version: 66.04
glider: 512
mission: 4
dive: 420
start: 12 10 113 11 0 18
data:
$ID,512
$MISSION,4
$DIVE,420
$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,-115856.45
$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,75
$R_STBD_OVSHOOT,54
$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
$GPS1,103120,2202.976,-15801.441,37,4.6,56,9.9
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-82.1
$GPS2,105921,2202.762,-15801.536,15,4.2,34,9.9
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.015,-0.212
$KALMAN_X,149950.6,-539.3,-365.2,-151570.1,2873.8
$KALMAN_Y,-40365.3,325.7,87.7,-36575.1,-1396.0
$MHEAD_RNG_PITCHd_Wd,174.2,5755,-19.5,-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,-0.60,-101.0,0.0,0.0,0,87,0.00,0.00,-67.12,0.000,2,0.000,0.000,7,2561,2683
$GC,93,-0.61,-126.5,2.1,-1.4,9,126,9.57,1.58,-19.38,0.000,4,0.199,0.038,2491,1493,3375
$GC,270,-0.61,-126.5,38.2,-23.6,36,273,0.00,1.58,0.00,0.000,6,0.000,0.037,2485,2505,3376
$GC,541,-0.61,-126.5,98.4,-19.7,61,545,0.00,1.62,0.00,0.000,4,0.000,0.043,2477,3603,3376
$GC,688,-0.61,-126.5,123.6,-15.5,74,691,0.00,1.50,0.00,0.000,6,0.000,0.018,2477,2537,3376
$GC,959,-0.61,-126.5,175.3,-18.5,99,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2528,3376
$GC,1230,-0.61,-126.5,218.7,-14.9,116,1234,0.00,1.60,0.00,0.000,4,0.000,0.040,2469,3600,3376
$GC,1295,-0.61,-126.5,230.6,-17.3,117,1299,0.08,1.50,0.00,0.000,6,0.146,0.018,2504,2516,3376
$GC,1572,-0.61,-126.5,264.7,-11.7,124,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2510,3376
$GC,1815,-0.61,-126.5,291.7,-11.2,130,1819,0.00,1.62,0.00,0.000,4,0.000,0.041,2499,3591,3374
$GC,1880,-0.61,-126.5,299.2,-11.1,131,1883,0.00,1.45,0.00,0.000,6,0.000,0.018,2504,2564,3373
$GC,2158,-0.61,-126.5,328.9,-10.4,138,2161,0.00,1.50,0.00,0.000,4,0.000,0.020,2512,1465,3371
$GC,2194,-0.61,-126.5,332.5,-8.9,138,2197,0.00,1.62,0.00,0.000,6,0.000,0.038,2506,2562,3371
$GC,2454,-0.61,-126.5,356.8,-10.0,145,2458,0.00,1.58,0.00,0.000,4,0.000,0.046,2498,3591,3369
$GC,2512,-0.61,-126.5,363.4,-11.0,146,2516,0.00,1.48,0.00,0.000,6,0.000,0.020,2504,2554,3369
$GC,2796,-0.61,-126.5,389.7,-8.9,153,2799,0.00,1.60,0.00,0.000,4,0.000,0.044,2498,3599,3366
$GC,2853,-0.61,-126.5,395.3,-8.6,154,2858,0.00,1.48,-0.05,0.000,6,0.000,0.021,2504,2568,3384
$GC,3137,-0.61,-126.5,421.8,-10.0,161,3140,0.00,1.52,0.00,0.000,4,0.000,0.022,2508,1468,3382
$GC,3187,-0.61,-126.5,426.8,-9.0,162,3191,0.00,1.67,0.00,0.000,6,0.000,0.039,2502,2564,3381
$GC,3481,-0.61,-126.5,455.6,-9.5,169,3484,0.00,1.58,0.00,0.000,4,0.000,0.048,2494,3585,3379
