version: 66.04
glider: 512
mission: 2
dive: 32
start: 8 16 111 4 44 6
data:
$ID,512
$MISSION,2
$DIVE,32
$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,-33140.723
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2610
$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,46
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2950
$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
$GPS1,043136,2154.706,-15807.906,33,1.1,33,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-78.0
$GPS2,044307,2154.635,-15808.067,15,1.3,15,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,0.077
$KALMAN_X,-29499.1,397.3,503.2,30726.8,-4330.3
$KALMAN_Y,-29098.1,924.6,-160.5,53230.6,-3679.2
$MHEAD_RNG_PITCHd_Wd,60.9,94289,-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,13,begin dive
$GC,18,-0.80,-116.8,0.0,0.0,0,104,0.00,0.00,-83.05,0.000,2,0.000,0.000,44,2522,3337
$GC,109,-0.80,-116.8,4.4,-9.0,11,126,8.50,0.00,-1.52,0.000,6,0.204,0.000,2341,2522,3429
$GC,386,-0.80,-116.8,67.7,-15.8,40,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2521,3431
$GC,653,-0.80,-116.8,99.7,-9.9,65,657,0.00,2.12,0.00,0.000,4,0.000,0.026,2341,1070,3431
$GC,705,-0.80,-116.8,104.9,-7.8,69,712,0.00,2.15,0.00,0.000,6,0.000,0.038,2341,2468,3432
$GC,970,-0.80,-116.8,124.8,-7.0,94,974,0.00,2.20,0.00,0.000,4,0.000,0.050,2333,3897,3432
$GC,1018,-0.80,-116.8,128.2,-6.5,98,1022,0.00,2.08,0.00,0.000,6,0.000,0.023,2333,2462,3432
$GC,1290,-0.80,-116.8,148.9,-7.1,123,1293,0.00,1.95,0.00,0.000,4,0.000,0.028,2333,1098,3433
$GC,1317,-0.80,-116.8,151.0,-7.6,125,1321,0.00,2.10,0.00,0.000,6,0.000,0.038,2333,2498,3433
$GC,1587,-0.80,-116.8,169.7,-6.9,150,1591,0.00,2.15,0.00,0.000,4,0.000,0.050,2322,3903,3433
$GC,1637,-0.80,-116.8,173.2,-7.2,154,1641,0.00,2.05,0.00,0.000,6,0.000,0.023,2322,2480,3433
$GC,1908,-0.80,-116.8,193.3,-7.5,179,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2472,3433
$GC,2164,-0.80,-116.8,211.2,-6.8,192,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2472,3433
$GC,2408,-0.80,-116.8,228.2,-7.0,198,2411,0.00,2.20,0.00,0.000,4,0.000,0.050,2312,3898,3433
$GC,2434,-0.80,-116.8,230.0,-7.0,198,2439,0.12,2.03,0.00,0.000,6,0.097,0.024,2352,2492,3432
$GC,2704,-0.80,-116.8,247.1,-7.3,205,2707,0.00,2.00,0.00,0.000,4,0.000,0.027,2357,1090,3432
$GC,2779,-0.80,-116.8,253.8,-8.8,206,2783,0.00,2.08,0.00,0.000,6,0.000,0.037,2356,2494,3431
$GC,3043,-0.80,-116.8,277.6,-9.4,213,3047,0.00,2.00,0.00,0.000,4,0.000,0.027,2357,1094,3431
$GC,3078,-0.80,-116.8,281.1,-9.7,213,3082,0.00,2.08,0.00,0.000,6,0.000,0.037,2357,2488,3431
$GC,3336,-0.80,-116.8,303.0,-8.5,220,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2488,3429
$GC,3581,-0.80,-116.8,323.8,-8.6,226,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2488,3428
$GC,3824,-0.80,-116.8,346.1,-9.2,232,3828,0.00,2.03,0.00,0.000,4,0.000,0.028,2357,1082,3427
$GC,3854,-0.80,-116.8,349.0,-9.7,232,3858,0.00,2.10,0.00,0.000,6,0.000,0.038,2357,2490,3427
$GC,4118,-0.80,-116.8,372.0,-8.6,239,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2491,3425
$GC,4362,-0.80,-116.8,390.1,-7.2,245,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2491,3423
$GC,4608,-0.80,-116.8,409.5,-8.4,251,4611,0.00,2.03,0.00,0.000,4,0.000,0.028,2357,1078,3422
$GC,4683,-0.80,-116.8,416.5,-8.6,252,4686,0.00,2.12,0.00,0.000,6,0.000,0.039,2357,2494,3421
$GC,4946,-0.80,-116.8,442.3,-9.8,259,4950,0.00,2.15,0.00,0.000,4,0.000,0.054,2357,3891,3420
