version: 66.04
glider: 512
mission: 4
dive: 409
start: 12 8 113 4 2 13
data:
$ID,512
$MISSION,4
$DIVE,409
$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,-115629.05
$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,61
$R_STBD_OVSHOOT,63
$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
$GPS1,035136,2225.861,-15751.947,35,1.6,35,10.0
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-79.0
$GPS2,040119,2225.877,-15751.909,8,1.9,8,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.124,-0.200
$KALMAN_X,132401.2,26.1,40.4,-118563.0,1546.0
$KALMAN_Y,-36076.9,-53.8,-237.1,2652.3,733.2
$MHEAD_RNG_PITCHd_Wd,201.9,49897,-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,13,begin dive
$GC,18,-0.54,-126.5,0.0,0.0,0,80,0.00,0.00,-60.22,0.000,2,0.000,0.000,7,2585,2663
$GC,86,-0.54,-126.5,2.1,-1.5,8,126,9.73,1.60,-20.45,0.000,4,0.200,0.037,2517,1458,3375
$GC,210,-0.54,-126.5,20.8,-16.6,28,218,0.00,1.60,0.00,0.000,6,0.000,0.037,2511,2499,3376
$GC,484,-0.54,-126.5,81.5,-23.3,57,488,0.00,1.65,0.00,0.000,4,0.000,0.042,2502,3608,3376
$GC,620,-0.54,-126.5,107.1,-18.8,69,624,0.00,1.52,0.00,0.000,6,0.000,0.018,2508,2531,3376
$GC,891,-0.54,-126.5,151.2,-14.4,94,895,0.00,1.62,0.00,0.000,4,0.000,0.041,2501,3603,3378
$GC,961,-0.54,-126.5,161.4,-14.8,100,965,0.00,1.48,0.00,0.000,6,0.000,0.018,2507,2556,3378
$GC,1233,-0.54,-126.5,197.9,-14.5,125,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2548,3379
$GC,1498,-0.54,-126.5,231.5,-12.4,133,1502,0.00,1.60,0.00,0.000,4,0.000,0.041,2500,3613,3379
$GC,1556,-0.54,-126.5,239.0,-12.4,134,1560,0.00,1.48,0.00,0.000,6,0.000,0.018,2506,2563,3379
$GC,1838,-0.54,-126.5,273.0,-12.4,141,1842,0.00,1.48,0.00,0.000,4,0.000,0.019,2508,1477,3378
$GC,1880,-0.54,-126.5,278.1,-10.8,141,1888,0.00,1.65,0.00,0.000,6,0.000,0.036,2502,2573,3378
$GC,2134,-0.54,-126.5,309.6,-12.6,148,2138,0.00,1.55,0.00,0.000,4,0.000,0.045,2494,3588,3377
$GC,2297,-0.54,-126.5,330.2,-12.2,151,2301,0.00,1.38,0.00,0.000,6,0.000,0.019,2499,2611,3376
$GC,2564,-0.54,-126.5,359.8,-11.0,158,2567,0.00,1.52,0.00,0.000,4,0.000,0.043,2494,3589,3375
$GC,2600,-0.54,-126.5,363.9,-10.7,158,2603,0.00,1.35,0.00,0.000,6,0.000,0.020,2499,2628,3375
$GC,2860,-0.54,-126.5,389.1,-9.6,165,2864,0.00,1.58,0.00,0.000,4,0.000,0.020,2506,1482,3372
$GC,2910,-0.54,-126.5,393.7,-8.8,166,2914,0.00,1.73,0.00,0.000,6,0.000,0.037,2500,2635,3372
$GC,3204,-0.54,-126.5,424.6,-10.5,173,3208,0.00,1.45,0.00,0.000,4,0.000,0.048,2492,3582,3371
$GC,3234,-0.54,-126.5,428.3,-11.3,173,3238,0.00,1.35,0.00,0.000,6,0.000,0.021,2498,2634,3371
$GC,3500,-0.54,-126.5,457.9,-11.7,180,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2625,3369
