version: 66.04
glider: 512
mission: 1
dive: 56
start: 12 20 110 19 17 1
data:
$ID,512
$MISSION,1
$DIVE,56
$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,-4124.7358
$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,38
$R_STBD_OVSHOOT,32
$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
$GPS1,191037,2225.304,-15815.051,36,1.1,36,10.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-77.1
$GPS2,191607,2225.334,-15815.099,11,1.3,17,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.163,0.161
$KALMAN_X,-30465.4,1103.1,1180.9,21115.6,-15890.4
$KALMAN_Y,-49967.1,658.1,223.0,132527.3,-4994.8
$MHEAD_RNG_PITCHd_Wd,35.3,44626,-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,-47.92,0.000,2,0.000,0.000,50,2526,2870
$GC,65,-0.66,-146.0,3.0,-4.7,6,106,11.70,2.38,-22.23,0.000,4,0.278,0.112,2514,3879,3943
$GC,164,-0.66,-146.0,41.5,-46.1,20,172,0.00,2.12,0.00,0.000,6,0.000,0.033,2520,2509,3944
$GC,426,-0.66,-146.0,154.4,-37.4,45,430,0.00,2.15,0.00,0.000,4,0.000,0.032,2530,1067,3945
$GC,452,-0.66,-146.0,165.4,-37.6,47,461,0.00,2.40,0.00,0.000,6,0.000,0.078,2520,2484,3945
$GC,727,-0.66,-146.0,249.8,-29.4,62,731,0.00,2.40,0.00,0.000,4,0.000,0.092,2509,3900,3946
$GC,753,-0.66,-146.0,257.8,-29.7,62,758,0.00,2.15,0.00,0.000,6,0.000,0.032,2513,2486,3946
$GC,1015,-0.66,-146.0,325.5,-25.9,69,1019,0.00,2.50,0.00,0.000,4,0.000,0.110,2503,3897,3947
$GC,1091,-0.66,-146.0,344.8,-20.2,70,1099,0.00,2.10,0.00,0.000,6,0.000,0.031,2511,2499,3947
$GC,1341,-0.66,-146.0,408.4,-26.5,77,1345,0.00,2.45,0.00,0.000,4,0.000,0.100,2501,3904,3947
$GC,1428,-0.66,-146.0,429.4,-21.1,79,1434,0.00,2.10,0.00,0.000,6,0.000,0.031,2510,2501,3946
$GC,1713,-0.66,-146.0,489.7,-21.3,86,1717,0.00,2.45,0.00,0.000,4,0.000,0.105,2500,3900,3944
$GC,1739,-0.66,-146.0,496.0,-23.0,86,1744,0.00,2.12,0.00,0.000,6,0.000,0.034,2508,2493,3943
$GC,1996,-0.66,-146.0,551.7,-22.1,93,2001,0.00,2.47,0.00,0.000,4,0.000,0.104,2498,3907,3942
$GC,2050,-0.66,-146.0,564.3,-20.6,94,2056,0.00,2.12,0.00,0.000,6,0.000,0.033,2506,2499,3941
$GC,2324,-0.66,-146.0,622.9,-21.9,101,2328,0.00,2.45,0.00,0.000,4,0.000,0.103,2497,3904,3939
$GC,2362,-0.66,-146.0,631.3,-21.3,102,2367,0.10,2.10,0.00,0.000,6,0.173,0.035,2529,2493,3939
$GC,2650,-0.66,-146.0,681.8,-17.1,109,2654,0.00,2.45,0.00,0.000,4,0.000,0.104,2519,3899,3935
$GC,2693,-0.66,-146.0,689.3,-15.8,110,2698,0.00,2.10,0.00,0.000,6,0.000,0.035,2521,2512,3935
$GC,2977,-0.66,-146.0,736.4,-16.9,117,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2506,3932
$GC,3221,-0.66,-146.0,778.8,-17.5,123,3225,0.00,2.45,0.00,0.000,4,0.000,0.106,2512,3906,3930
$GC,3286,-0.66,-146.0,790.4,-15.7,124,3291,0.00,2.15,0.00,0.000,6,0.000,0.037,2519,2504,3929
$GC,3549,-0.66,-146.0,836.0,-17.7,131,3553,0.00,2.45,0.00,0.000,4,0.000,0.106,2510,3903,3926
$GC,3580,-0.66,-146.0,842.0,-18.0,131,3587,0.00,2.15,0.00,0.000,6,0.000,0.038,2515,2495,3926
$GC,3830,-0.66,-146.0,883.9,-16.9,138,3834,0.00,2.47,0.00,0.000,4,0.000,0.106,2504,3901,3924
