version: 66.04
glider: 512
mission: 4
dive: 406
start: 12 7 113 13 33 12
data:
$ID,512
$MISSION,4
$DIVE,406
$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,-115584.09
$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,58
$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
$GPS1,130706,2231.745,-15749.364,27,1.6,27,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-80.7
$GPS2,133218,2231.732,-15749.573,12,1.5,17,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.132,-0.194
$KALMAN_X,128761.2,-211.0,-100.1,-110547.4,1739.3
$KALMAN_Y,-36791.2,-157.6,-118.5,14198.7,911.9
$MHEAD_RNG_PITCHd_Wd,204.2,61434,-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,-67.18,0.000,2,0.000,0.000,6,2559,2817
$GC,93,-0.54,-126.5,2.0,-1.6,9,125,9.70,1.55,-14.65,0.000,4,0.199,0.038,2521,1466,3375
$GC,294,-0.54,-126.5,36.9,-18.6,40,297,0.00,1.58,0.00,0.000,6,0.000,0.038,2515,2498,3376
$GC,565,-0.54,-126.5,93.7,-19.7,65,569,0.00,1.65,0.00,0.000,4,0.000,0.047,2507,3596,3376
$GC,668,-0.54,-126.5,112.3,-16.5,74,672,0.00,1.52,0.00,0.000,6,0.000,0.018,2507,2517,3376
$GC,940,-0.54,-126.5,155.8,-15.2,99,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2509,3377
$GC,1206,-0.54,-126.5,194.9,-14.4,124,1210,0.00,1.62,0.00,0.000,4,0.000,0.041,2500,3590,3377
$GC,1273,-0.54,-126.5,205.4,-14.8,128,1277,0.00,1.42,0.00,0.000,6,0.000,0.018,2505,2581,3377
$GC,1544,-0.54,-126.5,239.6,-12.5,135,1548,0.00,1.58,0.00,0.000,4,0.000,0.042,2499,3595,3377
$GC,1595,-0.54,-126.5,246.3,-13.3,136,1598,0.00,1.40,0.00,0.000,6,0.000,0.018,2504,2592,3376
$GC,1889,-0.54,-126.5,283.3,-12.3,143,1892,0.00,1.55,0.00,0.000,4,0.000,0.044,2498,3586,3375
$GC,1930,-0.54,-126.5,288.6,-11.7,143,1938,0.00,1.40,0.00,0.000,6,0.000,0.018,2504,2591,3375
$GC,2185,-0.54,-126.5,316.6,-11.0,150,2188,0.00,1.52,0.00,0.000,4,0.000,0.020,2511,1478,3373
$GC,2254,-0.54,-126.5,324.0,-9.9,151,2257,0.00,1.67,0.00,0.000,6,0.000,0.038,2505,2600,3373
$GC,2526,-0.54,-126.5,353.2,-10.9,158,2529,0.00,1.52,0.00,0.000,4,0.000,0.048,2498,3592,3371
$GC,2590,-0.54,-126.5,360.5,-10.5,159,2594,0.00,1.42,0.00,0.000,6,0.000,0.019,2503,2585,3371
$GC,2867,-0.54,-126.5,388.5,-10.2,166,2871,0.00,1.58,0.00,0.000,4,0.000,0.045,2498,3588,3369
$GC,2918,-0.54,-126.5,393.9,-10.4,167,2922,0.00,1.40,0.00,0.000,6,0.000,0.021,2503,2600,3368
$GC,3212,-0.54,-126.5,426.8,-11.3,174,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2592,3366
$GC,3455,-0.54,-126.5,452.7,-10.4,180,3457,0.00,0.00,-0.08,0.000,6,0.000,0.000,2503,2592,3389
$GC,3699,-0.54,-126.5,475.6,-9.2,186,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2592,3387
$GC,3943,-0.54,-126.5,497.6,-9.1,192,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2591,3385
$GC,4186,-0.54,-126.5,520.8,-9.8,198,4190,0.00,1.58,0.00,0.000,4,0.000,0.049,2498,3589,3382
$GC,4216,-0.54,-126.5,524.3,-10.5,198,4220,0.00,1.40,0.00,0.000,6,0.000,0.022,2503,2614,3381
$GC,4482,-0.54,-126.5,550.3,-9.9,205,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2607,3380
$GC,4726,-0.54,-126.5,573.5,-9.5,211,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2607,3379
$GC,4971,-0.54,-126.5,595.3,-8.8,217,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2607,3377
$GC,5213,-0.54,-126.5,617.1,-9.0,223,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2607,3375
$GC,5457,-0.54,-126.5,640.2,-9.4,229,5460,0.00,1.55,0.00,0.000,4,0.000,0.051,2498,3582,3373
