version: 66.04
glider: 512
mission: 1
dive: 42
start: 12 18 110 7 50 27
data:
$ID,512
$MISSION,1
$DIVE,42
$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,-3907.0437
$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,41
$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
$GPS1,073537,2208.073,-15819.320,27,1.8,27,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-77.6
$GPS2,074934,2208.172,-15819.363,14,2.1,33,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.070,0.218
$KALMAN_X,5647.1,24.0,601.2,-20627.1,-4279.3
$KALMAN_Y,-38850.8,748.6,730.2,89024.6,-10789.8
$MHEAD_RNG_PITCHd_Wd,7.9,75800,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-55.62,0.000,2,0.000,0.000,45,2525,3128
$GC,74,-0.66,-146.0,3.6,-5.3,7,107,11.57,2.22,-14.52,0.000,4,0.276,0.077,2515,3896,3944
$GC,251,-0.66,-146.0,73.1,-28.6,27,261,0.00,2.12,0.00,0.000,6,0.000,0.032,2521,2508,3945
$GC,515,-0.66,-146.0,179.6,-36.3,52,518,0.00,2.12,0.00,0.000,4,0.000,0.031,2526,1070,3946
$GC,529,-0.66,-146.0,186.3,-35.2,53,538,0.00,2.28,0.00,0.000,6,0.000,0.060,2517,2475,3945
$GC,781,-0.66,-146.0,265.8,-30.2,63,785,0.00,2.28,0.00,0.000,4,0.000,0.065,2505,3895,3946
$GC,881,-0.66,-146.0,293.6,-24.2,65,886,0.00,2.12,0.00,0.000,6,0.000,0.028,2512,2488,3947
$GC,1159,-0.66,-146.0,362.6,-24.9,72,1163,0.00,2.35,0.00,0.000,4,0.000,0.081,2502,3895,3946
$GC,1197,-0.66,-146.0,371.4,-22.5,73,1201,0.00,2.05,0.00,0.000,6,0.000,0.030,2509,2499,3946
$GC,1485,-0.66,-146.0,433.9,-21.1,80,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2493,3945
$GC,1730,-0.66,-146.0,485.6,-21.3,86,1734,0.00,2.35,0.00,0.000,4,0.000,0.087,2500,3893,3943
$GC,1834,-0.66,-146.0,507.8,-18.8,88,1839,0.00,2.08,0.00,0.000,6,0.000,0.032,2508,2507,3942
$GC,2101,-0.66,-146.0,562.7,-20.4,95,2105,0.00,2.33,0.00,0.000,4,0.000,0.087,2499,3891,3940
$GC,2178,-0.66,-146.0,577.8,-17.3,96,2184,0.05,2.10,0.00,0.000,6,0.171,0.033,2525,2491,3939
$GC,2434,-0.66,-146.0,622.9,-17.8,103,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2485,3937
$GC,2677,-0.66,-146.0,665.4,-17.3,109,2681,0.00,2.35,0.00,0.000,4,0.000,0.085,2515,3892,3934
$GC,2768,-0.66,-146.0,679.9,-15.2,111,2771,0.00,2.08,0.00,0.000,6,0.000,0.035,2521,2497,3932
$GC,3057,-0.66,-146.0,728.3,-16.6,118,3061,0.00,2.35,0.00,0.000,4,0.000,0.086,2511,3900,3929
$GC,3110,-0.66,-146.0,737.7,-15.7,119,3115,0.00,2.15,0.00,0.000,6,0.000,0.036,2518,2494,3929
$GC,3384,-0.66,-146.0,782.3,-16.5,126,3388,0.00,2.35,0.00,0.000,4,0.000,0.084,2510,3901,3926
$GC,3426,-0.66,-146.0,789.7,-16.0,127,3431,0.00,2.15,0.00,0.000,6,0.000,0.037,2512,2500,3925
$GC,3710,-0.66,-146.0,837.9,-17.3,134,3714,0.00,2.33,0.00,0.000,4,0.000,0.084,2503,3891,3923
$GC,3787,-0.66,-146.0,851.8,-17.2,135,3792,0.00,2.10,0.00,0.000,6,0.000,0.036,2508,2508,3922
