version: 66.04
glider: 512
mission: 1
dive: 62
start: 12 21 110 20 19 37
data:
$ID,512
$MISSION,1
$DIVE,62
$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,-4218.5503
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2900
$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,2490
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3150
$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
$GPS1,201406,2229.033,-15811.155,43,1.0,43,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.4
$GPS2,201843,2229.045,-15811.187,10,1.0,15,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.166,0.157
$KALMAN_X,-44430.2,1052.7,1023.8,42029.0,-17157.5
$KALMAN_Y,-55379.3,999.6,824.8,143844.5,-4938.4
$MHEAD_RNG_PITCHd_Wd,36.5,35187,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.66,-146.0,0.0,0.0,0,79,0.00,0.00,-62.33,0.000,2,0.000,0.000,43,2519,3140
$GC,81,-0.66,-146.0,3.5,-4.2,8,113,12.50,0.00,-11.07,0.000,6,0.279,0.000,2677,2517,3747
$GC,377,-0.66,-146.0,78.9,-20.1,40,381,0.00,2.50,0.00,0.000,4,0.000,0.114,2668,3901,3750
$GC,404,-0.66,-146.0,85.2,-20.6,42,408,0.00,2.15,0.00,0.000,6,0.000,0.033,2676,2474,3750
$GC,665,-0.66,-146.0,123.9,-13.3,66,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2468,3751
$GC,920,-0.66,-146.0,154.7,-10.6,90,924,0.00,2.62,0.00,0.000,4,0.000,0.121,2666,3901,3752
$GC,958,-0.66,-146.0,158.7,-10.0,93,962,0.00,2.10,0.00,0.000,6,0.000,0.034,2671,2478,3752
$GC,1225,-0.66,-146.0,185.3,-10.5,118,1230,0.00,2.62,0.00,0.000,4,0.000,0.124,2670,3900,3753
$GC,1266,-0.66,-146.0,189.2,-9.3,121,1270,0.00,2.12,0.00,0.000,6,0.000,0.034,2681,2474,3753
$GC,1556,-0.66,-146.0,214.3,-8.5,137,1560,0.00,2.55,0.00,0.000,4,0.000,0.118,2673,3894,3754
$GC,1581,-0.66,-146.0,216.5,-8.1,137,1586,0.00,2.12,0.00,0.000,6,0.000,0.035,2681,2489,3754
$GC,1839,-0.66,-146.0,234.9,-7.6,144,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2482,3754
$GC,2081,-0.66,-146.0,255.7,-8.7,150,2084,0.00,2.05,0.00,0.000,4,0.000,0.031,2688,1084,3754
$GC,2337,-0.66,-146.0,279.3,-9.2,155,2342,0.00,2.35,0.00,0.000,6,0.000,0.076,2688,2495,3754
$GC,2593,-0.66,-146.0,298.6,-7.8,162,2597,0.00,2.08,0.00,0.000,4,0.000,0.032,2687,1088,3753
$GC,2844,-0.66,-146.0,321.7,-10.3,167,2849,0.00,2.33,0.00,0.000,6,0.000,0.071,2687,2489,3752
$GC,3105,-0.66,-146.0,350.1,-11.2,174,3109,0.00,2.33,0.00,0.000,4,0.000,0.085,2686,3894,3751
$GC,3148,-0.66,-146.0,354.9,-11.3,175,3153,0.00,2.12,0.00,0.000,6,0.000,0.038,2696,2477,3751
$GC,3432,-0.66,-146.0,385.6,-11.1,182,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2477,3749
$GC,3676,-0.66,-146.0,410.7,-10.1,188,3680,0.00,2.47,0.00,0.000,4,0.000,0.106,2686,3894,3748
$GC,3806,-0.66,-146.0,422.9,-9.0,191,3809,0.00,2.08,0.00,0.000,6,0.000,0.037,2696,2496,3746
$GC,4093,-0.66,-146.0,451.3,-9.9,198,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2490,3745
$GC,4339,-0.66,-146.0,476.1,-10.4,204,4343,0.00,2.45,0.00,0.000,4,0.000,0.108,2689,3891,3743
$GC,4415,-0.66,-146.0,483.9,-9.2,205,4424,0.00,2.12,0.00,0.000,6,0.000,0.038,2696,2485,3743
$GC,4665,-0.66,-146.0,509.6,-10.5,212,4669,0.00,2.47,0.00,0.000,4,0.000,0.108,2689,3897,3741
