version: 66.04
glider: 512
mission: 4
dive: 419
start: 12 10 113 5 45 9
data:
$ID,512
$MISSION,4
$DIVE,419
$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,-115820.51
$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,59
$R_STBD_OVSHOOT,49
$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
$GPS1,050753,2204.977,-15800.395,32,1.0,49,10.0
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-81.3
$GPS2,054412,2205.122,-15800.242,13,0.9,18,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.131,-0.195
$KALMAN_X,149448.2,-690.4,-68.0,-149008.8,2810.1
$KALMAN_Y,-39746.9,245.5,11.3,-32665.5,-712.0
$MHEAD_RNG_PITCHd_Wd,203.8,9495,-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,-126.5,0.0,0.0,0,88,0.00,0.00,-67.45,0.000,2,0.000,0.000,7,2570,2841
$GC,93,-0.54,-126.5,2.0,-1.1,9,126,9.60,1.60,-13.38,0.000,4,0.195,0.039,2518,1457,3376
$GC,204,-0.54,-126.5,23.9,-18.5,27,213,0.00,1.62,0.00,0.000,6,0.000,0.038,2512,2516,3376
$GC,474,-0.54,-126.5,81.2,-20.5,54,477,0.00,1.62,0.00,0.000,4,0.000,0.044,2504,3606,3376
$GC,535,-0.54,-126.5,93.6,-19.6,59,539,0.00,1.55,0.00,0.000,6,0.000,0.019,2509,2518,3376
$GC,807,-0.54,-126.5,138.5,-16.2,84,810,0.00,1.62,0.00,0.000,4,0.000,0.040,2502,3598,3376
$GC,901,-0.54,-126.5,154.7,-15.7,92,909,0.00,1.45,0.00,0.000,6,0.000,0.018,2508,2564,3376
$GC,1167,-0.54,-126.5,194.0,-13.5,117,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2556,3376
$GC,1424,-0.54,-126.5,227.8,-12.9,127,1428,0.00,1.58,0.00,0.000,4,0.000,0.042,2502,3588,3376
$GC,1521,-0.54,-126.5,239.5,-11.4,129,1524,0.00,1.38,0.00,0.000,6,0.000,0.018,2507,2612,3376
$GC,1809,-0.54,-126.5,273.6,-12.3,136,1812,0.00,1.55,0.00,0.000,4,0.000,0.020,2515,1474,3375
$GC,1861,-0.54,-126.5,279.8,-10.3,137,1865,0.00,1.70,0.00,0.000,6,0.000,0.037,2509,2621,3375
$GC,2150,-0.54,-126.5,310.5,-11.1,144,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2621,3373
$GC,2393,-0.54,-126.5,337.5,-11.0,150,2397,0.00,1.48,0.00,0.000,4,0.000,0.047,2501,3591,3371
$GC,2434,-0.54,-126.5,342.4,-10.6,150,2442,0.00,1.38,0.00,0.000,6,0.000,0.020,2506,2615,3371
$GC,2689,-0.54,-126.5,370.0,-11.2,157,2693,0.00,1.55,0.00,0.000,4,0.000,0.022,2508,1493,3369
$GC,2739,-0.54,-126.5,375.3,-10.1,158,2743,0.00,1.70,0.00,0.000,6,0.000,0.038,2502,2628,3369
$GC,3033,-0.54,-126.5,404.9,-9.6,165,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2629,3366
$GC,3277,-0.54,-126.5,429.1,-10.0,171,3281,0.00,1.62,-0.08,0.000,4,0.000,0.038,2507,1483,3388
$GC,3307,-0.54,-126.5,432.4,-9.8,171,3311,0.00,1.70,0.00,0.000,6,0.000,0.040,2502,2617,3388
$GC,3573,-0.54,-126.5,458.5,-10.1,178,3577,0.00,1.50,0.00,0.000,4,0.000,0.050,2494,3587,3385
