version: 66.04
glider: 512
mission: 1
dive: 60
start: 12 21 110 12 4 44
data:
$ID,512
$MISSION,1
$DIVE,60
$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,-4185.9082
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,115836,2229.633,-15812.524,34,1.2,34,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-76.2
$GPS2,120349,2229.676,-15812.528,11,1.2,16,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.226,0.033
$KALMAN_X,-37048.2,1044.5,835.6,32524.0,-12445.8
$KALMAN_Y,-58280.8,1225.8,376.8,148156.3,-9186.6
$MHEAD_RNG_PITCHd_Wd,71.7,35543,-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,14,-0.66,-146.0,0.0,0.0,0,71,0.00,0.00,-55.10,0.000,2,0.000,0.000,46,2532,2918
$GC,73,-0.66,-146.0,3.2,-4.2,7,114,11.62,2.20,-17.65,0.000,4,0.270,0.044,2584,1091,3799
$GC,121,-0.66,-146.0,19.1,-27.3,13,129,0.00,2.45,0.00,0.000,6,0.000,0.091,2576,2487,3799
$GC,385,-0.66,-146.0,119.1,-36.0,40,389,0.00,2.42,0.00,0.000,4,0.000,0.093,2564,3901,3800
$GC,470,-0.66,-146.0,144.6,-22.9,47,474,0.00,2.10,0.00,0.000,6,0.000,0.031,2572,2500,3801
$GC,755,-0.66,-146.0,223.4,-27.2,68,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2494,3802
$GC,997,-0.66,-146.0,282.4,-23.8,74,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2494,3802
$GC,1241,-0.66,-146.0,329.9,-18.4,80,1245,0.00,2.53,0.00,0.000,4,0.000,0.117,2563,3902,3803
$GC,1317,-0.66,-146.0,342.5,-14.0,81,1322,0.00,2.10,0.00,0.000,6,0.000,0.031,2570,2501,3803
$GC,1572,-0.66,-146.0,387.6,-18.3,88,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2495,3802
$GC,1818,-0.66,-146.0,432.3,-18.3,94,1822,0.00,2.58,0.00,0.000,4,0.000,0.126,2561,3901,3801
$GC,1888,-0.66,-146.0,444.6,-15.3,95,1893,0.00,2.10,0.00,0.000,6,0.000,0.031,2565,2500,3800
$GC,2144,-0.66,-146.0,489.1,-17.5,102,2148,0.00,2.58,0.00,0.000,4,0.000,0.125,2556,3904,3799
$GC,2220,-0.66,-146.0,501.4,-14.6,103,2227,0.00,2.12,0.00,0.000,6,0.000,0.033,2561,2496,3799
$GC,2470,-0.66,-146.0,541.8,-16.3,110,2474,0.00,2.55,0.00,0.000,4,0.000,0.125,2552,3896,3796
$GC,2547,-0.66,-146.0,553.9,-13.8,111,2552,0.00,2.10,0.00,0.000,6,0.000,0.033,2559,2501,3795
$GC,2803,-0.66,-146.0,592.0,-14.9,118,2807,0.00,2.58,0.00,0.000,4,0.000,0.130,2550,3896,3792
$GC,2845,-0.66,-146.0,598.3,-13.7,119,2850,0.00,2.10,0.00,0.000,6,0.000,0.034,2558,2501,3791
$GC,3130,-0.66,-146.0,635.8,-13.1,126,3135,0.00,2.58,0.00,0.000,4,0.000,0.127,2549,3901,3790
$GC,3184,-0.66,-146.0,643.3,-12.8,127,3189,0.00,2.12,0.00,0.000,6,0.000,0.035,2556,2501,3789
$GC,3457,-0.66,-146.0,678.1,-13.0,134,3462,0.10,2.55,0.00,0.000,4,0.220,0.124,2568,3901,3785
$GC,3522,-0.66,-146.0,685.5,-9.7,135,3527,0.00,2.12,0.00,0.000,6,0.000,0.035,2574,2501,3785
$GC,3783,-0.66,-146.0,714.6,-11.4,142,3788,0.00,2.55,0.00,0.000,4,0.000,0.122,2564,3901,3782
$GC,3822,-0.66,-146.0,719.2,-11.5,143,3826,0.00,2.10,0.00,0.000,6,0.000,0.037,2573,2494,3782
$GC,4110,-0.66,-146.0,752.0,-11.5,150,4114,0.00,2.55,0.00,0.000,4,0.000,0.124,2563,3898,3781