$GC,3550,-0.61,-126.5,462.0,-9.7,170,3554,0.00,1.48,0.00,0.000,6,0.000,0.022,2499,2568,3378
$GC,3822,-0.61,-126.5,484.6,-8.3,177,3826,0.00,1.60,0.00,0.000,4,0.000,0.048,2494,3599,3376
$GC,3858,-0.61,-126.5,488.1,-8.7,177,3862,0.00,1.50,0.00,0.000,6,0.000,0.022,2499,2561,3376
$GC,4119,-0.61,-126.5,508.7,-8.1,184,4123,0.00,1.62,0.00,0.000,4,0.000,0.048,2494,3587,3373
$GC,4170,-0.61,-126.5,513.2,-8.8,185,4173,0.00,1.45,0.00,0.000,6,0.000,0.023,2499,2592,3373
$GC,4464,-0.61,-126.5,540.3,-9.5,192,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2584,3371
$GC,4707,-0.61,-126.5,564.0,-9.7,198,4711,0.00,1.55,0.00,0.000,4,0.000,0.023,2506,1481,3370
$GC,4760,-0.61,-126.5,569.0,-8.5,199,4764,0.00,1.65,0.00,0.000,6,0.000,0.040,2501,2576,3369
$GC,5049,-0.61,-126.5,597.2,-10.4,206,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2576,3367
$GC,5292,-0.61,-126.5,619.3,-8.7,212,5296,0.00,1.58,0.00,0.000,4,0.000,0.024,2506,1479,3365
$GC,5311,-0.61,-126.5,621.0,-8.1,212,5315,0.00,1.67,0.00,0.000,6,0.000,0.041,2501,2563,3365
$GC,5589,-0.61,-126.5,639.5,-6.7,219,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2562,3363
$GC,5832,-0.61,-126.5,657.1,-7.4,225,5836,0.00,1.60,0.00,0.000,4,0.000,0.052,2493,3585,3362
$GC,5874,-0.61,-126.5,660.6,-7.9,225,5882,0.00,1.48,0.00,0.000,6,0.000,0.025,2499,2573,3362
$GC,6129,-0.61,-126.5,680.6,-8.1,232,6133,0.00,1.55,0.00,0.000,4,0.000,0.024,2506,1477,3361
$GC,6165,-0.61,-126.5,684.1,-8.4,232,6169,0.00,1.65,0.00,0.000,6,0.000,0.041,2500,2565,3360
$GC,6426,-0.61,-126.5,706.6,-8.8,239,6430,0.00,1.58,0.00,0.000,4,0.000,0.024,2506,1472,3359
$GC,6462,-0.61,-126.5,710.1,-8.6,239,6465,0.00,1.65,0.00,0.000,6,0.000,0.043,2500,2556,3359
$GC,6722,-0.61,-126.5,731.1,-8.2,246,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2556,3358
$GC,6966,-0.61,-126.5,750.8,-8.1,252,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2555,3357
$GC,7209,-0.61,-126.5,770.6,-8.2,258,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2555,3356
$GC,7453,-0.61,-126.5,790.0,-7.9,264,7457,0.00,1.62,0.00,0.000,4,0.000,0.054,2492,3585,3354
$GC,7495,-0.61,-126.5,793.8,-8.1,264,7503,0.00,1.52,0.00,0.000,6,0.000,0.025,2498,2549,3353
$GC,7750,-0.61,-126.5,812.5,-7.3,271,7753,0.00,1.52,0.00,0.000,4,0.000,0.025,2506,1478,3353
$GC,7791,-0.61,-126.5,815.8,-7.1,271,7799,0.00,1.65,0.00,0.000,6,0.000,0.042,2500,2536,3353
$GC,8046,-0.61,-126.5,834.4,-7.5,278,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2536,3353
$GC,8290,-0.61,-126.5,852.8,-7.6,284,8294,0.00,1.67,0.00,0.000,4,0.000,0.054,2494,3592,3351
