version: 66.04
glider: 512
mission: 2
dive: 37
start: 8 17 111 5 28 26
data:
$ID,512
$MISSION,2
$DIVE,37
$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,-33239.375
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2550
$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,52
$R_STBD_OVSHOOT,26
$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
$GPS1,051925,2155.040,-15807.774,48,1.7,48,9.9
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-78.6
$GPS2,052732,2154.991,-15807.873,11,1.8,11,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,0.070
$KALMAN_X,-45554.8,478.8,424.7,47135.2,-4226.5
$KALMAN_Y,-40301.8,314.4,-195.9,65741.1,-2584.7
$MHEAD_RNG_PITCHd_Wd,62.8,93587,-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,19,-0.80,-116.8,0.0,0.0,0,96,0.00,0.00,-75.50,0.000,2,0.000,0.000,44,2482,3213
$GC,103,-0.80,-116.8,3.4,-5.8,10,121,8.27,2.25,-3.85,0.000,4,0.203,0.052,2271,3910,3429
$GC,147,-0.80,-116.8,25.6,-49.6,16,155,0.00,2.12,0.00,0.000,6,0.000,0.025,2271,2504,3430
$GC,419,-0.80,-116.8,95.2,-19.4,42,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2496,3432
$GC,686,-0.80,-116.8,141.5,-16.0,67,689,0.00,2.08,0.00,0.000,4,0.000,0.028,2271,1075,3433
$GC,768,-0.80,-116.8,152.8,-11.9,74,772,0.00,2.15,0.00,0.000,6,0.000,0.039,2263,2494,3433
$GC,1032,-0.80,-116.8,188.8,-12.7,98,1036,0.00,2.17,0.00,0.000,4,0.000,0.048,2252,3906,3433
$GC,1104,-0.80,-116.8,198.0,-13.0,104,1109,0.15,2.10,0.00,0.000,6,0.133,0.024,2295,2464,3433
$GC,1369,-0.80,-116.8,224.2,-9.8,111,1372,0.00,1.98,0.00,0.000,4,0.000,0.028,2305,1087,3433
$GC,1404,-0.80,-116.8,227.7,-8.3,111,1408,0.00,2.12,0.00,0.000,6,0.000,0.040,2304,2495,3433
$GC,1663,-0.80,-116.8,249.5,-8.3,118,1667,0.00,2.15,0.00,0.000,4,0.000,0.051,2292,3897,3433
$GC,1704,-0.80,-116.8,253.2,-9.0,118,1710,0.00,2.05,0.00,0.000,6,0.000,0.024,2300,2485,3432
$GC,1957,-0.80,-116.8,270.7,-6.7,125,1960,0.00,2.00,0.00,0.000,4,0.000,0.028,2311,1093,3431
$GC,2006,-0.80,-116.8,273.5,-5.6,126,2009,0.00,2.10,0.00,0.000,6,0.000,0.039,2306,2491,3431
$GC,2300,-0.80,-116.8,292.5,-6.8,133,2303,0.00,2.17,0.00,0.000,4,0.000,0.051,2296,3907,3430
$GC,2342,-0.80,-116.8,295.9,-7.3,133,2348,0.00,2.08,0.00,0.000,6,0.000,0.025,2295,2484,3430
$GC,2594,-0.80,-116.8,317.3,-8.6,140,2598,0.00,2.00,0.00,0.000,4,0.000,0.029,2295,1093,3428
$GC,2630,-0.80,-116.8,320.7,-9.6,140,2634,0.00,2.12,0.00,0.000,6,0.000,0.041,2290,2498,3428
$GC,2889,-0.80,-116.8,344.1,-9.1,147,2893,0.00,2.15,0.00,0.000,4,0.000,0.051,2279,3900,3427
$GC,2925,-0.80,-116.8,347.5,-9.6,147,2928,0.00,2.05,0.00,0.000,6,0.000,0.026,2279,2490,3427
$GC,3183,-0.80,-116.8,368.3,-7.8,154,3186,0.00,2.03,0.00,0.000,4,0.000,0.029,2279,1088,3425
$GC,3225,-0.80,-116.8,371.7,-8.1,154,3231,0.00,2.12,0.00,0.000,6,0.000,0.042,2276,2489,3424
$GC,3478,-0.80,-116.8,392.2,-8.2,161,3482,0.00,2.17,0.00,0.000,4,0.000,0.053,2265,3898,3422
$GC,3542,-0.80,-116.8,397.7,-8.4,162,3546,0.00,2.05,0.00,0.000,6,0.000,0.028,2265,2481,3422
$GC,3819,-0.80,-116.8,421.0,-8.3,169,3822,0.00,2.22,0.00,0.000,4,0.000,0.053,2254,3899,3420
$GC,3856,-0.80,-116.8,424.3,-9.0,169,3860,0.12,2.08,0.00,0.000,6,0.128,0.028,2292,2487,3420
$GC,4108,-0.80,-116.8,439.0,-5.5,175,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2480,3418
$GC,4353,-0.80,-116.8,453.0,-5.9,181,4355,0.00,0.00,-0.08,0.000,6,0.000,0.000,2291,2480,3442
