,0.000,0.043,2500,3610,3372
$GC,2155,-0.54,-126.5,312.7,-10.9,145,2159,0.00,1.45,0.00,0.000,6,0.000,0.019,2506,2586,3371
$GC,2449,-0.54,-126.5,345.8,-11.5,152,2453,0.00,1.58,0.00,0.000,4,0.000,0.044,2499,3591,3369
$GC,2507,-0.54,-126.5,352.8,-11.1,153,2511,0.00,1.38,0.00,0.000,6,0.000,0.020,2504,2611,3369
$GC,2790,-0.54,-126.5,381.8,-10.3,160,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2605,3367
$GC,3034,-0.54,-126.5,408.3,-11.0,166,3038,0.00,1.55,-0.08,0.000,4,0.000,0.038,2508,1489,3388
$GC,3097,-0.54,-126.5,415.3,-10.4,167,3101,0.00,1.70,0.00,0.000,6,0.000,0.040,2502,2619,3389
$GC,3374,-0.54,-126.5,445.0,-10.8,174,3378,0.00,1.50,0.00,0.000,4,0.000,0.049,2494,3587,3386
$GC,3449,-0.54,-126.5,452.8,-9.6,175,3452,0.00,1.35,0.00,0.000,6,0.000,0.021,2499,2645,3385
$GC,3715,-0.54,-126.5,476.6,-8.9,182,3719,0.00,1.62,0.00,0.000,4,0.000,0.022,2508,1465,3383
$GC,3801,-0.54,-126.5,483.8,-7.7,183,3809,0.00,1.77,0.00,0.000,6,0.000,0.041,2501,2616,3382
$GC,4056,-0.54,-126.5,507.7,-9.8,190,4059,0.00,1.50,0.00,0.000,4,0.000,0.051,2494,3583,3380
$GC,4115,-0.54,-126.5,514.0,-10.4,191,4119,0.00,1.35,0.00,0.000,6,0.000,0.023,2499,2641,3379
$GC,4398,-0.54,-126.5,542.2,-9.9,198,4402,0.00,1.60,0.00,0.000,4,0.000,0.023,2507,1475,3378
$GC,4449,-0.54,-126.5,546.7,-7.9,199,4452,0.00,1.80,0.00,0.000,6,0.000,0.043,2501,2633,3378
$GC,4744,-0.54,-126.5,572.7,-8.7,206,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2632,3375
$GC,4986,-0.54,-126.5,595.8,-9.5,212,4989,0.00,1.62,0.00,0.000,4,0.000,0.023,2507,1484,3373
$GC,5038,-0.54,-126.5,601.0,-9.0,213,5042,0.00,1.75,0.00,0.000,6,0.000,0.044,2501,2629,3373
$GC,5327,-0.54,-126.5,630.0,-10.3,220,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2629,3371
$GC,5571,-0.54,-126.5,654.7,-10.0,226,5574,0.00,1.62,0.00,0.000,4,0.000,0.024,2507,1485,3370
$GC,5601,-0.54,-126.5,658.1,-9.4,226,5604,0.00,1.75,0.00,0.000,6,0.000,0.045,2501,2625,3370
$GC,5867,-0.54,-126.5,680.5,-8.4,233,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2625,3369
$GC,6110,-0.54,-126.5,700.1,-8.1,239,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2626,3367
$GC,6355,-0.54,-126.5,721.1,-8.7,245,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2625,3365
$GC,6598,-0.54,-126.5,742.1,-8.5,251,6602,0.00,1.65,0.00,0.000,4,0.000,0.025,2506,1491,3364
$GC,6650,-0.54,-126.5,746.8,-8.2,252,6654,0.00,1.73,0.00,0.000,6,0.000,0.046,2501,2611,3364
$GC,6939,-0.54,-126.5,769.6,-7.9,259,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2610,3363
$GC,7183,-0.54,-126.5,790.6,-8.8,265,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2610,3362
$GC,7426,-0.54,-126.5,813.4,-9.5,271,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2610,3361
$GC,7670,-0.54,-126.5,836.3,-9.3,277,7673,0.00,1.55,0.00,0.000,4,0.000,0.057,2493,3584,3359
