version: 66.04
glider: 512
mission: 2
dive: 56
start: 8 20 111 16 53 48
data:
$ID,512
$MISSION,2
$DIVE,56
$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,-33621.398
$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,55
$R_STBD_OVSHOOT,57
$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
$GPS1,163607,2209.115,-15755.282,45,1.4,45,10.0
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.0
$GPS2,165255,2209.108,-15755.235,13,1.2,18,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.028,0.233
$KALMAN_X,3891.1,-105.5,227.0,-3467.9,355.5
$KALMAN_Y,-12832.1,18.8,369.5,23291.4,-3024.5
$MHEAD_RNG_PITCHd_Wd,343.2,66968,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.80,-116.8,0.0,0.0,0,93,0.00,0.00,-67.97,0.000,2,0.000,0.000,44,2525,3176
$GC,99,-0.80,-116.8,3.4,-5.2,9,124,8.15,2.10,-6.60,0.000,4,0.205,0.054,2235,3866,3550
$GC,286,-0.80,-116.8,56.9,-22.3,30,290,0.00,2.03,0.00,0.000,6,0.000,0.024,2235,2494,3551
$GC,558,-0.80,-116.8,123.2,-21.3,55,561,0.00,2.05,0.00,0.000,4,0.000,0.027,2235,1078,3551
$GC,599,-0.80,-116.8,132.5,-20.1,58,607,0.00,2.12,0.00,0.000,6,0.000,0.036,2225,2464,3552
$GC,863,-0.80,-116.8,185.7,-19.5,83,867,0.00,2.03,0.00,0.000,4,0.000,0.028,2225,1075,3552
$GC,902,-0.80,-116.8,192.1,-16.6,86,906,0.00,2.15,0.00,0.000,6,0.000,0.038,2222,2497,3553
$GC,1163,-0.80,-116.8,235.3,-16.5,96,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2497,3553
$GC,1405,-0.80,-116.8,275.9,-16.6,102,1408,0.00,2.15,0.00,0.000,4,0.000,0.048,2212,3906,3552
$GC,1445,-0.80,-116.8,283.5,-17.7,102,1452,0.15,2.08,0.00,0.000,6,0.130,0.024,2255,2472,3552
$GC,1698,-0.80,-116.8,317.7,-13.2,109,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2466,3551
$GC,1942,-0.80,-116.8,347.1,-11.9,115,1946,0.00,2.00,0.00,0.000,4,0.000,0.028,2255,1081,3549
$GC,2001,-0.80,-116.8,352.8,-8.7,116,2004,0.00,2.15,0.00,0.000,6,0.000,0.041,2250,2500,3549
$GC,2281,-0.80,-116.8,379.6,-9.4,123,2285,0.00,2.15,0.00,0.000,4,0.000,0.051,2238,3902,3546
$GC,2329,-0.80,-116.8,384.3,-9.8,124,2333,0.00,2.08,0.00,0.000,6,0.000,0.026,2238,2482,3546
$GC,2623,-0.80,-116.8,414.4,-10.4,131,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2475,3544
$GC,2864,-0.80,-116.8,439.1,-10.1,137,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2475,3541
$GC,3108,-0.80,-116.8,466.3,-11.2,143,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2475,3540
$GC,3353,-0.80,-116.8,492.9,-10.9,149,3357,0.00,2.03,0.00,0.000,4,0.000,0.032,2241,1091,3538
$GC,3418,-0.80,-116.8,499.9,-9.9,150,3422,0.00,2.12,0.00,0.000,6,0.000,0.044,2236,2489,3537
$GC,3694,-0.80,-116.8,530.5,-11.2,157,3698,0.00,2.17,0.00,0.000,4,0.000,0.054,2225,3897,3534
$GC,3735,-0.80,-116.8,535.5,-11.9,157,3742,0.00,2.08,0.00,0.000,6,0.000,0.029,2225,2483,3533
$GC,3990,-0.80,-116.8,564.2,-11.4,164,3993,0.00,2.05,0.00,0.000,4,0.000,0.033,2225,1082,3531
$GC,4054,-0.80,-116.8,571.4,-10.0,165,4057,0.00,2.15,0.00,0.000,6,0.000,0.045,2223,2488,3532
$GC,4330,-0.80,-116.8,600.5,-10.6,172,4333,0.00,2.20,0.00,0.000,4,0.000,0.054,2211,3904,3529
$GC,4422,-0.80,-116.8,610.9,-10.8,174,4427,0.15,2.10,0.00,0.000,6,0.125,0.030,2256,2490,3528
$GC,4715,-0.80,-116.8,634.1,-7.8,181,4719,0.00,2.05,0.00,0.000,4,0.000,0.033,2257,1086,3526
