version: 66.04
glider: 512
mission: 1
dive: 61
start: 12 21 110 16 13 3
data:
$ID,512
$MISSION,1
$DIVE,61
$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,-4202.0449
$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,34
$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
$GPS1,160737,2229.484,-15811.675,35,1.1,35,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.7
$GPS2,161208,2229.488,-15811.707,15,1.5,15,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.205,-0.101
$KALMAN_X,-40622.7,1241.4,484.8,37683.6,-14127.7
$KALMAN_Y,-58780.0,1250.4,604.9,148047.5,-9470.2
$MHEAD_RNG_PITCHd_Wd,106.3,35002,-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,-62.28,0.000,2,0.000,0.000,46,2531,3144
$GC,80,-0.66,-146.0,3.9,-5.0,8,113,11.85,2.22,-11.73,0.000,4,0.276,0.044,2585,1084,3798
$GC,141,-0.66,-146.0,30.7,-46.5,17,149,0.00,2.45,0.00,0.000,6,0.000,0.087,2576,2488,3799
$GC,401,-0.66,-146.0,127.6,-31.3,42,406,0.00,2.42,0.00,0.000,4,0.000,0.093,2565,3901,3800
$GC,442,-0.66,-146.0,141.5,-34.8,45,446,0.00,2.12,0.00,0.000,6,0.000,0.031,2573,2483,3800
$GC,735,-0.66,-146.0,222.5,-26.8,67,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2477,3801
$GC,979,-0.66,-146.0,278.0,-21.8,73,983,0.00,2.50,0.00,0.000,4,0.000,0.106,2563,3897,3803
$GC,1056,-0.66,-146.0,292.5,-16.4,74,1063,0.00,2.10,0.00,0.000,6,0.000,0.031,2572,2500,3803
$GC,1307,-0.66,-146.0,336.8,-17.8,81,1311,0.00,2.08,0.00,0.000,4,0.000,0.031,2574,1093,3804
$GC,1356,-0.66,-146.0,344.9,-14.2,82,1361,0.00,2.40,0.00,0.000,6,0.000,0.081,2574,2506,3804
$GC,1639,-0.66,-146.0,388.7,-15.0,89,1643,0.00,2.35,0.00,0.000,4,0.000,0.093,2564,3898,3802
$GC,1705,-0.66,-146.0,398.0,-12.1,90,1710,0.00,2.10,0.00,0.000,6,0.000,0.032,2572,2502,3802
$GC,1972,-0.66,-146.0,435.9,-14.5,97,1976,0.00,2.45,0.00,0.000,4,0.000,0.107,2563,3893,3800
$GC,2031,-0.66,-146.0,444.2,-13.0,98,2036,0.00,2.10,0.00,0.000,6,0.000,0.033,2571,2499,3800
$GC,2298,-0.66,-146.0,482.2,-14.6,105,2302,0.00,2.47,0.00,0.000,4,0.000,0.110,2561,3895,3798
$GC,2365,-0.66,-146.0,492.0,-13.3,106,2369,0.00,2.08,0.00,0.000,6,0.000,0.034,2561,2498,3797
$GC,2627,-0.66,-146.0,532.1,-15.6,113,2631,0.00,2.47,0.00,0.000,4,0.000,0.108,2551,3898,3795
$GC,2709,-0.66,-146.0,544.9,-14.8,115,2713,0.00,2.08,0.00,0.000,6,0.000,0.035,2559,2504,3794
$GC,2998,-0.66,-146.0,589.3,-15.3,122,3002,0.00,2.45,0.00,0.000,4,0.000,0.110,2550,3892,3792
$GC,3030,-0.66,-146.0,594.5,-16.5,122,3037,0.00,2.10,0.00,0.000,6,0.000,0.036,2557,2501,3791
$GC,3281,-0.66,-146.0,632.2,-15.2,129,3285,0.00,2.47,0.00,0.000,4,0.000,0.113,2548,3891,3790
$GC,3306,-0.66,-146.0,636.6,-15.7,129,3312,0.08,2.10,0.00,0.000,6,0.180,0.036,2577,2494,3789
$GC,3564,-0.66,-146.0,669.3,-12.8,136,3568,0.00,2.50,0.00,0.000,4,0.000,0.114,2568,3896,3787
$GC,3606,-0.66,-146.0,675.1,-12.1,137,3611,0.00,2.10,0.00,0.000,6,0.000,0.037,2573,2510,3786
$GC,3890,-0.66,-146.0,710.1,-12.4,144,3894,0.00,2.47,0.00,0.000,4,0.000,0.112,2564,3900,3784
$GC,3945,-0.66,-146.0,717.0,-12.2,145,3950,0.00,2.12,0.00,0.000,6,0.000,0.038,2572,2502,3784
$GC,4219,-0.66,-146.0,747.5,-11.3,152,4223,0.00,2.50,0.00,0.000,4,0.000,0.115,2563,3900,3781
