version: 66.04
glider: 512
mission: 4
dive: 407
start: 12 7 113 18 18 43
data:
$ID,512
$MISSION,4
$DIVE,407
$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,-115599.62
$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,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
$GPS1,180930,2229.773,-15750.364,39,1.3,39,10.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-79.5
$GPS2,181749,2229.816,-15750.302,14,1.3,14,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.131,-0.195
$KALMAN_X,129897.1,-66.6,0.0,-113178.2,1661.8
$KALMAN_Y,-36702.8,66.6,-110.5,10329.4,722.5
$MHEAD_RNG_PITCHd_Wd,203.8,57676,-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,-67.47,0.000,2,0.000,0.000,7,2565,2787
$GC,93,-0.54,-126.5,2.1,-1.8,9,125,9.60,1.55,-15.25,0.000,4,0.196,0.038,2517,1476,3373
$GC,257,-0.54,-126.5,32.3,-18.2,36,261,0.00,1.55,0.00,0.000,6,0.000,0.038,2512,2489,3375
$GC,529,-0.54,-126.5,88.9,-18.3,61,533,0.00,1.67,0.00,0.000,4,0.000,0.044,2503,3601,3375
$GC,664,-0.54,-126.5,112.5,-15.9,73,668,0.00,1.48,0.00,0.000,6,0.000,0.018,2509,2551,3375
$GC,935,-0.54,-126.5,155.7,-15.9,98,939,0.00,1.60,0.00,0.000,4,0.000,0.041,2502,3607,3376
$GC,973,-0.54,-126.5,162.5,-18.0,101,977,0.00,1.45,0.00,0.000,6,0.000,0.018,2507,2580,3376
$GC,1274,-0.54,-126.5,206.2,-13.6,126,1277,0.00,1.58,0.00,0.000,4,0.000,0.041,2501,3597,3376
$GC,1338,-0.54,-126.5,215.5,-13.7,127,1341,0.00,1.40,0.00,0.000,6,0.000,0.018,2507,2601,3376
$GC,1615,-0.54,-126.5,250.6,-12.4,134,1618,0.00,1.52,0.00,0.000,4,0.000,0.018,2508,1477,3376
$GC,1672,-0.54,-126.5,257.1,-9.9,135,1675,0.00,1.65,0.00,0.000,6,0.000,0.037,2502,2591,3375
$GC,1955,-0.54,-126.5,291.2,-12.2,142,1958,0.00,1.52,0.00,0.000,4,0.000,0.044,2494,3590,3375
$GC,2051,-0.54,-126.5,302.5,-11.2,144,2054,0.00,1.40,0.00,0.000,6,0.000,0.018,2499,2601,3374
$GC,2345,-0.54,-126.5,337.8,-11.9,151,2349,0.00,1.52,0.00,0.000,4,0.000,0.019,2507,1479,3373
$GC,2375,-0.54,-126.5,341.8,-11.7,151,2378,0.00,1.67,0.00,0.000,6,0.000,0.038,2500,2602,3373
$GC,2641,-0.54,-126.5,371.3,-11.3,158,2645,0.00,1.50,0.00,0.000,4,0.000,0.046,2493,3586,3372
$GC,2693,-0.54,-126.5,377.7,-10.9,159,2697,0.00,1.42,0.00,0.000,6,0.000,0.020,2499,2584,3371
$GC,2981,-0.54,-126.5,410.1,-11.3,166,2985,0.00,1.58,0.00,0.000,4,0.000,0.044,2493,3592,3369
$GC,3034,-0.54,-126.5,416.2,-10.8,167,3037,0.00,1.42,0.00,0.000,6,0.000,0.019,2498,2584,3369
$GC,3322,-0.54,-126.5,446.2,-10.5,174,3326,0.00,1.58,0.00,0.000,4,0.000,0.044,2493,3589,3367
$GC,3354,-0.54,-126.5,449.9,-10.6,174,3357,0.00,1.40,0.00,0.000,6,0.000,0.020,2498,2602,3367
$GC,3620,-0.54,-126.5,477.8,-10.5,181,3624,0.00,1.58,-0.08,0.000,4,0.000,0.063,2493,3599,3390
