version: 66.04
glider: 512
mission: 1
dive: 31
start: 12 16 110 7 15 56
data:
$ID,512
$MISSION,1
$DIVE,31
$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,470
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3689.4358
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2743
$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,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3347
$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
$GPS1,070908,2152.149,-15808.240,13,1.9,14,9.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-77.1
$GPS2,071502,2152.181,-15808.249,12,1.9,12,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.182,0.138
$KALMAN_X,5392.4,211.9,-151.6,-677.1,1091.2
$KALMAN_Y,-24802.5,2682.6,602.3,43570.4,-30255.5
$MHEAD_RNG_PITCHd_Wd,297.3,98830,-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,13,begin dive
$GC,15,-0.66,-146.0,0.0,0.0,0,79,0.00,0.00,-62.05,0.000,2,0.000,0.000,53,2518,3089
$GC,81,-0.66,-146.0,3.5,-4.6,8,114,11.90,2.25,-15.02,0.000,4,0.289,0.081,2514,3902,3944
$GC,344,-0.66,-146.0,99.3,-26.4,35,347,0.00,2.15,0.00,0.000,6,0.000,0.032,2521,2484,3946
$GC,611,-0.66,-146.0,193.8,-36.4,60,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2479,3947
$GC,874,-0.66,-146.0,273.7,-28.7,68,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2479,3949
$GC,1117,-0.66,-146.0,333.7,-24.0,74,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2479,3950
$GC,1361,-0.66,-146.0,388.8,-22.4,80,1365,0.00,2.33,0.00,0.000,4,0.000,0.077,2512,3894,3951
$GC,1421,-0.66,-146.0,401.3,-18.5,81,1426,0.00,2.12,0.00,0.000,6,0.000,0.031,2519,2489,3950
$GC,1694,-0.66,-146.0,455.5,-19.9,88,1698,0.00,2.30,0.00,0.000,4,0.000,0.075,2509,3894,3950
$GC,1725,-0.66,-146.0,462.1,-20.8,88,1731,0.00,2.08,0.00,0.000,6,0.000,0.031,2514,2504,3950
$GC,1981,-0.66,-146.0,510.3,-19.0,95,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2499,3948
$GC,2226,-0.66,-146.0,556.9,-18.9,101,2230,0.00,2.28,0.00,0.000,4,0.000,0.076,2505,3893,3946
$GC,2291,-0.66,-146.0,569.2,-16.0,102,2296,0.00,2.10,0.00,0.000,6,0.000,0.033,2511,2513,3946
$GC,2552,-0.66,-146.0,617.3,-18.5,109,2556,0.00,2.28,0.00,0.000,4,0.000,0.077,2502,3894,3943
$GC,2607,-0.66,-146.0,627.8,-16.7,110,2612,0.00,2.12,0.00,0.000,6,0.000,0.034,2510,2496,3943
$GC,2885,-0.66,-146.0,677.7,-18.2,117,2889,0.00,2.30,0.00,0.000,4,0.000,0.075,2501,3900,3941
$GC,2924,-0.66,-146.0,684.8,-18.6,117,2930,0.00,2.10,0.00,0.000,6,0.000,0.035,2508,2504,3940
$GC,3172,-0.66,-146.0,727.4,-17.2,124,3176,0.00,2.28,0.00,0.000,4,0.000,0.075,2498,3893,3939
$GC,3204,-0.66,-146.0,733.3,-17.9,124,3209,0.00,2.12,0.00,0.000,6,0.000,0.035,2507,2504,3939
$GC,3461,-0.66,-146.0,775.4,-16.7,131,3465,0.00,2.30,0.00,0.000,4,0.000,0.077,2497,3901,3937
$GC,3537,-0.66,-146.0,788.4,-15.6,132,3545,0.00,2.15,0.00,0.000,6,0.000,0.037,2506,2500,3936
$GC,3787,-0.66,-146.0,830.8,-17.1,139,3791,0.00,2.30,0.00,0.000,4,0.000,0.077,2496,3901,3934
$GC,3819,-0.66,-146.0,836.7,-18.3,139,3824,0.00,2.15,0.00,0.000,6,0.000,0.037,2504,2499,3933
$GC,4076,-0.66,-146.0,881.3,-17.6,146,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2495,3932
$GC,4320,-0.66,-146.0,924.7,-17.8,152,4324,0.00,2.30,0.00,0.000,4,0.000,0.077,2495,3895,3930
