version: 66.04
glider: 512
mission: 4
dive: 408
start: 12 7 113 23 15 42
data:
$ID,512
$MISSION,4
$DIVE,408
$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,-115615.08
$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,80
$R_STBD_OVSHOOT,57
$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
$GPS1,230159,2228.101,-15751.151,45,1.1,50,10.0
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-81.3
$GPS2,231448,2228.069,-15751.178,9,1.3,14,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.140,-0.189
$KALMAN_X,131002.9,39.6,-108.4,-115777.2,1649.8
$KALMAN_Y,-36377.7,113.3,179.3,6428.5,-150.7
$MHEAD_RNG_PITCHd_Wd,206.4,54145,-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,-126.5,0.0,0.0,0,95,0.00,0.00,-74.70,0.000,2,0.000,0.000,9,2577,3015
$GC,100,-0.54,-126.5,2.2,-1.9,10,125,9.55,1.55,-7.88,0.000,4,0.193,0.037,2521,1477,3374
$GC,214,-0.54,-126.5,29.5,-18.5,29,223,0.00,1.58,0.00,0.000,6,0.000,0.035,2516,2510,3375
$GC,480,-0.54,-126.5,85.7,-18.8,54,484,0.00,1.62,0.00,0.000,4,0.000,0.043,2507,3600,3375
$GC,596,-0.54,-126.5,105.7,-14.2,64,604,0.00,1.48,0.00,0.000,6,0.000,0.018,2513,2551,3376
$GC,861,-0.54,-126.5,142.8,-13.6,89,865,0.00,1.60,0.00,0.000,4,0.000,0.041,2507,3589,3377
$GC,901,-0.54,-126.5,148.4,-14.6,92,905,0.00,1.42,0.00,0.000,6,0.000,0.018,2506,2576,3377
$GC,1172,-0.54,-126.5,185.5,-14.2,117,1175,0.00,1.58,0.00,0.000,4,0.000,0.041,2499,3596,3377
$GC,1201,-0.54,-126.5,190.1,-14.1,119,1209,0.00,1.42,0.00,0.000,6,0.000,0.018,2504,2573,3377
$GC,1490,-0.54,-126.5,226.3,-12.5,132,1494,0.00,1.48,0.00,0.000,4,0.000,0.019,2511,1485,3376
$GC,1526,-0.54,-126.5,231.0,-11.5,132,1529,0.00,1.65,0.00,0.000,6,0.000,0.037,2510,2596,3376
$GC,1786,-0.54,-126.5,260.3,-11.5,139,1790,0.00,1.52,0.00,0.000,4,0.000,0.045,2504,3597,3376
$GC,1900,-0.54,-126.5,273.0,-10.7,141,1903,0.00,1.38,0.00,0.000,6,0.000,0.018,2508,2617,3375
$GC,2171,-0.54,-126.5,304.1,-12.0,148,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2611,3374
$GC,2416,-0.54,-126.5,330.9,-10.9,154,2420,0.00,1.52,0.00,0.000,4,0.000,0.044,2503,3592,3372
$GC,2485,-0.54,-126.5,339.0,-10.9,155,2489,0.00,1.38,0.00,0.000,6,0.000,0.019,2507,2613,3372
$GC,2757,-0.54,-126.5,366.8,-10.1,162,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2606,3370
$GC,3000,-0.54,-126.5,386.9,-8.1,168,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2606,3368
$GC,3243,-0.54,-126.5,409.8,-10.0,174,3247,0.00,1.55,0.00,0.000,4,0.000,0.021,2508,1487,3367
$GC,3285,-0.54,-126.5,414.1,-9.2,174,3293,0.00,1.73,0.00,0.000,6,0.000,0.038,2502,2620,3366
$GC,3540,-0.54,-126.5,437.9,-9.3,181,3544,0.00,1.50,-0.08,0.000,4,0.000,0.064,2494,3598,3390
