version: 66.04
glider: 512
mission: 2
dive: 24
start: 8 14 111 20 23 43
data:
$ID,512
$MISSION,2
$DIVE,24
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,300
$T_MISSION,630
$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,52072
$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,593.86163
$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,-33001.008
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2550
$C_ROLL_CLIMB,2540
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2820
$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,0.0043565552
$SEABIRD_T_H,0.00063178345
$SEABIRD_T_I,2.466659e-05
$SEABIRD_T_J,2.7195788e-06
$SEABIRD_C_G,-9.9023848
$SEABIRD_C_H,1.1413758
$SEABIRD_C_I,-0.0018185935
$SEABIRD_C_J,0.00022361503
$GPS1,195037,2150.059,-15811.302,35,1.4,35,9.9
$_CALLS,5
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-78.2
$GPS2,202250,2150.055,-15811.478,11,1.8,11,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.061,0.252
$KALMAN_X,-14092.2,839.8,157.5,9369.5,-5633.5
$KALMAN_Y,-17559.5,175.3,724.3,33065.5,-2839.6
$MHEAD_RNG_PITCHd_Wd,3.7,103629,-17.5,-10.000
$D_GRID,900
$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,19,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-83.07,0.000,2,0.000,0.000,45,2662,3371
$GC,110,-0.76,-146.0,4.3,-8.5,11,128,8.10,1.85,-0.75,0.000,4,0.204,0.048,2230,3881,3416
$GC,187,-0.76,-146.0,41.9,-34.5,21,190,0.00,1.98,0.00,0.000,6,0.000,0.025,2231,2533,3417
$GC,457,-0.76,-146.0,119.5,-22.7,46,461,0.00,2.00,0.00,0.000,4,0.000,0.026,2231,1144,3417
$GC,531,-0.76,-146.0,134.5,-17.9,52,539,0.00,2.10,0.00,0.000,6,0.000,0.038,2223,2515,3417
$GC,795,-0.76,-146.0,185.8,-18.8,77,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2516,3417
$GC,1082,-0.76,-146.0,238.2,-18.2,90,1085,0.00,1.98,0.00,0.000,4,0.000,0.025,2223,1139,3418
$GC,1122,-0.76,-146.0,245.9,-17.4,90,1129,0.00,2.15,0.00,0.000,6,0.000,0.039,2213,2550,3417
$GC,1374,-0.76,-146.0,289.5,-17.5,97,1378,0.12,2.05,0.00,0.000,4,0.153,0.044,2237,3903,3416
$GC,1403,-0.76,-146.0,294.3,-15.4,97,1407,0.00,1.98,0.00,0.000,6,0.000,0.024,2237,2534,3417
$GC,1667,-0.76,-146.0,331.1,-13.9,104,1671,0.00,1.98,0.00,0.000,4,0.000,0.028,2237,1154,3416
$GC,1742,-0.76,-146.0,340.4,-12.0,105,1746,0.00,2.08,0.00,0.000,6,0.000,0.038,2226,2552,3416
$GC,2005,-0.76,-146.0,376.3,-13.8,112,2008,0.00,2.05,0.00,0.000,4,0.000,0.027,2226,1146,3414
$GC,2040,-0.76,-146.0,380.9,-12.4,112,2044,0.00,2.10,0.00,0.000,6,0.000,0.040,2223,2553,3414
$GC,2298,-0.76,-146.0,410.8,-11.5,119,2302,0.00,2.05,0.00,0.000,4,0.000,0.049,2213,3906,3412
$GC,2350,-0.76,-146.0,417.5,-12.0,120,2354,0.12,1.95,0.00,0.000,6,0.135,0.025,2247,2548,3411
$GC,2636,-0.76,-146.0,443.8,-9.3,127,2639,0.00,2.00,0.00,0.000,4,0.000,0.029,2251,1158,3409
$GC,2706,-0.76,-146.0,450.9,-9.9,128,2710,0.00,2.10,0.00,0.000,6,0.000,0.042,2242,2551,3408
$GC,2975,-0.76,-146.0,481.7,-11.7,135,2979,0.00,2.05,-0.08,0.000,4,0.000,0.065,2232,3904,3431
$GC,3032,-0.76,-146.0,488.9,-12.0,136,3036,0.00,1.98,0.00,0.000,6,0.000,0.028,2232,2548,3429