$GC,5509,-0.54,-126.5,645.5,-10.2,230,5513,0.00,1.40,0.00,0.000,6,0.000,0.025,2503,2619,3373
$GC,5798,-0.54,-126.5,670.0,-8.5,237,5801,0.00,1.58,0.00,0.000,4,0.000,0.025,2510,1498,3372
$GC,5857,-0.54,-126.5,675.0,-7.9,238,5861,0.00,1.70,0.00,0.000,6,0.000,0.044,2505,2613,3372
$GC,6141,-0.54,-126.5,698.2,-8.5,245,6145,0.00,1.60,0.00,0.000,4,0.000,0.024,2508,1480,3370
$GC,6199,-0.54,-126.5,703.6,-8.4,246,6203,0.00,1.73,0.00,0.000,6,0.000,0.044,2503,2591,3370
$GC,6482,-0.54,-126.5,728.5,-8.9,253,6485,0.00,1.58,0.00,0.000,4,0.000,0.055,2495,3587,3369
$GC,6545,-0.54,-126.5,734.7,-10.0,254,6549,0.00,1.42,0.00,0.000,6,0.000,0.025,2500,2613,3368
$GC,6823,-0.54,-126.5,758.3,-8.5,261,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2606,3366
$GC,7067,-0.54,-126.5,778.8,-8.4,267,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2605,3365
$GC,7310,-0.54,-126.5,798.8,-8.2,273,7314,0.00,1.58,0.00,0.000,4,0.000,0.025,2507,1493,3364
$GC,7352,-0.54,-126.5,802.2,-7.1,273,7360,0.00,1.73,0.00,0.000,6,0.000,0.044,2502,2597,3364
$GC,7607,-0.54,-126.5,822.9,-8.3,280,7610,0.00,1.58,0.00,0.000,4,0.000,0.056,2494,3589,3363
$GC,7675,-0.54,-126.5,829.5,-9.7,281,7679,0.00,1.40,0.00,0.000,6,0.000,0.027,2499,2633,3363
$GC,7947,-0.54,-126.5,852.7,-8.6,288,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2626,3362
$GC,8191,-0.54,-126.5,873.2,-8.3,294,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2626,3361
$GC,8434,-0.54,-126.5,892.3,-7.7,300,8438,0.00,1.60,0.00,0.000,4,0.000,0.025,2507,1499,3360
$GC,8476,-0.54,-126.5,895.5,-6.6,300,8484,0.00,1.75,0.00,0.000,6,0.000,0.045,2501,2615,3360
$STATE,8562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8563,begin apogee
$GC,8575,-0.20,0.0,901.8,7.0,303,8692,0.40,0.00,114.60,1.256,6,0.099,0.000,2637,2259,2858
$STATE,8693,end apogee,CONTROL_FINISHED_OK
$STATE,8693,begin climb
$GC,8698,0.54,126.5,904.7,0.0,306,8917,0.65,1.60,145.45,1.054,4,0.041,0.026,2890,1202,2341
$GC,9014,0.54,126.5,869.2,15.8,313,9018,0.00,1.67,0.00,0.000,6,0.000,0.041,2890,2264,2335
$GC,9303,0.54,126.5,820.1,17.4,320,9306,0.00,1.62,0.00,0.000,4,0.000,0.049,2890,3316,2331
$GC,9354,0.54,126.5,810.9,18.8,321,9358,0.00,1.58,0.00,0.000,6,0.000,0.025,2897,2262,2330
$GC,9648,0.54,126.5,757.2,18.1,328,9652,0.00,1.55,0.00,0.000,4,0.000,0.028,2905,1189,2330
$GC,9684,0.54,126.5,750.4,16.6,328,9687,0.00,1.65,0.00,0.000,6,0.000,0.040,2905,2269,2329
$GC,9944,0.54,126.5,705.9,17.6,335,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2269,2329
$GC,10187,0.54,126.5,664.0,17.1,341,10191,0.00,1.60,0.00,0.000,4,0.000,0.028,2910,1193,2328
$GC,10251,0.54,126.5,653.1,16.2,342,10254,0.00,1.60,0.00,0.000,6,0.000,0.039,2905,2248,2327
$GC,10528,0.54,126.5,612.0,14.5,349,10532,0.00,1.62,0.00,0.000,4,0.000,0.049,2905,3309,2327
$GC,10602,0.54,126.5,600.0,14.8,350,10606,0.08,1.55,0.00,0.000,6,0.171,0.027,2880,2267,2326
$GC,10869,0.54,126.5,563.2,14.1,357,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2261,2326
$GC,11112,0.54,126.5,526.3,15.2,363,11115,0.00,1.65,0.00,0.000,4,0.000,0.049,2876,3318,2326
$GC,11181,0.54,126.5,515.6,14.7,364,11184,0.00,1.55,0.00,0.000,6,0.000,0.025,2881,2265,2325
$GC,11452,0.54,126.5,479.4,13.3,371,11453,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2258,2325
$GC,11696,0.54,126.5,450.0,12.1,377,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2258,2325
$GC,11939,0.54,126.5,416.9,14.1,383,11943,0.00,1.65,0.00,0.000,4,0.000,0.046,2877,3304,2325
