version: 66.04
glider: 512
mission: 2
dive: 41
start: 8 17 111 22 18 50
data:
$ID,512
$MISSION,2
$DIVE,41
$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,-33329.047
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2500
$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,56
$R_STBD_OVSHOOT,59
$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
$GPS1,220701,2156.463,-15803.803,39,1.9,39,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-76.4
$GPS2,221756,2156.435,-15803.840,12,1.8,12,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,0.188
$KALMAN_X,-52719.4,229.7,-44.0,61944.8,-2467.4
$KALMAN_Y,-45492.4,146.4,376.9,73192.1,-2754.1
$MHEAD_RNG_PITCHd_Wd,26.7,90181,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.80,-116.8,0.0,0.0,0,97,0.00,0.00,-75.55,0.000,2,0.000,0.000,45,2526,3241
$GC,103,-0.80,-116.8,3.8,-7.0,10,120,8.12,2.12,-3.28,0.000,4,0.203,0.038,2247,1070,3427
$GC,142,-0.80,-116.8,24.3,-54.7,15,150,0.00,2.17,0.00,0.000,6,0.000,0.041,2238,2456,3428
$GC,417,-0.80,-116.8,110.7,-27.1,41,421,0.00,2.25,0.00,0.000,4,0.000,0.049,2227,3906,3429
$GC,474,-0.80,-116.8,125.8,-22.8,45,481,0.00,2.10,0.00,0.000,6,0.000,0.025,2226,2496,3430
$GC,740,-0.80,-116.8,181.7,-19.1,70,744,0.00,2.05,0.00,0.000,4,0.000,0.027,2226,1080,3431
$GC,812,-0.80,-116.8,194.5,-15.2,76,816,0.00,2.15,0.00,0.000,6,0.000,0.038,2216,2499,3431
$GC,1096,-0.80,-116.8,240.7,-15.9,85,1100,0.00,2.05,0.00,0.000,4,0.000,0.027,2222,1079,3431
$GC,1164,-0.80,-116.8,251.7,-13.8,86,1168,0.00,2.15,0.00,0.000,6,0.000,0.039,2213,2497,3431
$GC,1434,-0.80,-116.8,296.1,-16.9,93,1437,0.00,2.15,0.00,0.000,4,0.000,0.049,2202,3901,3431
$GC,1503,-0.80,-116.8,309.4,-16.7,94,1507,0.12,2.05,0.00,0.000,6,0.140,0.025,2241,2482,3430
$GC,1772,-0.80,-116.8,344.7,-12.8,101,1776,0.00,2.22,0.00,0.000,4,0.000,0.049,2231,3910,3430
$GC,1815,-0.80,-116.8,350.2,-12.4,102,1819,0.00,2.08,0.00,0.000,6,0.000,0.025,2231,2491,3429
$GC,2107,-0.80,-116.8,387.1,-12.7,109,2110,0.00,2.03,0.00,0.000,4,0.000,0.029,2231,1091,3428
$GC,2176,-0.80,-116.8,395.8,-11.8,110,2180,0.00,2.12,0.00,0.000,6,0.000,0.041,2222,2496,3427
$GC,2446,-0.80,-116.8,429.2,-12.3,117,2449,0.00,2.17,0.00,0.000,4,0.000,0.051,2212,3907,3424
$GC,2520,-0.80,-116.8,438.7,-11.8,118,2525,0.10,2.10,0.00,0.000,6,0.138,0.027,2238,2478,3424
$GC,2777,-0.80,-116.8,464.8,-10.1,125,2781,0.00,2.22,0.00,0.000,4,0.000,0.051,2228,3903,3421
$GC,2826,-0.80,-116.8,469.8,-10.4,126,2830,0.00,2.10,0.00,0.000,6,0.000,0.028,2229,2482,3421
$GC,3117,-0.80,-116.8,501.5,-10.9,133,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2475,3419
$GC,3360,-0.80,-116.8,527.9,-10.8,139,3364,0.00,2.22,0.00,0.000,4,0.000,0.054,2217,3904,3417
$GC,3390,-0.80,-116.8,531.6,-12.3,139,3394,0.00,2.10,0.00,0.000,6,0.000,0.029,2218,2486,3416
$GC,3656,-0.80,-116.8,564.8,-12.8,146,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2479,3414
$GC,3898,-0.80,-116.8,595.3,-12.5,152,3902,0.00,2.05,0.00,0.000,4,0.000,0.034,2217,1080,3413
