version: 66.04
glider: 512
mission: 2
dive: 53
start: 8 20 111 2 24 35
data:
$ID,512
$MISSION,2
$DIVE,53
$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,410
$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,-33551.18
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2540
$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,59
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3070
$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
$GPS1,021107,2205.584,-15754.899,28,1.5,28,10.0
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-79.1
$GPS2,022343,2205.622,-15754.853,12,1.6,29,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.018,0.234
$KALMAN_X,1736.3,13.0,347.1,-903.3,63.4
$KALMAN_Y,-6537.1,41.0,-67.4,10985.1,-2086.5
$MHEAD_RNG_PITCHd_Wd,345.6,73457,-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,-116.8,0.0,0.0,0,90,0.00,0.00,-68.05,0.000,2,0.000,0.000,45,2493,3185
$GC,96,-0.80,-116.8,3.4,-6.0,9,121,8.30,2.22,-6.47,0.000,4,0.208,0.057,2260,3900,3551
$GC,198,-0.80,-116.8,44.8,-24.7,21,207,0.00,2.10,0.00,0.000,6,0.000,0.025,2260,2502,3552
$GC,463,-0.80,-116.8,109.6,-20.0,46,466,0.00,2.08,0.00,0.000,4,0.000,0.028,2260,1082,3553
$GC,556,-0.80,-116.8,125.0,-14.5,54,561,0.12,2.15,0.00,0.000,6,0.134,0.039,2284,2492,3554
$GC,820,-0.80,-116.8,160.6,-12.8,78,824,0.00,2.17,0.00,0.000,4,0.000,0.048,2275,3902,3554
$GC,882,-0.80,-116.8,168.4,-11.3,83,889,0.00,2.10,0.00,0.000,6,0.000,0.023,2274,2486,3554
$GC,1147,-0.80,-116.8,201.0,-12.5,108,1151,0.00,2.03,0.00,0.000,4,0.000,0.027,2274,1084,3554
$GC,1195,-0.80,-116.8,206.5,-10.4,109,1199,0.00,2.12,0.00,0.000,6,0.000,0.038,2264,2492,3554
$GC,1489,-0.80,-116.8,236.2,-9.9,116,1493,0.00,2.15,0.00,0.000,4,0.000,0.049,2253,3897,3554
$GC,1547,-0.80,-116.8,242.6,-10.5,117,1551,0.00,2.08,0.00,0.000,6,0.000,0.024,2254,2474,3554
$GC,1827,-0.80,-116.8,276.0,-12.0,124,1831,0.00,2.00,0.00,0.000,4,0.000,0.028,2253,1082,3553
$GC,1890,-0.80,-116.8,283.7,-11.5,125,1895,0.12,2.12,0.00,0.000,6,0.127,0.040,2286,2495,3553
$GC,2165,-0.80,-116.8,311.3,-10.1,132,2169,0.00,2.17,0.00,0.000,4,0.000,0.051,2277,3907,3552
$GC,2195,-0.80,-116.8,314.6,-10.7,132,2198,0.00,2.08,0.00,0.000,6,0.000,0.025,2277,2484,3552
$GC,2459,-0.80,-116.8,339.8,-9.4,139,2462,0.00,2.00,0.00,0.000,4,0.000,0.028,2277,1091,3550
$GC,2501,-0.80,-116.8,343.4,-8.0,139,2507,0.00,2.12,0.00,0.000,6,0.000,0.041,2276,2495,3550
$GC,2754,-0.80,-116.8,364.5,-8.3,146,2758,0.00,2.17,0.00,0.000,4,0.000,0.053,2265,3903,3548
$GC,2803,-0.80,-116.8,368.3,-7.2,147,2806,0.00,2.08,0.00,0.000,6,0.000,0.027,2265,2484,3548
$GC,3096,-0.80,-116.8,393.4,-8.9,154,3100,0.00,2.03,0.00,0.000,4,0.000,0.029,2266,1083,3546