$GC,4745,-0.80,-116.8,636.7,-7.7,181,4749,0.00,2.15,0.00,0.000,6,0.000,0.045,2250,2488,3526
$GC,5009,-0.80,-116.8,657.6,-8.1,188,5013,0.00,2.20,0.00,0.000,4,0.000,0.057,2239,3898,3524
$GC,5051,-0.80,-116.8,661.0,-8.1,188,5058,0.00,2.08,0.00,0.000,6,0.000,0.031,2239,2488,3523
$GC,5304,-0.80,-116.8,683.1,-8.7,195,5308,0.00,2.05,0.00,0.000,4,0.000,0.034,2239,1089,3522
$GC,5356,-0.80,-116.8,687.7,-8.4,196,5360,0.00,2.17,0.00,0.000,6,0.000,0.048,2237,2501,3523
$GC,5645,-0.80,-116.8,712.7,-8.9,203,5649,0.00,2.20,0.00,0.000,4,0.000,0.058,2226,3909,3520
$GC,5720,-0.80,-116.8,719.8,-8.7,204,5724,0.00,2.10,0.00,0.000,6,0.000,0.032,2225,2492,3519
$GC,5986,-0.80,-116.8,744.4,-9.4,211,5989,0.00,2.08,0.00,0.000,4,0.000,0.035,2225,1082,3519
$GC,6039,-0.80,-116.8,749.7,-9.8,212,6043,0.00,2.17,0.00,0.000,6,0.000,0.048,2223,2494,3519
$GC,6325,-0.80,-116.8,777.9,-10.1,219,6328,0.00,2.20,0.00,0.000,4,0.000,0.058,2212,3900,3517
$GC,6388,-0.80,-116.8,784.6,-10.3,220,6393,0.12,2.10,0.00,0.000,6,0.128,0.032,2248,2488,3516
$GC,6663,-0.80,-116.8,806.3,-7.7,227,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2481,3515
$GC,6909,-0.80,-116.8,824.5,-7.5,233,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2481,3514
$GC,7150,-0.80,-116.8,842.2,-7.3,239,7154,0.00,2.08,0.00,0.000,4,0.000,0.036,2249,1082,3513
$GC,7191,-0.80,-116.8,845.2,-6.4,239,7197,0.00,2.17,0.00,0.000,6,0.000,0.049,2249,2490,3513
$GC,7444,-0.80,-116.8,863.2,-7.2,246,7448,0.00,2.22,0.00,0.000,4,0.000,0.060,2238,3906,3512
$GC,7509,-0.80,-116.8,868.2,-7.7,247,7513,0.00,2.12,0.00,0.000,6,0.000,0.034,2239,2487,3511
$GC,7778,-0.80,-116.8,890.1,-8.2,254,7782,0.00,2.05,0.00,0.000,4,0.000,0.036,2239,1085,3511
$GC,7842,-0.80,-116.8,895.2,-8.2,255,7846,0.00,2.17,0.00,0.000,6,0.000,0.050,2236,2490,3511
$STATE,7902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7902,begin apogee
$GC,7915,-0.27,0.0,900.5,8.0,257,8011,0.55,0.00,93.07,1.306,6,0.139,0.000,2420,2410,3070
$STATE,8011,end apogee,CONTROL_FINISHED_OK
$STATE,8011,begin climb
$GC,8016,0.80,116.8,903.5,0.0,259,8141,0.95,2.22,110.75,1.250,4,0.050,0.032,2779,1023,2591
$GC,8380,0.80,116.8,875.9,16.7,267,8385,0.00,2.22,0.00,0.000,6,0.000,0.042,2779,2433,2582
$GC,8655,0.80,116.8,831.7,16.1,274,8659,0.00,2.15,0.00,0.000,4,0.000,0.035,2788,1019,2579
$GC,8730,0.80,116.8,820.3,14.8,275,8734,0.00,2.20,0.00,0.000,6,0.000,0.043,2780,2426,2579
$GC,8987,0.80,116.8,782.4,14.7,282,8991,0.00,2.22,0.00,0.000,4,0.000,0.051,2780,3839,2576
$GC,9000,0.80,116.8,780.3,14.6,282,9004,0.00,2.12,0.00,0.000,6,0.000,0.031,2788,2424,2576
$GC,9281,0.80,116.8,739.2,14.5,289,9285,0.00,2.20,0.00,0.000,4,0.000,0.049,2780,3830,2575
$GC,9300,0.80,116.8,736.1,14.5,289,9304,0.00,2.12,0.00,0.000,6,0.000,0.031,2789,2417,2574
$GC,9576,0.80,116.8,698.3,13.6,296,9580,0.00,2.22,0.00,0.000,4,0.000,0.052,2781,3828,2574
$GC,9657,0.80,116.8,686.1,14.9,297,9661,0.00,2.12,0.00,0.000,6,0.000,0.032,2789,2416,2573
$GC,9914,0.80,116.8,650.1,14.0,304,9918,0.00,2.10,0.00,0.000,4,0.000,0.035,2800,1000,2572
$GC,9928,0.80,116.8,648.1,14.2,304,9932,0.00,2.20,0.00,0.000,6,0.000,0.042,2796,2430,2573
$GC,10203,0.80,116.8,610.6,13.4,311,10207,0.00,2.17,0.00,0.000,4,0.000,0.052,2793,3827,2572
