version: 66.04
glider: 512
mission: 2
dive: 61
start: 8 21 111 15 41 8
data:
$ID,512
$MISSION,2
$DIVE,61
$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,-33743.402
$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,32
$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
$GPS1,152436,2214.837,-15756.426,38,1.0,44,10.0
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-76.2
$GPS2,154014,2214.848,-15756.448,14,2.0,14,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.061,0.226
$KALMAN_X,7490.7,-186.4,-15.2,-8821.8,935.2
$KALMAN_Y,-22176.3,-42.8,159.8,43544.1,-2546.6
$MHEAD_RNG_PITCHd_Wd,334.9,56170,-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,14,begin dive
$GC,19,-0.80,-116.8,0.0,0.0,0,89,0.00,0.00,-67.85,0.000,2,0.000,0.000,42,2462,3154
$GC,95,-0.80,-116.8,3.2,-5.2,9,119,8.07,2.22,-7.22,0.000,4,0.199,0.054,2236,3889,3550
$GC,215,-0.80,-116.8,45.1,-22.2,24,219,0.00,2.05,0.00,0.000,6,0.000,0.025,2236,2503,3551
$GC,487,-0.80,-116.8,111.0,-22.2,49,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2495,3552
$GC,752,-0.80,-116.8,162.7,-19.8,74,756,0.00,2.08,0.00,0.000,4,0.000,0.028,2236,1074,3553
$GC,856,-0.80,-116.8,179.3,-14.8,83,859,0.00,2.12,0.00,0.000,6,0.000,0.038,2226,2484,3554
$GC,1139,-0.80,-116.8,229.2,-17.5,98,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2484,3553
$GC,1382,-0.80,-116.8,266.9,-15.0,104,1386,0.00,2.03,0.00,0.000,4,0.000,0.026,2226,1082,3553
$GC,1451,-0.80,-116.8,276.3,-12.8,105,1455,0.00,2.12,0.00,0.000,6,0.000,0.038,2223,2491,3554
$GC,1722,-0.80,-116.8,315.5,-14.9,112,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2491,3552
$GC,1964,-0.80,-116.8,350.0,-13.9,118,1968,0.00,2.17,0.00,0.000,4,0.000,0.049,2212,3908,3551
$GC,2027,-0.80,-116.8,359.1,-13.7,119,2032,0.15,2.10,0.00,0.000,6,0.123,0.025,2257,2474,3550
$GC,2297,-0.80,-116.8,384.8,-9.1,126,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2467,3549
$GC,2541,-0.80,-116.8,406.3,-9.1,132,2544,0.00,2.22,0.00,0.000,4,0.000,0.051,2248,3897,3546
$GC,2589,-0.80,-116.8,411.1,-9.7,133,2592,0.00,2.05,0.00,0.000,6,0.000,0.026,2248,2483,3546
$GC,2880,-0.80,-116.8,441.5,-10.7,140,2884,0.00,2.03,0.00,0.000,4,0.000,0.030,2248,1082,3543
$GC,2939,-0.80,-116.8,447.9,-10.9,141,2943,0.00,2.15,0.00,0.000,6,0.000,0.041,2237,2498,3543
$GC,3220,-0.80,-116.8,480.2,-11.5,148,3224,0.00,2.17,0.00,0.000,4,0.000,0.054,2225,3903,3540
$GC,3278,-0.80,-116.8,487.0,-11.6,149,3282,0.00,2.08,0.00,0.000,6,0.000,0.028,2226,2484,3540
$GC,3559,-0.80,-116.8,518.7,-11.0,156,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2477,3538
$GC,3803,-0.80,-116.8,543.8,-10.1,162,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2477,3536
$GC,4046,-0.80,-116.8,568.6,-10.1,168,4049,0.00,2.22,0.00,0.000,4,0.000,0.054,2215,3897,3534
$GC,4094,-0.80,-116.8,573.3,-9.7,169,4098,0.12,2.08,0.00,0.000,6,0.128,0.029,2252,2484,3533
$GC,4381,-0.80,-116.8,595.8,-7.8,176,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2477,3531
$GC,4624,-0.80,-116.8,614.8,-7.6,182,4627,0.00,2.03,0.00,0.000,4,0.000,0.033,2252,1088,3529
