version: 66.04
glider: 512
mission: 1
dive: 51
start: 12 19 110 22 25 21
data:
$ID,512
$MISSION,1
$DIVE,51
$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,-4043.8394
$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,52
$R_STBD_OVSHOOT,19
$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
$GPS1,221807,2220.158,-15817.607,64,1.1,64,10.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-74.2
$GPS2,222426,2220.233,-15817.623,13,1.5,13,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.154,0.169
$KALMAN_X,-19136.6,1684.0,917.6,5114.1,-15161.2
$KALMAN_Y,-44214.5,-598.1,699.1,118116.9,-3929.9
$MHEAD_RNG_PITCHd_Wd,32.4,54862,-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,13,-0.66,-146.0,0.0,0.0,0,70,0.00,0.00,-54.67,0.000,2,0.000,0.000,45,2511,3070
$GC,72,-0.66,-146.0,3.2,-4.3,7,106,11.55,2.45,-16.50,0.000,4,0.274,0.103,2515,3907,3945
$GC,215,-0.66,-146.0,62.9,-30.8,24,219,0.00,2.12,0.00,0.000,6,0.000,0.032,2521,2507,3947
$GC,483,-0.66,-146.0,174.0,-37.1,49,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2501,3947
$GC,759,-0.66,-146.0,265.7,-30.2,61,763,0.00,2.40,0.00,0.000,4,0.000,0.098,2512,3896,3949
$GC,874,-0.66,-146.0,293.3,-20.8,63,879,0.00,2.12,0.00,0.000,6,0.000,0.029,2519,2483,3949
$GC,1130,-0.66,-146.0,357.3,-25.4,70,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2477,3949
$GC,1375,-0.66,-146.0,417.5,-24.6,76,1379,0.00,2.45,0.00,0.000,4,0.000,0.096,2509,3903,3948
$GC,1434,-0.66,-146.0,431.7,-20.7,77,1439,0.00,2.10,0.00,0.000,6,0.000,0.031,2513,2502,3948
$GC,1701,-0.66,-146.0,489.7,-21.8,84,1705,0.00,2.40,0.00,0.000,4,0.000,0.100,2504,3894,3946
$GC,1800,-0.66,-146.0,509.0,-17.7,86,1805,0.00,2.08,0.00,0.000,6,0.000,0.032,2511,2509,3945
$GC,2078,-0.66,-146.0,563.8,-19.8,93,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2503,3942
$GC,2322,-0.66,-146.0,612.6,-19.9,99,2326,0.00,2.38,0.00,0.000,4,0.000,0.097,2501,3895,3939
$GC,2359,-0.66,-146.0,620.4,-20.2,99,2367,0.00,2.10,0.00,0.000,6,0.000,0.034,2509,2502,3939
$GC,2611,-0.66,-146.0,667.1,-18.7,106,2615,0.00,2.40,0.00,0.000,4,0.000,0.097,2500,3900,3936
$GC,2670,-0.66,-146.0,678.7,-17.0,107,2675,0.00,2.10,0.00,0.000,6,0.000,0.035,2508,2508,3936
$GC,2937,-0.66,-146.0,726.9,-18.2,114,2940,0.00,2.40,0.00,0.000,4,0.000,0.096,2498,3903,3933
$GC,3008,-0.66,-146.0,739.0,-14.8,115,3013,0.00,2.12,0.00,0.000,6,0.000,0.035,2506,2499,3932
$GC,3269,-0.66,-146.0,784.0,-17.4,122,3273,0.00,2.40,0.00,0.000,4,0.000,0.094,2497,3900,3929
$GC,3340,-0.66,-146.0,796.5,-16.0,123,3346,0.00,2.12,0.00,0.000,6,0.000,0.036,2505,2502,3928
$GC,3596,-0.66,-146.0,840.4,-17.3,130,3600,0.00,2.38,0.00,0.000,4,0.000,0.094,2496,3895,3926
$GC,3679,-0.66,-146.0,854.7,-16.3,131,3687,0.08,2.12,0.00,0.000,6,0.175,0.036,2528,2484,3925
$GC,3930,-0.66,-146.0,892.3,-15.2,138,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2480,3923
$GC,4172,-0.66,-146.0,930.4,-15.6,144,4176,0.00,2.45,0.00,0.000,4,0.000,0.100,2518,3904,3921