$GC,3655,-0.54,-126.5,482.0,-10.7,181,3659,0.00,1.42,0.00,0.000,6,0.000,0.020,2498,2601,3390
$GC,3916,-0.54,-126.5,508.9,-10.5,188,3919,0.00,1.58,0.00,0.000,4,0.000,0.047,2492,3596,3388
$GC,3951,-0.54,-126.5,513.1,-10.6,188,3954,0.00,1.40,0.00,0.000,6,0.000,0.021,2497,2616,3388
$GC,4211,-0.54,-126.5,539.7,-10.3,195,4214,0.00,1.55,0.00,0.000,4,0.000,0.021,2505,1496,3386
$GC,4236,-0.54,-126.5,542.3,-10.0,195,4239,0.00,1.70,0.00,0.000,6,0.000,0.040,2499,2622,3386
$GC,4507,-0.54,-126.5,566.7,-9.1,202,4511,0.00,1.50,0.00,0.000,4,0.000,0.049,2491,3592,3384
$GC,4557,-0.54,-126.5,571.4,-9.2,203,4561,0.00,1.38,0.00,0.000,6,0.000,0.021,2496,2636,3383
$GC,4851,-0.54,-126.5,597.4,-8.7,210,4855,0.00,1.60,0.00,0.000,4,0.000,0.021,2505,1465,3381
$GC,4926,-0.54,-126.5,603.6,-7.5,211,4930,0.00,1.75,0.00,0.000,6,0.000,0.040,2499,2621,3380
$GC,5192,-0.54,-126.5,624.7,-8.2,218,5196,0.00,1.50,0.00,0.000,4,0.000,0.051,2491,3587,3379
$GC,5224,-0.54,-126.5,627.6,-9.6,218,5227,0.00,1.40,0.00,0.000,6,0.000,0.023,2496,2621,3378
$GC,5491,-0.54,-126.5,649.7,-8.4,225,5494,0.00,1.55,0.00,0.000,4,0.000,0.050,2491,3592,3377
$GC,5541,-0.54,-126.5,654.2,-9.3,226,5545,0.00,1.40,0.00,0.000,6,0.000,0.023,2496,2628,3377
$GC,5835,-0.54,-126.5,679.7,-8.8,233,5839,0.00,1.60,0.00,0.000,4,0.000,0.023,2504,1467,3375
$GC,5886,-0.54,-126.5,684.0,-8.0,234,5890,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2623,3375
$GC,6180,-0.54,-126.5,709.9,-8.7,241,6184,0.00,1.60,0.00,0.000,4,0.000,0.023,2504,1490,3373
$GC,6222,-0.54,-126.5,713.7,-8.3,241,6230,0.00,1.75,0.00,0.000,6,0.000,0.041,2497,2617,3372
$GC,6477,-0.54,-126.5,733.7,-8.0,248,6481,0.00,1.62,0.00,0.000,4,0.000,0.024,2503,1492,3371
$GC,6507,-0.54,-126.5,736.4,-8.3,248,6511,0.00,1.70,0.00,0.000,6,0.000,0.043,2498,2605,3372
$GC,6773,-0.54,-126.5,758.8,-8.7,255,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2605,3370
$GC,7017,-0.54,-126.5,779.6,-8.6,261,7020,0.00,1.55,0.00,0.000,4,0.000,0.054,2490,3589,3369
$GC,7047,-0.54,-126.5,782.5,-9.5,261,7050,0.00,1.42,0.00,0.000,6,0.000,0.025,2495,2613,3369
$GC,7314,-0.54,-126.5,804.6,-8.4,268,7317,0.00,1.58,0.00,0.000,4,0.000,0.024,2503,1493,3368
$GC,7349,-0.54,-126.5,807.9,-7.5,268,7353,0.00,1.70,0.00,0.000,6,0.000,0.043,2497,2603,3368
$GC,7610,-0.54,-126.5,827.8,-7.6,275,7614,0.00,1.55,0.00,0.000,4,0.000,0.053,2490,3587,3367
$GC,7640,-0.54,-126.5,830.4,-8.3,275,7644,0.00,1.42,0.00,0.000,6,0.000,0.025,2495,2615,3366
$GC,7906,-0.54,-126.5,847.9,-6.5,282,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2607,3365
$GC,8150,-0.54,-126.5,863.7,-6.4,288,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2607,3365
