version: 66.04
glider: 512
mission: 1
dive: 33
start: 12 16 110 15 59 42
data:
$ID,512
$MISSION,1
$DIVE,33
$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,-3717.7852
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2740
$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,39
$R_STBD_OVSHOOT,22
$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
$GPS1,154737,2154.137,-15810.440,31,1.1,31,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.4
$GPS2,155849,2154.143,-15810.401,10,1.4,10,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.027,0.227
$KALMAN_X,10361.1,64.5,-235.4,-9123.1,5070.1
$KALMAN_Y,-24509.4,1632.7,95.6,48454.9,-12044.6
$MHEAD_RNG_PITCHd_Wd,357.0,95847,-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,-62.17,0.000,2,0.000,0.000,50,2505,3082
$GC,81,-0.66,-146.0,3.8,-4.9,8,114,11.90,2.38,-15.20,0.000,4,0.284,0.081,2507,3904,3946
$GC,246,-0.66,-146.0,72.1,-31.3,26,250,0.00,2.15,0.00,0.000,6,0.000,0.031,2514,2496,3947
$GC,506,-0.66,-146.0,176.6,-35.3,50,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2491,3947
$GC,783,-0.66,-146.0,263.3,-29.2,62,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2491,3949
$GC,1026,-0.66,-146.0,322.8,-23.9,68,1030,0.00,2.33,0.00,0.000,4,0.000,0.075,2505,3906,3949
$GC,1086,-0.66,-146.0,337.4,-21.2,69,1092,0.00,2.15,0.00,0.000,6,0.000,0.031,2512,2489,3949
$GC,1361,-0.66,-146.0,399.8,-23.6,76,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2484,3948
$GC,1603,-0.66,-146.0,453.1,-21.6,82,1606,0.00,2.33,0.00,0.000,4,0.000,0.077,2502,3894,3946
$GC,1674,-0.66,-146.0,467.0,-17.3,83,1679,0.00,2.08,0.00,0.000,6,0.000,0.032,2510,2508,3945
$GC,1935,-0.66,-146.0,519.4,-20.4,90,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2502,3943
$GC,2180,-0.66,-146.0,566.5,-19.1,96,2184,0.00,2.30,0.00,0.000,4,0.000,0.080,2501,3894,3941
$GC,2228,-0.66,-146.0,576.6,-18.7,97,2233,0.00,2.10,0.00,0.000,6,0.000,0.035,2509,2504,3940
$GC,2506,-0.66,-146.0,628.7,-18.5,104,2510,0.00,2.30,0.00,0.000,4,0.000,0.079,2499,3893,3938
$GC,2550,-0.66,-146.0,636.7,-17.7,105,2554,0.00,2.08,0.00,0.000,6,0.000,0.035,2508,2492,3937
$GC,2839,-0.66,-146.0,687.6,-17.8,112,2842,0.00,2.33,0.00,0.000,4,0.000,0.079,2499,3894,3934
$GC,2904,-0.66,-146.0,699.0,-16.2,113,2909,0.00,2.12,0.00,0.000,6,0.000,0.035,2506,2501,3933
$GC,3171,-0.66,-146.0,745.6,-17.5,120,3175,0.00,2.30,0.00,0.000,4,0.000,0.080,2497,3893,3931
$GC,3216,-0.66,-146.0,753.5,-17.6,121,3220,0.00,2.10,0.00,0.000,6,0.000,0.036,2505,2497,3930
$GC,3506,-0.66,-146.0,804.5,-17.7,128,3510,0.00,2.33,0.00,0.000,4,0.000,0.080,2496,3903,3927
$GC,3599,-0.66,-146.0,821.3,-16.9,130,3604,0.00,2.15,0.00,0.000,6,0.000,0.037,2505,2499,3926
$GC,3877,-0.66,-146.0,871.3,-18.1,137,3881,0.00,2.33,0.00,0.000,4,0.000,0.079,2496,3903,3924
$GC,3921,-0.66,-146.0,879.3,-17.2,138,3925,0.00,2.12,0.00,0.000,6,0.000,0.038,2504,2499,3923
$GC,4209,-0.66,-146.0,930.6,-17.8,145,4213,0.00,2.33,0.00,0.000,4,0.000,0.081,2494,3900,3921
$GC,4299,-0.66,-146.0,946.2,-16.3,147,4303,0.00,2.12,0.00,0.000,6,0.000,0.038,2503,2495,3920
