version: 66.04 glider: 512 mission: 4 dive: 400 start: 12 6 113 7 51 36 data: $ID,512 $MISSION,4 $DIVE,400 $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,-115494.8 $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,61 $R_STBD_OVSHOOT,53 $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 $GPS1,074259,2242.397,-15743.598,39,1.9,39,10.1 $_CALLS,1 $_XMS_NAKs,3 $_XMS_TOUTs,1 $_SM_DEPTHo,1.41 $_SM_ANGLEo,-83.5 $GPS2,075043,2242.417,-15743.632,17,1.8,17,10.1 $SPEED_LIMITS,0.212,0.235 $TGT_NAME,WAYHM $TGT_LATLONG,2200.000,-15800.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.164,-0.168 $KALMAN_X,122216.1,-212.1,-327.6,-93629.0,2603.6 $KALMAN_Y,-39070.2,-447.1,54.3,36388.5,1459.6 $MHEAD_RNG_PITCHd_Wd,214.2,83432,-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,17,-0.54,-126.5,0.0,0.0,0,87,0.00,0.00,-67.40,0.000,2,0.000,0.000,16,2579,2847 $GC,93,-0.54,-126.5,2.2,-1.8,9,125,9.62,1.60,-12.80,0.000,4,0.199,0.038,2521,1466,3375 $GC,252,-0.54,-126.5,33.8,-18.5,34,261,0.00,1.60,0.00,0.000,6,0.000,0.038,2515,2506,3377 $GC,519,-0.54,-126.5,90.6,-18.7,59,522,0.00,1.65,0.00,0.000,4,0.000,0.044,2506,3589,3377 $GC,601,-0.54,-126.5,106.2,-15.7,66,609,0.00,1.52,0.00,0.000,6,0.000,0.018,2512,2518,3378 $GC,867,-0.54,-126.5,146.3,-14.3,91,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2511,3379 $GC,1133,-0.54,-126.5,184.0,-13.8,116,1137,0.00,1.65,0.00,0.000,4,0.000,0.042,2506,3605,3380 $GC,1217,-0.54,-126.5,196.5,-13.3,123,1225,0.00,1.48,0.00,0.000,6,0.000,0.018,2506,2555,3379 $GC,1493,-0.54,-126.5,231.9,-12.3,132,1497,0.00,1.45,0.00,0.000,4,0.000,0.019,2512,1482,3379 $GC,1545,-0.54,-126.5,238.0,-9.8,133,1549,0.00,1.65,0.00,0.000,6,0.000,0.038,2506,2570,3379 $GC,1833,-0.54,-126.5,271.3,-11.7,140,1837,0.00,1.55,0.00,0.000,4,0.000,0.046,2498,3586,3379 $GC,1919,-0.54,-126.5,282.0,-11.8,141,1927,0.00,1.42,0.00,0.000,6,0.000,0.018,2504,2567,3378 $GC,2174,-0.54,-126.5,311.4,-11.8,148,2178,0.00,1.58,0.00,0.000,4,0.000,0.045,2498,3584,3377 $GC,2210,-0.54,-126.5,316.1,-11.9,148,2213,0.00,1.35,0.00,0.000,6,0.000,0.020,2502,2635,3377 $GC,2470,-0.54,-126.5,346.3,-11.8,155,2473,0.00,1.58,0.00,0.000,4,0.000,0.021,2510,1488,3376 $GC,2550,-0.54,-126.5,355.0,-9.4,156,2553,0.00,1.65,0.00,0.000,6,0.000,0.038,2504,2593,3375 $GC,2811,-0.54,-126.5,381.3,-10.3,163,2814,0.00,1.52,0.00,0.000,4,0.000,0.048,2497,3586,3373 $GC,2912,-0.54,-126.5,392.1,-10.4,165,2916,0.00,1.38,0.00,0.000,6,0.000,0.021,2502,2616,3373 $GC,3195,-0.54,-126.5,419.6,-10.1,172,3199,0.00,1.55,0.00,0.000,4,0.000,0.021,2509,1493,3371 $GC,3261,-0.54,-126.5,425.5,-8.5,173,3264,0.00,1.65,0.00,0.000,6,0.000,0.041,2504,2592,3371 $GC,3538,-0.54,-126.5,454.5,-11.1,180,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2592,3369 $GC,3781,-0.54,-126.5,478.4,-9.7,186,3785,0.00,1.55,0.00,0.000,4,0.000,0.051,2496,3589,3367 $GC,3833,-0.54,-126.5,483.8,-10.1,187,3837,0.00,1.40,0.00,0.000,6,0.000,0.022,2501,2615,3367 $GC,4122,-0.54,-126.5,511.4,-9.7,194,4125,0.00,1.55,0.00,0.000,4,0.000,0.023,2508,1501,3364 $GC,4202,-0.54,-126.5,519.1,-8.6,195,4205,0.00,1.65,0.00,0.000,6,0.000,0.041,2503,2592,3364 $GC,4463,-0.54,-126.5,542.4,-8.9,202,4466,0.00,1.55,0.00,0.000,4,0.000,0.052,2495,3586,3362 $GC,4576,-0.54,-126.5,553.6,-10.0,204,4580,0.00,1.40,0.00,0.000,6,0.000,0.024,2500,2616,3361 $GC,4848,-0.54,-126.5,578.4,-9.3,211,4851,0.00,1.55,0.00,0.000,4,0.000,0.024,2508,1505,3359 $GC,4928,-0.54,-126.5,585.4,-7.9,212,4932,0.00,1.65,0.00,0.000,6,0.000,0.042,2503,2593,3359 $GC,5189,-0.54,-126.5,607.4,-8.5,219,5193,0.00,1.55,0.00,0.000,4,0.000,0.054,2495,3583,3358 $GC,5253,-0.54,-126.5,613.5,-9.3,220,5256,0.00,1.40,0.00,0.000,6,0.000,0.025,2500,2619,3357 $GC,5531,-0.54,-126.5,636.3,-8.1,227,5534,0.00,1.58,0.00,0.000,4,0.000,0.024,2508,1495,3355 $GC,5582,-0.54,-126.5,640.2,-7.2,228,5586,0.00,1.70,0.00,0.000,6,0.000,0.044,2502,2585,3355 $GC,5876,-0.54,-126.5,661.6,-7.1,235,5880,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3581,3353 $GC,5936,-0.54,-126.5,665.9,-7.3,236,5939,0.00,1.40,0.00,0.000,6,0.000,0.025,2499,2624,3353 $GC,6219,-0.54,-126.5,686.5,-7.4,243,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2616,3352 $GC,6462,-0.54,-126.5,705.6,-8.0,249,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2616,3351 $GC,6706,-0.54,-126.5,723.4,-7.1,255,6709,0.00,1.58,0.00,0.000,4,0.000,0.026,2508,1477,3349 $GC,6756,-0.54,-126.5,726.6,-6.5,256,6760,0.00,1.75,0.00,0.000,6,0.000,0.046,2502,2611,3349 $GC,7051,-0.54,-126.5,745.0,-6.3,263,7055,0.00,1.60,0.00,0.000,4,0.000,0.025,2507,1485,3348 $GC,7103,-0.54,-126.5,748.1,-5.7,264,7106,0.00,1.73,0.00,0.000,6,0.000,0.045,2502,2603,3348 $GC,7397,-0.54,-126.5,766.1,-6.2,271,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2602,3346 $GC,7643,-0.54,-126.5,781.2,-6.2,277,7646,0.00,1.55,0.00,0.000,4,0.000,0.056,2494,3581,3345 $GC,7693,-0.54,-126.5,784.8,-6.6,278,7697,0.00,1.42,0.00,0.000,6,0.000,0.027,2499,2620,3345 $GC,7987,-0.54,-126.5,806.2,-7.3,285,7991,0.00,1.58,0.00,0.000,4,0.000,0.027,2507,1508,3343 $GC,8038,-0.54,-126.5,809.9,-6.9,286,8041,0.00,1.67,0.00,0.000,6,0.000,0.046,2501,2593,3343 $GC,8332,-0.54,-126.5,833.7,-8.2,293,8336,0.00,1.58,0.00,0.000,4,0.000,0.058,2494,3580,3343 $GC,8385,-0.54,-126.5,838.6,-8.9,294,8388,0.00,1.40,0.00,0.000,6,0.000,0.028,2499,2632,3342 $GC,8674,-0.54,-126.5,862.6,-8.4,301,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2624,3342 $GC,8918,-0.54,-126.5,882.6,-8.1,307,8921,0.00,1.60,0.00,0.000,4,0.000,0.026,2506,1485,3341 $GC,8954,-0.54,-126.5,885.8,-8.1,307,8957,0.00,1.73,0.00,0.000,6,0.000,0.048,2501,2597,3341 $STATE,9168,end dive,TARGET_DEPTH_EXCEEDED $STATE,9169,begin apogee $GC,9180,-0.20,0.0,901.9,7.3,313,9294,0.40,0.00,110.88,1.257,6,0.103,0.000,2635,2273,2858 $STATE,9295,end apogee,CONTROL_FINISHED_OK $STATE,9295,begin climb $GC,9300,0.54,126.5,904.7,0.0,316,9454,0.65,1.75,129.93,1.177,4,0.041,0.027,2891,1198,2341 $GC,9538,0.54,126.5,878.1,16.9,321,9541,0.00,1.70,0.00,0.000,6,0.000,0.041,2891,2257,2334 $GC,9815,0.54,126.5,825.4,19.6,328,9819,0.00,1.65,0.00,0.000,4,0.000,0.049,2891,3319,2331 $GC,9851,0.54,126.5,817.7,19.4,328,9855,0.00,1.58,0.00,0.000,6,0.000,0.026,2897,2270,2330 $GC,10111,0.54,126.5,768.8,18.6,335,10115,0.00,1.58,0.00,0.000,4,0.000,0.028,2905,1190,2329 $GC,10141,0.54,126.5,762.7,18.9,335,10144,0.00,1.65,0.00,0.000,6,0.000,0.041,2905,2263,2328 $GC,10407,0.54,126.5,714.8,18.0,342,10411,0.00,1.60,0.00,0.000,4,0.000,0.028,2910,1193,2327 $GC,10487,0.54,126.5,700.4,17.4,343,10491,0.00,1.62,0.00,0.000,6,0.000,0.041,2905,2252,2327 $GC,10747,0.54,126.5,656.5,17.2,350,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2253,2327 $GC,10991,0.54,126.5,616.9,15.9,356,10994,0.00,1.62,0.00,0.000,4,0.000,0.049,2905,3313,2326 $GC,11021,0.54,126.5,611.4,16.6,356,11025,0.15,1.60,0.00,0.000,6,0.179,0.026,2875,2219,2326 $GC,11287,0.54,126.5,575.7,13.4,363,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2219,2325 $GC,11530,0.54,126.5,543.4,13.2,369,11533,0.00,1.50,0.00,0.000,4,0.000,0.028,2880,1186,2324 $GC,11594,0.54,126.5,535.1,12.4,370,11597,0.00,1.65,0.00,0.000,6,0.000,0.042,2876,2262,2324 $GC,11870,0.54,126.5,500.8,12.3,377,11874,0.00,1.62,0.00,0.000,4,0.000,0.050,2876,3318,2324 $GC,11889,0.54,126.5,497.8,12.7,377,11893,0.00,1.58,0.00,0.000,6,0.000,0.024,2882,2246,2324 $GC,12166,0.54,126.5,460.9,13.3,384,12170,0.00,1.52,0.00,0.000,4,0.000,0.027,2889,1190,2323 $GC,12208,0.54,126.5,455.4,11.6,384,12216,0.00,1.67,0.00,0.000,6,0.000,0.041,2889,2263,2323 $GC,12462,0.54,126.5,424.2,12.2,391,12466,0.00,1.62,0.00,0.000,4,0.000,0.051,2889,3300,2323 $GC,12503,0.54,126.5,418.1,14.0,391,12512,0.00,1.52,0.00,0.000,6,0.000,0.023,2896,2254,2323 $GC,12758,0.54,126.5,385.3,12.8,398,12761,0.00,1.52,0.00,0.000,4,0.000,0.027,2903,1199,2323 $GC,12854,0.54,126.5,374.4,11.5,400,12858,0.00,1.62,0.00,0.000,6,0.000,0.041,2904,2258,2323 $GC,13148,0.54,126.5,339.8,11.8,407,13152,0.00,1.62,0.00,0.000,4,0.000,0.048,2903,3320,2323 $GC,13222,0.54,126.5,330.5,13.2,408,13227,0.15,1.58,0.00,0.000,6,0.163,0.025,2873,2246,2322 $GC,13489,0.54,126.5,304.3,10.3,415,13492,0.00,1.50,0.00,0.000,4,0.000,0.026,2879,1202,2322 $GC,13569,0.54,126.5,294.9,11.1,416,13572,0.00,1.60,0.00,0.000,6,0.000,0.040,2875,2250,2322 $GC,13829,0.54,126.5,268.2,10.0,423,13830,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2250,2322 $GC,14073,0.54,126.5,245.3,9.4,429,14074,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2250,2322 $GC,14316,0.55,139.5,223.8,8.4,435,14330,0.00,1.65,9.65,0.726,4,0.000,0.048,2876,3300,2289 $GC,14384,0.55,150.9,218.0,8.5,436,14408,0.00,1.55,14.27,0.658,6,0.000,0.022,2882,2236,2242 $GC,14657,0.55,154.4,194.1,8.8,446,14670,0.00,1.50,4.38,0.555,4,0.000,0.025,2889,1206,2228 $GC,14774,0.57,185.4,184.7,7.5,456,14813,0.00,1.58,28.62,0.738,6,0.000,0.039,2889,2212,2103 $GC,15069,0.57,185.4,154.2,11.0,483,15073,0.00,1.67,0.00,0.000,4,0.000,0.046,2889,3308,2098 $GC,15108,0.57,185.4,149.9,11.0,486,15112,0.00,1.60,0.00,0.000,6,0.000,0.023,2896,2226,2097 $GC,15379,0.57,185.4,121.0,10.5,511,15383,0.00,1.70,0.00,0.000,4,0.000,0.044,2897,3303,2097 $GC,15419,0.57,185.4,116.4,12.8,514,15423,0.00,1.60,0.00,0.000,6,0.000,0.023,2899,2200,2097 $GC,15691,0.57,185.4,86.7,10.1,539,15694,0.00,1.45,0.00,0.000,4,0.000,0.025,2902,1187,2097 $GC,15863,0.57,188.3,71.6,8.9,554,15867,0.00,1.58,0.00,0.000,6,0.000,0.036,2902,2212,2097 $GC,16135,0.59,244.2,52.7,6.3,579,16189,0.00,1.67,50.17,0.609,4,0.000,0.043,2902,3305,1861 $GC,16294,0.59,257.7,39.9,8.4,592,16311,0.00,1.55,12.57,0.561,6,0.000,0.021,2908,2239,1806 $GC,16575,0.59,257.7,10.9,10.3,634,16583,0.00,1.48,0.00,0.000,4,0.000,0.024,2912,1212,1803 $GC,16632,0.59,257.7,5.2,9.3,643,16640,0.00,1.62,0.00,0.000,6,0.000,0.035,2912,2266,1803 $STATE,16651,end climb,SURFACE_DEPTH_REACHED $STATE,16651,begin surface coast $FINISH,0.3,1.023674 $STATE,16684,end surface coast,CONTROL_FINISHED_OK $STATE,16684,begin surface $SM_CCo,16710,55.15,0.546,0,0,1267,390.02 $SM_GC,1.51,0.00,0.00,55.15,0.000,0.000,0.546,45,2556,1267,-8.30,0.71,390.02 $IRIDIUM_FIX,2237.01,-15740.24,020303,030326 $TT8_MAMPS,0.023777 $HUMID,2259 $INTERNAL_PRESSURE,9.34606 $TCM_TEMP,24.40 $XPDR_PINGS,5 $24V_AH,22.8,67.232 $10V_AH,10.5,82.424 $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,18.375,130.000,360.475,55.150,0.000,23.775,42.328,203.927,1.250,0.000,0.000,17.567,1400.610,11280.639,479.948,3135.818,925.669,33.377,1554.967,0.000,3081.571,0.000,0.544,0.000 $DEVICE_MAMPS,198.653,57.525,1257.113,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil $SENSOR_SECS,444.010,2147.947,2227.391,1246.270,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000 $DATA_FILE_SIZE,54258,652 $CAP_FILE_SIZE,135410,0 $CFSIZE,260165632,231489536 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0 $GPS,061213,123230,2240.846,-15744.701,39,1.8,39,10.1