version: 66.04
glider: 512
mission: 4
dive: 416
start: 12 9 113 14 31 55
data:
$ID,512
$MISSION,4
$DIVE,416
$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,-115763
$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,70
$R_STBD_OVSHOOT,61
$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
$GPS1,140400,2211.801,-15757.508,43,1.1,43,10.0
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-81.1
$GPS2,143101,2211.475,-15757.264,12,1.4,12,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.165,-0.168
$KALMAN_X,143916.5,195.6,-106.4,-139247.9,2487.6
$KALMAN_Y,-37511.5,-46.2,-211.2,-22613.1,-309.9
$MHEAD_RNG_PITCHd_Wd,214.5,21765,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.54,-126.5,0.0,0.0,0,99,0.00,0.00,-74.70,0.000,2,0.000,0.000,8,2568,2889
$GC,105,-0.54,-126.5,2.2,-1.9,10,131,9.60,1.60,-11.48,0.000,4,0.196,0.038,2521,1457,3375
$GC,221,-0.54,-126.5,26.8,-16.7,29,229,0.00,1.60,0.00,0.000,6,0.000,0.040,2515,2495,3376
$GC,490,-0.54,-126.5,79.1,-20.8,55,494,0.00,1.67,0.00,0.000,4,0.000,0.047,2507,3586,3376
$GC,696,-0.54,-126.5,117.4,-17.5,73,704,0.00,1.48,0.00,0.000,6,0.000,0.018,2507,2539,3376
$GC,962,-0.54,-126.5,160.2,-14.4,98,965,0.00,1.60,0.00,0.000,4,0.000,0.042,2500,3593,3377
$GC,1011,-0.54,-126.5,167.0,-13.8,102,1014,0.00,1.42,0.00,0.000,6,0.000,0.018,2505,2583,3376
$GC,1313,-0.54,-126.5,205.7,-13.4,127,1316,0.00,1.50,0.00,0.000,4,0.000,0.019,2513,1479,3376
$GC,1348,-0.54,-126.5,210.6,-11.9,127,1352,0.00,1.65,0.00,0.000,6,0.000,0.037,2506,2591,3376
$GC,1608,-0.54,-126.5,243.4,-12.5,134,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2592,3376
$GC,1852,-0.54,-126.5,272.8,-12.0,140,1856,0.00,1.52,0.00,0.000,4,0.000,0.048,2498,3590,3375
$GC,1910,-0.54,-126.5,280.0,-11.8,141,1913,0.00,1.42,0.00,0.000,6,0.000,0.019,2504,2576,3375
$GC,2192,-0.54,-126.5,311.0,-10.7,148,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2568,3374
$GC,2436,-0.54,-126.5,336.4,-10.5,154,2440,0.00,1.60,0.00,0.000,4,0.000,0.046,2498,3618,3371
$GC,2494,-0.54,-126.5,343.8,-12.2,155,2498,0.00,1.45,0.00,0.000,6,0.000,0.021,2503,2599,3370
$GC,2777,-0.54,-126.5,377.3,-11.7,162,2781,0.00,1.52,0.00,0.000,4,0.000,0.021,2510,1487,3369
$GC,2801,-0.54,-126.5,380.3,-10.3,162,2805,0.00,1.70,0.00,0.000,6,0.000,0.040,2505,2599,3369
$GC,3073,-0.54,-126.5,406.6,-10.1,169,3077,0.00,1.52,0.00,0.000,4,0.000,0.049,2497,3587,3366
$GC,3103,-0.54,-126.5,410.2,-11.2,169,3106,0.00,1.40,0.00,0.000,6,0.000,0.022,2502,2604,3365
$GC,3369,-0.54,-126.5,438.4,-10.9,176,3373,0.00,1.55,-0.08,0.000,4,0.000,0.040,2510,1480,3388
$GC,3398,-0.54,-126.5,441.8,-10.6,176,3402,0.00,1.70,0.00,0.000,6,0.000,0.041,2504,2610,3388