$GC,4654,-0.80,-116.8,617.2,-7.9,182,4658,0.00,2.15,0.00,0.000,6,0.000,0.046,2250,2487,3529
$GC,4918,-0.80,-116.8,639.1,-8.6,189,4921,0.00,2.20,0.00,0.000,4,0.000,0.057,2239,3898,3527
$GC,4966,-0.80,-116.8,643.6,-9.3,190,4970,0.00,2.10,0.00,0.000,6,0.000,0.030,2239,2488,3527
$GC,5258,-0.80,-116.8,672.0,-9.9,197,5262,0.00,2.05,0.00,0.000,4,0.000,0.034,2238,1089,3524
$GC,5316,-0.80,-116.8,678.0,-9.6,198,5320,0.00,2.17,0.00,0.000,6,0.000,0.048,2237,2500,3525
$GC,5598,-0.80,-116.8,705.5,-9.7,205,5602,0.00,2.20,0.00,0.000,4,0.000,0.058,2226,3904,3522
$GC,5655,-0.80,-116.8,711.3,-9.7,206,5659,0.00,2.10,0.00,0.000,6,0.000,0.031,2226,2487,3522
$GC,5936,-0.80,-116.8,738.8,-9.8,213,5940,0.00,2.05,0.00,0.000,4,0.000,0.034,2225,1086,3521
$GC,6000,-0.80,-116.8,744.7,-8.7,214,6004,0.00,2.17,0.00,0.000,6,0.000,0.049,2223,2495,3521
$GC,6277,-0.80,-116.8,769.8,-9.2,221,6280,0.00,2.20,0.00,0.000,4,0.000,0.059,2212,3898,3519
$GC,6346,-0.80,-116.8,776.8,-9.9,222,6351,0.12,2.12,0.00,0.000,6,0.126,0.031,2248,2479,3519
$GC,6610,-0.80,-116.8,797.4,-7.8,229,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2472,3518
$GC,6855,-0.80,-116.8,817.2,-8.2,235,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2472,3516
$GC,7099,-0.80,-116.8,837.3,-8.3,241,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2472,3516
$GC,7341,-0.80,-116.8,857.3,-8.1,247,7345,0.00,2.28,0.00,0.000,4,0.000,0.059,2239,3902,3514
$GC,7382,-0.80,-116.8,860.7,-8.9,247,7389,0.00,2.10,0.00,0.000,6,0.000,0.033,2239,2489,3514
$GC,7636,-0.80,-116.8,882.2,-8.5,254,7640,0.00,2.08,0.00,0.000,4,0.000,0.035,2239,1082,3513
$GC,7684,-0.80,-116.8,886.3,-8.4,255,7688,0.00,2.17,0.00,0.000,6,0.000,0.050,2236,2489,3513
$STATE,7848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7849,begin apogee
$GC,7860,-0.27,0.0,901.0,8.7,259,7957,0.55,0.00,93.97,1.306,6,0.133,0.000,2420,2411,3070
$STATE,7957,end apogee,CONTROL_FINISHED_OK
$STATE,7958,begin climb
$GC,7963,0.80,116.8,904.3,0.0,261,8087,0.93,2.22,110.55,1.252,4,0.048,0.031,2777,1021,2592
$GC,8343,0.80,116.8,874.9,16.2,269,8348,0.00,2.22,0.00,0.000,6,0.000,0.041,2769,2437,2582
$GC,8602,0.80,116.8,834.2,15.8,276,8606,0.00,2.12,0.00,0.000,4,0.000,0.034,2777,1019,2579
$GC,8777,0.80,116.8,806.7,15.8,279,8783,0.00,2.17,0.00,0.000,6,0.000,0.041,2770,2423,2578
$GC,9033,0.80,116.8,768.3,15.3,286,9036,0.00,2.20,0.00,0.000,4,0.000,0.050,2768,3829,2576
$GC,9051,0.80,116.8,764.5,15.5,286,9055,0.00,2.10,0.00,0.000,6,0.000,0.031,2776,2427,2575
$GC,9326,0.80,116.8,722.4,14.9,293,9330,0.00,2.20,0.00,0.000,4,0.000,0.050,2776,3828,2575
$GC,9338,0.80,116.8,720.3,15.2,293,9342,0.00,2.12,0.00,0.000,6,0.000,0.031,2785,2413,2574
$GC,9619,0.80,116.8,677.2,15.5,300,9622,0.00,2.22,0.00,0.000,4,0.000,0.051,2782,3826,2573
$GC,9648,0.80,116.8,672.5,16.1,300,9652,0.00,2.12,0.00,0.000,6,0.000,0.031,2790,2407,2573
$GC,9912,0.80,116.8,636.1,13.5,307,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2402,2572
$GC,10155,0.80,116.8,603.7,13.5,313,10159,0.00,2.08,0.00,0.000,4,0.000,0.034,2800,1002,2572
$GC,10295,0.80,116.8,585.7,12.8,316,10299,0.00,2.17,0.00,0.000,6,0.000,0.042,2795,2426,2572