$GC,3575,-0.54,-126.5,441.8,-10.3,181,3578,0.00,1.38,0.00,0.000,6,0.000,0.021,2499,2635,3389
$GC,3835,-0.54,-126.5,469.0,-10.7,188,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2626,3387
$GC,4079,-0.54,-126.5,490.6,-8.3,194,4083,0.00,1.50,0.00,0.000,4,0.000,0.045,2494,3585,3385
$GC,4137,-0.54,-126.5,495.2,-8.4,195,4140,0.00,1.33,0.00,0.000,6,0.000,0.022,2499,2652,3385
$GC,4420,-0.54,-126.5,517.2,-8.4,202,4424,0.00,1.48,0.00,0.000,4,0.000,0.047,2494,3587,3382
$GC,4461,-0.54,-126.5,521.6,-9.9,202,4469,0.00,1.33,0.00,0.000,6,0.000,0.022,2499,2651,3382
$GC,4716,-0.54,-126.5,547.5,-10.6,209,4720,0.00,1.60,0.00,0.000,4,0.000,0.021,2507,1486,3380
$GC,4813,-0.54,-126.5,556.8,-8.8,211,4816,0.00,1.73,0.00,0.000,6,0.000,0.040,2501,2623,3379
$GC,5107,-0.54,-126.5,584.0,-8.9,218,5110,0.00,1.60,0.00,0.000,4,0.000,0.022,2507,1486,3378
$GC,5149,-0.54,-126.5,587.4,-7.3,218,5157,0.00,1.73,0.00,0.000,6,0.000,0.041,2501,2602,3378
$GC,5404,-0.54,-126.5,606.3,-7.4,225,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2602,3376
$GC,5647,-0.54,-126.5,626.4,-8.4,231,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2602,3374
$GC,5891,-0.54,-126.5,646.6,-8.2,237,5894,0.00,1.58,0.00,0.000,4,0.000,0.023,2507,1503,3373
$GC,5922,-0.54,-126.5,649.3,-8.3,237,5925,0.00,1.67,0.00,0.000,6,0.000,0.042,2501,2604,3373
$GC,6188,-0.54,-126.5,669.6,-7.8,244,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2603,3371
$GC,6432,-0.54,-126.5,691.1,-9.0,250,6435,0.00,1.60,0.00,0.000,4,0.000,0.024,2507,1473,3371
$GC,6473,-0.54,-126.5,695.1,-8.7,250,6481,0.00,1.70,0.00,0.000,6,0.000,0.042,2501,2569,3370
$GC,6728,-0.54,-126.5,716.9,-8.7,257,6732,0.00,1.60,0.00,0.000,4,0.000,0.054,2493,3585,3369
$GC,6809,-0.54,-126.5,724.5,-8.7,258,6813,0.00,1.42,0.00,0.000,6,0.000,0.025,2498,2605,3369
$GC,7070,-0.54,-126.5,745.7,-8.0,265,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2597,3368
$GC,7315,-0.54,-126.5,764.4,-7.7,271,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2597,3366
$GC,7557,-0.54,-126.5,783.9,-8.1,277,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2597,3365
$GC,7800,-0.54,-126.5,804.5,-8.5,283,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2597,3365
$GC,8046,-0.54,-126.5,824.6,-8.3,289,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2597,3364
$GC,8288,-0.54,-126.5,845.0,-8.3,295,8292,0.00,1.55,0.00,0.000,4,0.000,0.025,2505,1502,3363
$GC,8325,-0.54,-126.5,848.2,-7.8,295,8328,0.00,1.67,0.00,0.000,6,0.000,0.044,2500,2595,3363
$GC,8585,-0.54,-126.5,868.5,-7.9,302,8589,0.00,1.58,0.00,0.000,4,0.000,0.055,2492,3588,3362
$GC,8643,-0.54,-126.5,873.7,-8.2,303,8646,0.00,1.42,0.00,0.000,6,0.000,0.026,2497,2616,3362
