version: 66.04
glider: 512
mission: 1
dive: 54
start: 12 20 110 10 45 49
data:
$ID,512
$MISSION,1
$DIVE,54
$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,-4088.6792
$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,54
$R_STBD_OVSHOOT,26
$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
$GPS1,103937,2224.095,-15815.916,37,1.0,37,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.6
$GPS2,104455,2224.137,-15815.923,14,1.3,14,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.225,-0.038
$KALMAN_X,-23869.4,1157.6,932.8,13292.2,-13245.3
$KALMAN_Y,-51060.8,1085.4,466.1,130731.4,-9009.9
$MHEAD_RNG_PITCHd_Wd,89.6,47248,-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,15,-0.66,-146.0,0.0,0.0,0,72,0.00,0.00,-55.12,0.000,2,0.000,0.000,52,2533,3093
$GC,74,-0.66,-146.0,3.6,-5.3,7,108,11.65,2.22,-15.48,0.000,4,0.278,0.044,2531,1098,3946
$GC,120,-0.66,-146.0,23.5,-36.3,13,129,0.00,2.33,0.00,0.000,6,0.000,0.068,2523,2493,3946
$GC,391,-0.66,-146.0,154.5,-42.4,39,395,0.00,2.35,0.00,0.000,4,0.000,0.084,2512,3900,3947
$GC,464,-0.66,-146.0,181.6,-30.3,45,468,0.00,2.08,0.00,0.000,6,0.000,0.030,2520,2512,3948
$GC,731,-0.66,-146.0,273.7,-35.5,56,736,0.00,2.45,0.00,0.000,4,0.000,0.104,2510,3901,3949
$GC,819,-0.66,-146.0,300.6,-24.2,58,824,0.00,2.10,0.00,0.000,6,0.000,0.030,2515,2501,3950
$GC,1103,-0.66,-146.0,371.1,-24.3,65,1107,0.00,2.45,0.00,0.000,4,0.000,0.106,2505,3894,3950
$GC,1124,-0.66,-146.0,376.6,-26.4,65,1129,0.00,2.10,0.00,0.000,6,0.000,0.034,2511,2496,3950
$GC,1385,-0.66,-146.0,438.2,-23.8,72,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2490,3949
$GC,1628,-0.66,-146.0,493.8,-22.6,78,1633,0.00,2.47,0.00,0.000,4,0.000,0.110,2501,3893,3948
$GC,1809,-0.66,-146.0,531.2,-19.5,82,1813,0.00,2.08,0.00,0.000,6,0.000,0.033,2509,2491,3946
$GC,2091,-0.66,-146.0,593.1,-22.0,89,2095,0.00,2.47,0.00,0.000,4,0.000,0.106,2500,3900,3943
$GC,2176,-0.66,-146.0,610.5,-19.2,91,2180,0.00,2.08,0.00,0.000,6,0.000,0.034,2508,2502,3942
$GC,2464,-0.66,-146.0,670.9,-20.5,98,2468,0.00,2.45,0.00,0.000,4,0.000,0.105,2499,3900,3939
$GC,2574,-0.66,-146.0,691.4,-15.9,100,2579,0.00,2.10,0.00,0.000,6,0.000,0.035,2507,2507,3939
$GC,2836,-0.66,-146.0,739.3,-18.8,107,2841,0.00,2.42,0.00,0.000,4,0.000,0.105,2498,3897,3936
$GC,2891,-0.66,-146.0,749.9,-17.0,108,2896,0.00,2.10,0.00,0.000,6,0.000,0.035,2506,2508,3935
$GC,3163,-0.66,-146.0,800.7,-19.0,115,3167,0.00,2.42,0.00,0.000,4,0.000,0.102,2497,3901,3933
$GC,3203,-0.66,-146.0,808.4,-20.3,116,3207,0.10,2.10,0.00,0.000,6,0.170,0.036,2530,2497,3932
$GC,3485,-0.66,-146.0,855.0,-16.4,123,3489,0.00,2.45,0.00,0.000,4,0.000,0.106,2521,3896,3929
$GC,3528,-0.66,-146.0,861.9,-14.5,124,3533,0.00,2.12,0.00,0.000,6,0.000,0.037,2521,2496,3929
$GC,3813,-0.66,-146.0,907.5,-16.0,131,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2490,3926
$GC,4055,-0.66,-146.0,945.2,-15.5,137,4059,0.00,2.45,0.00,0.000,4,0.000,0.105,2512,3893,3925
