version: 66.04
glider: 512
mission: 2
dive: 55
start: 8 20 111 12 19 2
data:
$ID,512
$MISSION,2
$DIVE,55
$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,-33601.82
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2510
$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,45
$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
$GPS1,115707,2207.771,-15754.949,41,1.8,41,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.9
$GPS2,121808,2207.711,-15755.103,12,1.9,12,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.066,0.225
$KALMAN_X,3258.2,-50.2,-150.1,-2281.6,1088.8
$KALMAN_Y,-11431.7,303.7,124.6,19269.4,-3232.8
$MHEAD_RNG_PITCHd_Wd,333.7,69564,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-67.97,0.000,2,0.000,0.000,46,2518,3175
$GC,95,-0.80,-116.8,3.4,-5.6,9,120,8.12,2.12,-6.72,0.000,4,0.203,0.051,2237,3886,3550
$GC,218,-0.80,-116.8,47.3,-23.1,23,222,0.00,2.03,0.00,0.000,6,0.000,0.025,2237,2504,3550
$GC,487,-0.80,-116.8,110.0,-21.5,48,491,0.00,2.08,0.00,0.000,4,0.000,0.028,2237,1083,3551
$GC,550,-0.80,-116.8,122.1,-17.5,53,557,0.00,2.12,0.00,0.000,6,0.000,0.038,2226,2465,3551
$GC,816,-0.80,-116.8,173.6,-20.1,78,820,0.00,2.20,0.00,0.000,4,0.000,0.046,2215,3903,3552
$GC,909,-0.80,-116.8,190.0,-16.3,86,914,0.12,2.08,0.00,0.000,6,0.141,0.023,2250,2478,3552
$GC,1185,-0.80,-116.8,230.8,-14.6,97,1189,0.00,2.00,0.00,0.000,4,0.000,0.028,2250,1089,3552
$GC,1271,-0.80,-116.8,242.8,-12.9,98,1277,0.00,2.12,0.00,0.000,6,0.000,0.039,2250,2495,3552
$GC,1523,-0.80,-116.8,275.3,-12.7,105,1527,0.00,2.15,0.00,0.000,4,0.000,0.050,2238,3894,3551
$GC,1572,-0.80,-116.8,281.0,-11.0,106,1576,0.00,2.05,0.00,0.000,6,0.000,0.024,2238,2485,3551
$GC,1864,-0.80,-116.8,314.0,-11.0,113,1867,0.00,2.03,0.00,0.000,4,0.000,0.029,2238,1085,3550
$GC,1933,-0.80,-116.8,321.2,-9.7,114,1937,0.00,2.12,0.00,0.000,6,0.000,0.041,2236,2488,3550
$GC,2204,-0.80,-116.8,351.1,-11.7,121,2208,0.00,2.17,0.00,0.000,4,0.000,0.051,2225,3899,3548
$GC,2291,-0.80,-116.8,361.7,-11.7,122,2297,0.00,2.05,0.00,0.000,6,0.000,0.025,2225,2491,3547
$GC,2543,-0.80,-116.8,394.7,-13.4,129,2547,0.00,2.05,0.00,0.000,4,0.000,0.030,2225,1080,3545
$GC,2573,-0.80,-116.8,399.0,-13.7,129,2576,0.00,2.15,0.00,0.000,6,0.000,0.041,2222,2494,3545
$GC,2837,-0.80,-116.8,432.1,-12.8,136,2841,0.10,2.17,0.00,0.000,4,0.154,0.051,2239,3905,3542
$GC,2895,-0.80,-116.8,439.0,-10.4,137,2899,0.00,2.08,0.00,0.000,6,0.000,0.027,2238,2492,3541
