version: 66.04
glider: 512
mission: 4
dive: 402
start: 12 6 113 17 38 49
data:
$ID,512
$MISSION,4
$DIVE,402
$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,-115524.38
$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,67
$R_STBD_OVSHOOT,66
$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
$GPS1,172800,2238.975,-15745.517,40,1.4,40,10.1
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-83.2
$GPS2,173755,2238.983,-15745.487,12,2.0,12,10.1
$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,124486.8,-77.8,-196.6,-99336.2,2211.6
$KALMAN_Y,-38280.9,93.0,-348.2,29096.9,1693.2
$MHEAD_RNG_PITCHd_Wd,208.0,76376,-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,-74.65,0.000,2,0.000,0.000,10,2569,3026
$GC,100,-0.54,-126.5,2.4,-2.2,10,125,9.55,1.58,-7.55,0.000,4,0.196,0.036,2515,1447,3374
$GC,307,-0.54,-126.5,48.0,-17.9,37,310,0.00,1.60,0.00,0.000,6,0.000,0.039,2509,2508,3376
$GC,578,-0.54,-126.5,105.9,-17.6,62,582,0.00,1.65,0.00,0.000,4,0.000,0.044,2500,3591,3376
$GC,661,-0.54,-126.5,120.2,-16.2,69,664,0.00,1.48,0.00,0.000,6,0.000,0.018,2506,2548,3376
$GC,932,-0.54,-126.5,165.1,-17.7,94,936,0.00,1.45,0.00,0.000,4,0.000,0.018,2513,1474,3377
$GC,983,-0.54,-126.5,173.3,-12.8,98,991,0.00,1.67,0.00,0.000,6,0.000,0.036,2508,2580,3377
$GC,1257,-0.54,-126.5,212.7,-14.6,118,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2580,3377
$GC,1499,-0.54,-126.5,245.5,-13.5,124,1503,0.00,1.52,0.00,0.000,4,0.000,0.044,2500,3583,3378
$GC,1568,-0.54,-126.5,255.3,-14.3,125,1571,0.00,1.40,0.00,0.000,6,0.000,0.018,2505,2590,3377
$GC,1839,-0.54,-126.5,289.7,-12.7,132,1843,0.00,1.52,0.00,0.000,4,0.000,0.019,2505,1469,3376
$GC,1890,-0.54,-126.5,295.2,-10.1,133,1894,0.00,1.70,0.00,0.000,6,0.000,0.038,2499,2585,3376
$GC,2184,-0.54,-126.5,329.0,-11.8,140,2188,0.00,1.52,0.00,0.000,4,0.000,0.048,2491,3581,3375
$GC,2286,-0.54,-126.5,341.8,-12.4,142,2289,0.00,1.40,0.00,0.000,6,0.000,0.020,2496,2589,3375
$GC,2569,-0.54,-126.5,373.8,-11.4,149,2573,0.00,1.52,0.00,0.000,4,0.000,0.020,2504,1473,3372
$GC,2619,-0.54,-126.5,379.3,-10.6,150,2623,0.00,1.73,0.00,0.000,6,0.000,0.039,2498,2601,3372
$GC,2913,-0.54,-126.5,411.9,-11.1,157,2917,0.00,1.50,0.00,0.000,4,0.000,0.048,2490,3579,3370
$GC,2944,-0.54,-126.5,415.4,-10.7,157,2947,0.00,1.38,0.00,0.000,6,0.000,0.021,2496,2606,3369
$GC,3209,-0.54,-126.5,444.5,-11.4,164,3213,0.00,1.55,0.00,0.000,4,0.000,0.046,2490,3587,3367
$GC,3267,-0.54,-126.5,451.6,-11.3,165,3271,0.00,1.35,0.00,0.000,6,0.000,0.021,2496,2638,3367
$GC,3550,-0.54,-126.5,484.2,-11.8,172,3554,0.00,1.60,-0.08,0.000,4,0.000,0.038,2504,1485,3390
$GC,3624,-0.54,-126.5,492.4,-10.3,173,3628,0.00,1.73,0.00,0.000,6,0.000,0.041,2497,2626,3390