$GC,8341,-0.61,-126.5,856.9,-8.5,285,8344,0.00,1.55,0.00,0.000,6,0.000,0.025,2499,2549,3352
$GC,8635,-0.61,-126.5,879.2,-7.5,292,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2540,3351
$GC,8879,-0.61,-126.5,896.1,-6.8,298,8882,0.00,1.65,0.00,0.000,4,0.000,0.054,2493,3589,3350
$GC,8920,-0.61,-126.5,899.3,-7.4,298,8929,0.00,1.52,0.00,0.000,6,0.000,0.025,2499,2548,3350
$STATE,8968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8968,begin apogee
$GC,8980,-0.20,0.0,902.3,6.3,300,9096,0.40,0.00,113.00,1.253,6,0.098,0.000,2637,2247,2858
$STATE,9096,end apogee,CONTROL_FINISHED_OK
$STATE,9096,begin climb
$GC,9101,0.61,126.5,904.3,0.0,303,9251,0.70,1.62,128.02,1.171,4,0.038,0.026,2906,1207,2341
$GC,9292,0.61,126.5,884.2,17.5,307,9296,0.00,1.70,0.00,0.000,6,0.000,0.039,2905,2261,2336
$GC,9569,0.61,126.5,830.8,19.2,314,9573,0.00,1.62,0.00,0.000,4,0.000,0.047,2905,3316,2331
$GC,9650,0.61,126.5,813.8,20.6,315,9653,0.00,1.52,0.00,0.000,6,0.000,0.025,2910,2295,2330
$GC,9910,0.61,126.5,763.6,19.8,322,9914,0.00,1.60,0.00,0.000,4,0.000,0.028,2918,1197,2329
$GC,9951,0.61,126.5,754.8,20.3,322,9959,0.00,1.70,0.00,0.000,6,0.000,0.038,2918,2288,2328
$GC,10206,0.61,126.5,707.4,18.7,329,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2288,2327
$GC,10449,0.61,126.5,663.9,17.7,335,10453,0.00,1.62,0.00,0.000,4,0.000,0.028,2924,1199,2327
$GC,10490,0.61,126.5,656.4,16.9,335,10498,0.00,1.67,0.00,0.000,6,0.000,0.039,2918,2277,2326
$GC,10744,0.61,126.5,611.6,17.5,342,10748,0.00,1.60,0.00,0.000,4,0.000,0.048,2918,3305,2326
$GC,10841,0.61,126.5,594.0,19.1,344,10845,0.00,1.50,0.00,0.000,6,0.000,0.025,2924,2292,2325
$GC,11135,0.61,126.5,542.2,17.4,351,11139,0.00,1.60,0.00,0.000,4,0.000,0.028,2931,1189,2324
$GC,11215,0.61,126.5,528.9,15.1,352,11219,0.12,1.67,0.00,0.000,6,0.172,0.040,2901,2288,2324
$GC,11475,0.61,126.5,492.8,13.9,359,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2288,2324
$GC,11718,0.61,126.5,457.2,14.6,365,11722,0.00,1.58,0.00,0.000,4,0.000,0.047,2900,3305,2324
$GC,11776,0.61,126.5,447.9,14.6,366,11780,0.00,1.48,0.00,0.000,6,0.000,0.025,2906,2299,2323
$GC,12058,0.61,126.5,407.5,14.7,373,12062,0.00,1.60,0.00,0.000,4,0.000,0.028,2914,1197,2324
$GC,12154,0.61,126.5,394.9,13.2,375,12157,0.00,1.67,0.00,0.000,6,0.000,0.040,2913,2290,2323
$GC,12447,0.61,126.5,356.0,13.2,382,12451,0.00,1.58,0.00,0.000,4,0.000,0.049,2913,3305,2323
$GC,12510,0.61,126.5,346.8,14.4,383,12514,0.00,1.50,0.00,0.000,6,0.000,0.025,2915,2294,2323
$GC,12788,0.61,126.5,310.5,13.0,390,12789,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2294,2323
$GC,13031,0.61,126.5,280.2,12.6,396,13035,0.00,1.62,0.00,0.000,4,0.000,0.031,2915,1166,2323