$GC,4413,-0.66,-146.0,941.2,-16.4,154,4418,0.00,2.15,0.00,0.000,6,0.000,0.038,2504,2497,3929
$STATE,4488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4488,begin apogee
$GC,4492,-0.32,0.0,953.9,17.5,156,4617,0.45,0.00,122.93,1.328,6,0.184,0.000,2632,2267,3347
$STATE,4618,end apogee,CONTROL_FINISHED_OK
$STATE,4618,begin climb
$GC,4619,0.66,146.0,963.8,0.0,159,4758,1.08,2.33,130.82,1.303,4,0.144,0.041,2957,857,2750
$GC,5010,0.66,146.0,961.2,7.4,168,5015,0.00,2.35,0.00,0.000,6,0.000,0.056,2957,2265,2742
$GC,5293,0.66,146.0,940.4,7.4,175,5297,0.00,2.15,0.00,0.000,4,0.000,0.039,2967,865,2739
$GC,5421,0.66,146.0,931.3,7.3,177,5428,0.00,2.28,0.00,0.000,6,0.000,0.055,2966,2265,2738
$GC,5672,0.66,146.0,912.5,7.6,184,5676,0.00,2.30,0.00,0.000,4,0.000,0.064,2966,3683,2736
$GC,5715,0.66,146.0,908.7,9.0,185,5719,0.00,2.17,0.00,0.000,6,0.000,0.038,2976,2276,2735
$GC,5998,0.66,146.0,884.9,8.4,192,6002,0.00,2.30,0.00,0.000,4,0.000,0.063,2970,3687,2734
$GC,6052,0.66,146.0,879.8,9.7,193,6057,0.00,2.17,0.00,0.000,6,0.000,0.038,2979,2279,2734
$GC,6330,0.66,146.0,857.4,7.8,200,6334,0.00,2.17,0.00,0.000,4,0.000,0.041,2990,843,2733
$GC,6587,0.66,146.0,838.6,7.5,205,6592,0.00,2.30,0.00,0.000,6,0.000,0.054,2986,2265,2732
$GC,6843,0.66,146.0,819.3,7.7,212,6846,0.00,2.15,0.00,0.000,4,0.000,0.041,2995,845,2731
$GC,6920,0.67,149.4,814.1,6.9,213,6925,0.12,2.30,0.00,0.000,6,0.248,0.055,2966,2272,2731
$GC,7174,0.67,149.4,795.7,7.4,220,7178,0.00,2.25,0.00,0.000,4,0.000,0.062,2958,3684,2730
$GC,7431,0.67,149.4,775.0,7.8,225,7436,0.00,2.17,0.00,0.000,6,0.000,0.038,2968,2263,2730
$GC,7687,0.68,163.0,758.0,6.6,232,7706,0.00,2.33,11.80,1.137,4,0.000,0.065,2967,3681,2682
$GC,7846,0.68,163.0,743.0,10.6,235,7850,0.00,2.17,0.00,0.000,6,0.000,0.038,2977,2280,2681
$GC,8106,0.68,163.0,719.0,9.0,242,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2275,2679
$GC,8350,0.68,163.0,698.4,8.4,248,8354,0.00,2.25,0.00,0.000,4,0.000,0.061,2971,3687,2679
$GC,8607,0.68,163.0,676.2,8.1,253,8612,0.00,2.17,0.00,0.000,6,0.000,0.038,2979,2272,2678
$GC,8863,0.69,165.4,658.0,6.9,260,8867,0.00,2.28,0.00,0.000,4,0.000,0.064,2979,3681,2678
$GC,9091,0.72,191.1,640.7,6.2,265,9125,0.00,2.17,24.83,1.147,6,0.000,0.038,2989,2262,2570
$GC,9367,0.72,191.1,610.0,12.4,272,9371,0.00,2.33,0.00,0.000,4,0.000,0.062,2986,3684,2567
$GC,9388,0.72,191.1,607.3,12.3,272,9392,0.00,2.17,0.00,0.000,6,0.000,0.038,2995,2269,2566
$GC,9650,0.72,191.1,575.3,12.4,279,9653,0.00,2.17,0.00,0.000,4,0.000,0.042,3006,851,2565
$GC,9676,0.72,191.1,571.9,12.3,279,9681,0.00,2.30,0.00,0.000,6,0.000,0.053,3000,2265,2565
$GC,9939,0.72,191.1,542.5,11.2,286,9943,0.00,2.28,0.00,0.000,4,0.000,0.063,3000,3682,2564
$GC,10196,0.72,191.1,513.7,10.6,291,10204,0.12,2.20,0.00,0.000,6,0.266,0.039,2981,2258,2563
$GC,10446,0.72,191.1,491.2,9.3,298,10449,0.00,2.12,0.00,0.000,4,0.000,0.041,2990,859,2563
$GC,10511,0.72,191.1,485.2,8.6,299,10516,0.00,2.25,0.00,0.000,6,0.000,0.054,2986,2268,2563
$GC,10781,0.72,191.1,461.2,9.2,306,10785,0.00,2.28,0.00,0.000,4,0.000,0.064,2986,3687,2563
$GC,10824,0.72,191.1,456.4,11.1,307,10829,0.00,2.17,0.00,0.000,6,0.000,0.038,2995,2278,2562
$GC,11107,0.72,191.1,432.1,8.0,314,11111,0.00,2.28,0.00,0.000,4,0.000,0.063,2995,3690,2562
