version: 66.04
glider: 512
mission: 4
dive: 410
start: 12 8 113 8 44 38
data:
$ID,512
$MISSION,4
$DIVE,410
$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,-115655.06
$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,63
$R_STBD_OVSHOOT,43
$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
$GPS1,083506,2223.989,-15752.532,39,1.3,39,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-83.9
$GPS2,084345,2223.965,-15752.497,11,1.2,25,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.146,-0.184
$KALMAN_X,134034.8,-73.5,-15.6,-121045.3,1953.3
$KALMAN_Y,-35868.1,-190.4,129.5,-1325.7,314.6
$MHEAD_RNG_PITCHd_Wd,208.5,46215,-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,17,-0.54,-126.5,0.0,0.0,0,95,0.00,0.00,-74.95,0.000,2,0.000,0.000,8,2562,3029
$GC,100,-0.54,-126.5,2.4,-2.2,10,125,9.68,1.58,-7.50,0.000,4,0.199,0.041,2518,1468,3374
$GC,245,-0.54,-126.5,35.5,-18.1,32,249,0.00,1.60,0.00,0.000,6,0.000,0.038,2511,2513,3375
$GC,516,-0.54,-126.5,97.5,-20.7,57,520,0.00,1.65,0.00,0.000,4,0.000,0.045,2503,3591,3375
$GC,673,-0.54,-126.5,124.0,-14.8,71,676,0.00,1.48,0.00,0.000,6,0.000,0.018,2508,2544,3376
$GC,945,-0.54,-126.5,163.0,-14.9,96,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2536,3377
$GC,1240,-0.54,-126.5,206.3,-13.6,121,1244,0.00,1.62,0.00,0.000,4,0.000,0.041,2502,3596,3378
$GC,1335,-0.54,-126.5,218.6,-11.9,123,1339,0.00,1.42,0.00,0.000,6,0.000,0.018,2506,2580,3377
$GC,1629,-0.54,-126.5,254.0,-12.7,130,1633,0.00,1.55,0.00,0.000,4,0.000,0.041,2501,3583,3377
$GC,1692,-0.54,-126.5,262.8,-12.8,131,1696,0.00,1.38,0.00,0.000,6,0.000,0.019,2506,2606,3377
$GC,1970,-0.54,-126.5,293.0,-10.7,138,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2598,3377
$GC,2213,-0.54,-126.5,318.6,-10.3,144,2217,0.00,1.52,0.00,0.000,4,0.000,0.044,2500,3586,3376
$GC,2311,-0.54,-126.5,329.0,-10.2,146,2315,0.00,1.38,0.00,0.000,6,0.000,0.020,2505,2611,3375
$GC,2601,-0.54,-126.5,356.7,-9.4,153,2604,0.00,1.55,0.00,0.000,4,0.000,0.020,2505,1479,3374
$GC,2670,-0.54,-126.5,363.3,-8.3,154,2673,0.00,1.70,0.00,0.000,6,0.000,0.038,2498,2619,3373
$GC,2942,-0.54,-126.5,388.6,-9.4,161,2945,0.00,1.48,0.00,0.000,4,0.000,0.046,2491,3586,3371
$GC,3016,-0.54,-126.5,396.2,-9.6,162,3019,0.00,1.40,0.00,0.000,6,0.000,0.021,2497,2599,3371
$GC,3281,-0.54,-126.5,421.8,-10.0,169,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2591,3369
$GC,3525,-0.54,-126.5,448.6,-11.2,175,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2591,3368
$GC,3769,-0.54,-126.5,474.4,-10.6,181,3773,0.00,1.55,0.00,0.000,4,0.000,0.046,2491,3585,3365
$GC,3819,-0.54,-126.5,480.0,-10.8,182,3823,0.00,1.40,0.00,0.000,6,0.000,0.022,2496,2613,3365
$GC,4113,-0.54,-126.5,508.8,-9.5,189,4117,0.00,1.58,0.00,0.000,4,0.000,0.022,2505,1481,3363
$GC,4189,-0.54,-126.5,515.6,-7.9,190,4192,0.00,1.70,0.00,0.000,6,0.000,0.039,2499,2613,3363
$GC,4455,-0.54,-126.5,539.9,-9.3,197,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2612,3361
$GC,4698,-0.54,-126.5,563.2,-9.6,203,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2612,3359
$GC,4942,-0.54,-126.5,584.7,-8.7,209,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2612,3357
$GC,5186,-0.54,-126.5,605.1,-8.4,215,5190,0.00,1.50,0.00,0.000,4,0.000,0.051,2491,3580,3356
$GC,5211,-0.54,-126.5,607.5,-8.5,215,5215,0.00,1.42,0.00,0.000,6,0.000,0.024,2497,2597,3355