$GC,4181,-0.66,-146.0,760.9,-12.1,151,4186,0.00,2.12,0.00,0.000,6,0.000,0.036,2572,2497,3780
$GC,4437,-0.66,-146.0,791.1,-12.0,158,4441,0.00,2.58,0.00,0.000,4,0.000,0.124,2563,3903,3779
$GC,4485,-0.66,-146.0,797.2,-12.2,159,4490,0.00,2.15,0.00,0.000,6,0.000,0.038,2568,2492,3778
$GC,4764,-0.66,-146.0,829.8,-11.5,166,4768,0.00,2.58,0.00,0.000,4,0.000,0.126,2563,3898,3776
$GC,4847,-0.66,-146.0,838.2,-8.7,168,4851,0.00,2.10,0.00,0.000,6,0.000,0.036,2568,2494,3775
$GC,5135,-0.66,-146.0,868.3,-10.6,175,5139,0.00,2.55,0.00,0.000,4,0.000,0.122,2563,3897,3773
$GC,5201,-0.66,-146.0,875.2,-9.8,176,5206,0.00,2.12,0.00,0.000,6,0.000,0.038,2567,2502,3773
$GC,5462,-0.66,-146.0,903.0,-10.8,183,5466,0.00,2.53,0.00,0.000,4,0.000,0.122,2564,3897,3771
$GC,5505,-0.66,-146.0,907.9,-10.2,184,5510,0.00,2.12,0.00,0.000,6,0.000,0.038,2568,2500,3771
$GC,5790,-0.66,-146.0,938.0,-10.9,191,5794,0.00,2.53,0.00,0.000,4,0.000,0.119,2563,3896,3769
$GC,5849,-0.66,-146.0,944.3,-9.1,192,5854,0.00,2.12,0.00,0.000,6,0.000,0.038,2569,2499,3769
$STATE,5911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5911,begin apogee
$GC,5915,-0.32,0.0,950.9,10.6,194,6039,0.43,0.00,120.43,1.332,6,0.175,0.000,2691,2384,3200
$STATE,6039,end apogee,CONTROL_FINISHED_OK
$STATE,6039,begin climb
$GC,6041,0.66,146.0,955.9,0.0,197,6182,1.00,2.42,131.88,1.302,4,0.114,0.039,3014,938,2604
$GC,6265,0.66,146.0,952.1,14.1,202,6270,0.00,2.53,0.00,0.000,6,0.000,0.077,3013,2366,2598
$GC,6538,0.66,146.0,911.0,15.0,209,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2366,2592
$GC,6782,0.66,146.0,876.2,14.2,215,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2366,2591
$GC,7028,0.66,146.0,842.7,13.6,221,7032,0.00,2.45,0.00,0.000,4,0.000,0.090,3013,3788,2589
$GC,7042,0.66,146.0,840.1,13.6,221,7047,0.00,2.25,0.00,0.000,6,0.000,0.040,3023,2355,2589
$GC,7309,0.66,146.0,801.8,14.5,228,7313,0.00,2.45,0.00,0.000,4,0.000,0.087,3023,3787,2588
$GC,7386,0.66,146.0,789.5,15.7,229,7393,0.00,2.22,0.00,0.000,6,0.000,0.041,3034,2361,2587
$GC,7637,0.66,146.0,752.2,15.2,236,7641,0.00,2.45,0.00,0.000,4,0.000,0.084,3034,3787,2586
$GC,7759,0.66,146.0,731.9,16.3,238,7767,0.10,2.20,0.00,0.000,6,0.262,0.041,3023,2374,2586
$GC,8009,0.66,146.0,697.4,13.6,245,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2370,2585
$GC,8255,0.66,146.0,667.1,12.1,251,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2370,2585
$GC,8496,0.66,146.0,639.3,11.4,257,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2370,2584
$GC,8740,0.66,146.0,611.1,11.7,263,8744,0.00,2.38,0.00,0.000,4,0.000,0.082,3022,3787,2584
$GC,8997,0.66,146.0,576.8,12.7,268,9002,0.00,2.20,0.00,0.000,6,0.000,0.040,3032,2365,2583
$GC,9252,0.66,146.0,549.3,10.6,275,9256,0.00,2.40,0.00,0.000,4,0.000,0.079,3027,3790,2582
$GC,9297,0.66,146.0,544.7,10.9,276,9302,0.00,2.17,0.00,0.000,6,0.000,0.041,3036,2363,2582
$GC,9581,0.66,146.0,518.9,8.7,283,9585,0.00,2.40,0.00,0.000,4,0.000,0.081,3037,3795,2582
