version: 66.04
glider: 512
mission: 2
dive: 33
start: 8 16 111 9 35 33
data:
$ID,512
$MISSION,2
$DIVE,33
$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,-33174.395
$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,62
$R_STBD_OVSHOOT,38
$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
$GPS1,092124,2154.521,-15808.049,69,1.0,69,9.9
$_CALLS,2
$_XMS_NAKs,21
$_XMS_TOUTs,2
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.1
$GPS2,093436,2154.447,-15808.101,16,1.7,32,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.172,0.159
$KALMAN_X,-32445.0,87.5,-247.3,34698.4,-3208.3
$KALMAN_Y,-30554.3,261.9,320.4,54511.5,-3579.5
$MHEAD_RNG_PITCHd_Wd,37.4,94640,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-75.47,0.000,2,0.000,0.000,44,2447,3216
$GC,102,-0.80,-116.8,3.4,-5.5,10,120,8.52,2.28,-3.75,0.000,4,0.204,0.051,2330,3906,3429
$GC,170,-0.80,-116.8,31.5,-23.6,20,179,0.00,2.10,0.00,0.000,6,0.000,0.025,2330,2506,3430
$GC,436,-0.80,-116.8,77.4,-17.3,45,440,0.00,2.08,0.00,0.000,4,0.000,0.028,2330,1082,3431
$GC,510,-0.80,-116.8,87.1,-10.1,51,518,0.08,2.15,0.00,0.000,6,0.117,0.038,2347,2475,3431
$GC,775,-0.80,-116.8,111.2,-7.6,76,778,0.00,2.20,0.00,0.000,4,0.000,0.050,2338,3903,3431
$GC,823,-0.80,-116.8,114.7,-6.8,80,827,0.00,2.08,0.00,0.000,6,0.000,0.023,2338,2471,3431
$GC,1095,-0.80,-116.8,135.3,-7.3,105,1099,0.00,1.98,0.00,0.000,4,0.000,0.026,2338,1090,3432
$GC,1145,-0.80,-116.8,138.5,-6.2,109,1148,0.00,2.12,0.00,0.000,6,0.000,0.038,2333,2504,3432
$GC,1416,-0.80,-116.8,157.9,-8.0,134,1420,0.00,2.12,0.00,0.000,4,0.000,0.049,2322,3897,3432
$GC,1468,-0.80,-116.8,162.3,-7.6,138,1476,0.00,2.05,0.00,0.000,6,0.000,0.023,2322,2487,3433
$GC,1734,-0.80,-116.8,185.9,-8.6,163,1737,0.00,2.00,0.00,0.000,4,0.000,0.026,2326,1091,3433
$GC,1795,-0.80,-116.8,190.8,-7.5,168,1800,0.12,2.10,0.00,0.000,6,0.116,0.038,2358,2494,3433
$GC,2086,-0.80,-116.8,209.6,-7.7,186,2090,0.00,2.12,0.00,0.000,4,0.000,0.051,2358,3900,3433
$GC,2166,-0.80,-116.8,216.3,-7.8,187,2170,0.00,2.03,0.00,0.000,6,0.000,0.023,2359,2479,3433
$GC,2425,-0.80,-116.8,236.6,-8.3,194,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2472,3433
$GC,2668,-0.80,-116.8,257.8,-8.6,200,2672,0.00,1.98,0.00,0.000,4,0.000,0.027,2365,1086,3432
$GC,2737,-0.80,-116.8,263.5,-7.9,201,2741,0.00,2.10,0.00,0.000,6,0.000,0.037,2365,2499,3431
$GC,3007,-0.80,-116.8,286.1,-8.9,208,3010,0.00,2.12,0.00,0.000,4,0.000,0.050,2365,3890,3430
$GC,3093,-0.80,-116.8,293.7,-8.2,209,3099,0.00,2.00,0.00,0.000,6,0.000,0.025,2365,2485,3429
$GC,3346,-0.80,-116.8,314.6,-8.4,216,3350,0.00,1.98,0.00,0.000,4,0.000,0.026,2369,1101,3428