$GC,3922,-0.80,-116.8,598.6,-13.1,152,3927,0.12,2.17,0.00,0.000,6,0.137,0.044,2241,2502,3412
$GC,4185,-0.80,-116.8,625.7,-10.1,159,4188,0.00,2.17,0.00,0.000,4,0.000,0.055,2232,3902,3410
$GC,4226,-0.80,-116.8,630.0,-10.3,159,4231,0.00,2.10,0.00,0.000,6,0.000,0.031,2232,2490,3410
$GC,4479,-0.80,-116.8,655.7,-10.1,166,4483,0.00,2.05,0.00,0.000,4,0.000,0.034,2232,1088,3409
$GC,4554,-0.80,-116.8,663.4,-10.0,167,4558,0.00,2.15,0.00,0.000,6,0.000,0.045,2223,2493,3408
$GC,4818,-0.80,-116.8,689.8,-10.0,174,4822,0.00,2.20,0.00,0.000,4,0.000,0.057,2212,3902,3406
$GC,4866,-0.80,-116.8,695.0,-11.3,175,4871,0.10,2.10,0.00,0.000,6,0.139,0.031,2238,2492,3405
$GC,5154,-0.80,-116.8,719.1,-8.2,182,5157,0.00,2.08,0.00,0.000,4,0.000,0.035,2242,1080,3403
$GC,5206,-0.80,-116.8,723.2,-6.6,183,5210,0.00,2.17,0.00,0.000,6,0.000,0.046,2237,2496,3404
$GC,5487,-0.80,-116.8,743.0,-7.0,190,5490,0.00,2.20,0.00,0.000,4,0.000,0.058,2225,3904,3402
$GC,5580,-0.80,-116.8,749.8,-7.2,192,5583,0.00,2.12,0.00,0.000,6,0.000,0.031,2225,2479,3402
$GC,5873,-0.80,-116.8,772.9,-8.2,199,5877,0.00,2.05,0.00,0.000,4,0.000,0.035,2226,1083,3400
$GC,5922,-0.80,-116.8,777.1,-8.2,200,5926,0.00,2.17,0.00,0.000,6,0.000,0.048,2223,2494,3399
$GC,6210,-0.80,-116.8,802.9,-9.3,207,6213,0.00,2.20,0.00,0.000,4,0.000,0.059,2212,3899,3399
$GC,6251,-0.80,-116.8,807.6,-10.6,207,6257,0.10,2.12,0.00,0.000,6,0.137,0.032,2238,2478,3398
$GC,6505,-0.80,-116.8,829.3,-8.6,214,6508,0.00,2.05,0.00,0.000,4,0.000,0.036,2243,1085,3397
$GC,6549,-0.80,-116.8,833.1,-8.8,214,6555,0.00,2.17,0.00,0.000,6,0.000,0.048,2237,2495,3397
$GC,6802,-0.80,-116.8,854.8,-8.7,221,6806,0.00,2.20,0.00,0.000,4,0.000,0.060,2227,3898,3396
$GC,6860,-0.80,-116.8,860.3,-9.6,222,6864,0.00,2.12,0.00,0.000,6,0.000,0.033,2227,2478,3396
$GC,7142,-0.80,-116.8,885.2,-8.9,229,7145,0.00,2.05,0.00,0.000,4,0.000,0.035,2226,1084,3394
$GC,7172,-0.80,-116.8,888.0,-8.6,229,7176,0.00,2.17,0.00,0.000,6,0.000,0.049,2223,2494,3395
$STATE,7345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7345,begin apogee
$GC,7356,-0.27,0.0,903.0,8.6,234,7454,0.57,0.00,94.95,1.305,6,0.125,0.000,2409,2404,2950
$STATE,7455,end apogee,CONTROL_FINISHED_OK
$STATE,7455,begin climb
$GC,7460,0.80,116.8,905.1,0.0,236,7582,0.93,0.00,112.22,1.244,6,0.042,0.000,2763,2403,2473
$GC,7828,0.80,116.8,852.6,21.3,245,7832,0.00,2.33,0.00,0.000,4,0.000,0.051,2763,3841,2462
$GC,7841,0.80,116.8,849.4,21.0,245,7845,0.00,2.15,0.00,0.000,6,0.000,0.031,2773,2432,2461
$GC,8115,0.80,116.8,791.1,21.1,252,8119,0.00,2.15,0.00,0.000,4,0.000,0.035,2783,1005,2458
$GC,8140,0.80,116.8,785.3,23.4,252,8145,0.00,2.22,0.00,0.000,6,0.000,0.042,2781,2432,2458
$GC,8404,0.80,116.8,727.6,21.9,259,8407,0.00,2.15,0.00,0.000,4,0.000,0.035,2790,1006,2457
$GC,8433,0.80,116.8,721.2,21.8,259,8438,0.12,2.20,0.00,0.000,6,0.211,0.045,2761,2418,2457
$GC,8697,0.80,116.8,669.2,19.5,266,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2418,2456
