version: 66.04
glider: 512
mission: 4
dive: 412
start: 12 8 113 18 33 59
data:
$ID,512
$MISSION,4
$DIVE,412
$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,-115702.54
$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,77
$R_STBD_OVSHOOT,45
$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
$GPS1,181554,2219.858,-15754.212,43,1.7,43,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-80.2
$GPS2,183306,2219.874,-15754.131,15,1.1,32,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.151,-0.180
$KALMAN_X,137269.5,-123.5,36.6,-127069.4,2164.5
$KALMAN_Y,-36139.9,-49.2,-190.7,-8447.2,436.1
$MHEAD_RNG_PITCHd_Wd,210.1,38161,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.54,-126.5,0.0,0.0,0,91,0.00,0.00,-67.38,0.000,2,0.000,0.000,10,2552,2834
$GC,97,-0.54,-126.5,2.0,-1.3,9,129,9.68,1.52,-13.80,0.000,4,0.198,0.038,2516,1479,3374
$GC,267,-0.54,-126.5,32.5,-16.9,37,275,0.00,1.60,0.00,0.000,6,0.000,0.038,2510,2520,3375
$GC,533,-0.54,-126.5,88.2,-21.6,62,537,0.00,1.62,0.00,0.000,4,0.000,0.045,2502,3589,3375
$GC,562,-0.54,-126.5,95.0,-21.3,64,570,0.00,1.55,0.00,0.000,6,0.000,0.018,2508,2487,3375
$GC,828,-0.54,-126.5,137.5,-15.5,89,831,0.00,1.67,0.00,0.000,4,0.000,0.041,2501,3592,3376
$GC,900,-0.54,-126.5,149.2,-15.8,95,908,0.00,1.50,0.00,0.000,6,0.000,0.018,2507,2522,3376
$GC,1166,-0.54,-126.5,187.6,-15.2,120,1170,0.00,1.65,0.00,0.000,4,0.000,0.041,2500,3589,3376
$GC,1236,-0.54,-126.5,197.8,-13.8,126,1239,0.00,1.48,0.00,0.000,6,0.000,0.018,2506,2540,3376
$GC,1507,-0.54,-126.5,235.0,-13.8,134,1510,0.00,1.60,0.00,0.000,4,0.000,0.043,2499,3592,3376
$GC,1647,-0.54,-126.5,252.6,-11.8,137,1651,0.00,1.45,0.00,0.000,6,0.000,0.018,2505,2565,3376
$GC,1941,-0.54,-126.5,284.0,-10.8,144,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2557,3375
$GC,2184,-0.54,-126.5,311.9,-11.5,150,2188,0.00,1.48,0.00,0.000,4,0.000,0.019,2512,1480,3374
$GC,2253,-0.54,-126.5,320.0,-10.5,151,2257,0.00,1.62,0.00,0.000,6,0.000,0.036,2506,2576,3373
$GC,2525,-0.54,-126.5,352.0,-12.1,158,2529,0.00,1.55,0.00,0.000,4,0.000,0.047,2498,3587,3371
$GC,2575,-0.54,-126.5,358.0,-11.0,159,2579,0.00,1.42,0.00,0.000,6,0.000,0.020,2504,2576,3371
$GC,2869,-0.54,-126.5,386.8,-9.3,166,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2567,3369
$GC,3112,-0.54,-126.5,411.9,-10.9,172,3116,0.00,1.60,0.00,0.000,4,0.000,0.045,2498,3615,3368
$GC,3181,-0.54,-126.5,420.5,-11.6,173,3184,0.00,1.45,0.00,0.000,6,0.000,0.021,2503,2601,3367
$GC,3452,-0.54,-126.5,448.8,-10.1,180,3457,0.00,1.58,-0.08,0.000,4,0.000,0.038,2511,1481,3390
$GC,3522,-0.54,-126.5,455.0,-7.5,181,3525,0.00,1.67,0.00,0.000,6,0.000,0.041,2505,2595,3390
