version: 66.04
glider: 512
mission: 4
dive: 404
start: 12 7 113 3 33 4
data:
$ID,512
$MISSION,4
$DIVE,404
$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,-115549.9
$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,73
$R_STBD_OVSHOOT,47
$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
$GPS1,032423,2235.427,-15747.434,40,1.9,40,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-82.3
$GPS2,033212,2235.453,-15747.533,10,1.6,10,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.121,-0.202
$KALMAN_X,126658.2,-90.5,-5.6,-105179.3,1439.1
$KALMAN_Y,-37396.8,-100.9,-288.2,21804.0,1016.7
$MHEAD_RNG_PITCHd_Wd,201.0,69060,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.54,-126.5,0.0,0.0,0,88,0.00,0.00,-67.45,0.000,2,0.000,0.000,12,2561,2837
$GC,94,-0.54,-126.5,2.1,-1.7,9,126,9.70,1.60,-12.85,0.000,4,0.199,0.060,2508,3578,3376
$GC,319,-0.54,-126.5,51.0,-18.4,38,327,0.00,1.52,0.00,0.000,6,0.000,0.019,2508,2516,3377
$GC,585,-0.54,-126.5,99.5,-18.4,63,588,0.00,1.42,0.00,0.000,4,0.000,0.021,2508,1474,3378
$GC,657,-0.54,-126.5,111.2,-13.1,69,665,0.00,1.58,0.00,0.000,6,0.000,0.037,2502,2508,3378
$GC,923,-0.54,-126.5,154.4,-17.2,94,926,0.00,1.62,0.00,0.000,4,0.000,0.044,2494,3596,3380
$GC,983,-0.54,-126.5,164.5,-16.3,99,987,0.00,1.52,0.00,0.000,6,0.000,0.018,2499,2519,3379
$GC,1273,-0.54,-126.5,206.1,-13.5,123,1277,0.00,1.65,0.00,0.000,4,0.000,0.043,2493,3583,3380
$GC,1325,-0.54,-126.5,214.0,-14.0,124,1328,0.00,1.48,0.00,0.000,6,0.000,0.020,2498,2541,3380
$GC,1613,-0.54,-126.5,251.5,-13.3,131,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2533,3380
$GC,1856,-0.54,-126.5,281.1,-11.9,137,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2533,3379
$GC,2100,-0.54,-126.5,311.8,-12.6,143,2104,0.00,1.62,0.00,0.000,4,0.000,0.044,2492,3583,3378
$GC,2252,-0.54,-126.5,330.9,-12.0,146,2256,0.00,1.48,0.00,0.000,6,0.000,0.020,2497,2549,3377
$GC,2529,-0.54,-126.5,361.7,-11.2,153,2533,0.00,1.48,0.00,0.000,4,0.000,0.021,2505,1476,3375
$GC,2554,-0.54,-126.5,364.8,-11.3,153,2557,0.00,1.62,0.00,0.000,6,0.000,0.039,2499,2563,3375
$GC,2825,-0.54,-126.5,394.8,-11.3,160,2829,0.00,1.58,0.00,0.000,4,0.000,0.049,2491,3585,3373
$GC,2900,-0.54,-126.5,403.2,-10.1,161,2903,0.00,1.45,0.00,0.000,6,0.000,0.021,2497,2565,3373
$GC,3166,-0.54,-126.5,428.4,-9.5,168,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2557,3371
$GC,3409,-0.54,-126.5,452.1,-10.0,174,3412,0.00,1.60,0.00,0.000,4,0.000,0.048,2491,3596,3369
$GC,3439,-0.54,-126.5,455.5,-11.2,174,3443,0.00,1.45,0.00,0.000,6,0.000,0.021,2496,2589,3369