$GC,7699,-0.54,-126.5,839.4,-9.1,277,7703,0.00,1.42,0.00,0.000,6,0.000,0.028,2498,2619,3359
$GC,7966,-0.54,-126.5,862.5,-8.7,284,7969,0.00,1.60,0.00,0.000,4,0.000,0.027,2507,1476,3358
$GC,7996,-0.54,-126.5,865.4,-8.2,284,8000,0.00,1.73,0.00,0.000,6,0.000,0.046,2500,2592,3358
$GC,8262,-0.54,-126.5,886.6,-8.1,291,8266,0.00,1.58,0.00,0.000,4,0.000,0.057,2493,3580,3358
$GC,8294,-0.54,-126.5,889.5,-9.2,291,8297,0.00,1.42,0.00,0.000,6,0.000,0.028,2498,2613,3358
$STATE,8433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8433,begin apogee
$GC,8445,-0.20,0.0,900.6,7.7,295,8562,0.40,0.00,114.10,1.253,6,0.100,0.000,2636,2253,2858
$STATE,8562,end apogee,CONTROL_FINISHED_OK
$STATE,8562,begin climb
$GC,8568,0.54,126.5,903.9,0.0,298,8793,0.65,1.65,147.57,1.041,4,0.043,0.027,2888,1210,2342
$GC,8862,0.54,126.5,872.6,15.6,304,8865,0.00,1.67,0.00,0.000,6,0.000,0.041,2888,2261,2337
$GC,9122,0.54,126.5,828.5,17.4,311,9126,0.00,1.62,0.00,0.000,4,0.000,0.049,2888,3309,2334
$GC,9153,0.54,126.5,823.0,18.0,311,9157,0.00,1.58,0.00,0.000,6,0.000,0.027,2894,2258,2333
$GC,9420,0.54,126.5,779.1,16.4,318,9423,0.00,1.55,0.00,0.000,4,0.000,0.028,2902,1200,2332
$GC,9444,0.54,126.5,774.7,16.0,318,9448,0.00,1.65,0.00,0.000,6,0.000,0.041,2902,2250,2332
$GC,9715,0.54,126.5,731.0,16.3,325,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2250,2330
$GC,9959,0.54,126.5,691.1,16.3,331,9963,0.00,1.65,0.00,0.000,4,0.000,0.050,2902,3303,2329
$GC,10009,0.54,126.5,683.0,16.3,332,10013,0.08,1.55,0.00,0.000,6,0.173,0.026,2878,2264,2329
$GC,10302,0.54,126.5,641.1,14.3,339,10306,0.00,1.65,0.00,0.000,4,0.000,0.049,2876,3312,2328
$GC,10353,0.54,126.5,633.4,16.8,340,10356,0.00,1.55,0.00,0.000,6,0.000,0.027,2881,2274,2328
$GC,10647,0.54,126.5,590.5,14.4,347,10648,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2267,2328
$GC,10890,0.54,126.5,556.5,13.9,353,10894,0.00,1.58,0.00,0.000,4,0.000,0.028,2889,1194,2327
$GC,10914,0.54,126.5,552.8,14.0,353,10917,0.00,1.67,0.00,0.000,6,0.000,0.042,2889,2283,2328
$GC,11185,0.54,126.5,515.3,13.6,360,11188,0.00,1.60,0.00,0.000,4,0.000,0.049,2889,3306,2326
$GC,11226,0.54,126.5,508.9,14.3,360,11235,0.00,1.52,0.00,0.000,6,0.000,0.026,2896,2275,2325
$GC,11481,0.54,126.5,473.3,14.0,367,11485,0.00,1.58,0.00,0.000,4,0.000,0.029,2900,1199,2325
$GC,11577,0.54,126.5,460.4,13.3,369,11580,0.00,1.65,0.00,0.000,6,0.000,0.043,2900,2265,2325
$GC,11871,0.54,126.5,419.5,14.2,376,11875,0.00,1.60,0.00,0.000,4,0.000,0.028,2907,1188,2325
$GC,11974,0.54,126.5,405.5,12.5,378,11977,0.00,1.60,0.00,0.000,6,0.000,0.041,2905,2232,2324
$GC,12256,0.54,126.5,368.9,12.9,385,12260,0.00,1.65,0.00,0.000,4,0.000,0.049,2905,3308,2324
$GC,12325,0.54,126.5,360.5,11.3,386,12329,0.15,1.60,0.00,0.000,6,0.164,0.025,2874,2205,2324
$GC,12596,0.54,127.8,335.2,8.9,393,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2199,2324
