version: 66.04
glider: 512
mission: 2
dive: 47
start: 8 18 111 22 43 44
data:
$ID,512
$MISSION,2
$DIVE,47
$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,-33426.629
$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,70
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3000
$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
$GPS1,223106,2201.022,-15757.189,28,0.9,28,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.6
$GPS2,224250,2200.976,-15757.229,15,2.0,15,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.038,0.231
$KALMAN_X,-56556.3,444.2,-10.9,76919.9,-711.8
$KALMAN_Y,-55721.2,182.9,195.9,91982.6,-3658.2
$MHEAD_RNG_PITCHd_Wd,359.4,81669,-19.7,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.80,-116.8,0.0,0.0,0,94,0.00,0.00,-67.93,0.000,2,0.000,0.000,47,2511,3057
$GC,99,-0.80,-116.8,3.0,-5.2,9,124,8.05,2.12,-7.95,0.000,4,0.201,0.054,2227,3876,3480
$GC,242,-0.80,-116.8,46.8,-22.3,27,246,0.00,2.03,0.00,0.000,6,0.000,0.026,2228,2510,3481
$GC,512,-0.80,-116.8,113.5,-22.9,52,516,0.00,2.10,0.00,0.000,4,0.000,0.028,2228,1072,3482
$GC,574,-0.80,-116.8,126.4,-18.1,57,581,0.00,2.15,0.00,0.000,6,0.000,0.038,2218,2468,3483
$GC,841,-0.80,-116.8,179.5,-20.9,82,844,0.00,2.20,0.00,0.000,4,0.000,0.046,2207,3906,3483
$GC,946,-0.80,-116.8,199.3,-17.5,91,950,0.12,2.08,0.00,0.000,6,0.142,0.024,2240,2467,3483
$GC,1205,-0.80,-116.8,238.8,-14.8,98,1209,0.00,2.00,0.00,0.000,4,0.000,0.028,2240,1081,3483
$GC,1240,-0.80,-116.8,243.9,-13.0,98,1245,0.00,2.12,0.00,0.000,6,0.000,0.038,2236,2493,3484
$GC,1499,-0.80,-116.8,279.6,-14.1,105,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2494,3483
$GC,1743,-0.80,-116.8,313.7,-13.6,111,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2494,3483
$GC,1986,-0.80,-116.8,344.8,-12.7,117,1989,0.00,2.15,0.00,0.000,4,0.000,0.049,2225,3898,3481
$GC,2015,-0.80,-116.8,348.9,-13.2,117,2019,0.00,2.05,0.00,0.000,6,0.000,0.025,2225,2485,3481
$GC,2279,-0.80,-116.8,382.7,-12.9,124,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2478,3479
$GC,2522,-0.80,-116.8,414.0,-12.8,130,2525,0.00,2.03,0.00,0.000,4,0.000,0.031,2225,1088,3477
$GC,2570,-0.80,-116.8,420.0,-11.9,131,2574,0.00,2.12,0.00,0.000,6,0.000,0.041,2215,2494,3477
$GC,2863,-0.80,-116.8,457.5,-12.6,138,2867,0.00,2.15,0.00,0.000,4,0.000,0.051,2204,3895,3474
$GC,2905,-0.80,-116.8,463.3,-13.9,138,2912,0.12,2.08,0.00,0.000,6,0.136,0.028,2239,2485,3474
$GC,3157,-0.80,-116.8,491.8,-11.1,145,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2478,3472
$GC,3402,-0.80,-116.8,519.7,-11.4,151,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2478,3469
$GC,3645,-0.80,-116.8,546.2,-10.6,157,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2478,3468
$GC,3891,-0.80,-116.8,571.0,-10.0,163,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2478,3466
$GC,4133,-0.80,-116.8,594.3,-9.5,169,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2478,3464
$GC,4376,-0.80,-116.8,616.8,-9.0,175,4380,0.00,2.05,0.00,0.000,4,0.000,0.035,2239,1087,3463