$GC,3705,-0.54,-126.5,482.6,-10.3,181,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2581,3367
$GC,3949,-0.54,-126.5,508.0,-10.7,187,3952,0.00,1.52,0.00,0.000,4,0.000,0.023,2504,1489,3365
$GC,3984,-0.54,-126.5,512.1,-10.5,187,3988,0.00,1.65,0.00,0.000,6,0.000,0.041,2499,2580,3364
$GC,4245,-0.54,-126.5,537.5,-9.9,194,4249,0.00,1.58,0.00,0.000,4,0.000,0.051,2491,3588,3363
$GC,4325,-0.54,-126.5,545.9,-9.7,195,4328,0.00,1.45,0.00,0.000,6,0.000,0.023,2496,2587,3362
$GC,4585,-0.54,-126.5,570.1,-9.3,202,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2579,3361
$GC,4829,-0.54,-126.5,593.7,-9.8,208,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2578,3359
$GC,5073,-0.54,-126.5,618.8,-10.5,214,5077,0.00,1.60,0.00,0.000,4,0.000,0.051,2491,3587,3357
$GC,5108,-0.54,-126.5,623.0,-10.7,214,5112,0.00,1.45,0.00,0.000,6,0.000,0.024,2496,2591,3357
$GC,5368,-0.54,-126.5,648.9,-10.0,221,5372,0.00,1.55,0.00,0.000,4,0.000,0.024,2504,1484,3355
$GC,5426,-0.54,-126.5,654.3,-8.9,222,5429,0.00,1.67,0.00,0.000,6,0.000,0.042,2498,2585,3355
$GC,5710,-0.54,-126.5,678.2,-8.5,229,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2586,3353
$GC,5953,-0.54,-126.5,698.2,-8.2,235,5956,0.00,1.58,0.00,0.000,4,0.000,0.054,2491,3585,3352
$GC,6004,-0.54,-126.5,702.9,-9.4,236,6008,0.00,1.45,0.00,0.000,6,0.000,0.025,2496,2598,3352
$GC,6299,-0.54,-126.5,728.5,-8.6,243,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2589,3351
$GC,6542,-0.54,-126.5,749.5,-8.7,249,6546,0.00,1.60,0.00,0.000,4,0.000,0.054,2491,3585,3350
$GC,6592,-0.54,-126.5,754.1,-9.3,250,6596,0.00,1.45,0.00,0.000,6,0.000,0.026,2495,2600,3350
$GC,6886,-0.54,-126.5,778.2,-8.1,257,6890,0.00,1.58,0.00,0.000,4,0.000,0.026,2504,1488,3348
$GC,6944,-0.54,-126.5,783.1,-7.2,258,6948,0.00,1.67,0.00,0.000,6,0.000,0.044,2498,2579,3348
$GC,7228,-0.54,-126.5,805.7,-8.1,265,7231,0.00,1.60,0.00,0.000,4,0.000,0.056,2490,3606,3347
$GC,7292,-0.54,-126.5,811.5,-8.6,266,7295,0.00,1.48,0.00,0.000,6,0.000,0.027,2495,2602,3346
$GC,7570,-0.54,-126.5,833.1,-7.9,273,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2594,3345
$GC,7812,-0.54,-126.5,852.0,-7.7,279,7816,0.00,1.58,0.00,0.000,4,0.000,0.026,2503,1494,3344
$GC,7843,-0.54,-126.5,854.6,-8.1,279,7846,0.00,1.70,0.00,0.000,6,0.000,0.047,2497,2594,3345
$GC,8109,-0.54,-126.5,874.8,-7.7,286,8112,0.00,1.58,0.00,0.000,4,0.000,0.058,2490,3583,3343
$GC,8140,-0.54,-126.5,877.6,-8.9,286,8143,0.00,1.45,0.00,0.000,6,0.000,0.028,2495,2603,3343
$GC,8405,-0.54,-126.5,899.0,-8.0,293,8409,0.00,1.58,0.00,0.000,4,0.000,0.027,2503,1495,3342