$GC,3171,-0.80,-116.8,469.0,-11.0,144,3174,0.00,2.05,0.00,0.000,4,0.000,0.031,2238,1084,3539
$GC,3257,-0.80,-116.8,478.3,-9.8,145,3265,0.00,2.17,0.00,0.000,6,0.000,0.044,2236,2488,3539
$GC,3510,-0.80,-116.8,506.3,-11.2,152,3514,0.00,2.17,0.00,0.000,4,0.000,0.053,2225,3903,3537
$GC,3551,-0.80,-116.8,511.0,-11.0,152,3557,0.00,2.08,0.00,0.000,6,0.000,0.028,2225,2489,3536
$GC,3803,-0.80,-116.8,539.4,-11.2,159,3806,0.00,2.05,0.00,0.000,4,0.000,0.032,2225,1085,3534
$GC,3838,-0.80,-116.8,543.4,-11.0,159,3842,0.00,2.15,0.00,0.000,6,0.000,0.044,2224,2491,3534
$GC,4097,-0.80,-116.8,570.9,-10.7,166,4101,0.00,2.20,0.00,0.000,4,0.000,0.054,2212,3907,3531
$GC,4167,-0.80,-116.8,579.0,-10.7,167,4171,0.15,2.10,0.00,0.000,6,0.125,0.030,2257,2493,3531
$GC,4437,-0.80,-116.8,601.4,-8.2,174,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2485,3529
$GC,4680,-0.80,-116.8,622.2,-8.5,180,4683,0.00,2.08,0.00,0.000,4,0.000,0.033,2257,1076,3527
$GC,4710,-0.80,-116.8,625.0,-8.5,180,4714,0.00,2.17,0.00,0.000,6,0.000,0.045,2250,2491,3527
$GC,4968,-0.80,-116.8,647.5,-8.8,187,4972,0.00,2.20,0.00,0.000,4,0.000,0.057,2239,3903,3525
$GC,5026,-0.80,-116.8,652.8,-8.8,188,5030,0.00,2.10,0.00,0.000,6,0.000,0.031,2239,2482,3524
$GC,5307,-0.80,-116.8,680.7,-10.3,195,5311,0.00,2.05,0.00,0.000,4,0.000,0.035,2238,1082,3523
$GC,5360,-0.80,-116.8,686.3,-9.5,196,5364,0.00,2.17,0.00,0.000,6,0.000,0.048,2237,2494,3523
$GC,5640,-0.80,-116.8,715.6,-10.5,203,5644,0.00,2.20,0.00,0.000,4,0.000,0.058,2226,3898,3521
$GC,5710,-0.80,-116.8,722.8,-10.3,204,5714,0.00,2.10,0.00,0.000,6,0.000,0.031,2226,2489,3520
$GC,5980,-0.80,-116.8,750.9,-10.5,211,5984,0.00,2.08,0.00,0.000,4,0.000,0.035,2225,1081,3519
$GC,6010,-0.80,-116.8,754.2,-10.6,211,6014,0.00,2.17,0.00,0.000,6,0.000,0.048,2223,2489,3519
$GC,6273,-0.80,-116.8,781.0,-10.5,218,6277,0.00,2.20,0.00,0.000,4,0.000,0.058,2212,3897,3517
$GC,6348,-0.80,-116.8,788.9,-10.5,219,6353,0.12,2.10,0.00,0.000,6,0.128,0.031,2249,2484,3517
$GC,6607,-0.80,-116.8,809.3,-7.8,226,6610,0.00,2.08,0.00,0.000,4,0.000,0.035,2249,1075,3516
$GC,6637,-0.80,-116.8,811.9,-8.2,226,6641,0.00,2.20,0.00,0.000,6,0.000,0.048,2249,2498,3516
$GC,6895,-0.80,-116.8,831.1,-7.5,233,6899,0.00,2.20,0.00,0.000,4,0.000,0.060,2239,3898,3515
$GC,6954,-0.80,-116.8,835.8,-7.5,234,6957,0.00,2.12,0.00,0.000,6,0.000,0.032,2239,2476,3514
$GC,7236,-0.80,-116.8,858.1,-8.1,241,7239,0.00,2.05,0.00,0.000,4,0.000,0.036,2239,1085,3513
