version: 66.04
glider: 512
mission: 2
dive: 30
start: 8 15 111 20 50 48
data:
$ID,512
$MISSION,2
$DIVE,30
$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,120
$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,-33112.297
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2510
$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,2490
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,34
$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
$GPS1,204207,2153.327,-15809.050,31,1.4,31,9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.2
$GPS2,204950,2153.317,-15809.085,12,1.5,12,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.226,0.062
$KALMAN_X,-26707.2,815.8,74.4,26205.8,-4345.5
$KALMAN_Y,-26083.9,70.9,335.6,48126.6,-2793.6
$MHEAD_RNG_PITCHd_Wd,64.8,96967,-19.8,-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,-0.80,-116.8,0.0,0.0,0,104,0.00,0.00,-81.97,0.000,6,0.000,0.000,46,2510,3298
$GC,110,-0.80,-116.8,4.3,-8.8,11,126,8.25,0.00,0.00,0.000,6,0.209,0.000,2243,2507,3299
$GC,385,-0.80,-116.8,98.9,-24.4,40,388,0.00,2.12,0.00,0.000,4,0.000,0.028,2243,1070,3300
$GC,411,-0.80,-116.8,105.1,-23.9,42,415,0.00,2.15,0.00,0.000,6,0.000,0.037,2234,2485,3300
$GC,676,-0.80,-116.8,161.5,-19.0,66,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2487,3301
$GC,967,-0.80,-116.8,213.7,-16.5,88,971,0.00,2.05,0.00,0.000,4,0.000,0.027,2234,1074,3303
$GC,1042,-0.80,-116.8,225.6,-14.4,89,1046,0.00,2.12,0.00,0.000,6,0.000,0.037,2223,2491,3302
$GC,1307,-0.80,-116.8,266.8,-15.6,96,1310,0.00,2.15,0.00,0.000,4,0.000,0.047,2212,3901,3302
$GC,1409,-0.80,-116.8,283.7,-15.1,98,1414,0.15,2.08,0.00,0.000,6,0.141,0.024,2254,2474,3302
$GC,1683,-0.80,-116.8,317.9,-11.9,105,1687,0.00,2.00,0.00,0.000,4,0.000,0.028,2256,1081,3302
$GC,1770,-0.80,-116.8,327.8,-11.1,106,1776,0.00,2.12,0.00,0.000,6,0.000,0.039,2250,2492,3301
$GC,2022,-0.80,-116.8,357.5,-11.8,113,2025,0.00,2.15,0.00,0.000,4,0.000,0.048,2239,3902,3300
$GC,2085,-0.80,-116.8,365.7,-13.1,114,2089,0.00,2.05,0.00,0.000,6,0.000,0.025,2238,2493,3300
$GC,2363,-0.80,-116.8,396.6,-10.8,121,2366,0.00,2.03,0.00,0.000,4,0.000,0.030,2241,1089,3298
$GC,2438,-0.80,-116.8,404.7,-9.9,122,2442,0.00,2.12,0.00,0.000,6,0.000,0.040,2235,2498,3298
$GC,2702,-0.80,-116.8,430.1,-9.5,129,2706,0.00,2.15,0.00,0.000,4,0.000,0.051,2225,3903,3296
$GC,2822,-0.80,-116.8,443.0,-10.3,131,2826,0.00,2.08,0.00,0.000,6,0.000,0.027,2225,2490,3295
$GC,3086,-0.80,-116.8,473.9,-12.1,138,3090,0.00,2.03,0.00,0.000,4,0.000,0.031,2225,1088,3293
$GC,3189,-0.80,-116.8,485.7,-10.5,140,3194,0.12,2.12,0.00,0.000,6,0.140,0.041,2249,2493,3292
$GC,3464,-0.80,-116.8,511.9,-9.5,147,3468,0.00,2.15,0.00,0.000,4,0.000,0.052,2240,3897,3290
$GC,3513,-0.80,-116.8,516.8,-10.8,148,3517,0.00,2.08,0.00,0.000,6,0.000,0.028,2240,2492,3289
$GC,3805,-0.80,-116.8,547.5,-10.3,155,3809,0.00,2.05,0.00,0.000,4,0.000,0.032,2240,1079,3288
$GC,3884,-0.80,-116.8,556.1,-10.7,156,3888,0.00,2.15,0.00,0.000,6,0.000,0.044,2236,2492,3287