$GC,4232,-0.66,-146.0,940.3,-15.8,145,4237,0.00,2.15,0.00,0.000,6,0.000,0.038,2521,2506,3919
$STATE,4295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4295,begin apogee
$GC,4299,-0.32,0.0,950.1,16.0,147,4423,0.43,0.00,120.80,1.318,6,0.180,0.000,2642,2393,3347
$STATE,4423,end apogee,CONTROL_FINISHED_OK
$STATE,4423,begin climb
$GC,4425,0.66,146.0,958.8,0.0,150,4563,1.05,2.50,130.60,1.300,4,0.143,0.077,2945,3779,2749
$GC,4816,0.66,146.0,949.3,8.1,159,4821,0.00,2.25,0.00,0.000,6,0.000,0.038,2954,2342,2741
$GC,5101,0.66,146.0,926.5,8.4,166,5105,0.00,2.45,0.00,0.000,4,0.000,0.078,2954,3786,2738
$GC,5356,0.66,146.0,900.7,9.3,171,5364,0.00,2.20,0.00,0.000,6,0.000,0.038,2965,2371,2736
$GC,5606,0.66,146.0,878.0,9.1,178,5610,0.00,2.35,0.00,0.000,4,0.000,0.075,2965,3785,2734
$GC,5863,0.66,146.0,853.9,8.6,183,5868,0.00,2.20,0.00,0.000,6,0.000,0.038,2976,2363,2734
$GC,6119,0.67,148.1,835.5,6.9,190,6123,0.00,2.35,0.00,0.000,4,0.000,0.074,2971,3786,2731
$GC,6375,0.67,148.1,814.1,8.9,195,6383,0.00,2.17,0.00,0.000,6,0.000,0.039,2980,2374,2732
$GC,6625,0.67,148.1,796.4,7.1,202,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2374,2730
$GC,6869,0.68,156.3,780.0,6.7,208,6882,0.00,2.30,6.55,1.006,4,0.000,0.071,2971,3780,2706
$GC,6983,0.68,156.3,769.9,9.0,210,6988,0.00,2.17,0.00,0.000,6,0.000,0.039,2980,2373,2707
$GC,7244,0.68,156.3,749.6,7.5,217,7248,0.00,2.33,0.00,0.000,4,0.000,0.071,2971,3780,2705
$GC,7259,0.68,156.3,748.3,7.7,217,7264,0.00,2.17,0.00,0.000,6,0.000,0.038,2980,2375,2705
$GC,7532,0.68,156.3,726.4,8.0,224,7535,0.00,2.12,0.00,0.000,4,0.000,0.038,2991,958,2704
$GC,7788,0.68,156.8,707.5,7.0,229,7793,0.00,2.30,0.00,0.000,6,0.000,0.063,2986,2370,2704
$GC,8045,0.72,191.9,691.8,5.9,236,8086,0.00,2.25,31.73,1.180,4,0.000,0.042,2995,952,2563
$GC,8130,0.72,191.9,684.6,10.5,238,8134,0.00,2.35,0.00,0.000,6,0.000,0.064,2995,2371,2561
$GC,8418,0.72,191.9,650.4,11.9,245,8423,0.00,2.38,0.00,0.000,4,0.000,0.080,2995,3785,2558
$GC,8546,0.72,191.9,632.2,14.1,247,8553,0.00,2.20,0.00,0.000,6,0.000,0.040,3006,2378,2558
$GC,8795,0.72,191.9,599.6,13.1,254,8799,0.00,2.33,0.00,0.000,4,0.000,0.072,3000,3797,2556
$GC,9051,0.72,191.9,564.3,12.7,259,9057,0.00,2.22,0.00,0.000,6,0.000,0.041,3009,2372,2556
$GC,9310,0.72,191.9,534.2,11.8,266,9314,0.00,2.35,0.00,0.000,4,0.000,0.073,3009,3796,2555
$GC,9431,0.72,191.9,517.7,12.4,268,9439,0.12,2.20,0.00,0.000,6,0.257,0.038,2991,2379,2555
$GC,9681,0.72,191.9,491.1,10.3,275,9685,0.00,2.33,0.00,0.000,4,0.000,0.074,2986,3792,2554
$GC,9892,0.72,191.9,469.4,8.8,279,9900,0.00,2.22,0.00,0.000,6,0.000,0.041,2995,2351,2555
$GC,10145,0.74,206.4,452.1,6.5,286,10164,0.00,2.45,12.30,0.979,4,0.000,0.074,2996,3800,2505
$GC,10405,0.74,206.4,424.6,11.3,291,10413,0.00,2.20,0.00,0.000,6,0.000,0.038,3007,2377,2503
$GC,10657,0.74,206.4,398.6,10.4,298,10661,0.00,2.15,0.00,0.000,4,0.000,0.039,3018,958,2502
$GC,10678,0.74,206.4,396.1,11.0,298,10683,0.10,2.33,0.00,0.000,6,0.232,0.061,2994,2371,2502