$GC,5483,-0.54,-126.5,631.1,-8.7,222,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2589,3354
$GC,5726,-0.54,-126.5,651.9,-8.6,228,5730,0.00,1.58,0.00,0.000,4,0.000,0.050,2491,3583,3353
$GC,5795,-0.54,-126.5,658.5,-9.4,229,5798,0.00,1.45,0.00,0.000,6,0.000,0.024,2496,2585,3353
$GC,6066,-0.54,-126.5,682.5,-9.1,236,6069,0.00,1.52,0.00,0.000,4,0.000,0.023,2504,1494,3351
$GC,6101,-0.54,-126.5,686.0,-9.4,236,6105,0.00,1.65,0.00,0.000,6,0.000,0.042,2498,2580,3351
$GC,6362,-0.54,-126.5,710.5,-9.7,243,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2580,3350
$GC,6606,-0.54,-126.5,733.6,-9.3,249,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2580,3349
$GC,6849,-0.54,-126.5,753.7,-8.1,255,6853,0.00,1.58,0.00,0.000,4,0.000,0.052,2491,3584,3348
$GC,6900,-0.54,-126.5,757.5,-7.8,256,6903,0.00,1.42,0.00,0.000,6,0.000,0.025,2496,2606,3347
$GC,7195,-0.54,-126.5,776.2,-6.0,263,7198,0.00,1.58,0.00,0.000,4,0.000,0.025,2504,1487,3346
$GC,7245,-0.54,-126.5,779.2,-5.9,264,7249,0.00,1.70,0.00,0.000,6,0.000,0.043,2498,2576,3346
$GC,7539,-0.54,-126.5,798.2,-6.8,271,7543,0.00,1.60,0.00,0.000,4,0.000,0.054,2490,3608,3344
$GC,7603,-0.54,-126.5,803.3,-7.5,272,7607,0.00,1.48,0.00,0.000,6,0.000,0.026,2496,2610,3344
$GC,7881,-0.54,-126.5,823.8,-7.6,279,7885,0.00,1.58,0.00,0.000,4,0.000,0.025,2504,1492,3343
$GC,7931,-0.54,-126.5,827.7,-7.0,280,7935,0.00,1.70,0.00,0.000,6,0.000,0.043,2498,2579,3343
$GC,8225,-0.54,-126.5,853.4,-9.0,287,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2579,3342
$GC,8470,-0.54,-126.5,874.7,-8.7,293,8473,0.00,1.60,0.00,0.000,4,0.000,0.054,2490,3611,3341
$GC,8520,-0.54,-126.5,879.4,-9.7,294,8523,0.00,1.50,0.00,0.000,6,0.000,0.025,2495,2599,3341
$STATE,8768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8768,begin apogee
$GC,8779,-0.20,0.0,900.3,8.2,300,8893,0.43,0.00,110.75,1.260,6,0.102,0.000,2641,2255,2858
$STATE,8894,end apogee,CONTROL_FINISHED_OK
$STATE,8894,begin climb
$GC,8899,0.54,126.5,903.6,0.0,303,9069,0.62,1.62,133.23,1.142,4,0.036,0.025,2893,1208,2342
$GC,9088,0.54,126.5,887.6,15.9,306,9091,0.00,1.73,0.00,0.000,6,0.000,0.038,2891,2266,2338
$GC,9365,0.54,126.5,838.8,17.8,313,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2266,2332
$GC,9608,0.54,126.5,794.8,18.0,319,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2266,2330
$GC,9852,0.54,126.5,751.6,17.8,325,9856,0.00,1.58,0.00,0.000,4,0.000,0.028,2897,1218,2329
$GC,9888,0.54,126.5,745.2,16.6,325,9892,0.00,1.60,0.00,0.000,6,0.000,0.039,2892,2264,2329
$GC,10148,0.54,126.5,703.6,16.1,332,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2263,2328
$GC,10391,0.54,126.5,666.2,15.0,338,10395,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3304,2327
$GC,10416,0.54,126.5,662.0,15.5,338,10419,0.00,1.55,0.00,0.000,6,0.000,0.025,2897,2251,2327
$GC,10687,0.54,126.5,623.7,14.3,345,10690,0.00,1.67,0.00,0.000,4,0.000,0.048,2891,3320,2327
$GC,10773,0.54,126.5,610.2,16.5,346,10781,0.00,1.58,0.00,0.000,6,0.000,0.025,2897,2253,2326
$GC,11028,0.54,126.5,571.9,15.2,353,11031,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3306,2326
$GC,11085,0.54,126.5,561.9,15.9,354,11089,0.00,1.52,0.00,0.000,6,0.000,0.025,2896,2270,2325
$GC,11367,0.54,126.5,519.3,15.2,361,11371,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3304,2325
$GC,11397,0.54,126.5,514.0,16.2,361,11401,0.00,1.48,0.00,0.000,6,0.000,0.025,2896,2304,2325