$GC,3793,-0.54,-126.5,479.9,-9.4,188,3797,0.00,1.55,0.00,0.000,4,0.000,0.050,2498,3587,3388
$GC,3845,-0.54,-126.5,484.8,-9.8,189,3848,0.00,1.40,0.00,0.000,6,0.000,0.022,2502,2612,3386
$GC,4139,-0.54,-126.5,512.6,-9.2,196,4143,0.00,1.55,0.00,0.000,4,0.000,0.021,2508,1490,3385
$GC,4192,-0.54,-126.5,517.4,-8.0,197,4195,0.00,1.67,0.00,0.000,6,0.000,0.041,2503,2599,3384
$GC,4480,-0.54,-126.5,544.8,-9.9,204,4483,0.00,1.52,0.00,0.000,4,0.000,0.050,2494,3583,3382
$GC,4516,-0.54,-126.5,548.7,-10.7,204,4519,0.00,1.40,0.00,0.000,6,0.000,0.024,2500,2606,3381
$GC,4776,-0.54,-126.5,573.4,-9.5,211,4780,0.00,1.55,0.00,0.000,4,0.000,0.022,2508,1489,3380
$GC,4840,-0.54,-126.5,579.1,-8.0,212,4844,0.00,1.65,0.00,0.000,6,0.000,0.041,2502,2583,3380
$GC,5117,-0.54,-126.5,600.9,-7.9,219,5121,0.00,1.58,0.00,0.000,4,0.000,0.051,2495,3590,3378
$GC,5170,-0.54,-126.5,605.6,-8.6,220,5174,0.00,1.45,0.00,0.000,6,0.000,0.023,2499,2588,3377
$GC,5460,-0.54,-126.5,628.9,-8.0,227,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2580,3376
$GC,5702,-0.54,-126.5,651.6,-9.5,233,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2580,3374
$GC,5946,-0.54,-126.5,673.3,-8.8,239,5950,0.00,1.60,0.00,0.000,4,0.000,0.050,2494,3608,3372
$GC,5988,-0.54,-126.5,677.3,-9.2,239,5996,0.00,1.48,0.00,0.000,6,0.000,0.024,2500,2587,3372
$GC,6243,-0.54,-126.5,698.0,-8.1,246,6247,0.00,1.55,0.00,0.000,4,0.000,0.024,2507,1489,3371
$GC,6284,-0.54,-126.5,701.6,-8.1,246,6291,0.00,1.67,0.00,0.000,6,0.000,0.043,2502,2570,3370
$GC,6540,-0.54,-126.5,720.6,-7.8,253,6543,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3603,3370
$GC,6575,-0.54,-126.5,723.9,-8.7,253,6579,0.00,1.48,0.00,0.000,6,0.000,0.025,2500,2595,3370
$GC,6836,-0.54,-126.5,744.9,-8.3,260,6840,0.00,1.55,0.00,0.000,4,0.000,0.025,2507,1493,3369
$GC,6888,-0.54,-126.5,749.3,-7.5,261,6892,0.00,1.65,0.00,0.000,6,0.000,0.044,2502,2572,3369
$GC,7177,-0.54,-126.5,772.7,-8.2,268,7181,0.00,1.60,0.00,0.000,4,0.000,0.055,2494,3602,3367
$GC,7263,-0.54,-126.5,780.2,-8.5,269,7271,0.00,1.48,0.00,0.000,6,0.000,0.026,2499,2586,3366
$GC,7518,-0.54,-126.5,798.5,-7.2,276,7522,0.00,1.55,0.00,0.000,4,0.000,0.025,2506,1494,3366
$GC,7549,-0.54,-126.5,801.0,-7.8,276,7553,0.00,1.70,0.00,0.000,6,0.000,0.045,2501,2581,3366
$GC,7815,-0.54,-126.5,820.3,-7.5,283,7819,0.00,1.60,0.00,0.000,4,0.000,0.054,2493,3591,3364
$GC,7850,-0.54,-126.5,823.5,-8.8,283,7854,0.00,1.45,0.00,0.000,6,0.000,0.026,2497,2604,3364
$GC,8111,-0.54,-126.5,843.2,-7.6,290,8114,0.00,1.55,0.00,0.000,4,0.000,0.025,2505,1504,3364
$GC,8147,-0.54,-126.5,846.1,-7.1,290,8151,0.00,1.65,0.00,0.000,6,0.000,0.044,2499,2581,3363