$STATE,4324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4324,begin apogee
$GC,4328,-0.32,0.0,950.8,17.2,147,4452,0.43,0.00,121.10,1.332,6,0.186,0.000,2629,2273,3347
$STATE,4452,end apogee,CONTROL_FINISHED_OK
$STATE,4453,begin climb
$GC,4454,0.66,146.0,958.2,0.0,150,4592,1.08,2.35,130.60,1.296,4,0.147,0.040,2952,852,2751
$GC,4845,0.66,146.0,951.5,8.4,159,4849,0.00,2.30,0.00,0.000,6,0.000,0.056,2952,2265,2743
$GC,5135,0.66,146.0,927.0,8.6,166,5139,0.00,2.17,0.00,0.000,4,0.000,0.038,2962,848,2739
$GC,5269,0.68,156.0,916.3,6.7,169,5284,0.00,2.30,7.85,1.060,6,0.000,0.055,2958,2281,2711
$GC,5557,0.68,156.0,893.9,8.4,176,5561,0.00,2.28,0.00,0.000,4,0.000,0.064,2958,3683,2708
$GC,5657,0.68,156.0,883.6,10.4,178,5662,0.00,2.20,0.00,0.000,6,0.000,0.038,2966,2265,2706
$GC,5929,0.68,156.0,858.9,8.8,185,5933,0.00,2.33,0.00,0.000,4,0.000,0.064,2967,3690,2703
$GC,6185,0.68,156.0,833.2,10.2,190,6191,0.00,2.17,0.00,0.000,6,0.000,0.036,2976,2271,2702
$GC,6441,0.68,156.0,810.8,8.8,197,6445,0.00,2.30,0.00,0.000,4,0.000,0.062,2971,3688,2701
$GC,6670,0.68,156.0,786.9,10.5,202,6675,0.00,2.17,0.00,0.000,6,0.000,0.037,2980,2266,2701
$GC,6953,0.68,156.0,762.6,8.3,209,6957,0.00,2.30,0.00,0.000,4,0.000,0.064,2979,3688,2700
$GC,7036,0.68,156.0,755.1,8.8,210,7045,0.12,2.15,0.00,0.000,6,0.262,0.037,2960,2278,2700
$GC,7286,0.68,156.0,736.1,7.7,217,7290,0.00,2.28,0.00,0.000,4,0.000,0.064,2958,3683,2699
$GC,7542,0.68,156.0,714.6,7.8,222,7548,0.00,2.15,0.00,0.000,6,0.000,0.038,2967,2280,2699
$GC,7798,0.69,169.3,697.5,6.6,229,7814,0.00,2.30,11.12,1.089,4,0.000,0.063,2967,3691,2656
$GC,8065,0.69,169.3,673.4,9.3,235,8070,0.00,2.17,0.00,0.000,6,0.000,0.036,2976,2276,2654
$GC,8350,0.69,169.3,652.7,7.0,242,8354,0.00,2.28,0.00,0.000,4,0.000,0.062,2971,3684,2653
$GC,8607,0.69,169.3,632.7,8.1,247,8614,0.00,2.17,0.00,0.000,6,0.000,0.038,2979,2263,2652
$GC,8857,0.69,169.3,613.5,7.7,254,8860,0.00,2.30,0.00,0.000,4,0.000,0.064,2979,3685,2653
$GC,8877,0.69,169.3,611.7,8.9,254,8882,0.00,2.17,0.00,0.000,6,0.000,0.038,2989,2273,2652
$GC,9145,0.69,169.3,590.1,8.0,261,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2267,2652
$GC,9390,0.72,191.8,573.7,6.3,267,9415,0.00,2.17,20.55,1.093,4,0.000,0.041,3000,858,2564
$GC,9458,0.72,191.8,568.1,9.4,268,9463,0.00,2.30,0.00,0.000,6,0.000,0.057,3000,2269,2563
$GC,9714,0.72,191.8,541.2,10.2,275,9717,0.00,2.30,0.00,0.000,4,0.000,0.066,3000,3688,2560
$GC,9970,0.72,191.8,514.2,9.7,280,9976,0.12,2.20,0.00,0.000,6,0.257,0.038,2981,2269,2559
$GC,10226,0.72,191.8,493.7,8.0,287,10230,0.00,2.33,0.00,0.000,4,0.000,0.066,2979,3687,2558
$GC,10286,0.72,191.8,487.8,9.4,288,10291,0.00,2.20,0.00,0.000,6,0.000,0.038,2989,2268,2558
$GC,10558,0.72,191.8,463.7,8.8,295,10559,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2262,2557
$GC,10803,0.72,191.8,442.2,8.9,301,10807,0.00,2.30,0.00,0.000,4,0.000,0.064,2986,3684,2557
$GC,10817,0.72,191.8,440.8,8.6,301,10822,0.00,2.17,0.00,0.000,6,0.000,0.039,2995,2266,2557
$GC,11084,0.72,191.8,421.7,7.1,308,11088,0.00,2.15,0.00,0.000,4,0.000,0.041,3006,862,2557
