version: 66.04
glider: 512
mission: 4
dive: 401
start: 12 6 113 12 49 30
data:
$ID,512
$MISSION,4
$DIVE,401
$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,-115511.36
$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,72
$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
$GPS1,123230,2240.846,-15744.701,39,1.8,39,10.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-82.6
$GPS2,124836,2240.893,-15744.728,10,0.9,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.124,-0.200
$KALMAN_X,123144.4,-244.7,144.9,-96864.9,1502.5
$KALMAN_Y,-38659.5,-325.2,24.0,33060.6,1143.0
$MHEAD_RNG_PITCHd_Wd,201.8,80146,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.54,-126.5,0.0,0.0,0,107,0.00,0.00,-82.65,0.000,2,0.000,0.000,10,2551,3225
$GC,113,-0.54,-126.5,2.6,-2.4,11,131,9.70,1.58,-3.00,0.000,4,0.198,0.038,2524,1455,3377
$GC,189,-0.54,-126.5,28.9,-24.2,23,197,0.00,1.62,0.00,0.000,6,0.000,0.039,2518,2506,3379
$GC,455,-0.54,-126.5,87.3,-19.2,48,458,0.00,1.67,0.00,0.000,4,0.000,0.045,2510,3594,3379
$GC,538,-0.54,-126.5,100.8,-16.9,55,541,0.00,1.52,0.00,0.000,6,0.000,0.018,2512,2514,3379
$GC,809,-0.54,-126.5,143.1,-14.9,80,813,0.00,1.65,0.00,0.000,4,0.000,0.043,2506,3598,3380
$GC,838,-0.54,-126.5,147.5,-16.3,82,841,0.00,1.45,0.00,0.000,6,0.000,0.018,2506,2571,3380
$GC,1110,-0.54,-126.5,187.4,-15.0,107,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2563,3380
$GC,1368,-0.54,-126.5,222.0,-12.7,120,1372,0.00,1.60,0.00,0.000,4,0.000,0.043,2498,3600,3380
$GC,1398,-0.54,-126.5,226.2,-12.9,120,1401,0.00,1.42,0.00,0.000,6,0.000,0.018,2503,2588,3380
$GC,1663,-0.54,-126.5,257.9,-12.0,127,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2581,3380
$GC,1907,-0.54,-126.5,286.6,-11.8,133,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2581,3379
$GC,2151,-0.54,-126.5,314.1,-11.3,139,2155,0.00,1.52,0.00,0.000,4,0.000,0.021,2511,1472,3376
$GC,2175,-0.54,-126.5,317.3,-11.3,139,2178,0.00,1.70,0.00,0.000,6,0.000,0.039,2506,2607,3377
$GC,2446,-0.54,-126.5,347.8,-11.3,146,2450,0.00,1.50,0.00,0.000,4,0.000,0.047,2498,3587,3375
$GC,2499,-0.54,-126.5,353.9,-11.2,147,2502,0.00,1.38,0.00,0.000,6,0.000,0.021,2503,2614,3375
$GC,2787,-0.54,-126.5,383.8,-10.3,154,2791,0.00,1.55,0.00,0.000,4,0.000,0.047,2498,3597,3373
$GC,2811,-0.54,-126.5,386.6,-9.9,154,2815,0.00,1.38,0.00,0.000,6,0.000,0.021,2503,2624,3372
$GC,3082,-0.54,-126.5,412.8,-9.8,161,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2616,3370
$GC,3327,-0.54,-126.5,436.1,-9.6,167,3331,0.00,1.58,0.00,0.000,4,0.000,0.022,2511,1487,3368
$GC,3356,-0.54,-126.5,439.5,-10.4,167,3360,0.00,1.73,0.00,0.000,6,0.000,0.041,2505,2630,3368