$GC,8394,-0.54,-126.5,878.9,-6.2,294,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2607,3364
$GC,8638,-0.54,-126.5,894.9,-6.5,300,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2607,3363
$STATE,8713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8714,begin apogee
$GC,8725,-0.20,0.0,900.4,6.6,302,8844,0.43,0.00,115.68,1.252,6,0.104,0.000,2641,2250,2858
$STATE,8844,end apogee,CONTROL_FINISHED_OK
$STATE,8844,begin climb
$GC,8850,0.54,126.5,902.7,0.0,305,9072,0.62,0.00,147.80,1.040,6,0.040,0.000,2883,2250,2342
$GC,9308,0.54,126.5,840.7,17.3,316,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2250,2335
$GC,9552,0.54,126.5,801.0,16.2,322,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2250,2332
$GC,9795,0.54,126.5,761.6,16.1,328,9799,0.00,1.67,0.00,0.000,4,0.000,0.047,2877,3310,2332
$GC,9845,0.54,126.5,753.3,16.9,329,9849,0.00,1.55,0.00,0.000,6,0.000,0.026,2882,2267,2331
$GC,10140,0.54,126.5,704.8,16.6,336,10143,0.00,1.55,0.00,0.000,4,0.000,0.027,2890,1195,2330
$GC,10226,0.54,126.5,690.2,15.7,337,10234,0.00,1.62,0.00,0.000,6,0.000,0.041,2890,2238,2329
$GC,10480,0.54,126.5,648.4,16.8,344,10481,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2238,2329
$GC,10724,0.54,126.5,613.6,13.9,350,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2238,2328
$GC,10967,0.54,126.5,579.3,14.1,356,10971,0.00,1.55,0.00,0.000,4,0.000,0.027,2897,1188,2328
$GC,11053,0.54,126.5,567.9,12.2,357,11061,0.00,1.62,0.00,0.000,6,0.000,0.041,2892,2235,2327
$GC,11307,0.54,126.5,536.7,12.2,364,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2234,2327
$GC,11551,0.54,126.5,507.5,12.2,370,11552,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2235,2327
$GC,11795,0.54,126.5,478.2,12.1,376,11798,0.00,1.52,0.00,0.000,4,0.000,0.026,2898,1196,2326
$GC,11852,0.54,126.5,471.2,10.8,377,11856,0.00,1.60,0.00,0.000,6,0.000,0.041,2892,2223,2326
$GC,12135,0.54,126.5,441.4,10.4,384,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2223,2326
$GC,12378,0.54,126.5,416.8,10.3,390,12381,0.00,1.52,0.00,0.000,4,0.000,0.027,2897,1194,2326
$GC,12428,0.54,126.5,411.3,10.9,391,12431,0.00,1.60,0.00,0.000,6,0.000,0.039,2892,2221,2325
$GC,12722,0.54,126.5,377.3,11.6,398,12725,0.00,1.52,0.00,0.000,4,0.000,0.027,2897,1193,2325
$GC,12830,0.54,126.5,364.9,10.9,400,12833,0.00,1.55,0.00,0.000,6,0.000,0.040,2893,2192,2324
$GC,13107,0.54,126.5,336.6,10.0,407,13108,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2191,2324
$GC,13350,0.54,126.5,312.4,10.1,413,13354,0.00,1.73,0.00,0.000,4,0.000,0.050,2891,3316,2325
