version: 66.04
glider: 512
mission: 1
dive: 50
start: 12 19 110 17 51 32
data:
$ID,512
$MISSION,1
$DIVE,50
$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,-4029.2271
$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,50
$R_STBD_OVSHOOT,25
$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
$GPS1,174454,2218.469,-15818.140,38,1.6,38,10.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.7
$GPS2,175038,2218.515,-15818.194,15,1.3,15,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.153,0.170
$KALMAN_X,-17536.0,1512.6,998.3,2631.9,-16762.7
$KALMAN_Y,-43916.6,828.8,22.0,113885.8,-4560.8
$MHEAD_RNG_PITCHd_Wd,31.9,58066,-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,-54.75,0.000,2,0.000,0.000,51,2512,3088
$GC,73,-0.66,-146.0,3.1,-4.2,7,107,11.62,2.40,-15.93,0.000,4,0.277,0.102,2513,3902,3945
$GC,195,-0.66,-146.0,57.8,-34.4,22,198,0.00,2.12,0.00,0.000,6,0.000,0.034,2520,2509,3947
$GC,461,-0.66,-146.0,169.0,-40.8,47,465,0.00,2.12,0.00,0.000,4,0.000,0.034,2527,1085,3947
$GC,487,-0.66,-146.0,179.2,-36.8,49,495,0.00,2.33,0.00,0.000,6,0.000,0.068,2517,2495,3948
$GC,761,-0.66,-146.0,262.8,-29.5,61,765,0.00,2.33,0.00,0.000,4,0.000,0.078,2505,3902,3949
$GC,848,-0.66,-146.0,287.9,-26.5,63,854,0.00,2.12,0.00,0.000,6,0.000,0.031,2512,2491,3950
$GC,1132,-0.66,-146.0,361.0,-25.0,70,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2486,3950
$GC,1378,-0.66,-146.0,417.8,-22.7,76,1382,0.00,2.42,0.00,0.000,4,0.000,0.097,2503,3898,3950
$GC,1516,-0.66,-146.0,446.1,-19.0,79,1521,0.00,2.10,0.00,0.000,6,0.000,0.033,2511,2503,3948
$GC,1795,-0.66,-146.0,506.0,-21.6,86,1800,0.00,2.42,0.00,0.000,4,0.000,0.100,2501,3903,3947
$GC,1928,-0.66,-146.0,533.3,-18.0,89,1933,0.00,2.12,0.00,0.000,6,0.000,0.034,2509,2496,3945
$GC,2213,-0.66,-146.0,590.9,-20.5,96,2217,0.00,2.42,0.00,0.000,4,0.000,0.096,2499,3904,3942
$GC,2363,-0.66,-146.0,619.3,-17.0,99,2368,0.00,2.12,0.00,0.000,6,0.000,0.035,2508,2501,3941
$GC,2631,-0.66,-146.0,671.7,-19.9,106,2635,0.00,2.40,0.00,0.000,4,0.000,0.097,2498,3905,3938
$GC,2720,-0.66,-146.0,689.1,-17.1,108,2723,0.00,2.10,0.00,0.000,6,0.000,0.035,2506,2501,3938
$GC,3002,-0.66,-146.0,743.2,-19.3,115,3006,0.00,2.40,0.00,0.000,4,0.000,0.094,2497,3903,3935
$GC,3101,-0.66,-146.0,762.0,-18.1,117,3107,0.08,2.12,0.00,0.000,6,0.171,0.036,2529,2500,3933
$GC,3374,-0.66,-146.0,806.9,-16.6,124,3378,0.00,2.40,0.00,0.000,4,0.000,0.094,2520,3906,3931
$GC,3434,-0.66,-146.0,817.0,-15.9,125,3439,0.00,2.17,0.00,0.000,6,0.000,0.037,2522,2495,3931
$GC,3702,-0.66,-146.0,863.0,-17.7,132,3706,0.00,2.40,0.00,0.000,4,0.000,0.094,2511,3901,3928
$GC,3767,-0.66,-146.0,874.5,-15.8,133,3772,0.00,2.12,0.00,0.000,6,0.000,0.037,2518,2503,3927
$GC,4028,-0.66,-146.0,921.1,-18.2,140,4032,0.00,2.40,0.00,0.000,4,0.000,0.097,2510,3899,3925
$GC,4060,-0.66,-146.0,927.4,-18.6,140,4068,0.00,2.15,0.00,0.000,6,0.000,0.038,2510,2497,3925
$STATE,4187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4187,begin apogee
$GC,4191,-0.32,0.0,950.6,18.4,144,4316,0.47,0.00,122.25,1.338,6,0.187,0.000,2644,2386,3347
$STATE,4317,end apogee,CONTROL_FINISHED_OK
