version: 66.04
glider: 512
mission: 4
dive: 418
start: 12 10 113 0 25 34
data:
$ID,512
$MISSION,4
$DIVE,418
$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,-115800.93
$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,63
$R_STBD_OVSHOOT,69
$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
$GPS1,001035,2206.889,-15758.776,39,1.0,45,10.0
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-81.8
$GPS2,002436,2206.896,-15758.936,12,1.2,17,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.175,-0.157
$KALMAN_X,148104.2,-289.3,-350.3,-145553.2,2994.1
$KALMAN_Y,-39104.4,-184.8,-50.7,-29527.1,-427.2
$MHEAD_RNG_PITCHd_Wd,218.2,12902,-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,13,begin dive
$GC,19,-0.54,-126.5,0.0,0.0,0,88,0.00,0.00,-67.43,0.000,2,0.000,0.000,14,2589,2840
$GC,94,-0.54,-126.5,2.1,-1.6,9,126,9.62,1.60,-12.90,0.000,4,0.197,0.038,2520,1461,3376
$GC,349,-0.54,-126.5,50.5,-16.9,43,353,0.00,1.58,0.00,0.000,6,0.000,0.036,2515,2496,3377
$GC,621,-0.54,-126.5,98.0,-14.5,68,624,0.00,1.67,0.00,0.000,4,0.000,0.048,2506,3584,3377
$GC,660,-0.54,-126.5,104.5,-15.3,71,669,0.00,1.55,0.00,0.000,6,0.000,0.019,2506,2499,3377
$GC,927,-0.54,-126.5,145.1,-15.1,96,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2492,3378
$GC,1192,-0.54,-126.5,181.1,-12.3,121,1196,0.00,1.67,0.00,0.000,4,0.000,0.044,2499,3601,3378
$GC,1262,-0.54,-126.5,190.1,-12.5,127,1266,0.00,1.50,0.00,0.000,6,0.000,0.019,2504,2540,3378
$GC,1557,-0.54,-126.5,227.8,-12.9,140,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2531,3378
$GC,1800,-0.54,-126.5,257.3,-12.1,146,1804,0.00,1.45,0.00,0.000,4,0.000,0.021,2512,1476,3378
$GC,1841,-0.54,-126.5,262.3,-10.2,146,1849,0.00,1.65,0.00,0.000,6,0.000,0.039,2506,2561,3378
$GC,2095,-0.54,-126.5,288.9,-10.6,153,2099,0.00,1.58,0.00,0.000,4,0.000,0.048,2498,3587,3377
$GC,2204,-0.54,-126.5,300.9,-10.6,155,2207,0.00,1.42,0.00,0.000,6,0.000,0.021,2503,2583,3376
$GC,2481,-0.54,-126.5,329.2,-10.3,162,2485,0.00,1.58,0.00,0.000,4,0.000,0.047,2497,3586,3375
$GC,2517,-0.54,-126.5,333.5,-10.5,162,2520,0.00,1.42,0.00,0.000,6,0.000,0.021,2502,2588,3374
$GC,2777,-0.54,-126.5,359.5,-10.3,169,2781,0.00,1.52,0.00,0.000,4,0.000,0.021,2510,1480,3373
$GC,2852,-0.54,-126.5,367.5,-9.6,170,2855,0.00,1.65,0.00,0.000,6,0.000,0.039,2504,2582,3372
$GC,3117,-0.54,-126.5,395.0,-10.7,177,3121,0.00,1.55,0.00,0.000,4,0.000,0.049,2496,3584,3370
$GC,3212,-0.54,-126.5,404.8,-9.9,179,3216,0.00,1.42,0.00,0.000,6,0.000,0.023,2501,2597,3369
$GC,3506,-0.54,-126.5,433.2,-9.4,186,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2589,3367
