version: 66.04
glider: 512
mission: 1
dive: 48
start: 12 19 110 9 3 45
data:
$ID,512
$MISSION,1
$DIVE,48
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3998.5457
$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,47
$R_STBD_OVSHOOT,32
$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
$GPS1,085500,2217.178,-15818.702,38,1.0,43,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-75.9
$GPS2,090250,2217.228,-15818.716,14,1.5,14,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.218,-0.070
$KALMAN_X,-9524.5,634.0,471.5,-4849.7,-12479.7
$KALMAN_Y,-46034.2,1046.7,700.2,112701.8,-8608.2
$MHEAD_RNG_PITCHd_Wd,97.8,60557,-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,12,begin dive
$GC,14,-0.66,-146.0,0.0,0.0,0,71,0.00,0.00,-55.17,0.000,2,0.000,0.000,45,2522,3096
$GC,73,-0.66,-146.0,3.4,-4.9,7,107,11.68,2.25,-15.70,0.000,4,0.277,0.048,2532,1091,3946
$GC,142,-0.66,-146.0,36.6,-49.4,17,152,0.00,2.38,0.00,0.000,6,0.000,0.071,2523,2489,3946
$GC,404,-0.66,-146.0,152.1,-38.4,42,408,0.00,2.28,0.00,0.000,4,0.000,0.064,2511,3903,3947
$GC,415,-0.66,-146.0,156.5,-37.3,42,423,0.00,2.15,0.00,0.000,6,0.000,0.034,2519,2496,3947
$GC,699,-0.66,-146.0,256.9,-33.7,58,703,0.00,2.42,0.00,0.000,4,0.000,0.092,2509,3903,3949
$GC,804,-0.66,-146.0,283.9,-20.7,60,809,0.00,2.10,0.00,0.000,6,0.000,0.030,2513,2509,3949
$GC,1072,-0.66,-146.0,351.1,-25.0,67,1076,0.00,2.42,0.00,0.000,4,0.000,0.100,2504,3901,3950
$GC,1172,-0.66,-146.0,376.2,-20.9,69,1176,0.00,2.10,0.00,0.000,6,0.000,0.031,2512,2504,3949
$GC,1445,-0.66,-146.0,439.1,-23.5,76,1449,0.00,2.40,0.00,0.000,4,0.000,0.096,2502,3901,3949
$GC,1515,-0.66,-146.0,455.0,-20.0,77,1520,0.00,2.10,0.00,0.000,6,0.000,0.032,2510,2504,3949
$GC,1771,-0.66,-146.0,508.7,-21.5,84,1775,0.00,2.40,0.00,0.000,4,0.000,0.096,2500,3901,3946
$GC,1855,-0.66,-146.0,525.0,-18.2,86,1858,0.00,2.10,0.00,0.000,6,0.000,0.034,2509,2500,3946
$GC,2143,-0.66,-146.0,581.6,-19.5,93,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2494,3943
$GC,2386,-0.66,-146.0,628.3,-19.0,99,2390,0.00,2.38,0.00,0.000,4,0.000,0.096,2499,3898,3939
$GC,2521,-0.66,-146.0,652.9,-16.4,102,2525,0.00,2.10,0.00,0.000,6,0.000,0.035,2507,2493,3939
$GC,2803,-0.66,-146.0,706.8,-19.5,109,2807,0.00,2.42,0.00,0.000,4,0.000,0.097,2498,3903,3935
$GC,2841,-0.66,-146.0,714.8,-21.3,109,2848,0.00,2.15,0.00,0.000,6,0.000,0.036,2506,2500,3935
$GC,3092,-0.66,-146.0,762.8,-19.2,116,3096,0.00,2.40,0.00,0.000,4,0.000,0.097,2497,3898,3932
$GC,3157,-0.66,-146.0,774.9,-15.7,117,3162,0.00,2.15,0.00,0.000,6,0.000,0.035,2505,2500,3931
$GC,3418,-0.66,-146.0,819.8,-17.2,124,3423,0.12,2.40,0.00,0.000,4,0.205,0.099,2526,3898,3929
$GC,3456,-0.66,-146.0,825.8,-14.2,125,3460,0.00,2.12,0.00,0.000,6,0.000,0.037,2529,2492,3928
$GC,3744,-0.66,-146.0,863.4,-12.8,132,3748,0.00,2.42,0.00,0.000,4,0.000,0.095,2524,3903,3926
$GC,3821,-0.66,-146.0,872.4,-11.2,133,3828,0.00,2.15,0.00,0.000,6,0.000,0.038,2526,2501,3925
$GC,4071,-0.66,-146.0,903.2,-12.5,140,4075,0.00,2.40,0.00,0.000,4,0.000,0.097,2523,3900,3923
