version: 66.04
glider: 512
mission: 4
dive: 414
start: 12 9 113 4 21 55
data:
$ID,512
$MISSION,4
$DIVE,414
$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,-115733.08
$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,60
$R_STBD_OVSHOOT,48
$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
$GPS1,041205,2215.995,-15756.509,51,1.0,51,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-81.4
$GPS2,042101,2216.006,-15756.472,14,1.2,14,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.143,-0.187
$KALMAN_X,139808.2,-228.6,-53.6,-133407.2,2131.8
$KALMAN_Y,-36564.5,-43.9,-109.9,-15280.0,182.5
$MHEAD_RNG_PITCHd_Wd,207.4,30256,-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,-74.68,0.000,2,0.000,0.000,11,2557,3031
$GC,100,-0.54,-126.5,2.4,-2.2,10,125,9.65,1.58,-7.28,0.000,4,0.198,0.037,2522,1442,3373
$GC,247,-0.54,-126.5,34.0,-16.5,33,255,0.00,1.65,0.00,0.000,6,0.000,0.041,2516,2508,3375
$GC,512,-0.54,-126.5,86.2,-18.5,58,516,0.00,1.65,0.00,0.000,4,0.000,0.045,2507,3586,3375
$GC,615,-0.54,-126.5,106.3,-18.8,67,619,0.00,1.52,0.00,0.000,6,0.000,0.020,2507,2507,3375
$GC,886,-0.54,-126.5,151.1,-12.5,92,890,0.00,1.67,0.00,0.000,4,0.000,0.043,2500,3589,3376
$GC,957,-0.54,-126.5,160.7,-13.4,98,960,0.00,1.50,0.00,0.000,6,0.000,0.018,2506,2529,3377
$GC,1228,-0.54,-126.5,200.0,-15.4,123,1232,0.00,1.65,0.00,0.000,4,0.000,0.043,2499,3592,3376
$GC,1278,-0.54,-126.5,207.4,-14.7,124,1282,0.00,1.48,0.00,0.000,6,0.000,0.019,2505,2546,3377
$GC,1572,-0.54,-126.5,241.7,-11.1,131,1576,0.00,1.60,0.00,0.000,4,0.000,0.044,2499,3596,3376
$GC,1641,-0.54,-126.5,249.2,-9.9,132,1645,0.00,1.45,0.00,0.000,6,0.000,0.018,2504,2564,3376
$GC,1913,-0.54,-126.5,283.8,-13.8,139,1916,0.00,1.48,0.00,0.000,4,0.000,0.020,2512,1482,3376
$GC,1963,-0.54,-126.5,290.1,-11.9,140,1967,0.00,1.65,0.00,0.000,6,0.000,0.037,2506,2568,3376
$GC,2257,-0.54,-126.5,323.3,-10.8,147,2260,0.00,1.58,0.00,0.000,4,0.000,0.048,2498,3591,3374
$GC,2326,-0.54,-126.5,331.0,-11.6,148,2329,0.00,1.45,0.00,0.000,6,0.000,0.020,2504,2571,3374
$GC,2597,-0.54,-126.5,360.5,-10.9,155,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2563,3372
$GC,2841,-0.54,-126.5,384.7,-9.9,161,2844,0.00,1.60,0.00,0.000,4,0.000,0.046,2498,3589,3370
$GC,2882,-0.54,-126.5,389.1,-10.0,161,2890,0.00,1.48,0.00,0.000,6,0.000,0.021,2504,2548,3370
$GC,3136,-0.54,-126.5,415.5,-10.5,168,3140,0.00,1.60,0.00,0.000,4,0.000,0.048,2498,3591,3369
$GC,3250,-0.54,-126.5,427.4,-9.8,170,3253,0.00,1.42,0.00,0.000,6,0.000,0.021,2503,2598,3368
$GC,3522,-0.54,-126.5,452.5,-9.4,177,3525,0.00,1.52,-0.08,0.000,4,0.000,0.040,2508,1488,3390
$GC,3596,-0.54,-126.5,459.7,-9.1,178,3599,0.00,1.67,0.00,0.000,6,0.000,0.041,2502,2599,3390
$GC,3862,-0.54,-126.5,486.5,-10.3,185,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2599,3388
$GC,4105,-0.54,-126.5,510.2,-9.5,191,4109,0.00,1.52,0.00,0.000,4,0.000,0.051,2494,3581,3386
$GC,4146,-0.54,-126.5,514.4,-9.4,191,4154,0.00,1.42,0.00,0.000,6,0.000,0.025,2500,2587,3386
$GC,4401,-0.54,-126.5,536.9,-9.0,198,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2587,3384
$GC,4645,-0.54,-126.5,558.4,-8.8,204,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2587,3383
$GC,4888,-0.54,-126.5,581.9,-9.9,210,4892,0.00,1.55,0.00,0.000,4,0.000,0.025,2507,1489,3381
$GC,4957,-0.54,-126.5,589.3,-10.1,211,4960,0.00,1.67,0.00,0.000,6,0.000,0.043,2502,2592,3380