$GC,3750,-0.54,-126.5,457.2,-10.1,192,3754,0.00,1.58,-0.08,0.000,4,0.000,0.065,2496,3588,3390
$GC,3852,-0.54,-126.5,467.8,-10.1,194,3855,0.00,1.42,0.00,0.000,6,0.000,0.023,2501,2604,3390
$GC,4135,-0.54,-126.5,494.0,-9.3,201,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2596,3388
$GC,4378,-0.54,-126.5,515.9,-8.9,207,4382,0.00,1.55,0.00,0.000,4,0.000,0.024,2509,1492,3386
$GC,4436,-0.54,-126.5,520.9,-7.4,208,4440,0.00,1.67,0.00,0.000,6,0.000,0.043,2504,2596,3386
$GC,4720,-0.54,-126.5,544.7,-8.8,215,4723,0.00,1.55,0.00,0.000,4,0.000,0.053,2496,3582,3383
$GC,4771,-0.54,-126.5,549.5,-9.4,216,4775,0.00,1.45,0.00,0.000,6,0.000,0.025,2501,2594,3384
$GC,5065,-0.54,-126.5,577.8,-9.6,223,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2586,3380
$GC,5309,-0.54,-126.5,601.0,-9.6,229,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2586,3380
$GC,5553,-0.54,-126.5,624.2,-9.5,235,5556,0.00,1.55,0.00,0.000,4,0.000,0.025,2509,1491,3378
$GC,5594,-0.54,-126.5,628.5,-9.0,235,5602,0.00,1.73,0.00,0.000,6,0.000,0.045,2504,2597,3378
$GC,5849,-0.54,-126.5,651.5,-9.1,242,5852,0.00,1.55,0.00,0.000,4,0.000,0.055,2496,3578,3376
$GC,5951,-0.54,-126.5,661.2,-9.1,244,5955,0.00,1.42,0.00,0.000,6,0.000,0.025,2501,2608,3376
$GC,6234,-0.54,-126.5,684.3,-8.1,251,6238,0.00,1.58,0.00,0.000,4,0.000,0.025,2509,1492,3374
$GC,6264,-0.54,-126.5,687.0,-8.3,251,6268,0.00,1.73,0.00,0.000,6,0.000,0.045,2504,2598,3374
$GC,6531,-0.54,-126.5,707.2,-7.7,258,6534,0.00,1.60,0.00,0.000,4,0.000,0.026,2508,1501,3372
$GC,6567,-0.54,-126.5,710.4,-8.5,258,6570,0.00,1.67,0.00,0.000,6,0.000,0.046,2502,2594,3372
$GC,6827,-0.54,-126.5,731.0,-8.1,265,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2594,3371
$GC,7071,-0.54,-126.5,749.2,-7.3,271,7072,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2594,3370
$GC,7314,-0.54,-126.5,766.9,-7.2,277,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2594,3370
$GC,7559,-0.54,-126.5,785.8,-7.8,283,7562,0.00,1.58,0.00,0.000,4,0.000,0.058,2495,3581,3369
$GC,7644,-0.54,-126.5,793.2,-9.0,284,7653,0.00,1.45,0.00,0.000,6,0.000,0.028,2500,2595,3369
$GC,7900,-0.54,-126.5,812.4,-7.6,291,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2595,3368
$GC,8144,-0.54,-126.5,831.1,-7.7,297,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2595,3367
$GC,8387,-0.54,-126.5,850.2,-7.9,303,8390,0.00,1.58,0.00,0.000,4,0.000,0.028,2508,1498,3366
$GC,8428,-0.54,-126.5,853.8,-8.2,303,8436,0.00,1.73,0.00,0.000,6,0.000,0.048,2502,2592,3366
$GC,8683,-0.54,-126.5,875.0,-8.6,310,8687,0.00,1.58,0.00,0.000,4,0.000,0.058,2494,3577,3365