$STATE,8413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8414,begin apogee
$GC,8426,-0.20,0.0,900.2,8.0,293,8540,0.38,0.00,110.75,1.250,6,0.101,0.000,2629,2271,2858
$STATE,8541,end apogee,CONTROL_FINISHED_OK
$STATE,8541,begin climb
$GC,8546,0.54,126.5,903.7,0.0,296,8771,0.68,1.65,147.85,1.042,4,0.065,0.027,2882,1216,2342
$GC,8855,0.54,126.5,871.3,15.8,303,8859,0.00,1.65,0.00,0.000,6,0.000,0.041,2878,2258,2337
$GC,9149,0.54,126.5,822.6,16.7,310,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2258,2333
$GC,9395,0.54,126.5,779.7,17.7,316,9398,0.00,1.62,0.00,0.000,4,0.000,0.049,2875,3314,2332
$GC,9452,0.54,126.5,768.3,19.0,317,9456,0.00,1.52,0.00,0.000,6,0.000,0.027,2881,2293,2330
$GC,9734,0.54,126.5,720.1,17.1,324,9738,0.00,1.60,0.00,0.000,4,0.000,0.028,2888,1195,2330
$GC,9775,0.54,126.5,712.8,15.7,324,9783,0.00,1.67,0.00,0.000,6,0.000,0.042,2888,2266,2330
$GC,10030,0.54,126.5,673.6,15.3,331,10034,0.00,1.62,0.00,0.000,4,0.000,0.051,2889,3325,2329
$GC,10089,0.54,126.5,663.7,16.5,332,10093,0.00,1.55,0.00,0.000,6,0.000,0.026,2894,2283,2329
$GC,10372,0.54,126.5,619.4,15.3,339,10376,0.00,1.58,0.00,0.000,4,0.000,0.028,2902,1201,2328
$GC,10458,0.54,126.5,606.5,14.0,340,10466,0.00,1.67,0.00,0.000,6,0.000,0.044,2902,2265,2328
$GC,10713,0.54,126.5,569.1,15.2,347,10716,0.00,1.62,0.00,0.000,4,0.000,0.051,2902,3323,2328
$GC,10787,0.54,126.5,556.3,16.6,348,10791,0.08,1.55,0.00,0.000,6,0.158,0.026,2879,2279,2327
$GC,11053,0.54,126.5,522.8,12.6,355,11057,0.00,1.62,0.00,0.000,4,0.000,0.050,2876,3310,2327
$GC,11084,0.54,126.5,518.4,14.3,355,11087,0.00,1.52,0.00,0.000,6,0.000,0.028,2880,2283,2326
$GC,11350,0.54,126.5,482.8,13.4,362,11354,0.00,1.58,0.00,0.000,4,0.000,0.028,2889,1194,2327
$GC,11445,0.54,126.5,470.9,12.6,364,11448,0.00,1.65,0.00,0.000,6,0.000,0.042,2889,2267,2327
$GC,11738,0.54,126.5,431.8,13.7,371,11742,0.00,1.62,0.00,0.000,4,0.000,0.051,2889,3325,2326
$GC,11791,0.54,126.5,424.2,14.5,372,11795,0.00,1.58,0.00,0.000,6,0.000,0.025,2896,2255,2326
$GC,12079,0.54,126.5,385.2,13.4,379,12083,0.00,1.52,0.00,0.000,4,0.000,0.028,2904,1198,2325
$GC,12098,0.54,126.5,382.3,13.1,379,12102,0.00,1.70,0.00,0.000,6,0.000,0.041,2904,2287,2325
$GC,12374,0.54,126.5,348.1,12.2,386,12376,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2287,2326
$GC,12618,0.54,126.5,319.3,11.6,392,12622,0.00,1.60,0.00,0.000,4,0.000,0.050,2904,3309,2326
$GC,12670,0.54,126.5,313.0,12.0,393,12675,0.08,1.52,0.00,0.000,6,0.156,0.025,2877,2278,2325
$GC,12959,0.54,126.5,286.2,9.3,400,12960,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2271,2325