$GC,3177,-0.80,-116.8,401.4,-9.1,155,3181,0.00,2.15,0.00,0.000,6,0.000,0.043,2263,2495,3546
$GC,3431,-0.80,-116.8,426.0,-10.0,161,3434,0.00,2.17,0.00,0.000,4,0.000,0.054,2252,3903,3544
$GC,3483,-0.80,-116.8,431.6,-9.7,162,3487,0.00,2.08,0.00,0.000,6,0.000,0.028,2252,2492,3543
$GC,3771,-0.80,-116.8,461.9,-10.7,169,3773,0.10,0.00,0.00,0.000,6,0.140,0.000,2279,2485,3541
$GC,4013,-0.80,-116.8,481.5,-7.7,175,4017,0.00,2.22,0.00,0.000,4,0.000,0.055,2276,3897,3539
$GC,4049,-0.80,-116.8,484.4,-7.9,175,4056,0.00,2.10,0.00,0.000,6,0.000,0.029,2276,2482,3539
$GC,4302,-0.80,-116.8,503.6,-7.5,182,4306,0.00,2.03,0.00,0.000,4,0.000,0.031,2276,1092,3537
$GC,4338,-0.80,-116.8,506.4,-7.5,182,4342,0.00,2.15,0.00,0.000,6,0.000,0.044,2276,2498,3536
$GC,4596,-0.80,-116.8,524.7,-7.1,189,4600,0.00,2.20,0.00,0.000,4,0.000,0.057,2266,3907,3535
$GC,4654,-0.80,-116.8,528.8,-6.6,190,4658,0.00,2.08,0.00,0.000,6,0.000,0.029,2265,2499,3535
$GC,4937,-0.80,-116.8,549.7,-7.5,197,4940,0.00,2.05,0.00,0.000,4,0.000,0.032,2265,1091,3533
$GC,4985,-0.80,-116.8,553.4,-7.3,198,4989,0.00,2.15,0.00,0.000,6,0.000,0.046,2263,2496,3532
$GC,5271,-0.80,-116.8,576.4,-8.1,205,5274,0.00,2.20,0.00,0.000,4,0.000,0.058,2252,3900,3530
$GC,5341,-0.80,-116.8,582.1,-7.8,206,5345,0.00,2.08,0.00,0.000,6,0.000,0.031,2252,2492,3530
$GC,5610,-0.80,-116.8,605.5,-8.7,213,5614,0.00,2.05,0.00,0.000,4,0.000,0.033,2252,1090,3528
$GC,5658,-0.80,-116.8,609.7,-7.9,214,5663,0.12,2.15,0.00,0.000,6,0.132,0.048,2286,2487,3528
$GC,5946,-0.80,-116.8,627.4,-6.0,221,5950,0.00,2.22,0.00,0.000,4,0.000,0.059,2277,3909,3527
$GC,5999,-0.80,-116.8,631.0,-6.5,222,6002,0.00,2.12,0.00,0.000,6,0.000,0.031,2277,2476,3526
$GC,6285,-0.80,-116.8,649.7,-6.6,229,6289,0.00,2.00,0.00,0.000,4,0.000,0.033,2278,1092,3524
$GC,6316,-0.80,-116.8,652.0,-7.3,229,6319,0.00,2.15,0.00,0.000,6,0.000,0.047,2277,2492,3524
$GC,6582,-0.80,-116.8,669.6,-6.7,236,6586,0.00,2.20,0.00,0.000,4,0.000,0.058,2266,3901,3523
$GC,6640,-0.80,-116.8,673.7,-6.9,237,6644,0.00,2.10,0.00,0.000,6,0.000,0.031,2266,2486,3522
$GC,6921,-0.80,-116.8,693.8,-7.1,244,6924,0.00,2.05,0.00,0.000,4,0.000,0.034,2266,1087,3521
$GC,6952,-0.80,-116.8,696.0,-7.6,244,6956,0.00,2.17,0.00,0.000,6,0.000,0.048,2263,2495,3521
$GC,7210,-0.80,-116.8,714.5,-7.2,251,7214,0.00,2.20,0.00,0.000,4,0.000,0.061,2252,3898,3521
$GC,7274,-0.80,-116.8,719.2,-7.2,252,7278,0.00,2.08,0.00,0.000,6,0.000,0.031,2252,2492,3520
$GC,7551,-0.80,-116.8,740.4,-7.8,259,7555,0.00,2.08,0.00,0.000,4,0.000,0.035,2252,1079,3519
$GC,7609,-0.80,-116.8,745.2,-7.7,260,7614,0.12,2.17,0.00,0.000,6,0.132,0.049,2286,2488,3519
$GC,7884,-0.80,-116.8,760.2,-5.4,267,7888,0.00,2.22,0.00,0.000,4,0.000,0.060,2277,3903,3518
$GC,7937,-0.80,-116.8,763.3,-5.7,268,7941,0.00,2.12,0.00,0.000,6,0.000,0.033,2277,2476,3518
