version: 66.04
glider: 512
mission: 1
dive: 39
start: 12 17 110 18 32 37
data:
$ID,512
$MISSION,1
$DIVE,39
$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,-3838.1716
$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,35
$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
$GPS1,182330,2203.738,-15815.839,41,1.3,41,9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.7
$GPS2,183143,2203.814,-15815.859,11,1.1,16,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.177,0.145
$KALMAN_X,10167.8,-1088.3,-74.5,-17331.2,2759.1
$KALMAN_Y,-33095.6,590.7,766.3,75314.5,-9628.9
$MHEAD_RNG_PITCHd_Wd,299.3,80943,-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,-146.0,0.0,0.0,0,71,0.00,0.00,-54.75,0.000,2,0.000,0.000,50,2518,3106
$GC,73,-0.66,-146.0,3.8,-5.8,7,106,11.82,2.28,-14.85,0.000,4,0.281,0.087,2514,3894,3943
$GC,326,-0.66,-146.0,93.6,-29.1,33,329,0.00,2.12,0.00,0.000,6,0.000,0.032,2521,2501,3945
$GC,593,-0.66,-146.0,192.9,-34.0,58,597,0.00,2.10,0.00,0.000,4,0.000,0.032,2527,1085,3946
$GC,648,-0.66,-146.0,209.5,-24.7,61,653,0.00,2.35,0.00,0.000,6,0.000,0.076,2518,2478,3946
$GC,925,-0.66,-146.0,283.4,-27.6,68,929,0.00,2.30,0.00,0.000,4,0.000,0.072,2507,3894,3947
$GC,1002,-0.66,-146.0,302.1,-21.3,69,1007,0.00,2.12,0.00,0.000,6,0.000,0.030,2511,2488,3947
$GC,1259,-0.66,-146.0,363.1,-23.6,76,1263,0.00,2.40,0.00,0.000,4,0.000,0.090,2501,3899,3947
$GC,1318,-0.66,-146.0,378.3,-23.4,77,1324,0.00,2.10,0.00,0.000,6,0.000,0.031,2510,2500,3946
$GC,1585,-0.66,-146.0,438.7,-22.6,84,1589,0.00,2.38,0.00,0.000,4,0.000,0.093,2500,3892,3945
$GC,1617,-0.66,-146.0,446.4,-23.0,84,1622,0.00,2.10,0.00,0.000,6,0.000,0.032,2509,2496,3945
$GC,1873,-0.66,-146.0,501.4,-21.7,91,1878,0.00,2.40,0.00,0.000,4,0.000,0.096,2499,3894,3943
$GC,1922,-0.66,-146.0,511.9,-19.0,92,1927,0.00,2.10,0.00,0.000,6,0.000,0.033,2507,2500,3942
$GC,2200,-0.66,-146.0,568.1,-20.4,99,2204,0.00,2.38,0.00,0.000,4,0.000,0.094,2498,3890,3940
$GC,2265,-0.66,-146.0,581.6,-18.7,100,2271,0.00,2.10,0.00,0.000,6,0.000,0.034,2506,2496,3939
$GC,2532,-0.66,-146.0,633.7,-20.0,107,2536,0.00,2.38,0.00,0.000,4,0.000,0.089,2497,3902,3937
$GC,2571,-0.66,-146.0,641.6,-20.4,107,2578,0.10,2.10,0.00,0.000,6,0.184,0.035,2528,2504,3936
$GC,2819,-0.66,-146.0,686.1,-17.8,114,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2499,3933
$GC,3063,-0.66,-146.0,727.2,-16.7,120,3067,0.00,2.35,0.00,0.000,4,0.000,0.091,2518,3892,3931
$GC,3089,-0.66,-146.0,732.0,-18.1,120,3094,0.00,2.12,0.00,0.000,6,0.000,0.036,2521,2502,3930
$GC,3352,-0.66,-146.0,776.6,-17.3,127,3356,0.00,2.35,0.00,0.000,4,0.000,0.091,2511,3893,3928
$GC,3400,-0.66,-146.0,785.6,-16.7,128,3405,0.00,2.12,0.00,0.000,6,0.000,0.036,2518,2503,3927
$GC,3678,-0.66,-146.0,834.7,-17.8,135,3682,0.00,2.35,0.00,0.000,4,0.000,0.091,2509,3893,3925
$GC,3723,-0.66,-146.0,842.7,-16.8,136,3727,0.00,2.12,0.00,0.000,6,0.000,0.038,2510,2488,3924
$GC,4013,-0.66,-146.0,892.2,-16.8,143,4017,0.00,2.38,0.00,0.000,4,0.000,0.090,2500,3894,3921
