version: 66.04
glider: 512
mission: 1
dive: 58
start: 12 21 110 3 29 39
data:
$ID,512
$MISSION,1
$DIVE,58
$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,-4150.0137
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2800
$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,37
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3200
$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
$GPS1,032254,2227.106,-15813.837,25,1.3,42,10.0
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-76.1
$GPS2,032844,2227.139,-15813.870,11,1.4,11,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.161,0.162
$KALMAN_X,-34291.2,1651.0,782.7,26913.3,-15706.6
$KALMAN_Y,-54045.0,-110.2,221.6,140731.8,-6627.0
$MHEAD_RNG_PITCHd_Wd,34.9,40687,-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,-54.70,0.000,2,0.000,0.000,45,2520,3084
$GC,72,-0.66,-146.0,3.2,-4.6,7,104,11.68,2.45,-13.48,0.000,4,0.271,0.114,2567,3900,3795
$GC,205,-0.66,-146.0,53.8,-25.2,23,214,0.00,2.15,0.00,0.000,6,0.000,0.033,2574,2506,3797
$GC,467,-0.66,-146.0,142.5,-28.8,48,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2500,3798
$GC,719,-0.66,-146.0,210.8,-27.3,69,723,0.00,2.12,0.00,0.000,4,0.000,0.031,2574,1072,3799
$GC,745,-0.66,-146.0,217.7,-25.7,69,751,0.00,2.45,0.00,0.000,6,0.000,0.092,2565,2485,3798
$GC,1008,-0.66,-146.0,277.0,-21.9,76,1012,0.00,2.42,0.00,0.000,4,0.000,0.099,2552,3901,3800
$GC,1140,-0.66,-146.0,302.5,-15.8,79,1145,0.00,2.12,0.00,0.000,6,0.000,0.030,2560,2484,3800
$GC,1425,-0.66,-146.0,357.2,-19.1,86,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2479,3800
$GC,1667,-0.66,-146.0,402.4,-18.2,92,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2479,3799
$GC,1911,-0.66,-146.0,444.1,-17.1,98,1916,0.00,2.58,0.00,0.000,4,0.000,0.123,2550,3899,3797
$GC,2001,-0.66,-146.0,459.3,-15.1,100,2005,0.00,2.08,0.00,0.000,6,0.000,0.033,2559,2503,3797
$GC,2283,-0.66,-146.0,504.7,-16.1,107,2287,0.00,2.55,0.00,0.000,4,0.000,0.121,2549,3902,3795
$GC,2355,-0.66,-146.0,515.4,-13.3,108,2359,0.00,2.12,0.00,0.000,6,0.000,0.035,2557,2500,3794
$GC,2610,-0.66,-146.0,553.4,-15.1,115,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2494,3792
$GC,2854,-0.66,-146.0,588.6,-14.5,121,2859,0.00,2.50,0.00,0.000,4,0.000,0.116,2548,3898,3789
$GC,2903,-0.66,-146.0,595.7,-12.8,122,2908,0.00,2.12,0.00,0.000,6,0.000,0.034,2555,2499,3789
$GC,3181,-0.66,-146.0,634.5,-14.3,129,3186,0.12,2.50,0.00,0.000,4,0.214,0.114,2574,3903,3786
$GC,3229,-0.66,-146.0,640.5,-10.3,130,3234,0.00,2.12,0.00,0.000,6,0.000,0.035,2574,2503,3785
$GC,3507,-0.66,-146.0,672.0,-11.6,137,3512,0.00,2.50,0.00,0.000,4,0.000,0.116,2565,3898,3782
$GC,3562,-0.66,-146.0,678.5,-10.8,138,3567,0.00,2.12,0.00,0.000,6,0.000,0.036,2573,2497,3782
$GC,3834,-0.66,-146.0,712.0,-12.8,145,3839,0.00,2.53,0.00,0.000,4,0.000,0.120,2564,3898,3780
$GC,3889,-0.66,-146.0,719.1,-11.8,146,3894,0.00,2.12,0.00,0.000,6,0.000,0.037,2572,2498,3780
$GC,4163,-0.66,-146.0,753.9,-12.8,153,4167,0.00,2.55,0.00,0.000,4,0.000,0.122,2563,3901,3779
