version: 66.04
glider: 512
mission: 1
dive: 43
start: 12 18 110 12 10 20
data:
$ID,512
$MISSION,1
$DIVE,43
$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,-3921.4089
$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,30
$R_STBD_OVSHOOT,34
$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
$GPS1,115707,2210.175,-15819.298,39,0.9,39,9.9
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-79.1
$GPS2,120926,2210.173,-15819.344,13,1.1,13,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.007,0.228
$KALMAN_X,5202.1,-58.7,-449.5,-19028.7,-1423.7
$KALMAN_Y,-39841.8,800.5,512.7,93878.4,-9316.1
$MHEAD_RNG_PITCHd_Wd,348.4,72469,-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,-54.80,0.000,2,0.000,0.000,52,2518,3100
$GC,73,-0.66,-146.0,3.6,-5.5,7,107,11.73,2.33,-15.32,0.000,4,0.278,0.083,2516,3892,3944
$GC,270,-0.66,-146.0,77.3,-28.1,29,274,0.00,2.12,0.00,0.000,6,0.000,0.031,2522,2485,3946
$GC,536,-0.66,-146.0,182.3,-32.7,54,540,0.00,2.08,0.00,0.000,4,0.000,0.031,2532,1082,3946
$GC,558,-0.66,-146.0,189.5,-32.8,56,563,0.00,2.25,0.00,0.000,6,0.000,0.058,2522,2497,3946
$GC,839,-0.66,-146.0,268.1,-26.5,65,842,0.00,2.22,0.00,0.000,4,0.000,0.063,2511,3896,3948
$GC,973,-0.66,-146.0,297.7,-17.7,68,977,0.00,2.10,0.00,0.000,6,0.000,0.029,2517,2491,3948
$GC,1261,-0.66,-146.0,364.2,-23.0,75,1265,0.00,2.35,0.00,0.000,4,0.000,0.080,2508,3904,3947
$GC,1293,-0.66,-146.0,372.1,-23.4,75,1298,0.00,2.10,0.00,0.000,6,0.000,0.030,2513,2502,3947
$GC,1550,-0.66,-146.0,425.4,-20.7,82,1554,0.00,2.33,0.00,0.000,4,0.000,0.081,2503,3903,3946
$GC,1609,-0.66,-146.0,437.8,-19.1,83,1614,0.00,2.10,0.00,0.000,6,0.000,0.031,2511,2507,3946
$GC,1876,-0.66,-146.0,490.7,-20.0,90,1880,0.00,2.33,0.00,0.000,4,0.000,0.082,2502,3898,3943
$GC,1936,-0.66,-146.0,502.5,-16.3,91,1941,0.00,2.10,0.00,0.000,6,0.000,0.032,2509,2500,3942
$GC,2208,-0.66,-146.0,552.9,-18.9,98,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2494,3940
$GC,2452,-0.66,-146.0,598.5,-18.6,104,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2494,3938
$GC,2696,-0.66,-146.0,641.5,-17.5,110,2700,0.00,2.33,0.00,0.000,4,0.000,0.082,2499,3896,3935
$GC,2728,-0.66,-146.0,647.5,-17.4,110,2737,0.00,2.10,0.00,0.000,6,0.000,0.035,2507,2505,3935
$GC,2978,-0.66,-146.0,690.1,-17.2,117,2982,0.00,2.33,0.00,0.000,4,0.000,0.084,2498,3893,3932
$GC,3049,-0.66,-146.0,702.0,-14.5,118,3054,0.00,2.10,0.00,0.000,6,0.000,0.035,2506,2503,3931
$GC,3310,-0.66,-146.0,747.0,-17.7,125,3315,0.10,2.35,0.00,0.000,4,0.212,0.088,2519,3900,3928
$GC,3349,-0.66,-146.0,753.8,-17.4,126,3353,0.00,2.10,0.00,0.000,6,0.000,0.036,2521,2498,3928
$GC,3639,-0.66,-146.0,801.7,-16.8,133,3643,0.00,2.35,0.00,0.000,4,0.000,0.086,2512,3899,3926
$GC,3722,-0.66,-146.0,815.4,-14.8,135,3726,0.00,2.10,0.00,0.000,6,0.000,0.035,2518,2494,3925
$GC,4010,-0.66,-146.0,863.4,-16.5,142,4014,0.00,2.35,0.00,0.000,4,0.000,0.083,2510,3901,3922