$STATE,4317,begin climb
$GC,4318,0.66,146.0,960.0,0.0,147,4459,1.05,2.58,131.40,1.295,4,0.140,0.078,2952,3780,2750
$GC,4710,0.66,146.0,951.2,9.1,156,4715,0.00,2.28,0.00,0.000,6,0.000,0.038,2962,2355,2742
$GC,4995,0.66,146.0,927.5,8.4,163,5000,0.00,2.38,0.00,0.000,4,0.000,0.068,2958,3783,2738
$GC,5111,0.66,146.0,916.5,9.5,165,5116,0.00,2.22,0.00,0.000,6,0.000,0.038,2967,2361,2737
$GC,5367,0.66,146.0,896.0,7.8,172,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2355,2736
$GC,5611,0.66,146.0,876.5,8.0,178,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2356,2735
$GC,5854,0.66,146.0,858.2,7.4,184,5858,0.00,2.35,0.00,0.000,4,0.000,0.071,2967,3789,2733
$GC,5959,0.66,146.0,850.0,7.8,186,5964,0.00,2.20,0.00,0.000,6,0.000,0.038,2976,2366,2733
$GC,6232,0.69,169.5,832.1,6.2,193,6256,0.00,2.40,18.45,1.190,4,0.000,0.070,2971,3780,2655
$GC,6413,0.69,169.5,812.5,11.9,197,6418,0.00,2.20,0.00,0.000,6,0.000,0.038,2980,2375,2652
$GC,6698,0.69,169.5,784.0,9.7,204,6702,0.00,2.35,0.00,0.000,4,0.000,0.070,2979,3787,2649
$GC,6757,0.69,169.5,777.3,10.9,205,6762,0.00,2.20,0.00,0.000,6,0.000,0.038,2988,2372,2650
$GC,7024,0.69,169.5,752.8,9.0,212,7028,0.00,2.35,0.00,0.000,4,0.000,0.069,2986,3793,2648
$GC,7113,0.69,169.5,743.2,10.5,214,7117,0.00,2.17,0.00,0.000,6,0.000,0.039,2996,2375,2648
$GC,7404,0.69,169.5,716.4,9.3,221,7408,0.00,2.15,0.00,0.000,4,0.000,0.039,3006,951,2648
$GC,7531,0.69,169.5,705.3,9.0,223,7539,0.00,2.28,0.00,0.000,6,0.000,0.057,3000,2365,2647
$GC,7781,0.69,169.5,682.2,9.3,230,7785,0.00,2.30,0.00,0.000,4,0.000,0.069,3000,3782,2647
$GC,7802,0.69,169.5,680.0,10.7,230,7807,0.12,2.20,0.00,0.000,6,0.268,0.040,2981,2373,2647
$GC,8070,0.69,169.5,654.7,9.5,237,8074,0.00,2.33,0.00,0.000,4,0.000,0.069,2971,3786,2646
$GC,8327,0.69,169.5,628.0,10.5,242,8334,0.00,2.20,0.00,0.000,6,0.000,0.040,2980,2360,2646
$GC,8577,0.69,169.5,605.5,8.6,249,8580,0.00,2.12,0.00,0.000,4,0.000,0.039,2991,952,2645
$GC,8711,0.69,169.5,594.6,8.7,252,8715,0.00,2.25,0.00,0.000,6,0.000,0.058,2986,2370,2645
$GC,8999,0.69,169.5,570.5,8.2,259,9003,0.00,2.30,0.00,0.000,4,0.000,0.071,2986,3786,2645
$GC,9020,0.69,169.5,568.6,8.9,259,9025,0.00,2.17,0.00,0.000,6,0.000,0.040,2995,2382,2645
$GC,9282,0.69,169.5,546.9,8.5,266,9286,0.00,2.30,0.00,0.000,4,0.000,0.070,2995,3782,2645
$GC,9437,0.69,169.5,532.8,8.5,269,9442,0.10,2.17,0.00,0.000,6,0.263,0.039,2983,2368,2644
$GC,9698,0.73,201.6,516.1,6.0,276,9732,0.00,2.25,26.92,1.052,4,0.000,0.041,2993,945,2525
$GC,9765,0.73,201.6,511.4,9.5,277,9769,0.00,2.33,0.00,0.000,6,0.000,0.058,2986,2366,2523
$GC,10026,0.73,201.6,485.5,9.8,284,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2367,2520
$GC,10269,0.73,201.6,465.3,8.2,290,10274,0.00,2.33,0.00,0.000,4,0.000,0.071,2986,3783,2519
$GC,10525,0.73,201.6,439.8,9.7,295,10531,0.00,2.20,0.00,0.000,6,0.000,0.040,2995,2374,2518
$GC,10781,0.73,201.6,415.6,9.3,302,10785,0.00,2.33,0.00,0.000,4,0.000,0.071,2996,3782,2519
$GC,10802,0.73,201.6,413.3,10.9,302,10807,0.00,2.20,0.00,0.000,6,0.000,0.038,3006,2363,2518