$GC,4597,-0.80,-116.8,468.0,-6.3,187,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2480,3440
$GC,4841,-0.80,-116.8,483.4,-6.3,193,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2480,3439
$GC,5083,-0.80,-116.8,498.3,-6.1,199,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2480,3438
$GC,5327,-0.80,-116.8,513.7,-6.4,205,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2479,3436
$GC,5573,-0.80,-116.8,528.9,-6.4,211,5577,0.00,2.25,0.00,0.000,4,0.000,0.058,2290,3903,3435
$GC,5603,-0.80,-116.8,531.0,-6.8,211,5607,0.00,2.10,0.00,0.000,6,0.000,0.031,2290,2487,3435
$GC,5863,-0.80,-116.8,546.8,-6.0,218,5867,0.00,2.05,0.00,0.000,4,0.000,0.034,2290,1082,3433
$GC,5887,-0.80,-116.8,548.6,-6.6,218,5891,0.00,2.15,0.00,0.000,6,0.000,0.047,2290,2488,3433
$GC,6158,-0.80,-116.8,564.8,-6.0,225,6162,0.00,2.20,0.00,0.000,4,0.000,0.058,2290,3906,3432
$GC,6215,-0.80,-116.8,568.2,-5.7,226,6219,0.00,2.10,0.00,0.000,6,0.000,0.031,2290,2489,3431
$GC,6496,-0.80,-116.8,582.1,-4.8,233,6499,0.00,2.05,0.00,0.000,4,0.000,0.033,2290,1085,3430
$GC,6532,-0.80,-116.8,584.0,-5.5,233,6536,0.00,2.17,0.00,0.000,6,0.000,0.047,2290,2501,3430
$GC,6785,-0.80,-116.8,596.4,-5.1,239,6788,0.00,2.17,0.00,0.000,4,0.000,0.059,2290,3895,3428
$GC,6833,-0.80,-116.8,598.7,-4.9,240,6836,0.00,2.10,0.00,0.000,6,0.000,0.031,2290,2479,3428
$GC,7125,-0.80,-116.8,614.7,-5.5,247,7129,0.00,2.03,0.00,0.000,4,0.000,0.034,2290,1087,3428
$GC,7353,-0.80,-116.8,628.2,-7.1,252,7357,0.00,2.15,0.00,0.000,6,0.000,0.047,2290,2493,3428
$GC,7645,-0.80,-116.8,646.0,-6.2,259,7649,0.00,2.08,0.00,0.000,4,0.000,0.035,2293,1088,3426
$GC,7811,-0.80,-116.8,658.2,-7.0,262,7815,0.00,2.15,0.00,0.000,6,0.000,0.046,2293,2495,3425
$GC,8075,-0.80,-116.8,677.0,-7.2,269,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2495,3424
$GC,8319,-0.80,-116.8,696.5,-8.0,275,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2495,3423
$GC,8563,-0.80,-116.8,716.8,-8.3,281,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2495,3422
$GC,8806,-0.80,-116.8,737.1,-8.3,287,8810,0.00,2.08,0.00,0.000,4,0.000,0.035,2299,1088,3422
$GC,8886,-0.80,-116.8,744.1,-9.1,288,8890,0.00,2.15,0.00,0.000,6,0.000,0.048,2300,2491,3422
$GC,9145,-0.80,-116.8,765.5,-8.3,295,9149,0.00,2.08,0.00,0.000,4,0.000,0.035,2301,1081,3421
$GC,9186,-0.80,-116.8,769.4,-9.3,295,9193,0.00,2.17,0.00,0.000,6,0.000,0.046,2301,2482,3421
$GC,9439,-0.80,-116.8,791.4,-9.0,302,9442,0.00,2.22,0.00,0.000,4,0.000,0.059,2301,3905,3420
$GC,9508,-0.80,-116.8,798.0,-9.7,303,9512,0.00,2.10,0.00,0.000,6,0.000,0.034,2301,2490,3420
$GC,9778,-0.80,-116.8,822.1,-9.2,310,9782,0.00,2.25,0.00,0.000,4,0.000,0.059,2301,3902,3419
$GC,9835,-0.80,-116.8,827.7,-9.0,311,9839,0.00,2.12,0.00,0.000,6,0.000,0.033,2301,2478,3419
$GC,10116,-0.80,-116.8,851.9,-8.7,318,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2471,3419
$GC,10360,-0.80,-116.8,872.1,-8.2,324,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2470,3418
$GC,10603,-0.80,-116.8,890.6,-7.4,330,10607,0.00,2.28,0.00,0.000,4,0.000,0.060,2301,3902,3418
$GC,10661,-0.80,-116.8,894.9,-7.3,331,10665,0.00,2.10,0.00,0.000,6,0.000,0.034,2301,2490,3417
$STATE,10774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10774,begin apogee
$GC,10786,-0.27,0.0,902.3,6.5,334,10890,0.45,0.00,100.75,1.315,6,0.058,0.000,2478,2417,2950
$STATE,10891,end apogee,CONTROL_FINISHED_OK
$STATE,10891,begin climb