$STATE,4086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4086,begin apogee
$GC,4092,-0.32,0.0,950.6,16.3,137,4218,0.40,0.00,121.07,1.321,6,0.171,0.000,2639,2363,3348
$STATE,4219,end apogee,CONTROL_FINISHED_OK
$STATE,4219,begin climb
$GC,4221,0.66,146.0,958.1,0.0,141,4359,1.08,2.30,130.50,1.299,4,0.144,0.037,2965,959,2750
$GC,4611,0.66,146.0,946.8,8.7,150,4616,0.00,2.42,0.00,0.000,6,0.000,0.076,2966,2363,2742
$GC,4894,0.66,146.0,922.6,8.4,157,4898,0.00,2.15,0.00,0.000,4,0.000,0.039,2975,959,2738
$GC,5151,0.69,167.2,904.9,6.3,162,5173,0.00,2.40,17.20,1.195,6,0.000,0.072,2971,2371,2665
$GC,5444,0.69,167.2,879.8,9.0,170,5448,0.00,2.17,0.00,0.000,4,0.000,0.041,2979,953,2661
$GC,5516,0.69,167.2,873.8,8.0,171,5521,0.00,2.38,0.00,0.000,6,0.000,0.070,2979,2368,2660
$GC,5777,0.69,167.2,849.1,9.5,178,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2368,2659
$GC,6021,0.69,167.2,826.6,9.3,184,6024,0.00,2.38,0.00,0.000,4,0.000,0.079,2971,3793,2658
$GC,6098,0.69,167.2,818.7,10.5,185,6103,0.00,2.20,0.00,0.000,6,0.000,0.041,2980,2378,2657
$GC,6353,0.69,167.2,793.5,9.9,192,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2373,2656
$GC,6597,0.69,167.2,768.1,10.5,198,6601,0.00,2.33,0.00,0.000,4,0.000,0.075,2971,3784,2655
$GC,6612,0.69,167.2,766.3,10.8,198,6617,0.00,2.20,0.00,0.000,6,0.000,0.040,2980,2362,2655
$GC,6884,0.69,167.2,737.2,10.5,205,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2361,2654
$GC,7131,0.69,167.2,712.7,9.9,211,7135,0.00,2.35,0.00,0.000,4,0.000,0.077,2971,3797,2653
$GC,7350,0.69,167.2,689.7,10.3,216,7354,0.00,2.17,0.00,0.000,6,0.000,0.040,2980,2370,2653
$GC,7632,0.69,167.2,667.3,7.5,223,7635,0.00,2.12,0.00,0.000,4,0.000,0.039,2991,955,2653
$GC,7647,0.69,167.2,666.0,7.5,223,7652,0.00,2.35,0.00,0.000,6,0.000,0.067,2986,2370,2652
$GC,7919,0.69,167.2,646.1,7.1,230,7923,0.00,2.15,0.00,0.000,4,0.000,0.041,2995,953,2651
$GC,8002,0.69,168.6,640.7,7.0,231,8009,0.00,2.33,0.00,0.000,6,0.000,0.068,2995,2368,2651
$GC,8252,0.69,169.7,623.3,7.0,238,8256,0.00,2.35,0.00,0.000,4,0.000,0.081,2995,3792,2651
$GC,8508,0.70,174.3,604.7,6.9,243,8519,0.10,2.20,4.85,0.825,6,0.263,0.041,2984,2361,2638
$GC,8803,0.70,175.3,584.8,7.0,251,8807,0.00,2.38,0.00,0.000,4,0.000,0.079,2983,3785,2637
$GC,9060,0.70,175.3,561.9,9.2,256,9067,0.00,2.17,0.00,0.000,6,0.000,0.040,2993,2373,2637
$GC,9310,0.70,175.3,540.2,8.6,263,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2373,2637
$GC,9553,0.70,175.3,520.4,8.2,269,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2373,2636
$GC,9797,0.72,191.3,504.1,6.5,275,9818,0.00,2.15,16.25,1.014,4,0.000,0.038,3004,952,2567
$GC,10069,0.72,191.3,482.0,7.5,281,10074,0.00,2.33,0.00,0.000,6,0.000,0.061,3000,2372,2565
$GC,10347,0.72,191.3,459.6,8.1,288,10351,0.00,2.15,0.00,0.000,4,0.000,0.040,3008,958,2564
$GC,10447,0.72,191.3,451.8,7.5,290,10452,0.00,2.33,0.00,0.000,6,0.000,0.067,3008,2368,2564
$GC,10725,0.72,191.3,426.1,9.6,297,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2368,2563