$GC,8926,-0.54,-126.5,894.6,-7.3,310,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2609,3360
$STATE,9002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9002,begin apogee
$GC,9014,-0.20,0.0,900.5,7.2,312,9131,0.40,0.00,114.68,1.273,6,0.104,0.000,2634,2253,2858
$STATE,9132,end apogee,CONTROL_FINISHED_OK
$STATE,9132,begin climb
$GC,9137,0.54,126.5,903.0,0.0,315,9358,0.65,1.58,145.95,1.062,4,0.042,0.025,2887,1235,2341
$GC,9433,0.54,126.5,868.8,16.7,321,9436,0.00,1.62,0.00,0.000,6,0.000,0.040,2886,2263,2336
$GC,9699,0.54,126.5,821.7,18.0,328,9702,0.00,1.62,0.00,0.000,4,0.000,0.048,2887,3314,2333
$GC,9734,0.54,126.5,814.3,19.8,328,9738,0.00,1.58,0.00,0.000,6,0.000,0.025,2894,2260,2332
$GC,9995,0.54,126.5,767.0,18.0,335,9998,0.00,1.55,0.00,0.000,4,0.000,0.027,2902,1194,2331
$GC,10052,0.54,126.5,756.3,17.4,336,10056,0.00,1.62,0.00,0.000,6,0.000,0.039,2902,2235,2330
$GC,10337,0.54,126.5,708.6,16.8,343,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2235,2329
$GC,10579,0.54,126.5,668.6,16.4,349,10582,0.00,1.55,0.00,0.000,4,0.000,0.027,2907,1191,2328
$GC,10597,0.54,126.5,664.7,17.1,349,10601,0.00,1.60,0.00,0.000,6,0.000,0.038,2905,2225,2328
$GC,10874,0.54,126.5,616.6,17.5,356,10875,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2225,2328
$GC,11118,0.54,126.5,575.3,16.8,362,11122,0.00,1.70,0.00,0.000,4,0.000,0.049,2905,3313,2327
$GC,11154,0.54,126.5,568.7,16.6,362,11158,0.15,1.60,0.00,0.000,6,0.183,0.026,2875,2219,2327
$GC,11413,0.54,126.5,534.1,12.9,369,11417,0.00,1.50,0.00,0.000,4,0.000,0.027,2882,1170,2326
$GC,11482,0.54,126.5,525.3,12.4,370,11486,0.00,1.60,0.00,0.000,6,0.000,0.040,2877,2223,2327
$GC,11754,0.54,126.5,493.7,11.7,377,11757,0.00,1.67,0.00,0.000,4,0.000,0.049,2876,3314,2326
$GC,11805,0.54,126.5,487.8,12.0,378,11809,0.00,1.62,0.00,0.000,6,0.000,0.025,2882,2196,2326
$GC,12099,0.54,126.5,452.0,12.4,385,12103,0.00,1.75,0.00,0.000,4,0.000,0.048,2877,3311,2326
$GC,12179,0.54,126.5,440.8,14.8,386,12183,0.00,1.60,0.00,0.000,6,0.000,0.028,2883,2228,2325
$GC,12440,0.54,126.5,407.0,13.3,393,12444,0.00,1.52,0.00,0.000,4,0.000,0.028,2891,1172,2324
$GC,12459,0.54,126.5,404.2,12.4,393,12463,0.00,1.65,0.00,0.000,6,0.000,0.041,2890,2231,2324
$GC,12736,0.54,126.5,371.5,11.4,400,12740,0.00,1.67,0.00,0.000,4,0.000,0.048,2890,3305,2324
$GC,12816,0.54,126.5,360.7,12.9,401,12820,0.00,1.58,0.00,0.000,6,0.000,0.025,2897,2237,2324
$GC,13076,0.54,126.5,329.4,12.2,408,13080,0.00,1.67,0.00,0.000,4,0.000,0.046,2891,3311,2324
$GC,13134,0.54,126.5,321.8,12.8,409,13138,0.00,1.50,0.00,0.000,6,0.000,0.025,2897,2291,2324
$GC,13417,0.54,126.5,288.3,11.8,416,13421,0.00,1.62,0.00,0.000,4,0.000,0.047,2891,3333,2324