$GC,3890,-0.54,-126.5,517.5,-9.4,180,3893,0.00,1.48,0.00,0.000,4,0.000,0.051,2490,3578,3388
$GC,3976,-0.54,-126.5,525.6,-8.5,181,3984,0.00,1.35,0.00,0.000,6,0.000,0.022,2496,2628,3387
$GC,4232,-0.54,-126.5,547.4,-8.9,188,4235,0.00,1.60,0.00,0.000,4,0.000,0.022,2504,1465,3386
$GC,4295,-0.54,-126.5,553.4,-8.5,189,4299,0.00,1.77,0.00,0.000,6,0.000,0.042,2497,2633,3385
$GC,4572,-0.54,-126.5,578.7,-9.3,196,4576,0.00,1.48,0.00,0.000,4,0.000,0.053,2490,3579,3383
$GC,4603,-0.54,-126.5,581.7,-9.2,196,4606,0.00,1.35,0.00,0.000,6,0.000,0.023,2495,2642,3383
$GC,4869,-0.54,-126.5,603.5,-8.0,203,4873,0.00,1.62,0.00,0.000,4,0.000,0.024,2503,1483,3380
$GC,4971,-0.54,-126.5,611.4,-7.1,205,4975,0.00,1.73,0.00,0.000,6,0.000,0.043,2497,2616,3380
$GC,5254,-0.54,-126.5,635.3,-9.1,212,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2616,3378
$GC,5499,-0.54,-126.5,659.4,-9.9,218,5503,0.00,1.60,0.00,0.000,4,0.000,0.024,2501,1486,3377
$GC,5549,-0.54,-126.5,664.3,-9.1,219,5552,0.00,1.73,0.00,0.000,6,0.000,0.044,2497,2609,3377
$GC,5845,-0.54,-126.5,692.7,-9.6,226,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2609,3375
$GC,6087,-0.54,-126.5,716.1,-9.7,232,6091,0.00,1.52,0.00,0.000,4,0.000,0.055,2489,3577,3373
$GC,6137,-0.54,-126.5,721.1,-10.0,233,6141,0.08,1.40,0.00,0.000,6,0.122,0.025,2524,2608,3373
$GC,6431,-0.54,-126.5,741.8,-6.5,240,6434,0.00,1.58,0.00,0.000,4,0.000,0.024,2525,1489,3371
$GC,6472,-0.54,-126.5,744.8,-6.2,240,6480,0.00,1.73,0.00,0.000,6,0.000,0.046,2524,2590,3371
$GC,6728,-0.54,-126.5,758.8,-5.4,247,6732,0.00,1.58,0.00,0.000,4,0.000,0.058,2524,3577,3371
$GC,6758,-0.54,-126.5,760.6,-5.5,247,6761,0.00,1.40,0.00,0.000,6,0.000,0.026,2524,2612,3370
$GC,7024,-0.54,-126.5,773.5,-4.8,254,7027,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1493,3369
$GC,7082,-0.54,-126.5,776.6,-5.0,255,7086,0.00,1.70,0.00,0.000,6,0.000,0.046,2523,2596,3369
$GC,7365,-0.54,-126.5,790.0,-4.9,262,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2597,3367
$GC,7609,-0.54,-126.5,802.3,-5.0,268,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2596,3366
$GC,7853,-0.54,-126.5,814.2,-4.9,274,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2596,3366
$GC,8097,-0.54,-126.5,826.8,-5.2,280,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2596,3365
$GC,8340,-0.54,-126.5,840.5,-5.7,286,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2596,3364
$GC,8585,-0.54,-126.5,854.9,-6.1,292,8589,0.00,1.60,0.00,0.000,4,0.000,0.027,2524,1480,3363
$GC,8616,-0.54,-126.5,857.1,-6.4,292,8619,0.00,1.73,0.00,0.000,6,0.000,0.048,2524,2573,3363
$GC,8882,-0.54,-126.5,873.0,-6.0,299,8886,0.00,1.62,0.00,0.000,4,0.000,0.059,2524,3586,3362