$GC,3664,-0.54,-126.5,466.7,-9.1,183,3668,0.00,1.60,0.00,0.000,4,0.000,0.022,2510,1488,3386
$GC,3715,-0.54,-126.5,470.6,-6.9,184,3719,0.00,1.67,0.00,0.000,6,0.000,0.042,2504,2570,3385
$GC,4010,-0.54,-126.5,493.4,-8.0,191,4013,0.00,1.60,0.00,0.000,4,0.000,0.053,2497,3588,3382
$GC,4090,-0.54,-126.5,501.0,-9.2,192,4093,0.00,1.45,0.00,0.000,6,0.000,0.024,2502,2585,3381
$GC,4350,-0.54,-126.5,524.1,-9.1,199,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2578,3380
$GC,4593,-0.54,-126.5,547.3,-9.6,205,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2578,3378
$GC,4837,-0.54,-126.5,571.0,-9.7,211,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2578,3376
$GC,5081,-0.54,-126.5,592.4,-8.5,217,5085,0.00,1.52,0.00,0.000,4,0.000,0.025,2508,1498,3374
$GC,5117,-0.54,-126.5,595.2,-7.2,217,5121,0.00,1.67,0.00,0.000,6,0.000,0.045,2504,2596,3374
$GC,5378,-0.54,-126.5,614.8,-7.7,224,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2596,3372
$GC,5621,-0.54,-126.5,633.0,-7.5,230,5625,0.00,1.60,0.00,0.000,4,0.000,0.026,2509,1470,3371
$GC,5651,-0.54,-126.5,635.6,-8.4,230,5655,0.00,1.73,0.00,0.000,6,0.000,0.047,2504,2592,3371
$GC,5918,-0.54,-126.5,655.9,-7.8,237,5922,0.00,1.58,0.00,0.000,4,0.000,0.057,2496,3587,3369
$GC,5968,-0.54,-126.5,660.1,-7.8,238,5972,0.00,1.45,0.00,0.000,6,0.000,0.026,2501,2600,3369
$GC,6263,-0.54,-126.5,684.1,-7.9,245,6266,0.00,1.55,0.00,0.000,4,0.000,0.027,2509,1503,3368
$GC,6333,-0.54,-126.5,689.4,-7.6,246,6336,0.00,1.65,0.00,0.000,6,0.000,0.046,2503,2579,3367
$GC,6605,-0.54,-126.5,709.1,-7.4,253,6608,0.00,1.60,0.00,0.000,4,0.000,0.057,2495,3606,3365
$GC,6679,-0.54,-126.5,715.2,-7.7,254,6683,0.00,1.48,0.00,0.000,6,0.000,0.027,2501,2601,3365
$GC,6946,-0.54,-126.5,734.5,-7.4,261,6949,0.00,1.55,0.00,0.000,4,0.000,0.027,2508,1505,3364
$GC,7015,-0.54,-126.5,739.9,-7.2,262,7019,0.00,1.65,0.00,0.000,6,0.000,0.045,2502,2580,3364
$GC,7287,-0.54,-126.5,760.4,-7.7,269,7291,0.00,1.60,0.00,0.000,4,0.000,0.056,2494,3611,3363
$GC,7323,-0.54,-126.5,763.8,-8.8,269,7327,0.00,1.50,0.00,0.000,6,0.000,0.026,2499,2594,3363
$GC,7584,-0.54,-126.5,784.0,-7.7,276,7588,0.00,1.55,0.00,0.000,4,0.000,0.025,2508,1497,3362
$GC,7619,-0.54,-126.5,787.0,-8.0,276,7623,0.00,1.67,0.00,0.000,6,0.000,0.046,2502,2586,3362
$GC,7880,-0.54,-126.5,806.3,-7.6,283,7883,0.00,1.60,0.00,0.000,4,0.000,0.058,2494,3612,3360
$GC,7932,-0.54,-126.5,810.3,-8.0,284,7936,0.00,1.50,0.00,0.000,6,0.000,0.026,2499,2601,3360
$GC,8226,-0.54,-126.5,833.5,-7.9,291,8230,0.00,1.58,0.00,0.000,4,0.000,0.027,2507,1491,3359
$GC,8256,-0.54,-126.5,836.3,-8.2,291,8260,0.00,1.67,0.00,0.000,6,0.000,0.046,2502,2581,3359
$GC,8523,-0.54,-126.5,857.4,-8.2,298,8527,0.00,1.60,0.00,0.000,4,0.000,0.056,2495,3607,3358
