version: 66.04
glider: 512
mission: 4
dive: 421
start: 12 10 113 15 52 31
data:
$ID,512
$MISSION,4
$DIVE,421
$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,-115874.64
$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,60
$R_STBD_OVSHOOT,25
$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
$GPS1,152729,2200.955,-15801.420,42,0.9,42,9.9
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-82.9
$GPS2,155137,2200.884,-15801.565,17,1.1,17,9.9
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.166,-0.132
$KALMAN_X,149736.3,-146.6,-338.6,-151823.5,1882.8
$KALMAN_Y,-39717.3,227.5,317.8,-40844.4,-1005.3
$MHEAD_RNG_PITCHd_Wd,118.7,3148,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.60,-101.0,0.0,0.0,0,91,0.00,0.00,-67.30,0.000,2,0.000,0.000,8,2532,2842
$GC,98,-0.61,-126.5,2.0,-1.2,9,130,9.50,1.55,-12.68,0.000,4,0.195,0.040,2494,1456,3375
$GC,188,-0.61,-126.5,22.5,-20.5,23,196,0.00,1.67,0.00,0.000,6,0.000,0.039,2488,2541,3376
$GC,457,-0.61,-126.5,86.5,-24.0,50,461,0.00,1.60,0.00,0.000,4,0.000,0.044,2480,3588,3376
$GC,540,-0.61,-126.5,104.3,-17.3,57,548,0.00,1.50,0.00,0.000,6,0.000,0.020,2480,2542,3376
$GC,806,-0.61,-126.5,151.5,-18.1,82,809,0.00,1.48,0.00,0.000,4,0.000,0.021,2479,1467,3377
$GC,846,-0.61,-126.5,159.4,-17.1,85,853,0.08,1.67,0.00,0.000,6,0.139,0.036,2496,2572,3376
$GC,1117,-0.61,-126.5,201.3,-16.7,110,1120,0.00,1.55,0.00,0.000,4,0.000,0.044,2491,3600,3377
$GC,1213,-0.61,-126.5,218.1,-13.9,112,1217,0.00,1.42,0.00,0.000,6,0.000,0.018,2495,2582,3377
$GC,1502,-0.61,-126.5,255.1,-12.6,119,1505,0.00,1.58,0.00,0.000,4,0.000,0.043,2490,3600,3377
$GC,1526,-0.61,-126.5,258.6,-12.0,119,1530,0.00,1.42,0.00,0.000,6,0.000,0.018,2496,2589,3377
$GC,1797,-0.61,-126.5,290.2,-11.7,126,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2581,3376
$GC,2041,-0.61,-126.5,318.8,-11.8,132,2045,0.00,1.52,0.00,0.000,4,0.000,0.021,2503,1481,3375
$GC,2091,-0.61,-126.5,324.6,-11.5,133,2095,0.00,1.67,0.00,0.000,6,0.000,0.037,2497,2603,3375
$GC,2385,-0.61,-126.5,359.8,-12.2,140,2388,0.00,1.50,0.00,0.000,4,0.000,0.047,2489,3587,3373
$GC,2453,-0.61,-126.5,368.9,-12.6,141,2457,0.00,1.42,0.00,0.000,6,0.000,0.021,2494,2588,3372
$GC,2726,-0.61,-126.5,401.4,-12.0,148,2729,0.00,1.58,0.00,0.000,4,0.000,0.045,2488,3594,3370
$GC,2767,-0.61,-126.5,406.6,-11.9,148,2774,0.00,1.42,0.00,0.000,6,0.000,0.021,2494,2590,3369
$GC,3021,-0.61,-126.5,432.9,-10.2,155,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2589,3368
$GC,3264,-0.61,-126.5,456.0,-9.4,161,3266,0.00,0.00,-0.08,0.000,6,0.000,0.000,2494,2589,3390
$GC,3509,-0.61,-126.5,478.7,-9.4,167,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2589,3388
$GC,3752,-0.61,-126.5,500.7,-9.0,173,3756,0.00,1.58,0.00,0.000,4,0.000,0.025,2502,1476,3386
$GC,3788,-0.61,-126.5,504.1,-8.3,173,3791,0.00,1.73,0.00,0.000,6,0.000,0.043,2495,2614,3386
$GC,4048,-0.61,-126.5,527.7,-9.3,180,4051,0.00,1.60,0.00,0.000,4,0.000,0.025,2501,1486,3384
$GC,4090,-0.61,-126.5,531.7,-8.0,180,4098,0.00,1.73,0.00,0.000,6,0.000,0.043,2495,2601,3384
$GC,4345,-0.61,-126.5,555.6,-9.6,187,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2601,3381
$GC,4588,-0.61,-126.5,580.6,-10.4,193,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2601,3380
$GC,4832,-0.61,-126.5,606.2,-10.5,199,4835,0.00,1.60,0.00,0.000,4,0.000,0.025,2501,1471,3378
