version: 66.04
glider: 512
mission: 4
dive: 405
start: 12 7 113 8 23 25
data:
$ID,512
$MISSION,4
$DIVE,405
$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,-115565.96
$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,66
$R_STBD_OVSHOOT,44
$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
$GPS1,080236,2233.566,-15748.335,45,1.1,45,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-80.4
$GPS2,082231,2233.614,-15748.317,15,1.6,15,10.0
$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,127973.5,-208.6,-138.9,-107583.3,2102.8
$KALMAN_Y,-36974.4,-298.4,101.0,17787.9,796.4
$MHEAD_RNG_PITCHd_Wd,209.8,65406,-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,-67.40,0.000,2,0.000,0.000,8,2557,2842
$GC,93,-0.54,-126.5,2.2,-1.6,9,126,9.65,1.58,-13.05,0.000,4,0.197,0.038,2521,1451,3377
$GC,263,-0.54,-126.5,33.5,-17.2,36,272,0.00,1.65,0.00,0.000,6,0.000,0.038,2515,2525,3377
$GC,529,-0.54,-126.5,89.7,-21.3,61,533,0.00,1.62,0.00,0.000,4,0.000,0.046,2507,3586,3377
$GC,633,-0.54,-126.5,107.4,-15.0,70,637,0.00,1.50,0.00,0.000,6,0.000,0.018,2507,2526,3378
$GC,905,-0.54,-126.5,151.0,-14.7,95,909,0.00,1.65,0.00,0.000,4,0.000,0.041,2499,3592,3378
$GC,932,-0.54,-126.5,155.4,-15.7,97,936,0.00,1.50,0.00,0.000,6,0.000,0.018,2504,2521,3378
$GC,1203,-0.54,-126.5,194.7,-13.5,122,1207,0.00,1.40,0.00,0.000,4,0.000,0.019,2511,1483,3378
$GC,1222,-0.54,-126.5,197.8,-13.5,123,1230,0.00,1.58,0.00,0.000,6,0.000,0.037,2506,2526,3378
$GC,1497,-0.54,-126.5,232.0,-12.8,132,1501,0.00,1.60,0.00,0.000,4,0.000,0.046,2497,3593,3378
$GC,1637,-0.54,-126.5,249.7,-12.0,135,1641,0.00,1.50,0.00,0.000,6,0.000,0.019,2503,2533,3377
$GC,1931,-0.54,-126.5,283.8,-11.5,142,1935,0.00,1.62,0.00,0.000,4,0.000,0.044,2496,3598,3376
$GC,2011,-0.54,-126.5,293.6,-11.4,143,2015,0.00,1.48,0.00,0.000,6,0.000,0.018,2502,2556,3376
$GC,2272,-0.54,-126.5,322.4,-11.1,150,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2548,3375
$GC,2515,-0.54,-126.5,349.8,-11.2,156,2518,0.00,1.60,0.00,0.000,4,0.000,0.044,2496,3603,3373
$GC,2611,-0.54,-126.5,361.5,-11.8,158,2615,0.00,1.48,0.00,0.000,6,0.000,0.021,2501,2568,3371
$GC,2899,-0.54,-126.5,393.7,-11.1,165,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2559,3370
$GC,3144,-0.54,-126.5,417.6,-9.5,171,3147,0.00,1.60,0.00,0.000,4,0.000,0.047,2495,3604,3369
$GC,3179,-0.54,-126.5,421.2,-9.1,171,3182,0.00,1.50,0.00,0.000,6,0.000,0.021,2501,2558,3368
$GC,3440,-0.54,-126.5,445.3,-9.4,178,3441,0.00,0.00,-0.08,0.000,6,0.000,0.000,2502,2549,3390
$GC,3683,-0.54,-126.5,469.4,-10.0,184,3687,0.00,1.62,0.00,0.000,4,0.000,0.047,2495,3604,3388
$GC,3747,-0.54,-126.5,476.1,-9.9,185,3750,0.00,1.48,0.00,0.000,6,0.000,0.023,2501,2582,3388