$GC,11663,0.54,126.5,481.2,12.1,368,11666,0.00,1.60,0.00,0.000,4,0.000,0.027,2905,1196,2325
$GC,11726,0.54,126.5,472.7,12.9,369,11729,0.00,1.67,0.00,0.000,6,0.000,0.041,2905,2293,2325
$GC,12004,0.54,126.5,432.3,15.4,376,12005,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2293,2325
$GC,12247,0.54,126.5,393.7,15.7,382,12248,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2293,2324
$GC,12490,0.54,126.5,359.4,13.6,388,12494,0.00,1.62,0.00,0.000,4,0.000,0.028,2910,1167,2324
$GC,12540,0.54,126.5,353.3,12.5,389,12545,0.08,1.73,0.00,0.000,6,0.150,0.038,2881,2279,2324
$GC,12835,0.54,126.5,321.0,11.1,396,12839,0.00,1.60,0.00,0.000,4,0.000,0.028,2887,1189,2323
$GC,12854,0.54,126.5,318.6,11.3,396,12858,0.00,1.65,0.00,0.000,6,0.000,0.039,2887,2254,2323
$GC,13131,0.54,126.5,287.4,11.1,403,13134,0.00,1.62,0.00,0.000,4,0.000,0.048,2887,3304,2323
$GC,13183,0.54,126.5,281.0,11.9,404,13187,0.00,1.52,0.00,0.000,6,0.000,0.024,2894,2258,2323
$GC,13471,0.54,126.5,248.4,11.6,411,13475,0.00,1.65,0.00,0.000,4,0.000,0.044,2891,3321,2323
$GC,13523,0.54,126.5,242.0,13.1,412,13526,0.00,1.52,0.00,0.000,6,0.000,0.024,2897,2274,2323
$GC,13817,0.54,126.5,213.4,9.6,419,13821,0.00,1.62,0.00,0.000,4,0.000,0.047,2898,3319,2323
$GC,13891,0.54,126.5,205.2,10.8,420,13895,0.00,1.45,0.00,0.000,6,0.000,0.024,2902,2330,2323
$GC,14156,0.54,126.5,179.1,9.0,441,14159,0.00,1.62,0.00,0.000,4,0.000,0.025,2911,1174,2323
$GC,14216,0.54,126.5,173.3,9.1,446,14220,0.10,1.80,0.00,0.000,6,0.136,0.038,2879,2338,2323
$GC,14493,0.56,168.6,155.6,7.0,471,14537,0.00,0.00,37.22,0.692,6,0.000,0.000,2879,2337,2170
$GC,14800,0.56,172.2,127.8,8.8,499,14809,0.00,1.55,4.12,0.489,4,0.000,0.045,2876,3320,2155
$GC,14837,0.56,180.6,124.1,8.6,502,14852,0.00,1.42,9.40,0.624,6,0.000,0.021,2882,2328,2121
$GC,15113,0.57,207.5,102.2,7.7,527,15144,0.00,1.67,24.25,0.648,4,0.000,0.023,2885,1202,2011
$GC,15271,0.59,252.6,90.5,6.8,540,15317,0.00,1.73,39.03,0.637,6,0.000,0.037,2886,2312,1827
$GC,15575,0.60,270.4,64.2,8.2,568,15601,0.00,1.65,15.90,0.592,4,0.000,0.024,2886,1208,1753
$GC,15618,0.61,292.5,60.8,7.9,571,15644,0.00,1.70,19.80,0.589,6,0.000,0.036,2886,2305,1665
$GC,15908,0.61,305.3,39.6,8.4,597,15926,0.00,0.00,11.82,0.551,6,0.000,0.000,2886,2305,1612
$GC,16187,0.62,326.9,16.4,8.0,638,16210,0.00,0.00,18.85,0.550,6,0.000,0.000,2886,2305,1524
$STATE,16348,end climb,SURFACE_DEPTH_REACHED
$STATE,16348,begin surface coast
$FINISH,0.5,1.023423
$STATE,16396,end surface coast,CONTROL_FINISHED_OK
$STATE,16396,begin surface
$SM_CCo,16422,27.45,0.535,0,0,1268,390.02
$SM_GC,1.05,0.00,0.00,27.45,0.000,0.000,0.535,35,2592,1268,-8.33,1.75,390.02
$IRIDIUM_FIX,2218.34,-15753.30,040303,040438
$TT8_MAMPS,0.023777
$HUMID,2260
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.10
$XPDR_PINGS,8
$24V_AH,23.0,68.711
$10V_AH,10.5,84.164
$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,18.200,104.800,424.375,27.450,0.000,28.852,33.621,258.334,2.000,0.000,0.000,25.377,1373.767,11066.393,470.985,3078.466,972.172,33.375,1502.698,0.000,3045.576,0.000,0.544,0.000
$DEVICE_MAMPS,198.653,54.457,1260.181,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,458.958,2222.227,2313.253,834.129,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54128,675
$CAP_FILE_SIZE,126108,0
$CFSIZE,260165632,230817792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,081213,132005,2222.037,-15753.308,28,1.4,28,10.0