$GC,4873,-0.61,-126.5,610.8,-9.8,199,4881,0.00,1.75,0.00,0.000,6,0.000,0.044,2495,2597,3378
$GC,5128,-0.61,-126.5,635.6,-9.8,206,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2597,3375
$GC,5371,-0.61,-126.5,658.4,-9.2,212,5375,0.00,1.55,0.00,0.000,4,0.000,0.054,2487,3585,3374
$GC,5401,-0.61,-126.5,661.3,-9.2,212,5405,0.00,1.45,0.00,0.000,6,0.000,0.026,2492,2603,3374
$GC,5668,-0.61,-126.5,684.6,-8.8,219,5671,0.00,1.58,0.00,0.000,4,0.000,0.026,2492,1488,3372
$GC,5718,-0.61,-126.5,689.0,-8.6,220,5722,0.00,1.67,0.00,0.000,6,0.000,0.044,2487,2584,3372
$GC,6012,-0.61,-126.5,714.0,-8.4,227,6016,0.00,1.58,0.00,0.000,4,0.000,0.054,2480,3582,3371
$GC,6037,-0.61,-126.5,716.6,-9.0,227,6040,0.00,1.45,0.00,0.000,6,0.000,0.026,2480,2600,3370
$GC,6309,-0.61,-126.5,740.1,-8.8,234,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2592,3369
$GC,6552,-0.61,-126.5,760.4,-8.3,240,6556,0.00,1.58,0.00,0.000,4,0.000,0.027,2480,1493,3369
$GC,6647,-0.61,-126.5,767.7,-8.0,242,6650,0.00,1.73,0.00,0.000,6,0.000,0.046,2473,2594,3369
$GC,6942,-0.61,-126.5,790.4,-7.8,249,6946,0.10,1.55,0.00,0.000,4,0.149,0.053,2494,3592,3366
$GC,6992,-0.61,-126.5,794.1,-7.0,250,6996,0.00,1.48,0.00,0.000,6,0.000,0.025,2499,2590,3366
$GC,7286,-0.61,-126.5,813.1,-6.8,257,7290,0.00,1.58,0.00,0.000,4,0.000,0.027,2507,1480,3365
$GC,7361,-0.61,-126.5,818.3,-6.8,258,7365,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2575,3365
$GC,7628,-0.61,-126.5,837.8,-7.7,265,7631,0.00,1.60,0.00,0.000,4,0.000,0.055,2493,3605,3364
$GC,7669,-0.61,-126.5,841.6,-7.7,265,7677,0.00,1.52,0.00,0.000,6,0.000,0.027,2500,2576,3364
$GC,7924,-0.61,-126.5,861.6,-8.0,272,7928,0.00,1.62,0.00,0.000,4,0.000,0.053,2494,3588,3363
$GC,7975,-0.61,-126.5,865.7,-8.6,273,7978,0.00,1.50,0.00,0.000,6,0.000,0.026,2499,2576,3363
$GC,8269,-0.61,-126.5,887.8,-7.4,280,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2568,3362
$STATE,8426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8426,begin apogee
$GC,8438,-0.20,0.0,900.1,7.6,284,8556,0.40,0.00,115.53,1.253,6,0.096,0.000,2638,2237,2858
$STATE,8557,end apogee,CONTROL_FINISHED_OK
$STATE,8557,begin climb
$GC,8562,0.61,126.5,903.7,0.0,287,8783,0.73,1.62,146.68,1.043,4,0.054,0.027,2907,1209,2342
$GC,8830,0.61,126.5,875.3,17.8,293,8834,0.00,1.67,0.00,0.000,6,0.000,0.040,2905,2264,2338
$GC,9091,0.61,126.5,827.3,18.5,300,9095,0.00,1.62,0.00,0.000,4,0.000,0.049,2905,3318,2334
$GC,9189,0.61,126.5,807.9,19.3,302,9192,0.00,1.50,0.00,0.000,6,0.000,0.025,2910,2306,2333
$GC,9477,0.61,126.5,753.7,19.1,309,9481,0.00,1.60,0.00,0.000,4,0.000,0.028,2918,1206,2331
$GC,9580,0.61,126.5,735.4,17.3,311,9584,0.00,1.65,0.00,0.000,6,0.000,0.041,2918,2283,2331
$GC,9863,0.61,126.5,682.8,18.9,318,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2283,2330
$GC,10106,0.61,126.5,637.5,18.6,324,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2283,2330
$GC,10350,0.61,126.5,591.8,18.9,330,10353,0.00,1.60,0.00,0.000,4,0.000,0.028,2923,1218,2329
$GC,10386,0.61,126.5,584.8,18.6,330,10390,0.00,1.62,0.00,0.000,6,0.000,0.039,2919,2285,2329
$GC,10646,0.61,126.5,539.5,17.4,337,10650,0.00,1.58,0.00,0.000,4,0.000,0.048,2918,3302,2328
$GC,10670,0.61,126.5,535.0,17.0,337,10674,0.00,1.50,0.00,0.000,6,0.000,0.025,2923,2280,2328
$GC,10942,0.61,126.5,491.8,16.0,344,10945,0.00,1.58,0.00,0.000,4,0.000,0.028,2932,1194,2327
