version: 66.04
glider: 512
mission: 1
dive: 53
start: 12 20 110 6 30 21
data:
$ID,512
$MISSION,1
$DIVE,53
$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,-4073.8833
$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,36
$R_STBD_OVSHOOT,23
$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
$GPS1,061737,2222.401,-15816.749,30,1.2,30,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.2
$GPS2,062926,2222.484,-15816.803,15,1.6,15,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.152,0.170
$KALMAN_X,-23007.8,1101.8,1094.8,10809.4,-15806.3
$KALMAN_Y,-49799.0,654.8,374.8,126957.0,-8318.7
$MHEAD_RNG_PITCHd_Wd,31.8,50620,-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,-146.0,0.0,0.0,0,63,0.00,0.00,-47.15,0.000,2,0.000,0.000,39,2523,2848
$GC,65,-0.66,-146.0,3.0,-4.5,6,106,11.80,2.38,-22.67,0.000,4,0.280,0.105,2516,3901,3943
$GC,167,-0.66,-146.0,40.6,-42.9,20,171,0.00,2.12,0.00,0.000,6,0.000,0.034,2520,2504,3945
$GC,434,-0.66,-146.0,155.2,-39.4,45,438,0.00,2.12,0.00,0.000,4,0.000,0.033,2525,1079,3945
$GC,460,-0.66,-146.0,166.6,-37.8,47,469,0.00,2.42,0.00,0.000,6,0.000,0.082,2516,2491,3945
$GC,725,-0.66,-146.0,260.7,-35.8,61,729,0.00,2.38,0.00,0.000,4,0.000,0.091,2504,3898,3946
$GC,870,-0.66,-146.0,300.1,-20.2,64,874,0.00,2.12,0.00,0.000,6,0.000,0.030,2512,2486,3947
$GC,1143,-0.66,-146.0,363.5,-23.6,71,1147,0.00,2.45,0.00,0.000,4,0.000,0.097,2502,3907,3948
$GC,1174,-0.66,-146.0,371.3,-22.9,71,1182,0.00,2.10,0.00,0.000,6,0.000,0.031,2508,2504,3948
$GC,1424,-0.66,-146.0,429.2,-23.7,78,1428,0.00,2.40,0.00,0.000,4,0.000,0.096,2499,3900,3947
$GC,1519,-0.66,-146.0,449.8,-18.9,80,1523,0.00,2.08,0.00,0.000,6,0.000,0.032,2507,2499,3945
$GC,1801,-0.66,-146.0,513.5,-22.9,87,1806,0.00,2.40,0.00,0.000,4,0.000,0.096,2497,3898,3943
$GC,1840,-0.66,-146.0,522.6,-22.8,88,1845,0.10,2.08,0.00,0.000,6,0.174,0.032,2530,2493,3942
$GC,2128,-0.66,-146.0,580.8,-19.7,95,2133,0.00,2.45,0.00,0.000,4,0.000,0.101,2519,3903,3940
$GC,2183,-0.66,-146.0,591.5,-18.4,96,2188,0.00,2.12,0.00,0.000,6,0.000,0.035,2522,2510,3939
$GC,2455,-0.66,-146.0,642.5,-18.9,103,2459,0.00,2.42,0.00,0.000,4,0.000,0.100,2513,3908,3936
$GC,2527,-0.66,-146.0,655.5,-15.9,104,2531,0.00,2.12,0.00,0.000,6,0.000,0.035,2519,2504,3936
$GC,2783,-0.66,-146.0,700.3,-17.7,111,2787,0.00,2.42,0.00,0.000,4,0.000,0.102,2509,3901,3933
$GC,2809,-0.66,-146.0,705.4,-18.6,111,2814,0.00,2.15,0.00,0.000,6,0.000,0.037,2516,2498,3932
$GC,3065,-0.66,-146.0,750.9,-18.1,118,3069,0.00,2.45,0.00,0.000,4,0.000,0.104,2506,3903,3930
$GC,3114,-0.66,-146.0,760.0,-17.7,119,3119,0.00,2.12,0.00,0.000,6,0.000,0.036,2510,2502,3929
$GC,3393,-0.66,-146.0,810.2,-18.2,126,3397,0.00,2.42,0.00,0.000,4,0.000,0.104,2501,3897,3926
$GC,3446,-0.66,-146.0,820.3,-17.8,127,3451,0.00,2.12,0.00,0.000,6,0.000,0.036,2508,2498,3926
$GC,3719,-0.66,-146.0,869.1,-18.2,134,3723,0.00,2.45,0.00,0.000,4,0.000,0.103,2498,3903,3924
$GC,3757,-0.66,-146.0,876.4,-18.4,135,3761,0.00,2.10,0.00,0.000,6,0.000,0.038,2506,2502,3923
$GC,4045,-0.66,-146.0,928.6,-18.2,142,4049,0.00,2.42,0.00,0.000,4,0.000,0.104,2497,3897,3921
