version: 66.04
glider: 512
mission: 4
dive: 417
start: 12 9 113 19 30 12
data:
$ID,512
$MISSION,4
$DIVE,417
$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,-115782.61
$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,99
$R_STBD_OVSHOOT,34
$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
$GPS1,191023,2209.492,-15757.649,28,1.5,46,10.0
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-81.1
$GPS2,192919,2209.277,-15757.621,12,1.8,18,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.152,-0.179
$KALMAN_X,146337.9,215.9,138.0,-142545.8,2061.8
$KALMAN_Y,-38265.7,-303.5,65.4,-25953.3,-563.7
$MHEAD_RNG_PITCHd_Wd,210.3,17659,-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,23,-0.54,-126.5,0.0,0.0,0,92,0.00,0.00,-67.40,0.000,2,0.000,0.000,9,2479,2842
$GC,98,-0.54,-126.5,2.1,-1.6,9,130,9.57,1.40,-13.25,0.000,4,0.194,0.041,2521,1493,3376
$GC,194,-0.54,-126.5,21.5,-18.7,24,202,0.00,1.60,0.00,0.000,6,0.000,0.041,2515,2526,3377
$GC,463,-0.54,-126.5,77.6,-20.6,52,467,0.00,1.65,0.00,0.000,4,0.000,0.046,2507,3598,3377
$GC,619,-0.54,-126.5,106.1,-14.4,66,623,0.00,1.45,0.00,0.000,6,0.000,0.018,2507,2570,3377
$GC,891,-0.54,-126.5,150.2,-15.1,91,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2561,3378
$GC,1157,-0.54,-126.5,186.6,-13.3,116,1160,0.00,1.58,0.00,0.000,4,0.000,0.041,2500,3590,3378
$GC,1185,-0.54,-126.5,190.4,-13.4,118,1188,0.00,1.42,0.00,0.000,6,0.000,0.018,2506,2575,3378
$GC,1458,-0.54,-126.5,229.2,-13.7,129,1461,0.00,1.50,0.00,0.000,4,0.000,0.019,2513,1470,3379
$GC,1526,-0.54,-126.5,237.5,-10.4,130,1530,0.00,1.62,0.00,0.000,6,0.000,0.038,2506,2565,3379
$GC,1798,-0.54,-126.5,268.1,-11.3,137,1801,0.00,1.58,0.00,0.000,4,0.000,0.046,2498,3595,3378
$GC,1872,-0.54,-126.5,276.7,-11.0,138,1876,0.00,1.48,0.00,0.000,6,0.000,0.018,2504,2550,3377
$GC,2138,-0.54,-126.5,308.7,-12.3,145,2142,0.00,1.60,0.00,0.000,4,0.000,0.044,2499,3596,3376
$GC,2218,-0.54,-126.5,318.7,-11.3,146,2222,0.00,1.45,0.00,0.000,6,0.000,0.019,2504,2571,3376
$GC,2478,-0.54,-126.5,345.4,-10.1,153,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2564,3374
$GC,2722,-0.54,-126.5,370.4,-10.4,159,2726,0.00,1.50,0.00,0.000,4,0.000,0.021,2512,1479,3372
$GC,2752,-0.54,-126.5,373.8,-10.8,159,2756,0.00,1.62,0.00,0.000,6,0.000,0.040,2506,2563,3372
$GC,3018,-0.54,-126.5,401.4,-10.5,166,3021,0.00,1.58,0.00,0.000,4,0.000,0.049,2498,3584,3370
$GC,3069,-0.54,-126.5,406.4,-9.4,167,3073,0.00,1.50,0.00,0.000,6,0.000,0.021,2504,2546,3370
$GC,3364,-0.54,-126.5,434.9,-9.6,174,3367,0.00,1.48,0.00,0.000,4,0.000,0.022,2511,1478,3368
$GC,3393,-0.54,-126.5,438.2,-9.2,174,3397,0.00,1.62,0.00,0.000,6,0.000,0.041,2506,2559,3368