$GC,11206,0.72,191.8,413.0,7.0,310,11211,0.00,2.25,0.00,0.000,6,0.000,0.054,3000,2273,2557
$GC,11461,0.72,191.8,394.4,7.3,317,11465,0.00,2.22,0.00,0.000,4,0.000,0.064,3000,3681,2557
$GC,11476,0.74,207.4,393.3,6.5,317,11497,0.00,2.15,13.95,0.950,6,0.000,0.038,3009,2282,2501
$GC,11746,0.74,207.4,367.1,10.2,324,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2282,2499
$GC,11990,0.74,207.4,346.2,8.7,330,11995,0.12,2.15,0.00,0.000,4,0.250,0.040,2994,854,2498
$GC,12106,0.74,207.4,336.3,7.8,332,12111,0.00,2.28,0.00,0.000,6,0.000,0.053,2994,2264,2498
$GC,12367,0.74,207.4,313.6,9.1,339,12371,0.00,2.25,0.00,0.000,4,0.000,0.061,2986,3680,2497
$GC,12623,0.74,207.4,293.3,8.3,344,12629,0.00,2.17,0.00,0.000,6,0.000,0.037,2995,2261,2497
$GC,12881,0.80,257.9,279.1,5.4,351,12927,0.00,0.00,43.92,0.911,6,0.000,0.000,2996,2259,2295
$GC,13165,0.80,257.9,249.2,11.5,358,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2259,2288
$GC,13409,0.80,257.9,219.9,12.1,364,13412,0.00,2.33,0.00,0.000,4,0.000,0.064,2996,3678,2286
$GC,13575,0.80,257.9,196.2,14.7,367,13580,0.00,2.17,0.00,0.000,6,0.000,0.036,3006,2268,2286
$GC,13843,0.80,257.9,162.0,13.0,392,13847,0.00,2.30,0.00,0.000,4,0.000,0.062,3007,3678,2285
$GC,13954,0.80,257.9,148.8,11.0,402,13958,0.00,2.12,0.00,0.000,6,0.000,0.035,3018,2268,2285
$GC,14222,0.80,257.9,120.0,9.1,427,14223,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2267,2285
$GC,14477,0.83,282.3,98.8,6.2,451,14503,0.00,2.30,20.27,0.700,4,0.000,0.059,3019,3685,2195
$GC,14615,0.83,282.3,87.1,10.0,463,14619,0.00,2.15,0.00,0.000,6,0.000,0.033,3030,2263,2194
$GC,14877,0.83,282.3,61.0,9.5,487,14881,0.00,2.10,0.00,0.000,4,0.000,0.035,3042,852,2193
$GC,15129,0.83,282.3,38.4,9.3,510,15133,0.12,2.20,0.00,0.000,6,0.204,0.045,3012,2273,2193
$GC,15390,0.83,282.3,14.4,9.7,549,15398,0.00,2.22,0.00,0.000,4,0.000,0.054,3011,3674,2193
$GC,15448,0.83,282.3,7.7,12.0,559,15456,0.00,2.12,0.00,0.000,6,0.000,0.031,3022,2250,2193
$STATE,15494,end climb,SURFACE_DEPTH_REACHED
$STATE,15494,begin surface coast
$FINISH,0.2,1.021911
$STATE,15522,end surface coast,CONTROL_FINISHED_OK
$STATE,15522,begin surface
$SM_CCo,15537,93.80,0.619,0,0,1429,470.23
$SM_GC,1.26,0.00,0.00,93.80,0.000,0.000,0.619,47,2507,1429,-8.41,0.20,470.23
$IRIDIUM_FIX,2148.09,-15811.05,110300,151558
$TT8_MAMPS,0.023777
$HUMID,1623
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,23.8,9.422
$10V_AH,10.7,4.511
$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,22.000,147.600,369.375,93.800,0.000,48.883,72.864,383.320,0.250,0.000,0.000,10.231,1321.130,11268.372,555.305,2515.664,632.722,33.347,1640.406,0.000,2491.714,0.000,0.543,0.000
$DEVICE_MAMPS,283.790,81.302,1331.512,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,390.095,726.228,747.292,163.335,653.446,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47850,572
$CAP_FILE_SIZE,134887,0
$CFSIZE,260165632,258236416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,161210,202131,2155.763,-15810.369,44,1.2,44,9.9