$GC,7284,-0.80,-116.8,862.1,-8.4,242,7288,0.00,2.17,0.00,0.000,6,0.000,0.049,2237,2492,3514
$GC,7571,-0.80,-116.8,885.2,-8.2,249,7574,0.00,2.22,0.00,0.000,4,0.000,0.061,2233,3903,3512
$GC,7640,-0.80,-116.8,890.8,-7.9,250,7644,0.00,2.12,0.00,0.000,6,0.000,0.033,2233,2481,3512
$STATE,7781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7782,begin apogee
$GC,7793,-0.27,0.0,902.7,8.3,254,7890,0.57,0.00,93.55,1.301,6,0.139,0.000,2424,2473,3070
$STATE,7890,end apogee,CONTROL_FINISHED_OK
$STATE,7890,begin climb
$GC,7895,0.80,116.8,905.0,0.0,256,8027,0.93,2.35,112.32,1.230,4,0.044,0.048,2767,3836,2592
$GC,8051,0.80,116.8,911.1,10.5,259,8055,0.00,2.25,0.00,0.000,6,0.000,0.031,2776,2417,2589
$GC,8310,0.80,116.8,867.5,17.1,266,8314,0.00,2.28,0.00,0.000,4,0.000,0.050,2776,3834,2582
$GC,8339,0.80,116.8,861.6,19.1,266,8343,0.00,2.17,0.00,0.000,6,0.000,0.031,2786,2413,2581
$GC,8597,0.80,116.8,819.3,16.2,273,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2407,2579
$GC,8841,0.80,116.8,779.6,16.2,279,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2407,2578
$GC,9085,0.80,116.8,741.1,15.8,285,9089,0.00,2.25,0.00,0.000,4,0.000,0.049,2780,3845,2577
$GC,9103,0.80,116.8,738.0,15.4,285,9107,0.00,2.15,0.00,0.000,6,0.000,0.031,2790,2408,2577
$GC,9371,0.80,116.8,698.8,14.4,292,9375,0.00,2.25,0.00,0.000,4,0.000,0.050,2781,3842,2576
$GC,9588,0.80,116.8,665.4,15.1,296,9594,0.00,2.15,0.00,0.000,6,0.000,0.031,2790,2409,2574
$GC,9840,0.80,116.8,629.8,14.0,303,9843,0.00,2.22,0.00,0.000,4,0.000,0.051,2781,3835,2574
$GC,9887,0.80,116.8,622.6,15.7,304,9891,0.00,2.12,0.00,0.000,6,0.000,0.031,2790,2416,2574
$GC,10181,0.80,116.8,584.4,12.4,311,10185,0.00,2.22,0.00,0.000,4,0.000,0.049,2781,3848,2572
$GC,10222,0.80,116.8,578.6,12.7,311,10228,0.00,2.15,0.00,0.000,6,0.000,0.031,2790,2407,2573
$GC,10476,0.80,116.8,547.4,12.2,318,10479,0.00,2.22,0.00,0.000,4,0.000,0.049,2782,3836,2572
$GC,10601,0.80,116.8,530.3,12.8,320,10605,0.00,2.12,0.00,0.000,6,0.000,0.031,2790,2413,2572
$GC,10859,0.80,116.8,498.6,12.5,327,10863,0.00,2.22,0.00,0.000,4,0.000,0.051,2782,3838,2572
$GC,11029,0.80,116.8,477.2,11.5,330,11033,0.00,2.12,0.00,0.000,6,0.000,0.031,2790,2413,2571
$GC,11288,0.83,137.5,454.3,8.8,337,11308,0.00,2.10,15.40,0.961,4,0.000,0.035,2801,1007,2509
$GC,11496,0.83,137.5,431.6,12.0,341,11500,0.00,2.20,0.00,0.000,6,0.000,0.041,2793,2436,2506
$GC,11748,0.83,137.5,404.3,10.5,347,11752,0.00,2.17,0.00,0.000,4,0.000,0.051,2793,3836,2505