$GC,4741,-0.66,-146.0,517.5,-9.4,213,4748,0.00,2.12,0.00,0.000,6,0.000,0.038,2696,2490,3741
$GC,4991,-0.66,-146.0,542.2,-10.0,220,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2489,3740
$GC,5236,-0.66,-146.0,564.5,-9.0,226,5240,0.00,2.47,0.00,0.000,4,0.000,0.110,2689,3897,3737
$GC,5347,-0.66,-146.0,574.5,-8.8,228,5351,0.00,2.15,0.00,0.000,6,0.000,0.041,2696,2479,3736
$GC,5608,-0.66,-146.0,596.9,-8.7,235,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2478,3735
$GC,5852,-0.66,-146.0,619.0,-9.0,241,5857,0.00,2.53,0.00,0.000,4,0.000,0.114,2689,3900,3734
$GC,6093,-0.66,-146.0,641.5,-10.4,246,6097,0.00,2.12,0.00,0.000,6,0.000,0.041,2697,2487,3732
$GC,6360,-0.66,-146.0,667.6,-10.0,253,6365,0.00,2.47,0.00,0.000,4,0.000,0.112,2689,3890,3730
$GC,6448,-0.66,-146.0,676.3,-9.8,255,6453,0.00,2.15,0.00,0.000,6,0.000,0.043,2696,2487,3730
$GC,6732,-0.66,-146.0,702.0,-9.1,262,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2486,3728
$GC,6976,-0.66,-146.0,722.3,-8.1,268,6980,0.00,2.50,0.00,0.000,4,0.000,0.114,2696,3893,3727
$GC,7106,-0.66,-146.0,730.8,-5.6,271,7110,0.00,2.12,0.00,0.000,6,0.000,0.043,2696,2487,3726
$GC,7394,-0.66,-146.0,752.0,-8.0,278,7397,0.00,2.08,0.00,0.000,4,0.000,0.038,2696,1091,3725
$GC,7650,-0.66,-146.0,773.8,-9.2,283,7655,0.00,2.38,0.00,0.000,6,0.000,0.084,2697,2490,3724
$GC,7905,-0.66,-146.0,796.5,-9.0,290,7909,0.00,2.12,0.00,0.000,4,0.000,0.039,2696,1082,3722
$GC,8162,-0.66,-146.0,820.4,-9.2,295,8167,0.00,2.38,0.00,0.000,6,0.000,0.081,2696,2486,3721
$GC,8417,-0.66,-146.0,843.5,-9.3,302,8421,0.00,2.10,0.00,0.000,4,0.000,0.039,2696,1091,3721
$GC,8573,-0.66,-146.0,857.9,-9.7,305,8578,0.00,2.38,0.00,0.000,6,0.000,0.084,2696,2488,3720
$GC,8841,-0.66,-146.0,881.8,-9.2,312,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2488,3719
$GC,9083,-0.66,-146.0,904.8,-9.5,318,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2488,3718
$GC,9329,-0.66,-146.0,928.4,-9.8,324,9332,0.00,2.12,0.00,0.000,4,0.000,0.040,2697,1093,3717
$GC,9428,-0.66,-146.0,938.3,-9.6,326,9433,0.00,2.38,0.00,0.000,6,0.000,0.082,2696,2491,3718
$STATE,9583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9583,begin apogee
$GC,9586,-0.32,0.0,953.0,9.5,330,9710,0.30,0.00,120.70,1.358,6,0.101,0.000,2796,2491,3150
$STATE,9710,end apogee,CONTROL_FINISHED_OK
$STATE,9711,begin climb
$GC,9712,0.66,146.0,961.4,0.0,333,9860,0.90,2.53,134.93,1.318,4,0.077,0.080,3106,3865,2552
$GC,10112,0.66,146.0,911.6,22.6,342,10117,0.00,2.22,0.00,0.000,6,0.000,0.038,3116,2470,2543
$GC,10390,0.66,146.0,851.9,21.4,349,10395,0.00,2.35,0.00,0.000,4,0.000,0.072,3111,3871,2540
$GC,10519,0.66,146.0,822.0,23.8,352,10523,0.00,2.20,0.00,0.000,6,0.000,0.039,3120,2445,2539
$GC,10807,0.66,146.0,761.1,20.8,359,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2444,2538
$GC,11051,0.66,146.0,711.5,20.2,365,11055,0.00,2.15,0.00,0.000,4,0.000,0.038,3130,1037,2537
$GC,11156,0.66,146.0,692.0,17.1,367,11161,0.00,2.33,0.00,0.000,6,0.000,0.065,3124,2453,2536
$GC,11428,0.66,146.0,646.9,16.3,374,11432,0.00,2.15,0.00,0.000,4,0.000,0.039,3133,1029,2536
$GC,11483,0.66,146.0,638.9,13.7,375,11487,0.00,2.35,0.00,0.000,6,0.000,0.071,3134,2445,2536