$GC,4024,-0.54,-126.5,499.8,-8.4,192,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2572,3386
$GC,4267,-0.54,-126.5,521.2,-9.0,198,4271,0.00,1.52,0.00,0.000,4,0.000,0.022,2508,1485,3384
$GC,4318,-0.54,-126.5,525.9,-8.4,199,4322,0.00,1.65,0.00,0.000,6,0.000,0.041,2502,2575,3384
$GC,4612,-0.54,-126.5,554.2,-9.7,206,4616,0.00,1.58,0.00,0.000,4,0.000,0.051,2494,3586,3381
$GC,4636,-0.54,-126.5,556.9,-9.7,206,4640,0.00,1.48,0.00,0.000,6,0.000,0.024,2500,2569,3381
$GC,4908,-0.54,-126.5,579.6,-8.2,213,4912,0.00,1.52,0.00,0.000,4,0.000,0.024,2508,1477,3379
$GC,4959,-0.54,-126.5,583.4,-6.6,214,4963,0.00,1.70,0.00,0.000,6,0.000,0.043,2502,2571,3379
$GC,5254,-0.54,-126.5,606.1,-8.0,221,5257,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3608,3377
$GC,5367,-0.54,-126.5,616.3,-8.9,223,5371,0.00,1.50,0.00,0.000,6,0.000,0.025,2499,2582,3376
$GC,5640,-0.54,-126.5,638.6,-8.3,230,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2573,3375
$GC,5882,-0.54,-126.5,658.0,-7.9,236,5886,0.00,1.60,0.00,0.000,4,0.000,0.052,2494,3603,3373
$GC,5934,-0.54,-126.5,662.0,-8.6,237,5938,0.00,1.50,0.00,0.000,6,0.000,0.025,2499,2578,3372
$GC,6229,-0.54,-126.5,685.0,-7.8,244,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2570,3372
$GC,6472,-0.54,-126.5,706.3,-8.8,250,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2570,3370
$GC,6716,-0.54,-126.5,726.6,-8.2,256,6720,0.00,1.62,0.00,0.000,4,0.000,0.054,2494,3585,3370
$GC,6766,-0.54,-126.5,730.7,-8.0,257,6770,0.00,1.48,0.00,0.000,6,0.000,0.026,2499,2583,3369
$GC,7061,-0.54,-126.5,754.4,-8.0,264,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2573,3368
$GC,7304,-0.54,-126.5,773.6,-7.9,270,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2574,3367
$GC,7548,-0.54,-126.5,791.7,-7.4,276,7552,0.00,1.62,0.00,0.000,4,0.000,0.054,2494,3590,3365
$GC,7599,-0.54,-126.5,795.5,-7.8,277,7602,0.00,1.48,0.00,0.000,6,0.000,0.025,2499,2588,3365
$GC,7893,-0.54,-126.5,816.0,-7.0,284,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2581,3364
$GC,8136,-0.54,-126.5,833.3,-7.1,290,8140,0.00,1.58,0.00,0.000,4,0.000,0.026,2507,1478,3363
$GC,8167,-0.54,-126.5,835.8,-7.3,290,8170,0.00,1.73,0.00,0.000,6,0.000,0.044,2501,2602,3364
$GC,8434,-0.54,-126.5,853.5,-6.7,297,8437,0.00,1.58,0.00,0.000,4,0.000,0.057,2494,3591,3362
$GC,8464,-0.54,-126.5,856.0,-7.2,297,8467,0.00,1.45,0.00,0.000,6,0.000,0.026,2499,2607,3362
$GC,8730,-0.54,-126.5,873.3,-6.6,304,8734,0.00,1.60,0.00,0.000,4,0.000,0.025,2507,1458,3361
$GC,8772,-0.54,-126.5,876.3,-6.5,304,8780,0.00,1.80,0.00,0.000,6,0.000,0.045,2501,2605,3361
$GC,9027,-0.54,-126.5,893.2,-6.8,311,9031,0.00,1.58,0.00,0.000,4,0.000,0.057,2494,3593,3360