$GC,4054,-0.66,-146.0,870.7,-16.2,143,4058,0.00,2.12,0.00,0.000,6,0.000,0.037,2510,2497,3921
$GC,4343,-0.66,-146.0,920.2,-17.3,150,4347,0.00,2.33,0.00,0.000,4,0.000,0.083,2499,3900,3919
$GC,4414,-0.66,-146.0,932.7,-15.7,151,4419,0.00,2.12,0.00,0.000,6,0.000,0.037,2505,2502,3919
$STATE,4546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4546,begin apogee
$GC,4550,-0.32,0.0,956.2,17.9,155,4674,0.47,0.00,120.45,1.349,6,0.186,0.000,2640,2385,3347
$STATE,4674,end apogee,CONTROL_FINISHED_OK
$STATE,4674,begin climb
$GC,4676,0.66,146.0,965.5,0.0,158,4814,1.08,2.47,130.48,1.305,4,0.144,0.070,2952,3775,2750
$GC,5067,0.66,146.0,956.5,9.6,167,5071,0.00,2.22,0.00,0.000,6,0.000,0.036,2963,2354,2741
$GC,5349,0.66,146.0,932.6,8.6,174,5353,0.00,2.35,0.00,0.000,4,0.000,0.061,2958,3787,2738
$GC,5472,0.66,146.0,920.7,9.8,176,5476,0.00,2.20,0.00,0.000,6,0.000,0.036,2966,2362,2737
$GC,5721,0.66,146.0,898.4,9.1,182,5725,0.00,2.33,0.00,0.000,4,0.000,0.064,2967,3779,2735
$GC,5735,0.66,146.0,896.7,8.9,182,5741,0.00,2.17,0.00,0.000,6,0.000,0.035,2976,2374,2735
$GC,6002,0.66,146.0,872.4,9.1,189,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2368,2734
$GC,6246,0.66,146.0,852.8,8.0,195,6250,0.00,2.15,0.00,0.000,4,0.000,0.038,2987,953,2733
$GC,6425,0.66,146.0,840.0,7.5,199,6429,0.00,2.28,0.00,0.000,6,0.000,0.056,2986,2376,2732
$GC,6714,0.66,146.0,819.5,7.0,206,6718,0.00,2.28,0.00,0.000,4,0.000,0.064,2986,3787,2730
$GC,6808,0.66,146.0,812.0,7.9,208,6813,0.10,2.17,0.00,0.000,6,0.273,0.038,2973,2381,2730
$GC,7086,0.69,170.2,794.3,6.2,215,7110,0.00,2.25,18.38,1.197,4,0.000,0.041,2983,949,2653
$GC,7166,0.69,170.2,788.1,8.3,216,7173,0.00,2.33,0.00,0.000,6,0.000,0.055,2983,2365,2651
$GC,7418,0.69,170.2,763.5,9.7,223,7422,0.00,2.30,0.00,0.000,4,0.000,0.066,2983,3781,2649
$GC,7674,0.69,170.2,733.7,12.1,228,7681,0.00,2.17,0.00,0.000,6,0.000,0.035,2993,2370,2648
$GC,7924,0.69,170.2,707.4,10.5,235,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2370,2647
$GC,8169,0.69,170.2,683.4,9.7,241,8173,0.00,2.28,0.00,0.000,4,0.000,0.061,2986,3783,2647
$GC,8296,0.69,170.2,669.4,11.6,244,8301,0.00,2.15,0.00,0.000,6,0.000,0.038,2995,2362,2646
$GC,8586,0.69,170.2,640.8,9.5,251,8590,0.00,2.33,0.00,0.000,4,0.000,0.064,2995,3789,2646
$GC,8741,0.69,170.2,624.8,9.9,254,8746,0.10,2.17,0.00,0.000,6,0.268,0.037,2984,2376,2646
$GC,9002,0.69,170.2,605.0,7.4,261,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2372,2646
$GC,9245,0.70,177.6,588.2,6.8,267,9259,0.00,2.30,6.93,0.952,4,0.000,0.064,2983,3782,2622
$GC,9511,0.70,177.6,565.9,8.8,273,9515,0.00,2.15,0.00,0.000,6,0.000,0.037,2992,2370,2622
$GC,9799,0.70,177.6,542.5,8.3,280,9803,0.00,2.30,0.00,0.000,4,0.000,0.062,2986,3792,2620
$GC,9888,0.70,177.6,534.2,8.9,282,9892,0.00,2.17,0.00,0.000,6,0.000,0.038,2995,2356,2620
$GC,10178,0.70,177.6,513.0,7.1,289,10182,0.00,2.10,0.00,0.000,4,0.000,0.039,3006,958,2620
$GC,10434,0.78,241.0,498.7,4.9,294,10497,0.00,2.25,56.08,1.086,6,0.000,0.052,3000,2370,2363