$GC,8217,-0.80,-116.8,780.5,-6.1,275,8221,0.00,2.03,0.00,0.000,4,0.000,0.034,2277,1088,3517
$GC,8479,-0.80,-116.8,799.3,-8.1,280,8483,0.00,2.17,0.00,0.000,6,0.000,0.048,2277,2500,3516
$GC,8736,-0.80,-116.8,817.6,-7.1,287,8740,0.00,2.08,0.00,0.000,4,0.000,0.034,2279,1091,3515
$GC,8981,-0.80,-116.8,835.4,-6.9,292,8985,0.00,2.15,0.00,0.000,6,0.000,0.047,2279,2492,3514
$GC,9256,-0.80,-116.8,853.1,-6.4,299,9260,0.00,2.08,0.00,0.000,4,0.000,0.034,2284,1087,3514
$GC,9314,-0.80,-116.8,857.1,-7.0,300,9318,0.00,2.15,0.00,0.000,6,0.000,0.048,2284,2491,3514
$GC,9595,-0.80,-116.8,875.0,-6.6,307,9599,0.00,2.20,0.00,0.000,4,0.000,0.060,2284,3894,3513
$GC,9643,-0.80,-116.8,878.4,-6.8,308,9647,0.00,2.08,0.00,0.000,6,0.000,0.032,2284,2487,3513
$GC,9935,-0.80,-116.8,897.5,-6.9,315,9939,0.00,2.05,0.00,0.000,4,0.000,0.034,2288,1085,3512
$STATE,9965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9965,begin apogee
$GC,9979,-0.27,0.0,900.2,7.5,315,10075,0.43,0.00,93.88,1.310,6,0.076,0.000,2455,2427,3070
$STATE,10076,end apogee,CONTROL_FINISHED_OK
$STATE,10076,begin climb
$GC,10081,0.80,116.8,905.7,0.0,318,10209,0.95,0.00,112.72,1.243,6,0.051,0.000,2803,2428,2593
$GC,10450,0.80,116.8,874.9,17.8,327,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2427,2583
$GC,10696,0.80,116.8,833.1,17.0,333,10700,0.00,2.12,0.00,0.000,4,0.000,0.034,2814,1020,2580
$GC,10708,0.80,116.8,830.4,17.3,333,10713,0.00,2.20,0.00,0.000,6,0.000,0.042,2809,2432,2580
$GC,10983,0.80,116.8,784.3,16.6,340,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2431,2578
$GC,11229,0.80,116.8,744.9,16.2,346,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2431,2577
$GC,11471,0.80,116.8,706.4,15.6,352,11475,0.00,2.12,0.00,0.000,4,0.000,0.034,2819,1010,2576
$GC,11512,0.80,116.8,700.1,13.9,352,11518,0.00,2.17,0.00,0.000,6,0.000,0.044,2819,2418,2576
$GC,11764,0.80,116.8,662.3,14.7,359,11765,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2418,2574
$GC,12007,0.80,116.8,628.6,13.7,365,12011,0.00,2.20,0.00,0.000,4,0.000,0.051,2819,3832,2574
$GC,12021,0.80,116.8,626.6,13.9,365,12025,0.00,2.10,0.00,0.000,6,0.000,0.031,2828,2423,2574
$GC,12302,0.80,116.8,588.6,13.5,372,12306,0.12,2.22,0.00,0.000,4,0.240,0.048,2798,3838,2574
$GC,12325,0.80,116.8,585.2,14.5,372,12329,0.00,2.12,0.00,0.000,6,0.000,0.031,2807,2415,2573
$GC,12588,0.80,116.8,553.6,11.4,379,12592,0.00,2.22,0.00,0.000,4,0.000,0.053,2807,3829,2572
$GC,12602,0.80,116.8,551.9,11.4,379,12605,0.00,2.10,0.00,0.000,6,0.000,0.031,2818,2423,2572
$GC,12883,0.80,116.8,518.0,12.2,386,12885,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2418,2572
$GC,13125,0.80,116.8,490.9,10.6,392,13129,0.00,2.08,0.00,0.000,4,0.000,0.034,2828,1005,2572
