version: 66.04
glider: 512
mission: 2
dive: 27
start: 8 15 111 8 23 58
data:
$ID,512
$MISSION,2
$DIVE,27
$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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33065.539
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2560
$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,2520
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$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,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
$GPS1,081501,2151.485,-15809.926,39,1.9,39,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-78.6
$GPS2,082301,2151.450,-15809.972,11,1.7,11,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.160,0.205
$KALMAN_X,-19578.9,214.2,-391.9,18628.9,-3021.4
$KALMAN_Y,-21332.5,319.4,640.9,39370.4,-4541.8
$MHEAD_RNG_PITCHd_Wd,28.0,100626,-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,14,begin dive
$GC,19,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-83.07,0.000,2,0.000,0.000,46,2527,3358
$GC,110,-0.76,-146.0,4.5,-9.5,11,127,8.38,2.12,-0.98,0.000,4,0.205,0.048,2293,3906,3417
$GC,139,-0.76,-146.0,21.5,-46.7,14,147,0.00,2.10,0.00,0.000,6,0.000,0.026,2301,2510,3418
$GC,412,-0.76,-146.0,87.3,-17.5,40,415,0.00,2.05,0.00,0.000,4,0.000,0.028,2309,1104,3417
$GC,474,-0.76,-146.0,95.4,-12.5,45,478,0.00,2.17,0.00,0.000,6,0.000,0.039,2300,2531,3418
$GC,740,-0.76,-146.0,131.6,-13.1,69,744,0.00,2.08,0.00,0.000,4,0.000,0.028,2309,1107,3419
$GC,791,-0.76,-146.0,137.1,-9.5,73,795,0.00,2.15,0.00,0.000,6,0.000,0.039,2306,2526,3419
$GC,1057,-0.76,-146.0,164.0,-10.1,97,1061,0.00,2.10,0.00,0.000,4,0.000,0.048,2296,3902,3420
$GC,1131,-0.76,-146.0,171.0,-8.2,103,1138,0.00,2.05,0.00,0.000,6,0.000,0.024,2295,2504,3420
$GC,1395,-0.76,-146.0,197.1,-10.5,128,1399,0.00,1.98,0.00,0.000,4,0.000,0.027,2302,1129,3420
$GC,1470,-0.76,-146.0,205.0,-10.1,132,1474,0.00,2.10,0.00,0.000,6,0.000,0.038,2293,2528,3421
$GC,1734,-0.76,-146.0,235.0,-11.3,139,1737,0.00,2.10,0.00,0.000,4,0.000,0.051,2289,3903,3420
$GC,1782,-0.76,-146.0,239.7,-9.1,140,1786,0.00,2.00,0.00,0.000,6,0.000,0.024,2289,2519,3420
$GC,2076,-0.76,-146.0,264.7,-8.0,147,2080,0.00,2.00,0.00,0.000,4,0.000,0.028,2289,1123,3420
$GC,2119,-0.76,-146.0,268.2,-7.0,147,2125,0.00,2.10,0.00,0.000,6,0.000,0.040,2289,2518,3420
$GC,2373,-0.76,-146.0,288.0,-8.1,154,2377,0.00,2.10,0.00,0.000,4,0.000,0.050,2279,3900,3419
$GC,2431,-0.76,-146.0,293.3,-8.5,155,2436,0.12,2.00,0.00,0.000,6,0.120,0.025,2318,2514,3419
$GC,2714,-0.76,-146.0,311.3,-6.3,162,2718,0.00,2.00,0.00,0.000,4,0.000,0.028,2323,1120,3419
$GC,2744,-0.76,-146.0,313.4,-6.3,162,2748,0.00,2.12,0.00,0.000,6,0.000,0.040,2319,2533,3419