$GC,8932,-0.54,-126.5,876.0,-5.6,300,8935,0.00,1.45,0.00,0.000,6,0.000,0.028,2524,2608,3362
$GC,9226,-0.54,-126.5,893.6,-5.8,307,9229,0.00,1.58,0.00,0.000,4,0.000,0.026,2523,1496,3362
$GC,9284,-0.54,-126.5,897.2,-5.9,308,9288,0.00,1.70,0.00,0.000,6,0.000,0.048,2524,2590,3361
$STATE,9358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9359,begin apogee
$GC,9370,-0.20,0.0,901.6,5.6,310,9489,0.35,0.00,115.70,1.253,6,0.091,0.000,2644,2253,2858
$STATE,9489,end apogee,CONTROL_FINISHED_OK
$STATE,9490,begin climb
$GC,9495,0.54,126.5,904.2,0.0,313,9720,0.62,1.67,147.88,1.045,4,0.045,0.027,2895,1194,2342
$GC,9761,0.54,126.5,876.8,17.4,319,9764,0.00,1.73,0.00,0.000,6,0.000,0.041,2891,2267,2338
$GC,10054,0.54,126.5,823.4,18.3,326,10056,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2267,2333
$GC,10298,0.54,126.5,779.4,18.0,332,10302,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3315,2332
$GC,10328,0.54,126.5,773.2,19.0,332,10332,0.00,1.60,0.00,0.000,6,0.000,0.025,2897,2222,2331
$GC,10594,0.54,126.5,725.7,17.6,339,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2216,2330
$GC,10837,0.54,126.5,686.9,15.8,345,10841,0.00,1.73,0.00,0.000,4,0.000,0.048,2891,3319,2330
$GC,10868,0.54,126.5,681.8,15.9,345,10871,0.00,1.60,0.00,0.000,6,0.000,0.025,2897,2222,2329
$GC,11134,0.54,126.5,642.7,14.7,352,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2216,2329
$GC,11377,0.54,126.5,603.7,16.3,358,11381,0.00,1.50,0.00,0.000,4,0.000,0.028,2905,1188,2328
$GC,11401,0.54,126.5,599.4,16.0,358,11405,0.00,1.67,0.00,0.000,6,0.000,0.039,2905,2266,2328
$GC,11673,0.54,126.5,555.6,16.2,365,11674,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2266,2327
$GC,11916,0.54,126.5,518.2,15.1,371,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2266,2328
$GC,12160,0.54,126.5,481.8,15.0,377,12164,0.00,1.62,0.00,0.000,4,0.000,0.051,2905,3305,2327
$GC,12224,0.54,126.5,471.3,15.2,378,12228,0.08,1.52,0.00,0.000,6,0.175,0.027,2879,2279,2326
$GC,12501,0.54,126.5,435.8,12.6,385,12505,0.00,1.58,0.00,0.000,4,0.000,0.028,2885,1196,2326
$GC,12596,0.54,126.5,424.6,11.4,387,12599,0.00,1.62,0.00,0.000,6,0.000,0.041,2879,2255,2326
$GC,12890,0.54,126.5,391.1,11.7,394,12893,0.00,1.62,0.00,0.000,4,0.000,0.050,2876,3313,2326
$GC,12964,0.54,126.5,381.5,12.7,395,12968,0.00,1.55,0.00,0.000,6,0.000,0.026,2881,2261,2326
$GC,13230,0.54,126.5,352.0,11.0,402,13234,0.00,1.55,0.00,0.000,4,0.000,0.028,2889,1189,2326
$GC,13304,0.54,126.5,344.1,10.0,403,13308,0.00,1.65,0.00,0.000,6,0.000,0.040,2889,2270,2325
$GC,13571,0.54,126.5,314.4,11.5,410,13574,0.00,1.62,0.00,0.000,4,0.000,0.050,2889,3327,2325
$GC,13645,0.54,126.5,304.7,11.6,411,13648,0.00,1.50,0.00,0.000,6,0.000,0.025,2896,2301,2325