$GC,10983,0.61,126.5,485.3,13.9,344,10990,0.10,1.65,0.00,0.000,6,0.158,0.041,2900,2259,2327
$GC,11238,0.61,126.5,451.8,13.4,351,11242,0.00,1.58,0.00,0.000,4,0.000,0.028,2906,1198,2327
$GC,11267,0.61,126.5,447.3,14.2,351,11271,0.00,1.62,0.00,0.000,6,0.000,0.040,2905,2263,2327
$GC,11534,0.61,126.5,412.4,13.1,358,11537,0.00,1.62,0.00,0.000,4,0.000,0.049,2905,3328,2326
$GC,11674,0.61,126.5,392.4,14.0,361,11678,0.00,1.50,0.00,0.000,6,0.000,0.027,2910,2313,2325
$GC,11963,0.61,126.5,356.6,12.4,368,11966,0.00,1.58,0.00,0.000,4,0.000,0.047,2905,3306,2326
$GC,11998,0.61,126.5,351.7,13.4,368,12002,0.00,1.40,0.00,0.000,6,0.000,0.026,2910,2357,2325
$GC,12259,0.61,126.5,321.3,11.7,375,12262,0.00,1.50,0.00,0.000,4,0.000,0.047,2911,3305,2325
$GC,12290,0.61,126.5,317.3,12.6,375,12294,0.00,1.38,0.00,0.000,6,0.000,0.027,2916,2374,2325
$GC,12556,0.61,126.5,285.3,11.9,382,12560,0.00,1.73,0.00,0.000,4,0.000,0.031,2915,1202,2325
$GC,12651,0.61,126.5,274.1,10.6,384,12654,0.00,1.75,0.00,0.000,6,0.000,0.041,2915,2345,2325
$GC,12944,0.61,126.5,240.2,11.6,391,12948,0.00,1.67,0.00,0.000,4,0.000,0.028,2915,1204,2325
$GC,13084,0.61,126.5,226.2,9.9,394,13088,0.00,1.67,0.00,0.000,6,0.000,0.040,2915,2300,2325
$GC,13378,0.61,126.5,198.8,9.0,401,13381,0.00,1.62,0.00,0.000,4,0.000,0.025,2923,1165,2325
$GC,13491,0.61,131.0,188.0,8.7,411,13495,0.00,1.62,0.00,0.000,6,0.000,0.037,2923,2240,2325
$GC,13767,0.61,142.2,164.6,8.3,436,13793,0.00,1.62,14.75,0.621,4,0.000,0.044,2923,3309,2278
$GC,13842,0.61,142.2,156.3,11.2,442,13846,0.08,1.50,0.00,0.000,6,0.173,0.025,2906,2295,2278
$GC,14118,0.62,154.4,132.0,8.3,467,14135,0.00,1.60,12.70,0.654,4,0.000,0.044,2905,3318,2228
$GC,14190,0.62,171.0,125.7,8.0,473,14217,0.00,1.50,15.98,0.656,6,0.000,0.023,2910,2286,2159
$GC,14475,0.63,175.5,99.2,8.7,499,14488,0.00,1.58,4.90,0.503,4,0.000,0.025,2915,1209,2142
$GC,14669,0.65,235.1,83.2,5.4,516,14725,0.00,1.62,51.88,0.630,6,0.000,0.037,2915,2285,1899
$GC,14984,0.65,235.1,52.3,10.7,544,14988,0.00,1.58,0.00,0.000,4,0.000,0.042,2915,3313,1893
$GC,15035,0.65,235.1,46.7,11.7,548,15038,0.00,1.50,0.00,0.000,6,0.000,0.022,2915,2296,1892
$GC,15305,0.65,235.1,18.8,9.6,582,15313,0.00,1.58,0.00,0.000,4,0.000,0.023,2922,1186,1892
$GC,15366,0.65,235.1,12.8,9.9,592,15374,0.00,1.65,0.00,0.000,6,0.000,0.034,2922,2269,1892
$STATE,15464,end climb,SURFACE_DEPTH_REACHED
$STATE,15464,begin surface coast
$FINISH,0.5,1.023298
$STATE,15497,end surface coast,CONTROL_FINISHED_OK
$STATE,15497,begin surface
$SM_CCo,15522,63.70,0.543,0,0,1267,390.02
$SM_GC,1.32,0.00,0.00,63.70,0.000,0.000,0.543,34,2555,1267,-8.33,0.71,390.02
$IRIDIUM_FIX,2150.42,-15802.85,060303,151519
$TT8_MAMPS,0.023777
$HUMID,2244
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.90
$XPDR_PINGS,9
$24V_AH,23.3,70.568
$10V_AH,10.5,86.109
$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,18.275,117.600,362.400,63.700,0.000,85.533,110.209,931.457,2.250,0.000,0.000,17.552,1297.516,10542.916,546.021,2872.165,1769.386,33.371,1529.266,0.000,2838.393,0.000,0.545,0.000
$DEVICE_MAMPS,194.818,55.224,1253.278,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,417.497,2022.744,2097.976,716.885,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51176,615
$CAP_FILE_SIZE,137330,0
$CFSIZE,260165632,230055936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,101213,201353,2159.829,-15759.973,28,1.4,46,9.9