$GC,4222,-0.66,-146.0,761.7,-11.7,154,4227,0.00,2.12,0.00,0.000,6,0.000,0.037,2571,2502,3778
$GC,4490,-0.66,-146.0,794.0,-12.2,161,4494,0.00,2.55,0.00,0.000,4,0.000,0.123,2562,3901,3776
$GC,4555,-0.66,-146.0,801.8,-11.1,162,4560,0.00,2.12,0.00,0.000,6,0.000,0.037,2568,2503,3775
$GC,4815,-0.66,-146.0,831.7,-11.5,169,4820,0.00,2.55,0.00,0.000,4,0.000,0.121,2563,3904,3773
$GC,4842,-0.66,-146.0,835.0,-12.2,169,4847,0.00,2.15,0.00,0.000,6,0.000,0.038,2569,2497,3773
$GC,5098,-0.66,-146.0,863.9,-11.5,176,5102,0.00,2.53,0.00,0.000,4,0.000,0.115,2563,3904,3772
$GC,5152,-0.66,-146.0,870.4,-10.0,177,5157,0.00,2.15,0.00,0.000,6,0.000,0.038,2569,2500,3771
$GC,5425,-0.66,-146.0,901.3,-11.5,184,5429,0.00,2.55,0.00,0.000,4,0.000,0.121,2563,3901,3769
$GC,5473,-0.66,-146.0,907.3,-11.6,185,5478,0.00,2.15,0.00,0.000,6,0.000,0.038,2568,2498,3769
$GC,5751,-0.66,-146.0,940.2,-12.0,192,5756,0.00,2.53,0.00,0.000,4,0.000,0.118,2563,3898,3768
$GC,5800,-0.66,-146.0,946.6,-12.1,193,5805,0.00,2.12,0.00,0.000,6,0.000,0.038,2568,2502,3767
$STATE,5833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5833,begin apogee
$GC,5837,-0.32,0.0,950.4,11.4,194,5960,0.43,0.00,120.22,1.342,6,0.173,0.000,2691,2388,3200
$STATE,5961,end apogee,CONTROL_FINISHED_OK
$STATE,5961,begin climb
$GC,5962,0.66,146.0,957.0,0.0,197,6103,0.98,2.42,131.90,1.299,4,0.107,0.038,3011,947,2603
$GC,6159,0.66,146.0,960.4,11.6,201,6164,0.00,2.50,0.00,0.000,6,0.000,0.071,3011,2365,2599
$GC,6416,0.66,146.0,925.5,13.9,208,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2365,2593
$GC,6658,0.66,146.0,893.6,13.0,214,6662,0.00,2.47,0.00,0.000,4,0.000,0.091,3011,3792,2592
$GC,6684,0.66,146.0,889.6,14.8,214,6689,0.00,2.28,0.00,0.000,6,0.000,0.039,3022,2356,2591
$GC,6941,0.66,146.0,853.9,14.0,221,6945,0.00,2.15,0.00,0.000,4,0.000,0.039,3033,953,2589
$GC,6967,0.66,146.0,850.0,13.5,221,6972,0.00,2.38,0.00,0.000,6,0.000,0.071,3027,2368,2589
$GC,7230,0.66,146.0,810.9,15.1,228,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2368,2588
$GC,7472,0.66,146.0,775.3,14.4,234,7476,0.00,2.40,0.00,0.000,4,0.000,0.084,3026,3795,2587
$GC,7611,0.66,146.0,753.2,16.5,237,7616,0.00,2.22,0.00,0.000,6,0.000,0.041,3036,2365,2586
$GC,7889,0.66,146.0,714.6,13.7,244,7893,0.00,2.40,0.00,0.000,4,0.000,0.081,3037,3793,2586
$GC,8145,0.66,146.0,676.9,14.2,249,8153,0.10,2.20,0.00,0.000,6,0.262,0.040,3025,2372,2585
$GC,8396,0.66,146.0,646.7,11.8,256,8400,0.00,2.38,0.00,0.000,4,0.000,0.081,3025,3784,2584
$GC,8536,0.66,146.0,628.7,12.1,259,8540,0.00,2.15,0.00,0.000,6,0.000,0.040,3035,2375,2584
$GC,8807,0.66,146.0,596.4,12.1,266,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2370,2584
$GC,9051,0.66,146.0,565.6,12.6,272,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2370,2583
$GC,9294,0.66,146.0,538.2,11.2,278,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2370,2583
$GC,9539,0.66,146.0,512.0,10.7,284,9543,0.00,2.38,0.00,0.000,4,0.000,0.078,3035,3792,2582