$GC,11974,0.54,126.5,411.7,14.2,383,11978,0.00,1.50,0.00,0.000,6,0.000,0.024,2883,2278,2324
$GC,12234,0.54,126.5,380.2,11.7,390,12238,0.00,1.62,0.00,0.000,4,0.000,0.048,2884,3315,2324
$GC,12298,0.54,126.5,372.3,11.7,391,12301,0.00,1.48,0.00,0.000,6,0.000,0.025,2890,2312,2324
$GC,12575,0.54,126.5,341.1,11.5,398,12578,0.00,1.60,0.00,0.000,4,0.000,0.026,2898,1203,2324
$GC,12649,0.54,126.5,332.3,11.3,399,12653,0.00,1.65,0.00,0.000,6,0.000,0.040,2892,2288,2324
$GC,12916,0.54,126.5,302.6,11.5,406,12919,0.00,1.60,0.00,0.000,4,0.000,0.027,2898,1192,2324
$GC,12979,0.54,126.5,295.4,10.4,407,12982,0.00,1.60,0.00,0.000,6,0.000,0.038,2893,2251,2324
$GC,13257,0.54,126.5,266.2,10.5,414,13260,0.00,1.62,0.00,0.000,4,0.000,0.048,2891,3319,2324
$GC,13288,0.54,126.5,263.0,9.8,414,13292,0.00,1.55,0.00,0.000,6,0.000,0.023,2897,2254,2324
$GC,13555,0.54,133.6,240.5,8.7,421,13564,0.00,1.70,4.60,0.597,4,0.000,0.046,2898,3311,2313
$GC,13595,0.54,133.6,236.4,9.2,421,13603,0.00,1.52,0.00,0.000,6,0.000,0.025,2903,2269,2313
$GC,13850,0.54,133.6,212.5,9.6,428,13853,0.00,1.52,0.00,0.000,4,0.000,0.025,2909,1196,2312
$GC,13980,0.54,133.6,199.8,9.4,430,13989,0.08,1.65,0.00,0.000,6,0.147,0.037,2880,2272,2312
$GC,14250,0.56,160.5,178.7,7.7,455,14288,0.00,0.00,27.75,0.693,6,0.000,0.000,2880,2272,2203
$GC,14546,0.56,160.5,151.6,10.2,483,14550,0.00,1.60,0.00,0.000,4,0.000,0.044,2876,3328,2200
$GC,14595,0.56,160.5,146.3,9.9,487,14599,0.00,1.55,0.00,0.000,6,0.000,0.022,2882,2270,2199
$GC,14872,0.57,197.8,122.8,7.2,512,14920,0.00,0.00,35.35,0.647,6,0.000,0.000,2882,2262,2050
$GC,15182,0.57,198.5,94.5,9.0,541,15186,0.00,1.62,0.00,0.000,4,0.000,0.043,2878,3323,2047
$GC,15243,0.58,209.9,89.2,8.5,546,15260,0.00,1.52,11.50,0.600,6,0.000,0.021,2884,2265,2001
$GC,15533,0.60,263.1,69.3,6.5,572,15585,0.00,1.60,45.55,0.613,4,0.000,0.041,2884,3302,1784
$GC,15625,0.60,283.3,62.4,8.0,579,15652,0.00,1.45,18.08,0.581,6,0.000,0.021,2885,2313,1701
$GC,15916,0.63,345.6,41.4,6.0,605,15971,0.00,1.60,51.05,0.579,4,0.000,0.022,2886,1203,1448
$GC,16027,0.65,404.4,33.3,6.2,614,16079,0.00,1.67,48.53,0.566,6,0.000,0.032,2886,2310,1208
$GC,16342,0.65,404.4,7.2,10.7,666,16350,0.00,1.60,0.00,0.000,4,0.000,0.021,2886,1200,1203
$GC,16371,0.65,404.4,3.7,11.5,670,16379,0.00,1.60,0.00,0.000,6,0.000,0.028,2886,2268,1202
$STATE,16386,end climb,SURFACE_DEPTH_REACHED
$STATE,16386,begin surface coast
$FINISH,0.4,0.998691
$STATE,16409,end surface coast,CONTROL_FINISHED_OK
$STATE,16409,begin surface
$SM_CCo,16495,0.00,0.000,0,0,1201,406.46
$SM_GC,1.43,7.22,0.00,0.00,0.020,0.000,0.000,34,2569,1201,-8.23,1.16,406.46
$IRIDIUM_FIX,2223.01,-15747.22,030303,131352
$TT8_MAMPS,0.02301
$HUMID,2258
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.30
$XPDR_PINGS,8
$24V_AH,23.0,68.162
$10V_AH,10.5,83.483
$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,18.125,107.775,502.450,0.000,0.000,138.263,182.737,719.043,2.000,0.000,0.000,17.503,1364.406,11300.074,536.226,3077.094,1716.717,33.374,1607.686,0.000,3031.888,0.000,0.545,0.000
$DEVICE_MAMPS,198.653,55.991,1255.579,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,458.467,2223.839,2307.546,1327.391,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54128,676
$CAP_FILE_SIZE,141774,0
$CFSIZE,260165632,231075840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,071213,180930,2229.773,-15750.364,39,1.3,39,10.0