$GC,9069,-0.54,-126.5,896.5,-8.3,311,9077,0.00,1.45,0.00,0.000,6,0.000,0.027,2500,2602,3360
$STATE,9155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9155,begin apogee
$GC,9167,-0.20,0.0,902.6,6.8,314,9285,0.40,0.00,115.10,1.257,6,0.101,0.000,2636,2229,2859
$STATE,9286,end apogee,CONTROL_FINISHED_OK
$STATE,9286,begin climb
$GC,9291,0.54,126.5,905.2,0.0,317,9516,0.65,1.60,147.57,1.045,4,0.043,0.026,2887,1215,2342
$GC,9540,0.54,126.5,879.3,17.3,322,9544,0.00,1.67,0.00,0.000,6,0.000,0.040,2888,2258,2339
$GC,9801,0.54,126.5,833.4,17.8,329,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2258,2334
$GC,10044,0.54,126.5,791.7,16.8,335,10047,0.00,1.55,0.00,0.000,4,0.000,0.028,2894,1228,2332
$GC,10063,0.54,126.5,788.0,16.8,335,10066,0.00,1.60,0.00,0.000,6,0.000,0.041,2891,2264,2332
$GC,10340,0.54,126.5,741.5,17.5,342,10343,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3321,2330
$GC,10409,0.54,126.5,728.5,18.7,343,10413,0.00,1.55,0.00,0.000,6,0.000,0.026,2897,2278,2330
$GC,10681,0.54,126.5,681.8,17.3,350,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2271,2330
$GC,10924,0.54,126.5,639.4,17.5,356,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2272,2329
$GC,11167,0.54,126.5,599.3,16.1,362,11171,0.00,1.62,0.00,0.000,4,0.000,0.049,2892,3314,2328
$GC,11248,0.54,126.5,586.0,16.2,363,11251,0.00,1.55,0.00,0.000,6,0.000,0.027,2896,2267,2328
$GC,11508,0.54,126.5,549.9,14.2,370,11512,0.00,1.55,0.00,0.000,4,0.000,0.028,2905,1200,2327
$GC,11540,0.54,126.5,545.1,13.8,370,11543,0.00,1.60,0.00,0.000,6,0.000,0.041,2905,2246,2328
$GC,11805,0.54,126.5,506.5,14.6,377,11807,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2246,2327
$GC,12049,0.54,126.5,471.0,14.5,383,12053,0.00,1.58,0.00,0.000,4,0.000,0.028,2910,1193,2326
$GC,12079,0.54,126.5,466.5,14.2,383,12082,0.00,1.60,0.00,0.000,6,0.000,0.040,2905,2245,2325
$GC,12344,0.54,126.5,428.7,14.3,390,12348,0.00,1.62,0.00,0.000,4,0.000,0.050,2905,3304,2325
$GC,12369,0.54,126.5,424.6,15.1,390,12373,0.15,1.58,0.00,0.000,6,0.179,0.026,2875,2238,2325
$GC,12640,0.54,126.5,393.5,11.2,397,12644,0.00,1.50,0.00,0.000,4,0.000,0.029,2880,1199,2325
$GC,12675,0.54,126.5,389.2,11.1,397,12679,0.00,1.60,0.00,0.000,6,0.000,0.041,2876,2248,2325
$GC,12936,0.54,126.5,360.5,11.2,404,12939,0.00,1.65,0.00,0.000,4,0.000,0.051,2876,3302,2325
$GC,12986,0.54,126.5,354.4,13.2,405,12990,0.00,1.58,0.00,0.000,6,0.000,0.025,2881,2238,2324
$GC,13280,0.54,126.5,321.2,10.9,412,13281,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2232,2324
$GC,13524,0.54,126.5,294.6,11.0,418,13525,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2232,2324
$GC,13767,0.54,126.5,269.9,10.1,424,13771,0.00,1.50,0.00,0.000,4,0.000,0.027,2889,1191,2324
