version: 66.04
glider: 512
mission: 1
dive: 46
start: 12 19 110 0 28 1
data:
$ID,512
$MISSION,1
$DIVE,46
$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,-3967.2585
$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,35
$R_STBD_OVSHOOT,43
$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
$GPS1,001836,2215.594,-15819.737,39,1.1,44,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-79.3
$GPS2,002707,2215.601,-15819.717,12,1.3,17,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.172,0.150
$KALMAN_X,-1616.8,384.7,267.9,-14013.8,-7968.7
$KALMAN_Y,-43874.7,655.6,448.1,108180.9,-9356.2
$MHEAD_RNG_PITCHd_Wd,39.0,64020,-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,-146.0,0.0,0.0,0,71,0.00,0.00,-54.78,0.000,2,0.000,0.000,52,2529,3103
$GC,73,-0.66,-146.0,3.8,-5.9,7,106,11.80,2.25,-14.88,0.000,4,0.281,0.085,2517,3886,3944
$GC,162,-0.66,-146.0,45.5,-43.7,18,166,0.00,2.12,0.00,0.000,6,0.000,0.033,2522,2495,3946
$GC,430,-0.66,-146.0,155.8,-36.7,43,433,0.00,2.10,0.00,0.000,4,0.000,0.030,2525,1075,3946
$GC,452,-0.66,-146.0,164.8,-38.2,45,457,0.00,2.33,0.00,0.000,6,0.000,0.071,2515,2479,3946
$GC,726,-0.66,-146.0,252.4,-31.7,59,730,0.00,2.30,0.00,0.000,4,0.000,0.068,2503,3901,3948
$GC,816,-0.66,-146.0,274.8,-20.5,61,820,0.00,2.10,0.00,0.000,6,0.000,0.030,2511,2485,3948
$GC,1104,-0.66,-146.0,344.2,-23.8,68,1108,0.00,2.42,0.00,0.000,4,0.000,0.091,2502,3905,3949
$GC,1204,-0.66,-146.0,365.7,-18.9,70,1209,0.00,2.10,0.00,0.000,6,0.000,0.031,2510,2507,3948
$GC,1476,-0.66,-146.0,429.1,-23.9,77,1480,0.00,2.38,0.00,0.000,4,0.000,0.092,2500,3900,3947
$GC,1587,-0.66,-146.0,453.4,-19.1,79,1592,0.00,2.10,0.00,0.000,6,0.000,0.031,2508,2503,3946
$GC,1856,-0.66,-146.0,508.5,-20.3,86,1860,0.00,2.38,0.00,0.000,4,0.000,0.092,2498,3899,3943
$GC,1904,-0.66,-146.0,519.4,-20.5,87,1909,0.05,2.10,0.00,0.000,6,0.178,0.033,2524,2493,3943
$GC,2182,-0.66,-146.0,573.3,-19.5,94,2186,0.00,2.40,0.00,0.000,4,0.000,0.092,2513,3903,3940
$GC,2236,-0.66,-146.0,583.7,-18.2,95,2241,0.00,2.10,0.00,0.000,6,0.000,0.034,2520,2506,3940
$GC,2510,-0.66,-146.0,634.6,-18.8,102,2514,0.00,2.38,0.00,0.000,4,0.000,0.091,2510,3905,3938
$GC,2598,-0.66,-146.0,650.9,-15.9,104,2603,0.00,2.15,0.00,0.000,6,0.000,0.035,2510,2500,3937
$GC,2883,-0.66,-146.0,705.3,-19.2,111,2887,0.00,2.38,0.00,0.000,4,0.000,0.091,2501,3900,3933
$GC,2988,-0.66,-146.0,725.0,-17.0,113,2993,0.00,2.12,0.00,0.000,6,0.000,0.035,2508,2499,3932
$GC,3255,-0.66,-146.0,774.0,-18.7,120,3259,0.00,2.38,0.00,0.000,4,0.000,0.091,2498,3901,3930
$GC,3342,-0.66,-146.0,789.5,-15.7,122,3347,0.00,2.12,0.00,0.000,6,0.000,0.035,2507,2500,3929
$GC,3626,-0.66,-146.0,838.9,-17.3,129,3630,0.00,2.38,0.00,0.000,4,0.000,0.088,2497,3903,3927
$GC,3663,-0.66,-146.0,845.6,-16.8,129,3671,0.00,2.12,0.00,0.000,6,0.000,0.036,2505,2503,3926
$GC,3915,-0.66,-146.0,886.5,-16.3,136,3919,0.12,2.38,0.00,0.000,4,0.211,0.092,2526,3898,3924