$GC,4042,-0.66,-146.0,896.3,-17.5,142,4046,0.00,2.30,0.00,0.000,4,0.000,0.084,2498,3900,3919
$GC,4142,-0.66,-146.0,913.8,-16.5,144,4147,0.00,2.12,0.00,0.000,6,0.000,0.037,2507,2500,3918
$STATE,4372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4372,begin apogee
$GC,4376,-0.32,0.0,953.8,17.1,150,4499,0.47,0.00,120.07,1.337,6,0.186,0.000,2641,2383,3347
$STATE,4500,end apogee,CONTROL_FINISHED_OK
$STATE,4500,begin climb
$GC,4501,0.66,146.0,961.9,0.0,153,4639,1.08,2.45,130.15,1.292,4,0.143,0.065,2956,3782,2750
$GC,4893,0.66,146.0,948.5,10.0,162,4897,0.00,2.22,0.00,0.000,6,0.000,0.035,2966,2358,2742
$GC,5175,0.66,146.0,922.8,9.1,169,5179,0.00,2.35,0.00,0.000,4,0.000,0.063,2966,3779,2738
$GC,5431,0.66,146.0,899.3,8.7,174,5436,0.00,2.17,0.00,0.000,6,0.000,0.035,2976,2370,2737
$GC,5688,0.66,146.0,880.1,7.2,181,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2365,2735
$GC,5931,0.66,146.0,862.4,7.3,187,5934,0.00,2.30,0.00,0.000,4,0.000,0.061,2971,3783,2734
$GC,6142,0.66,146.0,846.5,7.3,191,6147,0.00,2.17,0.00,0.000,6,0.000,0.036,2979,2368,2733
$GC,6398,0.69,163.9,829.9,6.4,198,6413,0.00,0.00,13.45,1.164,6,0.000,0.000,2980,2366,2678
$GC,6641,0.69,163.9,809.5,8.7,204,6645,0.00,2.30,0.00,0.000,4,0.000,0.063,2979,3778,2675
$GC,6718,0.69,163.9,801.9,10.0,205,6723,0.00,2.17,0.00,0.000,6,0.000,0.035,2988,2377,2674
$GC,6973,0.69,163.9,778.5,9.4,212,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2371,2673
$GC,7217,0.69,163.9,757.3,8.7,218,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2370,2672
$GC,7461,0.69,163.9,735.4,9.0,224,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2371,2672
$GC,7705,0.69,163.9,713.4,8.9,230,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2371,2671
$GC,7951,0.69,163.9,691.8,8.9,236,7954,0.00,2.15,0.00,0.000,4,0.000,0.040,2999,952,2671
$GC,8010,0.69,163.9,686.2,8.6,237,8016,0.00,2.28,0.00,0.000,6,0.000,0.054,3000,2364,2670
$GC,8283,0.69,163.9,661.0,9.3,244,8287,0.00,2.28,0.00,0.000,4,0.000,0.064,3000,3785,2670
$GC,8540,0.69,163.9,637.4,8.4,249,8546,0.12,2.17,0.00,0.000,6,0.267,0.037,2980,2372,2670
$GC,8796,0.70,172.2,620.2,6.7,256,8810,0.00,2.33,7.25,0.965,4,0.000,0.063,2979,3783,2645
$GC,8944,0.70,172.2,608.3,8.0,259,8949,0.00,2.17,0.00,0.000,6,0.000,0.037,2988,2374,2645
$GC,9217,0.70,172.2,587.4,7.6,266,9221,0.00,2.15,0.00,0.000,4,0.000,0.040,2999,951,2644
$GC,9468,0.70,172.2,568.0,7.7,271,9473,0.00,2.28,0.00,0.000,6,0.000,0.055,2999,2362,2643
$GC,9731,0.70,172.2,547.3,7.7,278,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2362,2643
$GC,9973,0.74,207.5,532.0,5.9,284,10007,0.00,0.00,32.03,1.087,6,0.000,0.000,2999,2362,2501
$GC,10217,0.74,207.5,506.5,11.6,290,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2362,2495
$GC,10462,0.74,207.5,479.1,11.5,296,10463,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2362,2494