$GC,3884,-0.66,-146.0,893.3,-15.8,139,3889,0.00,2.15,0.00,0.000,6,0.000,0.038,2507,2487,3924
$GC,4158,-0.66,-146.0,940.7,-17.7,146,4162,0.00,2.47,0.00,0.000,4,0.000,0.107,2497,3899,3921
$STATE,4210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4210,begin apogee
$GC,4216,-0.32,0.0,950.5,16.4,147,4340,0.43,0.00,120.62,1.329,6,0.174,0.000,2635,2369,3347
$STATE,4341,end apogee,CONTROL_FINISHED_OK
$STATE,4341,begin climb
$GC,4342,0.66,146.0,958.1,0.0,150,4480,1.10,2.33,129.77,1.276,4,0.147,0.038,2963,960,2750
$GC,4734,0.66,146.0,950.5,8.7,159,4738,0.00,2.40,0.00,0.000,6,0.000,0.074,2958,2368,2742
$GC,5018,0.66,146.0,926.9,8.5,166,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2368,2738
$GC,5259,0.66,146.0,907.8,7.8,172,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2368,2736
$GC,5503,0.66,146.0,888.8,7.8,178,5506,0.00,2.42,0.00,0.000,4,0.000,0.088,2958,3787,2735
$GC,5596,0.66,146.0,880.4,9.0,180,5602,0.00,2.22,0.00,0.000,6,0.000,0.041,2967,2361,2734
$GC,5880,0.66,146.0,858.1,7.7,187,5884,0.00,2.42,0.00,0.000,4,0.000,0.086,2967,3786,2733
$GC,6086,0.66,146.0,840.3,8.4,191,6091,0.00,2.20,0.00,0.000,6,0.000,0.040,2976,2365,2732
$GC,6342,0.66,146.0,819.9,8.1,198,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2360,2731
$GC,6585,0.66,146.0,801.1,7.8,204,6589,0.00,2.12,0.00,0.000,4,0.000,0.041,2987,956,2730
$GC,6724,0.68,155.8,790.7,6.7,207,6735,0.00,2.35,5.93,0.964,6,0.000,0.071,2986,2370,2711
$GC,7001,0.68,155.8,768.8,8.0,214,7005,0.00,2.38,0.00,0.000,4,0.000,0.084,2986,3788,2708
$GC,7258,0.68,155.8,747.3,8.1,219,7263,0.00,2.20,0.00,0.000,6,0.000,0.041,2995,2376,2708
$GC,7514,0.70,178.6,731.0,6.3,226,7549,0.00,2.42,23.02,1.074,4,0.000,0.078,2995,3786,2617
$GC,7571,0.70,178.6,726.6,9.3,227,7576,0.00,2.22,0.00,0.000,6,0.000,0.039,3006,2376,2617
$GC,7843,0.70,178.6,699.3,9.9,234,7847,0.00,2.17,0.00,0.000,4,0.000,0.038,3018,941,2615
$GC,7954,0.70,178.6,688.8,9.1,236,7959,0.10,2.38,0.00,0.000,6,0.232,0.067,2987,2370,2614
$GC,8220,0.70,178.6,663.9,9.5,243,8225,0.00,2.40,0.00,0.000,4,0.000,0.084,2986,3792,2613
$GC,8410,0.70,178.6,643.6,10.0,247,8415,0.00,2.22,0.00,0.000,6,0.000,0.042,2996,2368,2613
$GC,8682,0.70,178.6,620.5,8.2,254,8686,0.00,2.40,0.00,0.000,4,0.000,0.081,2996,3788,2612
$GC,8759,0.70,178.6,612.8,10.4,255,8764,0.00,2.20,0.00,0.000,6,0.000,0.040,3006,2373,2612
$GC,9015,0.70,178.6,589.7,9.0,262,9018,0.00,2.15,0.00,0.000,4,0.000,0.038,3018,940,2612
$GC,9164,0.70,178.6,577.1,9.2,265,9170,0.10,2.35,0.00,0.000,6,0.227,0.065,2987,2372,2612
$GC,9436,0.70,178.6,554.9,8.0,272,9440,0.00,2.38,0.00,0.000,4,0.000,0.085,2986,3786,2611
$GC,9571,0.70,178.6,543.5,8.9,275,9575,0.00,2.17,0.00,0.000,6,0.000,0.041,2996,2364,2611
$GC,9859,0.70,178.6,520.4,7.8,282,9863,0.00,2.40,0.00,0.000,4,0.000,0.084,2996,3788,2611
$GC,9913,0.70,178.6,515.3,9.6,283,9918,0.00,2.20,0.00,0.000,6,0.000,0.040,3006,2372,2611
$GC,10185,0.70,178.6,492.0,8.5,290,10189,0.00,2.38,0.00,0.000,4,0.000,0.080,3007,3788,2611
