version: 66.04
glider: 512
mission: 1
dive: 55
start: 12 20 110 14 55 15
data:
$ID,512
$MISSION,1
$DIVE,55
$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,-4106.3618
$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,48
$R_STBD_OVSHOOT,15
$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
$GPS1,144936,2223.475,-15815.508,38,0.9,38,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-77.6
$GPS2,145420,2223.491,-15815.539,16,0.9,16,10.0
$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,-27963.5,1267.5,437.8,18451.1,-15058.6
$KALMAN_Y,-50092.9,1038.9,453.2,128617.2,-6736.3
$MHEAD_RNG_PITCHd_Wd,31.9,47865,-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,-146.0,0.0,0.0,0,63,0.00,0.00,-47.90,0.000,2,0.000,0.000,43,2475,2863
$GC,65,-0.66,-146.0,3.1,-5.1,6,106,11.55,2.50,-22.17,0.000,4,0.275,0.114,2513,3900,3944
$GC,188,-0.66,-146.0,50.0,-36.2,22,192,0.00,2.10,0.00,0.000,6,0.000,0.032,2519,2516,3945
$GC,455,-0.66,-146.0,168.1,-43.2,47,458,0.00,2.15,0.00,0.000,4,0.000,0.035,2525,1084,3945
$GC,478,-0.66,-146.0,177.0,-39.0,49,483,0.00,2.40,0.00,0.000,6,0.000,0.084,2516,2504,3945
$GC,750,-0.66,-146.0,271.7,-34.0,60,754,0.00,2.38,0.00,0.000,4,0.000,0.094,2505,3899,3947
$GC,765,-0.66,-146.0,276.2,-30.7,60,771,0.00,2.12,0.00,0.000,6,0.000,0.032,2510,2486,3947
$GC,1032,-0.66,-146.0,343.1,-24.7,67,1036,0.00,2.55,0.00,0.000,4,0.000,0.117,2501,3896,3948
$GC,1148,-0.66,-146.0,370.7,-21.4,69,1153,0.00,2.10,0.00,0.000,6,0.000,0.030,2509,2501,3948
$GC,1405,-0.66,-146.0,432.9,-24.7,76,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2495,3948
$GC,1649,-0.66,-146.0,491.3,-23.6,82,1653,0.00,2.50,0.00,0.000,4,0.000,0.115,2499,3896,3946
$GC,1697,-0.66,-146.0,502.8,-20.9,83,1702,0.00,2.10,0.00,0.000,6,0.000,0.032,2507,2506,3945
$GC,1975,-0.66,-146.0,562.8,-21.8,90,1979,0.00,2.47,0.00,0.000,4,0.000,0.114,2498,3894,3943
$GC,2029,-0.66,-146.0,574.5,-19.3,91,2035,0.00,2.12,0.00,0.000,6,0.000,0.033,2506,2491,3942
$GC,2303,-0.66,-146.0,628.6,-20.2,98,2308,0.00,2.50,0.00,0.000,4,0.000,0.112,2497,3896,3939
$GC,2357,-0.66,-146.0,640.3,-19.7,99,2363,0.08,2.10,0.00,0.000,6,0.166,0.034,2529,2506,3939
$GC,2630,-0.66,-146.0,683.1,-15.7,106,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2503,3936
$GC,2873,-0.66,-146.0,721.7,-15.7,112,2878,0.00,2.45,0.00,0.000,4,0.000,0.111,2519,3895,3933
$GC,2912,-0.66,-146.0,727.7,-15.7,113,2916,0.00,2.10,0.00,0.000,6,0.000,0.036,2521,2489,3933
$GC,3200,-0.66,-146.0,774.0,-16.2,120,3204,0.00,2.50,0.00,0.000,4,0.000,0.113,2512,3897,3930
$GC,3255,-0.66,-146.0,783.1,-15.5,121,3259,0.00,2.12,0.00,0.000,6,0.000,0.035,2518,2500,3930
$GC,3527,-0.66,-146.0,827.0,-16.2,128,3531,0.00,2.50,0.00,0.000,4,0.000,0.115,2508,3897,3928
$GC,3565,-0.66,-146.0,833.4,-16.6,129,3569,0.00,2.10,0.00,0.000,6,0.000,0.036,2512,2499,3927
$GC,3854,-0.66,-146.0,881.5,-16.8,136,3858,0.00,2.50,0.00,0.000,4,0.000,0.114,2503,3898,3925
$GC,3897,-0.66,-146.0,889.5,-17.2,137,3902,0.00,2.12,0.00,0.000,6,0.000,0.037,2508,2501,3925
$GC,4181,-0.66,-146.0,938.5,-17.7,144,4185,0.00,2.50,0.00,0.000,4,0.000,0.114,2499,3898,3922