$GC,13204,0.54,126.5,261.9,10.0,406,13206,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2270,2325
$GC,13447,0.54,129.4,239.3,8.9,412,13451,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3319,2325
$GC,13560,0.56,171.1,229.7,7.0,414,13612,0.00,1.58,39.95,0.762,6,0.000,0.025,2882,2237,2160
$GC,13874,0.56,171.1,199.3,10.4,422,13877,0.00,1.67,0.00,0.000,4,0.000,0.046,2876,3312,2155
$GC,13913,0.56,171.1,194.6,12.2,425,13917,0.00,1.52,0.00,0.000,6,0.000,0.024,2881,2278,2154
$GC,14185,0.56,171.1,166.1,9.8,450,14188,0.00,1.55,0.00,0.000,4,0.000,0.025,2886,1201,2154
$GC,14234,0.56,178.9,161.8,8.6,454,14248,0.00,1.65,7.57,0.637,6,0.000,0.040,2886,2278,2128
$GC,14510,0.57,199.4,138.1,8.0,479,14538,0.00,0.00,21.40,0.637,6,0.000,0.000,2886,2278,2045
$GC,14796,0.57,199.4,109.3,10.1,506,14799,0.00,1.60,0.00,0.000,4,0.000,0.044,2886,3314,2042
$GC,14879,0.57,199.4,100.4,10.4,513,14887,0.00,1.55,0.00,0.000,6,0.000,0.022,2893,2255,2042
$GC,15147,0.58,229.2,78.5,7.6,538,15178,0.00,1.65,26.75,0.621,4,0.000,0.042,2891,3311,1922
$GC,15238,0.59,241.1,70.5,8.4,545,15255,0.00,1.48,11.43,0.577,6,0.000,0.021,2897,2296,1874
$GC,15528,0.59,241.6,44.5,9.0,571,15532,0.00,1.58,0.00,0.000,4,0.000,0.024,2899,1202,1872
$GC,15568,0.59,251.4,40.8,8.5,574,15582,0.00,1.67,10.05,0.545,6,0.000,0.035,2899,2313,1833
$GC,15841,0.59,251.4,14.0,9.9,613,15849,0.00,1.52,0.00,0.000,4,0.000,0.044,2899,3312,1831
$GC,15897,0.59,251.4,8.6,9.4,622,15905,0.00,1.42,0.00,0.000,6,0.000,0.021,2898,2327,1831
$STATE,15958,end climb,SURFACE_DEPTH_REACHED
$STATE,15958,begin surface coast
$FINISH,0.3,1.011341
$STATE,15991,end surface coast,CONTROL_FINISHED_OK
$STATE,15991,begin surface
$SM_CCo,16016,60.50,0.545,0,0,1267,390.02
$SM_GC,1.59,0.00,0.00,60.50,0.000,0.000,0.545,41,2563,1267,-8.30,0.93,390.02
$IRIDIUM_FIX,2227.67,-15744.17,020303,222241
$TT8_MAMPS,0.023777
$HUMID,2221
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.00
$XPDR_PINGS,9
$24V_AH,23.2,67.816
$10V_AH,10.5,83.116
$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,18.150,116.325,375.750,60.500,0.000,22.414,34.140,214.864,2.250,0.000,0.000,10.303,1341.611,10785.192,510.687,2989.248,912.281,33.374,1542.691,0.000,2953.706,0.000,0.546,0.000
$DEVICE_MAMPS,198.653,59.826,1250.210,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,435.063,2103.471,2185.516,1223.722,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50880,639
$CAP_FILE_SIZE,127563,0
$CFSIZE,260165632,231227392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,15,0
$GPS,071213,080236,2233.566,-15748.335,45,1.1,45,10.0