$GC,4138,-0.66,-146.0,911.2,-10.3,141,4142,0.00,2.12,0.00,0.000,6,0.000,0.038,2523,2496,3922
$GC,4400,-0.66,-146.0,946.0,-13.7,148,4404,0.00,2.42,0.00,0.000,4,0.000,0.097,2523,3903,3920
$STATE,4424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4424,begin apogee
$GC,4430,-0.32,0.0,950.2,14.9,148,4553,0.40,0.00,120.45,1.332,6,0.175,0.000,2640,2361,3347
$STATE,4554,end apogee,CONTROL_FINISHED_OK
$STATE,4554,begin climb
$GC,4555,0.66,146.0,955.4,0.0,151,4693,1.08,2.33,130.35,1.290,4,0.143,0.038,2965,952,2750
$GC,4945,0.66,146.0,948.7,7.5,160,4950,0.00,2.40,0.00,0.000,6,0.000,0.064,2965,2367,2741
$GC,5229,0.66,146.0,926.5,7.5,167,5232,0.00,2.17,0.00,0.000,4,0.000,0.041,2975,947,2738
$GC,5485,0.66,146.0,908.0,7.3,172,5490,0.00,2.35,0.00,0.000,6,0.000,0.060,2971,2370,2736
$GC,5741,0.66,146.0,889.6,7.3,179,5745,0.00,2.33,0.00,0.000,4,0.000,0.071,2971,3786,2734
$GC,5757,0.66,146.0,888.4,7.4,179,5762,0.00,2.20,0.00,0.000,6,0.000,0.041,2980,2355,2733
$GC,6024,0.66,146.0,867.9,7.5,186,6028,0.00,2.38,0.00,0.000,4,0.000,0.073,2980,3786,2732
$GC,6117,0.66,146.0,859.5,9.0,188,6122,0.00,2.20,0.00,0.000,6,0.000,0.039,2989,2364,2732
$GC,6395,0.66,146.0,836.9,8.2,195,6398,0.00,2.35,0.00,0.000,4,0.000,0.071,2987,3796,2730
$GC,6642,0.66,146.0,814.6,8.5,200,6646,0.15,2.17,0.00,0.000,6,0.276,0.040,2968,2376,2730
$GC,6901,0.66,146.0,794.7,7.6,207,6905,0.00,2.15,0.00,0.000,4,0.000,0.039,2977,950,2729
$GC,6966,0.66,146.0,789.5,7.4,208,6971,0.00,2.28,0.00,0.000,6,0.000,0.058,2970,2368,2729
$GC,7233,0.66,146.0,769.0,7.6,215,7237,0.00,2.15,0.00,0.000,4,0.000,0.041,2979,953,2728
$GC,7490,0.68,156.2,751.5,6.7,220,7504,0.00,2.30,5.72,0.946,6,0.000,0.058,2971,2369,2709
$GC,7745,0.68,158.1,733.9,6.9,227,7749,0.00,2.15,0.00,0.000,4,0.000,0.041,2980,949,2707
$GC,8002,0.69,164.2,716.5,6.8,232,8016,0.00,2.30,8.48,1.039,6,0.000,0.058,2971,2369,2677
$GC,8257,0.69,164.2,696.8,7.9,239,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2369,2675
$GC,8501,0.69,170.8,680.2,6.8,245,8514,0.00,2.38,7.25,0.989,4,0.000,0.071,2971,3785,2650
$GC,8666,0.69,170.8,665.1,10.2,248,8671,0.00,2.20,0.00,0.000,6,0.000,0.040,2980,2369,2649
$GC,8921,0.69,170.8,646.0,7.2,255,8925,0.00,2.12,0.00,0.000,4,0.000,0.040,2990,959,2649
$GC,8970,0.69,170.8,642.4,7.5,256,8975,0.00,2.30,0.00,0.000,6,0.000,0.059,2986,2369,2649
$GC,9255,0.69,170.8,622.8,7.1,263,9259,0.00,2.28,0.00,0.000,4,0.000,0.069,2986,3782,2648
$GC,9270,0.69,170.8,621.3,7.4,263,9275,0.00,2.20,0.00,0.000,6,0.000,0.040,2995,2369,2648
$GC,9537,0.69,170.8,600.1,8.3,270,9541,0.00,2.33,0.00,0.000,4,0.000,0.067,2995,3790,2648
$GC,9793,0.69,170.8,577.3,8.4,275,9799,0.10,2.20,0.00,0.000,6,0.270,0.038,2984,2364,2647
$GC,10049,0.71,180.0,559.6,6.7,282,10063,0.00,2.35,9.27,0.983,4,0.000,0.068,2983,3773,2613
$GC,10316,0.71,180.0,538.0,8.6,288,10320,0.00,2.15,0.00,0.000,6,0.000,0.039,2993,2361,2613
$GC,10604,0.73,202.8,518.5,6.3,295,10631,0.00,2.38,21.35,1.042,4,0.000,0.067,2986,3789,2519
$GC,10882,0.73,202.8,487.8,11.8,301,10887,0.00,2.22,0.00,0.000,6,0.000,0.041,2995,2365,2516