$GC,3622,-0.54,-126.5,465.0,-10.0,174,3626,0.00,1.48,0.00,0.000,4,0.000,0.051,2498,3586,3366
$GC,3686,-0.54,-126.5,471.6,-9.8,175,3689,0.00,1.38,0.00,0.000,6,0.000,0.023,2503,2624,3366
$GC,3963,-0.54,-126.5,497.1,-9.3,182,3967,0.00,1.60,-0.08,0.000,4,0.000,0.039,2511,1476,3390
$GC,4020,-0.54,-126.5,502.6,-8.6,183,4024,0.00,1.75,0.00,0.000,6,0.000,0.042,2506,2629,3389
$GC,4303,-0.54,-126.5,528.2,-9.2,190,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2629,3387
$GC,4547,-0.54,-126.5,550.0,-8.9,196,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2629,3386
$GC,4790,-0.54,-126.5,571.1,-8.5,202,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2629,3385
$GC,5034,-0.54,-126.5,590.8,-8.1,208,5038,0.00,1.62,0.00,0.000,4,0.000,0.023,2508,1477,3382
$GC,5086,-0.54,-126.5,595.3,-7.5,209,5090,0.00,1.77,0.00,0.000,6,0.000,0.044,2502,2622,3382
$GC,5376,-0.54,-126.5,618.3,-8.2,216,5379,0.00,1.52,0.00,0.000,4,0.000,0.054,2494,3594,3380
$GC,5406,-0.54,-126.5,621.3,-8.7,216,5409,0.00,1.38,0.00,0.000,6,0.000,0.024,2499,2644,3380
$GC,5672,-0.54,-126.5,643.4,-8.6,223,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2637,3379
$GC,5917,-0.54,-126.5,664.7,-8.8,229,5920,0.00,1.60,0.00,0.000,4,0.000,0.025,2507,1491,3378
$GC,5976,-0.54,-126.5,670.1,-9.1,230,5979,0.00,1.77,0.00,0.000,6,0.000,0.046,2501,2644,3377
$GC,6258,-0.54,-126.5,695.3,-9.1,237,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2644,3375
$GC,6502,-0.54,-126.5,717.6,-9.3,243,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2643,3374
$GC,6746,-0.54,-126.5,739.5,-8.9,249,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2644,3373
$GC,6989,-0.54,-126.5,759.8,-8.4,255,6993,0.00,1.67,0.00,0.000,4,0.000,0.026,2507,1497,3372
$GC,7040,-0.54,-126.5,764.0,-8.8,256,7044,0.00,1.77,0.00,0.000,6,0.000,0.048,2501,2641,3372
$GC,7334,-0.54,-126.5,791.0,-9.5,263,7337,0.00,1.65,0.00,0.000,4,0.000,0.026,2507,1487,3371
$GC,7370,-0.54,-126.5,794.5,-9.1,263,7373,0.00,1.77,0.00,0.000,6,0.000,0.047,2501,2635,3370
$GC,7630,-0.54,-126.5,818.3,-9.2,270,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2635,3370
$GC,7874,-0.54,-126.5,839.7,-8.8,276,7877,0.00,1.50,0.00,0.000,4,0.000,0.058,2494,3580,3370
$GC,7903,-0.54,-126.5,842.7,-9.6,276,7907,0.00,1.40,0.00,0.000,6,0.000,0.028,2499,2630,3369
$GC,8170,-0.54,-126.5,864.5,-8.3,283,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2623,3368
$GC,8413,-0.54,-126.5,883.6,-7.8,289,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2623,3367
$STATE,8652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8652,begin apogee
$GC,8663,-0.20,0.0,901.4,7.2,295,8783,0.40,0.00,116.53,1.254,6,0.101,0.000,2637,2239,2858
$STATE,8783,end apogee,CONTROL_FINISHED_OK