$GC,3008,-0.76,-146.0,327.3,-5.2,169,3012,0.00,2.10,0.00,0.000,4,0.000,0.051,2309,3904,3417
$GC,3039,-0.76,-146.0,329.0,-5.3,169,3042,0.00,2.00,0.00,0.000,6,0.000,0.026,2309,2524,3416
$GC,3305,-0.76,-146.0,344.4,-6.1,176,3309,0.00,2.03,0.00,0.000,4,0.000,0.030,2310,1118,3415
$GC,3357,-0.76,-146.0,348.3,-7.1,177,3361,0.00,2.12,0.00,0.000,6,0.000,0.041,2307,2531,3414
$GC,3644,-0.76,-146.0,366.7,-6.1,184,3648,0.00,2.10,0.00,0.000,4,0.000,0.052,2303,3901,3413
$GC,3686,-0.76,-146.0,369.0,-5.4,184,3692,0.00,2.00,0.00,0.000,6,0.000,0.027,2303,2516,3413
$GC,3939,-0.76,-146.0,382.7,-5.6,191,3943,0.00,2.03,0.00,0.000,4,0.000,0.031,2304,1120,3411
$GC,3997,-0.76,-146.0,386.9,-7.3,192,4001,0.00,2.12,0.00,0.000,6,0.000,0.042,2304,2527,3411
$GC,4280,-0.76,-146.0,406.8,-7.1,199,4283,0.00,2.10,0.00,0.000,4,0.000,0.053,2293,3897,3410
$GC,4317,-0.76,-146.0,409.7,-7.0,199,4321,0.00,2.00,0.00,0.000,6,0.000,0.028,2293,2525,3410
$GC,4576,-0.76,-146.0,426.2,-6.1,206,4580,0.00,2.03,0.00,0.000,4,0.000,0.031,2293,1124,3408
$GC,4613,-0.76,-146.0,428.5,-5.4,206,4617,0.00,2.12,0.00,0.000,6,0.000,0.044,2290,2527,3408
$GC,4873,-0.76,-146.0,444.4,-6.3,213,4876,0.00,2.10,0.00,0.000,4,0.000,0.054,2280,3894,3407
$GC,4914,-0.76,-146.0,447.4,-6.4,213,4922,0.12,2.00,-0.10,0.000,6,0.114,0.028,2321,2512,3433
$GC,5167,-0.76,-146.0,460.0,-5.0,220,5171,0.00,2.03,0.00,0.000,4,0.000,0.031,2325,1113,3433
$GC,5231,-0.76,-146.0,464.8,-8.5,221,5235,0.00,2.12,0.00,0.000,6,0.000,0.042,2325,2522,3432
$GC,5506,-0.76,-146.0,489.8,-9.4,228,5509,0.00,2.05,0.00,0.000,4,0.000,0.031,2327,1118,3430
$GC,5554,-0.76,-146.0,494.6,-9.8,229,5558,0.00,2.12,0.00,0.000,6,0.000,0.042,2327,2526,3429
$GC,5848,-0.76,-146.0,521.5,-9.0,236,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2527,3427
$GC,6089,-0.76,-146.0,540.2,-7.5,242,6093,0.00,2.03,0.00,0.000,4,0.000,0.031,2328,1130,3426
$GC,6130,-0.76,-146.0,543.3,-7.2,242,6136,0.00,2.12,0.00,0.000,6,0.000,0.044,2328,2530,3426
$GC,6383,-0.76,-146.0,561.2,-7.3,249,6387,0.00,2.05,0.00,0.000,4,0.000,0.031,2328,1127,3425
$GC,6419,-0.76,-146.0,564.2,-8.2,249,6422,0.00,2.12,0.00,0.000,6,0.000,0.043,2328,2529,3425
$GC,6678,-0.76,-146.0,585.2,-8.8,256,6681,0.00,2.05,0.00,0.000,4,0.000,0.032,2328,1126,3423
$GC,6714,-0.76,-146.0,588.8,-9.6,256,6717,0.00,2.12,0.00,0.000,6,0.000,0.044,2328,2528,3423
$GC,6972,-0.76,-146.0,611.8,-9.1,263,6976,0.00,2.12,0.00,0.000,4,0.000,0.057,2328,3901,3422
$GC,7036,-0.76,-146.0,617.3,-7.5,264,7040,0.00,2.03,0.00,0.000,6,0.000,0.031,2328,2519,3421
$GC,7312,-0.76,-146.0,638.6,-7.8,271,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2513,3420