$GC,10704,0.74,207.5,451.6,11.3,302,10708,0.00,2.30,0.00,0.000,4,0.000,0.064,2999,3785,2494
$GC,10921,0.74,207.5,421.6,13.7,306,10929,0.00,2.20,0.00,0.000,6,0.000,0.038,3008,2368,2494
$GC,11171,0.74,207.5,393.1,11.7,313,11175,0.00,2.33,0.00,0.000,4,0.000,0.064,3010,3790,2493
$GC,11428,0.74,207.5,361.1,11.7,318,11434,0.10,2.20,0.00,0.000,6,0.255,0.037,2997,2365,2492
$GC,11683,0.74,207.5,337.5,9.2,325,11687,0.00,2.12,0.00,0.000,4,0.000,0.040,3006,959,2492
$GC,11940,0.74,207.5,315.6,7.7,330,11945,0.00,2.25,0.00,0.000,6,0.000,0.053,3000,2371,2492
$GC,12196,0.74,207.5,294.8,8.4,337,12199,0.00,2.28,0.00,0.000,4,0.000,0.063,3000,3790,2492
$GC,12272,0.74,207.5,288.4,7.9,338,12277,0.00,2.17,0.00,0.000,6,0.000,0.037,3009,2369,2491
$GC,12528,0.81,262.9,274.2,5.2,345,12580,0.00,2.35,46.53,0.914,4,0.000,0.061,3010,3790,2274
$GC,12608,0.81,262.9,265.9,15.3,347,12612,0.00,2.22,0.00,0.000,6,0.000,0.036,3020,2369,2272
$GC,12895,0.81,262.9,217.0,17.7,354,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2363,2268
$GC,13145,0.81,262.9,185.5,14.0,366,13146,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2363,2268
$GC,13399,0.81,262.9,152.8,12.2,390,13402,0.00,2.15,0.00,0.000,4,0.000,0.037,3032,949,2267
$GC,13654,0.81,262.9,125.2,11.4,413,13658,0.00,2.22,0.00,0.000,6,0.000,0.050,3027,2370,2265
$GC,13917,0.91,346.1,111.0,4.3,437,13987,0.00,0.00,68.22,0.755,6,0.000,0.000,3027,2370,1935
$GC,14243,0.91,346.1,68.0,15.8,468,14251,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2370,1927
$GC,14506,0.91,346.1,25.7,15.0,495,14514,0.00,2.17,0.00,0.000,4,0.000,0.036,3037,957,1926
$GC,14585,0.91,346.1,14.5,14.0,509,14593,0.00,2.25,0.00,0.000,6,0.000,0.047,3036,2373,1925
$STATE,14657,end climb,SURFACE_DEPTH_REACHED
$STATE,14657,begin surface coast
$FINISH,0.2,1.023450
$STATE,14674,end surface coast,CONTROL_FINISHED_OK
$STATE,14675,begin surface
$SM_CCo,14689,37.53,0.623,0,0,1634,420.19
$SM_GC,1.41,0.00,0.00,37.53,0.000,0.000,0.623,54,2513,1634,-8.42,0.37,420.19
$IRIDIUM_FIX,2202.04,-15818.83,130300,070702
$TT8_MAMPS,0.023777
$HUMID,1666
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.9,11.018
$10V_AH,10.7,5.496
$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,21.675,116.175,417.700,37.525,0.000,87.838,102.345,388.580,0.000,0.000,0.000,34.933,1177.408,10930.992,530.500,2203.195,711.669,33.350,1492.557,0.000,2160.335,0.000,0.543,0.000
$DEVICE_MAMPS,276.120,86.671,1336.881,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,357.320,640.894,661.384,125.743,528.314,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41583,525
$CAP_FILE_SIZE,121433,0
$CFSIZE,260165632,257683456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,181210,115707,2210.175,-15819.298,39,0.9,39,9.9