$GC,5228,-0.54,-126.5,617.9,-10.6,218,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2592,3379
$GC,5472,-0.54,-126.5,639.3,-8.5,224,5476,0.00,1.58,0.00,0.000,4,0.000,0.025,2507,1498,3378
$GC,5514,-0.54,-126.5,642.8,-7.7,224,5522,0.00,1.70,0.00,0.000,6,0.000,0.044,2502,2592,3377
$GC,5769,-0.54,-126.5,661.9,-7.7,231,5772,0.00,1.58,0.00,0.000,4,0.000,0.056,2494,3587,3375
$GC,5805,-0.54,-126.5,665.2,-8.8,231,5808,0.00,1.42,0.00,0.000,6,0.000,0.026,2499,2613,3375
$GC,6066,-0.54,-126.5,686.7,-8.4,238,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2606,3373
$GC,6309,-0.54,-126.5,707.3,-8.4,244,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2606,3372
$GC,6553,-0.54,-126.5,727.1,-8.2,250,6556,0.00,1.58,0.00,0.000,4,0.000,0.026,2507,1500,3372
$GC,6633,-0.54,-126.5,734.2,-8.2,251,6637,0.00,1.73,0.00,0.000,6,0.000,0.045,2501,2602,3371
$GC,6894,-0.54,-126.5,758.4,-9.7,258,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2602,3370
$GC,7137,-0.54,-126.5,781.3,-9.2,264,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2602,3369
$GC,7381,-0.54,-126.5,800.7,-7.6,270,7385,0.00,1.55,0.00,0.000,4,0.000,0.055,2494,3580,3369
$GC,7417,-0.54,-126.5,803.6,-7.4,270,7421,0.00,1.40,0.00,0.000,6,0.000,0.027,2499,2628,3368
$GC,7678,-0.54,-126.5,821.2,-6.8,277,7682,0.00,1.60,0.00,0.000,4,0.000,0.027,2507,1482,3367
$GC,7708,-0.54,-126.5,823.4,-7.7,277,7712,0.00,1.75,0.00,0.000,6,0.000,0.046,2502,2597,3367
$GC,7974,-0.54,-126.5,840.7,-6.6,284,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2597,3366
$GC,8219,-0.54,-126.5,858.3,-7.3,290,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2597,3365
$GC,8462,-0.54,-126.5,877.3,-8.0,296,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2597,3364
$GC,8705,-0.54,-126.5,898.6,-8.8,302,8709,0.00,1.58,0.00,0.000,4,0.000,0.058,2494,3584,3363
$STATE,8719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8719,begin apogee
$GC,8733,-0.20,0.0,900.5,9.0,302,8851,0.38,0.00,115.60,1.256,6,0.107,0.000,2633,2257,2858
$STATE,8852,end apogee,CONTROL_FINISHED_OK
$STATE,8852,begin climb
$GC,8857,0.54,126.5,905.4,0.0,305,9082,0.65,1.67,148.07,1.045,4,0.042,0.028,2885,1206,2342
$GC,9175,0.54,126.5,873.4,16.2,312,9178,0.00,1.65,0.00,0.000,6,0.000,0.041,2880,2252,2337
$GC,9457,0.54,126.5,828.7,16.0,319,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2252,2333
$GC,9701,0.54,126.5,786.2,17.4,325,9704,0.00,1.58,0.00,0.000,4,0.000,0.028,2885,1209,2331
$GC,9725,0.54,126.5,781.4,17.1,325,9728,0.00,1.62,0.00,0.000,6,0.000,0.042,2879,2263,2331
$GC,9997,0.54,126.5,738.9,15.5,332,10000,0.00,1.62,0.00,0.000,4,0.000,0.051,2877,3315,2330
$GC,10049,0.54,126.5,730.2,15.9,333,10052,0.00,1.58,0.00,0.000,6,0.000,0.027,2883,2260,2329
$GC,10337,0.54,126.5,690.4,13.5,340,10340,0.00,1.55,0.00,0.000,4,0.000,0.028,2891,1193,2329
$GC,10389,0.54,126.5,682.1,14.1,341,10392,0.00,1.65,0.00,0.000,6,0.000,0.043,2891,2267,2329
$GC,10677,0.54,126.5,637.4,16.3,348,10681,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3323,2328
$GC,10751,0.54,126.5,623.5,19.0,349,10755,0.00,1.58,0.00,0.000,6,0.000,0.028,2896,2267,2328
$GC,11017,0.54,126.5,581.3,15.8,356,11021,0.00,1.58,0.00,0.000,4,0.000,0.029,2905,1180,2327
$GC,11087,0.54,126.5,570.4,14.9,357,11090,0.00,1.67,0.00,0.000,6,0.000,0.044,2905,2269,2327
$GC,11358,0.54,126.5,530.9,14.3,364,11360,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2268,2327