$GC,3388,-0.80,-116.8,318.3,-8.0,216,3394,0.00,2.08,0.00,0.000,6,0.000,0.038,2369,2492,3428
$GC,3641,-0.80,-116.8,337.0,-7.4,223,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2492,3427
$GC,3884,-0.80,-116.8,356.6,-8.2,229,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2492,3426
$GC,4128,-0.80,-116.8,378.9,-9.5,235,4131,0.00,1.98,0.00,0.000,4,0.000,0.027,2369,1107,3424
$GC,4186,-0.80,-116.8,384.7,-8.8,236,4190,0.00,2.08,0.00,0.000,6,0.000,0.038,2369,2500,3424
$GC,4469,-0.80,-116.8,409.5,-8.7,243,4472,0.00,2.15,0.00,0.000,4,0.000,0.052,2366,3904,3422
$GC,4544,-0.80,-116.8,415.6,-7.4,244,4547,0.00,2.03,0.00,0.000,6,0.000,0.026,2366,2498,3421
$GC,4810,-0.80,-116.8,436.4,-8.0,251,4814,0.00,2.00,0.00,0.000,4,0.000,0.028,2366,1099,3420
$GC,4953,-0.80,-116.8,447.3,-7.7,254,4957,0.00,2.08,0.00,0.000,6,0.000,0.039,2366,2491,3419
$GC,5241,-0.80,-116.8,468.1,-7.5,261,5245,0.00,2.17,-0.08,0.000,4,0.000,0.067,2365,3905,3442
$GC,5355,-0.80,-116.8,476.6,-5.6,263,5359,0.00,2.05,0.00,0.000,6,0.000,0.027,2372,2493,3441
$GC,5619,-0.80,-116.8,495.6,-7.6,270,5622,0.00,2.20,0.00,0.000,4,0.000,0.053,2372,3900,3440
$GC,5728,-0.80,-116.8,503.8,-6.4,272,5732,0.00,2.03,0.00,0.000,6,0.000,0.028,2382,2486,3439
$GC,6005,-0.80,-116.8,523.3,-7.7,279,6008,0.00,2.20,0.00,0.000,4,0.000,0.054,2382,3892,3437
$GC,6069,-0.80,-116.8,528.5,-7.9,280,6073,0.12,2.05,0.00,0.000,6,0.100,0.028,2350,2475,3437
$GC,6345,-0.80,-116.8,548.7,-7.7,287,6348,0.00,2.00,0.00,0.000,4,0.000,0.031,2351,1088,3435
$GC,6606,-0.80,-116.8,568.2,-8.4,292,6610,0.00,2.10,0.00,0.000,6,0.000,0.043,2351,2489,3434
$GC,6864,-0.80,-116.8,588.4,-8.2,299,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2490,3433
$GC,7109,-0.80,-116.8,607.1,-7.5,305,7112,0.00,2.03,0.00,0.000,4,0.000,0.031,2351,1092,3431
$GC,7364,-0.80,-116.8,626.2,-7.1,310,7368,0.00,2.12,0.00,0.000,6,0.000,0.043,2351,2499,3430
$GC,7629,-0.80,-116.8,646.1,-7.7,317,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2500,3428
$GC,7873,-0.80,-116.8,663.7,-7.1,323,7877,0.00,2.17,0.00,0.000,4,0.000,0.058,2351,3900,3427
$GC,7977,-0.80,-116.8,669.8,-4.6,325,7980,0.00,2.05,0.00,0.000,6,0.000,0.031,2356,2500,3427
$GC,8258,-0.80,-116.8,684.9,-5.9,332,8261,0.00,2.05,0.00,0.000,4,0.000,0.033,2356,1088,3425
$GC,8518,-0.80,-116.8,701.6,-6.8,337,8522,0.00,2.12,0.00,0.000,6,0.000,0.044,2356,2490,3425
$GC,8777,-0.80,-116.8,721.1,-7.9,344,8780,0.00,2.08,0.00,0.000,4,0.000,0.032,2356,1081,3424
$GC,8931,-0.80,-116.8,733.3,-7.9,347,8934,0.00,2.15,0.00,0.000,6,0.000,0.045,2356,2494,3423
$GC,9206,-0.80,-116.8,753.2,-7.5,354,9209,0.00,2.17,0.00,0.000,4,0.000,0.058,2356,3900,3422