$GC,3991,-0.66,-146.0,896.9,-10.8,137,3998,0.00,2.15,0.00,0.000,6,0.000,0.037,2529,2494,3923
$GC,4241,-0.66,-146.0,929.5,-13.4,144,4244,0.00,2.38,0.00,0.000,4,0.000,0.089,2524,3900,3921
$GC,4285,-0.66,-146.0,935.3,-12.0,145,4289,0.00,2.10,0.00,0.000,6,0.000,0.038,2524,2500,3921
$STATE,4409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4410,begin apogee
$GC,4414,-0.32,0.0,952.9,14.4,148,4537,0.43,0.00,120.70,1.336,6,0.181,0.000,2645,2388,3347
$STATE,4538,end apogee,CONTROL_FINISHED_OK
$STATE,4538,begin climb
$GC,4539,0.66,146.0,959.2,0.0,151,4677,1.05,2.50,130.38,1.303,4,0.140,0.071,2954,3782,2751
$GC,4925,0.66,146.0,944.1,10.9,160,4929,0.00,2.25,0.00,0.000,6,0.000,0.037,2965,2345,2743
$GC,5214,0.66,146.0,916.4,9.6,167,5219,0.00,2.38,0.00,0.000,4,0.000,0.063,2958,3786,2739
$GC,5437,0.66,146.0,893.2,10.4,172,5442,0.00,2.20,0.00,0.000,6,0.000,0.037,2967,2371,2738
$GC,5721,0.66,146.0,868.8,8.4,179,5725,0.00,2.35,0.00,0.000,4,0.000,0.066,2967,3795,2736
$GC,5910,0.66,146.0,850.6,9.6,183,5914,0.00,2.20,0.00,0.000,6,0.000,0.036,2976,2370,2736
$GC,6182,0.66,146.0,828.0,8.3,190,6186,0.00,2.33,0.00,0.000,4,0.000,0.063,2971,3793,2734
$GC,6271,0.66,146.0,820.2,8.6,192,6275,0.00,2.17,0.00,0.000,6,0.000,0.037,2979,2363,2734
$GC,6559,0.67,149.9,799.6,6.9,199,6563,0.00,2.33,0.00,0.000,4,0.000,0.064,2979,3787,2733
$GC,6602,0.67,149.9,796.4,7.3,200,6607,0.00,2.17,0.00,0.000,6,0.000,0.037,2989,2372,2733
$GC,6887,0.73,200.2,780.0,5.4,207,6936,0.00,2.22,45.08,1.215,4,0.000,0.040,2999,964,2529
$GC,7098,0.73,200.2,756.6,12.2,211,7105,0.00,2.35,0.00,0.000,6,0.000,0.058,2999,2369,2525
$GC,7348,0.73,200.2,722.6,13.6,218,7352,0.00,2.33,0.00,0.000,4,0.000,0.066,2999,3789,2522
$GC,7464,0.73,200.2,704.5,16.7,220,7469,0.00,2.20,0.00,0.000,6,0.000,0.038,3009,2386,2521
$GC,7725,0.73,200.2,667.7,13.9,227,7729,0.00,2.33,0.00,0.000,4,0.000,0.067,3010,3795,2521
$GC,7770,0.73,200.2,660.8,16.2,228,7774,0.15,2.20,0.00,0.000,6,0.272,0.038,2993,2362,2520
$GC,8058,0.73,200.2,621.8,13.5,235,8061,0.00,2.33,0.00,0.000,4,0.000,0.064,2986,3788,2519
$GC,8095,0.73,200.2,616.1,15.0,235,8104,0.00,2.20,0.00,0.000,6,0.000,0.039,2995,2367,2519
$GC,8345,0.73,200.2,582.2,13.7,242,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2366,2518
$GC,8589,0.73,200.2,549.7,13.4,248,8592,0.00,2.33,0.00,0.000,4,0.000,0.067,2995,3790,2518
$GC,8834,0.73,200.2,516.1,11.8,253,8839,0.00,2.17,0.00,0.000,6,0.000,0.038,3006,2381,2517
$GC,9101,0.73,200.2,486.3,11.1,260,9105,0.00,2.30,0.00,0.000,4,0.000,0.066,3007,3789,2517
$GC,9296,0.73,200.2,463.5,11.2,264,9301,0.10,2.17,0.00,0.000,6,0.264,0.038,2996,2379,2516
$GC,9569,0.73,200.2,438.1,9.2,271,9572,0.00,2.15,0.00,0.000,4,0.000,0.039,3005,953,2516
$GC,9595,0.73,200.2,435.6,9.5,271,9600,0.00,2.30,0.00,0.000,6,0.000,0.054,3000,2379,2516