$GC,13911,0.54,126.5,276.0,10.8,418,13915,0.00,1.60,0.00,0.000,4,0.000,0.048,2891,3304,2325
$GC,13986,0.54,126.5,267.1,11.5,419,13989,0.00,1.45,0.00,0.000,6,0.000,0.025,2896,2317,2325
$GC,14252,0.54,128.4,242.3,8.9,426,14255,0.00,1.62,0.00,0.000,4,0.000,0.027,2905,1169,2324
$GC,14404,0.55,135.3,228.6,8.7,429,14415,0.00,1.73,6.60,0.678,6,0.000,0.039,2905,2302,2306
$GC,14676,0.55,135.3,201.6,10.7,436,14680,0.00,1.55,0.00,0.000,4,0.000,0.047,2905,3303,2306
$GC,14749,0.55,135.3,193.0,11.5,439,14758,0.08,1.48,0.00,0.000,6,0.156,0.024,2887,2290,2305
$GC,15022,0.56,172.4,173.6,7.2,464,15073,0.00,1.60,36.53,0.702,4,0.000,0.026,2893,1211,2153
$GC,15156,0.57,188.6,162.5,8.2,475,15178,0.00,1.70,15.35,0.685,6,0.000,0.039,2891,2295,2089
$GC,15439,0.57,188.6,134.7,10.3,501,15442,0.00,1.58,0.00,0.000,4,0.000,0.046,2891,3306,2084
$GC,15457,0.57,188.6,132.0,10.3,502,15465,0.00,1.48,0.00,0.000,6,0.000,0.023,2897,2305,2084
$GC,15723,0.57,188.6,103.0,11.4,527,15726,0.00,1.58,0.00,0.000,4,0.000,0.044,2897,3304,2084
$GC,15783,0.57,188.6,96.4,10.9,532,15786,0.00,1.38,0.00,0.000,6,0.000,0.022,2899,2357,2084
$GC,16055,0.58,230.3,73.0,7.0,557,16093,0.00,0.00,36.08,0.625,6,0.000,0.000,2899,2357,1919
$GC,16357,0.58,230.3,48.3,9.0,584,16360,0.00,1.62,0.00,0.000,4,0.000,0.024,2902,1209,1915
$GC,16386,0.59,250.9,44.8,8.0,586,16410,0.00,1.80,18.45,0.582,6,0.000,0.036,2902,2376,1834
$GC,16676,0.59,250.9,17.7,9.4,624,16684,0.00,1.73,0.00,0.000,4,0.000,0.023,2902,1205,1831
$GC,16774,0.60,272.1,9.3,8.0,641,16799,0.00,1.77,18.83,0.549,6,0.000,0.035,2902,2362,1748
$STATE,16841,end climb,SURFACE_DEPTH_REACHED
$STATE,16841,begin surface coast
$FINISH,0.4,1.011309
$STATE,16875,end surface coast,CONTROL_FINISHED_OK
$STATE,16875,begin surface
$SM_CCo,16901,50.80,0.544,0,0,1267,390.02
$SM_GC,1.33,0.00,0.00,50.80,0.000,0.000,0.544,30,2588,1267,-8.34,1.64,390.02
$IRIDIUM_FIX,2232.34,-15741.13,020303,121256
$TT8_MAMPS,0.023777
$HUMID,2235
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.70
$XPDR_PINGS,9
$24V_AH,23.2,67.527
$10V_AH,10.5,82.772
$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,18.075,124.050,395.400,50.800,0.000,31.077,37.139,326.050,2.250,0.000,0.000,12.382,1397.984,11434.996,518.284,3120.841,1069.399,33.377,1599.143,0.000,3080.878,0.000,0.545,0.000
$DEVICE_MAMPS,196.352,59.059,1253.278,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,447.868,2166.151,2249.365,1248.452,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53926,658
$CAP_FILE_SIZE,136488,0
$CFSIZE,260165632,231354368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,061213,222253,2237.564,-15746.389,26,1.1,43,10.1