$GC,4078,-0.66,-146.0,903.2,-14.7,144,4083,0.00,2.10,0.00,0.000,6,0.000,0.036,2508,2511,3921
$GC,4340,-0.66,-146.0,944.4,-16.0,151,4344,0.00,2.33,0.00,0.000,4,0.000,0.088,2499,3893,3919
$STATE,4370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4370,begin apogee
$GC,4376,-0.32,0.0,950.1,17.3,151,4502,0.45,0.00,119.50,1.304,6,0.176,0.000,2641,2359,3347
$STATE,4503,end apogee,CONTROL_FINISHED_OK
$STATE,4503,begin climb
$GC,4504,0.66,146.0,958.1,0.0,155,4642,1.05,2.33,129.60,1.275,4,0.143,0.040,2961,953,2750
$GC,4894,0.66,146.0,949.7,8.4,164,4898,0.00,2.35,0.00,0.000,6,0.000,0.058,2958,2372,2742
$GC,5185,0.66,146.0,926.1,8.0,171,5188,0.00,2.17,0.00,0.000,4,0.000,0.040,2967,958,2738
$GC,5334,0.66,146.0,914.4,7.3,174,5339,0.00,2.30,0.00,0.000,6,0.000,0.058,2967,2368,2737
$GC,5608,0.66,146.0,891.7,8.5,181,5612,0.00,2.15,0.00,0.000,4,0.000,0.040,2976,960,2736
$GC,5673,0.66,146.0,886.1,8.5,182,5678,0.00,2.28,0.00,0.000,6,0.000,0.057,2971,2366,2735
$GC,5940,0.66,146.0,864.7,7.7,189,5944,0.00,2.30,0.00,0.000,4,0.000,0.067,2971,3783,2733
$GC,5972,0.66,146.0,862.1,8.6,189,5977,0.00,2.17,0.00,0.000,6,0.000,0.038,2980,2379,2733
$GC,6229,0.66,146.0,841.8,8.0,196,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2373,2732
$GC,6473,0.66,146.0,823.4,7.4,202,6477,0.00,2.30,0.00,0.000,4,0.000,0.065,2979,3786,2731
$GC,6594,0.66,146.0,813.1,8.6,204,6601,0.00,2.20,0.00,0.000,6,0.000,0.038,2989,2355,2730
$GC,6845,0.66,146.0,794.2,7.7,211,6849,0.00,2.33,0.00,0.000,4,0.000,0.065,2986,3785,2729
$GC,7101,0.66,146.0,772.7,8.5,216,7109,0.10,2.17,0.00,0.000,6,0.267,0.038,2973,2377,2729
$GC,7353,0.68,158.5,755.4,6.6,223,7367,0.00,2.30,7.93,1.038,4,0.000,0.065,2971,3776,2699
$GC,7473,0.68,158.5,746.1,8.4,225,7478,0.00,2.17,0.00,0.000,6,0.000,0.037,2979,2368,2698
$GC,7729,0.68,158.5,726.8,7.7,232,7732,0.00,2.12,0.00,0.000,4,0.000,0.039,2991,954,2697
$GC,7766,0.71,179.5,724.4,6.3,232,7792,0.00,2.28,19.70,1.144,6,0.000,0.055,2986,2372,2614
$GC,8059,0.71,179.5,694.2,10.7,240,8063,0.00,2.30,0.00,0.000,4,0.000,0.066,2986,3785,2611
$GC,8159,0.71,179.5,682.8,11.9,242,8163,0.00,2.20,0.00,0.000,6,0.000,0.038,2995,2373,2610
$GC,8436,0.71,179.5,653.3,10.7,249,8440,0.00,2.15,0.00,0.000,4,0.000,0.040,3006,957,2610
$GC,8496,0.71,179.5,646.7,10.8,250,8502,0.00,2.28,0.00,0.000,6,0.000,0.054,3000,2372,2609
$GC,8769,0.71,179.5,616.4,11.0,257,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2372,2609
$GC,9013,0.71,179.5,591.9,10.0,263,9016,0.00,2.17,0.00,0.000,4,0.000,0.041,3009,956,2608
$GC,9033,0.71,179.5,589.8,9.3,263,9039,0.10,2.28,0.00,0.000,6,0.245,0.055,2985,2374,2608
$GC,9300,0.71,179.5,564.7,9.4,270,9304,0.00,2.25,0.00,0.000,4,0.000,0.064,2984,3783,2608
$GC,9328,0.71,179.5,562.3,9.6,270,9332,0.00,2.15,0.00,0.000,6,0.000,0.038,2993,2368,2607
$GC,9582,0.71,179.5,540.9,8.3,277,9586,0.00,2.12,0.00,0.000,4,0.000,0.039,3004,955,2607
$GC,9614,0.71,179.5,538.2,8.0,277,9619,0.00,2.25,0.00,0.000,6,0.000,0.054,3000,2364,2607
$GC,9870,0.71,179.5,516.9,8.3,284,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2364,2607