$GC,13809,0.54,134.0,266.0,8.6,424,13819,0.00,1.65,5.53,0.671,6,0.000,0.040,2888,2252,2311
$GC,14109,0.54,134.0,238.1,9.5,432,14113,0.00,1.65,0.00,0.000,4,0.000,0.048,2889,3316,2310
$GC,14178,0.54,134.0,229.9,11.5,433,14182,0.00,1.52,0.00,0.000,6,0.000,0.025,2896,2270,2309
$GC,14449,0.54,134.0,200.7,11.1,440,14453,0.00,1.62,0.00,0.000,4,0.000,0.046,2891,3315,2310
$GC,14468,0.54,134.0,198.4,9.9,440,14471,0.00,1.52,0.00,0.000,6,0.000,0.025,2896,2275,2309
$GC,14735,0.54,134.0,173.4,9.6,463,14739,0.00,1.55,0.00,0.000,4,0.000,0.026,2905,1189,2309
$GC,14784,0.55,134.6,168.8,9.0,467,14788,0.00,1.65,0.00,0.000,6,0.000,0.038,2905,2277,2310
$GC,15055,0.55,148.4,145.3,8.3,492,15082,0.00,1.62,16.92,0.635,4,0.000,0.045,2905,3309,2252
$GC,15235,0.55,148.4,127.2,10.4,507,15242,0.10,1.52,0.00,0.000,6,0.141,0.023,2879,2268,2251
$GC,15506,0.57,200.5,109.3,6.5,532,15557,0.00,1.55,45.55,0.669,4,0.000,0.024,2885,1187,2040
$GC,15607,0.58,218.3,101.6,8.2,540,15633,0.00,1.70,16.33,0.629,6,0.000,0.037,2885,2289,1968
$GC,15896,0.58,218.3,76.0,9.0,566,15900,0.00,1.58,0.00,0.000,4,0.000,0.045,2885,3304,1964
$GC,15935,0.58,222.2,72.2,8.8,569,15948,0.00,1.50,4.50,0.463,6,0.000,0.022,2886,2276,1953
$GC,16212,0.60,260.7,53.0,7.2,594,16251,0.00,1.60,33.75,0.601,4,0.000,0.024,2886,1197,1794
$GC,16325,0.61,302.6,43.8,7.0,603,16371,0.00,1.67,35.45,0.588,6,0.000,0.035,2886,2278,1622
$GC,16631,0.62,327.1,19.4,7.8,642,16656,0.00,1.62,20.75,0.555,4,0.000,0.039,2886,3321,1523
$GC,16695,0.63,338.8,14.0,8.5,651,16711,0.00,1.52,11.30,0.522,6,0.000,0.021,2886,2274,1475
$STATE,16857,end climb,SURFACE_DEPTH_REACHED
$STATE,16857,begin surface coast
$FINISH,0.4,1.022961
$STATE,16896,end surface coast,CONTROL_FINISHED_OK
$STATE,16896,begin surface
$SM_CCo,16922,22.15,0.530,0,0,1267,390.02
$SM_GC,1.24,0.00,0.00,22.15,0.000,0.000,0.530,34,2567,1267,-8.33,1.05,390.02
$IRIDIUM_FIX,2223.01,-15747.22,030303,080850
$TT8_MAMPS,0.023777
$HUMID,2263
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.00
$XPDR_PINGS,9
$24V_AH,23.3,67.980
$10V_AH,10.5,83.300
$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,18.225,120.625,452.750,22.150,0.000,107.893,152.572,538.619,2.250,0.000,0.000,15.432,1406.722,11571.604,526.087,3136.270,1493.685,33.371,1605.757,0.000,3086.385,0.000,0.545,0.000
$DEVICE_MAMPS,197.119,56.758,1257.113,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,466.779,2257.995,2344.381,1346.168,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57295,687
$CAP_FILE_SIZE,144837,0
$CFSIZE,260165632,231141376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,071213,130706,2231.745,-15749.364,27,1.6,27,10.0