$GC,11761,0.66,146.0,599.9,14.0,382,11764,0.00,2.35,0.00,0.000,4,0.000,0.079,3133,3861,2535
$GC,11850,0.66,146.0,586.0,14.9,384,11854,0.00,2.15,0.00,0.000,6,0.000,0.038,3143,2444,2535
$GC,12140,0.66,146.0,545.0,14.3,391,12145,0.00,2.35,0.00,0.000,4,0.000,0.074,3137,3863,2534
$GC,12279,0.66,146.0,522.3,15.5,394,12284,0.10,2.17,0.00,0.000,6,0.274,0.038,3124,2451,2534
$GC,12558,0.66,146.0,482.8,14.3,401,12562,0.00,2.35,0.00,0.000,4,0.000,0.076,3124,3860,2533
$GC,12597,0.66,146.0,477.3,13.8,402,12601,0.00,2.15,0.00,0.000,6,0.000,0.040,3133,2447,2534
$GC,12885,0.66,146.0,442.9,11.1,409,12889,0.00,2.35,0.00,0.000,4,0.000,0.075,3133,3875,2533
$GC,13045,0.66,146.0,426.4,9.6,412,13050,0.00,2.17,0.00,0.000,6,0.000,0.038,3143,2456,2533
$GC,13300,0.66,146.0,405.9,7.6,419,13304,0.00,2.33,0.00,0.000,4,0.000,0.071,3137,3870,2533
$GC,13394,0.66,146.0,397.8,9.6,421,13400,0.10,2.17,0.00,0.000,6,0.268,0.037,3124,2447,2533
$GC,13678,0.66,146.0,375.1,8.0,428,13682,0.00,2.35,0.00,0.000,4,0.000,0.074,3124,3868,2533
$GC,13933,0.66,146.0,353.0,8.6,433,13941,0.00,2.17,0.00,0.000,6,0.000,0.038,3133,2442,2533
$GC,14183,0.66,146.0,331.7,8.9,440,14184,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2441,2533
$GC,14428,0.66,146.0,311.2,8.2,446,14432,0.00,2.10,0.00,0.000,4,0.000,0.036,3144,1036,2533
$GC,14684,0.66,146.0,289.3,7.3,451,14689,0.00,2.28,0.00,0.000,6,0.000,0.061,3138,2449,2533
$GC,14940,0.78,244.2,275.8,3.8,458,15026,0.00,2.25,78.97,0.901,4,0.000,0.036,3146,1047,2153
$GC,15278,0.78,244.2,213.2,20.5,465,15282,0.00,2.38,0.00,0.000,6,0.000,0.068,3146,2444,2144
$GC,15543,0.78,244.2,149.2,26.4,484,15547,0.00,2.38,0.00,0.000,4,0.000,0.074,3146,3872,2142
$GC,15627,0.78,244.2,130.7,20.1,491,15631,0.00,2.17,0.00,0.000,6,0.000,0.036,3155,2452,2141
$GC,15889,0.78,244.2,92.7,13.8,515,15893,0.00,2.15,0.00,0.000,4,0.000,0.034,3166,1018,2141
$GC,16011,0.78,244.2,74.4,14.7,526,16016,0.00,2.33,0.00,0.000,6,0.000,0.063,3162,2456,2141
$GC,16274,0.78,244.2,26.0,19.8,551,16281,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2456,2141
$STATE,16387,end climb,SURFACE_DEPTH_REACHED
$STATE,16387,begin surface coast
$FINISH,0.3,1.023564
$STATE,16400,end surface coast,CONTROL_FINISHED_OK
$STATE,16400,begin surface
$SM_CCo,16415,87.07,0.641,0,0,1436,420.19
$SM_GC,1.33,0.00,0.00,87.07,0.000,0.000,0.641,50,2502,1436,-8.91,0.34,420.19
$IRIDIUM_FIX,2220.67,-15810.18,160300,161639
$TT8_MAMPS,0.023777
$HUMID,1675
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.7,14.145
$10V_AH,10.7,7.618
$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,22.750,145.650,334.600,87.075,0.000,30.112,33.320,129.154,0.000,0.000,0.000,15.877,1344.219,12027.771,527.017,2562.567,326.407,33.345,1640.566,0.000,2534.168,0.000,0.541,0.000
$DEVICE_MAMPS,279.188,124.254,1357.590,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,391.355,688.151,712.991,131.577,542.242,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47864,574
$CAP_FILE_SIZE,127755,0
$CFSIZE,260165632,256454656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,221210,005554,2229.642,-15810.996,40,1.6,40,10.0