version: 66.04
glider: 512
mission: 1
dive: 32
start: 12 16 110 11 50 56
data:
$ID,512
$MISSION,1
$DIVE,32
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1020
$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,452
$T_MISSION,900
$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,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51933
$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,470
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3706.9229
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3347
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,1
$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,0.0043268236
$SEABIRD_T_H,0.00062176253
$SEABIRD_T_I,2.2895147e-05
$SEABIRD_T_J,2.4135268e-06
$SEABIRD_C_G,-9.7990599
$SEABIRD_C_H,1.0853468
$SEABIRD_C_I,-0.0020291714
$SEABIRD_C_J,0.00023101864
$GPS1,113501,2153.004,-15809.605,40,1.6,40,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-77.9
$GPS2,115002,2153.036,-15809.587,16,1.0,16,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.123,0.193
$KALMAN_X,7608.1,319.1,336.2,-5795.5,2025.7
$KALMAN_Y,-22494.7,1027.4,1092.6,44001.2,-12861.8
$MHEAD_RNG_PITCHd_Wd,317.5,97619,-12.1,-7.006
$D_GRID,950
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.66,-146.0,0.0,0.0,0,80,0.00,0.00,-63.10,0.000,2,0.000,0.000,42,2519,3119
$GC,82,-0.66,-146.0,3.8,-4.9,8,115,11.90,2.22,-14.62,0.000,4,0.283,0.079,2507,3883,3944
$GC,292,-0.66,-146.0,87.1,-29.6,30,302,0.00,2.10,0.00,0.000,6,0.000,0.029,2513,2504,3945
$GC,555,-0.66,-146.0,184.8,-34.6,55,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2499,3946
$GC,799,-0.66,-146.0,261.5,-29.7,64,802,0.00,2.28,0.00,0.000,4,0.000,0.075,2504,3880,3946
$GC,831,-0.66,-146.0,270.6,-28.3,64,836,0.00,2.08,0.00,0.000,6,0.000,0.031,2511,2494,3946
$GC,1087,-0.66,-146.0,334.2,-24.9,71,1091,0.00,2.28,0.00,0.000,4,0.000,0.076,2501,3879,3946
$GC,1119,-0.66,-146.0,342.5,-24.4,71,1126,0.00,2.08,0.00,0.000,6,0.000,0.031,2509,2494,3946
$GC,1370,-0.66,-146.0,398.7,-22.3,78,1374,0.00,2.28,0.00,0.000,4,0.000,0.076,2500,3878,3945
$GC,1402,-0.66,-146.0,406.2,-21.6,78,1409,0.00,2.08,0.00,0.000,6,0.000,0.031,2508,2494,3945
$GC,1652,-0.66,-146.0,458.9,-20.9,85,1656,0.00,2.28,0.00,0.000,4,0.000,0.076,2499,3880,3943
$GC,1689,-0.66,-146.0,467.1,-21.3,85,1698,0.00,2.08,0.00,0.000,6,0.000,0.032,2506,2498,3942
$GC,1939,-0.66,-146.0,518.2,-20.7,92,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2494,3940
$GC,2183,-0.66,-146.0,566.1,-19.5,98,2187,0.00,2.28,0.00,0.000,4,0.000,0.076,2497,3884,3938
$GC,2238,-0.66,-146.0,576.3,-17.4,99,2243,0.00,2.08,0.00,0.000,6,0.000,0.033,2506,2501,3937
$GC,2517,-0.66,-146.0,627.8,-18.6,106,2521,0.00,2.28,0.00,0.000,4,0.000,0.077,2496,3881,3934
$GC,2565,-0.66,-146.0,637.3,-17.8,107,2570,0.00,2.10,0.00,0.000,6,0.000,0.035,2505,2502,3933
$GC,2843,-0.66,-146.0,687.5,-18.3,114,2847,0.00,2.28,0.00,0.000,4,0.000,0.079,2496,3881,3930
$GC,2875,-0.66,-146.0,693.9,-19.0,114,2880,0.00,2.10,0.00,0.000,6,0.000,0.036,2504,2507,3929