$GC,4434,-0.80,-116.8,621.9,-8.3,176,4439,0.00,2.12,0.00,0.000,6,0.000,0.045,2236,2486,3462
$GC,4717,-0.80,-116.8,646.4,-8.8,183,4721,0.00,2.20,0.00,0.000,4,0.000,0.056,2225,3902,3459
$GC,4787,-0.80,-116.8,653.4,-9.2,184,4791,0.00,2.10,0.00,0.000,6,0.000,0.031,2225,2488,3458
$GC,5058,-0.80,-116.8,680.4,-10.2,191,5062,0.00,2.05,0.00,0.000,4,0.000,0.035,2225,1087,3456
$GC,5107,-0.80,-116.8,685.6,-10.5,192,5111,0.00,2.15,0.00,0.000,6,0.000,0.046,2223,2490,3457
$GC,5393,-0.80,-116.8,715.4,-10.4,199,5396,0.00,2.20,0.00,0.000,4,0.000,0.056,2212,3903,3455
$GC,5450,-0.80,-116.8,721.6,-10.5,200,5454,0.00,2.10,0.00,0.000,6,0.000,0.031,2212,2487,3455
$GC,5731,-0.80,-116.8,750.7,-10.3,207,5733,0.10,0.00,0.00,0.000,6,0.149,0.000,2238,2480,3453
$GC,5977,-0.80,-116.8,771.8,-8.5,213,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2480,3452
$GC,6218,-0.80,-116.8,791.6,-8.2,219,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2480,3451
$GC,6462,-0.80,-116.8,811.7,-8.3,225,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2480,3449
$GC,6707,-0.80,-116.8,831.9,-8.3,231,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2480,3449
$GC,6950,-0.80,-116.8,851.9,-8.2,237,6954,0.00,2.25,0.00,0.000,4,0.000,0.058,2229,3905,3447
$GC,6998,-0.80,-116.8,856.1,-8.4,238,7002,0.00,2.10,0.00,0.000,6,0.000,0.032,2229,2483,3447
$GC,7290,-0.80,-116.8,881.4,-8.6,245,7294,0.00,2.08,0.00,0.000,4,0.000,0.037,2229,1079,3446
$GC,7343,-0.80,-116.8,886.0,-8.8,246,7347,0.00,2.17,0.00,0.000,6,0.000,0.048,2223,2489,3446
$STATE,7538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7538,begin apogee
$GC,7550,-0.27,0.0,903.6,9.0,251,7648,0.57,0.00,94.88,1.305,6,0.119,0.000,2413,2410,3000
$STATE,7648,end apogee,CONTROL_FINISHED_OK
$STATE,7648,begin climb
$GC,7653,0.80,116.8,906.2,0.0,253,7779,0.93,2.42,110.85,1.249,4,0.044,0.048,2762,3843,2521
$GC,7950,0.80,116.8,874.2,21.9,259,7954,0.00,2.17,0.00,0.000,6,0.000,0.031,2773,2428,2513
$GC,8211,0.80,116.8,823.9,19.2,266,8215,0.00,2.25,0.00,0.000,4,0.000,0.049,2767,3844,2509
$GC,8235,0.80,116.8,818.3,20.2,266,8239,0.00,2.17,0.00,0.000,6,0.000,0.031,2776,2410,2508
$GC,8499,0.80,116.8,768.4,18.9,273,8503,0.00,2.10,0.00,0.000,4,0.000,0.034,2787,1003,2507
$GC,8512,0.80,116.8,765.9,18.7,273,8516,0.00,2.22,0.00,0.000,6,0.000,0.041,2781,2437,2507
$GC,8786,0.80,116.8,716.2,18.0,280,8790,0.00,2.17,0.00,0.000,4,0.000,0.051,2780,3831,2506
$GC,8805,0.80,116.8,712.6,17.5,280,8810,0.12,2.12,0.00,0.000,6,0.235,0.031,2764,2419,2506
$GC,9074,0.80,116.8,667.6,16.4,287,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2413,2506
$GC,9317,0.80,116.8,627.4,16.3,293,9321,0.00,2.22,0.00,0.000,4,0.000,0.051,2764,3834,2504
$GC,9330,0.80,116.8,625.0,16.3,293,9334,0.00,2.12,0.00,0.000,6,0.000,0.031,2773,2413,2504
$GC,9610,0.80,116.8,579.9,16.2,300,9614,0.00,2.08,0.00,0.000,4,0.000,0.036,2783,1011,2504
$GC,9703,0.80,116.8,565.3,16.3,302,9707,0.00,2.15,0.00,0.000,6,0.000,0.042,2781,2422,2503