$GC,4137,-0.80,-116.8,583.1,-11.0,162,4141,0.00,2.17,0.00,0.000,4,0.000,0.054,2225,3904,3285
$GC,4268,-0.80,-116.8,599.1,-12.0,164,4274,0.00,2.10,0.00,0.000,6,0.000,0.030,2225,2482,3284
$GC,4523,-0.80,-116.8,627.0,-11.0,171,4526,0.00,2.05,0.00,0.000,4,0.000,0.035,2224,1082,3282
$GC,4593,-0.80,-116.8,634.7,-10.4,172,4596,0.00,2.15,0.00,0.000,6,0.000,0.045,2223,2492,3281
$GC,4862,-0.80,-116.8,662.0,-10.1,179,4865,0.00,2.17,0.00,0.000,4,0.000,0.055,2212,3898,3279
$GC,4925,-0.80,-116.8,668.7,-10.3,180,4930,0.15,2.10,0.00,0.000,6,0.140,0.031,2254,2480,3280
$GC,5199,-0.80,-116.8,689.9,-7.5,187,5203,0.00,2.25,0.00,0.000,4,0.000,0.056,2245,3906,3278
$GC,5253,-0.80,-116.8,694.2,-8.0,188,5256,0.00,2.10,0.00,0.000,6,0.000,0.031,2246,2490,3278
$GC,5533,-0.80,-116.8,715.3,-7.4,195,5537,0.00,2.08,0.00,0.000,4,0.000,0.035,2247,1078,3276
$GC,5574,-0.80,-116.8,718.6,-7.8,195,5582,0.00,2.20,0.00,0.000,6,0.000,0.046,2238,2495,3276
$GC,5828,-0.80,-116.8,738.9,-8.1,202,5832,0.00,2.17,0.00,0.000,4,0.000,0.058,2227,3901,3274
$GC,5869,-0.80,-116.8,742.9,-9.7,202,5875,0.00,2.10,0.00,0.000,6,0.000,0.032,2227,2490,3274
$GC,6121,-0.80,-116.8,766.2,-9.4,209,6125,0.00,2.08,0.00,0.000,4,0.000,0.035,2227,1077,3273
$GC,6157,-0.80,-116.8,769.7,-9.4,209,6161,0.00,2.17,0.00,0.000,6,0.000,0.048,2223,2495,3273
$GC,6410,-0.80,-116.8,793.0,-9.3,215,6414,0.00,2.20,0.00,0.000,4,0.000,0.058,2212,3906,3272
$GC,6480,-0.80,-116.8,800.6,-10.8,216,6484,0.15,2.10,0.00,0.000,6,0.140,0.033,2254,2491,3271
$GC,6743,-0.80,-116.8,820.8,-7.5,223,6747,0.00,2.08,0.00,0.000,4,0.000,0.036,2254,1079,3270
$GC,6802,-0.80,-116.8,825.3,-7.6,224,6806,0.00,2.17,0.00,0.000,6,0.000,0.048,2250,2490,3270
$GC,7079,-0.80,-116.8,844.8,-7.0,231,7083,0.00,2.20,0.00,0.000,4,0.000,0.058,2238,3904,3270
$GC,7149,-0.80,-116.8,850.6,-8.1,232,7152,0.00,2.12,0.00,0.000,6,0.000,0.034,2238,2485,3269
$GC,7419,-0.80,-116.8,870.2,-7.4,239,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2477,3268
$GC,7662,-0.80,-116.8,888.8,-7.6,245,7666,0.00,2.25,0.00,0.000,4,0.000,0.060,2233,3898,3267
$GC,7686,-0.80,-116.8,890.8,-7.9,245,7690,0.00,2.10,0.00,0.000,6,0.000,0.034,2233,2485,3266
$STATE,7822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7822,begin apogee
$GC,7834,-0.27,0.0,901.8,7.8,249,7934,0.57,0.00,97.00,1.306,6,0.122,0.000,2421,2411,2820
$STATE,7935,end apogee,CONTROL_FINISHED_OK
$STATE,7935,begin climb
$GC,7940,0.80,116.8,903.2,0.0,251,8071,0.93,2.42,113.97,1.229,4,0.041,0.049,2768,3844,2342
$GC,8079,0.80,116.8,889.6,18.4,254,8083,0.00,2.28,0.00,0.000,6,0.000,0.031,2776,2430,2339
$GC,8343,0.80,116.8,819.8,26.5,261,8347,0.00,2.25,0.00,0.000,4,0.000,0.051,2776,3834,2332
$GC,8372,0.80,116.8,811.4,27.1,261,8377,0.00,2.20,0.00,0.000,6,0.000,0.033,2785,2410,2331
$GC,8625,0.80,116.8,746.2,25.4,267,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2405,2329
$GC,8868,0.80,116.8,684.5,25.4,273,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2404,2328
$GC,9112,0.80,116.8,624.7,24.6,279,9116,0.00,2.25,0.00,0.000,4,0.000,0.051,2781,3834,2327