$GC,9565,0.66,146.0,508.6,11.9,284,9570,0.10,2.20,0.00,0.000,6,0.261,0.039,3023,2368,2582
$GC,9821,0.66,146.0,483.6,9.6,291,9826,0.00,2.38,0.00,0.000,4,0.000,0.083,3022,3788,2582
$GC,9926,0.66,146.0,473.0,9.7,293,9931,0.00,2.20,0.00,0.000,6,0.000,0.040,3033,2364,2582
$GC,10193,0.66,146.0,448.2,9.7,300,10197,0.00,2.38,0.00,0.000,4,0.000,0.077,3027,3795,2582
$GC,10449,0.66,146.0,424.1,9.6,305,10457,0.00,2.20,0.00,0.000,6,0.000,0.040,3036,2366,2582
$GC,10699,0.66,146.0,405.4,7.0,312,10703,0.00,2.35,0.00,0.000,4,0.000,0.076,3037,3797,2582
$GC,10956,0.71,181.9,390.1,5.8,317,10989,0.00,2.17,27.62,0.950,6,0.000,0.038,3047,2372,2458
$GC,11249,0.71,181.9,358.0,12.1,325,11253,0.00,2.38,0.00,0.000,4,0.000,0.072,3041,3797,2452
$GC,11505,0.71,181.9,321.6,13.5,330,11510,0.00,2.20,0.00,0.000,6,0.000,0.040,3050,2381,2451
$GC,11761,0.71,181.9,296.4,8.8,337,11765,0.00,2.35,0.00,0.000,4,0.000,0.077,3050,3792,2451
$GC,12018,0.71,181.9,271.6,9.5,342,12023,0.00,2.20,0.00,0.000,6,0.000,0.038,3061,2371,2451
$GC,12273,0.76,227.5,256.7,5.5,349,12318,0.00,2.45,38.83,0.860,4,0.000,0.078,3061,3775,2271
$GC,12481,0.76,227.5,226.7,15.5,353,12486,0.00,2.20,0.00,0.000,6,0.000,0.037,3072,2375,2267
$GC,12739,0.76,227.5,189.3,13.4,363,12740,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2370,2265
$GC,12996,0.76,227.5,151.5,14.3,387,12999,0.00,2.15,0.00,0.000,4,0.000,0.035,3083,948,2265
$GC,13077,0.76,227.5,136.7,16.6,394,13087,0.10,2.35,0.00,0.000,6,0.229,0.064,3056,2372,2265
$GC,13340,0.76,227.5,100.0,11.6,419,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2372,2265
$GC,13595,0.81,262.8,78.0,5.9,443,13628,0.00,0.00,29.50,0.683,6,0.000,0.000,3056,2372,2127
$GC,13882,0.81,262.8,46.9,13.9,470,13886,0.00,2.15,0.00,0.000,4,0.000,0.035,3066,949,2123
$GC,13908,0.81,262.8,43.0,15.0,472,13916,0.00,2.33,0.00,0.000,6,0.000,0.061,3066,2366,2122
$GC,14169,0.81,262.8,3.3,16.1,513,14177,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2366,2123
$STATE,14183,end climb,SURFACE_DEPTH_REACHED
$STATE,14183,begin surface coast
$FINISH,0.3,1.011467
$STATE,14200,end surface coast,CONTROL_FINISHED_OK
$STATE,14201,begin surface
$SM_CCo,14216,71.65,0.623,0,0,1486,420.19
$SM_GC,1.72,0.00,0.00,71.65,0.000,0.000,0.623,55,2506,1486,-8.58,0.17,420.19
$IRIDIUM_FIX,2218.34,-15816.24,150300,232306
$TT8_MAMPS,0.023777
$HUMID,1642
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,23.8,13.558
$10V_AH,10.7,7.208
$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,21.900,139.000,348.075,71.650,0.000,30.696,31.617,205.506,0.750,0.000,0.000,11.951,1177.262,10436.718,520.167,2124.092,387.443,33.348,1461.003,0.000,2103.545,0.000,0.544,0.000
$DEVICE_MAMPS,270.751,122.720,1342.250,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,352.750,640.496,659.362,136.078,562.351,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41330,518
$CAP_FILE_SIZE,115524,0
$CFSIZE,260165632,256708608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,211210,072901,2228.309,-15813.425,41,1.5,41,10.0