$GC,9994,0.80,116.8,519.5,15.8,309,9998,0.00,2.10,0.00,0.000,4,0.000,0.033,2789,1010,2502
$GC,10007,0.80,116.8,517.4,16.0,309,10012,0.12,2.17,0.00,0.000,6,0.209,0.041,2762,2428,2502
$GC,10283,0.80,116.8,479.4,13.3,316,10286,0.00,2.20,0.00,0.000,4,0.000,0.051,2755,3838,2501
$GC,10314,0.80,116.8,474.9,13.9,316,10318,0.00,2.12,0.00,0.000,6,0.000,0.031,2764,2411,2501
$GC,10577,0.80,116.8,439.1,13.3,323,10581,0.00,2.22,0.00,0.000,4,0.000,0.053,2764,3828,2501
$GC,10839,0.80,116.8,404.6,13.0,328,10843,0.00,2.10,0.00,0.000,6,0.000,0.031,2774,2417,2500
$GC,11097,0.80,116.8,374.6,12.0,335,11101,0.00,2.20,0.00,0.000,4,0.000,0.051,2767,3829,2500
$GC,11177,0.80,116.8,364.4,12.6,336,11181,0.00,2.10,0.00,0.000,6,0.000,0.031,2776,2411,2501
$GC,11435,0.80,116.8,335.4,11.2,343,11438,0.00,2.05,0.00,0.000,4,0.000,0.035,2787,1015,2500
$GC,11696,0.81,122.7,306.8,9.7,348,11699,0.00,2.15,0.00,0.000,6,0.000,0.040,2781,2433,2500
$GC,11954,0.85,156.1,285.2,8.1,355,11987,0.00,0.00,30.60,0.878,6,0.000,0.000,2781,2433,2363
$GC,12242,0.85,156.1,248.1,14.6,362,12246,0.00,2.12,0.00,0.000,4,0.000,0.033,2789,1015,2357
$GC,12390,0.85,156.1,227.8,12.9,365,12394,0.00,2.15,0.00,0.000,6,0.000,0.039,2781,2420,2356
$GC,12649,0.85,156.1,196.5,11.9,373,12652,0.00,2.20,0.00,0.000,4,0.000,0.048,2780,3838,2356
$GC,12711,0.85,156.1,187.7,12.7,378,12720,0.00,2.15,0.00,0.000,6,0.000,0.029,2789,2415,2354
$GC,12978,0.91,207.9,162.6,7.0,403,13027,0.00,2.17,43.12,0.773,4,0.000,0.031,2799,1018,2151
$GC,13065,0.91,207.9,152.7,14.7,410,13069,0.00,2.17,0.00,0.000,6,0.000,0.038,2793,2419,2147
$GC,13337,0.91,207.9,106.5,14.9,435,13340,0.00,2.22,0.00,0.000,4,0.000,0.047,2793,3839,2143
$GC,13422,0.91,207.9,90.8,20.0,442,13430,0.00,2.15,0.00,0.000,6,0.000,0.027,2802,2420,2143
$GC,13688,0.93,218.9,62.1,9.4,467,13703,0.00,2.12,9.52,0.592,4,0.000,0.028,2813,1014,2107
$GC,13931,0.93,218.9,29.7,13.8,488,13939,0.00,2.15,0.00,0.000,6,0.000,0.035,2809,2420,2105
$STATE,14118,end climb,SURFACE_DEPTH_REACHED
$STATE,14118,begin surface coast
$FINISH,0.1,1.002325
$STATE,14141,end surface coast,CONTROL_FINISHED_OK
$STATE,14141,begin surface
$SM_CCo,14166,92.95,0.598,0,0,1286,420.19
$SM_GC,1.01,0.00,0.00,92.95,0.000,0.000,0.598,46,2499,1286,-7.67,0.25,420.19
$IRIDIUM_FIX,2152.74,-15757.67,111100,222247
$TT8_MAMPS,0.023777
$HUMID,1968
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,24.10
$XPDR_PINGS,4
$24V_AH,24.0,6.686
$10V_AH,10.7,5.406
$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,17.175,124.400,288.975,92.950,0.000,55.338,80.340,320.603,1.000,0.000,0.000,15.924,1140.693,10433.710,447.938,1929.405,1010.956,33.357,1296.055,0.000,1912.884,0.000,0.544,0.000
$DEVICE_MAMPS,234.702,76.700,1304.667,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,357.396,681.139,702.756,129.295,593.752,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44471,526
$CAP_FILE_SIZE,109731,0
$CFSIZE,260165632,215019520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,190811,024237,2202.265,-15756.278,26,1.7,26,9.9