$GC,10113,0.71,179.5,497.4,7.9,290,10117,0.00,2.28,0.00,0.000,4,0.000,0.065,3000,3783,2607
$GC,10370,0.71,179.5,478.5,7.1,295,10376,0.12,2.17,0.00,0.000,6,0.261,0.038,2980,2380,2606
$GC,10626,0.78,238.7,465.1,5.1,302,10682,0.00,2.40,50.70,1.045,4,0.000,0.067,2980,3789,2373
$GC,10910,0.78,238.7,425.2,16.6,308,10915,0.00,2.25,0.00,0.000,6,0.000,0.038,2988,2365,2367
$GC,11172,0.78,238.7,388.0,14.3,315,11176,0.00,2.17,0.00,0.000,4,0.000,0.041,2999,950,2364
$GC,11203,0.78,238.7,383.4,14.2,315,11208,0.00,2.30,0.00,0.000,6,0.000,0.055,3000,2366,2363
$GC,11459,0.78,238.7,348.2,13.6,322,11463,0.00,2.17,0.00,0.000,4,0.000,0.041,3008,953,2363
$GC,11553,0.78,238.7,336.2,13.0,324,11558,0.00,2.30,0.00,0.000,6,0.000,0.056,3009,2371,2363
$GC,11838,0.78,238.7,298.7,12.8,331,11839,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2371,2362
$GC,12080,0.78,238.7,267.2,13.1,337,12084,0.00,2.28,0.00,0.000,4,0.000,0.064,3009,3783,2362
$GC,12134,0.78,238.7,259.9,12.7,338,12139,0.00,2.17,0.00,0.000,6,0.000,0.037,3020,2376,2361
$GC,12413,0.78,238.7,229.1,10.3,345,12416,0.00,2.15,0.00,0.000,4,0.000,0.039,3032,954,2361
$GC,12585,0.78,238.7,211.9,10.2,348,12592,0.00,2.25,0.00,0.000,6,0.000,0.054,3027,2363,2361
$GC,12843,0.78,238.7,186.3,9.4,364,12847,0.00,2.28,0.00,0.000,4,0.000,0.059,3027,3794,2361
$GC,13042,0.78,238.7,164.7,10.4,381,13052,0.10,2.17,0.00,0.000,6,0.229,0.035,3011,2358,2360
$GC,13303,0.78,238.7,140.4,8.1,406,13307,0.00,2.28,0.00,0.000,4,0.000,0.058,3011,3785,2360
$GC,13345,0.78,238.7,137.4,7.3,409,13349,0.00,2.10,0.00,0.000,6,0.000,0.033,3020,2380,2361
$GC,13612,0.93,360.3,126.2,3.0,434,13715,0.00,2.25,97.88,0.755,4,0.000,0.038,3025,963,1878
$GC,13874,0.93,360.3,93.6,15.0,456,13884,0.00,2.30,0.00,0.000,6,0.000,0.050,3024,2361,1868
$GC,14138,0.93,360.3,50.1,16.1,481,14142,0.00,2.30,0.00,0.000,4,0.000,0.058,3024,3789,1868
$GC,14178,0.93,360.3,43.3,15.7,484,14182,0.00,2.15,0.00,0.000,6,0.000,0.033,3036,2372,1867
$STATE,14417,end climb,SURFACE_DEPTH_REACHED
$STATE,14417,begin surface coast
$FINISH,0.1,1.023340
$STATE,14435,end surface coast,CONTROL_FINISHED_OK
$STATE,14435,begin surface
$SM_CCo,14450,29.58,0.591,0,0,1633,420.19
$SM_GC,0.97,0.00,0.00,29.58,0.000,0.000,0.591,48,2511,1633,-8.45,0.31,420.19
$IRIDIUM_FIX,2152.74,-15812.35,120300,141432
$TT8_MAMPS,0.024544
$HUMID,1692
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.9,10.455
$10V_AH,10.6,5.160
$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,22.225,161.275,425.300,29.575,0.000,24.710,33.595,320.698,0.000,0.000,0.000,16.640,1203.918,10511.049,535.799,2203.805,506.845,33.352,1542.129,0.000,2177.646,0.000,0.543,0.000
$DEVICE_MAMPS,281.489,95.875,1303.900,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,356.410,654.368,675.099,125.033,521.149,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44734,524
$CAP_FILE_SIZE,124990,0
$CFSIZE,260165632,257871872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,171210,223507,2205.051,-15817.907,37,1.2,37,9.9