version: 66.04
glider: 512
mission: 1
dive: 59
start: 12 21 110 7 38 21
data:
$ID,512
$MISSION,1
$DIVE,59
$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,-4168.5303
$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,35
$R_STBD_OVSHOOT,16
$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
$GPS1,072901,2228.309,-15813.425,41,1.5,41,10.0
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.4
$GPS2,073726,2228.344,-15813.477,17,1.3,17,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.160,0.164
$KALMAN_X,-36129.7,1145.4,930.7,29779.7,-15291.6
$KALMAN_Y,-56529.9,480.4,512.4,144557.9,-8666.4
$MHEAD_RNG_PITCHd_Wd,34.3,38488,-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,-146.0,0.0,0.0,0,78,0.00,0.00,-62.33,0.000,2,0.000,0.000,49,2513,3166
$GC,80,-0.66,-146.0,3.7,-4.8,8,112,11.77,2.45,-11.60,0.000,4,0.274,0.106,2571,3900,3799
$GC,189,-0.66,-146.0,48.2,-28.4,22,193,0.00,2.12,0.00,0.000,6,0.000,0.032,2579,2494,3801
$GC,457,-0.66,-146.0,139.7,-30.7,47,461,0.00,2.55,0.00,0.000,4,0.000,0.112,2568,3901,3801
$GC,488,-0.66,-146.0,150.3,-30.6,49,496,0.00,2.15,0.00,0.000,6,0.000,0.032,2575,2484,3802
$GC,756,-0.66,-146.0,224.4,-27.6,69,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2478,3803
$GC,999,-0.66,-146.0,283.8,-23.8,75,1003,0.00,2.58,0.00,0.000,4,0.000,0.120,2565,3900,3804
$GC,1149,-0.66,-146.0,311.1,-16.5,78,1154,0.00,2.10,0.00,0.000,6,0.000,0.031,2573,2502,3804
$GC,1421,-0.66,-146.0,355.0,-15.7,85,1425,0.00,2.05,0.00,0.000,4,0.000,0.030,2574,1090,3804
$GC,1442,-0.66,-146.0,358.6,-16.5,85,1447,0.00,2.42,0.00,0.000,6,0.000,0.095,2574,2486,3804
$GC,1710,-0.66,-146.0,397.5,-14.7,92,1714,0.00,2.45,0.00,0.000,4,0.000,0.104,2564,3901,3803
$GC,1793,-0.66,-146.0,409.3,-13.2,94,1797,0.00,2.08,0.00,0.000,6,0.000,0.034,2566,2501,3802
$GC,2082,-0.66,-146.0,452.1,-14.9,101,2087,0.00,2.55,0.00,0.000,4,0.000,0.120,2555,3904,3800
$GC,2182,-0.66,-146.0,465.9,-12.2,103,2187,0.00,2.12,0.00,0.000,6,0.000,0.034,2560,2492,3799
$GC,2454,-0.66,-146.0,504.1,-14.3,110,2458,0.00,2.60,0.00,0.000,4,0.000,0.130,2551,3899,3797
$GC,2525,-0.66,-146.0,513.8,-12.1,111,2530,0.00,2.10,0.00,0.000,6,0.000,0.034,2559,2506,3796
$GC,2780,-0.66,-146.0,549.1,-14.1,118,2785,0.00,2.58,0.00,0.000,4,0.000,0.133,2550,3899,3794
$GC,2812,-0.66,-146.0,554.1,-14.9,118,2820,0.00,2.12,0.00,0.000,6,0.000,0.035,2557,2495,3793
$GC,3062,-0.66,-146.0,591.4,-15.3,125,3066,0.00,2.60,0.00,0.000,4,0.000,0.130,2548,3902,3791
$GC,3111,-0.66,-146.0,599.5,-15.5,126,3116,0.08,2.12,0.00,0.000,6,0.174,0.035,2578,2493,3790
$GC,3389,-0.66,-146.0,637.3,-13.8,133,3393,0.00,2.58,0.00,0.000,4,0.000,0.123,2569,3903,3788
$GC,3428,-0.66,-146.0,642.6,-13.6,134,3432,0.00,2.10,0.00,0.000,6,0.000,0.035,2574,2498,3787
$GC,3717,-0.66,-146.0,681.2,-13.4,141,3721,0.00,2.55,0.00,0.000,4,0.000,0.121,2564,3901,3784
$GC,3794,-0.66,-146.0,691.6,-11.7,142,3801,0.00,2.12,0.00,0.000,6,0.000,0.036,2573,2500,3783
$GC,4044,-0.66,-146.0,723.8,-13.0,149,4048,0.00,2.58,0.00,0.000,4,0.000,0.127,2564,3905,3781
$GC,4098,-0.66,-146.0,731.1,-12.9,150,4103,0.00,2.12,0.00,0.000,6,0.000,0.035,2572,2507,3781