$GC,10896,0.80,116.8,907.3,0.0,336,11020,0.93,2.45,111.75,1.262,4,0.059,0.048,2805,3834,2472
$GC,11281,0.80,116.8,842.9,25.9,344,11285,0.00,2.17,0.00,0.000,6,0.000,0.031,2815,2420,2462
$GC,11539,0.80,116.8,780.8,23.3,351,11543,0.00,2.28,0.00,0.000,4,0.000,0.048,2809,3843,2458
$GC,11648,0.80,116.8,754.4,22.6,353,11651,0.00,2.15,0.00,0.000,6,0.000,0.031,2818,2420,2458
$GC,11922,0.80,116.8,695.9,20.9,360,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2413,2456
$GC,12167,0.80,116.8,646.4,20.3,366,12168,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2413,2455
$GC,12409,0.80,116.8,598.4,19.7,372,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2413,2455
$GC,12655,0.80,116.8,555.2,17.7,378,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2413,2454
$GC,12898,0.80,116.8,511.3,17.8,384,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2413,2454
$GC,13141,0.80,116.8,468.9,17.1,390,13144,0.00,2.10,0.00,0.000,4,0.000,0.035,2829,1002,2454
$GC,13333,0.80,116.8,436.2,16.3,394,13338,0.00,2.17,0.00,0.000,6,0.000,0.042,2822,2426,2453
$GC,13615,0.80,116.8,392.2,15.0,401,13619,0.00,2.17,0.00,0.000,4,0.000,0.050,2822,3832,2452
$GC,13679,0.80,116.8,382.4,15.4,402,13683,0.00,2.12,0.00,0.000,6,0.000,0.032,2832,2412,2452
$GC,13955,0.80,116.8,345.9,12.9,409,13958,0.00,2.08,0.00,0.000,4,0.000,0.035,2842,1003,2452
$GC,13998,0.80,116.8,340.9,11.0,409,14004,0.00,2.17,0.00,0.000,6,0.000,0.043,2836,2428,2452
$GC,14251,0.80,116.8,308.6,13.1,416,14255,0.00,2.17,0.00,0.000,4,0.000,0.051,2836,3832,2452
$GC,14513,0.80,116.8,272.5,12.7,421,14517,0.15,2.10,0.00,0.000,6,0.231,0.031,2813,2409,2451
$GC,14767,0.81,121.3,246.7,9.7,427,14770,0.00,2.22,0.00,0.000,4,0.000,0.050,2810,3840,2451
$GC,14920,0.81,121.3,229.4,11.7,430,14924,0.00,2.08,0.00,0.000,6,0.000,0.030,2819,2423,2451
$GC,15195,0.92,210.1,213.0,4.9,437,15277,0.00,2.33,74.22,0.827,4,0.000,0.048,2818,3827,2092
$GC,15530,0.92,210.1,136.9,24.5,458,15539,0.00,2.15,0.00,0.000,6,0.000,0.028,2828,2423,2086
$GC,15795,0.92,210.1,84.0,16.4,483,15799,0.00,2.22,0.00,0.000,4,0.000,0.044,2823,3833,2084
$GC,15857,0.92,210.1,73.6,15.2,488,15865,0.00,2.15,0.00,0.000,6,0.000,0.028,2832,2414,2084
$GC,16123,0.92,210.1,37.8,15.5,513,16127,0.00,2.05,0.00,0.000,4,0.000,0.030,2842,1016,2083
$GC,16229,0.92,210.1,20.3,15.9,528,16237,0.00,2.15,0.00,0.000,6,0.000,0.038,2835,2416,2083
$STATE,16327,end climb,SURFACE_DEPTH_REACHED
$STATE,16327,begin surface coast
$FINISH,0.5,1.023222
$STATE,16345,end surface coast,CONTROL_FINISHED_OK
$STATE,16350,begin surface
$SM_CCo,16375,90.05,0.607,0,0,1236,420.19
$SM_GC,0.98,0.00,0.00,90.05,0.000,0.000,0.607,49,2511,1236,-7.82,0.59,420.19
$IRIDIUM_FIX,2145.77,-15808.90,101100,000011
$TT8_MAMPS,0.023777
$HUMID,2030
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,22.90
$XPDR_PINGS,8
$24V_AH,24.0,5.306
$10V_AH,10.7,4.374
$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,17.325,145.425,286.725,90.050,0.000,31.514,32.816,236.151,2.000,0.000,0.000,11.624,1248.334,12241.172,470.922,2074.059,913.246,33.360,1420.244,0.000,2050.224,0.000,0.545,0.000
$DEVICE_MAMPS,230.867,144.963,1315.405,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,373.189,631.419,653.741,111.944,513.759,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44401,549
$CAP_FILE_SIZE,125849,0
$CFSIZE,260165632,215580672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,170811,100425,2155.228,-15807.157,45,1.7,45,9.9