version: 66.04
glider: 512
mission: 1
dive: 37
start: 12 17 110 9 15 45
data:
$ID,512
$MISSION,1
$DIVE,37
$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,-3805.5205
$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,36
$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
$GPS1,090307,2200.277,-15813.711,42,1.5,42,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-81.3
$GPS2,091452,2200.271,-15813.797,13,2.1,32,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.089,0.210
$KALMAN_X,8516.9,948.8,-222.9,-14017.5,1120.9
$KALMAN_Y,-30164.8,1212.9,715.4,65246.6,-10251.9
$MHEAD_RNG_PITCHd_Wd,327.1,86124,-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,13,begin dive
$GC,14,-0.66,-146.0,0.0,0.0,0,63,0.00,0.00,-47.28,0.000,2,0.000,0.000,49,2508,2857
$GC,65,-0.66,-146.0,3.1,-4.4,6,106,12.00,2.30,-21.23,0.000,4,0.285,0.084,2517,3900,3943
$GC,286,-0.66,-146.0,82.4,-31.2,31,290,0.00,2.15,0.00,0.000,6,0.000,0.031,2522,2492,3945
$GC,552,-0.66,-146.0,182.2,-34.2,56,556,0.00,2.38,0.00,0.000,4,0.000,0.086,2512,3898,3945
$GC,626,-0.66,-146.0,205.7,-24.6,61,632,0.00,2.12,0.00,0.000,6,0.000,0.030,2520,2495,3946
$GC,882,-0.66,-146.0,278.7,-28.7,68,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2490,3947
$GC,1127,-0.66,-146.0,335.9,-23.2,74,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2489,3947
$GC,1369,-0.66,-146.0,388.9,-21.7,80,1373,0.00,2.40,0.00,0.000,4,0.000,0.091,2510,3901,3947
$GC,1420,-0.66,-146.0,399.4,-19.1,81,1424,0.00,2.10,0.00,0.000,6,0.000,0.033,2517,2484,3946
$GC,1702,-0.66,-146.0,458.6,-21.0,88,1706,0.00,2.42,0.00,0.000,4,0.000,0.095,2507,3895,3944
$GC,1773,-0.66,-146.0,473.1,-18.2,89,1778,0.00,2.10,0.00,0.000,6,0.000,0.033,2513,2500,3943
$GC,2037,-0.66,-146.0,524.8,-19.9,96,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2495,3941
$GC,2278,-0.66,-146.0,571.1,-18.6,102,2282,0.00,2.40,0.00,0.000,4,0.000,0.095,2503,3902,3939
$GC,2322,-0.66,-146.0,579.4,-17.8,103,2326,0.00,2.10,0.00,0.000,6,0.000,0.035,2512,2507,3938
$GC,2611,-0.66,-146.0,632.7,-19.0,110,2615,0.00,2.35,0.00,0.000,4,0.000,0.094,2502,3890,3935
$GC,2705,-0.66,-146.0,649.7,-16.5,112,2709,0.00,2.10,0.00,0.000,6,0.000,0.036,2510,2493,3934
$GC,2988,-0.66,-146.0,700.5,-17.8,119,2992,0.00,2.40,0.00,0.000,4,0.000,0.094,2501,3897,3931
$GC,3064,-0.66,-146.0,713.6,-14.6,120,3073,0.00,2.12,0.00,0.000,6,0.000,0.036,2509,2494,3931
$GC,3316,-0.66,-146.0,754.6,-16.6,127,3320,0.00,2.38,0.00,0.000,4,0.000,0.094,2499,3890,3928
$GC,3369,-0.66,-146.0,764.1,-15.8,128,3374,0.00,2.10,0.00,0.000,6,0.000,0.037,2507,2505,3928
$GC,3642,-0.66,-146.0,808.9,-16.9,135,3646,0.00,2.35,0.00,0.000,4,0.000,0.091,2498,3892,3925
$GC,3687,-0.66,-146.0,816.4,-15.8,136,3691,0.00,2.10,0.00,0.000,6,0.000,0.038,2506,2491,3925
$GC,3977,-0.66,-146.0,863.4,-16.3,143,3981,0.00,2.38,0.00,0.000,4,0.000,0.090,2496,3897,3922
$GC,4053,-0.66,-146.0,876.3,-14.6,144,4061,0.08,2.12,0.00,0.000,6,0.176,0.038,2528,2497,3921
$GC,4304,-0.66,-146.0,912.6,-14.7,151,4308,0.00,2.35,0.00,0.000,4,0.000,0.091,2523,3890,3919
$GC,4329,-0.66,-146.0,916.9,-15.2,151,4334,0.00,2.15,0.00,0.000,6,0.000,0.039,2528,2496,3919
$STATE,4584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4584,begin apogee