$GC,4284,-0.66,-146.0,755.5,-10.8,153,4288,0.00,2.12,0.00,0.000,6,0.000,0.038,2571,2501,3781
$GC,4545,-0.66,-146.0,785.5,-11.8,160,4549,0.00,2.50,0.00,0.000,4,0.000,0.116,2563,3892,3780
$GC,4593,-0.66,-146.0,791.4,-11.4,161,4598,0.00,2.12,0.00,0.000,6,0.000,0.038,2570,2495,3780
$GC,4871,-0.66,-146.0,824.0,-11.8,168,4875,0.00,2.53,0.00,0.000,4,0.000,0.117,2563,3898,3778
$GC,4937,-0.66,-146.0,831.7,-11.6,169,4942,0.00,2.12,0.00,0.000,6,0.000,0.038,2570,2503,3778
$GC,5199,-0.66,-146.0,860.6,-11.1,176,5204,0.00,2.53,0.00,0.000,4,0.000,0.120,2563,3896,3777
$GC,5238,-0.66,-146.0,865.3,-11.3,177,5242,0.00,2.10,0.00,0.000,6,0.000,0.039,2570,2501,3776
$GC,5526,-0.66,-146.0,897.4,-11.2,184,5530,0.00,2.53,0.00,0.000,4,0.000,0.119,2563,3894,3774
$GC,5564,-0.66,-146.0,901.8,-11.2,185,5568,0.00,2.10,0.00,0.000,6,0.000,0.039,2570,2499,3774
$GC,5852,-0.66,-146.0,933.6,-10.9,192,5857,0.00,2.53,0.00,0.000,4,0.000,0.119,2563,3893,3772
$GC,5912,-0.66,-146.0,940.2,-10.4,193,5917,0.00,2.12,0.00,0.000,6,0.000,0.039,2570,2499,3772
$STATE,6016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6016,begin apogee
$GC,6020,-0.32,0.0,951.2,10.7,196,6145,0.43,0.00,121.38,1.355,6,0.170,0.000,2693,2389,3200
$STATE,6145,end apogee,CONTROL_FINISHED_OK
$STATE,6145,begin climb
$GC,6147,0.66,146.0,956.6,0.0,199,6287,0.98,2.40,132.15,1.302,4,0.103,0.039,3011,943,2603
$GC,6325,0.66,146.0,959.9,11.6,203,6330,0.00,2.53,0.00,0.000,6,0.000,0.073,3010,2362,2599
$GC,6597,0.66,146.0,917.1,15.7,210,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2362,2592
$GC,6842,0.66,146.0,878.7,15.5,216,6846,0.00,2.20,0.00,0.000,4,0.000,0.039,3022,939,2590
$GC,6874,0.66,146.0,873.5,15.7,216,6879,0.00,2.45,0.00,0.000,6,0.000,0.075,3022,2368,2591
$GC,7129,0.66,146.0,833.6,15.5,223,7133,0.00,2.20,0.00,0.000,4,0.000,0.040,3033,937,2588
$GC,7150,0.66,146.0,830.4,14.9,223,7155,0.00,2.40,0.00,0.000,6,0.000,0.071,3027,2366,2588
$GC,7417,0.66,146.0,791.2,14.7,230,7421,0.00,2.45,0.00,0.000,4,0.000,0.091,3027,3788,2587
$GC,7456,0.66,146.0,785.1,17.1,231,7460,0.00,2.22,0.00,0.000,6,0.000,0.041,3037,2348,2587
$GC,7740,0.66,146.0,743.4,14.4,238,7744,0.00,2.47,0.00,0.000,4,0.000,0.084,3037,3786,2586
$GC,7856,0.66,146.0,725.3,15.5,240,7861,0.10,2.22,0.00,0.000,6,0.262,0.041,3025,2363,2585
$GC,8110,0.66,146.0,690.9,13.5,247,8115,0.00,2.42,0.00,0.000,4,0.000,0.082,3025,3789,2585
$GC,8261,0.66,146.0,668.1,15.3,250,8265,0.00,2.22,0.00,0.000,6,0.000,0.041,3035,2364,2585
$GC,8527,0.66,146.0,633.5,12.7,257,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2358,2584
$GC,8771,0.66,146.0,601.8,13.1,263,8774,0.00,2.15,0.00,0.000,4,0.000,0.041,3046,952,2584
$GC,8870,0.66,146.0,589.2,12.2,265,8875,0.00,2.35,0.00,0.000,6,0.000,0.071,3040,2369,2583
$GC,9148,0.66,146.0,555.9,11.6,272,9152,0.00,2.15,0.00,0.000,4,0.000,0.040,3049,951,2583
$GC,9208,0.66,146.0,549.4,11.0,273,9214,0.10,2.35,0.00,0.000,6,0.244,0.071,3024,2368,2583
$GC,9481,0.66,146.0,523.9,9.0,280,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2368,2582
$GC,9726,0.66,146.0,504.0,8.2,286,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2368,2582