$GC,8940,0.80,116.8,623.2,18.7,272,8944,0.00,2.12,0.00,0.000,4,0.000,0.035,2770,1002,2455
$GC,9065,0.80,116.8,602.1,16.9,274,9069,0.00,2.20,0.00,0.000,6,0.000,0.044,2768,2423,2455
$GC,9317,0.80,116.8,560.5,16.6,280,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2424,2454
$GC,9563,0.80,116.8,520.4,16.5,286,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2424,2453
$GC,9805,0.80,116.8,484.9,14.3,292,9808,0.00,2.20,0.00,0.000,4,0.000,0.051,2768,3836,2453
$GC,10037,0.80,116.8,445.5,16.6,297,10041,0.00,2.12,0.00,0.000,6,0.000,0.032,2776,2417,2452
$GC,10323,0.80,116.8,405.0,13.8,304,10327,0.00,2.10,0.00,0.000,4,0.000,0.035,2787,1001,2451
$GC,10443,0.80,116.8,388.9,13.3,306,10447,0.00,2.17,0.00,0.000,6,0.000,0.042,2780,2422,2451
$GC,10700,0.80,116.8,353.8,13.9,313,10704,0.00,2.10,0.00,0.000,4,0.000,0.033,2789,1006,2451
$GC,10736,0.80,116.8,349.1,12.9,313,10741,0.12,2.17,0.00,0.000,6,0.208,0.042,2761,2429,2451
$GC,10989,0.80,116.8,317.3,13.0,319,10992,0.00,2.17,0.00,0.000,4,0.000,0.051,2755,3833,2451
$GC,11007,0.80,116.8,315.3,11.2,319,11011,0.00,2.10,0.00,0.000,6,0.000,0.031,2764,2414,2451
$GC,11283,0.80,117.7,288.4,9.9,326,11286,0.00,2.22,0.00,0.000,4,0.000,0.052,2764,3836,2450
$GC,11544,0.81,125.0,260.0,9.6,331,11556,0.00,2.10,4.15,0.595,6,0.000,0.031,2775,2410,2440
$GC,11802,0.89,185.9,241.1,6.5,338,11856,0.00,0.00,52.95,0.843,6,0.000,0.000,2774,2410,2192
$GC,12090,0.89,185.9,190.4,20.9,348,12094,0.00,2.25,0.00,0.000,4,0.000,0.048,2767,3831,2185
$GC,12112,0.89,185.9,185.5,20.7,349,12116,0.00,2.12,0.00,0.000,6,0.000,0.031,2776,2426,2184
$GC,12381,0.89,185.9,133.5,19.7,374,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2420,2182
$GC,12648,0.89,185.9,94.9,12.5,399,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2420,2183
$GC,12914,1.02,290.8,72.9,4.0,424,13005,0.15,2.15,83.80,0.672,4,0.093,0.028,2840,1009,1764
$GC,13120,1.02,290.8,32.8,27.6,441,13124,0.00,2.20,0.00,0.000,6,0.000,0.035,2835,2429,1758
$STATE,13221,end climb,SURFACE_DEPTH_REACHED
$STATE,13222,begin surface coast
$FINISH,0.2,1.023154
$STATE,13234,end surface coast,CONTROL_FINISHED_OK
$STATE,13234,begin surface
$SM_CCo,13260,55.25,0.597,0,0,1236,420.19
$SM_GC,1.06,0.00,0.00,55.25,0.000,0.000,0.597,44,2487,1236,-7.68,-0.08,420.19
$IRIDIUM_FIX,2148.09,-15805.88,101100,222243
$TT8_MAMPS,0.023777
$HUMID,2047
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,24.0,5.876
$10V_AH,10.7,4.777
$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,17.850,137.425,348.075,55.250,0.000,52.499,74.576,279.060,0.750,0.000,0.000,12.684,1036.196,9789.271,492.410,1706.409,945.912,33.361,1293.401,0.000,1690.472,0.000,0.544,0.000
$DEVICE_MAMPS,210.925,95.108,1305.434,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,311.430,557.737,574.670,97.299,448.362,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38386,460
$CAP_FILE_SIZE,108066,0
$CFSIZE,260165632,215371776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,180811,020237,2157.546,-15802.320,64,0.9,64,9.9