$GC,12840,0.55,136.0,314.5,8.6,399,12849,0.00,0.00,7.18,0.755,6,0.000,0.000,2874,2199,2303
$GC,13083,0.55,136.0,291.9,9.5,405,13087,0.00,1.75,0.00,0.000,4,0.000,0.048,2874,3301,2302
$GC,13152,0.55,136.0,284.5,9.8,406,13155,0.00,1.60,0.00,0.000,6,0.000,0.025,2880,2196,2302
$GC,13424,0.55,136.0,256.8,10.6,413,13425,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2189,2302
$GC,13667,0.55,136.6,233.8,9.0,419,13671,0.00,1.77,0.00,0.000,4,0.000,0.047,2876,3312,2302
$GC,13747,0.55,136.6,225.9,9.5,420,13751,0.00,1.55,0.00,0.000,6,0.000,0.025,2882,2256,2302
$GC,14008,0.55,136.6,202.7,9.0,427,14011,0.00,1.50,0.00,0.000,4,0.000,0.025,2889,1203,2302
$GC,14080,0.56,164.6,196.7,7.7,430,14119,0.00,1.62,29.27,0.715,6,0.000,0.041,2889,2262,2186
$GC,14375,0.56,166.4,169.2,8.9,457,14378,0.00,1.60,0.00,0.000,4,0.000,0.048,2889,3312,2181
$GC,14488,0.56,166.4,158.3,9.5,467,14492,0.00,1.52,0.00,0.000,6,0.000,0.023,2896,2278,2180
$GC,14760,0.56,166.4,131.1,10.4,492,14763,0.00,1.60,0.00,0.000,4,0.000,0.045,2897,3307,2180
$GC,14789,0.56,166.4,127.6,11.0,494,14797,0.00,1.45,0.00,0.000,6,0.000,0.024,2899,2324,2180
$GC,15055,0.56,180.2,104.0,8.3,519,15074,0.00,1.67,14.57,0.636,4,0.000,0.025,2904,1185,2122
$GC,15217,0.57,206.1,90.7,7.8,532,15251,0.00,1.70,23.88,0.633,6,0.000,0.037,2904,2283,2015
$GC,15508,0.59,240.8,65.6,7.3,559,15547,0.00,1.62,30.08,0.611,4,0.000,0.023,2910,1195,1874
$GC,15589,0.60,268.1,59.0,7.7,565,15622,0.00,1.67,23.80,0.592,6,0.000,0.036,2910,2269,1765
$GC,15879,0.60,268.1,29.1,11.0,592,15887,0.00,1.60,0.00,0.000,4,0.000,0.043,2910,3308,1761
$GC,15904,0.60,268.1,26.2,11.2,595,15912,0.00,1.52,0.00,0.000,6,0.000,0.021,2912,2268,1761
$STATE,16111,end climb,SURFACE_DEPTH_REACHED
$STATE,16111,begin surface coast
$FINISH,0.3,0.998989
$STATE,16139,end surface coast,CONTROL_FINISHED_OK
$STATE,16139,begin surface
$SM_CCo,16165,51.70,0.545,0,0,1267,390.02
$SM_GC,1.36,0.00,0.00,51.70,0.000,0.000,0.545,40,2579,1267,-8.31,1.39,390.02
$IRIDIUM_FIX,2234.68,-15740.24,020303,030309
$TT8_MAMPS,0.023777
$HUMID,2256
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.50
$XPDR_PINGS,8
$24V_AH,23.3,67.104
$10V_AH,10.5,82.254
$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,18.275,115.600,390.450,51.700,0.000,115.228,145.328,528.318,2.000,0.000,0.000,14.161,1331.015,11127.816,521.954,2963.911,1450.450,33.375,1541.707,0.000,2921.609,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,56.758,1253.278,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,433.987,2101.866,2181.760,1204.206,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50925,638
$CAP_FILE_SIZE,137211,0
$CFSIZE,260165632,231559168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,061213,074259,2242.397,-15743.598,39,1.9,39,10.1