$GC,9856,0.73,200.2,412.4,8.9,278,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2379,2515
$GC,10099,0.73,200.2,391.3,8.5,284,10103,0.00,2.25,0.00,0.000,4,0.000,0.064,3000,3786,2515
$GC,10284,0.73,200.2,373.2,9.8,288,10288,0.00,2.17,0.00,0.000,6,0.000,0.038,3008,2373,2515
$GC,10567,0.73,200.2,348.2,8.8,295,10571,0.00,2.28,0.00,0.000,4,0.000,0.061,3009,3786,2515
$GC,10615,0.73,200.2,343.5,9.9,296,10621,0.12,2.17,0.00,0.000,6,0.259,0.036,2992,2365,2515
$GC,10901,0.76,220.1,324.9,6.4,303,10930,0.00,2.35,17.77,0.821,4,0.000,0.064,2986,3787,2448
$GC,11002,0.76,220.1,318.0,7.7,305,11007,0.00,2.20,0.00,0.000,6,0.000,0.037,2995,2372,2447
$GC,11274,0.76,220.1,296.0,8.3,312,11278,0.00,2.15,0.00,0.000,4,0.000,0.038,3006,949,2446
$GC,11368,0.76,220.1,287.7,8.1,314,11373,0.00,2.28,0.00,0.000,6,0.000,0.052,2999,2372,2446
$GC,11654,0.76,220.1,263.6,8.6,321,11658,0.00,2.28,0.00,0.000,4,0.000,0.062,3000,3794,2446
$GC,11911,0.76,220.1,236.6,7.3,326,11918,0.00,2.20,0.00,0.000,6,0.000,0.035,3010,2361,2446
$GC,12161,0.86,302.6,225.3,4.3,333,12236,0.00,2.25,69.47,0.839,4,0.000,0.037,3022,958,2113
$GC,12411,0.86,302.6,193.2,13.6,341,12415,0.00,2.28,0.00,0.000,6,0.000,0.054,3022,2370,2104
$GC,12671,0.86,302.6,151.5,16.1,365,12675,0.00,2.28,0.00,0.000,4,0.000,0.059,3022,3786,2102
$GC,12697,0.86,302.6,146.4,18.2,367,12706,0.00,2.20,0.00,0.000,6,0.000,0.035,3033,2379,2101
$GC,12959,0.86,302.6,105.8,12.3,392,12963,0.00,2.17,0.00,0.000,4,0.000,0.035,3045,939,2101
$GC,13007,0.86,302.6,101.0,9.0,396,13016,0.00,2.28,0.00,0.000,6,0.000,0.049,3040,2366,2101
$GC,13270,0.86,302.6,71.5,12.4,421,13271,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2366,2101
$GC,13525,0.86,302.6,38.4,13.3,445,13529,0.00,2.12,0.00,0.000,4,0.000,0.034,3049,946,2101
$GC,13559,0.86,302.6,33.9,12.8,448,13563,0.00,2.22,0.00,0.000,6,0.000,0.048,3049,2372,2101
$STATE,13798,end climb,SURFACE_DEPTH_REACHED
$STATE,13798,begin surface coast
$FINISH,0.2,1.014865
$STATE,13821,end surface coast,CONTROL_FINISHED_OK
$STATE,13821,begin surface
$SM_CCo,13836,57.67,0.597,0,0,1633,420.19
$SM_GC,1.79,0.00,0.00,57.67,0.000,0.000,0.597,49,2526,1633,-8.44,0.74,420.19
$IRIDIUM_FIX,2206.70,-15827.48,130300,202001
$TT8_MAMPS,0.024544
$HUMID,1654
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.8,11.690
$10V_AH,10.7,5.914
$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,22.150,153.125,383.400,57.675,0.000,29.916,46.942,319.134,0.000,0.000,0.000,17.468,1173.710,9907.246,535.615,2247.127,531.444,33.355,1540.343,0.000,2218.328,0.000,0.543,0.000
$DEVICE_MAMPS,280.722,92.040,1336.114,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,335.851,600.382,618.853,127.533,524.817,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41362,493
$CAP_FILE_SIZE,122716,0
$CFSIZE,260165632,257441792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,191210,042037,2216.324,-15819.410,28,1.9,28,10.0