$GC,4971,-0.80,-116.8,444.7,-10.0,259,4974,0.00,2.03,0.00,0.000,6,0.000,0.028,2357,2487,3419
$GC,5242,-0.80,-116.8,467.8,-8.5,266,5245,0.00,2.20,0.00,0.000,4,0.000,0.053,2357,3894,3417
$GC,5345,-0.80,-116.8,475.4,-6.5,268,5349,0.00,2.05,-0.08,0.000,6,0.000,0.027,2367,2485,3442
$GC,5625,-0.80,-116.8,492.9,-6.6,275,5629,0.00,2.22,0.00,0.000,4,0.000,0.054,2368,3899,3441
$GC,5680,-0.80,-116.8,496.9,-6.9,276,5683,0.00,2.08,0.00,0.000,6,0.000,0.028,2377,2479,3440
$GC,5966,-0.80,-116.8,516.0,-7.1,283,5969,0.00,2.22,0.00,0.000,4,0.000,0.055,2376,3894,3439
$GC,6024,-0.80,-116.8,520.4,-6.6,284,6028,0.00,2.05,0.00,0.000,6,0.000,0.027,2386,2480,3439
$GC,6306,-0.80,-116.8,540.3,-7.3,291,6311,0.12,2.22,0.00,0.000,4,0.084,0.052,2336,3902,3437
$GC,6420,-0.80,-116.8,549.5,-9.0,293,6424,0.00,2.08,0.00,0.000,6,0.000,0.029,2335,2486,3436
$GC,6685,-0.80,-116.8,571.1,-8.2,300,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2479,3435
$GC,6929,-0.80,-116.8,592.8,-9.0,306,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2479,3434
$GC,7171,-0.80,-116.8,615.1,-9.1,312,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2479,3433
$GC,7415,-0.80,-116.8,635.8,-8.4,318,7419,0.00,2.03,0.00,0.000,4,0.000,0.033,2340,1093,3431
$GC,7473,-0.80,-116.8,640.3,-7.3,319,7477,0.00,2.10,0.00,0.000,6,0.000,0.044,2340,2489,3431
$GC,7755,-0.80,-116.8,659.3,-6.7,326,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2490,3430
$GC,7997,-0.80,-116.8,675.7,-6.9,332,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2489,3429
$GC,8241,-0.80,-116.8,694.0,-7.6,338,8245,0.00,2.05,0.00,0.000,4,0.000,0.033,2340,1083,3427
$GC,8294,-0.80,-116.8,698.6,-8.4,339,8298,0.00,2.15,0.00,0.000,6,0.000,0.044,2340,2498,3427
$GC,8581,-0.80,-116.8,725.5,-10.1,346,8585,0.00,2.17,0.00,0.000,4,0.000,0.058,2340,3894,3426
$GC,8707,-0.80,-116.8,737.4,-8.3,348,8711,0.00,2.05,0.00,0.000,6,0.000,0.031,2343,2496,3426
$GC,8965,-0.80,-116.8,761.8,-10.1,355,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2489,3425
$GC,9210,-0.80,-116.8,785.8,-9.7,361,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2489,3424
$GC,9452,-0.80,-116.8,806.9,-8.4,367,9456,0.00,2.08,0.00,0.000,4,0.000,0.035,2344,1077,3423
$GC,9482,-0.80,-116.8,809.5,-8.8,367,9486,0.00,2.15,0.00,0.000,6,0.000,0.045,2344,2489,3423
$GC,9747,-0.80,-116.8,828.3,-7.3,374,9750,0.00,2.08,0.00,0.000,4,0.000,0.035,2344,1077,3422
$GC,9827,-0.80,-116.8,833.8,-6.2,375,9832,0.00,2.17,0.00,0.000,6,0.000,0.046,2344,2498,3422
$GC,10081,-0.80,-116.8,850.5,-6.8,381,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2499,3421
$GC,10324,-0.80,-116.8,867.2,-6.8,387,10328,0.00,2.20,0.00,0.000,4,0.000,0.061,2344,3905,3421
$GC,10354,-0.80,-116.8,869.3,-7.4,387,10358,0.00,2.12,0.00,0.000,6,0.000,0.033,2344,2477,3420
$GC,10618,-0.80,-116.8,885.5,-6.5,394,10622,0.00,2.28,0.00,0.000,4,0.000,0.060,2344,3904,3420
$GC,10706,-0.80,-116.8,891.0,-6.1,396,10710,0.00,2.10,0.00,0.000,6,0.000,0.032,2352,2480,3419
$STATE,10871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10871,begin apogee
$GC,10882,-0.27,0.0,900.9,6.1,400,10986,0.47,0.00,101.25,1.314,6,0.097,0.000,2536,2473,2950
$STATE,10987,end apogee,CONTROL_FINISHED_OK
$STATE,10987,begin climb
$GC,10992,0.80,116.8,906.2,0.0,402,11116,0.90,2.35,110.88,1.259,4,0.051,0.033,2876,1014,2474
$GC,11288,0.80,116.8,868.2,26.3,408,11293,0.00,2.22,0.00,0.000,6,0.000,0.042,2876,2424,2464