$GC,8408,-0.54,-126.5,864.8,-7.3,297,8411,0.00,1.60,0.00,0.000,4,0.000,0.056,2493,3606,3362
$GC,8449,-0.54,-126.5,868.3,-7.9,297,8457,0.00,1.48,0.00,0.000,6,0.000,0.026,2499,2597,3362
$GC,8705,-0.54,-126.5,885.3,-6.7,304,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2597,3361
$STATE,8942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8943,begin apogee
$GC,8954,-0.20,0.0,902.3,7.0,310,9071,0.40,0.00,113.60,1.263,6,0.105,0.000,2635,2258,2858
$STATE,9071,end apogee,CONTROL_FINISHED_OK
$STATE,9071,begin climb
$GC,9077,0.54,126.5,905.4,0.0,313,9300,0.65,1.62,145.90,1.045,4,0.041,0.026,2889,1216,2343
$GC,9346,0.54,126.5,878.1,16.6,319,9350,0.00,1.65,0.00,0.000,6,0.000,0.040,2889,2253,2338
$GC,9640,0.54,126.5,827.5,17.2,326,9643,0.00,1.65,0.00,0.000,4,0.000,0.048,2889,3322,2334
$GC,9676,0.54,126.5,820.3,20.1,326,9679,0.00,1.58,0.00,0.000,6,0.000,0.026,2895,2268,2333
$GC,9936,0.54,126.5,773.9,17.8,333,9937,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2262,2332
$GC,10180,0.54,126.5,732.7,16.7,339,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2262,2331
$GC,10423,0.54,126.5,689.4,17.8,345,10427,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3319,2331
$GC,10465,0.54,126.5,681.4,18.7,345,10473,0.00,1.58,0.00,0.000,6,0.000,0.025,2897,2258,2330
$GC,10719,0.54,126.5,638.4,16.9,352,10723,0.00,1.55,0.00,0.000,4,0.000,0.028,2905,1188,2330
$GC,10777,0.54,126.5,628.7,16.4,353,10781,0.00,1.62,0.00,0.000,6,0.000,0.040,2904,2252,2329
$GC,11059,0.54,126.5,581.5,17.0,360,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2253,2329
$GC,11304,0.54,126.5,543.3,15.4,366,11307,0.00,1.62,0.00,0.000,4,0.000,0.048,2905,3318,2329
$GC,11356,0.54,126.5,534.7,15.4,367,11360,0.15,1.58,0.00,0.000,6,0.183,0.026,2875,2257,2328
$GC,11644,0.54,126.5,499.0,12.4,374,11648,0.00,1.55,0.00,0.000,4,0.000,0.028,2882,1179,2327
$GC,11713,0.54,126.5,490.1,12.6,375,11717,0.00,1.67,0.00,0.000,6,0.000,0.041,2876,2274,2327
$GC,11985,0.54,126.5,454.6,13.2,382,11989,0.00,1.60,0.00,0.000,4,0.000,0.050,2876,3302,2327
$GC,12026,0.54,126.5,448.5,13.8,382,12034,0.00,1.50,0.00,0.000,6,0.000,0.025,2881,2281,2327
$GC,12281,0.54,126.5,415.0,13.2,389,12284,0.00,1.58,0.00,0.000,4,0.000,0.027,2889,1191,2326
$GC,12331,0.54,126.5,408.8,12.0,390,12335,0.00,1.67,0.00,0.000,6,0.000,0.041,2888,2285,2327
$GC,12625,0.54,126.5,372.4,12.5,397,12629,0.00,1.60,0.00,0.000,4,0.000,0.048,2889,3313,2326
$GC,12649,0.54,126.5,369.2,11.6,397,12653,0.00,1.55,0.00,0.000,6,0.000,0.025,2896,2261,2327
$GC,12921,0.54,126.5,340.3,10.5,404,12925,0.00,1.65,0.00,0.000,4,0.000,0.046,2891,3319,2326