$GC,3623,-0.54,-126.5,463.7,-9.6,179,3627,0.00,1.40,0.00,0.000,6,0.000,0.023,2499,2615,3385
$GC,3918,-0.54,-126.5,493.0,-10.1,186,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2608,3382
$GC,4161,-0.54,-126.5,518.4,-10.4,192,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2608,3380
$GC,4404,-0.54,-126.5,543.6,-10.3,198,4408,0.00,1.58,0.00,0.000,4,0.000,0.025,2507,1488,3378
$GC,4434,-0.54,-126.5,546.9,-10.0,198,4438,0.00,1.75,0.00,0.000,6,0.000,0.043,2501,2622,3378
$GC,4700,-0.54,-126.5,572.1,-9.7,205,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2622,3375
$GC,4944,-0.54,-126.5,592.0,-8.0,211,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2621,3373
$GC,5187,-0.54,-126.5,611.3,-8.0,217,5191,0.00,1.50,0.00,0.000,4,0.000,0.051,2494,3587,3371
$GC,5229,-0.54,-126.5,615.1,-8.0,217,5237,0.00,1.40,0.00,0.000,6,0.000,0.025,2500,2620,3371
$GC,5485,-0.54,-126.5,635.9,-8.3,224,5488,0.00,1.60,0.00,0.000,4,0.000,0.025,2507,1468,3370
$GC,5554,-0.54,-126.5,642.2,-8.2,225,5558,0.00,1.73,0.00,0.000,6,0.000,0.044,2501,2601,3369
$GC,5826,-0.54,-126.5,665.2,-8.5,232,5830,0.00,1.55,0.00,0.000,4,0.000,0.053,2493,3591,3368
$GC,5851,-0.54,-126.5,667.6,-8.7,232,5854,0.00,1.42,0.00,0.000,6,0.000,0.025,2498,2612,3367
$GC,6123,-0.54,-126.5,688.9,-8.0,239,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2604,3366
$GC,6366,-0.54,-126.5,708.7,-8.1,245,6370,0.00,1.58,0.00,0.000,4,0.000,0.025,2506,1491,3364
$GC,6396,-0.54,-126.5,711.2,-7.5,245,6399,0.00,1.67,0.00,0.000,6,0.000,0.044,2501,2591,3364
$GC,6662,-0.54,-126.5,731.0,-7.5,252,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2591,3363
$GC,6905,-0.54,-126.5,748.7,-7.2,258,6909,0.00,1.58,0.00,0.000,4,0.000,0.054,2493,3590,3362
$GC,6979,-0.54,-126.5,754.5,-7.4,259,6983,0.00,1.42,0.00,0.000,6,0.000,0.025,2498,2611,3362
$GC,7245,-0.54,-126.5,771.9,-6.5,266,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2604,3360
$GC,7490,-0.54,-126.5,788.6,-6.8,272,7493,0.00,1.58,0.00,0.000,4,0.000,0.051,2493,3591,3360
$GC,7525,-0.54,-126.5,791.5,-7.7,272,7529,0.00,1.42,0.00,0.000,6,0.000,0.025,2498,2617,3359
$GC,7786,-0.54,-126.5,808.7,-6.5,279,7790,0.00,1.58,0.00,0.000,4,0.000,0.025,2506,1502,3359
$GC,7818,-0.54,-126.5,810.9,-6.9,279,7822,0.00,1.67,0.00,0.000,6,0.000,0.044,2500,2599,3358
$GC,8085,-0.54,-126.5,828.1,-6.7,286,8089,0.00,1.55,0.00,0.000,4,0.000,0.054,2493,3580,3358
$GC,8115,-0.54,-126.5,830.5,-7.0,286,8118,0.00,1.42,0.00,0.000,6,0.000,0.026,2498,2606,3358
$GC,8381,-0.54,-126.5,848.7,-6.9,293,8384,0.00,1.58,0.00,0.000,4,0.000,0.025,2506,1489,3357
$GC,8434,-0.54,-126.5,852.7,-6.5,294,8437,0.00,1.67,0.00,0.000,6,0.000,0.044,2500,2586,3356
