version: 66.04
glider: 512
mission: 4
dive: 403
start: 12 6 113 22 41 47
data:
$ID,512
$MISSION,4
$DIVE,403
$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,-115538.96
$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,69
$R_STBD_OVSHOOT,69
$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
$GPS1,222253,2237.564,-15746.389,26,1.1,43,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-82.2
$GPS2,224049,2237.528,-15746.431,13,1.9,13,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.150,-0.181
$KALMAN_X,125527.4,17.3,-73.5,-102203.5,1702.2
$KALMAN_Y,-38013.3,181.5,273.5,25424.4,-258.7
$MHEAD_RNG_PITCHd_Wd,209.5,73303,-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,-67.35,0.000,2,0.000,0.000,11,2586,2846
$GC,94,-0.54,-126.5,2.3,-1.7,9,126,9.62,1.60,-12.73,0.000,4,0.198,0.038,2517,1464,3376
$GC,273,-0.54,-126.5,36.8,-18.3,36,277,0.00,1.58,0.00,0.000,6,0.000,0.039,2511,2488,3377
$GC,545,-0.54,-126.5,94.2,-18.4,61,549,0.00,1.70,0.00,0.000,4,0.000,0.048,2502,3592,3377
$GC,751,-0.54,-126.5,128.8,-17.3,79,755,0.00,1.45,0.00,0.000,6,0.000,0.018,2507,2562,3378
$GC,1023,-0.54,-126.5,170.7,-14.4,104,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2553,3378
$GC,1306,-0.54,-126.5,211.0,-13.5,125,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2553,3378
$GC,1550,-0.54,-126.5,241.6,-12.2,131,1554,0.00,1.60,0.00,0.000,4,0.000,0.042,2501,3594,3377
$GC,1591,-0.54,-126.5,247.0,-11.6,131,1597,0.00,1.40,0.00,0.000,6,0.000,0.019,2507,2597,3377
$GC,1846,-0.54,-126.5,275.1,-11.3,138,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2588,3377
$GC,2089,-0.54,-126.5,303.1,-11.7,144,2092,0.00,1.55,0.00,0.000,4,0.000,0.045,2501,3587,3375
$GC,2175,-0.54,-126.5,314.0,-11.8,145,2183,0.00,1.40,0.00,0.000,6,0.000,0.020,2506,2591,3374
$GC,2429,-0.54,-126.5,344.5,-12.0,152,2433,0.00,1.52,0.00,0.000,4,0.000,0.021,2506,1482,3373
$GC,2466,-0.54,-126.5,348.9,-11.1,152,2469,0.00,1.67,0.00,0.000,6,0.000,0.040,2499,2602,3373
$GC,2726,-0.54,-126.5,376.8,-10.6,159,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2602,3371
$GC,2969,-0.54,-126.5,402.1,-10.4,165,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2602,3369
$GC,3213,-0.54,-126.5,427.4,-10.1,171,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2602,3367
$GC,3457,-0.54,-126.5,450.3,-9.3,177,3459,0.00,0.00,-0.08,0.000,6,0.000,0.000,2499,2602,3390
$GC,3700,-0.54,-126.5,475.7,-10.7,183,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2602,3388
$GC,3944,-0.54,-126.5,499.8,-9.6,189,3948,0.00,1.52,0.00,0.000,4,0.000,0.050,2492,3583,3386
$GC,4001,-0.54,-126.5,505.4,-9.3,190,4005,0.00,1.42,0.00,0.000,6,0.000,0.024,2497,2591,3386
$GC,4284,-0.54,-126.5,529.7,-8.6,197,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2583,3384
$GC,4528,-0.54,-126.5,550.4,-8.3,203,4532,0.00,1.58,0.00,0.000,4,0.000,0.049,2492,3583,3381
$GC,4586,-0.54,-126.5,555.9,-8.4,204,4589,0.00,1.42,0.00,0.000,6,0.000,0.024,2496,2597,3380
$GC,4869,-0.54,-126.5,579.5,-8.5,211,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2588,3379
$GC,5113,-0.54,-126.5,599.1,-7.9,217,5116,0.00,1.55,0.00,0.000,4,0.000,0.024,2505,1489,3377
$GC,5148,-0.54,-126.5,602.2,-8.0,217,5152,0.00,1.67,0.00,0.000,6,0.000,0.043,2499,2591,3378
$GC,5409,-0.54,-126.5,623.4,-8.6,224,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2591,3375
$GC,5652,-0.54,-126.5,645.4,-9.2,230,5656,0.00,1.58,0.00,0.000,4,0.000,0.025,2504,1495,3373
$GC,5688,-0.54,-126.5,649.0,-8.7,230,5692,0.00,1.65,0.00,0.000,6,0.000,0.044,2499,2575,3373
