version: 66.04
glider: 512
mission: 1
dive: 40
start: 12 17 110 22 59 27
data:
$ID,512
$MISSION,1
$DIVE,40
$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,723.13263
$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,-3855.5164
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2750
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,223507,2205.051,-15817.907,37,1.2,37,9.9
$_CALLS,5
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-78.0
$GPS2,225832,2204.896,-15817.956,16,1.4,16,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.071,0.217
$KALMAN_X,10902.1,-784.6,-112.6,-21933.9,4130.8
$KALMAN_Y,-33699.7,515.7,510.9,78251.9,-7657.3
$MHEAD_RNG_PITCHd_Wd,8.2,80355,-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,-146.0,0.0,0.0,0,63,0.00,0.00,-47.97,0.000,2,0.000,0.000,41,2513,2887
$GC,66,-0.66,-146.0,3.1,-5.1,6,106,11.77,2.33,-21.50,0.000,4,0.279,0.095,2519,3888,3944
$GC,242,-0.66,-146.0,60.4,-26.4,27,246,0.00,2.10,0.00,0.000,6,0.000,0.030,2522,2491,3945
$GC,510,-0.66,-146.0,162.5,-39.5,52,513,0.00,2.08,0.00,0.000,4,0.000,0.029,2532,1081,3945
$GC,554,-0.66,-146.0,179.6,-38.7,56,558,0.00,2.33,0.00,0.000,6,0.000,0.071,2523,2491,3945
$GC,826,-0.66,-146.0,263.6,-30.3,67,830,0.00,2.28,0.00,0.000,4,0.000,0.071,2512,3899,3946
$GC,936,-0.66,-146.0,290.7,-19.1,69,941,0.00,2.12,0.00,0.000,6,0.000,0.028,2518,2494,3946
$GC,1204,-0.66,-146.0,350.5,-22.2,76,1208,0.00,2.38,0.00,0.000,4,0.000,0.089,2509,3897,3946
$GC,1303,-0.66,-146.0,370.6,-17.8,78,1307,0.00,2.10,0.00,0.000,6,0.000,0.031,2514,2496,3945
$GC,1575,-0.66,-146.0,426.0,-20.9,85,1579,0.00,2.40,0.00,0.000,4,0.000,0.092,2505,3904,3943
$GC,1618,-0.66,-146.0,435.2,-19.9,86,1623,0.00,2.10,0.00,0.000,6,0.000,0.032,2513,2504,3942
$GC,1903,-0.66,-146.0,490.7,-19.4,93,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2498,3940
$GC,2145,-0.66,-146.0,537.1,-19.1,99,2149,0.00,2.38,0.00,0.000,4,0.000,0.092,2504,3901,3938
$GC,2245,-0.66,-146.0,556.0,-16.6,101,2250,0.00,2.10,0.00,0.000,6,0.000,0.034,2512,2508,3937
$GC,2523,-0.66,-146.0,609.4,-19.6,108,2527,0.00,2.35,0.00,0.000,4,0.000,0.089,2502,3897,3933
$GC,2605,-0.66,-146.0,624.9,-16.6,109,2613,0.00,2.10,0.00,0.000,6,0.000,0.034,2510,2499,3932
$GC,2856,-0.66,-146.0,671.1,-18.8,116,2861,0.00,2.38,0.00,0.000,4,0.000,0.091,2501,3901,3929
$GC,2905,-0.66,-146.0,680.5,-17.9,117,2910,0.00,2.12,0.00,0.000,6,0.000,0.035,2508,2500,3928
$GC,3183,-0.66,-146.0,728.5,-17.1,124,3187,0.00,2.35,0.00,0.000,4,0.000,0.089,2499,3896,3925
$GC,3265,-0.66,-146.0,742.8,-16.6,125,3274,0.00,2.12,0.00,0.000,6,0.000,0.035,2507,2494,3924
$GC,3515,-0.66,-146.0,784.7,-17.0,132,3519,0.00,2.38,0.00,0.000,4,0.000,0.092,2497,3896,3922
$GC,3560,-0.66,-146.0,792.7,-17.0,133,3564,0.10,2.10,0.00,0.000,6,0.177,0.035,2530,2491,3921
$GC,3847,-0.66,-146.0,836.6,-15.3,140,3851,0.00,2.40,0.00,0.000,4,0.000,0.092,2523,3904,3918
$GC,3898,-0.66,-146.0,844.2,-14.1,141,3901,0.00,2.12,0.00,0.000,6,0.000,0.038,2528,2497,3918
$GC,4180,-0.66,-146.0,886.8,-15.1,148,4183,0.00,2.38,0.00,0.000,4,0.000,0.093,2523,3897,3916