$GC,13408,0.54,126.5,306.0,10.3,414,13411,0.00,1.62,0.00,0.000,6,0.000,0.024,2898,2185,2324
$GC,13691,0.54,126.5,278.7,9.7,421,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2178,2324
$GC,13934,0.54,126.5,253.3,10.4,427,13935,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2179,2324
$GC,14178,0.54,126.5,230.8,9.1,433,14181,0.00,1.75,0.00,0.000,4,0.000,0.048,2899,3307,2324
$GC,14242,0.54,126.5,224.1,10.8,434,14246,0.12,1.60,0.00,0.000,6,0.164,0.024,2877,2196,2324
$GC,14519,0.55,158.2,202.3,7.5,441,14563,0.00,1.45,28.95,0.720,4,0.000,0.025,2882,1197,2211
$GC,14635,0.55,158.2,192.0,9.8,448,14639,0.00,1.58,0.00,0.000,6,0.000,0.038,2877,2204,2208
$GC,14912,0.56,178.2,169.0,8.0,473,14938,0.00,1.73,18.35,0.706,4,0.000,0.045,2875,3307,2130
$GC,15042,0.56,178.2,155.8,9.9,484,15046,0.00,1.60,0.00,0.000,6,0.000,0.023,2882,2231,2129
$GC,15314,0.56,178.2,131.4,9.5,509,15318,0.00,1.50,0.00,0.000,4,0.000,0.025,2886,1187,2127
$GC,15376,0.57,186.5,125.4,8.6,514,15389,0.00,1.62,8.73,0.618,6,0.000,0.037,2886,2242,2097
$GC,15656,0.57,186.5,101.2,9.1,539,15659,0.00,1.62,0.00,0.000,4,0.000,0.044,2886,3320,2095
$GC,15750,0.57,186.5,90.5,10.4,547,15758,0.00,1.58,0.00,0.000,6,0.000,0.021,2893,2238,2095
$GC,16017,0.57,196.4,67.9,8.5,572,16032,0.00,1.73,10.25,0.584,4,0.000,0.041,2891,3320,2057
$GC,16114,0.58,218.0,59.8,8.0,580,16140,0.00,1.50,19.83,0.601,6,0.000,0.021,2897,2272,1968
$GC,16404,0.59,237.8,38.1,8.1,606,16423,0.00,0.00,17.92,0.576,6,0.000,0.000,2898,2272,1887
$GC,16681,0.59,237.8,12.1,9.9,649,16689,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2272,1885
$STATE,16773,end climb,SURFACE_DEPTH_REACHED
$STATE,16773,begin surface coast
$FINISH,0.3,1.023554
$STATE,16806,end surface coast,CONTROL_FINISHED_OK
$STATE,16806,begin surface
$SM_CCo,16832,64.00,0.546,0,0,1267,390.02
$SM_GC,1.41,0.00,0.00,64.00,0.000,0.000,0.546,29,2583,1267,-8.34,1.47,390.02
$IRIDIUM_FIX,2223.01,-15750.26,030303,131358
$TT8_MAMPS,0.023777
$HUMID,2252
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.50
$XPDR_PINGS,8
$24V_AH,23.3,68.292
$10V_AH,10.5,83.657
$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,18.050,113.450,367.500,64.000,0.000,23.031,36.118,240.119,2.000,0.000,0.000,14.895,1396.193,11431.191,526.117,3078.247,957.529,33.380,1545.490,0.000,3034.396,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,62.894,1251.744,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,458.055,2212.266,2295.406,1299.621,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54002,672
$CAP_FILE_SIZE,129853,0
$CFSIZE,260165632,231014400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,071213,230159,2228.101,-15751.151,45,1.1,50,10.0