version: 66.04
glider: 512
mission: 4
dive: 415
start: 12 9 113 9 18 16
data:
$ID,512
$MISSION,4
$DIVE,415
$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,-115749.8
$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,79
$R_STBD_OVSHOOT,42
$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
$GPS1,085736,2214.166,-15757.067,30,1.0,30,10.0
$_CALLS,3
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-81.5
$GPS2,091718,2214.117,-15756.872,11,1.1,16,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.149,-0.182
$KALMAN_X,141710.0,-92.3,72.6,-136262.6,2188.1
$KALMAN_Y,-36669.6,113.4,74.2,-19013.7,-250.2
$MHEAD_RNG_PITCHd_Wd,209.4,26691,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.54,-126.5,0.0,0.0,0,88,0.00,0.00,-67.47,0.000,2,0.000,0.000,10,2566,2840
$GC,94,-0.54,-126.5,2.1,-1.5,9,126,9.62,1.55,-13.30,0.000,4,0.196,0.038,2519,1469,3376
$GC,251,-0.54,-126.5,30.2,-16.5,35,255,0.00,1.62,0.00,0.000,6,0.000,0.038,2513,2522,3377
$GC,522,-0.54,-126.5,87.2,-19.7,60,526,0.00,1.62,0.00,0.000,4,0.000,0.048,2504,3600,3376
$GC,627,-0.54,-126.5,106.2,-15.4,69,635,0.00,1.45,0.00,0.000,6,0.000,0.019,2510,2573,3377
$GC,893,-0.54,-126.5,147.6,-15.9,94,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2565,3378
$GC,1159,-0.54,-126.5,186.6,-12.9,119,1162,0.00,1.58,0.00,0.000,4,0.000,0.042,2504,3590,3377
$GC,1198,-0.54,-126.5,192.3,-13.2,122,1206,0.00,1.42,0.00,0.000,6,0.000,0.018,2509,2581,3378
$GC,1476,-0.54,-126.5,227.0,-13.1,134,1480,0.00,1.50,0.00,0.000,4,0.000,0.020,2509,1479,3377
$GC,1517,-0.54,-126.5,233.1,-12.9,134,1525,0.00,1.67,0.00,0.000,6,0.000,0.038,2502,2583,3377
$GC,1772,-0.54,-126.5,265.2,-12.6,141,1776,0.00,1.52,0.00,0.000,4,0.000,0.046,2494,3585,3377
$GC,1803,-0.54,-126.5,269.1,-11.6,141,1807,0.00,1.40,0.00,0.000,6,0.000,0.020,2500,2583,3377
$GC,2069,-0.54,-126.5,301.4,-12.0,148,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2574,3376
$GC,2313,-0.54,-126.5,329.4,-11.5,154,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2574,3374
$GC,2556,-0.54,-126.5,356.4,-11.0,160,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2574,3373
$GC,2800,-0.54,-126.5,379.0,-8.9,166,2804,0.00,1.58,0.00,0.000,4,0.000,0.045,2494,3587,3370
$GC,2853,-0.54,-126.5,383.7,-7.7,167,2856,0.00,1.42,0.00,0.000,6,0.000,0.022,2499,2588,3370
$GC,3141,-0.54,-126.5,411.2,-10.3,174,3145,0.00,1.52,0.00,0.000,4,0.000,0.022,2508,1480,3369
$GC,3221,-0.54,-126.5,419.5,-9.4,175,3225,0.00,1.67,0.00,0.000,6,0.000,0.040,2502,2599,3368
$GC,3482,-0.54,-126.5,446.0,-10.3,182,3483,0.00,0.00,-0.08,0.000,6,0.000,0.000,2502,2600,3390
$GC,3726,-0.54,-126.5,470.2,-9.7,188,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2598,3388
$GC,3969,-0.54,-126.5,495.0,-10.3,194,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2599,3386
$GC,4213,-0.54,-126.5,519.9,-10.1,200,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2598,3385
$GC,4457,-0.54,-126.5,542.4,-8.9,206,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2598,3382
$GC,4700,-0.54,-126.5,561.4,-7.6,212,4704,0.00,1.60,0.00,0.000,4,0.000,0.025,2508,1469,3380
$GC,4766,-0.54,-126.5,566.3,-7.5,213,4769,0.00,1.70,0.00,0.000,6,0.000,0.044,2502,2587,3381
$GC,5043,-0.54,-126.5,589.4,-8.6,220,5047,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3590,3379
$GC,5084,-0.54,-126.5,593.5,-9.3,220,5092,0.00,1.45,0.00,0.000,6,0.000,0.025,2500,2584,3378
$GC,5340,-0.54,-126.5,615.6,-8.7,227,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2583,3377