$GC,8722,-0.54,-126.5,872.7,-7.1,301,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2586,3356
$GC,8966,-0.54,-126.5,891.1,-7.7,307,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2586,3354
$STATE,9082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9083,begin apogee
$GC,9094,-0.20,0.0,900.4,7.8,310,9211,0.40,0.00,113.70,1.258,6,0.102,0.000,2634,2256,2858
$STATE,9211,end apogee,CONTROL_FINISHED_OK
$STATE,9211,begin climb
$GC,9217,0.54,126.5,904.2,0.0,313,9441,0.65,1.60,147.40,1.045,4,0.042,0.027,2888,1202,2342
$GC,9538,0.54,126.5,869.6,15.1,320,9542,0.00,1.65,0.00,0.000,6,0.000,0.041,2888,2253,2336
$GC,9815,0.54,126.5,822.4,17.2,327,9819,0.00,1.58,0.00,0.000,4,0.000,0.028,2894,1211,2333
$GC,9867,0.54,126.5,813.3,15.8,328,9871,0.00,1.60,0.00,0.000,6,0.000,0.040,2891,2253,2332
$GC,10156,0.54,126.5,765.5,16.8,335,10160,0.00,1.62,0.00,0.000,4,0.000,0.048,2891,3314,2331
$GC,10188,0.54,126.5,759.8,17.1,335,10191,0.00,1.58,0.00,0.000,6,0.000,0.027,2896,2256,2330
$GC,10453,0.54,126.5,716.8,16.0,342,10457,0.00,1.67,0.00,0.000,4,0.000,0.047,2892,3312,2330
$GC,10503,0.54,126.5,708.3,16.8,343,10507,0.00,1.58,0.00,0.000,6,0.000,0.027,2897,2256,2329
$GC,10798,0.54,126.5,660.8,16.3,350,10801,0.00,1.52,0.00,0.000,4,0.000,0.028,2905,1202,2328
$GC,10849,0.54,126.5,652.5,16.0,351,10853,0.00,1.62,0.00,0.000,6,0.000,0.041,2905,2264,2328
$GC,11143,0.54,126.5,602.1,17.5,358,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2264,2328
$GC,11387,0.54,126.5,562.1,16.3,364,11390,0.00,1.62,0.00,0.000,4,0.000,0.048,2905,3329,2327
$GC,11405,0.54,126.5,558.4,16.7,364,11409,0.15,1.60,0.00,0.000,6,0.192,0.026,2877,2228,2327
$GC,11683,0.54,126.5,519.1,14.1,371,11684,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2221,2327
$GC,11926,0.54,126.5,486.2,13.2,377,11930,0.00,1.70,0.00,0.000,4,0.000,0.048,2876,3314,2327
$GC,12021,0.54,126.5,473.2,14.2,379,12025,0.00,1.58,0.00,0.000,6,0.000,0.027,2882,2254,2326
$GC,12315,0.54,126.5,437.7,11.9,386,12318,0.00,1.65,0.00,0.000,4,0.000,0.048,2876,3308,2326
$GC,12379,0.54,126.5,428.9,12.2,387,12383,0.00,1.52,0.00,0.000,6,0.000,0.026,2881,2273,2325
$GC,12657,0.54,126.5,396.2,11.8,394,12660,0.00,1.55,0.00,0.000,4,0.000,0.028,2888,1201,2325
$GC,12707,0.54,126.5,390.0,11.8,395,12711,0.00,1.67,0.00,0.000,6,0.000,0.040,2889,2276,2325
$GC,13001,0.54,126.5,355.4,11.6,402,13002,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2275,2325
$GC,13245,0.54,126.5,329.3,10.5,408,13248,0.00,1.60,0.00,0.000,4,0.000,0.048,2889,3304,2325
$GC,13343,0.54,126.5,317.8,10.6,410,13346,0.00,1.45,0.00,0.000,6,0.000,0.025,2896,2309,2325
$GC,13632,0.54,126.5,286.4,10.9,417,13635,0.00,1.60,0.00,0.000,4,0.000,0.028,2903,1198,2325