$GC,3132,-0.66,-146.0,740.7,-18.5,121,3136,0.00,2.28,0.00,0.000,4,0.000,0.078,2495,3884,3927
$GC,3197,-0.66,-146.0,752.8,-16.2,122,3202,0.00,2.12,0.00,0.000,6,0.000,0.036,2503,2495,3926
$GC,3458,-0.66,-146.0,798.6,-17.6,129,3462,0.00,2.28,0.00,0.000,4,0.000,0.078,2494,3878,3924
$GC,3518,-0.66,-146.0,809.5,-16.1,130,3523,0.00,2.10,0.00,0.000,6,0.000,0.036,2502,2512,3922
$GC,3792,-0.66,-146.0,856.5,-17.4,137,3796,0.00,2.25,0.00,0.000,4,0.000,0.078,2493,3878,3920
$GC,3846,-0.66,-146.0,866.6,-16.8,138,3850,0.00,2.12,0.00,0.000,6,0.000,0.037,2501,2499,3920
$GC,4118,-0.66,-146.0,913.4,-17.2,145,4122,0.00,2.30,0.00,0.000,4,0.000,0.081,2492,3885,3917
$GC,4167,-0.66,-146.0,922.1,-16.2,146,4172,0.00,2.12,0.00,0.000,6,0.000,0.038,2500,2502,3917
$STATE,4369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4369,begin apogee
$GC,4373,-0.32,0.0,957.1,17.5,151,4496,0.45,0.00,120.03,1.326,6,0.186,0.000,2629,2258,3347
$STATE,4497,end apogee,CONTROL_FINISHED_OK
$STATE,4497,begin climb
$GC,4498,0.66,146.0,966.3,0.0,154,4636,1.08,2.30,130.68,1.295,4,0.147,0.039,2953,861,2750
$GC,4888,0.66,146.0,958.5,7.5,163,4893,0.00,2.33,0.00,0.000,6,0.000,0.057,2953,2251,2743
$GC,5171,0.66,146.0,937.1,7.5,170,5175,0.00,2.15,0.00,0.000,4,0.000,0.041,2962,853,2738
$GC,5412,0.68,158.6,920.3,6.6,175,5427,0.00,2.30,9.88,1.125,6,0.000,0.054,2958,2275,2700
$GC,5684,0.68,158.6,897.2,8.8,182,5688,0.00,2.28,0.00,0.000,4,0.000,0.064,2958,3681,2696
$GC,5732,0.68,158.6,892.3,10.3,183,5737,0.00,2.17,0.00,0.000,6,0.000,0.038,2967,2285,2695
$GC,6010,0.68,158.6,866.7,9.2,190,6014,0.00,2.30,0.00,0.000,4,0.000,0.064,2967,3693,2694
$GC,6182,0.68,158.6,848.9,10.3,193,6190,0.00,2.20,0.00,0.000,6,0.000,0.037,2976,2260,2693
$GC,6432,0.68,158.6,826.1,8.8,200,6436,0.00,2.30,0.00,0.000,4,0.000,0.063,2971,3682,2692
$GC,6689,0.68,158.6,802.8,9.6,205,6694,0.00,2.17,0.00,0.000,6,0.000,0.038,2980,2273,2691
$GC,6946,0.68,158.6,783.3,7.5,212,6950,0.00,2.30,0.00,0.000,4,0.000,0.064,2980,3685,2690
$GC,7157,0.68,158.6,765.3,8.8,216,7164,0.00,2.17,0.00,0.000,6,0.000,0.037,2989,2264,2689
$GC,7408,0.68,158.6,746.8,7.4,223,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2263,2688
$GC,7650,0.68,158.6,729.1,7.1,229,7654,0.00,2.30,0.00,0.000,4,0.000,0.062,2986,3691,2689
$GC,7906,0.68,158.6,706.2,9.5,234,7912,0.12,2.17,0.00,0.000,6,0.266,0.037,2967,2280,2688
$GC,8163,0.69,168.8,688.6,6.7,241,8177,0.00,2.30,8.40,1.039,4,0.000,0.064,2967,3683,2658
$GC,8430,0.69,168.8,663.4,9.5,247,8434,0.00,2.17,0.00,0.000,6,0.000,0.038,2976,2251,2657
$GC,8718,0.69,168.8,639.2,8.1,254,8722,0.00,2.33,0.00,0.000,4,0.000,0.063,2970,3686,2656
$GC,8975,0.69,168.8,621.0,7.7,259,8980,0.00,2.17,0.00,0.000,6,0.000,0.038,2980,2272,2655
$GC,9232,0.78,241.4,608.4,4.6,266,9302,0.00,2.40,64.60,1.144,4,0.000,0.064,2980,3681,2361
$GC,9323,0.78,241.4,600.0,14.2,268,9329,0.00,2.28,0.00,0.000,6,0.000,0.039,2989,2272,2358
$GC,9602,0.78,241.4,558.3,15.4,275,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2266,2352