$GC,8573,-0.54,-126.5,861.7,-9.3,299,8577,0.00,1.50,0.00,0.000,6,0.000,0.028,2499,2599,3358
$GC,8867,-0.54,-126.5,883.7,-7.3,306,8870,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3605,3357
$GC,8925,-0.54,-126.5,888.7,-7.9,307,8928,0.00,1.48,0.00,0.000,6,0.000,0.028,2499,2607,3358
$STATE,9080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9080,begin apogee
$GC,9092,-0.20,0.0,900.0,7.1,311,9210,0.40,0.00,114.55,1.253,6,0.099,0.000,2637,2246,2858
$STATE,9210,end apogee,CONTROL_FINISHED_OK
$STATE,9210,begin climb
$GC,9216,0.54,126.5,902.7,0.0,314,9440,0.65,1.62,147.45,1.042,4,0.043,0.028,2890,1223,2342
$GC,9454,0.54,126.5,877.2,17.7,319,9457,0.00,1.67,0.00,0.000,6,0.000,0.041,2890,2266,2339
$GC,9725,0.54,126.5,826.7,19.0,326,9729,0.00,1.62,0.00,0.000,4,0.000,0.051,2890,3309,2334
$GC,9775,0.54,126.5,816.6,20.5,327,9779,0.00,1.55,0.00,0.000,6,0.000,0.028,2896,2279,2333
$GC,10069,0.54,126.5,760.7,18.9,334,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2272,2331
$GC,10312,0.54,126.5,716.5,17.7,340,10316,0.00,1.58,0.00,0.000,4,0.000,0.029,2905,1193,2331
$GC,10364,0.54,126.5,707.0,17.1,341,10368,0.00,1.67,0.00,0.000,6,0.000,0.041,2904,2268,2330
$GC,10653,0.54,126.5,657.3,17.5,348,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2268,2329
$GC,10896,0.54,126.5,616.0,17.2,354,10899,0.00,1.62,0.00,0.000,4,0.000,0.051,2905,3305,2328
$GC,10937,0.54,126.5,608.4,17.2,354,10946,0.10,1.55,0.00,0.000,6,0.182,0.027,2882,2261,2328
$GC,11191,0.54,126.5,574.1,13.4,361,11195,0.00,1.55,0.00,0.000,4,0.000,0.028,2888,1190,2327
$GC,11222,0.54,126.5,569.5,13.7,361,11225,0.00,1.67,0.00,0.000,6,0.000,0.041,2888,2267,2327
$GC,11487,0.54,126.5,531.8,14.6,368,11488,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2267,2327
$GC,11731,0.54,126.5,495.6,14.6,374,11735,0.00,1.62,0.00,0.000,4,0.000,0.051,2888,3302,2326
$GC,11794,0.54,126.5,486.0,13.4,375,11798,0.00,1.55,0.00,0.000,6,0.000,0.026,2894,2252,2326
$GC,12072,0.54,126.5,449.4,13.0,382,12075,0.00,1.52,0.00,0.000,4,0.000,0.029,2902,1200,2326
$GC,12166,0.54,126.5,438.2,11.7,384,12170,0.00,1.62,0.00,0.000,6,0.000,0.042,2901,2257,2326
$GC,12460,0.54,126.5,400.8,12.6,391,12461,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2258,2325
$GC,12704,0.54,126.5,369.6,12.8,397,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2258,2325
$GC,12947,0.54,126.5,340.9,11.1,403,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2258,2325
$GC,13191,0.54,126.5,312.3,11.4,409,13195,0.00,1.62,0.00,0.000,4,0.000,0.048,2902,3305,2325
$GC,13221,0.54,126.5,308.1,13.7,409,13225,0.12,1.58,0.00,0.000,6,0.173,0.025,2880,2235,2325