$GC,5949,-0.54,-126.5,672.4,-9.1,237,5952,0.00,1.60,0.00,0.000,4,0.000,0.054,2490,3610,3372
$GC,5980,-0.54,-126.5,675.4,-9.7,237,5983,0.00,1.50,0.00,0.000,6,0.000,0.025,2496,2593,3371
$GC,6247,-0.54,-126.5,696.1,-7.6,244,6250,0.00,1.55,0.00,0.000,4,0.000,0.025,2504,1490,3371
$GC,6297,-0.54,-126.5,699.5,-6.2,245,6301,0.00,1.70,0.00,0.000,6,0.000,0.044,2498,2577,3370
$GC,6591,-0.54,-126.5,718.1,-6.4,252,6594,0.00,1.60,0.00,0.000,4,0.000,0.055,2490,3608,3370
$GC,6627,-0.54,-126.5,721.2,-8.9,252,6632,0.05,1.50,0.00,0.000,6,0.135,0.026,2517,2579,3369
$GC,6888,-0.54,-126.5,737.9,-6.7,259,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2571,3368
$GC,7133,-0.54,-126.5,755.5,-7.4,265,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2571,3366
$GC,7375,-0.54,-126.5,774.3,-7.7,271,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2571,3365
$GC,7620,-0.54,-126.5,791.6,-7.1,277,7623,0.00,1.62,0.00,0.000,4,0.000,0.055,2512,3602,3364
$GC,7655,-0.54,-126.5,794.4,-7.5,277,7659,0.00,1.48,0.00,0.000,6,0.000,0.026,2517,2596,3364
$GC,7916,-0.54,-126.5,810.3,-6.1,284,7920,0.00,1.58,0.00,0.000,4,0.000,0.025,2517,1480,3363
$GC,7957,-0.54,-126.5,813.1,-6.4,284,7965,0.00,1.73,0.00,0.000,6,0.000,0.044,2511,2584,3363
$GC,8213,-0.54,-126.5,828.7,-6.3,291,8216,0.00,1.60,0.00,0.000,4,0.000,0.025,2517,1456,3362
$GC,8245,-0.54,-126.5,830.8,-6.4,291,8248,0.00,1.73,0.00,0.000,6,0.000,0.045,2512,2576,3362
$GC,8511,-0.54,-126.5,848.5,-6.9,298,8515,0.00,1.60,0.00,0.000,4,0.000,0.058,2510,3595,3361
$GC,8561,-0.54,-126.5,852.4,-7.3,299,8565,0.00,1.50,0.00,0.000,6,0.000,0.026,2510,2577,3361
$GC,8856,-0.54,-126.5,876.3,-8.4,306,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2569,3360
$GC,9099,-0.54,-126.5,896.3,-8.1,312,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2569,3359
$STATE,9175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9175,begin apogee
$GC,9187,-0.20,0.0,902.6,7.9,314,9312,0.38,0.00,117.28,1.237,6,0.101,0.000,2635,2239,2858
$STATE,9312,end apogee,CONTROL_FINISHED_OK
$STATE,9312,begin climb
$GC,9318,0.54,126.5,906.6,0.0,317,9537,0.65,1.85,146.75,1.057,4,0.048,0.049,2878,3312,2342
$GC,9550,0.54,126.5,885.9,17.0,322,9554,0.00,1.62,0.00,0.000,6,0.000,0.026,2884,2255,2339
$GC,9834,0.54,126.5,836.9,17.7,329,9837,0.00,1.70,0.00,0.000,4,0.000,0.049,2878,3322,2333
$GC,9858,0.54,126.5,831.9,17.7,329,9861,0.00,1.60,0.00,0.000,6,0.000,0.026,2884,2258,2332
$GC,10129,0.54,126.5,786.8,16.7,336,10133,0.00,1.55,0.00,0.000,4,0.000,0.028,2891,1198,2331
$GC,10192,0.54,126.5,775.9,15.8,337,10196,0.00,1.65,0.00,0.000,6,0.000,0.042,2891,2263,2331
$GC,10470,0.54,126.5,731.5,16.4,344,10473,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3314,2330
$GC,10527,0.54,126.5,721.2,16.6,345,10531,0.00,1.55,0.00,0.000,6,0.000,0.027,2897,2273,2329
$GC,10810,0.54,126.5,673.1,17.3,352,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2267,2328
$GC,11054,0.54,126.5,633.1,16.5,358,11057,0.00,1.58,0.00,0.000,4,0.000,0.030,2905,1193,2328
$GC,11113,0.54,126.5,623.3,16.9,359,11116,0.00,1.65,0.00,0.000,6,0.000,0.040,2905,2275,2328
$GC,11396,0.54,126.5,576.0,17.1,366,11399,0.00,1.60,0.00,0.000,4,0.000,0.028,2910,1207,2327
$GC,11465,0.54,126.5,564.3,15.9,367,11468,0.00,1.62,0.00,0.000,6,0.000,0.041,2905,2266,2327
$GC,11736,0.54,126.5,523.2,14.7,374,11740,0.00,1.62,0.00,0.000,4,0.000,0.052,2905,3320,2327
$GC,11777,0.54,126.5,516.6,14.9,374,11784,0.10,1.52,0.00,0.000,6,0.175,0.026,2882,2290,2327