$GC,11154,0.73,202.8,458.1,11.2,308,11158,0.00,2.35,0.00,0.000,4,0.000,0.069,2995,3783,2514
$GC,11411,0.73,202.8,427.0,11.1,313,11416,0.00,2.17,0.00,0.000,6,0.000,0.038,3006,2377,2514
$GC,11666,0.73,202.8,402.6,9.2,320,11670,0.00,2.15,0.00,0.000,4,0.000,0.038,3018,952,2513
$GC,11726,0.73,202.8,397.0,8.5,321,11731,0.10,2.28,0.00,0.000,6,0.227,0.057,2994,2367,2512
$GC,11998,0.73,202.8,372.8,8.9,328,12002,0.00,2.30,0.00,0.000,4,0.000,0.067,2986,3786,2512
$GC,12075,0.73,202.8,365.1,9.7,329,12083,0.00,2.20,0.00,0.000,6,0.000,0.040,2995,2373,2512
$GC,12326,0.73,202.8,342.8,9.0,336,12330,0.00,2.15,0.00,0.000,4,0.000,0.039,3006,950,2512
$GC,12381,0.73,202.8,338.6,7.8,337,12385,0.00,2.25,0.00,0.000,6,0.000,0.054,3000,2362,2512
$GC,12659,0.73,202.8,317.5,7.6,344,12662,0.00,2.30,0.00,0.000,4,0.000,0.067,3000,3783,2511
$GC,12675,0.73,202.8,316.2,7.8,344,12679,0.00,2.17,0.00,0.000,6,0.000,0.039,3009,2358,2511
$GC,12947,0.79,249.1,299.7,5.5,351,12992,0.00,2.38,39.70,0.913,4,0.000,0.066,3010,3779,2330
$GC,13008,0.79,249.1,294.5,11.6,352,13012,0.00,2.22,0.00,0.000,6,0.000,0.036,3021,2372,2328
$GC,13274,0.79,249.1,257.6,13.1,359,13278,0.00,2.33,0.00,0.000,4,0.000,0.063,3021,3783,2325
$GC,13530,0.79,249.1,215.8,16.3,364,13536,0.08,2.20,0.00,0.000,6,0.242,0.035,3014,2364,2323
$GC,13792,0.79,249.1,185.2,10.8,380,13796,0.00,2.12,0.00,0.000,4,0.000,0.037,3024,958,2323
$GC,13893,0.79,249.1,175.1,10.3,389,13897,0.00,2.25,0.00,0.000,6,0.000,0.056,3024,2370,2322
$GC,14153,0.79,249.1,151.0,9.3,413,14157,0.00,2.12,0.00,0.000,4,0.000,0.037,3036,956,2322
$GC,14221,0.79,249.1,144.4,10.0,419,14226,0.12,2.25,0.00,0.000,6,0.222,0.054,3009,2374,2322
$GC,14484,0.79,249.1,119.6,8.7,443,14488,0.00,2.28,0.00,0.000,4,0.000,0.064,3009,3790,2322
$GC,14735,1.01,425.2,110.3,1.3,465,14885,0.12,2.15,142.90,0.740,6,0.084,0.032,3070,2356,1613
$GC,15140,1.01,425.2,25.0,26.6,502,15148,0.00,2.38,0.00,0.000,4,0.000,0.058,3067,3789,1605
$GC,15208,1.01,425.2,7.6,24.7,514,15216,0.00,2.17,0.00,0.000,6,0.000,0.034,3076,2396,1605
$STATE,15228,end climb,SURFACE_DEPTH_REACHED
$STATE,15228,begin surface coast
$FINISH,0.4,1.023550
$STATE,15240,end surface coast,CONTROL_FINISHED_OK
$STATE,15240,begin surface
$SM_CCo,15315,0.00,0.000,0,0,1600,428.53
$SM_GC,1.17,8.48,0.00,0.00,0.070,0.000,0.000,53,2541,1600,-8.38,1.16,428.53
$IRIDIUM_FIX,2209.02,-15817.97,140300,040446
$TT8_MAMPS,0.023777
$HUMID,1693
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.8,12.040
$10V_AH,10.6,6.133
$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,22.425,171.800,485.475,0.000,0.000,24.407,36.327,296.769,0.000,0.000,0.000,14.621,1256.381,11041.054,542.592,2429.568,503.215,33.348,1690.221,0.000,2395.085,0.000,0.543,0.000
$DEVICE_MAMPS,276.887,100.477,1332.279,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,352.530,602.537,623.006,103.372,431.016,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41690,519
$CAP_FILE_SIZE,135164,0
$CFSIZE,260165632,257310720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,191210,132006,2217.092,-15818.195,34,1.0,34,10.0