$GC,8724,-0.54,-126.5,878.9,-9.2,310,8730,0.00,1.42,0.00,0.000,6,0.000,0.028,2500,2606,3365
$STATE,8974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8974,begin apogee
$GC,8986,-0.20,0.0,900.0,8.4,317,9104,0.40,0.00,115.95,1.259,6,0.103,0.000,2637,2254,2858
$STATE,9105,end apogee,CONTROL_FINISHED_OK
$STATE,9105,begin climb
$GC,9110,0.54,126.5,904.2,0.0,320,9330,0.68,1.62,148.65,1.047,4,0.039,0.028,2893,1217,2342
$GC,9355,0.54,126.5,882.6,15.3,326,9359,0.00,1.70,0.00,0.000,6,0.000,0.039,2891,2255,2339
$GC,9632,0.54,126.5,837.0,16.8,333,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2255,2333
$GC,9876,0.54,126.5,798.4,15.9,339,9880,0.00,1.65,0.00,0.000,4,0.000,0.050,2891,3304,2332
$GC,9900,0.54,126.5,793.8,17.1,339,9904,0.00,1.55,0.00,0.000,6,0.000,0.027,2897,2269,2331
$GC,10172,0.54,126.5,747.2,17.7,346,10175,0.00,1.65,0.00,0.000,4,0.000,0.048,2892,3317,2330
$GC,10223,0.54,126.5,737.5,19.4,347,10227,0.00,1.60,0.00,0.000,6,0.000,0.025,2897,2245,2330
$GC,10517,0.54,126.5,684.5,17.7,354,10521,0.00,1.52,0.00,0.000,4,0.000,0.028,2905,1195,2329
$GC,10580,0.54,126.5,673.1,17.2,355,10584,0.00,1.62,0.00,0.000,6,0.000,0.041,2905,2258,2329
$GC,10858,0.54,126.5,625.7,17.1,362,10861,0.00,1.62,0.00,0.000,4,0.000,0.049,2905,3318,2328
$GC,10899,0.54,126.5,617.6,17.9,362,10906,0.10,1.58,0.00,0.000,6,0.185,0.026,2883,2260,2328
$GC,11154,0.54,126.5,581.0,13.9,369,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2254,2327
$GC,11397,0.54,126.5,548.4,13.4,375,11401,0.00,1.55,0.00,0.000,4,0.000,0.028,2888,1191,2327
$GC,11432,0.54,126.5,543.4,13.2,375,11436,0.00,1.65,0.00,0.000,6,0.000,0.041,2889,2271,2326
$GC,11692,0.54,126.5,508.2,13.6,382,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2272,2326
$GC,11936,0.54,126.5,473.7,14.3,388,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2272,2325
$GC,12179,0.54,126.5,443.0,12.2,394,12183,0.00,1.62,0.00,0.000,4,0.000,0.051,2888,3309,2325
$GC,12215,0.54,126.5,437.9,12.9,394,12218,0.00,1.55,0.00,0.000,6,0.000,0.026,2894,2262,2324
$GC,12475,0.54,126.5,407.2,11.7,401,12478,0.00,1.65,0.00,0.000,4,0.000,0.047,2891,3319,2324
$GC,12493,0.54,126.5,404.6,11.9,401,12497,0.00,1.55,0.00,0.000,6,0.000,0.025,2897,2270,2324
$GC,12771,0.54,126.5,373.0,11.3,408,12775,0.00,1.55,0.00,0.000,4,0.000,0.028,2903,1200,2324
$GC,12823,0.54,126.5,366.9,10.6,409,12827,0.00,1.67,0.00,0.000,6,0.000,0.042,2902,2270,2324
$GC,13111,0.54,126.5,334.2,11.6,416,13115,0.00,1.60,0.00,0.000,4,0.000,0.027,2910,1200,2324
$GC,13169,0.54,126.5,327.5,10.8,417,13172,0.00,1.62,0.00,0.000,6,0.000,0.040,2905,2264,2324