$GC,9311,-0.80,-116.8,761.5,-8.4,356,9315,0.00,2.08,0.00,0.000,6,0.000,0.031,2365,2484,3421
$GC,9592,-0.80,-116.8,778.4,-5.9,363,9595,0.00,2.22,0.00,0.000,4,0.000,0.058,2365,3894,3421
$GC,9661,-0.80,-116.8,782.2,-5.8,364,9665,0.00,2.05,0.00,0.000,6,0.000,0.031,2369,2490,3420
$GC,9932,-0.80,-116.8,794.9,-4.7,371,9935,0.00,2.05,0.00,0.000,4,0.000,0.034,2369,1084,3419
$GC,10007,-0.80,-116.8,798.7,-4.7,372,10011,0.00,2.15,0.00,0.000,6,0.000,0.045,2369,2494,3420
$GC,10271,-0.80,-116.8,811.0,-4.9,379,10274,0.00,2.05,0.00,0.000,4,0.000,0.035,2369,1092,3418
$GC,10285,-0.80,-116.8,811.9,-5.0,379,10289,0.00,2.15,0.00,0.000,6,0.000,0.048,2370,2495,3418
$GC,10566,-0.80,-116.8,827.1,-5.8,386,10570,0.00,2.08,0.00,0.000,4,0.000,0.035,2369,1084,3418
$GC,10681,-0.80,-116.8,834.2,-6.1,388,10685,0.00,2.15,0.00,0.000,6,0.000,0.046,2369,2492,3418
$GC,10951,-0.80,-116.8,851.1,-6.6,395,10955,0.00,2.20,0.00,0.000,4,0.000,0.061,2369,3901,3417
$GC,10970,-0.80,-116.8,852.6,-7.3,395,10973,0.00,2.10,0.00,0.000,6,0.000,0.033,2369,2484,3416
$GC,11245,-0.80,-116.8,872.4,-7.5,402,11248,0.00,2.22,0.00,0.000,4,0.000,0.058,2369,3897,3416
$GC,11264,-0.80,-116.8,873.9,-7.4,402,11267,0.00,2.10,0.00,0.000,6,0.000,0.032,2370,2484,3416
$GC,11539,-0.80,-116.8,893.8,-7.3,409,11543,0.00,2.25,0.00,0.000,4,0.000,0.061,2370,3895,3416
$GC,11575,-0.80,-116.8,896.5,-7.9,409,11581,0.00,2.08,0.00,0.000,6,0.000,0.032,2380,2477,3416
$STATE,11660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11660,begin apogee
$GC,11670,-0.27,0.0,902.5,6.7,412,11774,0.40,0.00,100.47,1.319,6,0.055,0.000,2553,2476,2950
$STATE,11774,end apogee,CONTROL_FINISHED_OK
$STATE,11774,begin climb
$GC,11780,0.80,116.8,908.5,0.0,414,11906,0.88,2.28,111.18,1.266,4,0.060,0.048,2863,3834,2472
$GC,12167,0.80,116.8,845.6,25.0,422,12171,0.00,2.15,0.00,0.000,6,0.000,0.031,2872,2423,2463
$GC,12430,0.80,116.8,777.3,25.3,429,12434,0.00,2.22,0.00,0.000,4,0.000,0.048,2872,3839,2459
$GC,12691,0.80,116.8,708.4,24.4,434,12694,0.00,2.15,0.00,0.000,6,0.000,0.031,2882,2413,2458
$GC,12949,0.80,116.8,646.5,23.7,441,12953,0.00,2.22,0.00,0.000,4,0.000,0.048,2875,3837,2457
$GC,12968,0.80,116.8,641.6,23.0,441,12972,0.00,2.12,0.00,0.000,6,0.000,0.031,2884,2418,2456
$GC,13242,0.80,116.8,581.7,21.7,448,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2413,2456
$GC,13487,0.80,116.8,532.6,19.8,454,13490,0.00,2.20,0.00,0.000,4,0.000,0.048,2876,3835,2455
$GC,13499,0.80,116.8,529.6,20.1,454,13503,0.00,2.12,0.00,0.000,6,0.000,0.032,2885,2417,2455
$GC,13781,0.80,116.8,475.8,19.2,461,13784,0.00,2.22,0.00,0.000,4,0.000,0.050,2876,3842,2454
$GC,13941,0.80,116.8,444.3,18.4,464,13945,0.00,2.12,0.00,0.000,6,0.000,0.031,2885,2415,2454
