version: 66.04
glider: 512
mission: 1
dive: 47
start: 12 19 110 4 37 33
data:
$ID,512
$MISSION,1
$DIVE,47
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3983.2959
$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,25
$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
$GPS1,042037,2216.324,-15819.410,28,1.9,28,10.0
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-78.9
$GPS2,043638,2216.285,-15819.498,15,1.7,15,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.210,0.089
$KALMAN_X,-5424.2,372.5,241.5,-9793.9,-10384.3
$KALMAN_Y,-45886.5,604.0,523.1,111438.5,-9836.7
$MHEAD_RNG_PITCHd_Wd,57.0,62746,-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,14,-0.66,-146.0,0.0,0.0,0,71,0.00,0.00,-55.15,0.000,2,0.000,0.000,45,2527,3094
$GC,73,-0.66,-146.0,3.1,-4.1,7,105,11.50,0.00,-16.05,0.000,6,0.272,0.000,2523,2527,3944
$GC,361,-0.66,-146.0,136.7,-41.3,38,365,0.00,2.17,0.00,0.000,4,0.000,0.030,2530,1077,3946
$GC,383,-0.66,-146.0,145.7,-39.5,40,388,0.00,2.35,0.00,0.000,6,0.000,0.072,2522,2493,3946
$GC,659,-0.66,-146.0,247.6,-36.1,57,663,0.00,2.33,0.00,0.000,4,0.000,0.078,2511,3901,3948
$GC,758,-0.66,-146.0,274.2,-21.2,59,763,0.00,2.12,0.00,0.000,6,0.000,0.029,2518,2489,3947
$GC,1039,-0.66,-146.0,342.1,-24.7,66,1043,0.00,2.42,0.00,0.000,4,0.000,0.093,2508,3901,3948
$GC,1154,-0.66,-146.0,370.6,-19.9,68,1159,0.00,2.10,0.00,0.000,6,0.000,0.030,2513,2509,3948
$GC,1410,-0.66,-146.0,430.2,-23.6,75,1414,0.00,2.42,0.00,0.000,4,0.000,0.100,2502,3902,3947
$GC,1491,-0.66,-146.0,448.2,-18.4,76,1499,0.00,2.12,0.00,0.000,6,0.000,0.031,2510,2493,3946
$GC,1741,-0.66,-146.0,500.5,-21.3,83,1746,0.00,2.45,0.00,0.000,4,0.000,0.101,2501,3901,3943
$GC,1813,-0.66,-146.0,515.9,-20.1,84,1818,0.00,2.10,0.00,0.000,6,0.000,0.031,2509,2503,3943
$GC,2069,-0.66,-146.0,572.5,-22.5,91,2073,0.00,2.42,0.00,0.000,4,0.000,0.101,2499,3900,3940
$GC,2101,-0.66,-146.0,580.1,-22.5,91,2108,0.00,2.12,0.00,0.000,6,0.000,0.033,2507,2495,3940
$GC,2351,-0.66,-146.0,631.8,-20.9,98,2355,0.00,2.40,0.00,0.000,4,0.000,0.097,2498,3896,3937
$GC,2433,-0.66,-146.0,648.8,-19.1,99,2441,0.00,2.10,0.00,0.000,6,0.000,0.032,2506,2506,3937
$GC,2684,-0.66,-146.0,698.2,-19.7,106,2688,0.00,2.40,0.00,0.000,4,0.000,0.100,2497,3896,3934
$GC,2733,-0.66,-146.0,708.3,-18.4,107,2738,0.08,2.12,0.00,0.000,6,0.171,0.034,2529,2488,3933
$GC,3011,-0.66,-146.0,755.4,-16.8,114,3015,0.00,2.42,0.00,0.000,4,0.000,0.097,2518,3900,3930
$GC,3076,-0.66,-146.0,765.9,-14.2,115,3081,0.00,2.10,0.00,0.000,6,0.000,0.035,2521,2515,3930
$GC,3337,-0.66,-146.0,806.6,-15.7,122,3341,0.00,2.38,0.00,0.000,4,0.000,0.093,2512,3903,3927
$GC,3369,-0.66,-146.0,812.1,-16.8,122,3374,0.00,2.17,0.00,0.000,6,0.000,0.036,2517,2485,3926
$GC,3625,-0.66,-146.0,851.8,-15.6,129,3629,0.00,2.42,0.00,0.000,4,0.000,0.097,2508,3894,3924
$GC,3701,-0.66,-146.0,863.8,-14.6,130,3710,0.00,2.10,0.00,0.000,6,0.000,0.035,2511,2512,3923