$GC,13474,0.54,126.5,281.2,12.0,417,13478,0.00,1.50,0.00,0.000,6,0.000,0.025,2897,2309,2325
$GC,13757,0.54,126.5,250.2,11.1,424,13761,0.00,1.58,0.00,0.000,4,0.000,0.044,2892,3306,2324
$GC,13770,0.54,126.5,248.4,10.7,424,13774,0.00,1.42,0.00,0.000,6,0.000,0.024,2896,2329,2324
$GC,14053,0.54,126.5,221.7,9.1,431,14057,0.00,1.62,0.00,0.000,4,0.000,0.025,2905,1193,2324
$GC,14128,0.55,158.8,215.2,7.5,432,14169,0.00,1.75,29.30,0.749,6,0.000,0.039,2905,2344,2209
$GC,14440,0.55,158.8,182.2,10.5,451,14443,0.00,1.50,0.00,0.000,4,0.000,0.046,2904,3314,2205
$GC,14522,0.55,158.8,171.8,13.2,458,14526,0.08,1.48,0.00,0.000,6,0.157,0.024,2888,2316,2204
$GC,14798,0.56,173.3,147.7,8.3,483,14816,0.00,1.60,13.40,0.688,4,0.000,0.024,2893,1189,2152
$GC,14857,0.56,173.3,141.9,9.8,487,14860,0.00,1.75,0.00,0.000,6,0.000,0.038,2891,2333,2149
$GC,15128,0.56,182.6,118.0,8.6,512,15143,0.00,1.73,9.80,0.637,4,0.000,0.024,2897,1182,2113
$GC,15216,0.58,215.9,110.9,7.4,519,15255,0.00,1.73,30.05,0.670,6,0.000,0.037,2897,2313,1975
$GC,15513,0.58,215.9,83.1,9.8,546,15517,0.00,1.52,0.00,0.000,4,0.000,0.044,2897,3304,1972
$GC,15574,0.59,240.3,77.6,7.8,551,15600,0.00,1.42,21.48,0.629,6,0.000,0.021,2899,2321,1877
$GC,15858,0.59,251.3,54.2,8.5,577,15873,0.00,1.67,10.57,0.578,4,0.000,0.024,2902,1189,1833
$GC,15901,0.60,265.6,50.5,8.3,580,15919,0.00,1.75,13.55,0.580,6,0.000,0.035,2902,2346,1775
$GC,16184,0.60,265.6,22.2,11.3,611,16192,0.00,1.70,0.00,0.000,4,0.000,0.024,2902,1189,1771
$GC,16219,0.60,265.6,18.5,11.2,616,16227,0.00,1.73,0.00,0.000,6,0.000,0.032,2902,2321,1771
$STATE,16359,end climb,SURFACE_DEPTH_REACHED
$STATE,16359,begin surface coast
$FINISH,0.3,1.018483
$STATE,16393,end surface coast,CONTROL_FINISHED_OK
$STATE,16393,begin surface
$SM_CCo,16418,51.35,0.555,0,0,1267,390.02
$SM_GC,1.38,0.00,0.00,51.35,0.000,0.000,0.555,33,2587,1267,-8.33,1.64,390.02
$IRIDIUM_FIX,2220.67,-15750.26,030303,232352
$TT8_MAMPS,0.023777
$HUMID,2266
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.70
$XPDR_PINGS,11
$24V_AH,23.2,68.438
$10V_AH,10.5,83.828
$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,18.100,120.625,388.775,51.350,0.000,50.869,71.068,380.132,2.750,0.000,0.000,14.823,1361.547,11205.430,519.707,2961.087,1185.377,33.374,1543.010,0.000,2926.940,0.000,0.544,0.000
$DEVICE_MAMPS,193.284,64.428,1273.220,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,440.727,2131.503,2217.193,1221.724,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53994,647
$CAP_FILE_SIZE,134576,0
$CFSIZE,260165632,230944768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,0
$GPS,081213,035136,2225.861,-15751.947,35,1.6,35,10.0