$STATE,8783,begin climb
$GC,8789,0.54,126.5,904.7,0.0,298,9014,0.65,1.62,147.77,1.041,4,0.041,0.027,2891,1217,2342
$GC,9038,0.54,126.5,879.5,16.5,303,9042,0.00,1.67,0.00,0.000,6,0.000,0.041,2891,2255,2339
$GC,9299,0.54,126.5,835.8,17.0,310,9303,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3318,2334
$GC,9349,0.54,126.5,826.9,17.7,311,9353,0.00,1.55,0.00,0.000,6,0.000,0.026,2897,2289,2333
$GC,9642,0.54,126.5,777.6,16.4,318,9646,0.00,1.60,0.00,0.000,4,0.000,0.028,2905,1188,2332
$GC,9723,0.54,126.5,764.5,16.1,319,9726,0.00,1.65,0.00,0.000,6,0.000,0.041,2905,2261,2331
$GC,9983,0.54,126.5,722.1,16.4,326,9987,0.00,1.62,0.00,0.000,4,0.000,0.049,2905,3323,2330
$GC,10048,0.54,126.5,710.6,18.0,327,10052,0.08,1.55,0.00,0.000,6,0.156,0.026,2878,2280,2330
$GC,10324,0.54,126.5,670.9,14.1,334,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2274,2328
$GC,10568,0.54,126.5,634.9,15.1,340,10572,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3313,2328
$GC,10604,0.54,126.5,629.0,16.0,340,10608,0.00,1.55,0.00,0.000,6,0.000,0.026,2881,2268,2327
$GC,10864,0.54,126.5,588.3,16.0,347,10868,0.00,1.55,0.00,0.000,4,0.000,0.028,2889,1197,2327
$GC,10894,0.54,126.5,583.3,14.6,347,10897,0.00,1.65,0.00,0.000,6,0.000,0.041,2889,2275,2327
$GC,11160,0.54,126.5,543.0,15.2,354,11161,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2274,2327
$GC,11403,0.54,126.5,510.6,12.9,360,11407,0.00,1.62,0.00,0.000,4,0.000,0.051,2889,3310,2327
$GC,11421,0.54,126.5,507.8,12.8,360,11425,0.00,1.58,0.00,0.000,6,0.000,0.027,2896,2251,2327
$GC,11699,0.54,126.5,471.4,13.5,367,11702,0.00,1.67,0.00,0.000,4,0.000,0.049,2891,3317,2327
$GC,11729,0.54,126.5,466.7,15.1,367,11732,0.00,1.52,0.00,0.000,6,0.000,0.025,2897,2284,2326
$GC,11995,0.54,126.5,434.5,11.6,374,11998,0.00,1.58,0.00,0.000,4,0.000,0.028,2905,1191,2326
$GC,12025,0.54,126.5,430.5,11.7,374,12029,0.08,1.65,0.00,0.000,6,0.151,0.040,2880,2255,2326
$GC,12290,0.54,126.5,402.9,10.6,381,12294,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3302,2326
$GC,12430,0.54,126.5,385.9,11.7,384,12433,0.00,1.48,0.00,0.000,6,0.000,0.025,2881,2300,2325
$GC,12724,0.54,126.5,354.6,10.4,391,12727,0.00,1.60,0.00,0.000,4,0.000,0.028,2889,1196,2325
$GC,12793,0.54,126.5,347.0,10.2,392,12796,0.00,1.67,0.00,0.000,6,0.000,0.041,2889,2288,2325
$GC,13064,0.54,126.5,318.2,10.5,399,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2288,2325
$GC,13308,0.54,126.5,293.1,10.0,405,13311,0.00,1.62,0.00,0.000,4,0.000,0.026,2896,1165,2325
$GC,13338,0.54,128.5,290.1,8.9,405,13341,0.00,1.67,0.00,0.000,6,0.000,0.040,2892,2263,2325
$GC,13604,0.54,128.5,266.0,9.1,412,13607,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3324,2325