$GC,3659,-0.54,-126.5,462.4,-9.4,181,3663,0.00,1.60,-0.08,0.000,4,0.000,0.067,2498,3592,3390
$GC,3710,-0.54,-126.5,467.5,-10.4,182,3714,0.00,1.48,0.00,0.000,6,0.000,0.021,2504,2570,3390
$GC,4004,-0.54,-126.5,496.9,-10.2,189,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2561,3388
$GC,4247,-0.54,-126.5,520.4,-9.4,195,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2561,3385
$GC,4492,-0.54,-126.5,539.5,-7.6,201,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2561,3384
$GC,4736,-0.54,-126.5,559.6,-8.6,207,4739,0.00,1.60,0.00,0.000,4,0.000,0.051,2498,3590,3381
$GC,4771,-0.54,-126.5,563.5,-9.9,207,4775,0.00,1.48,0.00,0.000,6,0.000,0.024,2503,2577,3381
$GC,5032,-0.54,-126.5,588.7,-9.9,214,5035,0.00,1.55,0.00,0.000,4,0.000,0.025,2508,1476,3380
$GC,5056,-0.54,-126.5,591.5,-10.0,214,5059,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2578,3380
$GC,5328,-0.54,-126.5,616.0,-9.0,221,5331,0.00,1.58,0.00,0.000,4,0.000,0.053,2494,3581,3378
$GC,5379,-0.54,-126.5,620.6,-9.1,222,5383,0.00,1.48,0.00,0.000,6,0.000,0.025,2500,2579,3378
$GC,5674,-0.54,-126.5,645.1,-8.2,229,5677,0.00,1.55,0.00,0.000,4,0.000,0.025,2508,1477,3376
$GC,5726,-0.54,-126.5,649.0,-7.3,230,5729,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2573,3375
$GC,6020,-0.54,-126.5,672.1,-8.0,237,6024,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3605,3373
$GC,6105,-0.54,-126.5,680.0,-9.5,238,6114,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2582,3372
$GC,6361,-0.54,-126.5,701.7,-8.6,245,6365,0.00,1.58,0.00,0.000,4,0.000,0.025,2508,1474,3372
$GC,6411,-0.54,-126.5,706.2,-8.2,246,6415,0.00,1.73,0.00,0.000,6,0.000,0.044,2502,2577,3372
$GC,6706,-0.54,-126.5,730.4,-8.1,253,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2578,3371
$GC,6949,-0.54,-126.5,749.5,-7.7,259,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2578,3370
$GC,7194,-0.54,-126.5,769.5,-8.3,265,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2577,3369
$GC,7437,-0.54,-126.5,790.5,-8.7,271,7440,0.00,1.60,0.00,0.000,4,0.000,0.027,2508,1457,3368
$GC,7487,-0.54,-126.5,794.7,-7.9,272,7491,0.00,1.75,0.00,0.000,6,0.000,0.045,2502,2570,3368
$GC,7782,-0.54,-126.5,818.0,-7.6,279,7785,0.00,1.60,0.00,0.000,4,0.000,0.057,2494,3594,3366
$GC,7840,-0.54,-126.5,822.5,-7.4,280,7843,0.00,1.52,0.00,0.000,6,0.000,0.026,2499,2564,3365
$GC,8123,-0.54,-126.5,840.9,-6.5,287,8127,0.00,1.62,0.00,0.000,4,0.000,0.052,2494,3590,3365
$GC,8188,-0.54,-126.5,845.8,-7.4,288,8192,0.00,1.50,0.00,0.000,6,0.000,0.028,2499,2581,3364
$GC,8466,-0.54,-126.5,863.5,-6.4,295,8470,0.00,1.58,0.00,0.000,4,0.000,0.027,2507,1476,3364
$GC,8503,-0.54,-126.5,866.0,-6.2,295,8506,0.00,1.70,0.00,0.000,6,0.000,0.047,2502,2580,3364