$GC,3951,-0.66,-146.0,904.0,-16.4,137,3956,0.00,2.38,0.00,0.000,4,0.000,0.094,2501,3900,3920
$GC,4011,-0.66,-146.0,914.2,-15.9,138,4016,0.00,2.12,0.00,0.000,6,0.000,0.036,2508,2502,3919
$STATE,4236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4236,begin apogee
$GC,4240,-0.32,0.0,951.0,16.4,144,4363,0.47,0.00,119.40,1.305,6,0.187,0.000,2641,2373,3347
$STATE,4363,end apogee,CONTROL_FINISHED_OK
$STATE,4363,begin climb
$GC,4365,0.66,146.0,958.7,0.0,147,4502,1.05,2.53,129.82,1.286,4,0.143,0.071,2945,3785,2750
$GC,4754,0.66,146.0,946.8,10.1,156,4758,0.00,2.28,0.00,0.000,6,0.000,0.036,2954,2346,2742
$GC,5039,0.66,146.0,925.9,7.1,163,5043,0.00,2.38,0.00,0.000,4,0.000,0.071,2954,3781,2737
$GC,5294,0.66,146.0,905.8,8.4,168,5302,0.00,2.20,0.00,0.000,6,0.000,0.036,2965,2361,2736
$GC,5545,0.66,146.0,887.8,7.1,175,5549,0.00,2.33,0.00,0.000,4,0.000,0.070,2965,3785,2734
$GC,5801,0.66,146.0,865.7,8.3,180,5809,0.00,2.17,0.00,0.000,6,0.000,0.036,2975,2369,2733
$GC,6053,0.66,146.0,846.6,7.5,187,6057,0.00,2.33,0.00,0.000,4,0.000,0.066,2971,3789,2732
$GC,6308,0.66,146.0,824.0,8.5,192,6316,0.00,2.17,0.00,0.000,6,0.000,0.038,2980,2373,2731
$GC,6558,0.66,146.0,806.0,7.1,199,6562,0.00,2.30,0.00,0.000,4,0.000,0.067,2979,3784,2729
$GC,6703,0.66,146.0,794.0,8.3,202,6708,0.00,2.17,0.00,0.000,6,0.000,0.037,2988,2372,2729
$GC,6981,0.69,167.2,776.0,6.3,209,7001,0.00,2.35,15.57,1.158,4,0.000,0.065,2986,3792,2665
$GC,7018,0.69,167.2,773.1,8.5,210,7022,0.00,2.20,0.00,0.000,6,0.000,0.038,2995,2361,2663
$GC,7307,0.69,167.2,746.7,9.1,217,7311,0.00,2.12,0.00,0.000,4,0.000,0.038,3006,959,2661
$GC,7564,0.69,167.2,724.3,7.9,222,7569,0.00,2.30,0.00,0.000,6,0.000,0.057,3000,2369,2661
$GC,7819,0.69,167.2,704.3,7.7,229,7823,0.00,2.30,0.00,0.000,4,0.000,0.067,3000,3787,2660
$GC,8014,0.69,167.2,685.6,8.9,233,8019,0.12,2.20,0.00,0.000,6,0.268,0.038,2980,2379,2659
$GC,8286,0.71,187.0,667.6,6.4,240,8310,0.00,2.22,17.90,1.113,4,0.000,0.039,2990,949,2584
$GC,8331,0.71,187.0,664.3,7.3,241,8336,0.00,2.30,0.00,0.000,6,0.000,0.057,2986,2361,2583
$GC,8617,0.71,187.0,638.0,9.5,248,8621,0.00,2.33,0.00,0.000,4,0.000,0.069,2986,3782,2580
$GC,8626,0.71,187.0,636.8,9.6,248,8631,0.00,2.22,0.00,0.000,6,0.000,0.038,2995,2353,2580
$GC,8898,0.71,187.0,606.7,11.1,255,8902,0.00,2.38,0.00,0.000,4,0.000,0.070,2995,3791,2579
$GC,9155,0.71,187.0,573.6,12.3,260,9163,0.00,2.20,0.00,0.000,6,0.000,0.038,3006,2369,2579
$GC,9405,0.71,187.0,548.8,9.2,267,9408,0.00,2.33,0.00,0.000,4,0.000,0.067,3007,3789,2578
$GC,9459,0.71,187.0,543.2,10.6,268,9465,0.12,2.17,0.00,0.000,6,0.262,0.038,2988,2382,2578
$GC,9737,0.71,187.0,520.6,8.1,275,9741,0.00,2.30,0.00,0.000,4,0.000,0.069,2986,3782,2577
$GC,9994,0.71,187.0,496.2,8.5,280,9999,0.00,2.17,0.00,0.000,6,0.000,0.038,2995,2377,2578
$GC,10249,0.71,187.0,475.8,7.9,287,10253,0.00,2.30,0.00,0.000,4,0.000,0.067,2995,3783,2577
$GC,10507,0.73,203.7,455.3,6.5,292,10527,0.00,2.17,15.05,0.987,6,0.000,0.038,3007,2365,2514