$GC,10944,0.74,206.4,372.4,8.9,305,10948,0.00,2.33,0.00,0.000,4,0.000,0.074,2986,3786,2502
$GC,11026,0.74,206.4,364.5,9.6,306,11034,0.00,2.20,0.00,0.000,6,0.000,0.040,2996,2364,2502
$GC,11276,0.74,206.4,343.9,8.3,313,11278,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2362,2502
$GC,11520,0.74,206.4,323.8,8.5,319,11524,0.00,2.35,0.00,0.000,4,0.000,0.074,2996,3784,2502
$GC,11597,0.74,206.4,315.4,11.7,320,11602,0.00,2.17,0.00,0.000,6,0.000,0.038,3007,2377,2502
$GC,11853,0.74,206.4,293.6,7.9,327,11856,0.00,2.15,0.00,0.000,4,0.000,0.037,3019,940,2502
$GC,12020,0.80,257.9,284.4,5.3,330,12074,0.00,2.30,44.47,0.917,6,0.000,0.059,3019,2385,2294
$GC,12316,0.80,257.9,249.2,13.6,338,12317,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2385,2288
$GC,12560,0.80,257.9,218.2,12.8,344,12564,0.00,2.33,0.00,0.000,4,0.000,0.072,3013,3790,2287
$GC,12676,0.80,257.9,202.1,13.0,346,12681,0.00,2.20,0.00,0.000,6,0.000,0.037,3023,2376,2286
$GC,12942,0.80,257.9,169.8,12.0,368,12943,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2375,2285
$GC,13196,0.80,257.9,140.1,10.9,392,13200,0.00,2.15,0.00,0.000,4,0.000,0.035,3035,943,2285
$GC,13263,0.80,257.9,132.9,9.5,398,13267,0.00,2.28,0.00,0.000,6,0.000,0.058,3035,2369,2285
$GC,13524,0.80,257.9,109.9,8.4,422,13527,0.00,2.12,0.00,0.000,4,0.000,0.035,3046,947,2285
$GC,13626,0.83,284.1,102.3,6.2,431,13654,0.00,2.25,21.75,0.711,6,0.000,0.053,3040,2372,2188
$GC,13916,0.83,284.1,75.6,10.8,458,13920,0.00,2.15,0.00,0.000,4,0.000,0.035,3049,943,2185
$GC,13951,0.83,284.1,71.7,11.3,461,13956,0.12,2.30,0.00,0.000,6,0.215,0.056,3022,2378,2185
$GC,14213,0.83,284.1,42.4,11.6,485,14214,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2378,2185
$GC,14467,0.83,284.1,15.5,12.3,521,14475,0.00,2.17,0.00,0.000,4,0.000,0.033,3035,949,2185
$GC,14493,0.83,284.1,12.2,12.3,525,14501,0.00,2.28,0.00,0.000,6,0.000,0.054,3035,2369,2185
$STATE,14576,end climb,SURFACE_DEPTH_REACHED
$STATE,14576,begin surface coast
$FINISH,0.2,1.023574
$STATE,14599,end surface coast,CONTROL_FINISHED_OK
$STATE,14599,begin surface
$SM_CCo,14614,70.35,0.630,0,0,1634,420.19
$SM_GC,1.08,0.00,0.00,70.35,0.000,0.000,0.630,54,2526,1634,-8.42,0.74,420.19
$IRIDIUM_FIX,2211.35,-15819.27,140300,171700
$TT8_MAMPS,0.023777
$HUMID,1627
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,23.9,12.499
$10V_AH,10.7,6.478
$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,21.800,145.200,368.200,70.350,0.000,29.960,39.532,222.001,0.500,0.000,0.000,13.982,1241.506,10491.444,550.548,2359.284,425.941,33.349,1575.311,0.000,2342.284,0.000,0.544,0.000
$DEVICE_MAMPS,273.819,102.778,1318.473,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,369.855,697.072,720.757,150.683,615.217,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44736,544
$CAP_FILE_SIZE,121308,0
$CFSIZE,260165632,257126400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,201210,023124,2221.289,-15817.365,28,1.2,45,10.0