version: 66.04
glider: 512
mission: 1
dive: 36
start: 12 17 110 4 53 27
data:
$ID,512
$MISSION,1
$DIVE,36
$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,420
$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,-3771.3804
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2750
$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,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,23
$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
$GPS1,044454,2158.626,-15812.313,43,1.1,43,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-81.5
$GPS2,045232,2158.684,-15812.348,15,1.5,15,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.155,0.168
$KALMAN_X,8101.4,-399.9,-70.8,-9907.8,2492.0
$KALMAN_Y,-29325.8,816.9,707.6,61873.2,-11468.7
$MHEAD_RNG_PITCHd_Wd,307.4,88332,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.66,-146.0,0.0,0.0,0,71,0.00,0.00,-55.35,0.000,2,0.000,0.000,47,2520,3138
$GC,73,-0.66,-146.0,3.7,-5.7,7,106,12.05,2.33,-14.12,0.000,4,0.287,0.089,2517,3901,3943
$GC,349,-0.66,-146.0,109.6,-30.4,35,357,0.00,2.15,0.00,0.000,6,0.000,0.030,2522,2505,3945
$GC,612,-0.66,-146.0,202.3,-35.1,60,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2499,3946
$GC,854,-0.66,-146.0,280.1,-30.9,66,859,0.00,2.35,0.00,0.000,4,0.000,0.084,2513,3900,3947
$GC,897,-0.66,-146.0,293.3,-29.6,67,902,0.00,2.12,0.00,0.000,6,0.000,0.030,2519,2489,3947
$GC,1181,-0.66,-146.0,358.9,-22.7,74,1185,0.00,2.08,0.00,0.000,4,0.000,0.032,2522,1085,3947
$GC,1207,-0.66,-146.0,365.0,-22.4,74,1212,0.00,2.30,0.00,0.000,6,0.000,0.061,2512,2492,3948
$GC,1469,-0.66,-146.0,422.7,-22.6,81,1474,0.00,2.28,0.00,0.000,4,0.000,0.070,2500,3903,3948
$GC,1553,-0.66,-146.0,440.2,-18.5,83,1557,0.00,2.10,0.00,0.000,6,0.000,0.032,2509,2499,3947
$GC,1841,-0.66,-146.0,499.2,-20.5,90,1845,0.00,2.33,0.00,0.000,4,0.000,0.080,2499,3898,3945
$GC,1963,-0.66,-146.0,522.1,-17.3,92,1968,0.00,2.12,0.00,0.000,6,0.000,0.032,2507,2501,3944
$GC,2220,-0.66,-146.0,572.4,-19.7,99,2224,0.00,2.33,0.00,0.000,4,0.000,0.081,2498,3901,3941
$GC,2262,-0.66,-146.0,581.2,-18.4,100,2267,0.00,2.12,0.00,0.000,6,0.000,0.035,2506,2493,3941
$GC,2546,-0.66,-146.0,633.0,-18.4,107,2550,0.00,2.35,0.00,0.000,4,0.000,0.082,2497,3903,3939
$GC,2628,-0.66,-146.0,647.8,-16.6,108,2636,0.00,2.12,0.00,0.000,6,0.000,0.035,2505,2499,3938
$GC,2878,-0.66,-146.0,692.7,-18.1,115,2883,0.10,2.33,0.00,0.000,4,0.215,0.083,2518,3902,3936
$GC,2932,-0.66,-146.0,702.1,-13.9,116,2937,0.00,2.15,0.00,0.000,6,0.000,0.036,2521,2499,3935
$GC,3210,-0.66,-146.0,745.4,-15.5,123,3214,0.00,2.33,0.00,0.000,4,0.000,0.081,2511,3900,3932
$GC,3248,-0.66,-146.0,751.5,-15.0,123,3255,0.00,2.15,0.00,0.000,6,0.000,0.036,2518,2494,3932
$GC,3498,-0.66,-146.0,788.3,-14.8,130,3501,0.00,2.33,0.00,0.000,4,0.000,0.081,2510,3898,3930
$GC,3543,-0.66,-146.0,795.2,-15.1,131,3547,0.00,2.12,0.00,0.000,6,0.000,0.038,2511,2490,3930
$GC,3831,-0.66,-146.0,843.4,-17.0,138,3834,0.00,2.35,0.00,0.000,4,0.000,0.080,2501,3907,3927