$GC,11063,0.73,201.6,389.7,8.9,309,11067,0.00,2.35,0.00,0.000,4,0.000,0.070,3007,3790,2518
$GC,11095,0.73,201.6,386.8,9.2,309,11101,0.10,2.20,0.00,0.000,6,0.261,0.038,2996,2366,2518
$GC,11352,0.73,201.6,366.9,7.6,316,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2360,2518
$GC,11594,0.73,201.6,348.7,7.3,322,11598,0.00,2.35,0.00,0.000,4,0.000,0.071,2996,3787,2518
$GC,11778,0.75,218.4,335.4,6.5,326,11798,0.00,2.17,14.98,0.897,6,0.000,0.038,3006,2353,2456
$GC,12059,0.75,218.4,312.4,8.4,333,12062,0.00,2.10,0.00,0.000,4,0.000,0.038,3018,960,2453
$GC,12214,0.77,230.9,300.3,6.6,336,12231,0.00,2.28,12.12,0.849,6,0.000,0.058,3018,2367,2405
$GC,12474,0.77,230.9,274.1,10.5,342,12478,0.00,2.30,0.00,0.000,4,0.000,0.067,3013,3780,2402
$GC,12730,0.77,230.9,248.6,8.3,347,12738,0.00,2.17,0.00,0.000,6,0.000,0.035,3023,2359,2402
$GC,12982,0.77,230.9,229.6,7.8,354,12986,0.00,2.35,0.00,0.000,4,0.000,0.068,3023,3790,2401
$GC,13238,0.77,230.9,203.1,10.4,359,13246,0.12,2.15,0.00,0.000,6,0.244,0.035,3004,2378,2401
$GC,13500,0.77,230.9,182.7,7.5,381,13504,0.00,2.30,0.00,0.000,4,0.000,0.066,3000,3790,2402
$GC,13642,0.77,230.9,171.9,7.2,393,13651,0.00,2.15,0.00,0.000,6,0.000,0.035,3010,2364,2401
$GC,13905,0.77,230.9,152.5,8.5,418,13909,0.00,2.08,0.00,0.000,4,0.000,0.035,3023,968,2401
$GC,14128,0.80,259.9,137.0,6.1,438,14159,0.00,2.20,25.48,0.729,6,0.000,0.051,3023,2374,2287
$GC,14413,0.80,259.9,109.3,9.9,464,14417,0.00,2.28,0.00,0.000,4,0.000,0.061,3023,3795,2283
$GC,14489,0.80,259.9,101.5,9.1,470,14499,0.00,2.15,0.00,0.000,6,0.000,0.032,3034,2376,2283
$GC,14753,0.80,259.9,82.7,7.4,495,14757,0.00,2.28,0.00,0.000,4,0.000,0.062,3027,3783,2282
$GC,14958,0.80,259.9,64.6,7.8,513,14968,0.00,2.12,0.00,0.000,6,0.000,0.031,3037,2368,2282
$GC,15222,0.80,259.9,45.6,7.4,538,15223,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2369,2283
$GC,15476,0.80,259.9,24.9,8.7,567,15485,0.00,2.08,0.00,0.000,4,0.000,0.031,3047,973,2285
$GC,15534,0.80,259.9,20.0,8.4,577,15543,0.08,2.22,0.00,0.000,6,0.207,0.052,3018,2371,2285
$STATE,15760,end climb,SURFACE_DEPTH_REACHED
$STATE,15760,begin surface coast
$FINISH,0.3,1.022139
$STATE,15799,end surface coast,CONTROL_FINISHED_OK
$STATE,15799,begin surface
$SM_CCo,15814,83.50,0.605,0,0,1633,420.19
$SM_GC,0.87,0.00,0.00,83.50,0.000,0.000,0.605,51,2511,1633,-8.43,0.28,420.19
$IRIDIUM_FIX,2209.02,-15820.13,140300,131303
$TT8_MAMPS,0.023777
$HUMID,1597
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,25.80
$XPDR_PINGS,1
$24V_AH,23.8,12.344
$10V_AH,10.7,6.369
$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,21.925,162.450,351.600,83.500,0.000,30.546,35.394,191.057,0.250,0.000,0.000,15.596,1413.466,11136.382,568.538,2716.415,412.413,33.350,1697.243,0.000,2701.298,0.000,0.542,0.000
$DEVICE_MAMPS,276.887,102.011,1338.415,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,426.142,858.964,890.496,190.337,785.460,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51010,626
$CAP_FILE_SIZE,133364,0
$CFSIZE,260165632,257171456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,191210,221807,2220.158,-15817.607,64,1.1,64,10.0