$GC,13019,0.54,126.5,328.8,12.1,406,13022,0.00,1.48,0.00,0.000,6,0.000,0.025,2896,2315,2326
$GC,13307,0.54,126.5,296.2,11.1,413,13311,0.00,1.62,0.00,0.000,4,0.000,0.027,2903,1171,2326
$GC,13496,0.54,126.5,279.0,9.2,417,13500,0.00,1.70,0.00,0.000,6,0.000,0.039,2902,2286,2327
$GC,13790,0.54,126.5,250.8,9.4,424,13794,0.00,1.58,0.00,0.000,4,0.000,0.047,2903,3305,2326
$GC,14019,0.54,126.5,223.2,11.4,429,14023,0.10,1.45,0.00,0.000,6,0.160,0.023,2880,2316,2326
$GC,14313,0.56,169.5,200.7,6.9,436,14360,0.00,0.00,38.75,0.734,6,0.000,0.000,2880,2311,2165
$GC,14618,0.56,169.5,174.4,9.1,462,14621,0.00,1.60,0.00,0.000,4,0.000,0.025,2887,1189,2161
$GC,14656,0.56,180.4,170.9,8.5,465,14670,0.00,1.77,10.45,0.675,6,0.000,0.038,2886,2348,2122
$GC,14931,0.56,180.4,144.5,9.7,490,14939,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2348,2119
$GC,15198,0.57,184.7,119.5,8.8,515,15207,0.00,1.52,5.12,0.531,4,0.000,0.043,2887,3322,2105
$GC,15236,0.57,184.7,115.4,9.9,518,15245,0.00,1.42,0.00,0.000,6,0.000,0.021,2893,2333,2105
$GC,15503,0.57,194.9,91.8,8.5,543,15518,0.00,1.67,11.05,0.610,4,0.000,0.023,2899,1190,2062
$GC,15559,0.58,233.9,87.7,7.1,547,15597,0.00,1.80,34.17,0.635,6,0.000,0.035,2899,2362,1904
$GC,15858,0.58,233.9,62.5,9.2,574,15861,0.00,1.70,0.00,0.000,4,0.000,0.024,2899,1194,1899
$GC,15996,0.59,252.7,51.3,8.1,586,16017,0.00,1.75,16.88,0.583,6,0.000,0.035,2899,2332,1826
$GC,16279,0.59,252.7,26.4,9.5,615,16287,0.00,1.67,0.00,0.000,4,0.000,0.023,2899,1187,1823
$GC,16319,0.59,252.7,22.7,9.4,621,16327,0.00,1.73,0.00,0.000,6,0.000,0.033,2899,2320,1823
$STATE,16531,end climb,SURFACE_DEPTH_REACHED
$STATE,16531,begin surface coast
$FINISH,0.4,1.000098
$STATE,16564,end surface coast,CONTROL_FINISHED_OK
$STATE,16565,begin surface
$SM_CCo,16590,56.80,0.545,0,0,1267,390.02
$SM_GC,1.43,0.00,0.00,56.80,0.000,0.000,0.545,31,2618,1267,-8.34,2.49,390.02
$IRIDIUM_FIX,2211.35,-15757.21,040303,181834
$TT8_MAMPS,0.024544
$HUMID,2244
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.80
$XPDR_PINGS,8
$24V_AH,23.3,69.020
$10V_AH,10.5,84.517
$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,18.250,127.275,375.925,56.800,0.000,86.367,113.085,483.145,2.000,0.000,0.000,32.376,1402.781,11190.062,536.550,3173.993,1368.193,33.374,1623.316,0.000,3121.316,0.000,0.545,0.000
$DEVICE_MAMPS,197.886,55.991,1263.249,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,452.772,2192.437,2278.211,811.120,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54131,666
$CAP_FILE_SIZE,141700,0
$CFSIZE,260165632,230666240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,081213,231259,2217.872,-15755.188,37,1.0,43,10.0