$GC,4269,-0.66,-146.0,899.4,-12.8,150,4273,0.00,2.12,0.00,0.000,6,0.000,0.037,2528,2490,3915
$GC,4557,-0.66,-146.0,940.2,-14.1,157,4561,0.00,2.38,0.00,0.000,4,0.000,0.090,2524,3896,3913
$GC,4612,-0.66,-146.0,948.0,-13.2,158,4617,0.00,2.12,0.00,0.000,6,0.000,0.037,2527,2508,3912
$STATE,4627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4627,begin apogee
$GC,4631,-0.32,0.0,950.1,12.3,158,4751,0.38,0.00,117.82,1.309,6,0.176,0.000,2640,2377,3347
$STATE,4752,end apogee,CONTROL_FINISHED_OK
$STATE,4752,begin climb
$GC,4753,0.66,146.0,955.2,0.0,161,4890,1.08,2.35,129.30,1.267,4,0.143,0.039,2966,939,2750
$GC,5143,0.66,146.0,942.2,9.9,170,5148,0.00,2.38,0.00,0.000,6,0.000,0.061,2966,2368,2742
$GC,5427,0.66,146.0,915.7,9.4,177,5431,0.00,2.20,0.00,0.000,4,0.000,0.041,2976,944,2738
$GC,5683,0.66,146.0,895.4,7.8,182,5688,0.00,2.33,0.00,0.000,6,0.000,0.057,2971,2370,2737
$GC,5939,0.66,146.0,876.5,7.1,189,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2369,2734
$GC,6183,0.66,146.0,859.3,7.2,195,6187,0.00,2.30,0.00,0.000,4,0.000,0.068,2971,3785,2733
$GC,6439,0.66,146.0,836.0,9.5,200,6444,0.00,2.20,0.00,0.000,6,0.000,0.038,2980,2365,2732
$GC,6695,0.66,146.0,814.8,8.3,207,6699,0.00,2.33,0.00,0.000,4,0.000,0.067,2979,3785,2730
$GC,6951,0.66,146.0,790.7,9.1,212,6956,0.00,2.17,0.00,0.000,6,0.000,0.037,2988,2366,2730
$GC,7207,0.66,146.0,769.4,8.2,219,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2361,2729
$GC,7451,0.66,146.0,749.4,8.3,225,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2361,2728
$GC,7696,0.68,156.9,732.2,6.6,231,7704,0.00,0.00,6.40,0.970,6,0.000,0.000,2989,2361,2707
$GC,7938,0.68,156.9,714.5,7.4,237,7942,0.00,2.30,0.00,0.000,4,0.000,0.064,2986,3786,2704
$GC,8066,0.68,156.9,704.8,7.9,239,8073,0.00,2.17,0.00,0.000,6,0.000,0.038,2995,2371,2704
$GC,8316,0.68,156.9,687.3,7.0,246,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2370,2704
$GC,8559,0.71,180.1,671.9,6.2,252,8583,0.00,0.00,21.60,1.124,6,0.000,0.000,2995,2371,2612
$GC,8803,0.71,180.1,647.2,10.8,258,8807,0.00,2.33,0.00,0.000,4,0.000,0.064,2995,3790,2608
$GC,8874,0.71,180.1,638.3,12.5,259,8879,0.00,2.20,0.00,0.000,6,0.000,0.037,3006,2375,2607
$GC,9138,0.71,180.1,609.4,11.2,266,9142,0.00,2.33,0.00,0.000,4,0.000,0.064,3006,3796,2606
$GC,9293,0.71,180.1,589.6,12.7,269,9298,0.15,2.20,0.00,0.000,6,0.268,0.037,2985,2376,2606
$GC,9555,0.71,180.1,564.4,9.5,276,9559,0.00,2.30,0.00,0.000,4,0.000,0.065,2984,3786,2605
$GC,9805,0.71,180.1,538.7,8.2,281,9810,0.00,2.17,0.00,0.000,6,0.000,0.037,2993,2377,2605
$GC,10060,0.71,180.1,519.4,7.6,288,10064,0.00,2.30,0.00,0.000,4,0.000,0.063,2986,3797,2605
$GC,10317,0.71,180.1,499.5,7.7,293,10322,0.00,2.20,0.00,0.000,6,0.000,0.038,2995,2369,2605
$GC,10572,0.71,180.1,480.5,7.6,300,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2366,2605
$GC,10817,0.71,180.1,462.4,7.3,306,10821,0.00,2.30,0.00,0.000,4,0.000,0.063,2995,3790,2604
$GC,11073,0.71,180.1,441.5,7.5,311,11080,0.00,2.17,0.00,0.000,6,0.000,0.037,3006,2366,2604