$GC,3913,-0.66,-146.0,857.2,-15.7,139,3920,0.00,2.15,0.00,0.000,6,0.000,0.037,2508,2505,3926
$GC,4164,-0.66,-146.0,898.3,-16.5,146,4168,0.00,2.33,0.00,0.000,4,0.000,0.083,2498,3901,3925
$GC,4207,-0.66,-146.0,905.9,-17.1,147,4213,0.08,2.12,0.00,0.000,6,0.174,0.038,2529,2499,3924
$GC,4491,-0.66,-146.0,947.6,-14.8,154,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2497,3922
$STATE,4530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4530,begin apogee
$GC,4534,-0.32,0.0,953.5,14.8,155,4658,0.40,0.00,120.72,1.303,6,0.182,0.000,2642,2387,3347
$STATE,4658,end apogee,CONTROL_FINISHED_OK
$STATE,4658,begin climb
$GC,4660,0.66,146.0,961.9,0.0,158,4798,1.08,2.50,130.85,1.279,4,0.145,0.069,2956,3787,2750
$GC,5049,0.66,146.0,955.5,9.0,167,5054,0.00,2.28,0.00,0.000,6,0.000,0.038,2966,2356,2742
$GC,5333,0.66,146.0,934.5,7.3,174,5337,0.00,2.17,0.00,0.000,4,0.000,0.040,2977,946,2737
$GC,5360,0.67,147.1,932.5,7.0,174,5364,0.00,2.33,0.00,0.000,6,0.000,0.056,2971,2368,2738
$GC,5622,0.67,147.1,912.6,7.7,181,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2368,2736
$GC,5864,0.67,147.1,892.2,8.5,187,5868,0.00,2.17,0.00,0.000,4,0.000,0.041,2979,949,2735
$GC,5935,0.67,147.1,886.2,8.4,188,5941,0.00,2.30,0.00,0.000,6,0.000,0.055,2979,2373,2734
$GC,6196,0.67,147.1,862.2,9.2,195,6200,0.00,2.30,0.00,0.000,4,0.000,0.065,2979,3792,2732
$GC,6286,0.67,147.1,853.3,10.5,197,6290,0.00,2.17,0.00,0.000,6,0.000,0.038,2989,2364,2733
$GC,6575,0.67,147.1,829.8,7.8,204,6579,0.00,2.33,0.00,0.000,4,0.000,0.062,2986,3792,2731
$GC,6680,0.67,147.1,820.9,7.5,206,6686,0.10,2.20,0.00,0.000,6,0.272,0.038,2973,2373,2731
$GC,6947,0.71,187.1,804.4,5.7,213,6982,0.00,0.00,33.40,1.210,6,0.000,0.000,2973,2368,2584
$GC,7190,0.71,187.1,779.4,11.1,219,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2368,2578
$GC,7434,0.71,187.1,752.5,11.0,225,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2368,2577
$GC,7679,0.71,187.1,725.8,10.8,231,7683,0.00,2.33,0.00,0.000,4,0.000,0.064,2971,3787,2576
$GC,7717,0.71,187.1,721.1,12.1,232,7721,0.00,2.20,0.00,0.000,6,0.000,0.039,2980,2362,2576
$GC,8005,0.71,187.1,688.6,11.5,239,8009,0.00,2.35,0.00,0.000,4,0.000,0.066,2979,3792,2575
$GC,8117,0.71,187.1,674.5,12.1,241,8121,0.00,2.17,0.00,0.000,6,0.000,0.038,2988,2369,2574
$GC,8384,0.71,187.1,646.0,10.4,248,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2366,2573
$GC,8626,0.71,187.1,621.8,10.0,254,8630,0.00,2.30,0.00,0.000,4,0.000,0.064,2986,3785,2573
$GC,8717,0.71,187.1,611.6,12.7,256,8721,0.00,2.17,0.00,0.000,6,0.000,0.038,2995,2364,2573
$GC,8999,0.71,187.1,580.0,11.0,263,9002,0.00,2.33,0.00,0.000,4,0.000,0.064,2995,3792,2573
$GC,9205,0.71,187.1,555.4,11.6,267,9210,0.00,2.20,0.00,0.000,6,0.000,0.038,3006,2363,2572
$GC,9466,0.71,187.1,529.6,9.7,274,9470,0.00,2.30,0.00,0.000,4,0.000,0.062,3006,3788,2572
$GC,9656,0.71,187.1,507.8,10.9,278,9661,0.10,2.17,0.00,0.000,6,0.262,0.038,2985,2381,2572
$GC,9933,0.71,187.1,483.1,8.6,285,9937,0.00,2.17,0.00,0.000,4,0.000,0.041,2994,941,2571