$GC,4588,-0.32,0.0,953.4,14.5,158,4710,0.40,0.00,119.45,1.297,6,0.178,0.000,2642,2384,3347
$STATE,4711,end apogee,CONTROL_FINISHED_OK
$STATE,4711,begin climb
$GC,4712,0.66,146.0,961.0,0.0,161,4850,1.05,2.38,129.80,1.271,4,0.144,0.040,2961,949,2752
$GC,5102,0.66,146.9,955.7,7.0,170,5107,0.00,2.38,0.00,0.000,6,0.000,0.060,2958,2359,2743
$GC,5385,0.66,146.9,934.5,7.4,177,5389,0.00,2.20,0.00,0.000,4,0.000,0.040,2967,937,2740
$GC,5462,0.66,146.9,929.2,7.1,178,5467,0.00,2.35,0.00,0.000,6,0.000,0.061,2967,2367,2740
$GC,5718,0.66,146.9,911.0,7.1,185,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2366,2737
$GC,5963,0.66,146.9,892.9,7.6,191,5967,0.00,2.33,0.00,0.000,4,0.000,0.069,2967,3789,2735
$GC,5994,0.66,146.9,890.2,8.4,191,6001,0.00,2.22,0.00,0.000,6,0.000,0.038,2976,2352,2735
$GC,6244,0.66,146.9,871.2,7.4,198,6248,0.00,2.33,0.00,0.000,4,0.000,0.066,2971,3787,2734
$GC,6360,0.66,146.9,861.5,8.5,200,6365,0.00,2.20,0.00,0.000,6,0.000,0.038,2980,2362,2734
$GC,6623,0.67,148.0,842.9,7.0,207,6627,0.00,2.33,0.00,0.000,4,0.000,0.067,2979,3782,2733
$GC,6798,0.67,148.0,829.4,8.1,211,6802,0.00,2.15,0.00,0.000,6,0.000,0.038,2988,2369,2732
$GC,7086,0.67,148.0,808.3,7.4,218,7090,0.00,2.33,0.00,0.000,4,0.000,0.066,2986,3789,2731
$GC,7275,0.67,148.0,791.8,9.3,222,7280,0.00,2.20,0.00,0.000,6,0.000,0.040,2995,2360,2731
$GC,7553,0.67,148.0,769.1,8.0,229,7555,0.12,0.00,0.00,0.000,6,0.267,0.000,2973,2358,2730
$GC,7797,0.67,148.0,751.5,7.0,235,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2358,2729
$GC,8042,0.68,157.1,735.4,6.7,241,8055,0.00,2.33,6.75,0.992,4,0.000,0.067,2971,3781,2705
$GC,8267,0.68,157.1,717.0,8.3,246,8273,0.00,2.17,0.00,0.000,6,0.000,0.038,2979,2373,2705
$GC,8553,0.68,162.9,697.3,6.8,253,8566,0.00,2.35,6.55,0.963,4,0.000,0.065,2979,3789,2682
$GC,8695,0.68,162.9,684.4,8.7,256,8700,0.00,2.20,0.00,0.000,6,0.000,0.038,2988,2365,2681
$GC,8973,0.68,162.9,664.2,7.3,263,8977,0.00,2.30,0.00,0.000,4,0.000,0.064,2986,3782,2681
$GC,9078,0.69,171.3,656.7,6.7,265,9094,0.00,2.17,8.98,1.020,6,0.000,0.038,2995,2367,2649
$GC,9350,0.69,171.3,636.6,7.5,272,9354,0.00,2.15,0.00,0.000,4,0.000,0.041,3006,957,2647
$GC,9439,0.70,179.3,630.4,6.7,274,9454,0.00,2.22,8.60,0.996,6,0.000,0.053,3000,2372,2616
$GC,9727,0.70,179.3,607.4,8.1,281,9731,0.00,2.28,0.00,0.000,4,0.000,0.065,3000,3783,2614
$GC,9803,0.70,179.3,600.1,9.0,282,9811,0.10,2.17,0.00,0.000,6,0.267,0.037,2986,2383,2614
$GC,10053,0.70,179.3,577.6,9.3,289,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2383,2613
$GC,10296,0.70,179.3,553.9,9.8,295,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2383,2613
$GC,10541,0.70,179.3,532.5,8.1,301,10545,0.00,2.17,0.00,0.000,4,0.000,0.041,2995,953,2612
$GC,10579,0.72,194.2,530.0,6.5,301,10599,0.00,2.28,13.98,1.015,6,0.000,0.056,2995,2371,2555
$GC,10871,0.72,194.2,505.9,7.9,309,10875,0.00,2.30,0.00,0.000,4,0.000,0.066,2996,3789,2552
$GC,10920,0.72,194.2,501.4,9.4,310,10925,0.00,2.22,0.00,0.000,6,0.000,0.038,3006,2365,2551
$GC,11204,0.72,194.2,478.9,7.6,317,11207,0.00,2.15,0.00,0.000,4,0.000,0.040,3018,950,2551
$GC,11320,0.72,194.2,469.3,8.3,319,11325,0.10,2.28,0.00,0.000,6,0.234,0.055,2994,2368,2551
$GC,11582,0.72,194.2,448.3,8.0,326,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2368,2551