$GC,10442,0.70,178.6,472.1,7.9,295,10451,0.15,2.20,0.00,0.000,6,0.264,0.039,2984,2353,2610
$GC,10692,0.83,278.0,461.0,3.8,302,10782,0.00,2.25,85.10,1.028,4,0.000,0.039,2993,957,2212
$GC,10956,0.83,278.0,428.9,14.5,308,10961,0.00,2.42,0.00,0.000,6,0.000,0.071,2986,2369,2203
$GC,11240,0.83,278.0,381.7,16.7,315,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2369,2200
$GC,11485,0.83,278.0,339.9,17.2,321,11488,0.00,2.17,0.00,0.000,4,0.000,0.041,2995,961,2198
$GC,11516,0.83,278.0,334.9,14.8,321,11522,0.00,2.38,0.00,0.000,6,0.000,0.071,2995,2368,2198
$GC,11772,0.83,278.0,293.5,16.3,328,11776,0.00,2.40,0.00,0.000,4,0.000,0.084,2995,3788,2198
$GC,11798,0.83,278.0,289.0,17.8,328,11803,0.00,2.20,0.00,0.000,6,0.000,0.039,3007,2373,2196
$GC,12053,0.83,278.0,252.4,13.4,335,12057,0.00,2.40,0.00,0.000,4,0.000,0.084,3007,3789,2197
$GC,12271,0.83,278.0,218.8,13.8,340,12275,0.00,2.17,0.00,0.000,6,0.000,0.038,3019,2367,2196
$GC,12534,0.83,278.0,180.5,15.8,353,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2362,2196
$GC,12790,0.83,278.0,143.2,14.3,377,12794,0.00,2.12,0.00,0.000,4,0.000,0.036,3031,951,2196
$GC,12838,0.83,278.0,137.0,12.7,381,12842,0.00,2.33,0.00,0.000,6,0.000,0.068,3027,2373,2196
$GC,13100,0.83,278.0,112.2,7.9,405,13104,0.00,2.35,0.00,0.000,4,0.000,0.077,3026,3796,2196
$GC,13108,0.83,278.0,111.2,8.0,405,13117,0.00,2.20,0.00,0.000,6,0.000,0.035,3037,2353,2196
$GC,13371,0.83,278.0,86.1,10.6,430,13374,0.00,2.08,0.00,0.000,4,0.000,0.034,3048,956,2196
$GC,13514,0.83,278.0,72.3,9.7,443,13518,0.00,2.28,0.00,0.000,6,0.000,0.060,3040,2378,2198
$GC,13776,0.83,278.0,44.6,11.0,467,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2378,2198
$GC,14030,0.83,278.0,17.0,10.7,502,14038,0.00,2.33,0.00,0.000,4,0.000,0.074,3040,3782,2200
$GC,14062,0.83,278.0,13.1,11.8,507,14070,0.10,2.12,0.00,0.000,6,0.214,0.033,3023,2372,2200
$STATE,14155,end climb,SURFACE_DEPTH_REACHED
$STATE,14155,begin surface coast
$FINISH,0.3,1.023567
$STATE,14184,end surface coast,CONTROL_FINISHED_OK
$STATE,14184,begin surface
$SM_CCo,14199,71.72,0.591,0,0,1633,420.19
$SM_GC,1.48,0.00,0.00,71.72,0.000,0.000,0.591,50,2517,1633,-8.44,0.48,420.19
$IRIDIUM_FIX,2213.68,-15814.08,150300,151538
$TT8_MAMPS,0.023777
$HUMID,1633
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.9,13.264
$10V_AH,10.7,7.004
$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,21.925,155.825,364.450,71.725,0.000,31.224,35.429,174.428,0.000,0.000,0.000,17.743,1207.802,10230.692,538.486,2267.390,361.979,33.347,1533.348,0.000,2238.228,0.000,0.545,0.000
$DEVICE_MAMPS,277.654,111.982,1329.211,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,360.391,674.579,696.791,147.290,611.107,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41616,529
$CAP_FILE_SIZE,119314,0
$CFSIZE,260165632,256827392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,1,0
$GPS,201210,231607,2226.493,-15814.163,42,1.1,42,10.0