$GC,12032,0.54,126.5,486.0,11.8,381,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2283,2326
$GC,12276,0.54,126.5,455.6,12.8,387,12277,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2283,2326
$GC,12519,0.54,126.5,423.8,13.2,393,12522,0.00,1.60,0.00,0.000,4,0.000,0.028,2888,1188,2326
$GC,12588,0.54,126.5,415.1,11.8,394,12591,0.00,1.70,0.00,0.000,6,0.000,0.041,2888,2298,2326
$GC,12859,0.54,126.5,380.9,12.8,401,12863,0.00,1.58,0.00,0.000,4,0.000,0.051,2888,3304,2325
$GC,12889,0.54,126.5,376.3,15.0,401,12893,0.00,1.50,0.00,0.000,6,0.000,0.026,2894,2285,2324
$GC,13155,0.54,126.5,342.8,12.4,408,13159,0.00,1.58,0.00,0.000,4,0.000,0.028,2902,1197,2324
$GC,13206,0.54,126.5,337.3,11.3,409,13209,0.00,1.70,0.00,0.000,6,0.000,0.042,2902,2279,2324
$GC,13500,0.54,126.5,302.5,12.2,416,13501,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2279,2324
$GC,13743,0.54,126.5,274.5,11.2,422,13746,0.00,1.60,0.00,0.000,4,0.000,0.048,2902,3308,2324
$GC,13806,0.54,126.5,266.6,11.8,423,13810,0.08,1.52,0.00,0.000,6,0.157,0.025,2876,2276,2324
$GC,14082,0.54,126.5,241.1,9.0,430,14086,0.00,1.58,0.00,0.000,4,0.000,0.027,2883,1179,2324
$GC,14107,0.54,126.5,238.6,9.1,430,14111,0.00,1.67,0.00,0.000,6,0.000,0.041,2877,2255,2324
$GC,14378,0.54,126.5,212.9,9.9,437,14379,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2255,2324
$GC,14626,0.55,135.4,190.1,8.6,449,14637,0.00,1.60,6.55,0.653,4,0.000,0.025,2882,1181,2305
$GC,14661,0.55,156.8,187.4,8.0,452,14689,0.00,1.67,20.80,0.742,6,0.000,0.040,2878,2276,2218
$GC,14950,0.56,165.8,162.8,8.6,478,14964,0.00,1.65,8.85,0.667,4,0.000,0.047,2877,3317,2182
$GC,14992,0.56,176.9,158.5,8.5,481,15009,0.00,1.52,11.82,0.680,6,0.000,0.023,2884,2280,2136
$GC,15276,0.56,176.9,131.7,9.5,507,15279,0.00,1.55,0.00,0.000,4,0.000,0.025,2886,1211,2132
$GC,15348,0.56,176.9,125.2,9.4,513,15351,0.00,1.65,0.00,0.000,6,0.000,0.038,2885,2288,2131
$GC,15624,0.57,185.4,100.8,8.6,538,15638,0.00,1.55,8.45,0.606,4,0.000,0.044,2886,3320,2103
$GC,15665,0.57,185.4,96.6,9.1,541,15669,0.00,1.52,0.00,0.000,6,0.000,0.022,2893,2268,2102
$GC,15938,0.57,185.4,71.5,9.2,566,15941,0.00,1.52,0.00,0.000,4,0.000,0.024,2899,1201,2101
$GC,15987,0.58,209.6,67.6,7.8,570,16014,0.00,1.60,22.58,0.623,6,0.000,0.036,2899,2265,2002
$GC,16276,0.58,233.4,44.7,7.9,596,16305,0.00,0.00,20.92,0.593,6,0.000,0.000,2899,2265,1906
$GC,16565,0.59,235.4,18.3,8.9,634,16572,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2265,1904
$STATE,16735,end climb,SURFACE_DEPTH_REACHED
$STATE,16735,begin surface coast
$FINISH,0.3,1.013533
$STATE,16774,end surface coast,CONTROL_FINISHED_OK
$STATE,16774,begin surface
$SM_CCo,16799,66.45,0.550,0,0,1267,390.02
$SM_GC,1.29,0.00,0.00,66.45,0.000,0.000,0.550,38,2561,1267,-8.31,0.88,390.02
$IRIDIUM_FIX,2230.01,-15743.29,020303,222200
$TT8_MAMPS,0.023777
$HUMID,2250
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.30
$XPDR_PINGS,7
$24V_AH,23.3,67.687
$10V_AH,10.5,82.950
$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,18.175,105.600,364.000,66.450,0.000,67.380,83.026,660.180,1.750,0.000,0.000,13.952,1367.797,11617.188,524.277,2949.842,1481.059,33.376,1487.399,0.000,2911.353,0.000,0.544,0.000
$DEVICE_MAMPS,197.886,58.292,1237.171,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,457.878,2210.112,2294.688,1291.013,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54061,672
$CAP_FILE_SIZE,134023,0
$CFSIZE,260165632,231284736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,13,0
$GPS,071213,032423,2235.427,-15747.434,40,1.9,40,10.0