$GC,11323,0.72,193.0,424.6,6.6,318,11339,0.00,2.15,11.32,0.933,4,0.000,0.038,3018,953,2559
$GC,11433,0.72,193.0,416.4,8.5,320,11438,0.12,2.30,0.00,0.000,6,0.238,0.054,2988,2375,2558
$GC,11694,0.72,193.0,396.6,7.5,327,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2375,2556
$GC,11938,0.72,193.0,378.0,7.6,333,11942,0.00,2.28,0.00,0.000,4,0.000,0.063,2986,3795,2556
$GC,12094,0.74,210.4,366.4,6.4,336,12117,0.00,2.17,16.23,0.923,6,0.000,0.038,2995,2381,2489
$GC,12358,0.74,210.4,342.6,9.3,343,12362,0.00,2.28,0.00,0.000,4,0.000,0.061,2995,3787,2485
$GC,12542,0.74,210.4,322.1,8.5,347,12547,0.00,2.20,0.00,0.000,6,0.000,0.037,3006,2368,2484
$GC,12828,0.77,233.1,302.7,6.3,354,12853,0.00,2.17,20.42,0.891,4,0.000,0.038,3018,950,2395
$GC,12960,0.78,237.1,293.6,6.9,357,12969,0.00,2.30,4.57,0.655,6,0.000,0.054,3019,2385,2380
$GC,13241,0.78,237.1,269.9,8.8,364,13245,0.00,2.20,0.00,0.000,4,0.000,0.039,3029,947,2377
$GC,13385,0.78,237.1,254.5,9.8,367,13390,0.00,2.28,0.00,0.000,6,0.000,0.051,3027,2367,2377
$GC,13663,0.78,237.1,229.9,8.3,374,13667,0.00,2.25,0.00,0.000,4,0.000,0.058,3027,3780,2377
$GC,13712,0.78,237.1,225.6,8.7,375,13718,0.12,2.17,0.00,0.000,6,0.237,0.034,3006,2365,2376
$GC,13995,0.78,237.1,199.3,10.6,382,13999,0.00,2.30,0.00,0.000,4,0.000,0.059,3000,3792,2376
$GC,14140,0.78,237.1,184.7,9.3,395,14144,0.00,2.15,0.00,0.000,6,0.000,0.035,3009,2363,2376
$GC,14406,0.78,237.1,165.1,8.1,420,14410,0.00,2.10,0.00,0.000,4,0.000,0.035,3024,952,2375
$GC,14552,0.78,237.1,151.5,10.5,433,14556,0.00,2.22,0.00,0.000,6,0.000,0.050,3023,2378,2377
$GC,14819,0.87,314.8,133.3,4.5,458,14893,0.00,2.22,64.68,0.745,4,0.000,0.034,3034,966,2061
$GC,15030,0.87,314.8,109.4,13.0,476,15039,0.00,2.25,0.00,0.000,6,0.000,0.047,3029,2365,2055
$GC,15293,0.87,314.8,73.1,13.0,501,15297,0.00,2.28,0.00,0.000,4,0.000,0.057,3027,3783,2054
$GC,15464,0.87,314.8,46.5,15.0,516,15468,0.00,2.12,0.00,0.000,6,0.000,0.031,3037,2370,2053
$GC,15726,0.87,314.8,10.8,12.8,554,15734,0.00,2.12,0.00,0.000,4,0.000,0.034,3048,969,2053
$STATE,15788,end climb,SURFACE_DEPTH_REACHED
$STATE,15788,begin surface coast
$FINISH,0.2,1.013726
$STATE,15811,end surface coast,CONTROL_FINISHED_OK
$STATE,15811,begin surface
$SM_CCo,15828,193.27,0.591,0,0,398,723.13
$SM_GC,0.97,0.00,0.00,193.27,0.000,0.000,0.591,47,2510,398,-8.45,0.28,723.13
$IRIDIUM_FIX,2159.71,-15816.67,120300,222214
$TT8_MAMPS,0.023777
$HUMID,1602
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.9,10.669
$10V_AH,10.7,5.283
$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,22.000,152.450,392.350,193.275,0.000,129.823,188.555,705.819,0.250,0.000,0.000,16.715,1322.509,11686.720,677.282,2537.016,1195.141,33.345,1785.628,0.000,2508.802,0.000,0.544,0.000
$DEVICE_MAMPS,279.188,95.108,1308.502,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,387.611,703.863,725.748,137.697,573.513,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,48025,569
$CAP_FILE_SIZE,146314,0
$CFSIZE,260165632,257781760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,181210,032737,2206.326,-15818.202,35,1.4,35,9.9