$GC,4370,-0.66,-146.0,766.3,-13.1,157,4374,0.00,2.58,0.00,0.000,4,0.000,0.127,2563,3907,3780
$GC,4424,-0.66,-146.0,773.8,-13.0,158,4429,0.00,2.15,0.00,0.000,6,0.000,0.038,2568,2495,3780
$GC,4697,-0.66,-146.0,808.9,-13.0,165,4701,0.00,2.58,0.00,0.000,4,0.000,0.127,2563,3901,3778
$GC,4785,-0.66,-146.0,819.9,-11.2,167,4789,0.00,2.12,0.00,0.000,6,0.000,0.038,2567,2503,3777
$GC,5068,-0.66,-146.0,854.5,-12.2,174,5072,0.00,2.55,0.00,0.000,4,0.000,0.123,2563,3900,3776
$GC,5134,-0.66,-146.0,862.2,-10.5,175,5139,0.00,2.12,0.00,0.000,6,0.000,0.038,2567,2502,3775
$GC,5395,-0.66,-146.0,891.4,-11.2,182,5399,0.00,2.53,0.00,0.000,4,0.000,0.121,2563,3901,3773
$GC,5444,-0.66,-146.0,897.1,-10.3,183,5449,0.00,2.15,0.00,0.000,6,0.000,0.038,2566,2489,3773
$GC,5722,-0.66,-146.0,929.3,-11.9,190,5726,0.00,2.58,0.00,0.000,4,0.000,0.123,2563,3898,3771
$GC,5772,-0.66,-146.0,935.3,-10.7,191,5775,0.00,2.10,0.00,0.000,6,0.000,0.038,2565,2499,3771
$STATE,5925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5925,begin apogee
$GC,5929,-0.32,0.0,954.4,12.4,195,6053,0.45,0.00,121.10,1.332,6,0.176,0.000,2694,2390,3200
$STATE,6054,end apogee,CONTROL_FINISHED_OK
$STATE,6054,begin climb
$GC,6055,0.66,146.0,960.8,0.0,198,6194,0.98,2.40,131.52,1.271,4,0.106,0.038,3013,937,2603
$GC,6334,0.66,146.0,951.0,13.7,204,6339,0.00,2.53,0.00,0.000,6,0.000,0.078,3013,2368,2596
$GC,6596,0.66,146.0,911.6,15.3,211,6600,0.00,2.22,0.00,0.000,4,0.000,0.041,3023,936,2592
$GC,6639,0.66,146.0,904.9,14.9,212,6644,0.00,2.47,0.00,0.000,6,0.000,0.077,3023,2369,2592
$GC,6923,0.66,146.0,860.0,15.8,219,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2368,2589
$GC,7166,0.66,146.0,822.3,15.5,225,7171,0.00,2.45,0.00,0.000,4,0.000,0.092,3023,3786,2589
$GC,7226,0.66,146.0,812.4,16.2,226,7232,0.00,2.25,0.00,0.000,6,0.000,0.041,3033,2354,2587
$GC,7493,0.66,146.0,773.9,14.4,233,7497,0.00,2.45,0.00,0.000,4,0.000,0.080,3027,3799,2587
$GC,7559,0.66,146.0,763.8,15.5,234,7564,0.00,2.25,0.00,0.000,6,0.000,0.040,3037,2349,2586
$GC,7821,0.66,146.0,728.1,13.7,241,7826,0.00,2.45,0.00,0.000,4,0.000,0.087,3037,3786,2586
$GC,8000,0.66,146.0,701.2,15.3,245,8005,0.08,2.20,0.00,0.000,6,0.265,0.040,3021,2372,2585
$GC,8284,0.66,146.0,666.2,12.1,252,8289,0.00,2.40,0.00,0.000,4,0.000,0.083,3014,3791,2584
$GC,8328,0.66,146.0,660.5,12.6,253,8332,0.00,2.20,0.00,0.000,6,0.000,0.041,3023,2366,2584
$GC,8611,0.66,146.0,628.4,11.1,260,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2361,2583
$GC,8856,0.66,146.0,600.9,11.3,266,8860,0.00,2.42,0.00,0.000,4,0.000,0.087,3024,3797,2583
$GC,8977,0.66,146.0,585.7,12.1,268,8984,0.00,2.20,0.00,0.000,6,0.000,0.040,3035,2378,2583
$GC,9227,0.66,146.0,557.6,11.2,275,9231,0.00,2.40,0.00,0.000,4,0.000,0.083,3034,3797,2583
$GC,9286,0.66,146.0,551.1,10.2,276,9292,0.10,2.22,0.00,0.000,6,0.255,0.038,3023,2358,2582
$GC,9553,0.66,146.0,527.6,8.0,283,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2353,2582
$GC,9798,0.66,146.0,509.8,7.2,289,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2353,2582
$GC,10040,0.66,146.0,491.1,7.8,295,10044,0.00,2.40,0.00,0.000,4,0.000,0.084,3023,3788,2582
$GC,10151,0.66,146.0,481.0,8.8,297,10156,0.00,2.17,0.00,0.000,6,0.000,0.040,3033,2372,2582