$GC,10969,0.72,191.3,403.2,9.0,303,10972,0.00,2.15,0.00,0.000,4,0.000,0.040,3020,957,2563
$GC,11001,0.72,191.3,400.7,7.5,303,11006,0.12,2.33,0.00,0.000,6,0.230,0.066,2988,2370,2563
$GC,11256,0.76,227.8,384.4,5.8,310,11299,0.00,2.25,32.33,0.970,4,0.000,0.041,2998,953,2417
$GC,11415,0.76,227.8,369.5,11.5,313,11420,0.00,2.38,0.00,0.000,6,0.000,0.069,2997,2369,2413
$GC,11676,0.76,227.8,337.0,12.5,320,11680,0.00,2.40,0.00,0.000,4,0.000,0.084,2997,3791,2411
$GC,11792,0.76,227.8,321.0,14.3,322,11797,0.00,2.20,0.00,0.000,6,0.000,0.040,3008,2382,2410
$GC,12053,0.76,227.8,291.3,10.4,329,12057,0.00,2.17,0.00,0.000,4,0.000,0.038,3022,949,2410
$GC,12310,0.83,282.9,275.4,5.2,334,12365,0.00,2.33,46.70,0.890,6,0.000,0.061,3021,2372,2192
$GC,12606,0.83,282.9,233.2,15.7,342,12610,0.00,2.20,0.00,0.000,4,0.000,0.038,3034,944,2185
$GC,12621,0.83,282.9,230.6,16.1,342,12626,0.00,2.38,0.00,0.000,6,0.000,0.062,3027,2371,2185
$GC,12877,0.83,282.9,189.1,15.2,353,12880,0.00,2.17,0.00,0.000,4,0.000,0.038,3037,947,2183
$GC,12903,0.83,282.9,184.6,15.9,355,12911,0.00,2.35,0.00,0.000,6,0.000,0.063,3037,2369,2183
$GC,13164,0.83,282.9,144.9,14.2,380,13168,0.00,2.38,0.00,0.000,4,0.000,0.079,3037,3797,2183
$GC,13187,0.83,282.9,141.1,16.9,382,13191,0.00,2.17,0.00,0.000,6,0.000,0.035,3046,2373,2182
$GC,13448,0.83,282.9,107.1,11.8,406,13452,0.00,2.38,0.00,0.000,4,0.000,0.076,3040,3798,2182
$GC,13490,0.83,282.9,101.6,12.9,409,13499,0.10,2.20,0.00,0.000,6,0.222,0.035,3024,2368,2182
$GC,13754,0.83,282.9,77.3,8.0,434,13757,0.00,2.12,0.00,0.000,4,0.000,0.034,3036,941,2182
$GC,13896,0.83,282.9,65.3,8.8,447,13901,0.00,2.33,0.00,0.000,6,0.000,0.062,3035,2388,2183
$GC,14158,0.83,282.9,38.9,9.3,471,14159,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2388,2183
$GC,14412,0.83,282.9,9.5,11.6,511,14420,0.00,2.33,0.00,0.000,4,0.000,0.076,3035,3783,2184
$STATE,14458,end climb,SURFACE_DEPTH_REACHED
$STATE,14458,begin surface coast
$FINISH,1.0,1.023557
$STATE,14470,end surface coast,CONTROL_FINISHED_OK
$STATE,14470,begin surface
$SM_CCo,14487,67.50,0.622,0,0,1633,420.19
$SM_GC,1.18,0.00,0.00,67.50,0.000,0.000,0.622,46,2476,1633,-8.45,-0.71,420.19
$IRIDIUM_FIX,2213.68,-15814.08,150300,060631
$TT8_MAMPS,0.023777
$HUMID,1635
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.8,12.964
$10V_AH,10.7,6.789
$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,21.775,149.750,368.900,67.500,0.000,30.032,36.299,165.903,0.000,0.000,0.000,14.167,1201.355,10543.546,536.786,2241.437,356.039,33.355,1524.584,0.000,2214.821,0.000,0.546,0.000
$DEVICE_MAMPS,277.654,109.681,1320.774,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,354.712,637.907,658.568,136.800,566.446,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41406,521
$CAP_FILE_SIZE,119375,0
$CFSIZE,260165632,256950272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,201210,144936,2223.475,-15815.508,38,0.9,38,10.0