version: 66.04
glider: 512
mission: 1
dive: 67
start: 12 22 110 18 31 20
data:
$ID,512
$MISSION,1
$DIVE,67
$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,395
$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,-4319.1646
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,55
$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,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
$GPS1,182207,2232.427,-15809.471,40,1.1,40,10.0
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-78.6
$GPS2,183026,2232.430,-15809.488,13,2.0,13,10.0
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.231,0.067
$KALMAN_X,-56823.3,1744.9,824.6,56835.8,-11725.9
$KALMAN_Y,-68920.2,1699.1,641.3,163155.3,-10496.4
$MHEAD_RNG_PITCHd_Wd,63.7,28365,-14.1,-8.017
$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,-0.74,-146.0,0.0,0.0,0,71,0.00,0.00,-55.42,0.000,2,0.000,0.000,42,2467,2851
$GC,73,-0.74,-146.0,3.0,-3.8,7,114,11.88,2.67,-18.77,0.000,4,0.272,0.135,2590,3886,3748
$GC,165,-0.74,-146.0,32.3,-31.0,21,175,0.00,2.12,0.00,0.000,6,0.000,0.034,2598,2520,3750
$GC,427,-0.74,-146.0,117.2,-28.7,46,431,0.00,2.17,0.00,0.000,4,0.000,0.032,2605,1071,3751
$GC,449,-0.74,-146.0,123.0,-26.4,48,454,0.00,2.55,0.00,0.000,6,0.000,0.110,2595,2481,3751
$GC,712,-0.74,-146.0,186.8,-23.6,72,716,0.00,2.55,0.00,0.000,4,0.000,0.116,2584,3901,3752
$GC,763,-0.74,-146.0,198.3,-20.9,76,767,0.00,2.12,0.00,0.000,6,0.000,0.031,2592,2480,3752
$GC,1017,-0.74,-146.0,251.6,-20.6,83,1021,0.00,2.72,0.00,0.000,4,0.000,0.140,2582,3903,3753
$GC,1076,-0.74,-146.0,263.7,-16.3,84,1081,0.00,2.15,0.00,0.000,6,0.000,0.031,2590,2478,3753
$GC,1344,-0.74,-146.0,310.6,-17.8,91,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2473,3753
$GC,1587,-0.74,-146.0,347.0,-14.7,97,1591,0.00,2.75,0.00,0.000,4,0.000,0.146,2581,3906,3753
$GC,1612,-0.74,-146.0,350.9,-14.4,97,1617,0.00,2.15,0.00,0.000,6,0.000,0.034,2588,2486,3753
$GC,1868,-0.74,-146.0,383.8,-12.9,104,1872,0.00,2.78,0.00,0.000,4,0.000,0.150,2581,3910,3751
$GC,1888,-0.74,-146.0,386.8,-13.6,104,1893,0.00,2.15,0.00,0.000,6,0.000,0.035,2589,2487,3751
$GC,2151,-0.74,-146.0,420.1,-12.6,111,2155,0.00,2.78,0.00,0.000,4,0.000,0.154,2581,3901,3750
$GC,2221,-0.74,-146.0,429.2,-11.3,112,2227,0.00,2.12,0.00,0.000,6,0.000,0.035,2589,2499,3749
$GC,2477,-0.74,-146.0,459.8,-12.3,119,2481,0.00,2.78,0.00,0.000,4,0.000,0.160,2589,3900,3747
$GC,2531,-0.74,-146.0,466.3,-11.1,120,2536,0.00,2.12,0.00,0.000,6,0.000,0.035,2595,2494,3747
$GC,2803,-0.74,-146.0,498.3,-12.0,127,2808,0.00,2.70,0.00,0.000,4,0.000,0.146,2589,3900,3745
$GC,2846,-0.74,-146.0,503.5,-10.5,128,2851,0.00,2.15,0.00,0.000,6,0.000,0.036,2596,2482,3745
$GC,3130,-0.74,-146.0,536.8,-11.8,135,3134,0.00,2.75,0.00,0.000,4,0.000,0.147,2589,3913,3742
$GC,3180,-0.74,-146.0,542.6,-10.9,136,3184,0.00,2.12,0.00,0.000,6,0.000,0.035,2596,2492,3742
$GC,3457,-0.74,-146.0,572.8,-10.9,143,3461,0.00,2.70,0.00,0.000,4,0.000,0.145,2590,3903,3739
$GC,3506,-0.74,-146.0,578.2,-10.1,144,3511,0.00,2.15,0.00,0.000,6,0.000,0.037,2596,2486,3739
$GC,3787,-0.74,-146.0,607.7,-10.7,151,3791,0.00,2.72,0.00,0.000,4,0.000,0.145,2589,3908,3737
$GC,3840,-0.74,-146.0,613.4,-8.2,152,3845,0.00,2.15,0.00,0.000,6,0.000,0.038,2596,2490,3736
$GC,4113,-0.74,-146.0,638.9,-9.3,159,4117,0.00,2.67,0.00,0.000,4,0.000,0.140,2590,3901,3734