$GC,11139,0.72,191.1,429.2,8.8,314,11145,0.10,2.17,0.00,0.000,6,0.261,0.037,2983,2270,2562
$GC,11396,0.74,208.5,411.9,6.4,321,11414,0.00,0.00,16.08,0.976,6,0.000,0.000,2983,2266,2497
$GC,11638,0.74,208.5,389.3,10.3,327,11642,0.00,2.30,0.00,0.000,4,0.000,0.064,2983,3683,2494
$GC,11800,0.74,208.5,371.7,10.5,330,11805,0.00,2.17,0.00,0.000,6,0.000,0.038,2992,2281,2493
$GC,12061,0.74,208.5,350.0,8.3,337,12064,0.00,2.28,0.00,0.000,4,0.000,0.061,2986,3690,2493
$GC,12115,0.74,208.5,345.0,9.1,338,12120,0.00,2.20,0.00,0.000,6,0.000,0.037,2995,2266,2493
$GC,12393,0.74,208.5,320.3,8.8,345,12397,0.00,2.30,0.00,0.000,4,0.000,0.063,2995,3686,2493
$GC,12482,0.74,208.5,311.6,8.5,347,12486,0.00,2.15,0.00,0.000,6,0.000,0.037,3006,2267,2493
$GC,12772,0.74,208.5,288.5,8.4,354,12776,0.00,2.12,0.00,0.000,4,0.000,0.039,3017,852,2493
$GC,12972,0.81,263.5,273.5,5.2,358,13025,0.00,2.25,47.70,0.907,6,0.000,0.051,3013,2272,2272
$GC,13275,0.81,263.5,235.1,13.3,366,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2272,2265
$GC,13518,0.81,263.5,204.0,13.0,372,13521,0.00,2.28,0.00,0.000,4,0.000,0.060,3013,3685,2264
$GC,13533,0.81,263.5,202.0,11.9,372,13538,0.00,2.20,0.00,0.000,6,0.000,0.035,3022,2273,2263
$GC,13796,0.81,263.5,166.5,14.6,395,13800,0.00,2.15,0.00,0.000,4,0.000,0.038,3034,848,2263
$GC,13874,0.81,263.5,156.9,11.6,402,13878,0.00,2.25,0.00,0.000,6,0.000,0.050,3031,2279,2263
$GC,14142,0.81,263.5,124.4,11.7,427,14145,0.00,2.22,0.00,0.000,4,0.000,0.058,3027,3681,2263
$GC,14267,0.81,263.5,108.1,14.4,438,14277,0.12,2.17,0.00,0.000,6,0.229,0.036,3005,2267,2263
$GC,14531,0.85,297.5,86.7,5.9,463,14568,0.00,2.30,28.05,0.704,4,0.000,0.056,3000,3676,2133
$GC,14659,0.85,297.5,75.2,10.5,474,14663,0.00,2.15,0.00,0.000,6,0.000,0.033,3009,2263,2131
$GC,14926,0.85,297.5,51.9,8.5,499,14930,0.00,2.28,0.00,0.000,4,0.000,0.055,3010,3682,2130
$GC,15042,0.85,297.5,38.4,12.7,509,15046,0.00,2.12,0.00,0.000,6,0.000,0.031,3021,2263,2130
$GC,15303,0.85,297.5,6.3,12.9,552,15311,0.00,2.10,0.00,0.000,4,0.000,0.034,3032,865,2130
$GC,15323,0.85,297.5,4.0,11.8,555,15332,0.00,2.20,0.00,0.000,6,0.000,0.043,3028,2275,2130
$STATE,15338,end climb,SURFACE_DEPTH_REACHED
$STATE,15338,begin surface coast
$FINISH,0.1,1.001342
$STATE,15366,end surface coast,CONTROL_FINISHED_OK
$STATE,15366,begin surface
$SM_CCo,15381,89.62,0.617,0,0,1429,470.23
$SM_GC,1.30,0.00,0.00,89.62,0.000,0.000,0.617,47,2517,1429,-8.42,0.51,470.23
$IRIDIUM_FIX,2143.45,-15806.74,110300,050513
$TT8_MAMPS,0.023777
$HUMID,1654
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.8,9.067
$10V_AH,10.7,4.285
$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,22.100,160.525,382.200,89.625,0.000,27.919,36.238,215.593,0.250,0.000,0.000,12.432,1300.056,11162.101,586.030,2391.006,402.691,33.355,1640.862,0.000,2367.692,0.000,0.543,0.000
$DEVICE_MAMPS,289.159,80.535,1328.444,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,382.803,703.601,724.851,147.375,614.497,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44733,562
$CAP_FILE_SIZE,129261,0
$CFSIZE,260165632,258367488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,161210,113501,2153.004,-15809.605,40,1.6,40,9.9