$GC,13726,0.54,126.5,275.9,10.3,419,13730,0.00,1.70,0.00,0.000,6,0.000,0.039,2904,2295,2324
$GC,14020,0.54,126.5,244.9,10.3,426,14024,0.00,1.58,0.00,0.000,4,0.000,0.047,2904,3309,2325
$GC,14094,0.54,126.5,236.9,10.4,427,14098,0.10,1.48,0.00,0.000,6,0.163,0.024,2871,2301,2325
$GC,14361,0.56,171.6,218.0,6.8,434,14412,0.00,1.65,40.35,0.753,4,0.000,0.026,2876,1196,2157
$GC,14578,0.58,211.9,202.2,7.1,438,14620,0.00,1.65,35.90,0.748,6,0.000,0.039,2876,2251,1992
$GC,14888,0.58,211.9,170.3,11.0,464,14891,0.00,1.58,0.00,0.000,4,0.000,0.024,2881,1188,1987
$GC,14904,0.58,211.9,168.5,10.4,465,14908,0.00,1.60,0.00,0.000,6,0.000,0.035,2878,2218,1986
$GC,15176,0.58,211.9,142.8,9.6,490,15179,0.00,1.65,0.00,0.000,4,0.000,0.044,2878,3307,1987
$GC,15270,0.58,211.9,132.4,11.9,498,15274,0.00,1.58,0.00,0.000,6,0.000,0.023,2884,2240,1986
$GC,15542,0.58,212.6,105.8,9.0,523,15550,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2234,1986
$GC,15808,0.58,212.6,81.5,9.2,548,15816,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2233,1986
$GC,16074,0.60,267.7,62.9,6.4,573,16127,0.00,1.73,47.03,0.611,4,0.000,0.041,2884,3311,1765
$GC,16177,0.62,309.3,55.9,7.0,581,16216,0.00,1.55,34.97,0.594,6,0.000,0.022,2885,2254,1597
$GC,16473,0.62,319.0,32.1,8.5,608,16488,0.00,1.55,9.05,0.522,4,0.000,0.023,2889,1200,1557
$GC,16532,0.63,356.7,27.8,7.2,615,16572,0.00,1.62,31.98,0.564,6,0.000,0.032,2889,2264,1404
$GC,16834,0.66,417.6,8.6,6.1,668,16889,0.00,1.65,50.28,0.548,4,0.000,0.041,2889,3310,1155
$GC,16906,0.68,482.7,4.2,5.9,677,16924,0.00,1.58,13.62,0.509,2,0.000,0.020,2889,2236,1093
$STATE,16925,end climb,SURFACE_DEPTH_REACHED
$STATE,16925,begin surface coast
$FINISH,0.6,1.002626
$STATE,16984,end surface coast,CONTROL_FINISHED_OK
$STATE,16985,begin surface
$SM_CCo,17070,0.00,0.000,0,0,1088,433.93
$SM_GC,1.51,7.35,0.00,0.00,0.025,0.000,0.000,36,2568,1088,-8.24,1.07,433.93
$IRIDIUM_FIX,2157.39,-15801.98,060303,050501
$TT8_MAMPS,0.02301
$HUMID,2236
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.60
$XPDR_PINGS,25
$24V_AH,23.3,70.208
$10V_AH,10.5,85.765
$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,18.250,117.875,524.275,0.000,0.000,133.995,246.329,1337.716,6.250,0.000,0.000,18.957,1410.912,11684.123,544.277,3187.780,2413.351,33.373,1668.748,0.000,3162.513,0.000,0.544,0.000
$DEVICE_MAMPS,194.818,54.457,1257.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,467.519,2273.180,2367.922,891.543,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57373,690
$CAP_FILE_SIZE,151451,0
$CFSIZE,260165632,230174720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,101213,103120,2202.976,-15801.441,37,4.6,56,9.9