$GC,4161,-0.74,-146.0,643.0,-8.0,160,4166,0.00,2.15,0.00,0.000,6,0.000,0.038,2596,2487,3733
$GC,4440,-0.74,-146.0,664.6,-7.9,167,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2481,3733
$GC,4683,-0.74,-146.0,684.1,-8.2,173,4687,0.00,2.70,0.00,0.000,4,0.000,0.143,2590,3904,3731
$GC,4725,-0.74,-146.0,688.0,-8.7,174,4730,0.00,2.17,0.00,0.000,6,0.000,0.039,2596,2491,3730
$GC,5011,-0.74,-146.0,713.1,-9.1,181,5015,0.00,2.70,0.00,0.000,4,0.000,0.142,2589,3912,3728
$GC,5048,-0.74,-146.0,716.9,-9.5,182,5052,0.00,2.15,0.00,0.000,6,0.000,0.038,2596,2490,3728
$GC,5337,-0.74,-146.0,745.1,-10.0,189,5341,0.00,2.70,0.00,0.000,4,0.000,0.143,2590,3907,3726
$GC,5379,-0.74,-146.0,749.6,-9.9,190,5384,0.00,2.17,0.00,0.000,6,0.000,0.039,2596,2491,3726
$GC,5663,-0.74,-146.0,777.6,-10.0,197,5667,0.00,2.70,0.00,0.000,4,0.000,0.145,2589,3903,3725
$GC,5701,-0.74,-146.0,781.2,-9.2,198,5705,0.00,2.15,0.00,0.000,6,0.000,0.039,2596,2489,3724
$GC,5989,-0.74,-146.0,809.3,-9.7,205,5993,0.00,2.70,0.00,0.000,4,0.000,0.143,2589,3903,3723
$GC,6039,-0.74,-146.0,814.2,-9.6,206,6043,0.00,2.12,0.00,0.000,6,0.000,0.039,2596,2489,3723
$GC,6316,-0.74,-146.0,839.7,-9.1,213,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2484,3722
$GC,6560,-0.74,-146.0,861.8,-9.1,219,6564,0.00,2.70,0.00,0.000,4,0.000,0.143,2590,3903,3720
$GC,6619,-0.74,-146.0,867.3,-8.6,220,6624,0.00,2.15,0.00,0.000,6,0.000,0.040,2596,2494,3720
$GC,6886,-0.74,-146.0,891.4,-9.1,227,6890,0.00,2.67,0.00,0.000,4,0.000,0.143,2589,3903,3719
$GC,6929,-0.74,-146.0,895.5,-8.8,228,6934,0.00,2.15,0.00,0.000,6,0.000,0.040,2596,2493,3719
$GC,7213,-0.74,-146.0,920.6,-9.1,235,7217,0.00,2.70,0.00,0.000,4,0.000,0.144,2589,3907,3718
$GC,7256,-0.74,-146.0,924.6,-8.9,236,7261,0.00,2.17,0.00,0.000,6,0.000,0.040,2596,2486,3718
$GC,7539,-0.74,-146.0,949.4,-8.8,243,7544,0.00,2.70,0.00,0.000,4,0.000,0.141,2590,3903,3717
$STATE,7547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7547,begin apogee
$GC,7553,-0.32,0.0,950.5,8.8,243,7677,0.45,0.00,120.38,1.323,6,0.163,0.000,2736,2438,3150
$STATE,7677,end apogee,CONTROL_FINISHED_OK
$STATE,7678,begin climb
$GC,7679,0.74,146.0,955.9,0.0,246,7820,1.05,2.75,132.25,1.274,4,0.087,0.101,3083,3861,2553
$GC,7966,0.74,146.0,932.2,23.0,252,7971,0.00,2.25,0.00,0.000,6,0.000,0.040,3092,2466,2546
$GC,8221,0.74,146.0,878.6,20.9,259,8226,0.00,2.50,0.00,0.000,4,0.000,0.093,3092,3877,2542
$GC,8242,0.74,146.0,874.1,21.5,259,8247,0.00,2.25,0.00,0.000,6,0.000,0.039,3103,2461,2542
$GC,8504,0.74,146.0,819.6,20.9,266,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2460,2540
$GC,8748,0.74,146.0,770.0,20.3,272,8752,0.00,2.20,0.00,0.000,4,0.000,0.038,3114,1026,2538
$GC,8780,0.74,146.0,763.1,19.7,272,8785,0.00,2.45,0.00,0.000,6,0.000,0.081,3111,2458,2538
$GC,9036,0.74,146.0,712.4,19.7,279,9040,0.00,2.42,0.00,0.000,4,0.000,0.094,3111,3871,2537
$GC,9047,0.74,146.0,710.3,19.2,279,9051,0.00,2.20,0.00,0.000,6,0.000,0.041,3120,2437,2537
$GC,9313,0.74,146.0,663.3,17.0,286,9315,0.15,0.00,0.00,0.000,6,0.272,0.000,3092,2435,2536
$GC,9557,0.74,146.0,628.7,13.9,292,9561,0.00,2.12,0.00,0.000,4,0.000,0.038,3102,1035,2536
$GC,9578,0.74,146.0,625.6,13.6,292,9583,0.00,2.40,0.00,0.000,6,0.000,0.076,3097,2451,2536
$GC,9845,0.74,146.0,586.3,15.3,299,9849,0.00,2.42,0.00,0.000,4,0.000,0.094,3097,3862,2535