$GC,9968,0.66,146.0,483.6,8.3,292,9972,0.00,2.38,0.00,0.000,4,0.000,0.084,3024,3786,2582
$GC,10006,0.66,146.0,480.0,9.8,292,10013,0.00,2.20,0.00,0.000,6,0.000,0.041,3034,2361,2582
$GC,10256,0.66,146.0,458.1,8.9,299,10260,0.00,2.40,0.00,0.000,4,0.000,0.084,3027,3783,2581
$GC,10400,0.66,146.0,444.0,8.4,302,10405,0.00,2.17,0.00,0.000,6,0.000,0.041,3036,2374,2581
$GC,10672,0.66,146.0,423.5,7.3,309,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2368,2581
$GC,10916,0.69,166.7,407.8,6.3,315,10935,0.00,2.40,14.55,0.937,4,0.000,0.083,3037,3787,2520
$GC,10982,0.69,166.7,402.0,9.8,316,10986,0.00,2.17,0.00,0.000,6,0.000,0.040,3047,2370,2519
$GC,11243,0.69,166.7,377.3,9.2,323,11247,0.00,2.12,0.00,0.000,4,0.000,0.038,3058,957,2517
$GC,11258,0.69,166.7,375.7,8.6,323,11263,0.10,2.35,0.00,0.000,6,0.239,0.070,3029,2366,2517
$GC,11530,0.69,166.7,349.6,9.5,330,11534,0.00,2.40,0.00,0.000,4,0.000,0.084,3027,3802,2517
$GC,11787,0.69,166.7,320.4,12.3,335,11795,0.00,2.22,0.00,0.000,6,0.000,0.039,3037,2358,2517
$GC,12037,0.69,166.7,297.1,8.4,342,12041,0.00,2.42,0.00,0.000,4,0.000,0.082,3037,3801,2516
$GC,12292,0.75,217.8,278.7,5.3,347,12342,0.00,2.17,44.15,0.886,6,0.000,0.037,3047,2375,2312
$GC,12583,0.75,217.8,240.8,15.3,355,12587,0.00,2.15,0.00,0.000,4,0.000,0.037,3058,972,2304
$GC,12643,0.75,217.8,233.6,11.6,356,12648,0.00,2.33,0.00,0.000,6,0.000,0.064,3054,2371,2303
$GC,12915,0.75,217.8,199.2,12.5,363,12920,0.00,2.38,0.00,0.000,4,0.000,0.082,3054,3785,2302
$GC,13034,0.75,217.8,183.0,13.6,373,13038,0.00,2.15,0.00,0.000,6,0.000,0.038,3063,2381,2302
$GC,13299,0.75,217.8,145.6,15.0,398,13301,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2376,2302
$GC,13554,0.75,217.8,116.2,11.1,422,13559,0.00,2.38,0.00,0.000,4,0.000,0.081,3064,3787,2302
$GC,13661,0.75,217.8,105.8,8.3,431,13666,0.15,2.15,0.00,0.000,6,0.248,0.036,3045,2363,2302
$GC,13924,0.93,359.3,93.8,2.4,455,14045,0.15,2.50,114.20,0.716,4,0.097,0.079,3094,3779,1734
$GC,14054,0.93,359.3,77.1,24.2,466,14064,0.00,2.25,0.00,0.000,6,0.000,0.035,3103,2376,1732
$GC,14318,0.93,359.3,4.8,30.2,499,14327,0.00,2.20,0.00,0.000,4,0.000,0.034,3114,959,1727
$STATE,14333,end climb,SURFACE_DEPTH_REACHED
$STATE,14333,begin surface coast
$FINISH,0.1,1.023639
$STATE,14340,end surface coast,CONTROL_FINISHED_OK
$STATE,14340,begin surface
$SM_CCo,14358,27.83,0.600,0,0,1486,420.19
$SM_GC,1.36,0.00,0.00,27.83,0.000,0.000,0.600,46,2519,1486,-8.61,0.54,420.19
$IRIDIUM_FIX,2223.01,-15817.55,160300,121247
$TT8_MAMPS,0.024544
$HUMID,1689
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.8,14.001
$10V_AH,10.7,7.509
$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,22.625,170.450,426.425,27.825,0.000,24.416,38.648,124.616,0.000,0.000,0.000,15.507,1143.890,10694.219,544.964,1971.902,311.391,33.345,1490.122,0.000,1948.900,0.000,0.542,0.000
$DEVICE_MAMPS,276.120,120.419,1355.289,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,340.847,593.674,609.969,106.331,441.440,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41373,502
$CAP_FILE_SIZE,117803,0
$CFSIZE,260165632,256524288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,211210,201406,2229.033,-15811.155,43,1.0,43,10.0