$GC,13654,0.54,128.5,261.1,10.0,413,13658,0.00,1.55,0.00,0.000,6,0.000,0.025,2897,2268,2325
$GC,13948,0.54,128.5,232.8,10.0,420,13951,0.00,1.52,0.00,0.000,4,0.000,0.026,2902,1200,2325
$GC,13973,0.55,138.9,230.5,8.5,420,13987,0.00,1.65,9.93,0.733,6,0.000,0.040,2902,2264,2291
$GC,14243,0.55,138.9,202.5,10.5,427,14246,0.00,1.60,0.00,0.000,4,0.000,0.048,2902,3315,2289
$GC,14278,0.55,138.9,198.3,11.6,427,14282,0.08,1.52,0.00,0.000,6,0.147,0.023,2876,2276,2289
$GC,14555,0.56,171.4,177.8,7.4,452,14598,0.00,1.67,31.92,0.698,4,0.000,0.045,2875,3310,2158
$GC,14620,0.56,183.6,172.5,8.4,457,14638,0.00,1.52,12.23,0.676,6,0.000,0.023,2881,2274,2108
$GC,14906,0.56,183.6,145.9,9.1,483,14909,0.00,1.55,0.00,0.000,4,0.000,0.025,2886,1206,2105
$GC,14944,0.57,194.0,142.4,8.5,486,14959,0.00,1.70,10.20,0.644,6,0.000,0.038,2886,2317,2067
$GC,15219,0.57,194.0,114.1,10.9,511,15223,0.00,1.62,0.00,0.000,4,0.000,0.025,2886,1194,2065
$GC,15268,0.58,224.4,109.4,7.5,515,15300,0.00,1.70,27.38,0.651,6,0.000,0.038,2886,2306,1943
$GC,15560,0.59,256.7,84.9,7.5,541,15599,0.00,1.60,28.35,0.624,4,0.000,0.044,2885,3312,1810
$GC,15660,0.60,279.8,77.1,7.9,549,15686,0.00,1.50,20.60,0.604,6,0.000,0.021,2893,2287,1717
$GC,15950,0.61,293.8,54.5,8.3,575,15966,0.00,1.55,13.05,0.566,4,0.000,0.023,2899,1200,1659
$GC,16023,0.62,321.7,48.2,7.7,581,16053,0.00,1.65,24.02,0.578,6,0.000,0.036,2899,2287,1545
$GC,16318,0.62,321.7,22.1,9.1,615,16327,0.00,1.58,0.00,0.000,4,0.000,0.044,2899,3314,1542
$GC,16354,0.62,321.7,18.8,9.7,620,16362,0.00,1.50,0.00,0.000,6,0.000,0.021,2900,2281,1542
$STATE,16532,end climb,SURFACE_DEPTH_REACHED
$STATE,16532,begin surface coast
$FINISH,0.5,1.002383
$STATE,16565,end surface coast,CONTROL_FINISHED_OK
$STATE,16565,begin surface
$SM_CCo,16590,29.27,0.533,0,0,1267,390.02
$SM_GC,1.31,0.00,0.00,29.27,0.000,0.000,0.533,31,2570,1267,-8.33,1.36,390.02
$IRIDIUM_FIX,2234.68,-15743.29,020303,121217
$TT8_MAMPS,0.023777
$HUMID,2252
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.20
$XPDR_PINGS,8
$24V_AH,23.2,67.388
$10V_AH,10.5,82.599
$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,18.200,118.600,441.975,29.275,0.000,84.514,125.577,423.194,2.000,0.000,0.000,15.925,1352.417,11432.588,522.554,2953.771,1319.064,33.373,1537.840,0.000,2918.298,0.000,0.544,0.000
$DEVICE_MAMPS,197.886,57.525,1254.045,533.065,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,447.673,2167.761,2254.677,1245.852,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54228,658
$CAP_FILE_SIZE,136219,0
$CFSIZE,260165632,231419904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,061213,172800,2238.975,-15745.517,40,1.4,40,10.1