$GC,10101,0.74,146.0,543.2,16.1,304,10109,0.00,2.20,0.00,0.000,6,0.000,0.042,3106,2442,2535
$GC,10352,0.74,146.0,507.0,14.1,311,10356,0.00,2.40,0.00,0.000,4,0.000,0.087,3107,3861,2534
$GC,10384,0.74,146.0,501.9,15.1,311,10391,0.00,2.17,0.00,0.000,6,0.000,0.040,3117,2462,2534
$GC,10635,0.74,146.0,467.6,13.4,318,10640,0.00,2.38,0.00,0.000,4,0.000,0.090,3117,3861,2534
$GC,10667,0.74,146.0,462.9,14.6,318,10675,0.15,2.17,0.00,0.000,6,0.267,0.039,3095,2445,2533
$GC,10917,0.74,146.0,431.5,12.3,325,10921,0.00,2.42,0.00,0.000,4,0.000,0.090,3094,3864,2533
$GC,10972,0.74,146.0,424.5,12.7,326,10977,0.00,2.17,0.00,0.000,6,0.000,0.041,3104,2459,2533
$GC,11244,0.74,146.0,395.1,10.8,333,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2454,2533
$GC,11488,0.74,146.0,369.5,10.3,339,11492,0.00,2.38,0.00,0.000,4,0.000,0.088,3104,3864,2533
$GC,11744,0.74,146.0,343.0,9.9,344,11752,0.00,2.17,0.00,0.000,6,0.000,0.039,3116,2442,2532
$GC,11995,0.74,146.0,320.1,8.9,351,11999,0.00,2.38,0.00,0.000,4,0.000,0.081,3111,3863,2533
$GC,12252,0.77,165.2,299.4,7.3,356,12272,0.00,2.17,13.85,0.857,6,0.000,0.040,3120,2445,2476
$GC,12545,0.77,165.2,270.1,10.3,364,12549,0.00,2.38,0.00,0.000,4,0.000,0.080,3120,3860,2473
$GC,12621,0.77,165.2,262.7,9.4,365,12630,0.12,2.17,0.00,0.000,6,0.259,0.037,3102,2446,2473
$GC,12871,0.83,216.3,245.6,6.1,372,12917,0.00,0.00,43.80,0.836,6,0.000,0.000,3102,2445,2268
$GC,13155,0.83,216.3,203.6,17.2,379,13159,0.00,2.45,0.00,0.000,4,0.000,0.087,3097,3868,2262
$GC,13242,0.83,216.3,186.0,20.1,384,13252,0.00,2.20,0.00,0.000,6,0.000,0.038,3107,2457,2261
$GC,13506,0.83,216.3,139.6,15.9,409,13509,0.00,2.15,0.00,0.000,4,0.000,0.035,3118,1038,2259
$GC,13529,0.83,216.3,136.0,14.4,411,13534,0.00,2.35,0.00,0.000,6,0.000,0.074,3118,2449,2259
$GC,13792,0.83,216.3,104.6,9.0,435,13796,0.00,2.38,0.00,0.000,4,0.000,0.081,3110,3873,2259
$GC,13976,0.84,221.2,92.3,7.8,451,13989,0.00,2.15,4.07,0.485,6,0.000,0.036,3120,2441,2249
$GC,14245,0.84,221.2,63.7,12.9,476,14250,0.00,2.42,0.00,0.000,4,0.000,0.085,3121,3874,2249
$GC,14276,0.84,221.2,59.8,13.8,478,14280,0.00,2.12,0.00,0.000,6,0.000,0.035,3130,2454,2250
$GC,14538,0.84,221.2,25.8,13.6,505,14546,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2449,2249
$STATE,14704,end climb,SURFACE_DEPTH_REACHED
$STATE,14704,begin surface coast
$FINISH,0.3,1.023676
$STATE,14728,end surface coast,CONTROL_FINISHED_OK
$STATE,14728,begin surface
$SM_CCo,14744,97.22,0.591,0,0,1436,420.19
$SM_GC,1.07,0.00,0.00,97.22,0.000,0.000,0.591,53,2498,1436,-8.74,0.23,420.19
$IRIDIUM_FIX,2225.34,-15807.15,170300,181812
$TT8_MAMPS,0.023777
$HUMID,1653
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.7,14.891
$10V_AH,10.7,8.120
$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,22.325,180.650,314.350,97.225,0.000,53.105,85.059,207.240,0.250,0.000,0.000,14.004,1213.186,11009.085,566.634,2075.311,484.018,33.359,1492.829,0.000,2053.618,0.000,0.542,0.000
$DEVICE_MAMPS,272.285,159.536,1323.075,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,367.631,667.849,686.914,140.399,583.901,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44578,540
$CAP_FILE_SIZE,122942,0
$CFSIZE,260165632,256155648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,221210,223955,2232.699,-15808.134,40,1.9,40,10.0