$STATE,4245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4245,begin apogee
$GC,4251,-0.32,0.0,950.1,15.9,145,4375,0.43,0.00,120.78,1.318,6,0.173,0.000,2636,2359,3347
$STATE,4375,end apogee,CONTROL_FINISHED_OK
$STATE,4375,begin climb
$GC,4377,0.66,146.0,957.4,0.0,148,4515,1.08,2.33,130.30,1.295,4,0.145,0.040,2960,957,2750
$GC,4768,0.66,146.0,948.5,9.2,157,4772,0.00,2.40,0.00,0.000,6,0.000,0.075,2958,2365,2742
$GC,5050,0.66,146.0,920.1,10.1,164,5054,0.00,2.42,0.00,0.000,4,0.000,0.089,2958,3782,2738
$GC,5070,0.66,146.0,917.6,11.4,164,5075,0.00,2.22,0.00,0.000,6,0.000,0.039,2967,2366,2737
$GC,5332,0.66,146.0,890.7,10.1,171,5337,0.00,2.45,0.00,0.000,4,0.000,0.087,2967,3787,2735
$GC,5358,0.66,146.0,887.7,10.8,171,5363,0.00,2.20,0.00,0.000,6,0.000,0.038,2976,2373,2736
$GC,5616,0.66,146.0,864.7,8.8,178,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2368,2734
$GC,5858,0.66,146.0,844.7,8.0,184,5861,0.00,2.40,0.00,0.000,4,0.000,0.084,2971,3789,2733
$GC,5968,0.66,146.0,835.3,8.1,186,5974,0.00,2.20,0.00,0.000,6,0.000,0.041,2980,2374,2733
$GC,6235,0.66,146.0,815.8,7.2,193,6239,0.00,2.38,0.00,0.000,4,0.000,0.080,2971,3794,2731
$GC,6385,0.66,146.0,803.0,8.1,196,6390,0.00,2.22,0.00,0.000,6,0.000,0.041,2980,2360,2731
$GC,6659,0.66,146.0,782.3,7.4,203,6663,0.00,2.42,0.00,0.000,4,0.000,0.087,2980,3794,2731
$GC,6724,0.66,146.0,777.1,8.9,204,6729,0.00,2.20,0.00,0.000,6,0.000,0.041,2991,2368,2730
$GC,6986,0.66,146.0,757.6,7.4,211,6990,0.00,2.38,0.00,0.000,4,0.000,0.084,2986,3784,2730
$GC,7034,0.66,146.0,754.0,7.2,212,7039,0.10,2.17,0.00,0.000,6,0.273,0.040,2973,2383,2729
$GC,7312,0.69,169.5,736.4,6.2,219,7336,0.00,2.42,17.58,1.147,4,0.000,0.086,2970,3778,2655
$GC,7466,0.69,169.5,722.0,9.6,222,7470,0.00,2.22,0.00,0.000,6,0.000,0.041,2980,2360,2652
$GC,7732,0.69,169.5,696.4,9.4,229,7736,0.00,2.45,0.00,0.000,4,0.000,0.086,2980,3790,2650
$GC,7798,0.69,169.5,689.6,10.1,230,7803,0.00,2.22,0.00,0.000,6,0.000,0.041,2991,2363,2650
$GC,8059,0.69,169.5,665.0,9.4,237,8063,0.00,2.42,0.00,0.000,4,0.000,0.082,2986,3791,2649
$GC,8107,0.69,169.5,660.1,10.1,238,8112,0.00,2.20,0.00,0.000,6,0.000,0.041,2995,2379,2649
$GC,8385,0.69,169.5,633.0,9.9,245,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2377,2648
$GC,8630,0.69,169.5,612.0,8.5,251,8634,0.00,2.35,0.00,0.000,4,0.000,0.084,2996,3785,2648
$GC,8701,0.69,169.5,606.2,8.3,252,8706,0.12,2.20,0.00,0.000,6,0.264,0.040,2979,2361,2648
$GC,8957,0.69,169.5,587.9,7.2,259,8961,0.00,2.40,0.00,0.000,4,0.000,0.081,2972,3787,2647
$GC,9151,0.69,169.5,571.6,7.3,263,9156,0.00,2.20,0.00,0.000,6,0.000,0.041,2980,2370,2648
$GC,9418,0.73,202.9,555.1,5.9,270,9452,0.00,2.22,28.88,1.075,4,0.000,0.040,2991,954,2519
$GC,9524,0.73,202.9,546.0,10.7,272,9529,0.00,2.38,0.00,0.000,6,0.000,0.068,2986,2366,2516
$GC,9791,0.73,202.9,515.7,11.7,279,9795,0.00,2.42,0.00,0.000,4,0.000,0.087,2986,3786,2513
$GC,9981,0.73,202.9,491.9,11.5,283,9985,0.00,2.22,0.00,0.000,6,0.000,0.041,2995,2363,2513
$GC,10253,0.73,202.9,463.1,10.5,290,10257,0.00,2.42,0.00,0.000,4,0.000,0.081,2996,3789,2512
$GC,10509,0.73,202.9,431.2,12.1,295,10517,0.00,2.20,0.00,0.000,6,0.000,0.040,3006,2377,2512