$GC,10805,0.73,203.7,429.4,9.2,300,10809,0.00,2.12,0.00,0.000,4,0.000,0.038,3018,955,2511
$GC,10938,0.73,203.7,414.8,11.7,303,10943,0.12,2.25,0.00,0.000,6,0.241,0.057,2994,2370,2511
$GC,11226,0.73,203.7,382.1,11.1,310,11227,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2369,2510
$GC,11471,0.73,203.7,361.6,7.5,316,11475,0.00,2.28,0.00,0.000,4,0.000,0.064,2987,3787,2510
$GC,11480,0.74,205.9,360.9,6.9,316,11485,0.00,2.17,0.00,0.000,6,0.000,0.038,2995,2380,2510
$GC,11752,0.77,230.6,343.2,6.2,323,11780,0.00,0.00,24.08,0.940,6,0.000,0.000,2996,2377,2405
$GC,12036,0.77,230.6,315.8,10.2,330,12040,0.00,2.33,0.00,0.000,4,0.000,0.067,2996,3790,2401
$GC,12293,0.77,230.6,286.5,12.2,335,12298,0.00,2.20,0.00,0.000,6,0.000,0.036,3007,2362,2400
$GC,12549,0.77,230.6,262.3,10.0,342,12552,0.00,2.33,0.00,0.000,4,0.000,0.063,3000,3788,2399
$GC,12687,0.77,230.6,247.9,8.8,345,12693,0.00,2.17,0.00,0.000,6,0.000,0.036,3010,2379,2399
$GC,12971,0.77,236.0,229.4,6.8,352,12978,0.00,0.00,5.15,0.651,6,0.000,0.000,3010,2377,2384
$GC,13215,0.77,236.0,209.0,8.6,358,13218,0.00,2.15,0.00,0.000,4,0.000,0.035,3022,946,2384
$GC,13337,0.77,236.0,198.1,8.5,360,13342,0.00,2.28,0.00,0.000,6,0.000,0.051,3022,2366,2384
$GC,13605,0.77,236.0,175.2,7.6,385,13607,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2366,2384
$GC,13860,0.77,236.0,156.0,9.1,409,13864,0.00,2.25,0.00,0.000,4,0.000,0.061,3023,3783,2384
$GC,14113,0.77,236.0,133.4,7.3,431,14122,0.10,2.15,0.00,0.000,6,0.243,0.031,3009,2357,2385
$GC,14376,0.82,275.7,118.2,5.7,456,14416,0.00,2.17,34.75,0.726,4,0.000,0.033,3019,951,2222
$GC,14662,0.94,367.1,99.2,4.0,481,14744,0.00,2.28,74.38,0.710,6,0.000,0.051,3020,2362,1850
$GC,14998,0.94,367.1,54.8,16.1,512,15002,0.00,2.12,0.00,0.000,4,0.000,0.035,3024,965,1843
$GC,15076,0.94,367.1,42.8,13.8,519,15080,0.00,2.22,0.00,0.000,6,0.000,0.048,3024,2369,1840
$STATE,15315,end climb,SURFACE_DEPTH_REACHED
$STATE,15315,begin surface coast
$FINISH,0.2,1.023559
$STATE,15332,end surface coast,CONTROL_FINISHED_OK
$STATE,15332,begin surface
$SM_CCo,15347,22.90,0.583,0,0,1633,420.19
$SM_GC,0.87,0.00,0.00,22.90,0.000,0.000,0.583,47,2521,1633,-8.45,0.59,420.19
$IRIDIUM_FIX,2209.02,-15822.30,140300,040408
$TT8_MAMPS,0.023777
$HUMID,1653
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,23.9,11.870
$10V_AH,10.7,6.031
$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,21.925,153.550,436.100,22.900,0.000,91.222,99.873,529.540,0.500,0.000,0.000,15.408,1301.371,11046.433,541.446,2568.430,866.225,33.352,1678.632,0.000,2528.339,0.000,0.544,0.000
$DEVICE_MAMPS,272.285,101.244,1305.434,582.920,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,379.530,706.119,727.561,131.127,549.173,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44568,559
$CAP_FILE_SIZE,140203,0
$CFSIZE,260165632,257363968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,191210,085500,2217.178,-15818.702,38,1.0,43,10.0