$GC,11602,0.54,126.5,495.6,14.5,370,11605,0.00,1.60,0.00,0.000,4,0.000,0.029,2910,1204,2327
$GC,11632,0.54,126.5,490.9,13.7,370,11636,0.08,1.62,0.00,0.000,6,0.160,0.042,2882,2247,2327
$GC,11897,0.54,126.5,455.5,13.6,377,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2247,2326
$GC,12140,0.54,126.5,426.2,12.0,383,12144,0.00,1.65,0.00,0.000,4,0.000,0.051,2876,3300,2326
$GC,12170,0.54,126.5,422.3,12.4,383,12174,0.00,1.55,0.00,0.000,6,0.000,0.027,2882,2247,2326
$GC,12436,0.54,126.5,392.5,11.6,390,12440,0.00,1.52,0.00,0.000,4,0.000,0.028,2889,1193,2326
$GC,12472,0.54,126.5,387.9,11.8,390,12475,0.00,1.60,0.00,0.000,6,0.000,0.042,2889,2238,2326
$GC,12732,0.54,126.5,359.6,10.8,397,12733,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2238,2326
$GC,12976,0.54,126.5,333.7,10.5,403,12977,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2238,2326
$GC,13220,0.54,126.5,303.3,12.6,409,13223,0.00,1.65,0.00,0.000,4,0.000,0.051,2889,3311,2326
$GC,13251,0.54,126.5,299.4,11.5,409,13255,0.00,1.60,0.00,0.000,6,0.000,0.026,2894,2204,2325
$GC,13518,0.54,127.5,273.1,9.0,416,13519,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2198,2325
$GC,13760,0.54,127.5,251.1,9.6,422,13764,0.00,1.77,0.00,0.000,4,0.000,0.049,2891,3312,2325
$GC,13886,0.54,127.5,237.5,10.3,424,13890,0.00,1.62,0.00,0.000,6,0.000,0.026,2897,2213,2325
$GC,14146,0.54,127.5,209.4,10.9,431,14147,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2207,2325
$GC,14395,0.56,173.1,190.8,6.8,446,14447,0.00,1.52,41.53,0.727,4,0.000,0.028,2903,1196,2152
$GC,14497,0.56,173.1,181.3,10.9,454,14501,0.00,1.62,0.00,0.000,6,0.000,0.039,2902,2246,2148
$GC,14769,0.56,173.1,148.5,11.9,479,14773,0.00,1.65,0.00,0.000,4,0.000,0.048,2902,3306,2146
$GC,14894,0.56,173.1,133.0,12.2,490,14897,0.00,1.50,0.00,0.000,6,0.000,0.024,2902,2290,2146
$GC,15170,0.56,173.1,105.3,9.3,515,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2285,2146
$GC,15436,0.56,173.1,79.3,11.1,540,15439,0.00,1.58,0.00,0.000,4,0.000,0.026,2902,1193,2145
$GC,15619,0.58,221.3,64.3,6.7,556,15674,0.00,1.73,43.72,0.600,6,0.000,0.036,2902,2321,1954
$GC,15940,0.58,233.3,40.8,8.4,585,15957,0.00,1.55,11.05,0.555,4,0.000,0.043,2902,3310,1906
$GC,16013,0.59,236.0,34.1,8.9,591,16026,0.00,1.48,4.07,0.408,6,0.000,0.021,2907,2288,1895
$GC,16285,0.59,238.7,7.9,8.9,637,16293,0.00,1.55,0.00,0.000,4,0.000,0.025,2912,1210,1893
$STATE,16336,end climb,SURFACE_DEPTH_REACHED
$STATE,16336,begin surface coast
$FINISH,0.4,0.999696
$STATE,16370,end surface coast,CONTROL_FINISHED_OK
$STATE,16370,begin surface
$SM_CCo,16398,63.80,0.545,0,0,1267,390.02
$SM_GC,1.31,0.00,0.00,63.80,0.000,0.000,0.545,37,2568,1267,-8.31,1.07,390.02
$IRIDIUM_FIX,2209.02,-15757.21,040303,232345
$TT8_MAMPS,0.023777
$HUMID,2233
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.80
$XPDR_PINGS,14
$24V_AH,23.2,69.298
$10V_AH,10.5,84.858
$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,18.075,108.650,364.050,63.800,0.000,30.920,38.386,260.838,3.500,0.000,0.000,14.464,1332.249,11223.666,506.622,2961.449,966.991,33.373,1509.220,0.000,2928.912,0.000,0.544,0.000
$DEVICE_MAMPS,197.886,57.525,1256.346,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,443.976,2146.030,2229.036,788.995,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54207,652
$CAP_FILE_SIZE,124131,0
$CFSIZE,260165632,230547456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,091213,085736,2214.166,-15757.067,30,1.0,30,10.0