$GC,10776,0.78,241.0,454.5,14.8,303,10780,0.00,2.20,0.00,0.000,4,0.000,0.041,3008,958,2354
$GC,10836,0.78,241.0,445.7,13.5,304,10841,0.00,2.30,0.00,0.000,6,0.000,0.054,3008,2366,2354
$GC,11109,0.78,241.0,405.2,15.4,311,11113,0.00,2.33,0.00,0.000,4,0.000,0.066,3008,3786,2352
$GC,11180,0.78,241.0,392.8,17.2,312,11185,0.00,2.20,0.00,0.000,6,0.000,0.038,3020,2376,2352
$GC,11436,0.78,241.0,349.3,16.7,319,11440,0.00,2.15,0.00,0.000,4,0.000,0.039,3031,959,2351
$GC,11526,0.78,241.0,334.3,16.4,321,11530,0.00,2.28,0.00,0.000,6,0.000,0.056,3027,2370,2351
$GC,11809,0.78,241.0,290.4,14.9,328,11813,0.00,2.30,0.00,0.000,4,0.000,0.064,3027,3793,2350
$GC,11857,0.78,241.0,282.9,14.9,329,11863,0.10,2.20,0.00,0.000,6,0.236,0.037,3011,2380,2350
$GC,12136,0.78,241.0,253.1,10.3,336,12140,0.00,2.17,0.00,0.000,4,0.000,0.038,3021,939,2350
$GC,12270,0.78,241.0,239.1,10.3,339,12274,0.00,2.28,0.00,0.000,6,0.000,0.053,3022,2376,2350
$GC,12559,0.78,241.0,211.1,9.4,346,12560,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2376,2349
$GC,12809,0.78,241.0,188.2,9.4,361,12813,0.00,2.15,0.00,0.000,4,0.000,0.037,3033,945,2349
$GC,12844,0.78,241.0,184.6,9.7,364,12849,0.00,2.22,0.00,0.000,6,0.000,0.051,3030,2377,2350
$GC,13111,0.78,241.0,156.5,11.9,389,13115,0.00,2.22,0.00,0.000,4,0.000,0.059,3027,3785,2350
$GC,13147,0.78,241.0,152.2,11.4,392,13156,0.10,2.17,0.00,0.000,6,0.230,0.033,3011,2349,2350
$GC,13412,0.78,241.0,126.9,8.1,417,13416,0.00,2.30,0.00,0.000,4,0.000,0.058,3012,3790,2350
$GC,13663,0.89,328.0,110.2,4.2,439,13738,0.00,2.12,69.75,0.752,6,0.000,0.031,3021,2376,2010
$GC,13995,0.89,328.0,72.3,13.6,469,13998,0.00,2.15,0.00,0.000,4,0.000,0.035,3033,963,2003
$GC,14042,0.89,328.0,65.5,13.8,473,14051,0.00,2.25,0.00,0.000,6,0.000,0.048,3030,2365,2000
$GC,14305,0.89,328.0,28.2,14.8,499,14313,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2366,2000
$STATE,14477,end climb,SURFACE_DEPTH_REACHED
$STATE,14477,begin surface coast
$FINISH,0.1,1.023486
$STATE,14500,end surface coast,CONTROL_FINISHED_OK
$STATE,14500,begin surface
$SM_CCo,14515,47.28,0.630,0,0,1634,420.19
$SM_GC,2.18,0.00,0.00,47.28,0.000,0.000,0.630,52,2520,1634,-8.43,0.57,420.19
$IRIDIUM_FIX,2204.37,-15818.83,130300,121235
$TT8_MAMPS,0.02301
$HUMID,1665
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.8,11.193
$10V_AH,10.7,5.605
$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,22.125,147.300,402.050,47.275,0.000,57.568,77.271,427.779,0.000,0.000,0.000,13.735,1227.534,10547.055,520.804,2303.651,693.892,33.354,1545.432,0.000,2271.940,0.000,0.542,0.000
$DEVICE_MAMPS,278.421,88.205,1349.153,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,364.154,681.349,699.645,135.246,563.045,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44858,535
$CAP_FILE_SIZE,127909,0
$CFSIZE,260165632,257617920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,181210,161406,2212.324,-15820.121,30,1.1,30,9.9