$GC,13451,0.54,126.5,296.7,10.9,424,13455,0.00,1.62,0.00,0.000,4,0.000,0.050,2905,3326,2324
$GC,13509,0.54,126.5,289.8,11.2,425,13513,0.08,1.55,0.00,0.000,6,0.165,0.026,2879,2279,2324
$GC,13792,0.54,130.2,263.5,8.8,432,13796,0.00,1.58,0.00,0.000,4,0.000,0.028,2885,1188,2324
$GC,13828,0.54,130.2,260.0,9.1,432,13832,0.00,1.67,0.00,0.000,6,0.000,0.040,2885,2286,2324
$GC,14088,0.55,139.0,237.6,8.6,439,14100,0.00,0.00,9.88,0.740,6,0.000,0.000,2885,2285,2291
$GC,14332,0.55,139.0,215.2,9.6,445,14333,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2286,2289
$GC,14578,0.56,171.0,195.1,7.5,454,14621,0.00,1.62,32.00,0.719,4,0.000,0.047,2885,3314,2160
$GC,14710,0.56,171.0,184.0,10.1,465,14718,0.00,1.58,0.00,0.000,6,0.000,0.025,2893,2261,2157
$GC,14976,0.56,171.0,159.0,10.1,490,14979,0.00,1.55,0.00,0.000,4,0.000,0.027,2899,1188,2155
$GC,15068,0.56,171.0,150.6,9.1,498,15072,0.00,1.65,0.00,0.000,6,0.000,0.038,2899,2252,2155
$GC,15340,0.56,171.0,126.3,9.3,523,15343,0.00,1.58,0.00,0.000,4,0.000,0.026,2899,1191,2155
$GC,15368,0.56,171.0,123.4,9.2,525,15377,0.00,1.60,0.00,0.000,6,0.000,0.035,2898,2234,2154
$GC,15639,0.58,214.7,102.4,6.9,550,15681,0.00,1.65,38.33,0.648,4,0.000,0.043,2899,3313,1981
$GC,15835,0.59,236.1,83.8,8.0,566,15861,0.00,1.52,19.05,0.612,6,0.000,0.022,2902,2285,1895
$GC,16123,0.59,236.1,58.5,9.2,592,16127,0.00,1.58,0.00,0.000,4,0.000,0.025,2902,1195,1892
$GC,16229,0.59,258.3,49.2,7.9,601,16255,0.00,1.65,19.88,0.582,6,0.000,0.035,2902,2289,1803
$GC,16516,0.60,279.6,22.3,8.0,634,16540,0.00,0.00,18.42,0.555,6,0.000,0.000,2903,2289,1719
$STATE,16734,end climb,SURFACE_DEPTH_REACHED
$STATE,16734,begin surface coast
$FINISH,0.5,1.008854
$STATE,16767,end surface coast,CONTROL_FINISHED_OK
$STATE,16767,begin surface
$SM_CCo,16793,47.05,0.540,0,0,1267,390.02
$SM_GC,1.24,0.00,0.00,47.05,0.000,0.000,0.540,34,2571,1267,-8.33,1.22,390.02
$IRIDIUM_FIX,2202.04,-15758.96,050303,191927
$TT8_MAMPS,0.023777
$HUMID,2244
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,44
$24V_AH,23.1,69.980
$10V_AH,10.5,85.570
$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,18.200,111.575,402.150,47.050,0.000,31.228,43.224,563.871,11.000,0.000,0.000,17.685,1382.852,11398.543,573.299,3029.623,1294.003,33.373,1570.491,0.000,3004.836,0.000,0.544,0.000
$DEVICE_MAMPS,197.119,65.195,1258.647,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,461.352,2233.182,2319.332,808.674,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54099,679
$CAP_FILE_SIZE,132207,0
$CFSIZE,260165632,230264832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,101213,050753,2204.977,-15800.395,32,1.0,49,10.0