$GC,10078,0.71,187.1,472.1,7.2,288,10082,0.00,2.28,0.00,0.000,6,0.000,0.055,2995,2368,2571
$GC,10355,0.71,187.1,452.0,7.3,295,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2368,2571
$GC,10600,0.71,187.1,432.2,8.3,301,10604,0.00,2.28,0.00,0.000,4,0.000,0.064,2995,3787,2571
$GC,10857,0.71,187.4,410.3,7.0,306,10864,0.00,2.20,0.00,0.000,6,0.000,0.038,3006,2351,2570
$GC,11107,0.76,221.3,395.0,5.9,313,11137,0.00,0.00,28.42,0.956,6,0.000,0.000,3006,2351,2444
$GC,11350,0.76,221.3,369.7,11.3,319,11354,0.00,2.35,0.00,0.000,4,0.000,0.063,3000,3789,2440
$GC,11466,0.76,221.3,354.6,12.9,321,11471,0.00,2.20,0.00,0.000,6,0.000,0.038,3009,2367,2439
$GC,11727,0.76,221.3,325.9,10.7,328,11731,0.00,2.33,0.00,0.000,4,0.000,0.064,3009,3789,2438
$GC,11799,0.76,221.3,317.6,11.4,329,11804,0.00,2.17,0.00,0.000,6,0.000,0.036,3020,2382,2438
$GC,12060,0.76,221.3,292.5,9.1,336,12064,0.00,2.17,0.00,0.000,4,0.000,0.039,3032,948,2438
$GC,12317,0.76,221.3,270.2,7.5,341,12322,0.10,2.25,0.00,0.000,6,0.216,0.051,3000,2365,2437
$GC,12573,0.77,232.5,252.1,6.6,348,12587,0.00,2.28,10.02,0.781,4,0.000,0.060,3000,3789,2398
$GC,12840,0.77,232.5,223.8,9.6,354,12844,0.00,2.17,0.00,0.000,6,0.000,0.036,3010,2352,2398
$GC,13130,0.77,232.5,198.8,8.6,361,13134,0.00,2.08,0.00,0.000,4,0.000,0.035,3022,956,2397
$GC,13323,0.77,235.0,183.2,6.9,378,13333,0.00,2.22,3.80,0.512,6,0.000,0.049,3022,2363,2388
$GC,13587,0.77,235.0,158.6,10.6,403,13588,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2364,2387
$GC,13841,0.77,235.0,138.4,7.3,427,13845,0.00,2.25,0.00,0.000,4,0.000,0.058,3022,3787,2388
$GC,14025,0.77,235.0,124.5,7.5,443,14029,0.15,2.12,0.00,0.000,6,0.239,0.031,3002,2359,2389
$GC,14287,0.97,395.6,113.8,1.8,467,14425,0.17,2.42,130.85,0.697,4,0.094,0.057,3067,3780,1732
$GC,14587,0.97,395.6,65.2,22.5,493,14591,0.00,2.17,0.00,0.000,6,0.000,0.032,3076,2373,1728
$GC,14849,0.97,395.6,4.1,24.9,527,14857,0.00,2.17,0.00,0.000,4,0.000,0.036,3087,964,1725
$STATE,14863,end climb,SURFACE_DEPTH_REACHED
$STATE,14863,begin surface coast
$FINISH,0.1,1.007797
$STATE,14875,end surface coast,CONTROL_FINISHED_OK
$STATE,14876,begin surface
$SM_CCo,14893,11.90,0.574,0,0,1633,420.19
$SM_GC,2.52,0.00,0.00,11.90,0.000,0.000,0.574,52,2503,1633,-8.43,0.08,420.19
$IRIDIUM_FIX,2148.09,-15811.05,120300,000033
$TT8_MAMPS,0.024544
$HUMID,1693
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.8,9.939
$10V_AH,10.7,4.813
$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,22.850,143.625,458.075,11.900,0.000,31.654,36.594,284.309,0.000,0.000,0.000,15.715,1222.516,10853.048,552.461,2261.608,466.977,33.350,1564.251,0.000,2228.066,0.000,0.542,0.000
$DEVICE_MAMPS,286.858,88.972,1303.133,574.483,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,360.864,654.397,673.605,114.635,479.707,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44649,531
$CAP_FILE_SIZE,124087,0
$CFSIZE,260165632,258064384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,171210,090307,2200.277,-15813.711,42,1.5,42,9.9