$GC,10586,0.80,116.8,550.4,12.1,323,10588,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2427,2571
$GC,10830,0.80,116.8,521.2,12.1,329,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2427,2571
$GC,11075,0.80,116.8,494.2,10.9,335,11078,0.00,2.17,0.00,0.000,4,0.000,0.051,2793,3827,2570
$GC,11304,0.83,138.2,471.1,8.8,340,11325,0.00,2.10,15.82,0.978,6,0.000,0.031,2802,2413,2506
$GC,11591,0.83,138.2,438.2,12.3,347,11595,0.00,2.08,0.00,0.000,4,0.000,0.034,2813,1016,2502
$GC,11829,0.83,138.2,410.4,10.8,352,11833,0.12,2.15,0.00,0.000,6,0.218,0.042,2782,2420,2502
$GC,12104,0.83,138.2,379.5,11.5,359,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2420,2501
$GC,12347,0.83,138.2,351.4,11.5,365,12350,0.00,2.17,0.00,0.000,4,0.000,0.050,2781,3829,2501
$GC,12399,0.83,138.2,345.8,10.2,366,12403,0.00,2.10,0.00,0.000,6,0.000,0.031,2789,2420,2500
$GC,12685,0.86,162.3,320.4,8.6,373,12713,0.00,2.25,21.62,0.898,4,0.000,0.047,2781,3835,2407
$GC,12790,0.86,162.3,307.4,14.4,375,12793,0.00,2.15,0.00,0.000,6,0.000,0.030,2789,2413,2404
$GC,13064,0.86,162.3,267.6,13.9,382,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2406,2402
$GC,13308,0.86,162.3,237.5,12.3,388,13311,0.00,2.08,0.00,0.000,4,0.000,0.033,2800,1006,2401
$GC,13569,0.86,162.3,207.8,10.8,393,13573,0.00,2.17,0.00,0.000,6,0.000,0.040,2793,2433,2401
$GC,13829,0.86,162.3,177.4,11.4,411,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2433,2401
$GC,14096,0.96,243.5,156.7,5.3,436,14169,0.00,2.20,67.40,0.770,4,0.000,0.029,2802,1010,2076
$GC,14177,0.96,243.5,149.4,13.3,442,14184,0.00,2.25,0.00,0.000,6,0.000,0.038,2793,2417,2074
$GC,14443,0.96,243.5,89.1,21.1,467,14447,0.00,2.12,0.00,0.000,4,0.000,0.031,2801,1006,2068
$GC,14505,0.96,243.5,76.4,18.6,472,14509,0.00,2.17,0.00,0.000,6,0.000,0.036,2793,2429,2068
$GC,14771,0.96,243.5,42.2,10.4,496,14779,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2429,2066
$GC,15040,0.96,243.5,5.1,15.9,536,15048,0.00,2.17,0.00,0.000,4,0.000,0.044,2793,3825,2067
$STATE,15055,end climb,SURFACE_DEPTH_REACHED
$STATE,15055,begin surface coast
$FINISH,0.1,1.023051
$STATE,15077,end surface coast,CONTROL_FINISHED_OK
$STATE,15077,begin surface
$SM_CCo,15105,74.88,0.606,0,0,1397,410.13
$SM_GC,1.02,0.00,0.00,74.88,0.000,0.000,0.606,46,2453,1397,-7.70,-1.05,410.13
$IRIDIUM_FIX,2204.37,-15758.08,141100,151508
$TT8_MAMPS,0.023777
$HUMID,2027
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.20
$XPDR_PINGS,5
$24V_AH,24.0,8.696
$10V_AH,10.7,7.044
$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,17.175,128.500,309.375,74.875,0.000,83.271,110.832,416.657,1.250,0.000,0.000,14.374,1192.744,11211.648,455.577,2062.133,1192.823,33.359,1371.606,0.000,2041.935,0.000,0.543,0.000
$DEVICE_MAMPS,217.828,65.962,1306.201,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,368.285,676.476,698.815,124.107,565.923,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44654,542
$CAP_FILE_SIZE,120463,0
$CFSIZE,260165632,214110208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,210811,195537,2216.297,-15756.804,41,1.2,41,10.0