$GC,13138,0.80,116.8,489.3,10.4,392,13142,0.00,2.17,0.00,0.000,6,0.000,0.043,2822,2430,2572
$GC,13420,0.82,130.7,462.4,9.2,399,13434,0.00,2.20,9.65,0.923,4,0.000,0.053,2822,3827,2537
$GC,13537,0.82,130.7,449.2,11.0,401,13542,0.00,2.12,0.00,0.000,6,0.000,0.031,2832,2407,2536
$GC,13801,0.82,130.7,418.0,12.0,408,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2402,2534
$GC,14046,0.83,137.7,392.5,9.6,414,14059,0.00,2.12,7.60,0.839,4,0.000,0.034,2842,1013,2508
$GC,14305,0.83,137.7,364.5,11.6,419,14309,0.00,2.15,0.00,0.000,6,0.000,0.042,2836,2418,2507
$GC,14564,0.83,137.7,336.2,11.2,426,14568,0.00,2.20,0.00,0.000,4,0.000,0.051,2836,3835,2506
$GC,14825,0.83,137.7,306.9,10.3,431,14830,0.15,2.10,0.00,0.000,6,0.233,0.031,2814,2412,2505
$GC,15078,0.90,196.8,288.4,6.6,437,15134,0.00,2.33,50.95,0.894,4,0.000,0.048,2809,3835,2269
$GC,15372,0.90,196.8,233.6,20.4,443,15376,0.00,2.12,0.00,0.000,6,0.000,0.030,2818,2437,2262
$GC,15635,0.90,196.8,186.5,17.3,453,15639,0.00,2.15,0.00,0.000,4,0.000,0.034,2829,998,2260
$GC,15867,0.90,196.8,149.1,14.5,473,15875,0.00,2.22,0.00,0.000,6,0.000,0.041,2822,2421,2259
$GC,16132,0.90,196.8,109.0,14.9,498,16140,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2421,2258
$GC,16398,0.93,223.6,78.0,8.5,523,16425,0.00,2.17,22.15,0.665,4,0.000,0.029,2831,1002,2157
$GC,16673,0.93,223.6,45.9,10.7,547,16682,0.00,2.20,0.00,0.000,6,0.000,0.037,2831,2426,2153
$GC,16944,0.93,223.6,14.0,12.4,583,16952,0.00,2.12,0.00,0.000,4,0.000,0.028,2841,997,2153
$GC,17021,0.93,223.6,3.4,16.8,596,17029,0.00,2.17,0.00,0.000,6,0.000,0.038,2836,2412,2153
$STATE,17035,end climb,SURFACE_DEPTH_REACHED
$STATE,17035,begin surface coast
$FINISH,0.2,1.002348
$STATE,17056,end surface coast,CONTROL_FINISHED_OK
$STATE,17056,begin surface
$SM_CCo,17080,81.40,0.599,0,0,1397,410.13
$SM_GC,1.12,0.00,0.00,81.40,0.000,0.000,0.599,43,2500,1397,-7.80,0.28,410.13
$IRIDIUM_FIX,2155.06,-15756.80,131100,020250
$TT8_MAMPS,0.023777
$HUMID,1977
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.90
$XPDR_PINGS,6
$24V_AH,24.0,7.493
$10V_AH,10.7,6.120
$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,17.675,179.175,296.950,81.400,0.000,59.075,70.578,356.645,1.500,0.000,0.000,33.452,1378.970,12469.297,474.340,2418.157,1173.017,32.350,1561.855,0.000,2381.800,0.000,0.544,0.000
$DEVICE_MAMPS,240.071,79.001,1310.036,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,408.548,737.652,759.719,134.484,615.639,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50930,601
$CAP_FILE_SIZE,144582,0
$CFSIZE,260165632,214585344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,2,0
$GPS,200811,071207,2206.754,-15754.654,40,1.2,40,10.0