$GC,3313,-0.76,-146.0,520.4,-11.2,143,3316,0.00,2.03,0.00,0.000,4,0.000,0.031,2231,1148,3428
$GC,3342,-0.76,-146.0,524.0,-11.2,143,3346,0.00,2.12,0.00,0.000,6,0.000,0.044,2223,2551,3428
$GC,3606,-0.76,-146.0,553.7,-11.0,150,3609,0.00,2.08,0.00,0.000,4,0.000,0.054,2213,3901,3425
$GC,3641,-0.76,-146.0,558.1,-12.5,150,3645,0.12,1.98,0.00,0.000,6,0.133,0.030,2247,2550,3424
$GC,3899,-0.76,-146.0,583.6,-9.9,157,3903,0.00,2.03,0.00,0.000,4,0.000,0.033,2247,1155,3421
$GC,3980,-0.76,-146.0,591.4,-9.3,158,3984,0.00,2.10,0.00,0.000,6,0.000,0.045,2239,2550,3421
$GC,4238,-0.76,-146.0,615.3,-9.3,165,4242,0.00,2.08,0.00,0.000,4,0.000,0.054,2228,3898,3419
$GC,4293,-0.76,-146.0,620.4,-9.5,166,4296,0.00,1.98,0.00,0.000,6,0.000,0.030,2228,2554,3419
$GC,4579,-0.76,-146.0,646.5,-9.0,173,4583,0.00,2.05,0.00,0.000,4,0.000,0.033,2228,1148,3416
$GC,4643,-0.76,-146.0,652.0,-8.5,174,4647,0.00,2.15,0.00,0.000,6,0.000,0.046,2223,2559,3416
$GC,4919,-0.76,-146.0,677.3,-9.6,181,4922,0.00,2.08,0.00,0.000,4,0.000,0.056,2213,3903,3414
$GC,4967,-0.76,-146.0,682.3,-10.4,182,4971,0.12,2.00,0.00,0.000,6,0.132,0.031,2248,2546,3413
$GC,5259,-0.76,-146.0,705.5,-7.7,189,5263,0.00,2.03,0.00,0.000,4,0.000,0.035,2248,1147,3411
$GC,5300,-0.76,-146.0,708.8,-7.9,189,5306,0.00,2.15,0.00,0.000,6,0.000,0.048,2248,2549,3411
$GC,5554,-0.76,-146.0,729.8,-8.5,196,5558,0.00,2.10,0.00,0.000,4,0.000,0.058,2238,3907,3410
$GC,5590,-0.76,-146.0,733.1,-9.4,196,5593,0.00,2.00,0.00,0.000,6,0.000,0.031,2238,2552,3410
$GC,5848,-0.76,-146.0,755.8,-8.8,203,5851,0.00,2.05,0.00,0.000,4,0.000,0.035,2238,1150,3408
$GC,5896,-0.76,-146.0,760.2,-9.0,204,5900,0.00,2.15,0.00,0.000,6,0.000,0.048,2237,2554,3408
$GC,6189,-0.76,-146.0,787.0,-9.3,211,6193,0.00,2.10,0.00,0.000,4,0.000,0.058,2226,3905,3406
$GC,6242,-0.76,-146.0,792.3,-9.3,212,6246,0.00,2.03,0.00,0.000,6,0.000,0.033,2226,2542,3406
$GC,6528,-0.76,-146.0,819.5,-9.4,219,6532,0.00,2.05,0.00,0.000,4,0.000,0.036,2226,1143,3404
$GC,6615,-0.76,-146.0,827.7,-9.6,220,6621,0.00,2.17,0.00,0.000,6,0.000,0.049,2223,2543,3404
$GC,6867,-0.76,-146.0,850.0,-8.6,227,6871,0.00,2.10,0.00,0.000,4,0.000,0.059,2213,3898,3403
$GC,6903,-0.76,-146.0,853.2,-9.4,227,6907,0.12,2.00,0.00,0.000,6,0.135,0.034,2248,2540,3403
$GC,7161,-0.76,-146.0,868.2,-5.5,234,7165,0.00,2.05,0.00,0.000,4,0.000,0.036,2248,1143,3402
$GC,7198,-0.76,-146.0,870.1,-5.2,234,7202,0.00,2.17,0.00,0.000,6,0.000,0.050,2248,2561,3402
$GC,7451,-0.76,-146.0,882.5,-4.7,240,7455,0.00,2.08,0.00,0.000,4,0.000,0.059,2238,3896,3401
$GC,7503,-0.76,-146.0,885.1,-5.4,241,7507,0.00,2.00,0.00,0.000,6,0.000,0.034,2238,2541,3401
$STATE,7784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7784,begin apogee
$GC,7795,-0.27,0.0,900.9,5.6,248,7924,0.50,0.00,125.53,1.303,6,0.120,0.000,2402,2533,2820
$STATE,7924,end apogee,CONTROL_FINISHED_OK
$STATE,7924,begin climb
$GC,7929,0.76,146.0,902.3,0.0,251,8091,0.90,2.35,137.25,1.232,4,0.044,0.050,2747,3899,2223
$GC,8229,0.76,146.0,841.7,30.1,257,8235,0.00,2.10,0.00,0.000,6,0.000,0.032,2757,2544,2216
$GC,8481,0.76,146.0,774.5,26.3,264,8484,0.00,2.15,0.00,0.000,4,0.000,0.036,2767,1125,2212