$GC,8763,-0.54,-126.5,879.5,-5.2,302,8767,0.00,1.62,0.00,0.000,4,0.000,0.058,2494,3594,3362
$GC,8844,-0.54,-126.5,884.6,-6.4,303,8848,0.00,1.48,0.00,0.000,6,0.000,0.026,2499,2593,3363
$GC,9104,-0.54,-126.5,899.2,-5.8,310,9107,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3594,3362
$STATE,9112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9112,begin apogee
$GC,9126,-0.20,0.0,900.2,6.3,310,9244,0.38,0.00,115.35,1.253,6,0.106,0.000,2633,2241,2858
$STATE,9245,end apogee,CONTROL_FINISHED_OK
$STATE,9245,begin climb
$GC,9251,0.54,126.5,902.7,0.0,313,9475,0.65,1.65,147.70,1.045,4,0.041,0.026,2887,1206,2342
$GC,9505,0.54,126.5,878.0,15.9,318,9513,0.00,1.70,0.00,0.000,6,0.000,0.040,2887,2250,2338
$GC,9760,0.54,126.5,837.4,16.4,325,9764,0.00,1.65,0.00,0.000,4,0.000,0.050,2887,3316,2333
$GC,9801,0.54,126.5,829.6,18.1,325,9809,0.00,1.58,0.00,0.000,6,0.000,0.025,2894,2264,2333
$GC,10056,0.54,126.5,785.8,17.6,332,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2258,2332
$GC,10300,0.54,126.5,743.6,17.2,338,10303,0.00,1.55,0.00,0.000,4,0.000,0.027,2902,1195,2330
$GC,10386,0.54,126.5,728.6,16.9,339,10394,0.00,1.65,0.00,0.000,6,0.000,0.039,2902,2255,2330
$GC,10640,0.54,126.5,684.8,17.4,346,10641,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2255,2329
$GC,10884,0.54,126.5,642.7,17.2,352,10887,0.00,1.62,0.00,0.000,4,0.000,0.049,2902,3314,2329
$GC,10941,0.54,126.5,631.7,19.0,353,10946,0.12,1.60,0.00,0.000,6,0.186,0.025,2880,2215,2328
$GC,11224,0.54,126.5,591.1,13.8,360,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2208,2327
$GC,11468,0.54,126.5,557.6,13.9,366,11471,0.00,1.73,0.00,0.000,4,0.000,0.047,2875,3316,2327
$GC,11504,0.54,126.5,551.8,14.6,366,11507,0.00,1.60,0.00,0.000,6,0.000,0.025,2882,2211,2327
$GC,11764,0.54,126.5,515.5,14.0,373,11768,0.00,1.75,0.00,0.000,4,0.000,0.048,2878,3306,2327
$GC,11821,0.54,126.5,506.4,15.1,374,11825,0.00,1.55,0.00,0.000,6,0.000,0.026,2884,2258,2326
$GC,12104,0.54,126.5,468.3,13.6,381,12107,0.00,1.55,0.00,0.000,4,0.000,0.028,2891,1192,2326
$GC,12167,0.54,126.5,460.0,12.2,382,12171,0.00,1.65,0.00,0.000,6,0.000,0.040,2891,2277,2326
$GC,12444,0.54,126.5,425.8,12.3,389,12448,0.00,1.60,0.00,0.000,4,0.000,0.049,2891,3302,2326
$GC,12569,0.54,126.5,408.0,14.1,391,12572,0.00,1.48,0.00,0.000,6,0.000,0.025,2896,2297,2325
$GC,12829,0.54,126.5,374.6,13.4,398,12833,0.00,1.58,0.00,0.000,4,0.000,0.028,2905,1203,2325
$GC,12904,0.54,126.5,365.0,11.4,399,12907,0.00,1.70,0.00,0.000,6,0.000,0.040,2904,2317,2325
$GC,13170,0.54,126.5,333.6,11.7,406,13173,0.00,1.62,0.00,0.000,4,0.000,0.027,2910,1187,2325
$GC,13227,0.54,126.5,326.8,11.8,407,13232,0.10,1.70,0.00,0.000,6,0.143,0.041,2879,2282,2325