$GC,10417,0.66,146.0,457.8,9.0,304,10421,0.00,2.38,0.00,0.000,4,0.000,0.080,3027,3789,2581
$GC,10674,0.66,146.0,436.3,8.3,309,10679,0.00,2.20,0.00,0.000,6,0.000,0.041,3037,2363,2581
$GC,10930,0.68,155.8,418.9,6.7,316,10941,0.00,2.42,5.30,0.776,4,0.000,0.082,3037,3795,2565
$GC,11193,0.68,155.8,395.7,9.0,322,11197,0.00,2.15,0.00,0.000,6,0.000,0.038,3047,2371,2565
$GC,11481,0.68,155.8,373.9,7.2,329,11485,0.00,2.38,0.00,0.000,4,0.000,0.078,3041,3788,2564
$GC,11738,0.71,181.3,358.7,6.2,334,11768,0.00,2.17,23.62,0.917,6,0.000,0.039,3050,2373,2460
$GC,12030,0.71,181.3,325.9,11.9,342,12035,0.00,2.40,0.00,0.000,4,0.000,0.081,3050,3785,2455
$GC,12286,0.71,181.3,296.8,9.5,347,12294,0.10,2.20,0.00,0.000,6,0.250,0.038,3038,2367,2455
$GC,12537,0.73,195.8,279.2,6.5,354,12552,0.00,0.00,13.12,0.823,6,0.000,0.000,3037,2366,2401
$GC,12819,0.73,195.8,257.3,8.6,361,12823,0.00,2.40,0.00,0.000,4,0.000,0.081,3037,3786,2398
$GC,12956,0.73,195.8,242.8,9.9,364,12962,0.00,2.17,0.00,0.000,6,0.000,0.037,3047,2378,2397
$GC,13236,0.73,195.8,217.1,9.4,371,13237,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2373,2397
$GC,13481,0.73,195.8,191.7,10.5,380,13482,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2373,2397
$GC,13736,0.73,195.8,166.0,9.5,404,13740,0.00,2.12,0.00,0.000,4,0.000,0.034,3058,946,2397
$GC,13781,0.73,195.8,161.8,9.6,408,13785,0.00,2.30,0.00,0.000,6,0.000,0.061,3053,2375,2397
$GC,14042,0.74,211.8,144.5,6.5,432,14067,0.00,2.40,14.70,0.693,4,0.000,0.076,3054,3786,2335
$GC,14182,0.74,211.8,133.1,8.9,444,14192,0.00,2.17,0.00,0.000,6,0.000,0.035,3063,2362,2335
$GC,14446,0.78,238.2,116.9,6.1,469,14475,0.00,0.00,22.80,0.675,6,0.000,0.000,3064,2362,2230
$GC,14729,0.78,238.2,93.7,10.4,496,14733,0.00,2.40,0.00,0.000,4,0.000,0.079,3064,3785,2227
$GC,14822,0.78,238.2,81.8,12.8,504,14827,0.00,2.15,0.00,0.000,6,0.000,0.034,3075,2361,2226
$GC,15084,0.78,238.2,49.1,12.9,528,15086,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2355,2226
$GC,15339,0.78,238.2,13.9,13.8,562,15347,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2355,2226
$STATE,15421,end climb,SURFACE_DEPTH_REACHED
$STATE,15422,begin surface coast
$FINISH,0.3,1.023623
$STATE,15444,end surface coast,CONTROL_FINISHED_OK
$STATE,15445,begin surface
$SM_CCo,15460,86.72,0.586,0,0,1486,420.19
$SM_GC,1.58,0.00,0.00,86.72,0.000,0.000,0.586,50,2532,1486,-8.60,0.90,420.19
$IRIDIUM_FIX,2220.67,-15816.24,160300,070708
$TT8_MAMPS,0.023777
$HUMID,1623
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.8,13.704
$10V_AH,10.7,7.321
$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,21.925,158.225,332.175,86.725,0.000,62.006,68.809,223.540,0.000,0.000,0.000,17.888,1302.003,11324.307,545.156,2396.104,493.278,33.349,1581.954,0.000,2371.358,0.000,0.543,0.000
$DEVICE_MAMPS,273.819,132.691,1331.512,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,395.192,751.085,777.297,149.300,618.679,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47676,581
$CAP_FILE_SIZE,128935,0
$CFSIZE,260165632,256634880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,211210,115836,2229.633,-15812.524,34,1.2,34,10.0