$GC,3744,-0.54,-126.5,484.7,-10.8,186,3748,0.00,1.60,0.00,0.000,4,0.000,0.021,2506,1459,3366
$GC,3774,-0.54,-126.5,488.0,-9.8,186,3778,0.00,1.80,0.00,0.000,6,0.000,0.039,2500,2635,3366
$GC,4040,-0.54,-126.5,511.4,-8.9,193,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2635,3365
$GC,4283,-0.54,-126.5,534.9,-9.7,199,4287,0.00,1.65,0.00,0.000,4,0.000,0.022,2506,1488,3363
$GC,4348,-0.54,-126.5,541.0,-8.6,200,4351,0.00,1.73,0.00,0.000,6,0.000,0.041,2500,2629,3362
$GC,4624,-0.54,-126.5,568.9,-10.5,207,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2629,3359
$GC,4868,-0.54,-126.5,593.3,-9.9,213,4871,0.00,1.62,0.00,0.000,4,0.000,0.023,2505,1479,3358
$GC,4937,-0.54,-126.5,599.6,-8.7,214,4940,0.00,1.75,0.00,0.000,6,0.000,0.042,2499,2628,3358
$GC,5210,-0.54,-126.5,622.4,-8.5,221,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2627,3356
$GC,5452,-0.54,-126.5,643.3,-8.6,227,5456,0.00,1.48,0.00,0.000,4,0.000,0.052,2492,3575,3354
$GC,5527,-0.54,-126.5,650.8,-9.4,228,5530,0.00,1.38,0.00,0.000,6,0.000,0.025,2497,2626,3354
$GC,5793,-0.54,-126.5,675.1,-9.2,235,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2619,3353
$GC,6036,-0.54,-126.5,697.8,-9.3,241,6040,0.00,1.60,0.00,0.000,4,0.000,0.024,2505,1470,3352
$GC,6100,-0.54,-126.5,703.8,-9.0,242,6103,0.00,1.75,0.00,0.000,6,0.000,0.044,2499,2613,3351
$GC,6377,-0.54,-126.5,727.9,-8.8,249,6381,0.00,1.60,0.00,0.000,4,0.000,0.025,2505,1491,3351
$GC,6447,-0.54,-126.5,734.2,-7.9,250,6450,0.00,1.70,0.00,0.000,6,0.000,0.045,2499,2600,3350
$GC,6718,-0.54,-126.5,757.8,-9.0,257,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2600,3349
$GC,6962,-0.54,-126.5,779.7,-9.0,263,6965,0.00,1.55,0.00,0.000,4,0.000,0.056,2491,3581,3348
$GC,7003,-0.54,-126.5,784.0,-10.6,263,7011,0.00,1.40,0.00,0.000,6,0.000,0.027,2497,2617,3347
$GC,7258,-0.54,-126.5,806.6,-9.0,270,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2617,3346
$GC,7501,-0.54,-126.5,829.3,-9.3,276,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2618,3345
$GC,7745,-0.54,-126.5,850.8,-8.8,282,7749,0.00,1.60,0.00,0.000,4,0.000,0.026,2504,1501,3343
$GC,7775,-0.54,-126.5,853.7,-8.4,282,7778,0.00,1.70,0.00,0.000,6,0.000,0.046,2499,2604,3344
$GC,8041,-0.54,-126.5,873.5,-7.5,289,8045,0.00,1.55,0.00,0.000,4,0.000,0.056,2491,3581,3343
$GC,8071,-0.54,-126.5,875.9,-8.1,289,8075,0.00,1.40,0.00,0.000,6,0.000,0.028,2496,2633,3343
$GC,8338,-0.54,-126.5,892.3,-6.1,296,8341,0.00,1.58,0.00,0.000,4,0.000,0.025,2504,1486,3342
$GC,8368,-0.54,-126.5,894.5,-6.5,296,8372,0.00,1.75,0.00,0.000,6,0.000,0.046,2498,2599,3342