$GC,5583,-0.54,-126.5,635.5,-8.2,233,5587,0.00,1.55,0.00,0.000,4,0.000,0.025,2507,1486,3375
$GC,5624,-0.54,-126.5,638.9,-7.6,233,5633,0.00,1.70,0.00,0.000,6,0.000,0.045,2502,2578,3375
$GC,5879,-0.54,-126.5,658.5,-7.8,240,5883,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3614,3373
$GC,5921,-0.54,-126.5,662.2,-8.4,240,5929,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2582,3372
$GC,6176,-0.54,-126.5,681.8,-7.8,247,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2582,3372
$GC,6420,-0.54,-126.5,701.7,-8.2,253,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2582,3371
$GC,6663,-0.54,-126.5,720.7,-7.5,259,6667,0.00,1.55,0.00,0.000,4,0.000,0.026,2507,1489,3370
$GC,6699,-0.54,-126.5,723.2,-6.7,259,6703,0.00,1.67,0.00,0.000,6,0.000,0.045,2502,2584,3370
$GC,6960,-0.54,-126.5,739.1,-6.2,266,6963,0.00,1.60,0.00,0.000,4,0.000,0.056,2494,3614,3369
$GC,7012,-0.54,-126.5,742.4,-6.5,267,7015,0.00,1.50,0.00,0.000,6,0.000,0.026,2499,2598,3369
$GC,7306,-0.54,-126.5,764.0,-7.7,274,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2590,3367
$GC,7549,-0.54,-126.5,784.3,-8.4,280,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2590,3366
$GC,7793,-0.54,-126.5,803.4,-7.7,286,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2590,3365
$GC,8037,-0.54,-126.5,820.4,-6.9,292,8041,0.00,1.58,0.00,0.000,4,0.000,0.028,2507,1489,3364
$GC,8087,-0.54,-126.5,823.6,-6.1,293,8091,0.00,1.70,0.00,0.000,6,0.000,0.047,2502,2589,3364
$GC,8382,-0.54,-126.5,841.8,-6.2,300,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2588,3363
$GC,8625,-0.54,-126.5,858.2,-6.8,306,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2589,3362
$GC,8869,-0.54,-126.5,876.8,-7.9,312,8872,0.00,1.60,0.00,0.000,4,0.000,0.058,2494,3610,3362
$GC,8927,-0.54,-126.5,882.2,-9.3,313,8930,0.00,1.52,0.00,0.000,6,0.000,0.029,2499,2585,3362
$STATE,9163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9163,begin apogee
$GC,9175,-0.20,0.0,901.8,8.2,319,9293,0.40,0.00,115.35,1.259,6,0.100,0.000,2636,2247,2859
$STATE,9294,end apogee,CONTROL_FINISHED_OK
$STATE,9294,begin climb
$GC,9299,0.54,126.5,906.1,0.0,322,9469,0.65,1.67,133.32,1.145,4,0.041,0.028,2888,1216,2341
$GC,9500,0.54,126.5,889.6,15.4,325,9503,0.00,1.70,0.00,0.000,6,0.000,0.041,2888,2259,2337
$GC,9766,0.54,126.5,843.2,18.2,332,9769,0.00,1.65,0.00,0.000,4,0.000,0.050,2888,3321,2331
$GC,9831,0.54,126.5,830.6,19.0,333,9835,0.00,1.58,0.00,0.000,6,0.000,0.027,2895,2276,2330
$GC,10108,0.54,126.5,778.9,18.9,340,10112,0.00,1.58,0.00,0.000,4,0.000,0.029,2902,1202,2329
$GC,10177,0.54,126.5,765.9,17.2,341,10181,0.00,1.65,0.00,0.000,6,0.000,0.044,2902,2268,2328
$GC,10449,0.54,126.5,718.5,17.5,348,10453,0.00,1.62,0.00,0.000,4,0.000,0.051,2902,3323,2328
$GC,10514,0.54,126.5,706.1,18.8,349,10518,0.15,1.58,0.00,0.000,6,0.188,0.028,2875,2267,2327
$GC,10791,0.54,126.5,666.0,14.0,356,10792,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2260,2326
$GC,11034,0.54,126.5,631.0,14.4,362,11038,0.00,1.65,0.00,0.000,4,0.000,0.051,2875,3314,2325
$GC,11109,0.54,126.5,618.1,16.8,363,11112,0.00,1.55,0.00,0.000,6,0.000,0.028,2881,2274,2325
$GC,11375,0.54,126.5,576.5,15.7,370,11378,0.00,1.58,0.00,0.000,4,0.000,0.030,2889,1194,2325
$GC,11432,0.54,126.5,567.3,14.9,371,11436,0.00,1.70,0.00,0.000,6,0.000,0.044,2888,2279,2325
$GC,11715,0.54,126.5,527.4,14.2,378,11719,0.00,1.62,0.00,0.000,4,0.000,0.051,2889,3314,2325
$GC,11751,0.54,126.5,521.9,14.6,378,11754,0.00,1.55,0.00,0.000,6,0.000,0.028,2894,2271,2324