$GC,13487,0.54,131.1,282.6,8.8,416,13491,0.00,1.67,0.00,0.000,4,0.000,0.048,2876,3312,2325
$GC,13589,0.54,131.1,272.5,9.3,418,13593,0.00,1.55,0.00,0.000,6,0.000,0.026,2881,2259,2325
$GC,13872,0.55,153.8,249.6,7.9,425,13909,0.00,0.00,25.00,0.755,6,0.000,0.000,2882,2252,2230
$GC,14156,0.55,153.8,221.3,10.8,432,14159,0.00,1.52,0.00,0.000,4,0.000,0.027,2889,1202,2227
$GC,14191,0.55,153.8,217.0,11.6,432,14195,0.00,1.70,0.00,0.000,6,0.000,0.040,2888,2311,2227
$GC,14455,0.55,153.8,191.6,9.5,445,14459,0.00,1.55,0.00,0.000,4,0.000,0.048,2888,3311,2227
$GC,14593,0.55,153.8,176.6,11.2,457,14601,0.00,1.48,0.00,0.000,6,0.000,0.025,2895,2294,2226
$GC,14858,0.55,153.8,152.5,9.0,482,14862,0.00,1.55,0.00,0.000,4,0.000,0.026,2899,1216,2226
$GC,14899,0.56,173.8,149.0,8.0,485,14933,0.00,1.67,20.48,0.643,6,0.000,0.038,2899,2302,2149
$GC,15188,0.56,173.8,121.6,10.0,512,15192,0.00,1.55,0.00,0.000,4,0.000,0.044,2899,3310,2146
$GC,15216,0.56,173.8,118.9,10.2,514,15219,0.00,1.48,0.00,0.000,6,0.000,0.022,2906,2295,2146
$GC,15492,0.56,178.5,94.2,8.8,539,15506,0.00,1.58,5.15,0.509,4,0.000,0.023,2912,1203,2131
$GC,15523,0.58,209.8,91.5,7.5,541,15562,0.00,1.65,28.85,0.634,6,0.000,0.037,2912,2277,2001
$GC,15819,0.58,219.5,66.3,8.5,568,15833,0.00,1.62,9.75,0.567,4,0.000,0.024,2912,1193,1962
$GC,15861,0.58,219.5,62.5,9.0,571,15864,0.00,1.65,0.00,0.000,6,0.000,0.035,2912,2283,1960
$GC,16133,0.58,219.5,37.4,9.3,596,16136,0.00,1.55,0.00,0.000,4,0.000,0.042,2912,3303,1959
$GC,16182,0.58,219.5,32.4,9.9,600,16185,0.00,1.48,0.00,0.000,6,0.000,0.021,2915,2287,1959
$GC,16450,0.58,219.5,8.4,9.0,647,16458,0.00,1.60,0.00,0.000,4,0.000,0.041,2915,3312,1959
$STATE,16501,end climb,SURFACE_DEPTH_REACHED
$STATE,16501,begin surface coast
$FINISH,1.9,1.023420
$STATE,16513,end surface coast,CONTROL_FINISHED_OK
$STATE,16513,begin surface
$SM_CCo,16540,72.07,0.545,0,0,1267,390.02
$SM_GC,1.27,0.00,0.00,72.07,0.000,0.000,0.545,31,2482,1267,-8.34,-1.36,390.02
$IRIDIUM_FIX,2204.37,-15758.08,050303,141430
$TT8_MAMPS,0.023777
$HUMID,2229
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.00
$XPDR_PINGS,11
$24V_AH,23.3,69.662
$10V_AH,10.5,85.217
$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,18.200,126.225,351.225,72.075,0.000,80.110,121.338,1094.433,2.750,0.000,0.000,12.567,1377.259,11325.239,531.961,3018.593,1974.055,33.377,1556.944,0.000,2989.016,0.000,0.544,0.000
$DEVICE_MAMPS,196.352,57.525,1253.278,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,447.892,2167.745,2250.448,776.913,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54038,658
$CAP_FILE_SIZE,146138,0
$CFSIZE,260165632,230391808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,091213,191023,2209.492,-15757.649,28,1.5,46,10.0