$GC,11542,0.80,116.8,807.9,24.0,414,11546,0.00,2.22,0.00,0.000,4,0.000,0.048,2876,3839,2461
$GC,11555,0.80,116.8,804.1,23.7,414,11559,0.00,2.15,0.00,0.000,6,0.000,0.031,2884,2423,2461
$GC,11837,0.80,116.8,738.6,22.9,421,11838,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2417,2460
$GC,12079,0.80,116.8,684.7,21.8,427,12080,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2417,2458
$GC,12322,0.80,116.8,632.5,21.4,433,12326,0.00,2.20,0.00,0.000,4,0.000,0.048,2876,3834,2457
$GC,12341,0.80,116.8,628.2,21.0,433,12345,0.00,2.12,0.00,0.000,6,0.000,0.032,2884,2415,2457
$GC,12616,0.80,116.8,568.9,22.0,440,12620,0.00,2.22,0.00,0.000,4,0.000,0.051,2875,3838,2457
$GC,12740,0.80,116.8,541.1,21.0,442,12744,0.00,2.12,0.00,0.000,6,0.000,0.032,2884,2419,2456
$GC,12998,0.80,116.8,491.8,19.0,449,13002,0.00,2.20,0.00,0.000,4,0.000,0.048,2876,3835,2456
$GC,13040,0.80,116.8,483.9,18.0,449,13046,0.00,2.12,0.00,0.000,6,0.000,0.031,2884,2413,2456
$GC,13293,0.80,116.8,441.7,16.6,456,13294,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2406,2455
$GC,13536,0.80,116.8,405.5,14.6,462,13539,0.00,2.20,0.00,0.000,4,0.000,0.048,2876,3832,2455
$GC,13695,0.80,116.8,379.3,16.1,465,13699,0.00,2.10,0.00,0.000,6,0.000,0.032,2884,2423,2455
$GC,13964,0.80,116.8,339.1,14.4,472,13968,0.00,2.17,0.00,0.000,4,0.000,0.047,2876,3834,2454
$GC,13977,0.80,116.8,337.2,14.6,472,13981,0.00,2.10,0.00,0.000,6,0.000,0.031,2885,2414,2454
$GC,14257,0.80,116.8,303.6,11.6,479,14261,0.00,2.20,0.00,0.000,4,0.000,0.048,2876,3837,2454
$GC,14366,0.80,116.8,291.2,12.5,481,14369,0.00,2.10,0.00,0.000,6,0.000,0.031,2885,2420,2454
$GC,14640,0.80,116.8,259.6,11.5,488,14644,0.00,2.08,0.00,0.000,4,0.000,0.033,2895,1001,2454
$GC,14902,0.85,153.3,235.1,7.9,493,14937,0.00,2.15,28.45,0.835,6,0.000,0.040,2888,2428,2325
$GC,15194,0.85,153.3,190.9,14.3,503,15198,0.00,2.10,0.00,0.000,4,0.000,0.032,2897,1011,2319
$GC,15221,0.85,153.3,186.9,15.4,505,15225,0.00,2.15,0.00,0.000,6,0.000,0.040,2888,2424,2319
$GC,15492,0.85,153.3,151.5,11.1,530,15496,0.00,2.15,0.00,0.000,4,0.000,0.046,2888,3834,2318
$GC,15642,0.88,179.0,136.2,8.5,543,15670,0.00,2.10,22.12,0.732,6,0.000,0.028,2898,2399,2219
$GC,15937,0.88,179.0,92.9,18.0,570,15940,0.00,2.03,0.00,0.000,4,0.000,0.029,2908,1013,2214
$GC,16195,1.03,302.3,70.5,2.9,593,16300,0.12,2.12,99.05,0.665,6,0.091,0.035,2954,2437,1717
$STATE,16437,end climb,SURFACE_DEPTH_REACHED
$STATE,16437,begin surface coast
$FINISH,0.4,1.023210
$STATE,16444,end surface coast,CONTROL_FINISHED_OK
$STATE,16444,begin surface
$SM_CCo,16470,49.38,0.592,0,0,1237,420.19
$SM_GC,0.97,0.00,0.00,49.38,0.000,0.000,0.592,44,2447,1237,-8.02,-1.22,420.19
$IRIDIUM_FIX,2145.77,-15808.90,091100,040415
$TT8_MAMPS,0.023777
$HUMID,2052
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,23.10
$XPDR_PINGS,7
$24V_AH,24.0,4.631
$10V_AH,10.7,3.751
$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,17.975,140.175,361.750,49.375,0.000,60.890,67.389,315.368,1.750,0.000,0.000,15.309,1326.611,12126.383,456.271,2254.187,1051.992,33.382,1450.882,0.000,2227.612,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,60.593,1313.871,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,421.363,834.339,856.602,137.047,636.210,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50869,621
$CAP_FILE_SIZE,128311,0
$CFSIZE,260165632,215900160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,1,0
$GPS,160811,092124,2154.521,-15808.049,69,1.0,69,9.9