$GC,13072,0.61,126.5,274.8,11.9,396,13080,0.00,1.75,0.00,0.000,6,0.000,0.038,2915,2295,2323
$GC,13327,0.61,126.5,246.2,11.1,403,13331,0.00,1.65,0.00,0.000,4,0.000,0.026,2923,1187,2323
$GC,13351,0.61,126.5,243.4,10.3,403,13354,0.00,1.65,0.00,0.000,6,0.000,0.038,2923,2275,2323
$GC,13622,0.61,126.5,214.6,11.0,410,13626,0.00,1.60,0.00,0.000,4,0.000,0.027,2928,1191,2323
$GC,13663,0.61,126.5,210.0,10.4,410,13672,0.10,1.65,0.00,0.000,6,0.165,0.037,2900,2266,2323
$GC,13924,0.62,147.3,187.0,7.8,426,13954,0.00,1.65,18.83,0.680,4,0.000,0.046,2900,3309,2256
$GC,14078,0.62,147.3,171.8,10.2,439,14081,0.00,1.55,0.00,0.000,6,0.000,0.025,2906,2262,2254
$GC,14354,0.62,150.1,146.3,8.8,464,14358,0.00,1.52,0.00,0.000,4,0.000,0.025,2912,1203,2254
$GC,14403,0.62,171.7,142.0,7.7,468,14431,0.00,1.67,22.65,0.692,6,0.000,0.038,2912,2302,2157
$GC,14693,0.62,171.7,110.8,11.1,494,14697,0.00,1.60,0.00,0.000,4,0.000,0.025,2915,1200,2153
$GC,14721,0.62,171.7,107.0,10.9,496,14725,0.00,1.73,0.00,0.000,6,0.000,0.038,2915,2313,2152
$GC,14993,0.63,194.3,81.2,7.7,521,15019,0.00,1.62,20.33,0.624,4,0.000,0.024,2915,1191,2065
$GC,15102,0.65,240.2,73.4,6.3,530,15153,0.00,1.67,39.85,0.621,6,0.000,0.035,2915,2277,1876
$GC,15411,0.65,240.2,42.9,11.1,558,15415,0.00,1.58,0.00,0.000,4,0.000,0.042,2915,3304,1872
$GC,15483,0.65,240.2,34.7,11.4,564,15487,0.00,1.52,0.00,0.000,6,0.000,0.021,2915,2263,1872
$GC,15750,0.65,240.2,8.6,10.1,609,15758,0.00,1.52,0.00,0.000,4,0.000,0.025,2915,1200,1872
$STATE,15816,end climb,SURFACE_DEPTH_REACHED
$STATE,15817,begin surface coast
$FINISH,0.4,1.006038
$STATE,15849,end surface coast,CONTROL_FINISHED_OK
$STATE,15849,begin surface
$SM_CCo,15877,61.60,0.545,0,0,1267,390.02
$SM_GC,1.25,0.00,0.00,61.60,0.000,0.000,0.545,36,2538,1267,-8.31,0.23,390.02
$IRIDIUM_FIX,2155.06,-15759.83,060303,101040
$TT8_MAMPS,0.02301
$HUMID,2252
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.90
$XPDR_PINGS,21
$24V_AH,23.0,70.391
$10V_AH,10.5,85.940
$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,18.300,121.675,342.675,61.600,0.000,118.520,159.623,989.035,5.250,0.000,0.000,35.309,1324.478,10971.631,472.158,2909.451,1937.275,33.403,1465.710,0.000,2862.766,0.000,0.545,0.000
$DEVICE_MAMPS,198.653,54.457,1253.278,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,426.271,2065.609,2148.578,751.961,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50956,627
$CAP_FILE_SIZE,142861,0
$CFSIZE,260165632,230117376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,101213,152729,2200.955,-15801.420,42,0.9,42,9.9