$GC,10759,0.73,202.9,407.4,8.6,302,10763,0.00,2.38,0.00,0.000,4,0.000,0.081,3007,3790,2511
$GC,11016,0.73,202.9,383.9,7.6,307,11024,0.10,2.20,0.00,0.000,6,0.259,0.039,2996,2363,2511
$GC,11266,0.73,202.9,365.9,7.3,314,11270,0.00,2.38,0.00,0.000,4,0.000,0.084,2996,3785,2510
$GC,11359,0.73,202.9,358.3,7.9,316,11364,0.00,2.17,0.00,0.000,6,0.000,0.038,3006,2376,2510
$GC,11637,0.73,202.9,334.6,8.6,323,11641,0.00,2.35,0.00,0.000,4,0.000,0.077,3000,3788,2510
$GC,11736,0.73,202.9,324.5,9.4,325,11741,0.00,2.20,0.00,0.000,6,0.000,0.039,3009,2368,2510
$GC,12016,0.73,202.9,302.9,8.0,332,12020,0.00,2.38,0.00,0.000,4,0.000,0.081,3010,3783,2510
$GC,12272,0.73,202.9,280.2,8.3,337,12280,0.10,2.17,0.00,0.000,6,0.257,0.038,2997,2366,2510
$GC,12522,0.78,242.3,265.3,5.7,344,12563,0.00,2.45,33.30,0.871,4,0.000,0.080,2997,3785,2358
$GC,12815,0.78,242.3,231.3,11.5,350,12820,0.00,2.20,0.00,0.000,6,0.000,0.038,3007,2376,2355
$GC,13076,0.78,242.3,208.0,8.0,357,13079,0.00,2.38,0.00,0.000,4,0.000,0.081,3008,3781,2353
$GC,13211,0.78,242.3,194.4,10.3,363,13215,0.00,2.17,0.00,0.000,6,0.000,0.036,3019,2353,2352
$GC,13473,0.78,242.3,165.5,11.6,387,13477,0.00,2.40,0.00,0.000,4,0.000,0.075,3013,3789,2352
$GC,13566,0.78,242.3,154.7,10.1,395,13570,0.00,2.15,0.00,0.000,6,0.000,0.036,3023,2368,2352
$GC,13833,0.79,244.8,131.1,6.9,420,13837,0.00,2.38,0.00,0.000,4,0.000,0.077,3023,3785,2352
$GC,13926,0.79,244.8,122.3,8.8,428,13930,0.00,2.12,0.00,0.000,6,0.000,0.035,3034,2367,2352
$GC,14195,0.84,290.7,106.0,5.5,453,14244,0.00,2.17,40.47,0.724,4,0.000,0.034,3045,959,2159
$GC,14388,0.84,290.7,91.7,9.1,470,14392,0.00,2.33,0.00,0.000,6,0.000,0.064,3040,2375,2155
$GC,14650,0.84,290.7,65.2,10.9,494,14654,0.00,2.35,0.00,0.000,4,0.000,0.074,3040,3797,2154
$GC,14751,0.84,290.7,52.9,13.4,503,14755,0.00,2.15,0.00,0.000,6,0.000,0.033,3050,2374,2154
$GC,15013,0.84,290.7,19.4,12.6,534,15021,0.00,2.12,0.00,0.000,4,0.000,0.031,3062,956,2154
$GC,15034,0.84,290.7,16.7,12.6,537,15043,0.12,2.30,0.00,0.000,6,0.201,0.058,3028,2372,2154
$STATE,15148,end climb,SURFACE_DEPTH_REACHED
$STATE,15149,begin surface coast
$FINISH,0.2,1.023585
$STATE,15172,end surface coast,CONTROL_FINISHED_OK
$STATE,15172,begin surface
$SM_CCo,15187,65.07,0.627,0,0,1633,420.19
$SM_GC,1.45,0.00,0.00,65.07,0.000,0.000,0.627,55,2521,1633,-8.42,0.59,420.19
$IRIDIUM_FIX,2213.68,-15814.08,150300,101043
$TT8_MAMPS,0.023777
$HUMID,1624
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.8,13.112
$10V_AH,10.7,6.899
$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,21.875,174.875,371.300,65.075,0.000,28.020,34.224,135.729,0.000,0.000,0.000,17.049,1307.805,10902.269,539.668,2458.806,336.259,33.353,1624.328,0.000,2427.546,0.000,0.542,0.000
$DEVICE_MAMPS,274.586,117.351,1317.706,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,382.959,717.122,739.663,146.663,608.124,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44600,562
$CAP_FILE_SIZE,129259,0
$CFSIZE,260165632,256880640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,201210,191037,2225.304,-15815.051,36,1.1,36,10.0