$GC,9225,0.80,116.8,595.0,26.0,281,9229,0.00,2.15,0.00,0.000,6,0.000,0.033,2789,2405,2326
$GC,9489,0.80,116.8,533.1,23.0,288,9493,0.00,2.25,0.00,0.000,4,0.000,0.048,2781,3847,2325
$GC,9501,0.80,116.8,530.0,22.6,288,9505,0.00,2.12,0.00,0.000,6,0.000,0.031,2789,2425,2325
$GC,9777,0.80,116.8,470.5,20.8,295,9780,0.00,2.22,0.00,0.000,4,0.000,0.049,2781,3847,2325
$GC,9795,0.80,116.8,466.0,21.0,295,9799,0.00,2.12,0.00,0.000,6,0.000,0.031,2789,2421,2324
$GC,10069,0.80,116.8,410.4,20.0,302,10073,0.00,2.10,0.00,0.000,4,0.000,0.035,2800,1003,2324
$GC,10099,0.80,116.8,404.1,20.3,302,10103,0.00,2.17,0.00,0.000,6,0.000,0.043,2793,2428,2323
$GC,10357,0.80,116.8,356.7,18.4,309,10360,0.00,2.20,0.00,0.000,4,0.000,0.054,2793,3834,2324
$GC,10470,0.80,116.8,334.7,18.0,311,10475,0.15,2.12,0.00,0.000,6,0.219,0.032,2770,2413,2323
$GC,10733,0.80,116.8,290.1,16.9,318,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2406,2322
$GC,10977,0.80,116.8,253.0,15.2,324,10981,0.00,2.08,0.00,0.000,4,0.000,0.035,2778,1003,2322
$GC,11007,0.80,116.8,247.9,16.5,324,11011,0.00,2.17,0.00,0.000,6,0.000,0.044,2778,2421,2321
$GC,11272,0.80,116.8,211.3,13.1,331,11275,0.00,2.17,0.00,0.000,4,0.000,0.051,2778,3830,2321
$GC,11387,0.80,116.8,195.2,14.0,335,11391,0.00,2.10,0.00,0.000,6,0.000,0.030,2788,2415,2321
$GC,11658,0.80,116.8,161.2,12.2,360,11661,0.00,2.20,0.00,0.000,4,0.000,0.048,2780,3834,2322
$GC,11674,0.80,116.8,159.1,12.2,361,11678,0.00,2.10,0.00,0.000,6,0.000,0.029,2789,2411,2322
$GC,11945,0.80,118.1,126.2,9.9,386,11949,0.00,2.05,0.00,0.000,4,0.000,0.031,2799,1003,2322
$GC,12094,0.85,159.3,113.7,7.6,399,12132,0.00,2.15,32.47,0.704,6,0.000,0.040,2793,2432,2169
$GC,12388,0.85,159.3,75.4,13.9,426,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2432,2164
$GC,12654,0.86,161.7,52.3,9.9,451,12662,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2432,2164
$GC,12920,0.86,161.7,21.7,11.5,482,12928,0.00,2.17,0.00,0.000,4,0.000,0.048,2793,3832,2164
$STATE,13045,end climb,SURFACE_DEPTH_REACHED
$STATE,13045,begin surface coast
$FINISH,0.3,1.023155
$STATE,13066,end surface coast,CONTROL_FINISHED_OK
$STATE,13067,begin surface
$SM_CCo,13093,110.47,0.588,0,0,1107,420.19
$SM_GC,1.11,0.00,0.00,110.47,0.000,0.000,0.588,41,2450,1107,-7.71,-1.13,420.19
$IRIDIUM_FIX,2143.45,-15808.90,081100,171748
$TT8_MAMPS,0.02301
$HUMID,1978
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,24.60
$XPDR_PINGS,7
$24V_AH,23.7,4.343
$10V_AH,10.7,3.522
$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,17.600,141.225,243.450,110.475,0.000,28.214,34.003,221.591,1.750,0.000,0.000,12.726,1103.107,9391.197,476.747,1876.508,824.778,33.357,1287.418,0.000,1870.116,0.000,0.544,0.000
$DEVICE_MAMPS,218.595,87.438,1306.201,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,344.388,697.073,722.171,138.962,629.154,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41470,508
$CAP_FILE_SIZE,106945,0
$CFSIZE,260165632,216055808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,2,0
$GPS,160811,003225,2153.748,-15807.710,26,1.2,44,9.9