$GC,9847,0.78,241.4,519.8,15.6,281,9851,0.00,2.33,0.00,0.000,4,0.000,0.064,2986,3682,2351
$GC,9934,0.78,241.4,502.8,18.5,283,9940,0.00,2.20,0.00,0.000,6,0.000,0.040,2995,2280,2350
$GC,10217,0.78,241.4,454.3,17.3,290,10221,0.00,2.20,0.00,0.000,4,0.000,0.043,3006,845,2349
$GC,10362,0.78,241.4,431.5,13.6,293,10367,0.00,2.30,0.00,0.000,6,0.000,0.055,3000,2273,2348
$GC,10640,0.78,241.4,390.2,14.8,300,10644,0.00,2.28,0.00,0.000,4,0.000,0.064,3000,3684,2348
$GC,10660,0.78,241.4,387.0,15.5,300,10666,0.00,2.20,0.00,0.000,6,0.000,0.038,3009,2263,2347
$GC,10928,0.78,241.4,350.1,13.4,307,10932,0.00,2.33,0.00,0.000,4,0.000,0.063,3010,3691,2347
$GC,11016,0.78,241.4,335.6,15.4,309,11021,0.00,2.20,0.00,0.000,6,0.000,0.038,3021,2269,2346
$GC,11300,0.78,241.4,295.0,14.5,316,11301,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2263,2346
$GC,11543,0.78,241.4,265.5,11.7,322,11547,0.00,2.30,0.00,0.000,4,0.000,0.063,3020,3686,2346
$GC,11587,0.78,241.4,260.0,12.5,323,11592,0.17,2.15,0.00,0.000,6,0.240,0.038,2995,2271,2346
$GC,11875,0.78,241.4,233.8,8.6,330,11879,0.00,2.28,0.00,0.000,4,0.000,0.060,2986,3685,2346
$GC,12054,0.78,241.4,213.9,9.4,334,12059,0.00,2.15,0.00,0.000,6,0.000,0.037,2995,2252,2345
$GC,12315,0.78,241.4,193.1,7.7,344,12319,0.00,2.08,0.00,0.000,4,0.000,0.038,3006,865,2346
$GC,12559,0.78,241.4,173.0,9.1,366,12563,0.00,2.17,0.00,0.000,6,0.000,0.050,3000,2273,2346
$GC,12826,0.78,241.4,150.7,8.3,391,12829,0.00,2.22,0.00,0.000,4,0.000,0.059,3000,3682,2347
$GC,12982,0.78,241.4,135.8,7.8,405,12986,0.00,2.10,0.00,0.000,6,0.000,0.033,3009,2277,2347
$GC,13249,0.92,354.5,117.7,3.3,430,13347,0.00,0.00,90.50,0.745,6,0.000,0.000,3010,2276,1900
$GC,13602,0.92,354.5,74.4,14.7,462,13606,0.00,2.30,0.00,0.000,4,0.000,0.057,3010,3687,1893
$GC,13696,0.92,354.5,58.0,15.1,470,13700,0.00,2.17,0.00,0.000,6,0.000,0.032,3021,2257,1893
$GC,13958,0.92,354.5,17.0,16.2,501,13965,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2251,1892
$STATE,14045,end climb,SURFACE_DEPTH_REACHED
$STATE,14045,begin surface coast
$FINISH,0.1,1.012119
$STATE,14068,end surface coast,CONTROL_FINISHED_OK
$STATE,14068,begin surface
$SM_CCo,14082,53.85,0.617,0,0,1429,470.23
$SM_GC,1.15,0.00,0.00,53.85,0.000,0.000,0.617,52,2504,1429,-8.40,0.11,470.23
$IRIDIUM_FIX,2143.45,-15811.05,110300,111102
$TT8_MAMPS,0.023777
$HUMID,1661
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.8,9.252
$10V_AH,10.7,4.394
$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,21.875,138.175,424.075,53.850,0.000,70.666,104.253,485.328,0.250,0.000,0.000,16.857,1194.374,10194.964,553.389,2293.405,791.602,33.353,1578.276,0.000,2264.338,0.000,0.543,0.000
$DEVICE_MAMPS,283.023,81.302,1326.143,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,354.091,667.884,687.805,129.945,538.753,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41457,521
$CAP_FILE_SIZE,127812,0
$CFSIZE,260165632,258306048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,161210,154737,2154.137,-15810.440,31,1.1,31,9.9