$GC,13510,0.54,126.5,296.5,10.7,414,13514,0.00,1.60,0.00,0.000,4,0.000,0.048,2876,3311,2325
$GC,13605,0.54,126.5,285.6,11.6,416,13609,0.00,1.52,0.00,0.000,6,0.000,0.025,2881,2276,2325
$GC,13900,0.54,128.2,258.1,8.9,423,13903,0.00,1.55,0.00,0.000,4,0.000,0.027,2889,1200,2325
$GC,13930,0.55,138.8,255.2,8.5,423,13949,0.00,1.65,9.55,0.755,6,0.000,0.040,2889,2284,2292
$GC,14195,0.55,138.8,229.7,9.8,430,14196,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2284,2291
$GC,14438,0.55,138.8,203.1,10.9,436,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2284,2291
$GC,14692,0.55,138.8,178.3,9.1,457,14695,0.00,1.60,0.00,0.000,4,0.000,0.026,2896,1187,2291
$GC,14881,0.57,185.9,162.6,6.7,474,14935,0.00,1.65,45.00,0.709,6,0.000,0.038,2891,2277,2099
$GC,15201,0.57,185.9,132.3,9.9,503,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2277,2093
$GC,15467,0.57,185.9,108.1,9.1,528,15471,0.00,1.58,0.00,0.000,4,0.000,0.025,2897,1201,2093
$GC,15496,0.57,204.6,105.4,8.1,530,15530,0.00,1.67,18.85,0.602,6,0.000,0.038,2891,2286,2021
$GC,15788,0.57,204.6,73.2,11.3,557,15792,0.00,1.58,0.00,0.000,4,0.000,0.044,2891,3308,2019
$GC,15817,0.57,204.6,69.8,10.2,559,15825,0.00,1.50,0.00,0.000,6,0.000,0.022,2897,2278,2018
$GC,16084,0.58,230.1,48.1,7.8,584,16111,0.00,1.60,22.67,0.600,4,0.000,0.025,2899,1190,1918
$GC,16160,0.60,269.6,42.5,7.1,590,16199,0.00,1.65,33.80,0.594,6,0.000,0.036,2899,2261,1758
$GC,16459,0.60,269.6,16.0,9.6,631,16468,0.00,1.60,0.00,0.000,4,0.000,0.044,2899,3304,1754
$GC,16484,0.60,279.9,13.8,8.5,634,16501,0.00,1.52,9.60,0.524,6,0.000,0.021,2899,2261,1717
$STATE,16612,end climb,SURFACE_DEPTH_REACHED
$STATE,16612,begin surface coast
$FINISH,0.4,1.012460
$STATE,16655,end surface coast,CONTROL_FINISHED_OK
$STATE,16655,begin surface
$SM_CCo,16681,47.30,0.548,0,0,1267,390.02
$SM_GC,1.10,0.00,0.00,47.30,0.000,0.000,0.548,33,2589,1267,-8.33,1.67,390.02
$IRIDIUM_FIX,2202.04,-15755.93,050303,191948
$TT8_MAMPS,0.023777
$HUMID,2293
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.30
$XPDR_PINGS,9
$24V_AH,22.9,69.824
$10V_AH,10.5,85.394
$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,18.150,124.500,402.525,47.300,0.000,89.196,108.548,603.002,2.250,0.000,0.000,18.979,1383.926,11364.633,524.170,3106.607,1477.418,33.374,1614.351,0.000,3067.633,0.000,0.545,0.000
$DEVICE_MAMPS,194.051,67.496,1253.278,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,451.165,2187.537,2269.596,789.400,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54108,664
$CAP_FILE_SIZE,142826,0
$CFSIZE,260165632,230326272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,101213,001035,2206.889,-15758.776,39,1.0,45,10.0