$GC,4084,-0.66,-146.0,935.8,-18.0,143,4088,0.10,2.10,0.00,0.000,6,0.179,0.037,2529,2495,3920
$STATE,4208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4209,begin apogee
$GC,4213,-0.32,0.0,955.7,15.7,146,4337,0.40,0.00,121.05,1.337,6,0.179,0.000,2643,2383,3347
$STATE,4337,end apogee,CONTROL_FINISHED_OK
$STATE,4337,begin climb
$GC,4339,0.66,146.0,963.8,0.0,149,4477,1.05,2.60,129.93,1.276,4,0.140,0.087,2952,3773,2750
$GC,4730,0.66,146.0,950.9,10.3,158,4734,0.00,2.25,0.00,0.000,6,0.000,0.038,2963,2339,2742
$GC,5012,0.66,146.0,924.9,9.2,165,5017,0.00,2.47,0.00,0.000,4,0.000,0.082,2958,3783,2738
$GC,5269,0.66,146.0,898.6,10.4,170,5277,0.00,2.20,0.00,0.000,6,0.000,0.039,2967,2373,2736
$GC,5519,0.66,146.0,876.4,8.8,177,5523,0.00,2.38,0.00,0.000,4,0.000,0.081,2967,3784,2735
$GC,5573,0.66,146.0,871.1,9.6,178,5578,0.00,2.20,0.00,0.000,6,0.000,0.038,2976,2368,2735
$GC,5851,0.66,146.0,847.7,8.3,185,5855,0.00,2.15,0.00,0.000,4,0.000,0.040,2987,951,2733
$GC,6075,0.66,146.0,829.8,8.1,190,6080,0.00,2.33,0.00,0.000,6,0.000,0.071,2986,2369,2732
$GC,6364,0.66,146.0,806.9,8.0,197,6368,0.00,2.38,0.00,0.000,4,0.000,0.081,2986,3796,2730
$GC,6379,0.66,146.0,805.6,8.0,197,6385,0.10,2.20,0.00,0.000,6,0.283,0.039,2974,2377,2731
$GC,6647,0.66,146.0,786.3,7.1,204,6651,0.00,2.35,0.00,0.000,4,0.000,0.081,2971,3787,2729
$GC,6732,0.66,146.0,779.9,7.9,206,6737,0.00,2.17,0.00,0.000,6,0.000,0.041,2980,2362,2729
$GC,7015,0.72,188.6,762.8,5.6,213,7056,0.00,2.20,33.90,1.182,4,0.000,0.039,2990,969,2578
$GC,7077,0.72,188.6,757.6,9.9,214,7082,0.00,2.38,0.00,0.000,6,0.000,0.067,2986,2370,2577
$GC,7345,0.72,188.6,725.0,12.2,221,7349,0.00,2.42,0.00,0.000,4,0.000,0.085,2986,3792,2572
$GC,7410,0.72,188.6,716.0,14.0,222,7415,0.00,2.22,0.00,0.000,6,0.000,0.041,2995,2377,2571
$GC,7671,0.72,188.6,685.0,11.9,229,7675,0.00,2.40,0.00,0.000,4,0.000,0.078,2996,3793,2570
$GC,7731,0.72,188.6,677.1,12.8,230,7736,0.00,2.22,0.00,0.000,6,0.000,0.040,3006,2371,2570
$GC,7998,0.72,188.6,644.1,12.5,237,8002,0.00,2.17,0.00,0.000,4,0.000,0.039,3017,943,2569
$GC,8044,0.72,188.6,638.7,11.9,238,8049,0.12,2.35,0.00,0.000,6,0.237,0.064,2988,2380,2569
$GC,8326,0.72,188.6,609.2,10.0,245,8330,0.00,2.35,0.00,0.000,4,0.000,0.078,2987,3795,2568
$GC,8548,0.72,188.6,586.7,9.5,250,8553,0.00,2.22,0.00,0.000,6,0.000,0.041,2996,2357,2568
$GC,8834,0.72,190.9,565.6,6.9,257,8838,0.00,2.40,0.00,0.000,4,0.000,0.080,2996,3787,2568
$GC,8873,0.72,190.9,562.7,7.8,258,8878,0.00,2.17,0.00,0.000,6,0.000,0.041,3006,2371,2568
$GC,9156,0.72,190.9,540.8,8.1,265,9159,0.00,2.15,0.00,0.000,4,0.000,0.039,3018,941,2567
$GC,9245,0.72,190.9,533.3,8.4,267,9250,0.15,2.33,0.00,0.000,6,0.233,0.068,2987,2371,2567
$GC,9527,0.72,190.9,508.7,9.0,274,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2371,2567
$GC,9771,0.72,190.9,486.5,9.5,280,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2371,2567
$GC,10016,0.72,190.9,465.3,8.5,286,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2371,2566
$GC,10259,0.72,190.9,445.5,8.1,292,10263,0.00,2.35,0.00,0.000,4,0.000,0.079,2987,3797,2566
$GC,10285,0.72,190.9,443.5,7.9,292,10290,0.00,2.20,0.00,0.000,6,0.000,0.041,2996,2372,2566