$GC,8556,0.76,146.0,754.8,25.2,265,8561,0.12,2.22,0.00,0.000,6,0.202,0.046,2740,2546,2210
$GC,8819,0.76,146.0,689.1,25.0,272,8823,0.00,2.15,0.00,0.000,4,0.000,0.035,2749,1121,2209
$GC,8843,0.76,146.0,683.1,24.1,272,8847,0.00,2.20,0.00,0.000,6,0.000,0.044,2749,2542,2209
$GC,9113,0.76,146.0,617.7,24.3,279,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2543,2208
$GC,9356,0.76,146.0,559.8,23.6,285,9360,0.00,2.12,0.00,0.000,4,0.000,0.036,2759,1123,2208
$GC,9436,0.76,146.0,541.1,21.8,286,9440,0.00,2.20,0.00,0.000,6,0.000,0.045,2760,2548,2206
$GC,9688,0.76,146.0,478.8,24.9,292,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2548,2206
$GC,9932,0.76,146.0,418.8,24.6,298,9935,0.00,2.10,0.00,0.000,4,0.000,0.035,2769,1127,2206
$GC,9951,0.76,146.0,413.8,25.5,298,9955,0.12,2.17,0.00,0.000,6,0.201,0.045,2739,2543,2206
$GC,10219,0.76,146.0,353.9,21.4,305,10223,0.00,2.10,0.00,0.000,4,0.000,0.035,2748,1128,2206
$GC,10260,0.76,146.0,344.6,21.6,305,10267,0.00,2.20,0.00,0.000,6,0.000,0.045,2742,2541,2205
$GC,10513,0.76,146.0,295.0,19.8,312,10516,0.00,2.10,0.00,0.000,4,0.000,0.035,2750,1125,2205
$GC,10656,0.76,146.0,269.6,16.1,315,10660,0.00,2.17,0.00,0.000,6,0.000,0.044,2750,2550,2205
$GC,10942,0.76,146.0,222.0,16.4,322,10946,0.00,2.10,0.00,0.000,4,0.000,0.035,2761,1124,2204
$GC,10990,0.76,146.0,214.1,17.9,323,10994,0.00,2.15,0.00,0.000,6,0.000,0.042,2761,2542,2205
$GC,11261,0.76,146.0,167.9,17.5,342,11265,0.00,2.08,0.00,0.000,4,0.000,0.032,2771,1125,2205
$GC,11278,0.76,146.0,165.2,16.7,343,11283,0.12,2.15,0.00,0.000,6,0.199,0.041,2739,2549,2204
$GC,11549,0.76,146.0,124.1,14.8,367,11553,0.00,2.05,0.00,0.000,4,0.000,0.048,2738,3896,2205
$GC,11807,0.76,146.0,85.4,11.8,390,11811,0.00,2.00,0.00,0.000,6,0.000,0.028,2748,2522,2205
$GC,12080,0.85,219.2,63.0,6.6,415,12144,0.00,2.20,56.85,0.663,4,0.000,0.046,2748,3884,1925
$GC,12398,0.85,219.2,12.6,19.5,451,12407,0.00,2.03,0.00,0.000,6,0.000,0.026,2758,2537,1923
$STATE,12444,end climb,SURFACE_DEPTH_REACHED
$STATE,12444,begin surface coast
$FINISH,0.2,1.023193
$STATE,12457,end surface coast,CONTROL_FINISHED_OK
$STATE,12457,begin surface
$SM_CCo,12481,177.88,0.591,0,0,398,593.86
$SM_GC,0.84,0.00,0.00,177.88,0.000,0.000,0.591,46,2524,398,-7.64,-0.74,593.86
$IRIDIUM_FIX,2143.45,-15809.76,071100,202057
$TT8_MAMPS,0.023777
$HUMID,2014
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,23.40
$XPDR_PINGS,3
$24V_AH,24.0,3.488
$10V_AH,10.7,2.864
$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,17.525,141.375,319.625,177.875,0.000,135.547,191.145,1158.396,0.750,0.000,0.000,11.998,1036.571,9161.713,575.354,1779.755,2038.412,33.346,1401.909,0.000,1762.664,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,65.195,1303.133,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,312.047,604.781,624.165,115.336,527.329,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38343,461
$CAP_FILE_SIZE,123663,0
$CFSIZE,260165632,216379392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,2,0
$GPS,140811,235607,2151.558,-15811.038,36,1.2,36,9.9