$GC,12011,0.54,126.5,487.3,13.2,385,12014,0.00,1.55,0.00,0.000,4,0.000,0.029,2902,1202,2324
$GC,12062,0.54,126.5,481.0,12.4,386,12066,0.00,1.65,0.00,0.000,6,0.000,0.044,2902,2271,2323
$GC,12356,0.54,126.5,442.6,13.1,393,12360,0.00,1.62,0.00,0.000,4,0.000,0.051,2902,3329,2323
$GC,12375,0.54,126.5,439.5,13.5,393,12379,0.12,1.60,0.00,0.000,6,0.180,0.026,2880,2228,2323
$GC,12652,0.54,126.5,402.5,13.9,400,12653,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2221,2323
$GC,12896,0.54,126.5,371.5,12.2,406,12897,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2220,2323
$GC,13139,0.54,126.5,346.4,10.3,412,13142,0.00,1.73,0.00,0.000,4,0.000,0.051,2876,3320,2323
$GC,13196,0.54,126.5,339.3,11.4,413,13200,0.00,1.55,0.00,0.000,6,0.000,0.026,2881,2267,2322
$GC,13478,0.54,126.5,306.2,11.5,420,13482,0.00,1.67,0.00,0.000,4,0.000,0.048,2876,3315,2322
$GC,13497,0.54,126.5,303.9,10.9,420,13500,0.00,1.55,0.00,0.000,6,0.000,0.026,2881,2264,2322
$GC,13774,0.54,127.9,278.7,8.9,427,13775,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2257,2322
$GC,14017,0.54,129.7,257.1,8.9,433,14021,0.00,1.52,0.00,0.000,4,0.000,0.028,2889,1199,2322
$GC,14103,0.54,129.7,248.5,9.7,434,14111,0.00,1.70,0.00,0.000,6,0.000,0.041,2888,2292,2322
$GC,14358,0.54,132.1,225.9,8.9,441,14362,0.00,1.58,0.00,0.000,4,0.000,0.051,2889,3304,2322
$GC,14466,0.55,150.4,215.6,8.1,443,14498,0.00,1.45,21.80,0.721,6,0.000,0.025,2894,2308,2243
$GC,14762,0.55,150.4,184.3,11.7,460,14766,0.00,1.60,0.00,0.000,4,0.000,0.027,2899,1189,2239
$GC,14954,0.56,160.3,166.0,8.5,477,14974,0.00,1.77,9.75,0.680,6,0.000,0.039,2899,2331,2203
$GC,15238,0.56,160.3,140.4,9.1,503,15241,0.00,1.50,0.00,0.000,4,0.000,0.045,2899,3308,2202
$GC,15308,0.56,160.3,133.4,9.6,509,15312,0.00,1.45,0.00,0.000,6,0.000,0.024,2906,2305,2201
$GC,15585,0.56,160.3,106.7,9.7,534,15588,0.00,1.58,0.00,0.000,4,0.000,0.025,2912,1198,2201
$GC,15635,0.56,160.3,101.0,9.9,538,15644,0.10,1.75,0.00,0.000,6,0.109,0.039,2877,2330,2202
$GC,15906,0.59,256.0,88.5,4.4,563,15994,0.00,0.00,81.03,0.644,6,0.000,0.000,2877,2329,1814
$GC,16259,0.61,299.1,66.0,6.9,596,16301,0.00,1.55,36.53,0.605,4,0.000,0.043,2876,3314,1637
$GC,16336,0.63,336.8,60.1,7.2,602,16376,0.00,1.52,31.80,0.592,6,0.000,0.022,2876,2279,1484
$GC,16633,0.64,376.7,39.9,7.1,629,16673,0.00,1.52,33.50,0.574,4,0.000,0.023,2876,1212,1320
$GC,16723,0.66,426.0,33.9,6.6,636,16774,0.08,1.65,40.97,0.564,6,0.052,0.031,2940,2292,1121
$STATE,16948,end climb,SURFACE_DEPTH_REACHED
$STATE,16948,begin surface coast
$FINISH,0.5,1.023488
$STATE,16970,end surface coast,CONTROL_FINISHED_OK
$STATE,16971,begin surface
$SM_CCo,17057,0.00,0.000,0,0,1114,427.55
$SM_GC,1.35,7.43,0.00,0.00,0.025,0.000,0.000,37,2569,1114,-8.23,1.02,427.55
$IRIDIUM_FIX,2204.37,-15755.93,050303,090902
$TT8_MAMPS,0.024544
$HUMID,2254
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.10
$XPDR_PINGS,19
$24V_AH,23.0,69.475
$10V_AH,10.5,85.036
$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,18.550,105.475,504.050,0.000,0.000,84.484,159.907,620.925,4.750,0.000,0.000,16.091,1364.486,11793.172,517.151,3021.566,1536.667,33.376,1566.214,0.000,2996.752,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,58.292,1259.414,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,458.531,2227.057,2314.604,785.714,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53968,676
$CAP_FILE_SIZE,135850,0
$CFSIZE,260165632,230469632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,091213,140400,2211.801,-15757.508,43,1.1,43,10.0