$GC,7555,-0.76,-146.0,656.3,-7.2,277,7559,0.00,2.03,0.00,0.000,4,0.000,0.034,2331,1130,3419
$GC,7597,-0.76,-146.0,659.5,-6.9,277,7603,0.00,2.12,0.00,0.000,6,0.000,0.047,2331,2520,3419
$GC,7849,-0.76,-146.0,678.1,-7.6,284,7853,0.00,2.15,0.00,0.000,4,0.000,0.059,2331,3904,3418
$GC,7907,-0.76,-146.0,682.6,-7.1,285,7911,0.00,2.05,0.00,0.000,6,0.000,0.032,2331,2509,3417
$GC,8189,-0.76,-146.0,704.3,-8.0,292,8192,0.00,2.03,0.00,0.000,4,0.000,0.034,2331,1124,3417
$GC,8226,-0.76,-146.0,707.4,-8.3,292,8230,0.00,2.12,0.00,0.000,6,0.000,0.045,2331,2523,3416
$GC,8485,-0.76,-146.0,726.3,-7.3,299,8489,0.00,2.15,0.00,0.000,4,0.000,0.058,2331,3904,3416
$GC,8549,-0.76,-146.0,731.0,-6.3,300,8553,0.00,2.05,0.00,0.000,6,0.000,0.033,2331,2511,3415
$GC,8827,-0.76,-146.0,749.5,-6.8,307,8830,0.00,2.03,0.00,0.000,4,0.000,0.034,2330,1130,3414
$GC,8890,-0.76,-146.0,753.9,-6.5,308,8894,0.00,2.12,0.00,0.000,6,0.000,0.046,2331,2523,3414
$GC,9165,-0.76,-146.0,771.5,-6.8,315,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2524,3413
$GC,9411,-0.76,-146.0,789.5,-7.4,321,9414,0.00,2.05,0.00,0.000,4,0.000,0.035,2331,1133,3412
$GC,9435,-0.76,-146.0,791.8,-8.1,321,9439,0.00,2.12,0.00,0.000,6,0.000,0.046,2331,2526,3412
$GC,9704,-0.76,-146.0,812.2,-8.0,328,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2526,3412
$GC,9950,-0.76,-146.0,832.1,-8.2,334,9953,0.00,2.08,0.00,0.000,4,0.000,0.035,2331,1128,3411
$GC,9986,-0.76,-146.0,835.4,-8.4,334,9990,0.00,2.15,0.00,0.000,6,0.000,0.047,2331,2533,3411
$GC,10246,-0.76,-146.0,855.9,-8.2,341,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2533,3411
$GC,10487,-0.76,-146.0,875.3,-7.8,347,10491,0.00,2.05,0.00,0.000,4,0.000,0.035,2331,1132,3410
$GC,10548,-0.76,-146.0,879.9,-7.5,348,10551,0.00,2.12,0.00,0.000,6,0.000,0.047,2331,2525,3410
$STATE,10823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10823,begin apogee
$GC,10834,-0.27,0.0,900.6,7.4,355,10966,0.40,0.00,128.27,1.315,6,0.057,0.000,2488,2448,2820
$STATE,10966,end apogee,CONTROL_FINISHED_OK
$STATE,10966,begin climb
$GC,10971,0.76,146.0,907.2,0.0,358,11134,0.88,2.42,138.00,1.239,4,0.053,0.050,2796,3851,2223
$GC,11293,0.76,146.0,835.2,33.2,365,11297,0.00,2.17,0.00,0.000,6,0.000,0.033,2804,2445,2215
$GC,11564,0.76,146.0,749.9,31.7,372,11565,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2441,2212
$GC,11805,0.76,146.0,675.6,30.0,378,11809,0.00,2.22,0.00,0.000,4,0.000,0.051,2806,3857,2211
$GC,11824,0.76,146.0,669.7,29.5,378,11827,0.00,2.15,0.00,0.000,6,0.000,0.032,2816,2434,2210
$GC,12098,0.76,146.0,587.6,30.0,385,12102,0.00,2.10,0.00,0.000,4,0.000,0.035,2826,1025,2209