$GC,11762,0.83,139.2,402.8,9.9,347,11766,0.00,2.12,0.00,0.000,6,0.000,0.031,2802,2415,2505
$GC,12042,0.83,139.2,371.2,11.5,354,12046,0.00,2.22,0.00,0.000,4,0.000,0.051,2794,3834,2505
$GC,12303,0.83,139.2,337.2,12.5,359,12306,0.00,2.12,0.00,0.000,6,0.000,0.031,2803,2410,2504
$GC,12562,0.84,146.2,311.6,9.6,366,12576,0.00,2.10,8.68,0.809,4,0.000,0.034,2814,1015,2472
$GC,12718,0.85,152.2,296.6,9.7,369,12731,0.00,2.15,6.72,0.748,6,0.000,0.042,2809,2420,2449
$GC,12993,0.85,159.2,269.4,9.6,376,13007,0.00,2.28,7.35,0.746,4,0.000,0.050,2809,3834,2421
$GC,13056,0.86,163.9,263.2,9.7,377,13067,0.12,2.12,6.28,0.703,6,0.219,0.029,2792,2410,2401
$GC,13326,0.86,163.9,232.4,11.8,384,13330,0.00,2.25,0.00,0.000,4,0.000,0.048,2782,3840,2399
$GC,13368,0.86,163.9,227.2,12.3,385,13372,0.00,2.12,0.00,0.000,6,0.000,0.029,2790,2417,2398
$GC,13633,0.86,163.9,193.9,11.0,395,13637,0.00,2.22,0.00,0.000,4,0.000,0.047,2782,3835,2398
$GC,13821,0.91,206.5,176.0,7.5,411,13863,0.00,2.10,36.65,0.783,6,0.000,0.029,2791,2413,2228
$GC,14121,0.91,206.5,136.4,13.1,438,14124,0.00,2.08,0.00,0.000,4,0.000,0.031,2801,1018,2221
$GC,14385,0.91,206.5,103.8,12.6,461,14389,0.00,2.15,0.00,0.000,6,0.000,0.038,2793,2426,2220
$GC,14657,0.95,238.6,80.0,8.1,486,14685,0.00,0.00,26.50,0.656,6,0.000,0.000,2793,2426,2097
$GC,14942,0.95,238.6,43.2,14.0,513,14950,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2426,2092
$STATE,15206,end climb,SURFACE_DEPTH_REACHED
$STATE,15206,begin surface coast
$FINISH,0.1,1.023234
$STATE,15224,end surface coast,CONTROL_FINISHED_OK
$STATE,15224,begin surface
$SM_CCo,15249,81.57,0.589,0,0,1396,410.13
$SM_GC,1.04,0.00,0.00,81.57,0.000,0.000,0.589,44,2523,1396,-7.71,0.93,410.13
$IRIDIUM_FIX,2157.39,-15753.77,131100,121230
$TT8_MAMPS,0.023777
$HUMID,1977
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.40
$XPDR_PINGS,10
$24V_AH,24.0,7.796
$10V_AH,10.7,6.355
$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,17.350,167.450,313.450,81.575,0.000,112.413,155.270,609.211,2.500,0.000,0.000,13.062,1261.931,11111.792,478.965,2222.542,1513.362,33.358,1479.833,0.000,2198.155,0.000,0.545,0.000
$DEVICE_MAMPS,218.595,74.399,1300.832,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,378.234,715.086,737.983,130.735,594.503,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44503,557
$CAP_FILE_SIZE,138196,0
$CFSIZE,260165632,214470656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,2,0
$GPS,200811,163607,2209.115,-15755.282,45,1.4,45,10.0