$GC,10541,0.77,230.9,428.3,5.7,299,10582,0.00,0.00,35.80,0.991,6,0.000,0.000,2996,2370,2405
$GC,10825,0.77,230.9,395.1,13.2,306,10829,0.00,2.40,0.00,0.000,4,0.000,0.080,2996,3783,2400
$GC,10857,0.77,230.9,390.6,14.0,306,10864,0.00,2.22,0.00,0.000,6,0.000,0.039,3007,2358,2398
$GC,11107,0.77,230.9,357.4,13.1,313,11111,0.00,2.40,0.00,0.000,4,0.000,0.074,3007,3786,2398
$GC,11183,0.77,230.9,346.7,13.8,314,11190,0.00,2.20,0.00,0.000,6,0.000,0.038,3019,2368,2398
$GC,11434,0.77,230.9,316.3,12.1,321,11438,0.00,2.38,0.00,0.000,4,0.000,0.077,3019,3788,2397
$GC,11690,0.77,230.9,284.6,10.6,326,11698,0.10,2.17,0.00,0.000,6,0.246,0.038,3005,2384,2397
$GC,11940,0.77,230.9,262.5,8.6,333,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2383,2397
$GC,12184,0.77,230.9,244.4,7.6,339,12185,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2383,2396
$GC,12427,0.77,230.9,225.4,7.7,345,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2383,2397
$GC,12674,0.78,237.6,208.6,6.8,351,12685,0.00,2.35,6.10,0.671,4,0.000,0.076,3000,3793,2377
$GC,12784,0.78,237.6,198.4,9.0,353,12789,0.00,2.20,0.00,0.000,6,0.000,0.036,3010,2360,2378
$GC,13047,0.78,237.6,174.5,10.0,377,13051,0.00,2.08,0.00,0.000,4,0.000,0.034,3023,956,2377
$GC,13084,0.78,237.6,171.0,9.1,380,13092,0.00,2.30,0.00,0.000,6,0.000,0.061,3023,2372,2377
$GC,13347,0.78,237.6,147.2,9.0,405,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2372,2378
$GC,13602,0.78,237.6,126.8,7.6,429,13606,0.00,2.33,0.00,0.000,4,0.000,0.074,3023,3797,2378
$GC,13809,0.84,292.3,112.2,5.2,447,13868,0.00,2.15,48.17,0.678,6,0.000,0.033,3034,2359,2155
$GC,14120,0.84,292.3,80.1,11.0,476,14124,0.00,2.08,0.00,0.000,4,0.000,0.033,3045,969,2149
$GC,14198,0.84,292.3,72.3,10.5,483,14202,0.00,2.28,0.00,0.000,6,0.000,0.058,3040,2376,2149
$GC,14460,0.84,292.3,41.7,11.7,507,14461,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2376,2149
$GC,14714,0.84,292.3,9.9,11.9,545,14722,0.00,2.12,0.00,0.000,4,0.000,0.032,3049,977,2149
$GC,14766,0.84,292.3,4.2,11.1,554,14775,0.08,2.25,0.00,0.000,6,0.199,0.058,3029,2369,2150
$STATE,14781,end climb,SURFACE_DEPTH_REACHED
$STATE,14781,begin surface coast
$FINISH,0.3,1.023644
$STATE,14809,end surface coast,CONTROL_FINISHED_OK
$STATE,14809,begin surface
$SM_CCo,14824,61.03,0.596,0,0,1633,420.19
$SM_GC,1.72,0.00,0.00,61.03,0.000,0.000,0.596,55,2531,1633,-8.42,0.90,420.19
$IRIDIUM_FIX,2216.01,-15816.24,150300,060605
$TT8_MAMPS,0.023777
$HUMID,1630
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,23.9,12.813
$10V_AH,10.7,6.687
$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,22.225,159.475,374.950,61.025,0.000,84.495,105.410,305.221,0.250,0.000,0.000,15.513,1257.137,10896.846,554.899,2258.703,636.734,33.354,1546.072,0.000,2240.766,0.000,0.545,0.000
$DEVICE_MAMPS,283.023,105.079,1336.881,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,381.354,726.132,747.141,150.706,621.448,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44591,561
$CAP_FILE_SIZE,128596,0
$CFSIZE,260165632,257003520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,1,0
$GPS,201210,103937,2224.095,-15815.916,37,1.0,37,10.0