$STATE,8466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8466,begin apogee
$GC,8478,-0.20,0.0,900.7,6.3,299,8592,0.43,0.00,110.62,1.257,6,0.102,0.000,2642,2257,2858
$STATE,8592,end apogee,CONTROL_FINISHED_OK
$STATE,8593,begin climb
$GC,8598,0.54,126.5,903.2,0.0,302,8767,0.62,1.62,133.05,1.142,4,0.037,0.025,2892,1202,2342
$GC,8818,0.54,126.5,882.3,16.8,306,8822,0.00,1.70,0.00,0.000,6,0.000,0.041,2891,2257,2336
$GC,9112,0.54,126.5,834.1,16.2,313,9116,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3323,2331
$GC,9136,0.54,126.5,829.5,17.3,313,9140,0.00,1.58,0.00,0.000,6,0.000,0.025,2897,2269,2330
$GC,9409,0.54,126.5,782.7,17.6,320,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2263,2329
$GC,9652,0.54,126.5,739.5,17.6,326,9655,0.00,1.65,0.00,0.000,4,0.000,0.046,2892,3324,2328
$GC,9670,0.54,126.5,735.6,17.1,326,9674,0.00,1.58,0.00,0.000,6,0.000,0.025,2897,2260,2327
$GC,9946,0.54,126.5,689.1,17.2,333,9950,0.00,1.55,0.00,0.000,4,0.000,0.027,2905,1184,2327
$GC,10042,0.54,126.5,672.9,16.4,335,10045,0.00,1.65,0.00,0.000,6,0.000,0.040,2905,2263,2327
$GC,10336,0.54,126.5,621.2,17.7,342,10340,0.00,1.62,0.00,0.000,4,0.000,0.048,2905,3328,2326
$GC,10405,0.54,126.5,608.3,17.6,343,10409,0.15,1.58,0.00,0.000,6,0.185,0.025,2876,2260,2325
$GC,10676,0.54,126.5,572.1,13.1,350,10680,0.00,1.52,0.00,0.000,4,0.000,0.027,2882,1194,2325
$GC,10726,0.54,126.5,566.0,12.4,351,10730,0.00,1.65,0.00,0.000,6,0.000,0.040,2877,2252,2325
$GC,11020,0.54,126.5,527.1,13.6,358,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2252,2325
$GC,11264,0.54,126.5,494.6,13.3,364,11266,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2252,2324
$GC,11508,0.54,126.5,465.9,11.5,370,11511,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3313,2323
$GC,11576,0.54,126.5,457.3,11.9,371,11580,0.00,1.60,0.00,0.000,6,0.000,0.025,2881,2209,2323
$GC,11848,0.54,126.5,427.3,11.0,378,11851,0.00,1.73,0.00,0.000,4,0.000,0.048,2876,3307,2322
$GC,11890,0.54,126.5,421.9,13.0,378,11898,0.00,1.60,0.00,0.000,6,0.000,0.025,2882,2226,2322
$GC,12144,0.54,126.5,394.3,10.8,385,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2220,2322
$GC,12387,0.54,126.5,367.7,10.9,391,12391,0.00,1.73,0.00,0.000,4,0.000,0.048,2876,3304,2322
$GC,12445,0.54,126.5,360.6,12.0,392,12449,0.00,1.58,0.00,0.000,6,0.000,0.025,2882,2233,2321
$GC,12728,0.54,126.5,329.4,10.9,399,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2227,2322
$GC,12971,0.54,126.5,306.3,9.1,405,12975,0.00,1.70,0.00,0.000,4,0.000,0.046,2876,3305,2322
$GC,13046,0.54,126.5,298.5,10.2,406,13049,0.00,1.52,0.00,0.000,6,0.000,0.024,2881,2260,2322