$GC,12117,0.76,146.0,581.7,29.7,385,12121,0.00,2.20,0.00,0.000,6,0.000,0.044,2822,2450,2208
$GC,12386,0.76,146.0,501.5,30.0,392,12390,0.00,2.12,0.00,0.000,4,0.000,0.035,2831,1028,2208
$GC,12410,0.76,146.0,494.3,28.4,392,12414,0.00,2.20,0.00,0.000,6,0.000,0.045,2831,2451,2208
$GC,12674,0.76,146.0,421.5,27.6,399,12677,0.00,2.12,0.00,0.000,4,0.000,0.035,2842,1027,2208
$GC,12692,0.76,146.0,416.0,26.9,399,12696,0.00,2.17,0.00,0.000,6,0.000,0.044,2836,2446,2207
$GC,12968,0.76,146.0,345.3,25.0,406,12972,0.00,2.20,0.00,0.000,4,0.000,0.052,2836,3856,2207
$GC,13009,0.76,146.0,334.0,27.5,406,13016,0.15,2.12,0.00,0.000,6,0.226,0.033,2813,2434,2206
$GC,13261,0.76,146.0,279.7,20.3,413,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2429,2206
$GC,13505,0.76,146.0,230.0,20.7,419,13509,0.00,2.20,0.00,0.000,4,0.000,0.050,2810,3852,2206
$GC,13602,0.76,146.0,210.5,19.1,421,13606,0.00,2.10,0.00,0.000,6,0.000,0.031,2818,2445,2206
$GC,13866,0.76,146.0,168.1,14.4,440,13869,0.00,2.08,0.00,0.000,4,0.000,0.032,2829,1026,2205
$GC,13885,0.76,146.0,164.9,15.7,441,13894,0.00,2.17,0.00,0.000,6,0.000,0.042,2822,2437,2205
$GC,14149,0.76,146.0,120.6,15.4,466,14153,0.00,2.08,0.00,0.000,4,0.000,0.031,2831,1022,2205
$GC,14166,0.76,146.0,118.0,16.0,467,14170,0.00,2.17,0.00,0.000,6,0.000,0.041,2830,2455,2205
$GC,14437,0.76,146.0,76.9,13.0,492,14445,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2455,2205
$GC,14703,0.89,246.3,52.0,5.4,517,14787,0.00,2.28,77.90,0.655,4,0.000,0.046,2831,3850,1814
$GC,14795,0.89,246.3,40.4,19.5,524,14803,0.00,2.17,0.00,0.000,6,0.000,0.027,2842,2441,1813
$STATE,14932,end climb,SURFACE_DEPTH_REACHED
$STATE,14933,begin surface coast
$FINISH,0.2,1.023229
$STATE,14944,end surface coast,CONTROL_FINISHED_OK
$STATE,14944,begin surface
$SM_CCo,14969,72.43,0.594,0,0,1106,420.19
$SM_GC,1.08,0.00,0.00,72.43,0.000,0.000,0.594,45,2549,1106,-7.86,0.82,420.19
$IRIDIUM_FIX,2143.45,-15808.90,081100,040419
$TT8_MAMPS,0.023777
$HUMID,2036
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,23.00
$XPDR_PINGS,3
$24V_AH,24.0,3.927
$10V_AH,10.7,3.196
$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,17.400,168.300,344.175,72.425,0.000,29.064,46.042,217.905,0.750,0.000,0.000,11.232,1213.300,10973.609,501.235,1929.691,906.419,33.355,1411.168,0.000,1914.663,0.000,0.543,0.000
$DEVICE_MAMPS,226.265,70.564,1315.405,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,370.938,706.019,726.196,125.402,566.603,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44711,548
$CAP_FILE_SIZE,123109,0
$CFSIZE,260165632,216215552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,45,2,0
$GPS,150811,123606,2152.410,-15809.498,36,1.2,36,9.9