$GC,14211,0.80,116.8,398.5,16.9,471,14212,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2408,2453
$GC,14453,0.80,116.8,363.5,13.5,477,14454,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2408,2453
$GC,14697,0.80,116.8,335.1,11.4,483,14698,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2409,2453
$GC,14941,0.80,116.8,303.4,12.8,489,14943,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2409,2453
$GC,15184,0.80,116.8,272.2,12.9,495,15188,0.00,2.20,0.00,0.000,4,0.000,0.049,2876,3842,2452
$GC,15445,0.83,136.9,243.3,8.8,500,15466,0.00,2.10,14.77,0.814,6,0.000,0.030,2885,2413,2392
$GC,15750,0.83,136.9,211.7,10.8,508,15753,0.00,2.05,0.00,0.000,4,0.000,0.033,2896,1016,2388
$GC,15843,0.84,150.5,202.9,9.2,510,15862,0.00,2.15,12.73,0.766,6,0.000,0.040,2887,2435,2336
$GC,16123,0.84,150.5,164.0,13.9,533,16127,0.00,2.10,0.00,0.000,4,0.000,0.031,2897,1007,2333
$GC,16161,0.84,150.5,159.3,13.0,536,16165,0.00,2.15,0.00,0.000,6,0.000,0.038,2888,2429,2332
$GC,16433,0.85,153.4,127.6,9.8,561,16437,0.00,2.15,0.00,0.000,4,0.000,0.048,2888,3831,2332
$GC,16497,0.86,160.9,121.0,9.6,566,16518,0.00,2.10,10.23,0.663,6,0.000,0.028,2898,2429,2292
$GC,16779,0.89,185.1,90.5,8.6,592,16805,0.00,2.22,21.10,0.672,4,0.000,0.044,2888,3827,2195
$GC,16822,0.90,200.5,86.8,9.1,595,16849,0.00,2.10,14.32,0.643,6,0.000,0.026,2898,2403,2131
$GC,17108,0.90,200.5,43.0,15.8,621,17112,0.00,2.03,0.00,0.000,4,0.000,0.028,2907,1016,2126
$GC,17275,0.90,200.5,13.4,17.7,644,17283,0.00,2.15,0.00,0.000,6,0.000,0.035,2905,2425,2126
$STATE,17326,end climb,SURFACE_DEPTH_REACHED
$STATE,17326,begin surface coast
$FINISH,0.6,1.023204
$STATE,17338,end surface coast,CONTROL_FINISHED_OK
$STATE,17339,begin surface
$SM_CCo,17364,94.47,0.603,0,0,1236,420.19
$SM_GC,1.12,0.00,0.00,94.47,0.000,0.000,0.603,45,2503,1236,-8.02,0.40,420.19
$IRIDIUM_FIX,2145.77,-15756.39,091100,090911
$TT8_MAMPS,0.023777
$HUMID,2010
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,23.60
$XPDR_PINGS,5
$24V_AH,24.0,4.768
$10V_AH,10.7,3.887
$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,17.550,169.025,284.800,94.475,0.000,60.220,75.296,372.176,1.250,0.000,0.000,33.043,1480.153,12419.699,475.038,2684.379,1192.445,33.361,1618.112,0.000,2633.342,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,83.603,1319.240,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,444.683,883.585,909.251,149.245,691.789,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53883,655
$CAP_FILE_SIZE,148027,0
$CFSIZE,260165632,215814144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,45,1,0
$GPS,160811,142801,2154.637,-15808.096,40,1.3,40,9.9