$GC,10250,0.80,116.8,603.5,15.9,312,10255,0.15,2.12,0.00,0.000,6,0.231,0.031,2770,2410,2572
$GC,10542,0.80,116.8,567.3,12.0,319,10545,0.00,2.22,0.00,0.000,4,0.000,0.052,2768,3830,2571
$GC,10638,0.80,116.8,554.7,12.7,321,10642,0.00,2.12,0.00,0.000,6,0.000,0.032,2776,2411,2571
$GC,10924,0.80,116.8,523.2,10.8,328,10928,0.00,2.08,0.00,0.000,4,0.000,0.035,2787,1004,2570
$GC,11089,0.80,116.8,503.7,11.8,331,11093,0.00,2.17,0.00,0.000,6,0.000,0.044,2781,2423,2570
$GC,11353,0.80,116.8,474.5,11.0,338,11357,0.00,2.10,0.00,0.000,4,0.000,0.034,2789,1005,2570
$GC,11614,0.80,116.8,446.6,10.6,343,11618,0.00,2.15,0.00,0.000,6,0.000,0.041,2781,2422,2570
$GC,11872,0.85,159.1,425.2,7.6,350,11915,0.00,2.20,33.53,0.988,4,0.000,0.034,2789,1010,2421
$GC,11928,0.85,159.1,420.0,10.9,351,11933,0.00,2.20,0.00,0.000,6,0.000,0.041,2781,2417,2420
$GC,12204,0.85,159.1,379.5,15.2,358,12207,0.00,2.22,0.00,0.000,4,0.000,0.052,2780,3827,2415
$GC,12323,0.85,159.1,358.7,16.1,360,12327,0.00,2.12,0.00,0.000,6,0.000,0.031,2789,2426,2415
$GC,12588,0.85,159.1,319.2,14.9,367,12592,0.00,2.12,0.00,0.000,4,0.000,0.034,2800,995,2414
$GC,12788,0.85,159.1,290.1,12.8,371,12792,0.00,2.20,0.00,0.000,6,0.000,0.041,2793,2426,2414
$GC,13056,0.85,159.1,258.6,11.1,378,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2427,2413
$GC,13300,0.85,159.1,230.0,11.3,384,13304,0.00,2.20,0.00,0.000,4,0.000,0.051,2793,3838,2413
$GC,13562,0.85,159.1,200.3,10.9,389,13566,0.00,2.12,0.00,0.000,6,0.000,0.029,2802,2410,2413
$GC,13837,0.88,179.4,177.4,8.8,414,13862,0.00,2.25,17.45,0.752,4,0.000,0.047,2793,3823,2337
$GC,13878,0.88,179.4,172.9,10.7,417,13881,0.00,2.10,0.00,0.000,6,0.000,0.028,2802,2416,2337
$GC,14147,0.88,179.4,137.9,11.9,442,14151,0.00,2.08,0.00,0.000,4,0.000,0.032,2813,1008,2334
$GC,14411,0.88,179.4,111.2,10.6,465,14415,0.00,2.15,0.00,0.000,6,0.000,0.036,2809,2432,2333
$GC,14681,0.88,184.2,84.4,9.7,490,14695,0.00,2.17,5.15,0.534,4,0.000,0.047,2809,3822,2319
$GC,14889,1.01,282.0,68.4,4.4,508,14975,0.00,2.10,80.40,0.667,6,0.000,0.025,2819,2399,1919
$GC,15235,1.01,282.0,7.1,23.0,548,15243,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2399,1912
$STATE,15249,end climb,SURFACE_DEPTH_REACHED
$STATE,15249,begin surface coast
$FINISH,0.4,1.023193
$STATE,15261,end surface coast,CONTROL_FINISHED_OK
$STATE,15262,begin surface
$SM_CCo,15286,54.45,0.594,0,0,1397,410.13
$SM_GC,1.26,0.00,0.00,54.45,0.000,0.000,0.594,43,2517,1397,-7.71,0.76,410.13
$IRIDIUM_FIX,2202.04,-15755.93,131100,161629
$TT8_MAMPS,0.023777
$HUMID,2026
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.10
$XPDR_PINGS,6
$24V_AH,24.0,7.946
$10V_AH,10.7,6.472
$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,17.425,154.125,340.350,54.450,0.000,94.018,104.686,490.928,1.500,0.000,0.000,18.951,1249.348,11103.945,455.183,2224.429,1312.440,33.346,1465.158,0.000,2192.829,0.000,0.544,0.000
$DEVICE_MAMPS,230.867,63.661,1306.201,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,374.528,701.590,721.793,125.207,570.134,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44568,552
$CAP_FILE_SIZE,132039,0
$CFSIZE,260165632,214409216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,41,1,0
$GPS,200811,211102,2210.453,-15755.162,43,1.5,43,10.0