$GC,13312,0.54,126.5,272.6,10.0,413,13316,0.00,1.65,0.00,0.000,4,0.000,0.045,2876,3321,2322
$GC,13392,0.54,127.7,264.8,9.0,414,13396,0.00,1.48,0.00,0.000,6,0.000,0.024,2881,2312,2322
$GC,13653,0.54,129.1,243.0,8.9,421,13654,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2306,2322
$GC,13896,0.54,129.1,219.7,9.7,427,13900,0.00,1.60,0.00,0.000,4,0.000,0.025,2889,1193,2322
$GC,14004,0.56,183.6,210.6,6.4,429,14066,0.00,1.77,49.80,0.746,6,0.000,0.038,2889,2364,2109
$GC,14330,0.56,183.6,180.7,11.4,449,14333,0.00,1.70,0.00,0.000,4,0.000,0.025,2897,1198,2104
$GC,14349,0.56,183.6,178.0,11.7,450,14357,0.00,1.77,0.00,0.000,6,0.000,0.038,2891,2338,2104
$GC,14615,0.56,183.6,150.6,10.4,475,14618,0.00,1.50,0.00,0.000,4,0.000,0.045,2891,3311,2104
$GC,14653,0.56,183.6,146.7,10.4,478,14656,0.00,1.42,0.00,0.000,6,0.000,0.022,2896,2340,2103
$GC,14925,0.56,183.6,119.4,10.5,503,14928,0.00,1.60,0.00,0.000,4,0.000,0.025,2899,1201,2104
$GC,14941,0.56,183.6,117.6,10.2,504,14945,0.00,1.75,0.00,0.000,6,0.000,0.036,2899,2356,2104
$GC,15213,0.57,205.7,92.8,7.9,529,15239,0.00,1.67,19.33,0.633,4,0.000,0.022,2899,1194,2021
$GC,15258,0.59,252.4,89.5,6.8,532,15305,0.00,1.80,41.05,0.636,6,0.000,0.036,2899,2360,1828
$GC,15561,0.60,261.3,64.7,8.6,560,15575,0.00,1.42,8.32,0.549,4,0.000,0.042,2899,3315,1793
$GC,15594,0.60,261.3,61.2,9.8,562,15601,0.00,1.40,0.00,0.000,6,0.000,0.021,2899,2352,1792
$GC,15859,0.60,261.3,36.1,9.7,587,15863,0.00,1.62,0.00,0.000,4,0.000,0.023,2905,1190,1792
$GC,15931,0.61,284.3,30.1,7.9,593,15960,0.00,1.75,20.83,0.568,6,0.000,0.034,2906,2338,1698
$STATE,16185,end climb,SURFACE_DEPTH_REACHED
$STATE,16185,begin surface coast
$FINISH,0.4,1.023706
$STATE,16213,end surface coast,CONTROL_FINISHED_OK
$STATE,16213,begin surface
$SM_CCo,16239,44.40,0.543,0,0,1267,390.02
$SM_GC,1.22,0.00,0.00,44.40,0.000,0.000,0.543,34,2564,1267,-8.32,0.96,390.02
$IRIDIUM_FIX,2220.67,-15753.30,030303,232351
$TT8_MAMPS,0.023777
$HUMID,2235
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.00
$XPDR_PINGS,11
$24V_AH,23.0,68.575
$10V_AH,10.5,83.993
$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,18.275,118.850,383.000,44.400,0.000,30.161,36.140,316.203,2.750,0.000,0.000,13.342,1334.272,11057.086,480.265,2947.835,1042.294,33.371,1490.538,0.000,2932.546,0.000,0.543,0.000
$DEVICE_MAMPS,200.187,55.991,1257.113,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,437.618,2114.506,2204.431,758.799,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51093,643
$CAP_FILE_SIZE,128426,0
$CFSIZE,260165632,230879232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,081213,083506,2223.989,-15752.532,39,1.3,39,10.0