$GC,11826,0.72,194.2,427.9,8.2,332,11827,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2368,2550
$GC,12068,0.72,194.2,408.0,8.4,338,12072,0.00,2.25,0.00,0.000,4,0.000,0.062,2986,3780,2550
$GC,12146,0.72,194.2,401.4,8.2,339,12150,0.00,2.17,0.00,0.000,6,0.000,0.038,2995,2371,2551
$GC,12402,0.72,194.2,381.8,7.2,346,12406,0.00,2.28,0.00,0.000,4,0.000,0.064,2996,3780,2550
$GC,12636,0.73,196.3,362.4,6.9,351,12641,0.00,2.17,0.00,0.000,6,0.000,0.036,3006,2360,2551
$GC,12908,0.73,199.0,343.4,6.9,358,12918,0.00,2.30,5.20,0.728,4,0.000,0.062,3007,3780,2535
$GC,13170,0.73,199.0,322.6,8.8,364,13174,0.15,2.12,0.00,0.000,6,0.266,0.036,2990,2368,2534
$GC,13461,0.82,271.6,307.5,4.6,371,13531,0.00,2.42,62.75,0.910,4,0.000,0.064,2986,3777,2238
$GC,13722,0.82,271.6,271.3,14.8,377,13726,0.00,2.17,0.00,0.000,6,0.000,0.037,2995,2374,2232
$GC,14010,0.82,271.6,235.8,12.5,384,14014,0.00,2.17,0.00,0.000,4,0.000,0.039,3006,956,2228
$GC,14149,0.82,271.6,219.1,12.3,387,14154,0.00,2.28,0.00,0.000,6,0.000,0.053,2999,2365,2227
$GC,14409,0.82,271.6,185.4,13.2,400,14413,0.00,2.30,0.00,0.000,4,0.000,0.062,3000,3787,2227
$GC,14463,0.82,271.6,178.6,11.3,404,14471,0.00,2.20,0.00,0.000,6,0.000,0.035,3010,2362,2226
$GC,14725,0.82,271.6,148.7,11.8,429,14728,0.00,2.12,0.00,0.000,4,0.000,0.036,3024,950,2226
$GC,14740,0.82,271.6,146.7,11.9,430,14750,0.00,2.25,0.00,0.000,6,0.000,0.050,3024,2369,2226
$GC,15004,0.82,271.6,112.5,12.1,455,15007,0.00,2.25,0.00,0.000,4,0.000,0.060,3024,3780,2226
$GC,15257,0.82,271.6,88.1,7.9,478,15261,0.00,2.12,0.00,0.000,6,0.000,0.031,3035,2358,2227
$GC,15525,0.82,271.6,67.6,8.0,503,15529,0.00,2.30,0.00,0.000,4,0.000,0.057,3036,3793,2227
$GC,15588,0.82,271.6,61.7,9.3,508,15598,0.10,2.15,0.00,0.000,6,0.226,0.031,3021,2371,2227
$GC,15851,0.82,271.6,41.3,7.8,533,15855,0.00,2.10,0.00,0.000,4,0.000,0.034,3025,957,2227
$GC,15896,0.83,277.7,37.9,6.8,537,15909,0.00,2.17,4.93,0.495,6,0.000,0.045,3025,2371,2214
$GC,16162,0.83,277.7,15.9,7.7,577,16170,0.00,2.15,0.00,0.000,4,0.000,0.033,3037,954,2215
$GC,16177,0.83,277.7,14.9,7.3,579,16186,0.00,2.20,0.00,0.000,6,0.000,0.045,3037,2366,2216
$STATE,16291,end climb,SURFACE_DEPTH_REACHED
$STATE,16292,begin surface coast
$FINISH,0.2,1.023431
$STATE,16320,end surface coast,CONTROL_FINISHED_OK
$STATE,16320,begin surface
$SM_CCo,16335,75.30,0.581,0,0,1632,420.19
$SM_GC,0.99,0.00,0.00,75.30,0.000,0.000,0.581,49,2520,1632,-8.44,0.57,420.19
$IRIDIUM_FIX,2152.74,-15815.37,120300,090935
$TT8_MAMPS,0.023777
$HUMID,1618
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.50
$XPDR_PINGS,1
$24V_AH,23.8,10.102
$10V_AH,10.7,4.936
$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,22.350,161.550,366.975,75.300,0.000,56.046,74.782,377.276,0.250,0.000,0.000,33.510,1382.236,11932.138,554.740,2579.323,656.908,33.351,1658.992,0.000,2533.546,0.000,0.543,0.000
$DEVICE_MAMPS,284.557,95.108,1296.997,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,412.422,766.774,793.751,169.467,702.102,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50893,605
$CAP_FILE_SIZE,140626,0
$CFSIZE,260165632,257974272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,171210,135031,2201.781,-15814.804,42,1.6,42,9.9