$GC,9755,0.66,146.0,501.4,10.4,287,9760,0.15,2.17,0.00,0.000,6,0.264,0.039,3018,2358,2581
$GC,10037,0.66,146.0,477.8,8.7,294,10041,0.00,2.38,0.00,0.000,4,0.000,0.079,3013,3792,2581
$GC,10204,0.66,146.0,464.3,7.5,297,10210,0.00,2.17,0.00,0.000,6,0.000,0.040,3023,2374,2582
$GC,10453,0.67,150.7,447.2,6.9,304,10457,0.00,2.38,0.00,0.000,4,0.000,0.081,3023,3799,2581
$GC,10709,0.67,150.7,426.8,8.4,309,10717,0.00,2.20,0.00,0.000,6,0.000,0.038,3034,2360,2581
$GC,10961,0.68,162.8,410.2,6.6,316,10974,0.00,0.00,11.50,0.913,6,0.000,0.000,3034,2360,2535
$GC,11203,0.68,162.8,385.9,10.6,322,11204,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2360,2534
$GC,11447,0.68,162.8,362.3,9.7,328,11451,0.00,2.40,0.00,0.000,4,0.000,0.080,3027,3792,2534
$GC,11704,0.68,162.8,335.1,10.0,333,11711,0.00,2.17,0.00,0.000,6,0.000,0.039,3036,2372,2533
$GC,11954,0.68,162.8,316.6,7.1,340,11958,0.00,2.38,0.00,0.000,4,0.000,0.079,3037,3796,2533
$GC,12210,0.75,216.9,296.4,5.2,345,12265,0.00,2.17,46.58,0.881,6,0.000,0.038,3047,2368,2315
$GC,12507,0.75,216.9,259.7,14.0,353,12511,0.00,2.42,0.00,0.000,4,0.000,0.077,3041,3795,2308
$GC,12516,0.75,216.9,258.6,11.5,353,12521,0.00,2.22,0.00,0.000,6,0.000,0.038,3051,2379,2308
$GC,12788,0.75,216.9,226.5,12.2,360,12792,0.00,2.40,0.00,0.000,4,0.000,0.082,3050,3786,2307
$GC,12828,0.75,216.9,220.6,15.2,361,12832,0.00,2.17,0.00,0.000,6,0.000,0.037,3061,2367,2306
$GC,13085,0.75,216.9,184.1,15.2,374,13089,0.00,2.40,0.00,0.000,4,0.000,0.081,3061,3786,2306
$GC,13163,0.75,216.9,171.2,16.5,381,13167,0.00,2.17,0.00,0.000,6,0.000,0.036,3072,2361,2306
$GC,13425,0.75,216.9,133.9,11.9,405,13427,0.12,0.00,0.00,0.000,6,0.239,0.000,3048,2354,2306
$GC,13680,0.75,216.9,105.4,11.0,429,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2354,2306
$GC,13935,0.87,315.2,87.3,3.8,453,14023,0.00,0.00,79.95,0.727,6,0.000,0.000,3048,2354,1913
$GC,14277,0.87,315.2,32.5,19.4,485,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2354,1908
$STATE,14429,end climb,SURFACE_DEPTH_REACHED
$STATE,14429,begin surface coast
$FINISH,0.0,1.023626
$STATE,14442,end surface coast,CONTROL_FINISHED_OK
$STATE,14442,begin surface
$SM_CCo,14457,46.70,0.628,0,0,1486,420.19
$SM_GC,1.14,0.00,0.00,46.70,0.000,0.000,0.628,50,2529,1486,-8.59,0.85,420.19
$IRIDIUM_FIX,2223.01,-15813.21,160300,070710
$TT8_MAMPS,0.023777
$HUMID,1675
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,23.8,13.851
$10V_AH,10.7,7.417
$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,21.900,139.775,390.325,46.700,0.000,25.560,43.071,153.595,0.250,0.000,0.000,16.746,1151.142,10746.250,534.501,2045.319,346.799,33.348,1466.172,0.000,2023.653,0.000,0.543,0.000
$DEVICE_MAMPS,269.984,129.623,1332.279,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,349.049,616.149,637.361,117.889,490.077,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41555,514
$CAP_FILE_SIZE,113459,0
$CFSIZE,260165632,256589824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,211210,160737,2229.484,-15811.675,35,1.1,35,10.0